diff --git a/clips/clip_00207/.capture_done b/clips/clip_00207/.capture_done new file mode 100644 index 0000000000000000000000000000000000000000..cbbef70b1b00ded071f53bc56e044492c57d4443 --- /dev/null +++ b/clips/clip_00207/.capture_done @@ -0,0 +1,73 @@ +{ + "clip": "clip_00207", + "frames": 100, + "frame_count": 100, + "frame_bucket": 100, + "spec_gen": "gen3", + "bucket_retired": false, + "target_class": "pedestrian", + "target_model": "arch_0c35b542", + "target_class_fallback": false, + "target_lost_frame": null, + "hfov_deg_per_cam": [ + 27.736, + 30.968, + 34.965, + 29.422 + ], + "oos_allowed": [ + true, + false, + false, + false + ], + "oos_effective": [ + true, + true, + false, + false + ], + "oos_departed": [ + true, + true, + false, + false + ], + "oos_cycles": [ + 1, + 1, + 0, + 0 + ], + "oos_forced_returns": 0, + "visible_ratio": [ + 0.18, + 0.61, + 1.0, + 1.0 + ], + "min_visible_ratio_non_oos": 1.0, + "points_ok": true, + "points_n": 256, + "points_track_complete_ratio": 1.0, + "points_track_breaks": 0, + "points_in_frustum_ratio": 0.8068, + "num_cams": 4, + "save_errors": 0, + "flush_ok": true, + "quality_ok": true, + "view_blocked": false, + "view_block_ratios": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "depth_qc": { + "frames": 400, + "sky": 0, + "near": 0, + "const": 0 + }, + "capture_wall_sec": 18.8 +} \ No newline at end of file diff --git a/clips/clip_00207/cameras.json b/clips/clip_00207/cameras.json new file mode 100644 index 0000000000000000000000000000000000000000..c03b88a202b10b0e2ecf84de6a220b281a2a1468 --- /dev/null +++ b/clips/clip_00207/cameras.json @@ -0,0 +1,27549 @@ +{ + "convention": "opencv_w2c_rh_meters (X right, Y down, Z forward)", + "resolution": [ + 1280, + 1280 + ], + "num_cams": 4, + "frames": 100, + "fps": 15, + "intrinsics_mode": "per_camera", + "hfov_deg_per_cam": [ + 27.736, + 30.968, + 34.965, + 29.422 + ], + "hfov_range_deg": [ + 27.736, + 34.965 + ], + "oos_allowed_per_cam": [ + true, + false, + false, + false + ], + "num_oos_allowed": 1, + "depth": { + "present": true, + "format": "png16_gray", + "unit": "cm", + "clamp_cm": 65535, + "note": "16-bit grayscale PNG; pixel value = SCS_SceneDepth linear depth in cm (metres = value/100), clamped to 65535cm. Pixel-aligned with RGB." + }, + "cameras": [ + { + "name": "cam01", + "intrinsics": { + "fx": 2592.327862138923, + "fy": 2592.327862138923, + "cx": 640.0, + "cy": 640.0, + "width": 1280, + "height": 1280, + "fov_deg": 27.736, + "hfov_deg": 27.736 + }, + "oos_allowed": true, + "oos_reason": "sampled", + "pinned": false, + "oos_effective": true, + "oos_cycles": 1, + "oos_departed": true, + "oos_schedule": { + "windows": [ + 17 + ], + "target_out_frames": [ + 14 + ], + "opened_at": 17, + "left_at": 18, + "out_run_max": 14, + "returned_at": 52, + "cycles_live": 1, + "forced_returns": 0, + "aim_offset": { + "applied": true, + "reason": null, + "deg": 15.85, + "cm": 558.7, + "frac": 1.15 + }, + "events": [ + { + "window": 0, + "opened_at": 17, + "left_at": 18, + "out_run": 14, + "return_at": 31, + "forced": false + } + ] + } + }, + { + "name": "cam02", + "intrinsics": { + "fx": 2310.2705003547744, + "fy": 2310.2705003547744, + "cx": 640.0, + "cy": 640.0, + "width": 1280, + "height": 1280, + "fov_deg": 30.968, + "hfov_deg": 30.968 + }, + "oos_allowed": false, + "oos_reason": "path_blocked", + "pinned": true, + "oos_effective": true, + "oos_cycles": 1, + "oos_departed": true, + "oos_schedule": null + }, + { + "name": "cam03", + "intrinsics": { + "fx": 2031.9845511772055, + "fy": 2031.9845511772055, + "cx": 640.0, + "cy": 640.0, + "width": 1280, + "height": 1280, + "fov_deg": 34.965, + "hfov_deg": 34.965 + }, + "oos_allowed": false, + "oos_reason": "none", + "pinned": false, + "oos_effective": false, + "oos_cycles": 0, + "oos_departed": false, + "oos_schedule": null + }, + { + "name": "cam04", + "intrinsics": { + "fx": 2437.6281524230076, + "fy": 2437.6281524230076, + "cx": 640.0, + "cy": 640.0, + "width": 1280, + "height": 1280, + "fov_deg": 29.422, + "hfov_deg": 29.422 + }, + "oos_allowed": false, + "oos_reason": "none", + "pinned": false, + "oos_effective": false, + "oos_cycles": 0, + "oos_departed": false, + "oos_schedule": null + } + ], + "per_frame": [ + { + "frame": 0, + "time": 1098.3264873214066, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.7953969564267239, + 0.6060888397810211, + -0.0, + -425.3214043671045 + ], + [ + 0.050930782847988576, + 0.06683869922494658, + -0.9964630668742359, + 24.410903479269102 + ], + [ + -0.6039451576951131, + -0.7925836801448107, + -0.08403187766992548, + -238.8384953093527 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7953969564267239, + 0.050930782847988576, + -0.6039451576951131, + -483.7879620279715 + ], + [ + 0.6060888397810211, + 0.06683869922494658, + -0.7925836801448107, + 66.85147317480319 + ], + [ + -0.0, + -0.9964630668742359, + -0.08403187766992548, + 4.254517292171616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48378.79620279715, + -6685.1473174803195, + 425.4517292171615 + ], + "rotation_deg": [ + 0.0, + -4.820356369018555, + 127.30723571777347 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.8570858453842238, + -0.5151736150483738, + 1.3877787703950287e-17, + 448.42208094237515 + ], + [ + -0.09371850058219072, + -0.1559179234986374, + -0.9833140107719908, + -31.972011775273792 + ], + [ + 0.506577426802644, + 0.8427845240199499, + -0.1819163454076587, + 201.22562230306815 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8570858453842238, + -0.09371850058219072, + 0.506577426802644, + -489.26894847442037 + ], + [ + -0.5151736150483738, + -0.1559179234986374, + 0.8427845240199499, + 56.44037227371612 + ], + [ + 1.3877787703950287e-17, + -0.9833140107719908, + -0.1819163454076587, + 5.167703048161302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48926.89484744204, + -5644.037227371612, + 516.7703048161302 + ], + "rotation_deg": [ + -8.086314868534013e-16, + -10.481401443481444, + -58.99094009399411 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9260307225591521, + 0.3774481432946443, + -3.4694469251623737e-18, + 424.05027292971045 + ], + [ + 0.021125821983734073, + -0.051830060748190916, + -0.9984324436076535, + 15.42387753541473 + ], + [ + -0.3768564860579491, + 0.924579111442565, + -0.055970131321377466, + -210.01700649339315 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9260307225591521, + 0.021125821983734073, + -0.3768564860579491, + -472.1556884528205 + ], + [ + 0.3774481432946443, + -0.051830060748190916, + 0.924579111442565, + 34.919764854638345 + ], + [ + -3.4694469251623737e-18, + -0.9984324436076535, + -0.055970131321377466, + 3.6450207544084012 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -47215.568845282054, + -3491.9764854638347, + 364.50207544084014 + ], + "rotation_deg": [ + 1.990967629998396e-16, + -3.208528995513915, + -112.17570495605473 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.05504894290120955, + -0.9984836572951304, + -0.0, + 23.60424945947869 + ], + [ + -0.044153722403621615, + 0.0024343069871141463, + -0.9990217830194679, + -18.511928703770945 + ], + [ + 0.9975069235881874, + -0.054995093515250414, + -0.04422077659742659, + 521.2058731654972 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.05504894290120955, + -0.044153722403621615, + 0.9975069235881874, + -519.4244486942378 + ], + [ + -0.9984836572951304, + 0.0024343069871141463, + -0.054995093515250414, + 52.27728655924452 + ], + [ + -0.0, + -0.9990217830194679, + -0.04422077659742659, + 4.554308279160416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -51942.44486942378, + -5227.728655924452, + 455.4308279160416 + ], + "rotation_deg": [ + 0.0, + -2.5344903469085707, + 3.155667304992678 + ] + } + } + ] + }, + { + "frame": 1, + "time": 1098.3931539915502, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.8126629106274058, + 0.5827340677278039, + 6.938893850537679e-18, + -432.11316424490144 + ], + [ + 0.048988432838013574, + 0.06831775353798455, + -0.9964601437085169, + 23.372328530007053 + ], + [ + -0.5806712865957089, + -0.8097861908020237, + -0.08406653382668205, + -226.42871601671206 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.8126629106274058, + 0.048988432838013574, + -0.5806712865957089, + -483.7879620279715 + ], + [ + 0.5827340677278039, + 0.06831775353798455, + -0.8097861908020237, + 66.85147317480319 + ], + [ + 6.938893850537679e-18, + -0.9964601437085169, + -0.08406653382668205, + 4.254517292171616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48378.79620279715, + -6685.1473174803195, + 425.4517292171615 + ], + "rotation_deg": [ + -3.989816729901281e-16, + -4.822349071502685, + 125.64307403564455 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.8399313331107178, + -0.5426926898889024, + -0.0, + 441.582097589353 + ], + [ + -0.09877501429759086, + -0.15287515565022586, + -0.9832968439568135, + -34.61783058686406 + ], + [ + 0.5336280026865994, + 0.8259018328933845, + -0.18200911288190727, + 215.41397388836353 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8399313331107178, + -0.09877501429759086, + 0.5336280026865994, + -489.26894847442037 + ], + [ + -0.5426926898889024, + -0.15287515565022586, + 0.8259018328933845, + 56.44037227371612 + ], + [ + -0.0, + -0.9832968439568135, + -0.18200911288190727, + 5.167703048161302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48926.89484744204, + -5644.037227371612, + 516.7703048161302 + ], + "rotation_deg": [ + 0.0, + -10.486806869506834, + -57.13286972045897 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9264300734527028, + 0.37646688964956737, + -3.46944692516642e-18, + 424.212012176323 + ], + [ + 0.021569110591304192, + -0.053078433346454, + -0.9983573775866966, + 15.691950724981917 + ], + [ + -0.37584851070885605, + 0.9249082929290455, + -0.05729351332405592, + -209.46967733087516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9264300734527028, + 0.021569110591304192, + -0.37584851070885605, + -472.0700879392155 + ], + [ + 0.37646688964956737, + -0.053078433346454, + 0.9249082929290455, + 34.87136433232759 + ], + [ + -3.46944692516642e-18, + -0.9983573775866966, + -0.05729351332405592, + 3.6649214861370454 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -47207.00879392155, + -3487.136433232759, + 366.49214861370456 + ], + "rotation_deg": [ + 1.9911173299189972e-16, + -3.2844750881195064, + -112.1150054931641 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.056599073895090925, + -0.99839698759272, + -4.336808656412916e-19, + 22.794542665709095 + ], + [ + -0.04402509773503878, + 0.0024957805270948413, + -0.9990273078594903, + -18.448306414244552 + ], + [ + 0.997425854649933, + -0.05654402085744268, + -0.04409578416497733, + 521.2441684413955 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.056599073895090925, + -0.04402509773503878, + 0.997425854649933, + -519.4244486942378 + ], + [ + -0.99839698759272, + 0.0024957805270948413, + -0.05654402085744268, + 52.27728655924452 + ], + [ + -4.336808656412916e-19, + -0.9990273078594903, + -0.04409578416497733, + 4.554308279160416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -51942.44486942378, + -5227.728655924452, + 455.4308279160416 + ], + "rotation_deg": [ + 2.487227651719334e-17, + -2.5273218154907235, + 3.244621992111206 + ] + } + } + ] + }, + { + "frame": 2, + "time": 1098.4598206616938, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.8292433360798391, + 0.5588877253681446, + 6.93889385053786e-18, + -438.5404113675169 + ], + [ + 0.04699471018923593, + 0.06972786927778254, + -0.9964584895820848, + 22.313514160843923 + ], + [ + -0.5569084324861294, + -0.8263065527858108, + -0.08408613826946716, + -213.82803931163264 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.8292433360798391, + 0.04699471018923593, + -0.5569084324861294, + -483.7879620279715 + ], + [ + 0.5588877253681446, + 0.06972786927778254, + -0.8263065527858108, + 66.85147317480319 + ], + [ + 6.93889385053786e-18, + -0.9964584895820848, + -0.08408613826946716, + 4.254517292171616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48378.79620279715, + -6685.1473174803195, + 425.4517292171615 + ], + "rotation_deg": [ + -3.989823353018535e-16, + -4.823476314544678, + 123.97891235351565 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.8218934927054188, + -0.5696411911444672, + -2.7755575407912553e-17, + 434.2777258245858 + ], + [ + -0.10371035502469973, + -0.14963606432623988, + -0.983286942104696, + -37.2154062447653 + ], + [ + 0.5601207387507713, + 0.808157143151696, + -0.18206259910860212, + 229.3778403005305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8218934927054188, + -0.10371035502469973, + 0.5601207387507713, + -489.26894847442037 + ], + [ + -0.5696411911444672, + -0.14963606432623988, + 0.808157143151696, + 56.44037227371612 + ], + [ + -2.7755575407912553e-17, + -0.983286942104696, + -0.18206259910860212, + 5.167703048161302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48926.89484744204, + -5644.037227371612, + 516.7703048161302 + ], + "rotation_deg": [ + 1.6173074949469157e-15, + -10.489923477172843, + -55.27479171752926 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9268609803536623, + 0.3754047457050162, + -0.0, + 424.3926558142978 + ], + [ + 0.0220093626560691, + -0.054340334483658895, + -0.9982798785930115, + 15.958963314037153 + ], + [ + -0.37475901797253064, + 0.9252666612381268, + -0.058628355336936784, + -208.88681154322978 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9268609803536623, + 0.0220093626560691, + -0.37475901797253064, + -471.98645066711396 + ], + [ + 0.3754047457050162, + -0.054340334483658895, + 0.9252666612381268, + 34.8241963220717 + ], + [ + -0.0, + -0.9982798785930115, + -0.058628355336936784, + 3.684822217865691 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -47198.6450667114, + -3482.41963220717, + 368.4822217865691 + ], + "rotation_deg": [ + 0.0, + -3.361084699630737, + -112.04933166503908 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.058140672926255216, + -0.9983084003211042, + 2.168404328206273e-19, + 21.989167336655257 + ], + [ + -0.043897019795879816, + 0.0025565268904565834, + -0.999032790164216, + -18.384930288246107 + ], + [ + 0.9973428265760365, + -0.05808443914410648, + -0.043971402145452754, + 521.2810040440173 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.058140672926255216, + -0.043897019795879816, + 0.9973428265760365, + -519.4244486942378 + ], + [ + -0.9983084003211042, + 0.0025565268904565834, + -0.05808443914410648, + 52.27728655924452 + ], + [ + 2.168404328206273e-19, + -0.999032790164216, + -0.043971402145452754, + 4.554308279160416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -51942.44486942378, + -5227.728655924452, + 455.4308279160416 + ], + "rotation_deg": [ + -1.2436070013889115e-17, + -2.5201883316040052, + 3.333094835281374 + ] + } + } + ] + }, + { + "frame": 3, + "time": 1098.5264873318374, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.8451242462243357, + 0.5345699284880773, + 6.938893850537896e-18, + -444.5977239756741 + ], + [ + 0.04495224353773882, + 0.0710669061452296, + -0.9964581228791646, + 21.235875234637916 + ], + [ + -0.5326765613858021, + -0.8421309111372016, + -0.08409048375068648, + -201.0470516201193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.8451242462243357, + 0.04495224353773882, + -0.5326765613858021, + -483.7879620279715 + ], + [ + 0.5345699284880773, + 0.0710669061452296, + -0.8421309111372016, + 66.85147317480319 + ], + [ + 6.938893850537896e-18, + -0.9964581228791646, + -0.08409048375068648, + 4.254517292171616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48378.79620279715, + -6685.1473174803195, + 425.4517292171615 + ], + "rotation_deg": [ + -3.9898248212988996e-16, + -4.823726177215576, + 122.31475067138673 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.8029913610975702, + -0.5959906660365343, + -0.0, + 426.5166739410138 + ], + [ + -0.10851604635104105, + -0.14620606114493737, + -0.9832843207174726, + -39.760285989700456 + ], + [ + 0.586028271351573, + 0.7895688190637009, + -0.18207675617453262, + 243.1027966246752 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8029913610975702, + -0.10851604635104105, + 0.586028271351573, + -489.26894847442037 + ], + [ + -0.5959906660365343, + -0.14620606114493737, + 0.7895688190637009, + 56.44037227371612 + ], + [ + -0.0, + -0.9832843207174726, + -0.18207675617453262, + 5.167703048161302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48926.89484744204, + -5644.037227371612, + 516.7703048161302 + ], + "rotation_deg": [ + 0.0, + -10.490748405456541, + -53.41671371459965 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9273197771657953, + 0.3742699972976455, + -0.0, + 424.5900110995751 + ], + [ + 0.022446588405029458, + -0.0556153726138261, + -0.9981999203556372, + 16.22489879689993 + ], + [ + -0.3735962954975062, + 0.9256505220291734, + -0.059974319984962894, + -208.2719774296609 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9273197771657953, + 0.022446588405029458, + -0.3735962954975062, + -471.90454201764135 + ], + [ + 0.3742699972976455, + -0.0556153726138261, + 0.9256505220291734, + 34.77811136808589 + ], + [ + -0.0, + -0.9981999203556372, + -0.059974319984962894, + 3.704722949594335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -47190.454201764136, + -3477.811136808589, + 370.4722949594335 + ], + "rotation_deg": [ + 0.0, + -3.4383387565612797, + -111.97920227050783 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.05967380086038515, + -0.998217930860228, + -4.33680865641218e-19, + 21.18809370676099 + ], + [ + -0.043769482403190244, + 0.002616554257284553, + -0.9990382305267278, + -18.32179753912946 + ], + [ + 0.9972578752842083, + -0.05961640888073614, + -0.043847622236467244, + 521.3164017551511 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.05967380086038515, + -0.043769482403190244, + 0.9972578752842083, + -519.4244486942378 + ], + [ + -0.998217930860228, + 0.002616554257284553, + -0.05961640888073614, + 52.27728655924452 + ], + [ + -4.33680865641218e-19, + -0.9990382305267278, + -0.043847622236467244, + 4.554308279160416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -51942.44486942378, + -5227.728655924452, + 455.4308279160416 + ], + "rotation_deg": [ + 2.4872004584052297e-17, + -2.5130894184112558, + 3.421089410781863 + ] + } + } + ] + }, + { + "frame": 4, + "time": 1098.593154001981, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.8602922445833279, + 0.5098011905731287, + -0.0, + -450.2799923715196 + ], + [ + 0.04286375478291908, + 0.07233281619450672, + -0.9964590619926547, + 20.140865559998957 + ], + [ + -0.507996030116609, + -0.8572459947435055, + -0.08407935467154266, + -188.09648943824666 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.8602922445833279, + 0.04286375478291908, + -0.507996030116609, + -483.7879620279715 + ], + [ + 0.5098011905731287, + 0.07233281619450672, + -0.8572459947435055, + 66.85147317480319 + ], + [ + -0.0, + -0.9964590619926547, + -0.08407935467154266, + 4.254517292171616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48378.79620279715, + -6685.1473174803195, + 425.4517292171615 + ], + "rotation_deg": [ + 0.0, + -4.823086261749268, + 120.65058898925781 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.7832448154929178, + -0.6217134058418436, + 1.3877787703955822e-17, + 418.3071033475349 + ], + [ + -0.11318385882898754, + -0.1425908944415435, + -0.9832889966449031, + -42.24811888322776 + ], + [ + 0.6113239455018689, + 0.770156012812499, + -0.18205150256117658, + 256.57472002566266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7832448154929178, + -0.11318385882898754, + 0.6113239455018689, + -489.26894847442037 + ], + [ + -0.6217134058418436, + -0.1425908944415435, + 0.770156012812499, + 56.44037227371612 + ], + [ + 1.3877787703955822e-17, + -0.9832889966449031, + -0.18205150256117658, + 5.167703048161302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48926.89484744204, + -5644.037227371612, + 516.7703048161302 + ], + "rotation_deg": [ + -8.086520578260912e-16, + -10.489276885986323, + -51.5586357116699 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9278032178624658, + 0.37306995178391655, + -0.0, + 424.80213934782853 + ], + [ + 0.022880789942865614, + -0.056903190500106796, + -0.9981174762333835, + 16.489738642441832 + ], + [ + -0.37236765273298955, + 0.9260566005933007, + -0.06133109892789938, + -207.62832152516367 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9278032178624658, + 0.022880789942865614, + -0.37236765273298955, + -471.8241555224995 + ], + [ + 0.37306995178391655, + -0.056903190500106796, + 0.9260566005933007, + 34.732977955544875 + ], + [ + -0.0, + -0.9981174762333835, + -0.06133109892789938, + 3.724623681322979 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -47182.41555224995, + -3473.2977955544875, + 372.4623681322979 + ], + "rotation_deg": [ + 0.0, + -3.516219854354859, + -111.9050750732422 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.06119851449417456, + -0.998125614250885, + -0.0, + 20.391294106272536 + ], + [ + -0.043642487636349016, + 0.002675871026693844, + -0.9990436291709985, + -18.258909685037782 + ], + [ + 0.9971710359859473, + -0.061139986492248104, + -0.043724444449768744, + 521.3503828143054 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.06119851449417456, + -0.043642487636349016, + 0.9971710359859473, + -519.4244486942378 + ], + [ + -0.998125614250885, + 0.002675871026693844, + -0.061139986492248104, + 52.27728655924452 + ], + [ + -0.0, + -0.9990436291709985, + -0.043724444449768744, + 4.554308279160416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -51942.44486942378, + -5227.728655924452, + 455.4308279160416 + ], + "rotation_deg": [ + 0.0, + -2.506025075912477, + 3.508609056472779 + ] + } + } + ] + }, + { + "frame": 5, + "time": 1098.6598206721246, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.8747345360620808, + 0.4846024055039925, + -0.0, + -455.5824232289525 + ], + [ + 0.04073205247773079, + 0.07352364045718843, + -0.9964613259905641, + 19.02997492208727 + ], + [ + -0.48288756956216056, + -0.8716391278780614, + -0.08405251878630116, + -174.98723049704202 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.8747345360620808, + 0.04073205247773079, + -0.48288756956216056, + -483.7879620279715 + ], + [ + 0.4846024055039925, + 0.07352364045718843, + -0.8716391278780614, + 66.85147317480319 + ], + [ + -0.0, + -0.9964613259905641, + -0.08405251878630116, + 4.254517292171616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48378.79620279715, + -6685.1473174803195, + 425.4517292171615 + ], + "rotation_deg": [ + 0.0, + -4.821543216705322, + 118.9864273071289 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.7626746210706488, + -0.6467823609026009, + -1.3877787703953169e-17, + 409.6576471087791 + ], + [ + -0.11770581212876705, + -0.13879666652912792, + -0.9833009850251901, + -44.67465590274002 + ], + [ + 0.6359817273663716, + 0.7499387102291962, + -0.18198673950553654, + 269.7797444381515 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7626746210706488, + -0.11770581212876705, + 0.6359817273663716, + -489.26894847442037 + ], + [ + -0.6467823609026009, + -0.13879666652912792, + 0.7499387102291962, + 56.44037227371612 + ], + [ + -1.3877787703953169e-17, + -0.9833009850251901, + -0.18198673950553654, + 5.167703048161302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48926.89484744204, + -5644.037227371612, + 516.7703048161302 + ], + "rotation_deg": [ + 8.086421987608723e-16, + -10.485503196716303, + -49.7005577087402 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.928308426444556, + 0.371811061416995, + -0.0, + 425.02732520691063 + ], + [ + 0.023311969428488868, + -0.05820347994761118, + -0.9980325180089841, + 16.753466610681276 + ], + [ + -0.37107954384576103, + 0.9264819906947741, + -0.06269842946573878, + -206.95862187198824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.928308426444556, + 0.023311969428488868, + -0.37107954384576103, + -471.7451094859511 + ], + [ + 0.371811061416995, + -0.05820347994761118, + 0.9264819906947741, + 34.6886803575821 + ], + [ + -0.0, + -0.9980325180089841, + -0.06269842946573878, + 3.744524413051624 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -47174.51094859511, + -3468.86803575821, + 374.45244130516244 + ], + "rotation_deg": [ + 0.0, + -3.594713211059571, + -111.82735443115237 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.06271487070752102, + -0.9980314849703583, + -8.67361731282291e-19, + 19.59874079275926 + ], + [ + -0.04351602922798073, + 0.00273448502160087, + -0.9990489866827833, + -18.19626387683619 + ], + [ + 0.9970823436919892, + -0.06265522851407983, + -0.04360186048253829, + 521.382968324618 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.06271487070752102, + -0.04351602922798073, + 0.9970823436919892, + -519.4244486942378 + ], + [ + -0.9980314849703583, + 0.00273448502160087, + -0.06265522851407983, + 52.27728655924452 + ], + [ + -8.67361731282291e-19, + -0.9990489866827833, + -0.04360186048253829, + 4.554308279160416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -51942.44486942378, + -5227.728655924452, + 455.4308279160416 + ], + "rotation_deg": [ + 4.974347360444268e-17, + -2.4989948272705083, + 3.5956571102142347 + ] + } + } + ] + }, + { + "frame": 6, + "time": 1098.7264873422682, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.888438937742106, + 0.4589948299313162, + 6.938893850537161e-18, + -460.500543637076 + ], + [ + 0.038560030150371676, + 0.07463751221604432, + -0.9964649345787345, + 17.9047280516484 + ], + [ + -0.4573722671968968, + -0.885298240670955, + -0.08400972719918705, + -161.73028461030518 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.888438937742106, + 0.038560030150371676, + -0.4573722671968968, + -483.7879620279715 + ], + [ + 0.4589948299313162, + 0.07463751221604432, + -0.885298240670955, + 66.85147317480319 + ], + [ + 6.938893850537161e-18, + -0.9964649345787345, + -0.08400972719918705, + 4.254517292171616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48378.79620279715, + -6685.1473174803195, + 425.4517292171615 + ], + "rotation_deg": [ + -3.9897975473954256e-16, + -4.819082736968995, + 117.32226562499999 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.7413024985188644, + -0.6711710703611183, + -0.0, + 400.5774390223154 + ], + [ + -0.12207417126074924, + -0.13482984019487554, + -0.983320299243347, + -47.03574772670993 + ], + [ + 0.6599761328630382, + 0.7289377987512958, + -0.18188235099306546, + 282.70422179784043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7413024985188644, + -0.12207417126074924, + 0.6599761328630382, + -489.26894847442037 + ], + [ + -0.6711710703611183, + -0.13482984019487554, + 0.7289377987512958, + 56.44037227371612 + ], + [ + -0.0, + -0.983320299243347, + -0.18188235099306546, + 5.167703048161302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48926.89484744204, + -5644.037227371612, + 516.7703048161302 + ], + "rotation_deg": [ + 0.0, + -10.479420661926268, + -47.84248733520507 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9288329450626952, + 0.37049879914266914, + 6.9388938503773075e-18, + 425.2641011968991 + ], + [ + 0.023740102044289068, + -0.05951595241040128, + -0.9979450180063075, + 17.016054941875822 + ], + [ + -0.369737444773988, + 0.9269242044698639, + -0.06407605715017399, + -206.26522933749342 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9288329450626952, + 0.023740102044289068, + -0.369737444773988, + -471.6672440121936 + ], + [ + 0.37049879914266914, + -0.05951595241040128, + 0.9269242044698639, + 34.64511674060451 + ], + [ + 6.9388938503773075e-18, + -0.9979450180063075, + -0.06407605715017399, + 3.7644251447802684 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -47166.724401219355, + -3464.511674060451, + 376.44251447802685 + ], + "rotation_deg": [ + -3.983880153937559e-16, + -3.67380452156067, + -111.74638366699222 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.06422293061348831, + -0.9979355766698644, + -2.168404328205549e-19, + 18.810403781795983 + ], + [ + -0.043390113300219475, + 0.002792404941700224, + -0.9990543030999045, + -18.133863749134992 + ], + [ + 0.9969918320419519, + -0.06416219568249072, + -0.043479874503439514, + 521.4141789534407 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.06422293061348831, + -0.043390113300219475, + 0.9969918320419519, + -519.4244486942378 + ], + [ + -0.9979355766698644, + 0.002792404941700224, + -0.06416219568249072, + 52.27728655924452 + ], + [ + -2.168404328205549e-19, + -0.9990543030999045, + -0.043479874503439514, + 4.554308279160416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -51942.44486942378, + -5227.728655924452, + 455.4308279160416 + ], + "rotation_deg": [ + 1.2435802224262722e-17, + -2.4919989109039316, + 3.682237148284914 + ] + } + } + ] + }, + { + "frame": 7, + "time": 1098.7931540124118, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.9013938315007101, + 0.4330001853723265, + 6.938893850536624e-18, + -465.03018500341614 + ], + [ + 0.03635067819038519, + 0.07567266296550353, + -0.9964699073603819, + 16.766689973750193 + ], + [ + -0.43147166862659947, + -0.898211820974571, + -0.08395072265396475, + -148.33684598127655 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.9013938315007101, + 0.03635067819038519, + -0.43147166862659947, + -483.7879620279715 + ], + [ + 0.4330001853723265, + 0.07567266296550353, + -0.898211820974571, + 66.85147317480319 + ], + [ + 6.938893850536624e-18, + -0.9964699073603819, + -0.08395072265396475, + 4.254517292171616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48378.79620279715, + -6685.1473174803195, + 425.4517292171615 + ], + "rotation_deg": [ + -3.989777636716557e-16, + -4.81569004058838, + 115.65811157226564 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.7191509320044398, + -0.6948538961516628, + -0.0, + 391.07603287085357 + ], + [ + -0.12628146386857592, + -0.13069716229402772, + -0.9833469599543683, + -49.32735746143909 + ], + [ + 0.6832824618178523, + 0.7071748867979106, + -0.1817381546470032, + 295.33484654687334 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7191509320044398, + -0.12628146386857592, + 0.6832824618178523, + -489.26894847442037 + ], + [ + -0.6948538961516628, + -0.13069716229402772, + 0.7071748867979106, + 56.44037227371612 + ], + [ + -0.0, + -0.9833469599543683, + -0.1817381546470032, + 5.167703048161302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48926.89484744204, + -5644.037227371612, + 516.7703048161302 + ], + "rotation_deg": [ + 0.0, + -10.471018791198727, + -45.984424591064446 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9293745340628428, + 0.36913815223500535, + -0.0, + 425.5111341119204 + ], + [ + 0.024165171475743402, + -0.06084035162672623, + -0.9978549474254682, + 17.277481488014917 + ], + [ + -0.36834634547934636, + 0.92738097123415, + -0.06546376069868683, + -205.55029049479825 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9293745340628428, + 0.024165171475743402, + -0.36834634547934636, + -471.5904183894665 + ], + [ + 0.36913815223500535, + -0.06084035162672623, + 0.92738097123415, + 34.60219749693982 + ], + [ + -0.0, + -0.9978549474254682, + -0.06546376069868683, + 3.7843258765089125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -47159.04183894665, + -3460.219749693982, + 378.43258765089126 + ], + "rotation_deg": [ + 0.0, + -3.7534813880920423, + -111.66247558593756 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.06572275124930411, + -0.9978379226949744, + 2.1684043282053713e-19, + 18.02625519006815 + ], + [ + -0.04326472934435756, + 0.0028496381826098355, + -0.999059579182837, + -18.07170422661388 + ], + [ + 0.9968995350923291, + -0.06566094471281082, + -0.04335847405202026, + 521.4440352987241 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.06572275124930411, + -0.04326472934435756, + 0.9968995350923291, + -519.4244486942378 + ], + [ + -0.9978379226949744, + 0.0028496381826098355, + -0.06566094471281082, + 52.27728655924452 + ], + [ + 2.1684043282053713e-19, + -0.999059579182837, + -0.04335847405202026, + 4.554308279160416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -51942.44486942378, + -5227.728655924452, + 455.4308279160416 + ], + "rotation_deg": [ + -1.2435736550176557e-17, + -2.4850366115570073, + 3.7683525085449245 + ] + } + } + ] + }, + { + "frame": 8, + "time": 1098.8598206825554, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.9135883537553714, + 0.40664028315275186, + -0.0, + -469.16754977678113 + ], + [ + 0.03410704077171954, + 0.07662741868197452, + -0.9964762658869168, + 15.617445425737184 + ], + [ + -0.4052074049236187, + -0.9103691050130512, + -0.08387521465130343, + -134.81810027257234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.9135883537553714, + 0.03410704077171954, + -0.4052074049236187, + -483.7879620279715 + ], + [ + 0.40664028315275186, + 0.07662741868197452, + -0.9103691050130512, + 66.85147317480319 + ], + [ + -0.0, + -0.9964762658869168, + -0.08387521465130343, + 4.254517292171616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48378.79620279715, + -6685.1473174803195, + 425.4517292171615 + ], + "rotation_deg": [ + 0.0, + -4.81134843826294, + 113.99395751953129 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.6962433204478922, + -0.7178058503047283, + -0.0, + 381.1634666893293 + ], + [ + -0.13032051054130805, + -0.12640574738033333, + -0.9833809798656227, + -51.54557083035665 + ], + [ + 0.7058766161569714, + 0.6846724427193437, + -0.18155398355175437, + 307.65855926137533 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.6962433204478922, + -0.13032051054130805, + 0.7058766161569714, + -489.26894847442037 + ], + [ + -0.7178058503047283, + -0.12640574738033333, + 0.6846724427193437, + 56.44037227371612 + ], + [ + -0.0, + -0.9833809798656227, + -0.18155398355175437, + 5.167703048161302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48926.89484744204, + -5644.037227371612, + 516.7703048161302 + ], + "rotation_deg": [ + 0.0, + -10.460288047790526, + -44.12637710571288 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9299312691943038, + 0.36773337430082575, + -0.0, + 425.76727763319883 + ], + [ + 0.024587145804615785, + -0.06217644984609823, + -0.9977622769706811, + 17.537718172635447 + ], + [ + -0.3669105028443982, + 0.9278503350104655, + -0.06686133952769513, + -204.81563245787558 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9299312691943038, + 0.024587145804615785, + -0.3669105028443982, + -471.5145087880774 + ], + [ + 0.36773337430082575, + -0.06217644984609823, + 0.9278503350104655, + 34.55984377754701 + ], + [ + -0.0, + -0.9977622769706811, + -0.06686133952769513, + 3.804226608237558 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -47151.450878807744, + -3455.984377754701, + 380.4226608237558 + ], + "rotation_deg": [ + 0.0, + -3.8337326049804696, + -111.57589721679689 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.06721438972759816, + -0.997738555841933, + -4.3368086564103915e-19, + 17.246267066378216 + ], + [ + -0.043139883401618166, + 0.0029061931292338273, + -0.9990648149652707, + -18.009788885418477 + ], + [ + 0.996805485626494, + -0.06715153235462841, + -0.04323766329665782, + 521.4725573746524 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.06721438972759816, + -0.043139883401618166, + 0.996805485626494, + -519.4244486942378 + ], + [ + -0.997738555841933, + 0.0029061931292338273, + -0.06715153235462841, + 52.27728655924452 + ], + [ + -4.3368086564103915e-19, + -0.9990648149652707, + -0.04323766329665782, + 4.554308279160416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -51942.44486942378, + -5227.728655924452, + 455.4308279160416 + ], + "rotation_deg": [ + 2.487134275683384e-17, + -2.4781081676483163, + 3.8540065288543697 + ] + } + } + ] + }, + { + "frame": 9, + "time": 1098.926487352699, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.9250122178068662, + 0.3799373591896727, + -6.938893850535097e-18, + -472.90914787973185 + ], + [ + 0.031832255167918, + 0.07750020954367436, + -0.996484031508589, + 14.45861721851702 + ], + [ + -0.37860152538408515, + -0.9217598981947294, + -0.08378290432353193, + -121.18539746324079 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.9250122178068662, + 0.031832255167918, + -0.37860152538408515, + -483.7879620279715 + ], + [ + 0.3799373591896727, + 0.07750020954367436, + -0.9217598981947294, + 66.85147317480319 + ], + [ + -6.938893850535097e-18, + -0.996484031508589, + -0.08378290432353193, + 4.254517292171616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48378.79620279715, + -6685.1473174803195, + 425.4517292171615 + ], + "rotation_deg": [ + 3.9897210856733405e-16, + -4.80604076385498, + 112.32980346679688 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.6726037706990072, + -0.7400028159686134, + -0.0, + 370.8501740467002 + ], + [ + -0.13418441684828078, + -0.12196297472607058, + -0.9834223787727503, + -53.6865980114484 + ], + [ + 0.7277353256088728, + 0.661453604138834, + -0.18132960440230092, + 319.6626674183477 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.6726037706990072, + -0.13418441684828078, + 0.7277353256088728, + -489.26894847442037 + ], + [ + -0.7400028159686134, + -0.12196297472607058, + 0.661453604138834, + 56.44037227371612 + ], + [ + -0.0, + -0.9834223787727503, + -0.18132960440230092, + 5.167703048161302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48926.89484744204, + -5644.037227371612, + 516.7703048161302 + ], + "rotation_deg": [ + 0.0, + -10.447215080261229, + -42.26834487915039 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9305013920064447, + 0.36628835563537715, + -1.3877787700814613e-17, + 426.0314873427214 + ], + [ + 0.025006001118449344, + -0.06352404735572363, + -0.9976669761576814, + 17.796742069334528 + ], + [ + -0.36543381014799275, + 0.9283305045317856, + -0.06826862204908807, + -204.0629301154048 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9305013920064447, + 0.025006001118449344, + -0.36543381014799275, + -471.43940623467154 + ], + [ + 0.36628835563537715, + -0.06352404735572363, + 0.9283305045317856, + 34.5179862007906 + ], + [ + -1.3877787700814613e-17, + -0.9976669761576814, + -0.06826862204908807, + 3.824127339966202 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -47143.940623467155, + -3451.79862007906, + 382.4127339966202 + ], + "rotation_deg": [ + 7.969980859314358e-16, + -3.914548635482787, + -111.48689270019533 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.06869789908255743, + -0.9976375086481273, + -2.1684043282050205e-19, + 16.47041356443917 + ], + [ + -0.04301556903597024, + 0.0029620771021492734, + -0.9990700110201249, + -17.948114762607553 + ], + [ + 0.9967097167082501, + -0.06863401132330671, + -0.043117433933761426, + 521.4997650733724 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.06869789908255743, + -0.04301556903597024, + 0.9967097167082501, + -519.4244486942378 + ], + [ + -0.9976375086481273, + 0.0029620771021492734, + -0.06863401132330671, + 52.27728655924452 + ], + [ + -2.1684043282050205e-19, + -0.9990700110201249, + -0.043117433933761426, + 4.554308279160416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -51942.44486942378, + -5227.728655924452, + 455.4308279160416 + ], + "rotation_deg": [ + 1.2435606701836777e-17, + -2.4712131023406996, + 3.9392023086547883 + ] + } + } + ] + }, + { + "frame": 10, + "time": 1098.9931540228426, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.9356557400519868, + 0.3529140633465446, + -0.0, + -476.2518086783465 + ], + [ + 0.02952954330295342, + 0.07828955987336568, + -0.9964932267141375, + 13.291862826998303 + ], + [ + -0.3516764876679783, + -0.9323746021854377, + -0.0836734678441198, + -107.45024533933994 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.9356557400519868, + 0.02952954330295342, + -0.3516764876679783, + -483.7879620279715 + ], + [ + 0.3529140633465446, + 0.07828955987336568, + -0.9323746021854377, + 66.85147317480319 + ], + [ + -0.0, + -0.9964932267141375, + -0.0836734678441198, + 4.254517292171616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48378.79620279715, + -6685.1473174803195, + 425.4517292171615 + ], + "rotation_deg": [ + 0.0, + -4.799748420715333, + 110.66565704345706 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.6482571582665789, + -0.761421471168327, + 6.9388938519577695e-18, + 360.14700945604596 + ], + [ + -0.1378665874327747, + -0.11737651954041592, + -0.9834711773764492, + -55.74677880282916 + ], + [ + 0.7488360670519928, + 0.6375422346088352, + -0.18106475021957308, + 331.33480290633383 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.6482571582665789, + -0.1378665874327747, + 0.7488360670519928, + -489.26894847442037 + ], + [ + -0.761421471168327, + -0.11737651954041592, + 0.6375422346088352, + 56.44037227371612 + ], + [ + 6.9388938519577695e-18, + -0.9834711773764492, + -0.18106475021957308, + 5.167703048161302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48926.89484744204, + -5644.037227371612, + 516.7703048161302 + ], + "rotation_deg": [ + -4.042511305178725e-16, + -10.431784629821776, + -40.410327911376946 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9310834059868981, + 0.3648063748015335, + -6.938893850417877e-18, + 426.3028732456965 + ], + [ + 0.025421694335130734, + -0.06488296088682237, + -0.9975690145767809, + 18.05452215786581 + ], + [ + -0.3639195497969924, + 0.9288199502832253, + -0.06968544490366253, + -203.29359137721684 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9310834059868981, + 0.025421694335130734, + -0.3639195497969924, + -471.3650148295925 + ], + [ + 0.3648063748015335, + -0.06488296088682237, + 0.9288199502832253, + 34.47656371615671 + ], + [ + -6.938893850417877e-18, + -0.9975690145767809, + -0.06968544490366253, + 3.8440280716948463 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -47136.50148295925, + -3447.656371615671, + 384.4028071694846 + ], + "rotation_deg": [ + 3.9853817569365096e-16, + -3.995920419692994, + -111.39566802978521 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.07017334902427837, + -0.9975348119673401, + 2.1684043282048474e-19, + 15.698660088074625 + ], + [ + -0.04289178801468847, + 0.0030172986190768036, + -0.9990751675574497, + -17.886683220473493 + ], + [ + 0.9966122593582275, + -0.0701084509756856, + -0.04299778597415344, + 521.5256781335944 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.07017334902427837, + -0.04289178801468847, + 0.9966122593582275, + -519.4244486942378 + ], + [ + -0.9975348119673401, + 0.0030172986190768036, + -0.0701084509756856, + 52.27728655924452 + ], + [ + 2.1684043282048474e-19, + -0.9990751675574497, + -0.04299778597415344, + 4.554308279160416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -51942.44486942378, + -5227.728655924452, + 455.4308279160416 + ], + "rotation_deg": [ + -1.2435542517806196e-17, + -2.4643514156341566, + 4.023943901062017 + ] + } + } + ] + }, + { + "frame": 11, + "time": 1099.0598206929862, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.9455099963685745, + 0.32559306928603143, + -0.0, + -479.1927305575043 + ], + [ + 0.027202182223890523, + 0.07899411149054046, + -0.9965038743688246, + 12.118858540750406 + ], + [ + -0.32445476887877117, + -0.9422043698030773, + -0.08354656471578643, + -93.6241109487596 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.9455099963685745, + 0.027202182223890523, + -0.32445476887877117, + -483.7879620279715 + ], + [ + 0.32559306928603143, + 0.07899411149054046, + -0.9422043698030773, + 66.85147317480319 + ], + [ + -0.0, + -0.9965038743688246, + -0.08354656471578643, + 4.254517292171616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48378.79620279715, + -6685.1473174803195, + 425.4517292171615 + ], + "rotation_deg": [ + 0.0, + -4.792451858520509, + 109.00151062011724 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.6232292052523299, + -0.7820392302950977, + -6.9388938519515565e-18, + 349.0652832028619 + ], + [ + -0.14136074785325162, + -0.11265438244730122, + -0.9835273911192236, + -57.72259167708988 + ], + [ + 0.7691570005310698, + 0.6129629981615644, + -0.1807591530706932, + 342.66288668163037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.6232292052523299, + -0.14136074785325162, + 0.7691570005310698, + -489.26894847442037 + ], + [ + -0.7820392302950977, + -0.11265438244730122, + 0.6129629981615644, + 56.44037227371612 + ], + [ + -6.9388938519515565e-18, + -0.9835273911192236, + -0.1807591530706932, + 5.167703048161302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48926.89484744204, + -5644.037227371612, + 516.7703048161302 + ], + "rotation_deg": [ + 4.042280254476646e-16, + -10.413981437683105, + -38.5523338317871 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9316759763872045, + 0.3632903453478352, + -0.0, + 426.58064277332574 + ], + [ + 0.025834182793643686, + -0.0662530336593128, + -0.9974683606663033, + 18.31102887360977 + ], + [ + -0.36237063919016294, + 0.9293173033496273, + -0.07111166956196315, + -202.5088681495947 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9316759763872045, + 0.025834182793643686, + -0.36237063919016294, + -471.29125017815966 + ], + [ + 0.3632903453478352, + -0.0662530336593128, + 0.9293173033496273, + 34.435522604322344 + ], + [ + -0.0, + -0.9974683606663033, + -0.07111166956196315, + 3.8639288034234913 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -47129.12501781597, + -3443.552260432234, + 386.39288034234914 + ], + "rotation_deg": [ + 0.0, + -4.0778403282165545, + -111.30240631103517 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.07164077612179746, + -0.9974304984291719, + -2.168404328204675e-19, + 14.930989348219953 + ], + [ + -0.04276853386717819, + 0.0030718641195164936, + -0.9990802851431326, + -17.825491232093572 + ], + [ + 0.9965131467271092, + -0.07157488758811496, + -0.04287871111383785, + 521.5503156332038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.07164077612179746, + -0.04276853386717819, + 0.9965131467271092, + -519.4244486942378 + ], + [ + -0.9974304984291719, + 0.0030718641195164936, + -0.07157488758811496, + 52.27728655924452 + ], + [ + -2.168404328204675e-19, + -0.9990802851431326, + -0.04287871111383785, + 4.554308279160416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -51942.44486942378, + -5227.728655924452, + 455.4308279160416 + ], + "rotation_deg": [ + 1.2435478819266365e-17, + -2.4575226306915297, + 4.108233451843264 + ] + } + } + ] + }, + { + "frame": 12, + "time": 1099.1264873631299, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.9545666345861002, + 0.29799755055195803, + -0.0, + -481.7294220231901 + ], + [ + 0.024853535759294484, + 0.07961258722889576, + -0.9965159997285455, + 10.94131722743997 + ], + [ + -0.2969593407932466, + -0.9512409198111215, + -0.08340181288516349, + -79.71866299888794 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.9545666345861002, + 0.024853535759294484, + -0.2969593407932466, + -483.7879620279715 + ], + [ + 0.29799755055195803, + 0.07961258722889576, + -0.9512409198111215, + 66.85147317480319 + ], + [ + -0.0, + -0.9965159997285455, + -0.08340181288516349, + 4.254517292171616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48378.79620279715, + -6685.1473174803195, + 425.4517292171615 + ], + "rotation_deg": [ + 0.0, + -4.78412914276123, + 107.3373718261719 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5975462530093064, + -0.8018344439561935, + -0.0, + 337.61666139346903 + ], + [ + -0.14466092520091037, + -0.10780478995659867, + -0.9835910450906058, + -59.610649838487106 + ], + [ + 0.7886771756014135, + 0.5877411472485856, + -0.18041246219785856, + 353.6352412718143 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5975462530093064, + -0.14466092520091037, + 0.7886771756014135, + -489.26894847442037 + ], + [ + -0.8018344439561935, + -0.10780478995659867, + 0.5877411472485856, + 56.44037227371612 + ], + [ + -0.0, + -0.9835910450906058, + -0.18041246219785856, + 5.167703048161302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48926.89484744204, + -5644.037227371612, + 516.7703048161302 + ], + "rotation_deg": [ + 0.0, + -10.393785476684572, + -36.69436264038087 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9322778802235954, + 0.36174293917891415, + -0.0, + 426.8640719126084 + ], + [ + 0.026243424751102834, + -0.06763411734393214, + -0.9973649827562828, + 18.566233693363316 + ], + [ + -0.3607897542616541, + 0.9298213064706892, + -0.07254716571276852, + -201.70991168689312 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9322778802235954, + 0.026243424751102834, + -0.3607897542616541, + -471.21803801019155 + ], + [ + 0.36174293917891415, + -0.06763411734393214, + 0.9298213064706892, + 34.394815597218525 + ], + [ + -0.0, + -0.9973649827562828, + -0.07254716571276852, + 3.8838295351521355 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -47121.80380101915, + -3439.481559721852, + 388.38295351521356 + ], + "rotation_deg": [ + 0.0, + -4.1603012084960955, + -111.20727539062506 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.07310025436913045, + -0.9973245975163594, + -0.0, + 14.167364451851803 + ], + [ + -0.042645812409102694, + 0.0031257824610432224, + -0.9990853638043018, + -17.76454228119194 + ], + [ + 0.9964124082850879, + -0.07303339479426763, + -0.04276021352070562, + 521.5736967480899 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.07310025436913045, + -0.042645812409102694, + 0.9964124082850879, + -519.4244486942378 + ], + [ + -0.9973245975163594, + 0.0031257824610432224, + -0.07303339479426763, + 52.27728655924452 + ], + [ + -0.0, + -0.9990853638043018, + -0.04276021352070562, + 4.554308279160416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -51942.44486942378, + -5227.728655924452, + 455.4308279160416 + ], + "rotation_deg": [ + 0.0, + -2.450726985931398, + 4.192075252532962 + ] + } + } + ] + }, + { + "frame": 13, + "time": 1099.1931540332735, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.9628180261306717, + 0.2701507885567567, + -0.0, + -483.85974885990584 + ], + [ + 0.022487030963116855, + 0.08014382960388348, + -0.9965296282674627, + 9.760974342441454 + ], + [ + -0.26921327859013455, + -0.9594766857712294, + -0.08323881361605523, + -65.74557250739595 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.9628180261306717, + 0.022487030963116855, + -0.26921327859013455, + -483.7879620279715 + ], + [ + 0.2701507885567567, + 0.08014382960388348, + -0.9594766857712294, + 66.85147317480319 + ], + [ + -0.0, + -0.9965296282674627, + -0.08323881361605523, + 4.254517292171616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48378.79620279715, + -6685.1473174803195, + 425.4517292171615 + ], + "rotation_deg": [ + 0.0, + -4.774757385253908, + 105.67324066162116 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5712354392595801, + -0.8207862528904308, + -6.938893851936661e-18, + 325.8132443681428 + ], + [ + -0.14776149070407685, + -0.10283627406130716, + -0.98366215877307, + -61.40771765428193 + ], + [ + 0.8073763745557835, + 0.5619026890082051, + -0.1800243258410033, + 364.24050511016446 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5712354392595801, + -0.14776149070407685, + 0.8073763745557835, + -489.26894847442037 + ], + [ + -0.8207862528904308, + -0.10283627406130716, + 0.5619026890082051, + 56.44037227371612 + ], + [ + -6.938893851936661e-18, + -0.98366215877307, + -0.1800243258410033, + 5.167703048161302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48926.89484744204, + -5644.037227371612, + 516.7703048161302 + ], + "rotation_deg": [ + 4.041726437670987e-16, + -10.371176719665524, + -34.836421966552734 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.932888149088346, + 0.36016621342169197, + -0.0, + 427.15258440385236 + ], + [ + 0.02664935775286147, + -0.06902610267707801, + -0.9972588474817226, + 18.820099963614926 + ], + [ + -0.35917895685899276, + 0.9303309549539855, + -0.07399183200928913, + -200.8976006713898 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.932888149088346, + 0.02664935775286147, + -0.35917895685899276, + -471.14531296518237 + ], + [ + 0.36016621342169197, + -0.06902610267707801, + 0.9303309549539855, + 34.354401103690385 + ], + [ + -0.0, + -0.9972588474817226, + -0.07399183200928913, + 3.9037302668807796 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -47114.53129651824, + -3435.440110369039, + 390.37302668807797 + ], + "rotation_deg": [ + 0.0, + -4.243297576904297, + -111.11040496826173 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.07455184121825724, + -0.9972171393287259, + -0.0, + 13.407757130544262 + ], + [ + -0.042523612877834675, + 0.0031790605177815035, + -0.9990904042788323, + -17.703831133396893 + ], + [ + 0.9963100748286118, + -0.07448402975733878, + -0.04264228073302374, + 521.5958404062628 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.07455184121825724, + -0.042523612877834675, + 0.9963100748286118, + -519.4244486942378 + ], + [ + -0.9972171393287259, + 0.0031790605177815035, + -0.07448402975733878, + 52.27728655924452 + ], + [ + -0.0, + -0.9990904042788323, + -0.04264228073302374, + 4.554308279160416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -51942.44486942378, + -5227.728655924452, + 455.4308279160416 + ], + "rotation_deg": [ + 0.0, + -2.4439637660980233, + 4.275472640991213 + ] + } + } + ] + }, + { + "frame": 14, + "time": 1099.259820703417, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.9702572218465847, + 0.24207627610847673, + -6.938893850528527e-18, + -485.58191967860273 + ], + [ + 0.020106159756769066, + 0.08058677628891052, + -0.9965447876674665, + 8.579590371168882 + ], + [ + -0.24123986475750897, + -0.9669047736837096, + -0.0830571266023187, + -51.71656600906542 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.9702572218465847, + 0.020106159756769066, + -0.24123986475750897, + -483.7879620279715 + ], + [ + 0.24207627610847673, + 0.08058677628891052, + -0.9669047736837096, + 66.85147317480319 + ], + [ + -6.938893850528527e-18, + -0.9965447876674665, + -0.0830571266023187, + 4.254517292171616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48378.79620279715, + -6685.1473174803195, + 425.4517292171615 + ], + "rotation_deg": [ + 3.989477845093568e-16, + -4.764311313629151, + 104.00911712646489 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.54432445825401, + -0.8388747726249005, + -0.0, + 313.6674597768263 + ], + [ + -0.1506571617382984, + -0.09775759221925591, + -0.9837407548640311, + -63.11071610888964 + ], + [ + 0.8252352994601653, + 0.5354741569964736, + -0.1795943420985405, + 374.46773667610836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.54432445825401, + -0.1506571617382984, + 0.8252352994601653, + -489.26894847442037 + ], + [ + -0.8388747726249005, + -0.09775759221925591, + 0.5354741569964736, + 56.44037227371612 + ], + [ + -0.0, + -0.9837407548640311, + -0.1795943420985405, + 5.167703048161302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48926.89484744204, + -5644.037227371612, + 516.7703048161302 + ], + "rotation_deg": [ + 0.0, + -10.346132278442385, + -32.97851181030273 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9335057304667818, + 0.3585624787755687, + -0.0, + 427.44556146806167 + ], + [ + 0.02705194484703488, + -0.07042885697693102, + -0.9971499227222131, + 19.072602515301426 + ], + [ + -0.3575405619571599, + 0.9308451615882507, + -0.07544555456156084, + -200.07293752236757 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9335057304667818, + 0.02705194484703488, + -0.3575405619571599, + -471.0730175232553 + ], + [ + 0.3585624787755687, + -0.07042885697693102, + 0.9308451615882507, + 34.314242528084094 + ], + [ + -0.0, + -0.9971499227222131, + -0.07544555456156084, + 3.923630998609425 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -47107.30175232553, + -3431.4242528084096, + 392.3630998609425 + ], + "rotation_deg": [ + 0.0, + -4.326823234558107, + -111.01194000244145 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.07599557758567911, + -0.9971081547091162, + -6.505212984612497e-19, + 12.652147743646445 + ], + [ + -0.04240194110941943, + 0.003231705597979321, + -0.9990954065899218, + -17.643361202042776 + ], + [ + 0.9962061771845191, + -0.07592683307295736, + -0.04252491691841804, + 521.616764761146 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.07599557758567911, + -0.04240194110941943, + 0.9962061771845191, + -519.4244486942378 + ], + [ + -0.9971081547091162, + 0.003231705597979321, + -0.07592683307295736, + 52.27728655924452 + ], + [ + -6.505212984612497e-19, + -0.9990954065899218, + -0.04252491691841804, + 4.554308279160416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -51942.44486942378, + -5227.728655924452, + 455.4308279160416 + ], + "rotation_deg": [ + 3.730587181972868e-17, + -2.4372332096099854, + 4.358428001403809 + ] + } + } + ] + }, + { + "frame": 15, + "time": 1099.3264873735607, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.9768779863051109, + 0.2137975675083134, + -0.0, + -486.89449249365845 + ], + [ + 0.01771447237954781, + 0.08094048172890124, + -0.9965615063235221, + 7.398946209212954 + ], + [ + -0.2130624393835918, + -0.9735189945263548, + -0.08285628654669754, + -37.64335088247805 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.9768779863051109, + 0.01771447237954781, + -0.2130624393835918, + -483.7879620279715 + ], + [ + 0.2137975675083134, + 0.08094048172890124, + -0.9735189945263548, + 66.85147317480319 + ], + [ + -0.0, + -0.9965615063235221, + -0.08285628654669754, + 4.254517292171616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48378.79620279715, + -6685.1473174803195, + 425.4517292171615 + ], + "rotation_deg": [ + 0.0, + -4.752764225006104, + 102.34499359130865 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5168416899659495, + -0.8560809935474221, + -0.0, + 301.19212014965177 + ], + [ + -0.15334297494719124, + -0.0925777384540454, + -0.9838268619920272, + -64.71670901216741 + ], + [ + 0.8422354751394124, + 0.5084827414004074, + -0.1791220425146348, + 384.3063595950112 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5168416899659495, + -0.15334297494719124, + 0.8422354751394124, + -489.26894847442037 + ], + [ + -0.8560809935474221, + -0.0925777384540454, + 0.5084827414004074, + 56.44037227371612 + ], + [ + -0.0, + -0.9838268619920272, + -0.1791220425146348, + 5.167703048161302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48926.89484744204, + -5644.037227371612, + 516.7703048161302 + ], + "rotation_deg": [ + 0.0, + -10.31862545013428, + -31.120635986328132 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9341299182972661, + 0.3569331810604652, + 6.938893850475204e-18, + 427.74258238969026 + ], + [ + 0.027451112955044682, + -0.07184231464746044, + -0.9970381729019328, + 19.32370169446207 + ], + [ + -0.3558760206422588, + 0.9313631816128435, + -0.07690826917719522, + -199.23653560477106 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9341299182972661, + 0.027451112955044682, + -0.3558760206422588, + -471.0011010643957 + ], + [ + 0.3569331810604652, + -0.07184231464746044, + 0.9313631816128435, + 34.27430767061044 + ], + [ + 6.938893850475204e-18, + -0.9970381729019328, + -0.07690826917719522, + 3.9435317303380693 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -47100.11010643957, + -3427.4307670610438, + 394.3531730338069 + ], + "rotation_deg": [ + -3.9875036483716684e-16, + -4.410874843597414, + -110.91197204589847 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.07743152934636291, + -0.9969976721452678, + -0.0, + 11.900503563351641 + ], + [ + -0.042280790383601136, + 0.0032837250806521546, + -0.9991003712911596, + -17.583129379698107 + ], + [ + 0.996100744356416, + -0.07736187031658731, + -0.042408113772172004, + 521.6364882682068 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.07743152934636291, + -0.042280790383601136, + 0.996100744356416, + -519.4244486942378 + ], + [ + -0.9969976721452678, + 0.0032837250806521546, + -0.07736187031658731, + 52.27728655924452 + ], + [ + -0.0, + -0.9991003712911596, + -0.042408113772172004, + 4.554308279160416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -51942.44486942378, + -5227.728655924452, + 455.4308279160416 + ], + "rotation_deg": [ + 0.0, + -2.430534839630128, + 4.440945148468021 + ] + } + } + ] + }, + { + "frame": 16, + "time": 1099.3931540437043, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.9826746854011278, + 0.18533877811131313, + 6.9388938505247405e-18, + -487.7963537398489 + ], + [ + 0.01531561405464882, + 0.08120408678769882, + -0.9965798152958469, + 6.220862938338648 + ], + [ + -0.18470489857794953, + -0.9793137539067145, + -0.08263577827096687, + -23.537863962992944 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.9826746854011278, + 0.01531561405464882, + -0.18470489857794953, + -483.7879620279715 + ], + [ + 0.18533877811131313, + 0.08120408678769882, + -0.9793137539067145, + 66.85147317480319 + ], + [ + 6.9388938505247405e-18, + -0.9965798152958469, + -0.08263577827096687, + 4.254517292171616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48378.79620279715, + -6685.1473174803195, + 425.4517292171615 + ], + "rotation_deg": [ + -3.9893376235604656e-16, + -4.740086555480959, + 100.68088531494145 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.48881611758730836, + -0.8723868426259479, + -0.0, + 288.40038601379126 + ], + [ + -0.15581432998956363, + -0.08730594287816783, + -0.9839205084294449, + -66.22292446292929 + ], + [ + 0.8583593036241244, + 0.48095620621951074, + -0.17860692478412982, + 393.7461941206574 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.48881611758730836, + -0.15581432998956363, + 0.8583593036241244, + -489.26894847442037 + ], + [ + -0.8723868426259479, + -0.08730594287816783, + 0.48095620621951074, + 56.44037227371612 + ], + [ + -0.0, + -0.9839205084294449, + -0.17860692478412982, + 5.167703048161302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48926.89484744204, + -5644.037227371612, + 516.7703048161302 + ], + "rotation_deg": [ + 0.0, + -10.28862762451172, + -29.26279830932617 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9347599201433224, + 0.355280018708693, + 6.938893850487585e-18, + 428.0431815810338 + ], + [ + 0.02784680738475206, + -0.0732663760315784, + -0.9969235645031546, + 19.573365573263715 + ], + [ + -0.35418703659196293, + 0.9318841861931645, + -0.0783798866630139, + -198.38913013191143 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9347599201433224, + 0.02784680738475206, + -0.35418703659196293, + -470.9295190405712 + ], + [ + 0.355280018708693, + -0.0732663760315784, + 0.9318841861931645, + 34.23456819967274 + ], + [ + 6.938893850487585e-18, + -0.9969235645031546, + -0.0783798866630139, + 3.9634324620667134 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -47092.951904057125, + -3423.4568199672735, + 396.3432462066713 + ], + "rotation_deg": [ + -3.987962060061018e-16, + -4.495447635650636, + -110.81060791015626 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.07885975413200248, + -0.9968857202198453, + -0.0, + 11.152796148573188 + ], + [ + -0.04216016225818802, + 0.003335126547015666, + -0.9991052985793233, + -17.523136870955753 + ], + [ + 0.9959938050877161, + -0.07878919880591512, + -0.04229187130424898, + 521.6550288539353 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.07885975413200248, + -0.04216016225818802, + 0.9959938050877161, + -519.4244486942378 + ], + [ + -0.9968857202198453, + 0.003335126547015666, + -0.07878919880591512, + 52.27728655924452 + ], + [ + -0.0, + -0.9991052985793233, + -0.04229187130424898, + 4.554308279160416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -51942.44486942378, + -5227.728655924452, + 455.4308279160416 + ], + "rotation_deg": [ + 0.0, + -2.423868656158448, + 4.523027420043948 + ] + } + } + ] + }, + { + "frame": 17, + "time": 1099.4598207138479, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.9876424731931107, + 0.1567237861493755, + -6.938893850522586e-18, + -488.2867553039791 + ], + [ + 0.012913263312364351, + 0.08137684539257924, + -0.9965997474736673, + 5.047170203207788 + ], + [ + -0.15619089886797602, + -0.9842842372355918, + -0.08239504499885188, + -9.411874224981466 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.9876424731931107, + 0.012913263312364351, + -0.15619089886797602, + -483.7879620279715 + ], + [ + 0.1567237861493755, + 0.08137684539257924, + -0.9842842372355918, + 66.85147317480319 + ], + [ + -6.938893850522586e-18, + -0.9965997474736673, + -0.08239504499885188, + 4.254517292171616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48378.79620279715, + -6685.1473174803195, + 425.4517292171615 + ], + "rotation_deg": [ + 3.9892578360747327e-16, + -4.726246356964112, + 99.01678466796875 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.4602772964431114, + -0.8877752026155157, + -0.0, + 275.3057517683636 + ], + [ + -0.15806698543142395, + -0.08195165228420738, + -0.9840217247624721, + -67.62675392067554 + ], + [ + 0.8735900841817487, + 0.4529228622381005, + -0.17804843633509296, + 402.7774683764583 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.4602772964431114, + -0.15806698543142395, + 0.8735900841817487, + -489.26894847442037 + ], + [ + -0.8877752026155157, + -0.08195165228420738, + 0.4529228622381005, + 56.44037227371612 + ], + [ + -0.0, + -0.9840217247624721, + -0.17804843633509296, + 5.167703048161302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48926.89484744204, + -5644.037227371612, + 516.7703048161302 + ], + "rotation_deg": [ + 0.0, + -10.25610733032227, + -27.405002593994144 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9353950952434125, + 0.35360432095007976, + 6.938893850500283e-18, + 428.3469815314157 + ], + [ + 0.0282389620027042, + -0.074700972208492, + -0.9968060622689429, + 19.821558088677904 + ], + [ + -0.35247494470601076, + 0.9324074962332796, + -0.07986034261434824, + -197.5312925982339 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9353950952434125, + 0.0282389620027042, + -0.35247494470601076, + -470.8582322471936 + ], + [ + 0.35360432095007976, + -0.074700972208492, + 0.9324074962332796, + 34.19499918752367 + ], + [ + 6.938893850500283e-18, + -0.9968060622689429, + -0.07986034261434824, + 3.9833331937953584 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -47085.82322471936, + -3419.4999187523667, + 398.33331937953585 + ], + "rotation_deg": [ + -3.9884321559773864e-16, + -4.580538272857668, + -110.70793151855472 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.0802803013334894, + -0.9967723276745817, + -6.505212984611007e-19, + 10.409001347014268 + ], + [ + -0.04204005413527455, + 0.0033859168441500794, + -0.999110188825751, + -17.463382682655652 + ], + [ + 0.9958853884555617, + -0.08020886764317332, + -0.04217618536703991, + 521.6724041697521 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.0802803013334894, + -0.04204005413527455, + 0.9958853884555617, + -519.4244486942378 + ], + [ + -0.9967723276745817, + 0.0033859168441500794, + -0.08020886764317332, + 52.27728655924452 + ], + [ + -6.505212984611007e-19, + -0.999110188825751, + -0.04217618536703991, + 4.554308279160416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -51942.44486942378, + -5227.728655924452, + 455.4308279160416 + ], + "rotation_deg": [ + 3.7305319864389055e-17, + -2.417234420776368, + 4.604677677154542 + ] + } + } + ] + }, + { + "frame": 18, + "time": 1099.5264873839915, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.9904593218018778, + 0.137805413013292, + -0.0, + -488.384791637538 + ], + [ + 0.01176848174698618, + 0.08458450357558461, + -0.9963468093953243, + 4.27782585832301 + ], + [ + -0.13730199663005715, + -0.9868409832394116, + -0.08539927119402604, + -0.0899469371669972 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.9904593218018778, + 0.01176848174698618, + -0.13730199663005715, + -483.7879620279715 + ], + [ + 0.137805413013292, + 0.08458450357558461, + -0.9868409832394116, + 66.85147317480319 + ], + [ + -0.0, + -0.9963468093953243, + -0.08539927119402604, + 4.254517292171616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48378.79620279715, + -6685.1473174803195, + 425.4517292171615 + ], + "rotation_deg": [ + 0.0, + -4.898984909057616, + 97.92087554931642 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.431255352326314, + -0.9022299158695117, + -6.938893851884926e-18, + 261.9220450848202 + ], + [ + -0.16009706521791173, + -0.07652452556998225, + -0.9841305435230128, + -68.92575563221655 + ], + [ + 0.8879120158002417, + 0.4244115672431854, + -0.1774459742787486, + 411.3908195580747 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.431255352326314, + -0.16009706521791173, + 0.8879120158002417, + -489.26894847442037 + ], + [ + -0.9022299158695117, + -0.07652452556998225, + 0.4244115672431854, + 56.44037227371612 + ], + [ + -6.938893851884926e-18, + -0.9841305435230128, + -0.1774459742787486, + 5.167703048161302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48926.89484744204, + -5644.037227371612, + 516.7703048161302 + ], + "rotation_deg": [ + 4.039802827974136e-16, + -10.221030235290522, + -25.547254562377915 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9360348578288284, + 0.35190729593085274, + -0.0, + 428.6536382643468 + ], + [ + 0.028627516625046246, + -0.07614605824876923, + -0.996685629025049, + 20.068246980365956 + ], + [ + -0.3507409585360034, + 0.9329324857716141, + -0.08134959740061802, + -196.66354343571948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9360348578288284, + 0.028627516625046246, + -0.3507409585360034, + -470.7872061819987 + ], + [ + 0.35190729593085274, + -0.07614605824876923, + 0.9329324857716141, + 34.15557870165185 + ], + [ + -0.0, + -0.996685629025049, + -0.08134959740061802, + 4.003233925524003 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -47078.72061819987, + -3415.557870165185, + 400.32339255240026 + ], + "rotation_deg": [ + 0.0, + -4.666144847869874, + -110.60401916503908 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.0816932286927281, + -0.9966575221136684, + -0.0, + 9.669090609190249 + ], + [ + -0.04192045920905953, + 0.0034361027585555143, + -0.9991150425739442, + -17.403863632002817 + ], + [ + 0.9957755225728676, + -0.08162093429307353, + -0.04206104765526281, + 521.688631784467 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.0816932286927281, + -0.04192045920905953, + 0.9957755225728676, + -519.4244486942378 + ], + [ + -0.9966575221136684, + 0.0034361027585555143, + -0.08162093429307353, + 52.27728655924452 + ], + [ + -0.0, + -0.9991150425739442, + -0.04206104765526281, + 4.554308279160416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -51942.44486942378, + -5227.728655924452, + 455.4308279160416 + ], + "rotation_deg": [ + 0.0, + -2.41063165664673, + 4.685899257659916 + ] + } + } + ] + }, + { + "frame": 19, + "time": 1099.593154054135, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.9929138212891776, + 0.11883662521681843, + -6.9388938505782806e-18, + -488.304157533763 + ], + [ + 0.010505480962077676, + 0.08777628300623422, + -0.9960848151695539, + 3.452311466600447 + ], + [ + -0.11837137080430918, + -0.9890263785483748, + -0.08840272116510361, + 9.227337076697323 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.9929138212891776, + 0.010505480962077676, + -0.11837137080430918, + -483.7879620279715 + ], + [ + 0.11883662521681843, + 0.08777628300623422, + -0.9890263785483748, + 66.85147317480319 + ], + [ + -6.9388938505782806e-18, + -0.9960848151695539, + -0.08840272116510361, + 4.254517292171616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48378.79620279715, + -6685.1473174803195, + 425.4517292171615 + ], + "rotation_deg": [ + 3.99132010801168e-16, + -5.071723461151123, + 96.82496643066409 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.4017808600131903, + -0.9157358464792459, + -0.0, + 248.2633709754771 + ], + [ + -0.1619010606943623, + -0.07103440108075192, + -0.9842470017272794, + -70.11765745061618 + ], + [ + 0.9013102597819272, + 0.3954516096083245, + -0.17679886897268357, + 419.57733104427774 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.4017808600131903, + -0.1619010606943623, + 0.9013102597819272, + -489.26894847442037 + ], + [ + -0.9157358464792459, + -0.07103440108075192, + 0.3954516096083245, + 56.44037227371612 + ], + [ + -0.0, + -0.9842470017272794, + -0.17679886897268357, + 5.167703048161302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48926.89484744204, + -5644.037227371612, + 516.7703048161302 + ], + "rotation_deg": [ + 0.0, + -10.183358192443848, + -23.689556121826172 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9366787695585646, + 0.3501897809163675, + -0.0, + 428.96289295411384 + ], + [ + 0.029012380806566502, + -0.07760158244694536, + -0.9965622289459221, + 20.313385687115137 + ], + [ + -0.34898592255078165, + 0.9334586771341035, + -0.08284759468101155, + -195.78623828935568 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9366787695585646, + 0.029012380806566502, + -0.34898592255078165, + -470.71641048085553 + ], + [ + 0.3501897809163675, + -0.07760158244694536, + 0.9334586771341035, + 34.11628744521058 + ], + [ + -0.0, + -0.9965622289459221, + -0.08284759468101155, + 4.023134657252647 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -47071.641048085556, + -3411.6287445210583, + 402.3134657252647 + ], + "rotation_deg": [ + 0.0, + -4.7522644996643075, + -110.49892425537112 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.08309859400227934, + -0.996541330640553, + -2.1684043282033437e-19, + 8.933035333126796 + ], + [ + -0.041801387211481494, + 0.0034856923619878384, + -0.9991198596644716, + -17.344585196699647 + ], + [ + 0.9956642343523427, + -0.08302545621840046, + -0.041946466493498466, + 521.7037287191101 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.08309859400227934, + -0.041801387211481494, + 0.9956642343523427, + -519.4244486942378 + ], + [ + -0.996541330640553, + 0.0034856923619878384, + -0.08302545621840046, + 52.27728655924452 + ], + [ + -2.1684043282033437e-19, + -0.9991198596644716, + -0.041946466493498466, + 4.554308279160416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -51942.44486942378, + -5227.728655924452, + 455.4308279160416 + ], + "rotation_deg": [ + 1.2434986257613466e-17, + -2.404060840606691, + 4.76669549942017 + ] + } + } + ] + }, + { + "frame": 20, + "time": 1099.6598207242787, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.9950050737021987, + 0.09982436229138397, + 6.9388938506076156e-18, + -488.0448824917926 + ], + [ + 0.009124482461460054, + 0.09094880383566552, + -0.9958137671777146, + 2.570960146929444 + ], + [ + -0.09940648708700033, + -0.9908397494532678, + -0.09140536761266836, + 18.536320848029494 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.9950050737021987, + 0.009124482461460054, + -0.09940648708700033, + -483.7879620279715 + ], + [ + 0.09982436229138397, + 0.09094880383566552, + -0.9908397494532678, + 66.85147317480319 + ], + [ + 6.9388938506076156e-18, + -0.9958137671777146, + -0.09140536761266836, + 4.254517292171616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48378.79620279715, + -6685.1473174803195, + 425.4517292171615 + ], + "rotation_deg": [ + -3.9924064951982504e-16, + -5.244462013244627, + 95.72905731201173 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.37188492955187424, + -0.9282788369731355, + -6.938893851858367e-18, + 234.34415156790544 + ], + [ + -0.16347582802558108, + -0.06549130968768054, + -0.9843711403768106, + -71.20035483694805 + ], + [ + 0.9137708960342004, + 0.3660727947992644, + -0.17610638395217368, + 427.3285061285822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.37188492955187424, + -0.16347582802558108, + 0.9137708960342004, + -489.26894847442037 + ], + [ + -0.9282788369731355, + -0.06549130968768054, + 0.3660727947992644, + 56.44037227371612 + ], + [ + -6.938893851858367e-18, + -0.9843711403768106, + -0.17610638395217368, + 5.167703048161302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48926.89484744204, + -5644.037227371612, + 516.7703048161302 + ], + "rotation_deg": [ + 4.0388154322392107e-16, + -10.143049240112303, + -21.83191299438476 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9373263043268818, + 0.34845286512943185, + -0.0, + 429.27443955625876 + ], + [ + 0.029393498296612048, + -0.07906750635948427, + -0.9964358241733282, + 20.556944350395092 + ], + [ + -0.34721093177135487, + 0.9339855033374279, + -0.08435430287779419, + -194.89985099577623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9373263043268818, + 0.029393498296612048, + -0.34721093177135487, + -470.6458184212741 + ], + [ + 0.34845286512943185, + -0.07906750635948427, + 0.9339855033374279, + 34.07710844060387 + ], + [ + -0.0, + -0.9964358241733282, + -0.08435430287779419, + 4.043035388981292 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -47064.58184212741, + -3407.710844060387, + 404.3035388981292 + ], + "rotation_deg": [ + 0.0, + -4.838895797729493, + -110.39271545410162 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.08449643851812531, + -0.996423781268669, + -0.0, + 8.2008155539244 + ], + [ + -0.04168282303562747, + 0.003534690921775714, + -0.9991246409852319, + -17.285539801164077 + ], + [ + 0.9955515526603711, + -0.08442247445021356, + -0.04183242526112527, + 521.717712036884 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.08449643851812531, + -0.04168282303562747, + 0.9955515526603711, + -519.4244486942378 + ], + [ + -0.996423781268669, + 0.003534690921775714, + -0.08442247445021356, + 52.27728655924452 + ], + [ + -0.0, + -0.9991246409852319, + -0.04183242526112527, + 4.554308279160416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -51942.44486942378, + -5227.728655924452, + 455.4308279160416 + ], + "rotation_deg": [ + 0.0, + -2.3975210189819345, + 4.847068786621096 + ] + } + } + ] + }, + { + "frame": 21, + "time": 1099.7264873944223, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.9967323139782496, + 0.08077557967333779, + 6.9388938506379475e-18, + -487.6070613646729 + ], + [ + 0.007625794893014135, + 0.09409868948481694, + -0.995533667883457, + 1.6341469592054492 + ], + [ + -0.08041482179762406, + -0.992280575334958, + -0.09440718324460783, + 27.833352503187562 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.9967323139782496, + 0.007625794893014135, + -0.08041482179762406, + -483.7879620279715 + ], + [ + 0.08077557967333779, + 0.09409868948481694, + -0.992280575334958, + 66.85147317480319 + ], + [ + 6.9388938506379475e-18, + -0.995533667883457, + -0.09440718324460783, + 4.254517292171616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48378.79620279715, + -6685.1473174803195, + 425.4517292171615 + ], + "rotation_deg": [ + -3.9935297824311676e-16, + -5.417200565338137, + 94.63314819335942 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.34159911452882896, + -0.9398457559371749, + -0.0, + 220.17908391027953 + ], + [ + -0.16481858681069872, + -0.05990545039625755, + -0.9845030068285955, + -72.17191154700902 + ], + [ + 0.9252809715419797, + 0.3363053578005569, + -0.17536769946877248, + 434.63629659291956 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.34159911452882896, + -0.16481858681069872, + 0.9252809715419797, + -489.26894847442037 + ], + [ + -0.9398457559371749, + -0.05990545039625755, + 0.3363053578005569, + 56.44037227371612 + ], + [ + -0.0, + -0.9845030068285955, + -0.17536769946877248, + 5.167703048161302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48926.89484744204, + -5644.037227371612, + 516.7703048161302 + ], + "rotation_deg": [ + 0.0, + -10.100056648254391, + -19.974330902099602 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9379770816130509, + 0.34669726616843116, + -0.0, + 429.58805563377337 + ], + [ + 0.02977078376379161, + -0.08054379309275651, + -0.9963063774905391, + 20.79887962336 + ], + [ + -0.34541671125640944, + 0.9345125431470523, + -0.08586968199332551, + -194.00468921655116 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9379770816130509, + 0.02977078376379161, + -0.34541671125640944, + -470.575406485485 + ], + [ + 0.34669726616843116, + -0.08054379309275651, + 0.9345125431470523, + 34.03802675105029 + ], + [ + -0.0, + -0.9963063774905391, + -0.08586968199332551, + 4.062936120709936 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -47057.5406485485, + -3403.802675105029, + 406.2936120709936 + ], + "rotation_deg": [ + 0.0, + -4.926036834716797, + -110.28543853759767 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.08588682842573091, + -0.9963048994675118, + 2.1684043282030223e-19, + 7.47239822471056 + ], + [ + -0.04156477631184024, + 0.0035831067513136484, + -0.9991293863740348, + -17.226732882971984 + ], + [ + 0.9954375027758212, + -0.0858120548445466, + -0.04171893228252131, + 521.7305983489376 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.08588682842573091, + -0.04156477631184024, + 0.9954375027758212, + -519.4244486942378 + ], + [ + -0.9963048994675118, + 0.0035831067513136484, + -0.0858120548445466, + 52.27728655924452 + ], + [ + 2.1684043282030223e-19, + -0.9991293863740348, + -0.04171893228252131, + 4.554308279160416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -51942.44486942378, + -5227.728655924452, + 455.4308279160416 + ], + "rotation_deg": [ + -1.2434867689882446e-17, + -2.39101266860962, + 4.927022933959963 + ] + } + } + ] + }, + { + "frame": 22, + "time": 1099.793154064566, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.9980949102246487, + 0.06169724615937164, + -6.9388938506692715e-18, + -486.9908543246564 + ], + [ + 0.00600981399299944, + 0.09722256877260108, + -0.9952445198327021, + 0.6422887351206534 + ], + [ + -0.06140385868642317, + -0.993348488823993, + -0.09740814077636073, + 37.11478681862155 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.9980949102246487, + 0.00600981399299944, + -0.06140385868642317, + -483.7879620279715 + ], + [ + 0.06169724615937164, + 0.09722256877260108, + -0.993348488823993, + 66.85147317480319 + ], + [ + -6.9388938506692715e-18, + -0.9952445198327021, + -0.09740814077636073, + 4.254517292171616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48378.79620279715, + -6685.1473174803195, + 425.4517292171615 + ], + "rotation_deg": [ + 3.9946900212942395e-16, + -5.58993911743164, + 93.53723907470705 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.31095534629966315, + -0.9504245223097185, + -0.0, + 205.78310916376478 + ], + [ + -0.1659269605761901, + -0.05428718880383223, + -0.9846426483175125, + -73.03057956382732 + ], + [ + 0.9358285176974438, + 0.30617989790739997, + -0.17458194517652548, + 441.4931150358244 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.31095534629966315, + -0.1659269605761901, + 0.9358285176974438, + -489.26894847442037 + ], + [ + -0.9504245223097185, + -0.05428718880383223, + 0.30617989790739997, + 56.44037227371612 + ], + [ + -0.0, + -0.9846426483175125, + -0.17458194517652548, + 5.167703048161302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48926.89484744204, + -5644.037227371612, + 516.7703048161302 + ], + "rotation_deg": [ + 0.0, + -10.05433082580566, + -18.116813659667965 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9386307253752436, + 0.3449237037107539, + -6.938893850568647e-18, + 429.9035228827309 + ], + [ + 0.030144161379157174, + -0.08203041935579378, + -0.9961738502064083, + 21.039153224117992 + ], + [ + -0.3436039878608216, + 0.9350393784451937, + -0.08739370848617262, + -193.1010641256917 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9386307253752436, + 0.030144161379157174, + -0.3436039878608216, + -470.50515397594626 + ], + [ + 0.3449237037107539, + -0.08203041935579378, + 0.9350393784451937, + 33.999029235567804 + ], + [ + -6.938893850568647e-18, + -0.9961738502064083, + -0.08739370848617262, + 4.0828368524385805 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -47050.51539759462, + -3399.9029235567805, + 408.28368524385803 + ], + "rotation_deg": [ + 3.9909633757622234e-16, + -5.013686656951906, + -110.17713928222662 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.08726981337020283, + -0.9961847116244705, + 2.1684043282028644e-19, + 6.7477589380641945 + ], + [ + -0.04144723598020298, + 0.003630945653446845, + -0.9991340965372281, + -17.168158997472233 + ], + [ + 0.9953221117607322, + -0.08719424680915822, + -0.041605975094212606, + 521.7424042380968 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.08726981337020283, + -0.04144723598020298, + 0.9953221117607322, + -519.4244486942378 + ], + [ + -0.9961847116244705, + 0.003630945653446845, + -0.08719424680915822, + 52.27728655924452 + ], + [ + 2.1684043282028644e-19, + -0.9991340965372281, + -0.041605975094212606, + 4.554308279160416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -51942.44486942378, + -5227.728655924452, + 455.4308279160416 + ], + "rotation_deg": [ + -1.2434809068865293e-17, + -2.3845350742340097, + 5.00656080245972 + ] + } + } + ] + }, + { + "frame": 23, + "time": 1099.8598207347095, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.9990923639498966, + 0.04259634135706413, + -0.0, + -486.19648680460546 + ], + [ + 0.004277022480049129, + 0.10031707804291226, + -0.9949463256536188, + -0.4041561153136657 + ], + [ + -0.04238108573974987, + -0.9940432758926997, + -0.10040821293116584, + 46.37698677255969 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.9990923639498966, + 0.004277022480049129, + -0.04238108573974987, + -483.7879620279715 + ], + [ + 0.04259634135706413, + 0.10031707804291226, + -0.9940432758926997, + 66.85147317480319 + ], + [ + -0.0, + -0.9949463256536188, + -0.10040821293116584, + 4.254517292171616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48378.79620279715, + -6685.1473174803195, + 425.4517292171615 + ], + "rotation_deg": [ + 0.0, + -5.762677669525146, + 92.44132995605467 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.27998596174021495, + -0.9600040943810642, + -0.0, + 191.17142555939324 + ], + [ + -0.166798919222935, + -0.04864703816286458, + -0.9847901229318059, + -73.77477195087559 + ], + [ + 0.9454025492888022, + 0.2757274116937579, + -0.17374813449040316, + 447.89183217772313 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.27998596174021495, + -0.166798919222935, + 0.9454025492888022, + -489.26894847442037 + ], + [ + -0.9600040943810642, + -0.04864703816286458, + 0.2757274116937579, + 56.44037227371612 + ], + [ + -0.0, + -0.9847901229318059, + -0.17374813449040316, + 5.167703048161302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48926.89484744204, + -5644.037227371612, + 516.7703048161302 + ], + "rotation_deg": [ + 0.0, + -10.00581550598144, + -16.259366989135735 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9392869098857083, + 0.3431327744727353, + -2.0816681551749975e-17, + 430.220652716723 + ], + [ + 0.030513550786341166, + -0.08352737179298618, + -0.9960382027712417, + 21.277725196956496 + ], + [ + -0.3417733658989608, + 0.9355656404655259, + -0.08892636696967532, + -192.1892331854676 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9392869098857083, + 0.030513550786341166, + -0.3417733658989608, + -470.4350426769835 + ], + [ + 0.3431327744727353, + -0.08352737179298618, + 0.9355656404655259, + 33.9601043333681 + ], + [ + -2.0816681551749975e-17, + -0.9960382027712417, + -0.08892636696967532, + 4.102737584167226 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -47043.50426769835, + -3396.0104333368104, + 410.27375841672256 + ], + "rotation_deg": [ + 1.1974520679064712e-15, + -5.1018447875976545, + -110.067855834961 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.0886454430436324, + -0.9960632436886715, + -0.0, + 6.026873239248076 + ], + [ + -0.041330207517062525, + 0.0036782147917310427, + -0.9991387714839929, + -17.1098213636627 + ], + [ + 0.9952054055452735, + -0.0885690997433725, + -0.0414935578628336, + 521.7531457745641 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.0886454430436324, + -0.041330207517062525, + 0.9952054055452735, + -519.4244486942378 + ], + [ + -0.9960632436886715, + 0.0036782147917310427, + -0.0885690997433725, + 52.27728655924452 + ], + [ + -0.0, + -0.9991387714839929, + -0.0414935578628336, + 4.554308279160416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -51942.44486942378, + -5227.728655924452, + 455.4308279160416 + ], + "rotation_deg": [ + 0.0, + -2.3780884742736825, + 5.085685253143313 + ] + } + } + ] + }, + { + "frame": 24, + "time": 1099.926487404853, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.9997243102460425, + 0.023479853131461954, + -0.0, + -485.22424941551867 + ], + [ + 0.0024279898988680717, + 0.10337886328929972, + -0.9946390880565992, + -1.5046878214217747 + ], + [ + -0.02335399198470387, + -0.9943648758797596, + -0.10340737244030912, + 55.616325092530104 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.9997243102460425, + 0.0024279898988680717, + -0.02335399198470387, + -483.7879620279715 + ], + [ + 0.023479853131461954, + 0.10337886328929972, + -0.9943648758797596, + 66.85147317480319 + ], + [ + -0.0, + -0.9946390880565992, + -0.10340737244030912, + 4.254517292171616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48378.79620279715, + -6685.1473174803195, + 425.4517292171615 + ], + "rotation_deg": [ + 0.0, + -5.935416221618652, + 91.34542083740234 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.24872365391532045, + -0.9685744906732842, + -3.469446925897504e-18, + 176.35946544028963 + ], + [ + -0.1674328190919138, + -0.04299566316364096, + -0.9849454929284426, + -74.40308227601828 + ], + [ + 0.9539930784517662, + 0.2449792437082858, + -0.17286519724409244, + 453.8257866384611 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.24872365391532045, + -0.1674328190919138, + 0.9539930784517662, + -489.26894847442037 + ], + [ + -0.9685744906732842, + -0.04299566316364096, + 0.2449792437082858, + 56.44037227371612 + ], + [ + -3.469446925897504e-18, + -0.9849454929284426, + -0.17286519724409244, + 5.167703048161302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48926.89484744204, + -5644.037227371612, + 516.7703048161302 + ], + "rotation_deg": [ + 2.0182301362423261e-16, + -9.954449653625483, + -14.40199756622314 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9399454041162262, + 0.34132482663993835, + 6.938893850598347e-18, + 430.5393111655483 + ], + [ + 0.030878851955187796, + -0.08503464358390145, + -0.9958993954674779, + 21.514546665539868 + ], + [ + -0.33992520240322777, + 0.936091054618706, + -0.0904676419166717, + -191.2693427665712 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9399454041162262, + 0.030878851955187796, + -0.33992520240322777, + -470.3650565570284 + ], + [ + 0.34132482663993835, + -0.08503464358390145, + 0.936091054618706, + 33.9212418741316 + ], + [ + 6.938893850598347e-18, + -0.9958993954674779, + -0.0904676419166717, + 4.12263831589587 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -47036.505655702844, + -3392.1241874131606, + 412.26383158958697 + ], + "rotation_deg": [ + -3.992063224635892e-16, + -5.1905107498168945, + -109.95761108398438 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.09001377547194471, + -0.995940520425435, + -0.0, + 5.309712282841808 + ], + [ + -0.041213683909680054, + 0.003724920528620453, + -0.9991434117411017, + -17.051716669168158 + ], + [ + 0.9950874093930664, + -0.08993667142233665, + -0.04138167228214472, + 521.762839063381 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.09001377547194471, + -0.041213683909680054, + 0.9950874093930664, + -519.4244486942378 + ], + [ + -0.995940520425435, + 0.003724920528620453, + -0.08993667142233665, + 52.27728655924452 + ], + [ + -0.0, + -0.9991434117411017, + -0.04138167228214472, + 4.554308279160416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -51942.44486942378, + -5227.728655924452, + 455.4308279160416 + ], + "rotation_deg": [ + 0.0, + -2.3716723918914804, + 5.164399623870853 + ] + } + } + ] + }, + { + "frame": 25, + "time": 1099.9931540749967, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.9999905179221829, + 0.004354775048641707, + 6.938893850769224e-18, + -484.07449784021514 + ], + [ + 0.00046337241369057375, + 0.10640458227614404, + -0.9943228098342333, + -2.658765493590023 + ], + [ + -0.004330064294490626, + -0.9943133814472702, + -0.10640559204337198, + 64.8291857980206 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.9999905179221829, + 0.00046337241369057375, + -0.004330064294490626, + -483.7879620279715 + ], + [ + 0.004354775048641707, + 0.10640458227614404, + -0.9943133814472702, + 66.85147317480319 + ], + [ + 6.938893850769224e-18, + -0.9943228098342333, + -0.10640559204337198, + 4.254517292171616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48378.79620279715, + -6685.1473174803195, + 425.4517292171615 + ], + "rotation_deg": [ + -3.998392989539827e-16, + -6.108154773712159, + 90.24951171875 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.21720140488159267, + -0.9761268102646616, + -0.0, + 161.36286353127625 + ], + [ + -0.16782739751271203, + -0.03734386365998807, + -0.9851088267247707, + -74.91428285249835 + ], + [ + 0.9615911362068804, + 0.21396702270678994, + -0.1719319631783258, + 459.2887989885866 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.21720140488159267, + -0.16782739751271203, + 0.9615911362068804, + -489.26894847442037 + ], + [ + -0.9761268102646616, + -0.03734386365998807, + 0.21396702270678994, + 56.44037227371612 + ], + [ + -0.0, + -0.9851088267247707, + -0.1719319631783258, + 5.167703048161302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48926.89484744204, + -5644.037227371612, + 516.7703048161302 + ], + "rotation_deg": [ + 0.0, + -9.900166511535641, + -12.544711112976072 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9406058433847881, + 0.3395005852578037, + 6.9388938506137216e-18, + 430.85929003754035 + ], + [ + 0.031240003671011107, + -0.0865522219291663, + -0.9957573876450825, + 21.749586909822728 + ], + [ + -0.3380602297678444, + 0.9366152123301557, + -0.0920175259450579, + -190.34171301978435 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9406058433847881, + 0.031240003671011107, + -0.3380602297678444, + -470.2951815065839 + ], + [ + 0.3395005852578037, + -0.0865522219291663, + 0.9366152123301557, + 33.882432911056796 + ], + [ + 6.9388938506137216e-18, + -0.9957573876450825, + -0.0920175259450579, + 4.142539047624514 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -47029.51815065839, + -3388.2432911056794, + 414.25390476245144 + ], + "rotation_deg": [ + -3.9926325442525355e-16, + -5.279684543609621, + -109.84645080566408 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.09137485214534244, + -0.9958165676445719, + -2.168404328202396e-19, + 4.5962558670866045 + ], + [ + -0.041097662317386215, + 0.0037710688291246837, + -0.9991480176590114, + -16.993843748713918 + ], + [ + 0.9949681494362204, + -0.09129700308894345, + -0.04127031420331977, + 521.7714998153754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.09137485214534244, + -0.041097662317386215, + 0.9949681494362204, + -519.4244486942378 + ], + [ + -0.9958165676445719, + 0.0037710688291246837, + -0.09129700308894345, + 52.27728655924452 + ], + [ + -2.168404328202396e-19, + -0.9991480176590114, + -0.04127031420331977, + 4.554308279160416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -51942.44486942378, + -5227.728655924452, + 455.4308279160416 + ], + "rotation_deg": [ + 1.2434635814761772e-17, + -2.3652865886688246, + 5.2427062988281286 + ] + } + } + ] + }, + { + "frame": 26, + "time": 1100.0598207451403, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.9998908895890413, + -0.014771896182809791, + 6.938893850804541e-18, + -482.74765270321166 + ], + [ + -0.0016160874484192824, + 0.10939090665517172, + -0.9939974938612863, + -3.8658073889472684 + ], + [ + 0.014683215804046261, + -0.9938890384703322, + -0.10940284448847894, + 74.01196573757579 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.9998908895890413, + -0.0016160874484192824, + 0.014683215804046261, + -483.7879620279715 + ], + [ + -0.014771896182809791, + 0.10939090665517172, + -0.9938890384703322, + 66.85147317480319 + ], + [ + 6.938893850804541e-18, + -0.9939974938612863, + -0.10940284448847894, + 4.254517292171616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48378.79620279715, + -6685.1473174803195, + 425.4517292171615 + ], + "rotation_deg": [ + -3.9997015855210886e-16, + -6.280893325805666, + 89.15360260009767 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.18545248203207557, + -0.9826532332965392, + -0.0, + 146.19745517903243 + ], + [ + -0.16798173163587762, + -0.031702566085709386, + -0.985280206408407, + -75.30730504253886 + ], + [ + 0.9681887800427358, + 0.18272266113230867, + -0.17094711260529388, + 464.2751752339744 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.18545248203207557, + -0.16798173163587762, + 0.9681887800427358, + -489.26894847442037 + ], + [ + -0.9826532332965392, + -0.031702566085709386, + 0.18272266113230867, + 56.44037227371612 + ], + [ + -0.0, + -0.985280206408407, + -0.17094711260529388, + 5.167703048161302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48926.89484744204, + -5644.037227371612, + 516.7703048161302 + ], + "rotation_deg": [ + 0.0, + -9.842890739440914, + -10.687514305114743 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9412680927946983, + 0.33766015087159923, + -1.3877787701258896e-17, + 431.180511674884 + ], + [ + 0.03159688712743267, + -0.08808010541936133, + -0.9956121392154527, + 21.982788606565997 + ], + [ + -0.3361785590175688, + 0.9371379343910784, + -0.09357600323851084, + -189.40638122100913 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9412680927946983, + 0.03159688712743267, + -0.3361785590175688, + -470.2254051076295 + ], + [ + 0.33766015087159923, + -0.08808010541936133, + 0.9371379343910784, + 33.84366957395093 + ], + [ + -1.3877787701258896e-17, + -0.9956121392154527, + -0.09357600323851084, + 4.162439779353159 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -47022.54051076295, + -3384.3669573950933, + 416.2439779353159 + ], + "rotation_deg": [ + 7.986430047414891e-16, + -5.369365692138671, + -109.73438262939455 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.09272873945954639, + -0.9956914084585861, + -4.3368086564044832e-19, + 3.886470712680797 + ], + [ + -0.040982148054471354, + 0.0038166673902697377, + -0.999152589242941, + -16.936205765028173 + ], + [ + 0.9948476487686299, + -0.09265016084266059, + -0.041159487792707304, + 521.7791435005564 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.09272873945954639, + -0.040982148054471354, + 0.9948476487686299, + -519.4244486942378 + ], + [ + -0.9956914084585861, + 0.0038166673902697377, + -0.09265016084266059, + 52.27728655924452 + ], + [ + -4.3368086564044832e-19, + -0.999152589242941, + -0.041159487792707304, + 4.554308279160416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -51942.44486942378, + -5227.728655924452, + 455.4308279160416 + ], + "rotation_deg": [ + 2.4869157841133748e-17, + -2.358931303024293, + 5.320609092712404 + ] + } + } + ] + }, + { + "frame": 27, + "time": 1100.126487415284, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.9994254616945946, + -0.03389316327147018, + -6.938893850840858e-18, + -481.2441994168405 + ], + [ + -0.003809561104316917, + 0.11233452407614591, + -0.9936631430946695, + -5.125191200869392 + ], + [ + 0.03367837531929974, + -0.9930922458592306, + -0.11239910253254531, + 83.16107611964986 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.9994254616945946, + -0.003809561104316917, + 0.03367837531929974, + -483.7879620279715 + ], + [ + -0.03389316327147018, + 0.11233452407614591, + -0.9930922458592306, + 66.85147317480319 + ], + [ + -6.938893850840858e-18, + -0.9936631430946695, + -0.11239910253254531, + 4.254517292171616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48378.79620279715, + -6685.1473174803195, + 425.4517292171615 + ], + "rotation_deg": [ + 4.001047417175869e-16, + -6.453631877899169, + 88.05769348144531 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.15351040261663224, + -0.9881470317156648, + -1.7347234629345836e-18, + 130.87925959932426 + ], + [ + -0.16789529547845677, + -0.02608283340343282, + -0.9854597178768141, + -75.5812666573914 + ], + [ + 0.9737790946926667, + 0.15127831918180984, + -0.16990922542656992, + 468.77970947723827 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.15351040261663224, + -0.16789529547845677, + 0.9737790946926667, + -489.26894847442037 + ], + [ + -0.9881470317156648, + -0.02608283340343282, + 0.15127831918180984, + 56.44037227371612 + ], + [ + -1.7347234629345836e-18, + -0.9854597178768141, + -0.16990922542656992, + 5.167703048161302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48926.89484744204, + -5644.037227371612, + 516.7703048161302 + ], + "rotation_deg": [ + 1.0085884995131216e-16, + -9.782541275024412, + -8.83041477203369 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9419318834627962, + 0.33580400074482325, + -6.938893850645535e-18, + 431.5028237425674 + ], + [ + 0.0319494303455576, + -0.08961831018750427, + -0.9954636067580422, + 22.21411712502048 + ], + [ + -0.33428067561847125, + 0.9376589050118227, + -0.09514309097400662, + -188.4635573869932 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9419318834627962, + 0.0319494303455576, + -0.33428067561847125, + -470.15571643069336 + ], + [ + 0.33580400074482325, + -0.08961831018750427, + 0.9376589050118227, + 33.804944939956705 + ], + [ + -6.938893850645535e-18, + -0.9954636067580422, + -0.09514309097400662, + 4.1823405110818035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -47015.571643069336, + -3380.494493995671, + 418.2340511081803 + ], + "rotation_deg": [ + 3.9938108486533606e-16, + -5.459555625915528, + -109.62143707275393 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.09407547898566318, + -0.9955650678150665, + -0.0, + 3.180336530767491 + ], + [ + -0.04086713407663354, + 0.0038617216868287907, + -0.9991571270115508, + -16.87879934297243 + ], + [ + 0.9947259328295625, + -0.09399618603029572, + -0.04104918474361215, + 521.7857854563692 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.09407547898566318, + -0.04086713407663354, + 0.9947259328295625, + -519.4244486942378 + ], + [ + -0.9955650678150665, + 0.0038617216868287907, + -0.09399618603029572, + 52.27728655924452 + ], + [ + -0.0, + -0.9991571270115508, + -0.04104918474361215, + 4.554308279160416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -51942.44486942378, + -5227.728655924452, + 455.4308279160416 + ], + "rotation_deg": [ + 0.0, + -2.3526060581207284, + 5.398110389709475 + ] + } + } + ] + }, + { + "frame": 28, + "time": 1100.1931540854275, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.998594404510741, + -0.05300203090296432, + -0.0, + -479.5646880036676 + ], + [ + -0.0061161338332831735, + 0.11523213203541266, + -0.9933197615337702, + -6.436253604233949 + ], + [ + 0.05264795302961614, + -0.9919235562733246, + -0.1153943306747422, + 92.27294409007816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.998594404510741, + -0.0061161338332831735, + 0.05264795302961614, + -483.7879620279715 + ], + [ + -0.05300203090296432, + 0.11523213203541266, + -0.9919235562733246, + 66.85147317480319 + ], + [ + -0.0, + -0.9933197615337702, + -0.1153943306747422, + 4.254517292171616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48378.79620279715, + -6685.1473174803195, + 425.4517292171615 + ], + "rotation_deg": [ + 0.0, + -6.626369953155519, + 86.96178436279298 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.12140888950094025, + -0.9926025798627304, + -0.0, + 115.42445882887567 + ], + [ + -0.1675678896114456, + -0.020495847790920722, + -0.9856474636473721, + -75.73543846658177 + ], + [ + 0.978356214918531, + 0.119666364896312, + -0.16881669894529935, + 472.79769689293363 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.12140888950094025, + -0.1675678896114456, + 0.978356214918531, + -489.26894847442037 + ], + [ + -0.9926025798627304, + -0.020495847790920722, + 0.119666364896312, + 56.44037227371612 + ], + [ + -0.0, + -0.9856474636473721, + -0.16881669894529935, + 5.167703048161302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48926.89484744204, + -5644.037227371612, + 516.7703048161302 + ], + "rotation_deg": [ + 0.0, + -9.719026565551756, + -6.973420619964597 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9425970830731076, + 0.3339322371111679, + -0.0, + 431.82615179694756 + ], + [ + 0.032297515998527614, + -0.09116683263073022, + -0.9953117496987589, + 22.443515937122577 + ], + [ + -0.3323666930657891, + 0.938177947025213, + -0.09671877302813667, + -187.513282685681 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9425970830731076, + 0.032297515998527614, + -0.3323666930657891, + -470.0861058562712 + ], + [ + 0.3339322371111679, + -0.09116683263073022, + 0.938177947025213, + 33.76625291979833 + ], + [ + -0.0, + -0.9953117496987589, + -0.09671877302813667, + 4.202241242810448 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -47008.610585627124, + -3376.625291979833, + 420.2241242810448 + ], + "rotation_deg": [ + 0.0, + -5.550253868103028, + -109.50762176513673 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.09541512890633493, + -0.9954375686982018, + -0.0, + 2.477824301410898 + ], + [ + -0.040752617387133275, + 0.003906238184629701, + -0.9991616313086402, + -16.821623262417095 + ], + [ + 0.994603024922903, + -0.09533513658459028, + -0.04093940090681564, + 521.7914407970912 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.09541512890633493, + -0.040752617387133275, + 0.994603024922903, + -519.4244486942378 + ], + [ + -0.9954375686982018, + 0.003906238184629701, + -0.09533513658459028, + 52.27728655924452 + ], + [ + -0.0, + -0.9991616313086402, + -0.04093940090681564, + 4.554308279160416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -51942.44486942378, + -5227.728655924452, + 455.4308279160416 + ], + "rotation_deg": [ + 0.0, + -2.3463106155395512, + 5.475213527679446 + ] + } + } + ] + }, + { + "frame": 29, + "time": 1100.2598207555711, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.9973980220710066, + -0.07209150829913022, + -0.0, + -477.7097328952716 + ], + [ + -0.00853480677846654, + 0.11808047300493851, + -0.9929673504039214, + -7.798293588359248 + ], + [ + 0.07158450247716806, + -0.9903836719964423, + -0.11838851822680801, + 101.34401404543918 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.9973980220710066, + -0.00853480677846654, + 0.07158450247716806, + -483.7879620279715 + ], + [ + -0.07209150829913022, + 0.11808047300493851, + -0.9903836719964423, + 66.85147317480319 + ], + [ + -0.0, + -0.9929673504039214, + -0.11838851822680801, + 4.254517292171616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48378.79620279715, + -6685.1473174803195, + 425.4517292171615 + ], + "rotation_deg": [ + 0.0, + -6.799108505249023, + 85.8658752441406 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.08918184287115043, + -0.9960153607761806, + -0.0, + 99.84938423712606 + ], + [ + -0.16699968353973557, + -0.014952921534630124, + -0.9858435554565477, + -75.76926435651023 + ], + [ + 0.9819153242781763, + 0.08791934571799301, + -0.16766778043560981, + 476.3249348981533 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.08918184287115043, + -0.16699968353973557, + 0.9819153242781763, + -489.26894847442037 + ], + [ + -0.9960153607761806, + -0.014952921534630124, + 0.08791934571799301, + 56.44037227371612 + ], + [ + -0.0, + -0.9858435554565477, + -0.16766778043560981, + 5.167703048161302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48926.89484744204, + -5644.037227371612, + 516.7703048161302 + ], + "rotation_deg": [ + 0.0, + -9.652246475219727, + -5.116540908813474 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9432634269025153, + 0.3320453394765891, + -0.0, + 432.1503472656474 + ], + [ + 0.03264107200479312, + -0.09272567862433047, + -0.9951565248452301, + 22.67095017399198 + ], + [ + -0.3304370999828691, + 0.938694748972059, + -0.09830305797478771, + -186.55577108711526 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9432634269025153, + 0.03264107200479312, + -0.3304370999828691, + -470.01656491767244 + ], + [ + 0.3320453394765891, + -0.09272567862433047, + 0.938694748972059, + 33.72758815768439 + ], + [ + -0.0, + -0.9951565248452301, + -0.09830305797478771, + 4.222141974539092 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -47001.656491767244, + -3372.758815768439, + 422.2141974539092 + ], + "rotation_deg": [ + 0.0, + -5.641461372375489, + -109.39296722412115 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.09674773087019983, + -0.995308935241449, + 4.336808656403576e-19, + 1.7789136529217515 + ], + [ + -0.04063859916260548, + 0.003950223006660647, + -0.9991661023054669, + -16.764678453848354 + ], + [ + 0.9944789493295865, + -0.09666705390569946, + -0.040830136290671934, + 521.7961242991593 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.09674773087019983, + -0.04063859916260548, + 0.9944789493295865, + -519.4244486942378 + ], + [ + -0.995308935241449, + 0.003950223006660647, + -0.09666705390569946, + 52.27728655924452 + ], + [ + 4.336808656403576e-19, + -0.9991661023054669, + -0.040830136290671934, + 4.554308279160416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -51942.44486942378, + -5227.728655924452, + 455.4308279160416 + ], + "rotation_deg": [ + -2.4868821502171388e-17, + -2.3400449752807626, + 5.551920890808106 + ] + } + } + ] + }, + { + "frame": 30, + "time": 1100.3264874257147, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.9958367520593194, + -0.09115461177551593, + -0.0, + -475.68001270746197 + ], + [ + -0.011064494494036155, + 0.12087627872579818, + -0.9926059148539235, + -9.21056751778935 + ], + [ + 0.0904805954753994, + -0.9884734512460499, + -0.12138162144303344, + 110.37074950548242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.9958367520593194, + -0.011064494494036155, + 0.0904805954753994, + -483.7879620279715 + ], + [ + -0.09115461177551593, + 0.12087627872579818, + -0.9884734512460499, + 66.85147317480319 + ], + [ + -0.0, + -0.9926059148539235, + -0.12138162144303344, + 4.254517292171616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48378.79620279715, + -6685.1473174803195, + 425.4517292171615 + ], + "rotation_deg": [ + 0.0, + -6.971846580505373, + 84.7699661254883 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.056863307610233685, + -0.9983819731183171, + -0.0, + 84.17050095540161 + ], + [ + -0.1661911460316282, + -0.009465493682119812, + -0.9860481263153679, + -75.68232736948657 + ], + [ + 0.9844526737003457, + 0.05606995834677255, + -0.16646048484620032, + 479.35773351667433 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.056863307610233685, + -0.1661911460316282, + 0.9844526737003457, + -489.26894847442037 + ], + [ + -0.9983819731183171, + -0.009465493682119812, + 0.05606995834677255, + 56.44037227371612 + ], + [ + -0.0, + -0.9860481263153679, + -0.16646048484620032, + 5.167703048161302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48926.89484744204, + -5644.037227371612, + 516.7703048161302 + ], + "rotation_deg": [ + 0.0, + -9.58208751678467, + -3.259785890579223 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9439307854070123, + 0.3301434118090212, + -0.0, + 432.47533858736506 + ], + [ + 0.03297999089800013, + -0.0942948657993324, + -0.9949978886833144, + 22.89636879726669 + ], + [ + -0.32849201156325, + 0.9392091336168397, + -0.09989595422155519, + -185.59106648969234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9439307854070123, + 0.03297999089800013, + -0.32849201156325, + -469.9470861627189 + ], + [ + 0.3301434118090212, + -0.0942948657993324, + 0.9392091336168397, + 33.688945943228376 + ], + [ + -0.0, + -0.9949978886833144, + -0.09989595422155519, + 4.242042706267736 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -46994.70861627189, + -3368.8945943228373, + 424.2042706267737 + ], + "rotation_deg": [ + 0.0, + -5.7331790924072275, + -109.27748107910158 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.09807334313007883, + -0.9951791895770778, + -0.0, + 1.083575484375622 + ], + [ + -0.04052507220862474, + 0.003993682096363663, + -0.9991705405113779, + -16.70796148869305 + ], + [ + 0.9943537286680517, + -0.0979919960204174, + -0.04072138258798916, + 521.7998507067934 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.09807334313007883, + -0.04052507220862474, + 0.9943537286680517, + -519.4244486942378 + ], + [ + -0.9951791895770778, + 0.003993682096363663, + -0.0979919960204174, + 52.27728655924452 + ], + [ + -0.0, + -0.9991705405113779, + -0.04072138258798916, + 4.554308279160416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -51942.44486942378, + -5227.728655924452, + 455.4308279160416 + ], + "rotation_deg": [ + 0.0, + -2.3338086605072026, + 5.628235816955567 + ] + } + } + ] + }, + { + "frame": 31, + "time": 1100.3931540958583, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.9939111656498856, + -0.11018436729629584, + -3.4694469254980797e-17, + -473.47626999201276 + ], + [ + -0.013704028675047462, + 0.12361633005423456, + -0.9922354572086182, + -10.672294966262498 + ], + [ + 0.10932882489173021, + -0.9861939009907629, + -0.12437362138498063, + 119.34963422539401 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.9939111656498856, + -0.013704028675047462, + 0.10932882489173021, + -483.7879620279715 + ], + [ + -0.11018436729629584, + 0.12361633005423456, + -0.9861939009907629, + 66.85147317480319 + ], + [ + -3.4694469254980797e-17, + -0.9922354572086182, + -0.12437362138498063, + 4.254517292171616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48378.79620279715, + -6685.1473174803195, + 425.4517292171615 + ], + "rotation_deg": [ + 2.003402178095553e-15, + -7.144584655761716, + 83.67405700683588 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.024487429926325903, + -0.999700137929171, + -4.3368086572813057e-19, + 68.40438703770229 + ], + [ + -0.16514307461350572, + -0.004045142452208748, + -0.9862613252732458, + -75.47436346118167 + ], + [ + 0.9859655826929922, + 0.0241510052735189, + -0.16519261087938308, + 481.8929185065227 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.024487429926325903, + -0.16514307461350572, + 0.9859655826929922, + -489.26894847442037 + ], + [ + -0.999700137929171, + -0.004045142452208748, + 0.0241510052735189, + 56.44037227371612 + ], + [ + -4.3368086572813057e-19, + -0.9862613252732458, + -0.16519261087938308, + 5.167703048161302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48926.89484744204, + -5644.037227371612, + 516.7703048161302 + ], + "rotation_deg": [ + 2.5194218629022865e-17, + -9.508423805236815, + -1.4031666517257684 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9445990730601899, + 0.328226432777481, + -0.0, + 432.8010797559135 + ], + [ + 0.03331415497679375, + -0.09587442316748686, + -0.9948357965315098, + 23.119716405286393 + ], + [ + -0.3265314185375584, + 0.939720966356121, + -0.10149747828674327, + -184.61915657131192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9445990730601899, + 0.03331415497679375, + -0.3265314185375584, + -469.8776630320379 + ], + [ + 0.328226432777481, + -0.09587442316748686, + 0.939720966356121, + 33.65032213394448 + ], + [ + -0.0, + -0.9948357965315098, + -0.10149747828674327, + 4.261943437996382 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -46987.76630320379, + -3365.032213394448, + 426.19434379963815 + ], + "rotation_deg": [ + 0.0, + -5.825408458709718, + -109.16116333007815 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.09939201568715347, + -0.9950483542108112, + -4.336808656402981e-19, + 0.39178500047449916 + ], + [ + -0.0404120417484541, + 0.00403662221078483, + -0.9991749459243104, + -16.651475433291154 + ], + [ + 0.9942273854213566, + -0.09931001266499803, + -0.04061314396462653, + 521.8026343172927 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.09939201568715347, + -0.0404120417484541, + 0.9942273854213566, + -519.4244486942378 + ], + [ + -0.9950483542108112, + 0.00403662221078483, + -0.09931001266499803, + 52.27728655924452 + ], + [ + -4.336808656402981e-19, + -0.9991749459243104, + -0.04061314396462653, + 4.554308279160416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -51942.44486942378, + -5227.728655924452, + 455.4308279160416 + ], + "rotation_deg": [ + 2.4868601390185233e-17, + -2.327601909637451, + 5.704161167144777 + ] + } + } + ] + }, + { + "frame": 32, + "time": 1100.459820766002, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.9916221565030375, + -0.129172360558537, + 6.938893850955699e-18, + -471.0994995995817 + ], + [ + -0.015677921181171683, + 0.120355267519578, + -0.9926070785400067, + -11.40765249512514 + ], + [ + 0.1282173884381865, + -0.9842911731000736, + -0.1213721049474353, + 128.3477237230403 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.9916221565030375, + -0.015677921181171683, + 0.1282173884381865, + -483.7879620279715 + ], + [ + -0.129172360558537, + 0.120355267519578, + -0.9842911731000736, + 66.85147317480319 + ], + [ + 6.938893850955699e-18, + -0.9926070785400067, + -0.1213721049474353, + 4.254517292171616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48378.79620279715, + -6685.1473174803195, + 425.4517292171615 + ], + "rotation_deg": [ + -4.0053042520463387e-16, + -6.971297264099123, + 82.57823181152345 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + -0.007911570309170187, + -0.9999687030378717, + -0.0, + 52.56772017557342 + ], + [ + -0.1638565617570667, + 0.0012964032824443537, + -0.986483322974941, + -75.1452442802941 + ], + [ + 0.9864524488343326, + -0.00780463222734335, + -0.163861691388025, + 483.92783727162436 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.007911570309170187, + -0.1638565617570667, + 0.9864524488343326, + -489.26894847442037 + ], + [ + -0.9999687030378717, + 0.0012964032824443537, + -0.00780463222734335, + 56.44037227371612 + ], + [ + -0.0, + -0.986483322974941, + -0.163861691388025, + 5.167703048161302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48926.89484744204, + -5644.037227371612, + 516.7703048161302 + ], + "rotation_deg": [ + 0.0, + -9.431114196777344, + 0.4533043205738067 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9452680732909992, + 0.32629475879444053, + -1.3877787701463069e-17, + 433.1274510555641 + ], + [ + 0.033643478986667544, + -0.09746434995778826, + -0.9946702050473709, + 23.340951909310387 + ], + [ + -0.32455568847056787, + 0.9402299834222768, + -0.10310762995598571, + -183.64020256407574 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9452680732909992, + 0.033643478986667544, + -0.32455568847056787, + -469.80828975195595 + ], + [ + 0.32629475879444053, + -0.09746434995778826, + 0.9402299834222768, + 33.611713087049445 + ], + [ + -1.3877787701463069e-17, + -0.9946702050473709, + -0.10310762995598571, + 4.281844169725026 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -46980.828975195596, + -3361.1713087049447, + 428.18441697250256 + ], + "rotation_deg": [ + 7.993993048117501e-16, + -5.918149948120116, + -109.04403686523436 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.10070379029487679, + -0.994916452080397, + -0.0, + -0.29647828742272253 + ], + [ + -0.04029950473427903, + 0.0040790489143708395, + -0.9991793188803131, + -16.595218993896978 + ], + [ + 0.9940999428412338, + -0.10062114537102332, + -0.04050541627089952, + 521.8044893604349 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.10070379029487679, + -0.04029950473427903, + 0.9940999428412338, + -519.4244486942378 + ], + [ + -0.994916452080397, + 0.0040790489143708395, + -0.10062114537102332, + 52.27728655924452 + ], + [ + -0.0, + -0.9991793188803131, + -0.04050541627089952, + 4.554308279160416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -51942.44486942378, + -5227.728655924452, + 455.4308279160416 + ], + "rotation_deg": [ + 0.0, + -2.32142448425293, + 5.779699325561523 + ] + } + } + ] + }, + { + "frame": 33, + "time": 1100.5264874361455, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.9889702311562905, + -0.148114421602601, + -0.0, + -468.5502253548659 + ], + [ + -0.017533537579157467, + 0.11707264238705545, + -0.9929685651945244, + -12.084391093400066 + ], + [ + 0.14707295386897135, + -0.9820163529639624, + -0.11837832889348267, + 137.3050071463876 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.9889702311562905, + -0.017533537579157467, + 0.14707295386897135, + -483.7879620279715 + ], + [ + -0.148114421602601, + 0.11707264238705545, + -0.9820163529639624, + 66.85147317480319 + ], + [ + -0.0, + -0.9929685651945244, + -0.11837832889348267, + 4.254517292171616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48378.79620279715, + -6685.1473174803195, + 425.4517292171615 + ], + "rotation_deg": [ + 0.0, + -6.79852056503296, + 81.48233032226562 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + -0.04029943065051882, + -0.9991876479867254, + -0.0, + 36.677262765172436 + ], + [ + -0.162332930889435, + 0.006547243356996704, + -0.9867143219560919, + -74.69494464224323 + ], + [ + 0.9859127623724997, + -0.03976402568912662, + -0.16246491083314488, + 485.4603673614316 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.04029943065051882, + -0.162332930889435, + 0.9859127623724997, + -489.26894847442037 + ], + [ + -0.9991876479867254, + 0.006547243356996704, + -0.03976402568912662, + 56.44037227371612 + ], + [ + -0.0, + -0.9867143219560919, + -0.16246491083314488, + 5.167703048161302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48926.89484744204, + -5644.037227371612, + 516.7703048161302 + ], + "rotation_deg": [ + 0.0, + -9.349997520446781, + 2.30961275100708 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9459377446979335, + 0.3243482436452944, + -0.0, + 433.45443251396136 + ], + [ + 0.03396783456409642, + -0.09906468571777646, + -0.9945010680027768, + 23.56001536791663 + ], + [ + -0.32256468853646253, + 0.9407360925353851, + -0.10472643367665208, + -182.65413690705262 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9459377446979335, + 0.03396783456409642, + -0.32256468853646253, + -469.73896124024196 + ], + [ + 0.3243482436452944, + -0.09906468571777646, + 0.9407360925353851, + 33.5731155994533 + ], + [ + -0.0, + -0.9945010680027768, + -0.10472643367665208, + 4.30174490145367 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -46973.8961240242, + -3357.3115599453304, + 430.17449014536703 + ], + "rotation_deg": [ + 0.0, + -6.0114054679870605, + -108.9260940551758 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.10200872529994158, + -0.9947835040664279, + -0.0, + -0.981243594434055 + ], + [ + -0.040187453887938956, + 0.004120967956747589, + -0.9991836598809573, + -16.539188688346503 + ], + [ + 0.9939714222890355, + -0.1019254522704987, + -0.040398191199190504, + 521.8054299329766 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.10200872529994158, + -0.040187453887938956, + 0.9939714222890355, + -519.4244486942378 + ], + [ + -0.9947835040664279, + 0.004120967956747589, + -0.1019254522704987, + 52.27728655924452 + ], + [ + -0.0, + -0.9991836598809573, + -0.040398191199190504, + 4.554308279160416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -51942.44486942378, + -5227.728655924452, + 455.4308279160416 + ], + "rotation_deg": [ + 0.0, + -2.3152759075164804, + 5.85485363006592 + ] + } + } + ] + }, + { + "frame": 34, + "time": 1100.5931541062891, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.9859562618778326, + -0.16700374146674338, + -0.0, + -465.8293244398378 + ], + [ + -0.019270986612012576, + 0.11377200148813042, + -0.9933199689689038, + -12.702800260183732 + ], + [ + 0.16588814063018037, + -0.9793700451541664, + -0.11539254504944213, + 146.2179553602146 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.9859562618778326, + -0.019270986612012576, + 0.16588814063018037, + -483.7879620279715 + ], + [ + -0.16700374146674338, + 0.11377200148813042, + -0.9793700451541664, + 66.85147317480319 + ], + [ + -0.0, + -0.9933199689689038, + -0.11539254504944213, + 4.254517292171616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48378.79620279715, + -6685.1473174803195, + 425.4517292171615 + ], + "rotation_deg": [ + 0.0, + -6.626266956329346, + 80.38634490966797 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + -0.0726418895453653, + -0.9973580880923754, + -2.6020851943402e-18, + 20.749840869079556 + ], + [ + -0.16057372527683061, + 0.011695276706240548, + -0.986954557846249, + -74.12353541298096 + ], + [ + 0.9843471106060764, + -0.07169424451710346, + -0.16099907187493614, + 486.48892098497635 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.0726418895453653, + -0.16057372527683061, + 0.9843471106060764, + -489.26894847442037 + ], + [ + -0.9973580880923754, + 0.011695276706240548, + -0.07169424451710346, + 56.44037227371612 + ], + [ + -2.6020851943402e-18, + -0.986954557846249, + -0.16099907187493614, + 5.167703048161302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48926.89484744204, + -5644.037227371612, + 516.7703048161302 + ], + "rotation_deg": [ + 1.5105913391738116e-16, + -9.264890670776367, + 4.165742874145506 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9466078724566273, + 0.32238724509995376, + 1.387778770153725e-17, + 433.78190620935214 + ], + [ + 0.034287136978078454, + -0.10067542770615784, + -0.9943283413913274, + 23.77686598196396 + ], + [ + -0.32055878852395137, + 0.9412390309690245, + -0.10635388888305036, + -181.66112313224448 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9466078724566273, + 0.034287136978078454, + -0.32055878852395137, + -469.6696730231586 + ], + [ + 0.32238724509995376, + -0.10067542770615784, + 0.9412390309690245, + 33.53452685495629 + ], + [ + 1.387778770153725e-17, + -0.9943283413913274, + -0.10635388888305036, + 4.321645633182315 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -46966.96730231586, + -3353.4526854956293, + 432.1645633182315 + ], + "rotation_deg": [ + -7.996741492085712e-16, + -6.105175495147706, + -108.80735778808594 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.10330685424053834, + -0.9946495331858975, + -0.0, + -1.6625271378496436 + ], + [ + -0.04007589028053964, + 0.004162384857820809, + -0.999187969088158, + -16.483385360826542 + ], + [ + 0.9938418469232377, + -0.1032229666769366, + -0.04029146875729143, + 521.8054698055722 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.10330685424053834, + -0.04007589028053964, + 0.9938418469232377, + -519.4244486942378 + ], + [ + -0.9946495331858975, + 0.004162384857820809, + -0.1032229666769366, + 52.27728655924452 + ], + [ + -0.0, + -0.999187969088158, + -0.04029146875729143, + 4.554308279160416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -51942.44486942378, + -5227.728655924452, + 455.4308279160416 + ], + "rotation_deg": [ + 0.0, + -2.3091561794281015, + 5.929625988006594 + ] + } + } + ] + }, + { + "frame": 35, + "time": 1100.6598207764328, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.9825812684565218, + -0.18583339548738964, + -0.0, + -462.93775314003204 + ], + [ + -0.020890466538970264, + 0.11045690176770638, + -0.993661341332983, + -13.26321347893403 + ], + [ + 0.1846554505397142, + -0.9763530230662901, + -0.11241502984606411, + 155.08299371299938 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.9825812684565218, + -0.020890466538970264, + 0.1846554505397142, + -483.7879620279715 + ], + [ + -0.18583339548738964, + 0.11045690176770638, + -0.9763530230662901, + 66.85147317480319 + ], + [ + -0.0, + -0.993661341332983, + -0.11241502984606411, + 4.254517292171616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48378.79620279715, + -6685.1473174803195, + 425.4517292171615 + ], + "rotation_deg": [ + 0.0, + -6.45455026626587, + 79.29027557373045 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + -0.10490469290056785, + -0.9944822800872005, + -1.7347234628866072e-18, + 4.802341322242796 + ], + [ + -0.15858068559623384, + 0.016728159420774914, + -0.9872043024816196, + -73.43117015209238 + ], + [ + 0.9817571853627778, + -0.10356236496047792, + -0.1594605454410244, + 487.0124489183058 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.10490469290056785, + -0.15858068559623384, + 0.9817571853627778, + -489.26894847442037 + ], + [ + -0.9944822800872005, + 0.016728159420774914, + -0.10356236496047792, + 56.44037227371612 + ], + [ + -1.7347234628866072e-18, + -0.9872043024816196, + -0.1594605454410244, + 5.167703048161302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48926.89484744204, + -5644.037227371612, + 516.7703048161302 + ], + "rotation_deg": [ + 1.0068061247889638e-16, + -9.175585746765135, + 6.021675586700439 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9472784148841803, + 0.32041161760228765, + -6.938893850787768e-18, + 434.10985286651925 + ], + [ + 0.034601259267399445, + -0.10229662169273566, + -0.9941519773391606, + 23.99144477836363 + ], + [ + -0.31853785701117865, + 0.941738704481302, + -0.10799002793130819, + -180.66109535914106 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9472784148841803, + 0.034601259267399445, + -0.31853785701117865, + -469.60042116246376 + ], + [ + 0.32041161760228765, + -0.10229662169273566, + 0.941738704481302, + 33.49594437778683 + ], + [ + -6.938893850787768e-18, + -0.9941519773391606, + -0.10799002793130819, + 4.341546364910959 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -46960.042116246375, + -3349.5944377786827, + 434.1546364910959 + ], + "rotation_deg": [ + 3.999080063022432e-16, + -6.199462413787844, + -108.68782043457034 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.1045982437988044, + -0.9945145586637762, + -0.0, + -2.340362548972621 + ], + [ + -0.03996481481780078, + 0.0042033064345513, + -0.9991922466630715, + -16.427809837428306 + ], + [ + 0.9937112361131094, + -0.10451375502366657, + -0.04018524895292898, + 521.8046225120827 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.1045982437988044, + -0.03996481481780078, + 0.9937112361131094, + -519.4244486942378 + ], + [ + -0.9945145586637762, + 0.0042033064345513, + -0.10451375502366657, + 52.27728655924452 + ], + [ + -0.0, + -0.9991922466630715, + -0.04018524895292898, + 4.554308279160416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -51942.44486942378, + -5227.728655924452, + 455.4308279160416 + ], + "rotation_deg": [ + 0.0, + -2.303065299987794, + 6.004020214080816 + ] + } + } + ] + }, + { + "frame": 36, + "time": 1100.7264874465764, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.978846403227765, + -0.2045964781907736, + 6.938893850805059e-18, + -459.8765305825407 + ], + [ + -0.022392284927763944, + 0.10713091327581539, + -0.9939927328690099, + -13.766017995118794 + ], + [ + 0.20336740218718133, + -0.9729662134623208, + -0.10944609261381047, + 163.89656605991152 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.978846403227765, + -0.022392284927763944, + 0.20336740218718133, + -483.7879620279715 + ], + [ + -0.2045964781907736, + 0.10713091327581539, + -0.9729662134623208, + 66.85147317480319 + ], + [ + 6.938893850805059e-18, + -0.9939927328690099, + -0.10944609261381047, + 4.254517292171616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48378.79620279715, + -6685.1473174803195, + 425.4517292171615 + ], + "rotation_deg": [ + -3.999720743154765e-16, + -6.28338623046875, + 78.19412231445311 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + -0.1370536506551087, + -0.9905636258424325, + 1.7347234628794812e-18, + -11.148315737256645 + ], + [ + -0.1563556189414538, + 0.021633247796819466, + -0.9874638844105621, + -72.61801770127664 + ], + [ + 0.9781458053940614, + -0.13533553126372402, + -0.1578451056180337, + 487.0304540596428 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.1370536506551087, + -0.1563556189414538, + 0.9781458053940614, + -489.26894847442037 + ], + [ + -0.9905636258424325, + 0.021633247796819466, + -0.13533553126372402, + 56.44037227371612 + ], + [ + 1.7347234628794812e-18, + -0.9874638844105621, + -0.1578451056180337, + 5.167703048161302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48926.89484744204, + -5644.037227371612, + 516.7703048161302 + ], + "rotation_deg": [ + -1.0065414582182135e-16, + -9.081840515136717, + 7.877389430999756 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9479492437941774, + 0.3184214678536097, + -0.0, + 434.4382044652917 + ], + [ + 0.03491009219443743, + -0.1039282800860527, + -0.993971930218017, + 24.203700049578398 + ], + [ + -0.31650201482598866, + 0.9422349348686615, + -0.10963485816171338, + -179.65410394943868 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9479492437941774, + 0.03491009219443743, + -0.31650201482598866, + -469.53120219116977 + ], + [ + 0.3184214678536097, + -0.1039282800860527, + 0.9422349348686615, + 33.457365991719385 + ], + [ + -0.0, + -0.993971930218017, + -0.10963485816171338, + 4.361447096639604 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -46953.12021911698, + -3345.7365991719385, + 436.1447096639604 + ], + "rotation_deg": [ + 0.0, + -6.294267177581788, + -108.56748962402344 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.10588293584782044, + -0.9943786018897661, + -4.3368086564015313e-19, + -3.0147704595092435 + ], + [ + -0.03985422021197488, + 0.004243737580384144, + -0.9991964930996526, + -16.372458586283972 + ], + [ + 0.993579611722274, + -0.1057978589933923, + -0.0400795234780736, + 521.8029015502301 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.10588293584782044, + -0.03985422021197488, + 0.993579611722274, + -519.4244486942378 + ], + [ + -0.9943786018897661, + 0.004243737580384144, + -0.1057978589933923, + 52.27728655924452 + ], + [ + -4.3368086564015313e-19, + -0.9991964930996526, + -0.0400795234780736, + 4.554308279160416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -51942.44486942378, + -5227.728655924452, + 455.4308279160416 + ], + "rotation_deg": [ + 2.4868065111158357e-17, + -2.297002792358399, + 6.078038692474369 + ] + } + } + ] + }, + { + "frame": 37, + "time": 1100.79315411672, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.9747529209902239, + -0.22328623562823238, + -0.0, + -456.64671533526916 + ], + [ + -0.02377687663527699, + 0.10379762051633602, + -0.9943141928548627, + -14.211663606974712 + ], + [ + 0.22201666303196968, + -0.9692106660957447, + -0.10648608389076936, + 172.65519667500922 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.9747529209902239, + -0.02377687663527699, + 0.22201666303196968, + -483.7879620279715 + ], + [ + -0.22328623562823238, + 0.10379762051633602, + -0.9692106660957447, + 66.85147317480319 + ], + [ + -0.0, + -0.9943141928548627, + -0.10648608389076936, + 4.254517292171616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48378.79620279715, + -6685.1473174803195, + 425.4517292171615 + ], + "rotation_deg": [ + 0.0, + -6.112792968750001, + 77.0978775024414 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + -0.1690546433538709, + -0.9856066799492053, + 1.7347234628720772e-18, + -27.08517965667206 + ], + [ + -0.15390034310745745, + 0.026397515505282937, + -0.9877336966847668, + -71.68423020912809 + ], + [ + 0.9735169290567826, + -0.16698096907061288, + -0.15614782998200905, + 486.54299787559194 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.1690546433538709, + -0.15390034310745745, + 0.9735169290567826, + -489.26894847442037 + ], + [ + -0.9856066799492053, + 0.026397515505282937, + -0.16698096907061288, + 56.44037227371612 + ], + [ + 1.7347234628720772e-18, + -0.9877336966847668, + -0.15614782998200905, + 5.167703048161302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48926.89484744204, + -5644.037227371612, + 516.7703048161302 + ], + "rotation_deg": [ + -1.0062665083556372e-16, + -8.983372688293453, + 9.732858657836916 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9486202735463224, + 0.3164167767627063, + 6.938893850827276e-18, + 434.7669174989506 + ], + [ + 0.0352135175826185, + -0.10557043473963135, + -0.9937881522177366, + 24.41357657971179 + ], + [ + -0.3144512577014651, + 0.9427275841022302, + -0.11128840327158634, + -178.6401422016288 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9486202735463224, + 0.0352135175826185, + -0.3144512577014651, + -469.46201305700873 + ], + [ + 0.3164167767627063, + -0.10557043473963135, + 0.9427275841022302, + 33.41878978410261 + ], + [ + 6.938893850827276e-18, + -0.9937881522177366, + -0.11128840327158634, + 4.3813478283682485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -46946.20130570087, + -3341.878978410261, + 438.13478283682485 + ], + "rotation_deg": [ + -4.0005441233545087e-16, + -6.389591693878174, + -108.44636535644533 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.10716097229056151, + -0.9942416839067556, + -4.336808656401247e-19, + -3.685771534824127 + ], + [ + -0.03974410742161021, + 0.004283684000639528, + -0.999200708554914, + -16.31733240283053 + ], + [ + 0.9934469949330962, + -0.10707532026709082, + -0.039974292340217286, + 521.8003201016548 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.10716097229056151, + -0.03974410742161021, + 0.9934469949330962, + -519.4244486942378 + ], + [ + -0.9942416839067556, + 0.004283684000639528, + -0.10707532026709082, + 52.27728655924452 + ], + [ + -4.336808656401247e-19, + -0.999200708554914, + -0.039974292340217286, + 4.554308279160416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -51942.44486942378, + -5227.728655924452, + 455.4308279160416 + ], + "rotation_deg": [ + 2.4867960197083898e-17, + -2.290968656539918, + 6.151683807373047 + ] + } + } + ] + }, + { + "frame": 38, + "time": 1100.8598207868636, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.9703022306369108, + -0.24189580653875595, + -6.9388938507363525e-18, + -453.24944768910285 + ], + [ + -0.02504477579540599, + 0.10046061636124438, + -0.9946257707126214, + -14.600648700568486 + ], + [ + 0.24059579307399862, + -0.9650876063629099, + -0.10353538718623131, + 181.35536972701394 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.9703022306369108, + -0.02504477579540599, + 0.24059579307399862, + -483.7879620279715 + ], + [ + -0.24189580653875595, + 0.10046061636124438, + -0.9650876063629099, + 66.85147317480319 + ], + [ + -6.9388938507363525e-18, + -0.9946257707126214, + -0.10353538718623131, + 4.254517292171616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48378.79620279715, + -6685.1473174803195, + 425.4517292171615 + ], + "rotation_deg": [ + 3.997175087584383e-16, + -5.942790508270263, + 76.00154113769526 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + -0.2008736553313591, + -0.9796171571557014, + 1.7347234628643825e-18, + -42.991285084599944 + ], + [ + -0.15121657731435584, + 0.03100744654169407, + -0.9880142129566228, + -70.6298835406437 + ], + [ + 0.967875674033515, + -0.19846602795507767, + -0.1543629338989891, + 485.55071159385204 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.2008736553313591, + -0.15121657731435584, + 0.967875674033515, + -489.26894847442037 + ], + [ + -0.9796171571557014, + 0.03100744654169407, + -0.19846602795507767, + 56.44037227371612 + ], + [ + 1.7347234628643825e-18, + -0.9880142129566228, + -0.1543629338989891, + 5.167703048161302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48926.89484744204, + -5644.037227371612, + 516.7703048161302 + ], + "rotation_deg": [ + -1.005980809900975e-16, + -8.879850387573239, + 11.588052749633789 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9492914178561519, + 0.3143975254111533, + -6.938893850847654e-18, + 435.09594842369916 + ], + [ + 0.03551141353677378, + -0.10722310890429242, + -0.9936005960271551, + 24.621017167150494 + ], + [ + -0.3123855824206517, + 0.943216513916301, + -0.11295067848973153, + -177.61920430821843 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9492914178561519, + 0.03551141353677378, + -0.3123855824206517, + -469.3928510726787 + ], + [ + 0.3143975254111533, + -0.10722310890429242, + 0.943216513916301, + 33.38021407420806 + ], + [ + -6.938893850847654e-18, + -0.9936005960271551, + -0.11295067848973153, + 4.401248560096892 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -46939.28510726787, + -3338.021407420806, + 440.12485600968927 + ], + "rotation_deg": [ + 4.0012992827522635e-16, + -6.485437393188474, + -108.32444763183594 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.1084324033319657, + -0.9941038245111289, + -4.336808656400966e-19, + -4.3533908176883 + ], + [ + -0.03963447321039689, + 0.0043231512433957375, + -0.999204893351039, + -16.262429894620656 + ], + [ + 0.9933134058470733, + -0.10834618884176252, + -0.03986955138890886, + 521.7968912023714 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.1084324033319657, + -0.03963447321039689, + 0.9933134058470733, + -519.4244486942378 + ], + [ + -0.9941038245111289, + 0.0043231512433957375, + -0.10834618884176252, + 52.27728655924452 + ], + [ + -4.336808656400966e-19, + -0.999204893351039, + -0.03986955138890886, + 4.554308279160416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -51942.44486942378, + -5227.728655924452, + 455.4308279160416 + ], + "rotation_deg": [ + 2.4867856046928337e-17, + -2.28496265411377, + 6.224958419799807 + ] + } + } + ] + }, + { + "frame": 39, + "time": 1100.9264874570072, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.9654958378014084, + -0.26041848472824763, + 6.938893850703631e-18, + -449.68590437039893 + ], + [ + -0.026196654592029422, + 0.09712352408209078, + -0.9949275131174435, + -14.933540492829394 + ], + [ + 0.2590975056319253, + -0.9605983753771042, + -0.10059445212427147, + 189.99365157554126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.9654958378014084, + -0.026196654592029422, + 0.2590975056319253, + -483.7879620279715 + ], + [ + -0.26041848472824763, + 0.09712352408209078, + -0.9605983753771042, + 66.85147317480319 + ], + [ + 6.938893850703631e-18, + -0.9949275131174435, + -0.10059445212427147, + 4.254517292171616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48378.79620279715, + -6685.1473174803195, + 425.4517292171615 + ], + "rotation_deg": [ + -3.9959628211365567e-16, + -5.773402690887452, + 74.90510559082031 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + -0.23247677675617107, + -0.972601947493969, + -3.469446925712766e-18, + -58.84965211751348 + ], + [ + -0.14830572149912233, + 0.035448866000577416, + -0.9883060208608958, + -69.45485956785046 + ], + [ + 0.9612283600158784, + -0.22975819988343507, + -0.15248347283397215, + 484.05481659047865 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.23247677675617107, + -0.14830572149912233, + 0.9612283600158784, + -489.26894847442037 + ], + [ + -0.972601947493969, + 0.035448866000577416, + -0.22975819988343507, + 56.44037227371612 + ], + [ + -3.469446925712766e-18, + -0.9883060208608958, + -0.15248347283397215, + 5.167703048161302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48926.89484744204, + -5644.037227371612, + 516.7703048161302 + ], + "rotation_deg": [ + 2.0113675666437918e-16, + -8.77087497711181, + 13.442934036254881 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9499625482006058, + 0.31236382155462866, + -0.0, + 435.42522989028674 + ], + [ + 0.03580367419180938, + -0.10888632813146445, + -0.9934092129935244, + 24.82597224926935 + ], + [ + -0.31030511191162546, + 0.9437015427449921, + -0.11462170711621641, + -176.59134251483238 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9499625482006058, + 0.03580367419180938, + -0.31030511191162546, + -469.3237138720589 + ], + [ + 0.31236382155462866, + -0.10888632813146445, + 0.9437015427449921, + 33.341637385381 + ], + [ + -0.0, + -0.9934092129935244, + -0.11462170711621641, + 4.421149291825538 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -46932.37138720589, + -3334.1637385380996, + 442.11492918255374 + ], + "rotation_deg": [ + 0.0, + -6.581806182861329, + -108.20174407958986 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.10969727919979008, + -0.9939650431157843, + -0.0, + -5.0176533827731475 + ], + [ + -0.03952531431784371, + 0.004362144795950228, + -0.9992090478077422, + -16.20774965348044 + ], + [ + 0.9931788641803961, + -0.1096105147406392, + -0.03976529647356583, + 521.792627689627 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.10969727919979008, + -0.03952531431784371, + 0.9931788641803961, + -519.4244486942378 + ], + [ + -0.9939650431157843, + 0.004362144795950228, + -0.1096105147406392, + 52.27728655924452 + ], + [ + -0.0, + -0.9992090478077422, + -0.03976529647356583, + 4.554308279160416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -51942.44486942378, + -5227.728655924452, + 455.4308279160416 + ], + "rotation_deg": [ + 0.0, + -2.2789845466613774, + 6.297865390777591 + ] + } + } + ] + }, + { + "frame": 40, + "time": 1100.9931541271508, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.960335406362064, + -0.27884746240087865, + 6.938893850671986e-18, + -445.95734545465257 + ], + [ + -0.0272332987479245, + 0.09378999111015453, + -0.9952194657495718, + -15.210962748785477 + ], + [ + 0.2775144129983215, + -0.9557444927582681, + -0.09766378622825332, + 198.56657188476905 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.960335406362064, + -0.0272332987479245, + 0.2775144129983215, + -483.7879620279715 + ], + [ + -0.27884746240087865, + 0.09378999111015453, + -0.9557444927582681, + 66.85147317480319 + ], + [ + 6.938893850671986e-18, + -0.9952194657495718, + -0.09766378622825332, + 4.254517292171616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48378.79620279715, + -6685.1473174803195, + 425.4517292171615 + ], + "rotation_deg": [ + -3.994790585341541e-16, + -5.604656696319581, + 73.8085708618164 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + -0.2638302487617742, + -0.9645691265214228, + -6.93889385139223e-18, + -74.6433078028157 + ], + [ + -0.14516867529088515, + 0.03970673190892435, + -0.9886098477940638, + -68.15874571782061 + ], + [ + 0.9535825366478675, + -0.26082518399758875, + -0.15050106043760303, + 482.0571402612319 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.2638302487617742, + -0.14516867529088515, + 0.9535825366478675, + -489.26894847442037 + ], + [ + -0.9645691265214228, + 0.03970673190892435, + -0.26082518399758875, + 56.44037227371612 + ], + [ + -6.93889385139223e-18, + -0.9886098477940638, + -0.15050106043760303, + 5.167703048161302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48926.89484744204, + -5644.037227371612, + 516.7703048161302 + ], + "rotation_deg": [ + 4.021498836380061e-16, + -8.65596485137939, + 15.297457695007317 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9506336191441411, + 0.3103155203223203, + -0.0, + 435.75474219863696 + ], + [ + 0.03609016144336172, + -0.11056011878736687, + -0.9932139549868976, + 25.028377202509887 + ], + [ + -0.3082097189970852, + 0.9441825720102272, + -0.11630150397948404, + -175.5564947687559 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9506336191441411, + 0.03609016144336172, + -0.3082097189970852, + -469.2545993716761 + ], + [ + 0.3103155203223203, + -0.11056011878736687, + 0.9441825720102272, + 33.30305842053681 + ], + [ + -0.0, + -0.9932139549868976, + -0.11630150397948404, + 4.441050023554182 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -46925.45993716761, + -3330.305842053681, + 444.1050023554182 + ], + "rotation_deg": [ + 0.0, + -6.678699493408205, + -108.07824707031251 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.11095565014334319, + -0.9938253587533715, + -4.3368086564004094e-19, + -5.678584335822762 + ], + [ + -0.03941663159198377, + 0.004400670546619178, + -0.9992131720772509, + -16.153292427030916 + ], + [ + 0.9930433891031671, + -0.11086834799355631, + -0.03966152760139109, + 521.7875421362985 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.11095565014334319, + -0.03941663159198377, + 0.9930433891031671, + -519.4244486942378 + ], + [ + -0.9938253587533715, + 0.004400670546619178, + -0.11086834799355631, + 52.27728655924452 + ], + [ + -4.3368086564004094e-19, + -0.9992131720772509, + -0.03966152760139109, + 4.554308279160416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -51942.44486942378, + -5227.728655924452, + 455.4308279160416 + ], + "rotation_deg": [ + 2.486765001063835e-17, + -2.273034334182739, + 6.370407581329345 + ] + } + } + ] + }, + { + "frame": 41, + "time": 1101.0598207972944, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.9548227306714148, + -0.2971759630138062, + -0.0, + -442.06509204989266 + ], + [ + -0.028155635687942, + 0.09046371274012278, + -0.995501670946001, + -15.433611001185405 + ], + [ + 0.29583915838025526, + -0.9505276266824079, + -0.0947439881067463, + 207.07068559365175 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.9548227306714148, + -0.028155635687942, + 0.29583915838025526, + -483.7879620279715 + ], + [ + -0.2971759630138062, + 0.09046371274012278, + -0.9505276266824079, + 66.85147317480319 + ], + [ + -0.0, + -0.995501670946001, + -0.0947439881067463, + 4.254517292171616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48378.79620279715, + -6685.1473174803195, + 425.4517292171615 + ], + "rotation_deg": [ + 0.0, + -5.43658494949341, + 72.71193695068357 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + -0.2949003748814966, + -0.9555280052906628, + -0.0, + -90.35523998641582 + ], + [ + -0.14180537781270022, + 0.04376476549680694, + -0.988926630303991, + -66.74058858571959 + ], + [ + 0.9449470895932978, + -0.29163483614766694, + -0.14840525669355398, + 479.5601619068136 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.2949003748814966, + -0.14180537781270022, + 0.9449470895932978, + -489.26894847442037 + ], + [ + -0.9555280052906628, + 0.04376476549680694, + -0.29163483614766694, + 56.44037227371612 + ], + [ + -0.0, + -0.988926630303991, + -0.14840525669355398, + 5.167703048161302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48926.89484744204, + -5644.037227371612, + 516.7703048161302 + ], + "rotation_deg": [ + 0.0, + -8.534520149230957, + 17.151563644409187 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9513045424716696, + 0.3082526033511595, + 6.9388938509113386e-18, + 436.08444153065125 + ], + [ + 0.03637075273891185, + -0.11224450959210562, + -0.9930147725042322, + 25.228174817259614 + ], + [ + -0.30609940254488766, + 0.9446594592542952, + -0.11799009196981515, + -174.51465694775663 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9513045424716696, + 0.03637075273891185, + -0.30609940254488766, + -469.1855057367931 + ], + [ + 0.3082526033511595, + -0.11224450959210562, + 0.9446594592542952, + 33.26447604060137 + ], + [ + 6.9388938509113386e-18, + -0.9930147725042322, + -0.11799009196981515, + 4.460950755282826 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -46918.55057367931, + -3326.4476040601376, + 446.0950755282826 + ], + "rotation_deg": [ + -4.0036598269692125e-16, + -6.776119232177735, + -107.95395660400398 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.11220754989260205, + -0.9936847919471741, + 4.336808656400133e-19, + -6.336200124110299 + ], + [ + -0.039308425929201814, + 0.004438733690396506, + -0.9992172663110832, + -16.09905895176636 + ], + [ + 0.9929070012746445, + -0.11211972212664677, + -0.0395582447795277, + 521.7816470259971 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.11220754989260205, + -0.039308425929201814, + 0.9929070012746445, + -519.4244486942378 + ], + [ + -0.9936847919471741, + 0.004438733690396506, + -0.11211972212664677, + 52.27728655924452 + ], + [ + 4.336808656400133e-19, + -0.9992172663110832, + -0.0395582447795277, + 4.554308279160416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -51942.44486942378, + -5227.728655924452, + 455.4308279160416 + ], + "rotation_deg": [ + -2.486754811690711e-17, + -2.2671120166778578, + 6.442586898803719 + ] + } + } + ] + }, + { + "frame": 42, + "time": 1101.126487467438, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.9489596929833131, + -0.31539737014283437, + -1.3877787701223805e-17, + -438.0104970855794 + ], + [ + -0.028964758262120388, + 0.08714843784306085, + -0.9957741674497941, + -15.602264410442515 + ], + [ + 0.31406454449987264, + -0.9449495512026685, + -0.0918357641116089, + 215.50263234905668 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.9489596929833131, + -0.028964758262120388, + 0.31406454449987264, + -483.7879620279715 + ], + [ + -0.31539737014283437, + 0.08714843784306085, + -0.9449495512026685, + 66.85147317480319 + ], + [ + -1.3877787701223805e-17, + -0.9957741674497941, + -0.0918357641116089, + 4.254517292171616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48378.79620279715, + -6685.1473174803195, + 425.4517292171615 + ], + "rotation_deg": [ + 7.985130528686973e-16, + -5.26922607421875, + 71.61519622802732 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + -0.3256536076401425, + -0.9454891473893076, + -6.938893851321292e-18, + -105.96843871758301 + ], + [ + -0.13821427148111626, + 0.04760496327161607, + -0.9892575916468126, + -65.19860364908048 + ], + [ + 0.9353323158896947, + -0.322155305954412, + -0.14618282285494305, + 476.5670534867715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.3256536076401425, + -0.13821427148111626, + 0.9353323158896947, + -489.26894847442037 + ], + [ + -0.9454891473893076, + 0.04760496327161607, + -0.322155305954412, + 56.44037227371612 + ], + [ + -6.938893851321292e-18, + -0.9892575916468126, + -0.14618282285494305, + 5.167703048161302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48926.89484744204, + -5644.037227371612, + 516.7703048161302 + ], + "rotation_deg": [ + 4.018865648408857e-16, + -8.40577983856201, + 19.005178451538082 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9519752293213966, + 0.3061750524756625, + -0.0, + 436.4142839310368 + ], + [ + 0.036645324401764705, + -0.11393952844574078, + -0.9928116155933366, + 25.42530736595739 + ], + [ + -0.3039741622472131, + 0.9451320608900577, + -0.11968749376529432, + -173.46582550962307 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9519752293213966, + 0.036645324401764705, + -0.3039741622472131, + -469.1164313515648 + ], + [ + 0.3061750524756625, + -0.11393952844574078, + 0.9451320608900577, + 33.22588924554188 + ], + [ + -0.0, + -0.9928116155933366, + -0.11968749376529432, + 4.480851487011471 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -46911.64313515648, + -3322.5889245541875, + 448.0851487011471 + ], + "rotation_deg": [ + 0.0, + -6.874067306518553, + -107.82887268066408 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.11345302874334005, + -0.9935433610411587, + 4.336808656399859e-19, + -6.990525913517324 + ], + [ + -0.03920068573545332, + 0.004476338627880767, + -0.9992213311525924, + -16.04504343257791 + ], + [ + 0.9927697196655381, + -0.11336468727722224, + -0.03945543554121198, + 521.7749547768387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.11345302874334005, + -0.03920068573545332, + 0.9927697196655381, + -519.4244486942378 + ], + [ + -0.9935433610411587, + 0.004476338627880767, + -0.11336468727722224, + 52.27728655924452 + ], + [ + 4.336808656399859e-19, + -0.9992213311525924, + -0.03945543554121198, + 4.554308279160416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -51942.44486942378, + -5227.728655924452, + 455.4308279160416 + ], + "rotation_deg": [ + -2.4867446955492484e-17, + -2.2612168788909917, + 6.514406204223636 + ] + } + } + ] + }, + { + "frame": 43, + "time": 1101.1931541375816, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.9427482507737586, + -0.333505225840643, + -0.0, + -433.79493928832926 + ], + [ + -0.02966193345302623, + 0.08384796911929011, + -0.9960369911697047, + -15.717789990814726 + ], + [ + 0.3321835327126346, + -0.9390121342404072, + -0.08893993672040348, + 223.85913531202638 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.9427482507737586, + -0.02966193345302623, + 0.3321835327126346, + -483.7879620279715 + ], + [ + -0.333505225840643, + 0.08384796911929011, + -0.9390121342404072, + 66.85147317480319 + ], + [ + -0.0, + -0.9960369911697047, + -0.08893993672040348, + 4.254517292171616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48378.79620279715, + -6685.1473174803195, + 425.4517292171615 + ], + "rotation_deg": [ + 0.0, + -5.1026253700256365, + 70.5183334350586 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + -0.35605632523879693, + -0.9344644954504391, + 3.4694469256416718e-18, + -121.46577984745932 + ], + [ + -0.13439133205644294, + 0.05120674361512097, + -0.9896043852350441, + -63.52965179384172 + ], + [ + 0.9247501614003197, + -0.3523549033975572, + -0.1438164143683913, + 473.08178151301956 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.35605632523879693, + -0.13439133205644294, + 0.9247501614003197, + -489.26894847442037 + ], + [ + -0.9344644954504391, + 0.05120674361512097, + -0.3523549033975572, + 56.44037227371612 + ], + [ + 3.4694469256416718e-18, + -0.9896043852350441, + -0.1438164143683913, + 5.167703048161302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48926.89484744204, + -5644.037227371612, + 516.7703048161302 + ], + "rotation_deg": [ + -2.0087286454025916e-16, + -8.268746376037598, + 20.85819816589357 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9526456306753163, + 0.304082722881832, + 6.9388938509559855e-18, + 436.74424843493415 + ], + [ + 0.036913738742612986, + -0.11564521519595165, + -0.9926044328403554, + 25.61971098178215 + ], + [ + -0.3018338724171388, + 0.9456002714301741, + -0.12139374008924612, + -172.40993958321343 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9526456306753163, + 0.036913738742612986, + -0.3018338724171388, + -469.0473747535459 + ], + [ + 0.304082722881832, + -0.11564521519595165, + 0.9456002714301741, + 33.18729722004201 + ], + [ + 6.9388938509559855e-18, + -0.9926044328403554, + -0.12139374008924612, + 4.500752218740115 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -46904.73747535459, + -3318.729722004201, + 450.07522187401156 + ], + "rotation_deg": [ + -4.0053149278320565e-16, + -6.972546100616455, + -107.70298767089848 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.11469213700931787, + -0.993401084007983, + -0.0, + -7.641586898679449 + ], + [ + -0.039093420051475675, + 0.004513492043532571, + -0.9992253664205348, + -15.991250915716492 + ], + [ + 0.9926315620564692, + -0.11460329351115947, + -0.03935310820924881, + 521.7674772797258 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.11469213700931787, + -0.039093420051475675, + 0.9926315620564692, + -519.4244486942378 + ], + [ + -0.993401084007983, + 0.004513492043532571, + -0.11460329351115947, + 52.27728655924452 + ], + [ + -0.0, + -0.9992253664205348, + -0.03935310820924881, + 4.554308279160416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -51942.44486942378, + -5227.728655924452, + 455.4308279160416 + ], + "rotation_deg": [ + 0.0, + -2.255349397659302, + 6.585868358612062 + ] + } + } + ] + }, + { + "frame": 44, + "time": 1101.2598208077252, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.9361905646663089, + -0.3514928543082741, + -0.0, + -429.41991022880484 + ], + [ + -0.030248605756107008, + 0.08056624467916465, + -0.9962901696133051, + -15.781149723257984 + ], + [ + 0.3501888666622231, + -0.9327174596947797, + -0.08605752754027352, + 232.13682760289973 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.9361905646663089, + -0.030248605756107008, + 0.3501888666622231, + -483.7879620279715 + ], + [ + -0.3514928543082741, + 0.08056624467916465, + -0.9327174596947797, + 66.85147317480319 + ], + [ + -0.0, + -0.9962901696133051, + -0.08605752754027352, + 4.254517292171616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48378.79620279715, + -6685.1473174803195, + 425.4517292171615 + ], + "rotation_deg": [ + 0.0, + -4.93683958053589, + 69.42134857177734 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + -0.3860747399902541, + -0.9224675035693437, + 3.4694469256217153e-18, + -136.82997275570756 + ], + [ + -0.1303283582143784, + 0.054545538803568765, + -0.9899693445969792, + -61.7283216962303 + ], + [ + 0.9132145486039099, + -0.3822021600576822, + -0.14128233104460916, + 469.10925925724206 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.3860747399902541, + -0.1303283582143784, + 0.9132145486039099, + -489.26894847442037 + ], + [ + -0.9224675035693437, + 0.054545538803568765, + -0.3822021600576822, + 56.44037227371612 + ], + [ + 3.4694469256217153e-18, + -0.9899693445969792, + -0.14128233104460916, + 5.167703048161302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48926.89484744204, + -5644.037227371612, + 516.7703048161302 + ], + "rotation_deg": [ + -2.007988113041502e-16, + -8.122056007385256, + 22.710477828979503 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9533156153243486, + 0.30197572349240026, + 1.387778770195797e-17, + 437.0742670013083 + ], + [ + 0.03717587973271726, + -0.11736157546953019, + -0.9923931753944137, + 25.81133089586004 + ], + [ + -0.29967866085291894, + 0.9460639061739954, + -0.12310883666172288, + -171.34705506615552 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9533156153243486, + 0.03717587973271726, + -0.29967866085291894, + -468.9783344904713 + ], + [ + 0.30197572349240026, + -0.11736157546953019, + 0.9460639061739954, + 33.14869950966577 + ], + [ + 1.387778770195797e-17, + -0.9923931753944137, + -0.12310883666172288, + 4.52065295046876 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -46897.83344904713, + -3314.869950966577, + 452.065295046876 + ], + "rotation_deg": [ + -8.012335132636995e-16, + -7.071556568145753, + -107.57630920410158 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.11592490022230666, + -0.9932579813464616, + -4.3368086563993184e-19, + -8.28939526980043 + ], + [ + -0.0389866173529486, + 0.004550197241324102, + -0.999229372753043, + -15.937675584984863 + ], + [ + 0.9924925495666674, + -0.11583556622747425, + -0.039251250316607325, + 521.759226775515 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.11592490022230666, + -0.0389866173529486, + 0.9924925495666674, + -519.4244486942378 + ], + [ + -0.9932579813464616, + 0.004550197241324102, + -0.11583556622747425, + 52.27728655924452 + ], + [ + -4.3368086563993184e-19, + -0.999229372753043, + -0.039251250316607325, + 4.554308279160416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -51942.44486942378, + -5227.728655924452, + 455.4308279160416 + ], + "rotation_deg": [ + 2.486724682719242e-17, + -2.249508857727051, + 6.65697479248047 + ] + } + } + ] + }, + { + "frame": 45, + "time": 1101.3264874778688, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.9292888742956225, + -0.3693537438694437, + -0.0, + -424.88692873044573 + ], + [ + -0.030726460393263627, + 0.07730734631469702, + -0.9965337218767263, + -15.793431690405711 + ], + [ + 0.36807345249302986, + -0.9260677039506192, + -0.08318979065660266, + 240.33242812978935 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.9292888742956225, + -0.030726460393263627, + 0.36807345249302986, + -483.7879620279715 + ], + [ + -0.3693537438694437, + 0.07730734631469702, + -0.9260677039506192, + 66.85147317480319 + ], + [ + -0.0, + -0.9965337218767263, + -0.08318979065660266, + 4.254517292171616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48378.79620279715, + -6685.1473174803195, + 425.4517292171615 + ], + "rotation_deg": [ + 0.0, + -4.771938800811768, + 68.32423400878905 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + -0.4156744947565941, + -0.9095134492732088, + 3.4694469256005894e-18, + -152.04334529226324 + ], + [ + -0.12600969157634043, + 0.05759014880130203, + -0.9903559624649508, + -59.785173206791455 + ], + [ + 0.9007420659270753, + -0.4116657172559275, + -0.13854626629969893, + 464.6556557397364 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.4156744947565941, + -0.12600969157634043, + 0.9007420659270753, + -489.26894847442037 + ], + [ + -0.9095134492732088, + 0.05759014880130203, + -0.4116657172559275, + 56.44037227371612 + ], + [ + 3.4694469256005894e-18, + -0.9903559624649508, + -0.13854626629969893, + 5.167703048161302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48926.89484744204, + -5644.037227371612, + 516.7703048161302 + ], + "rotation_deg": [ + -2.007204229140456e-16, + -7.963733673095703, + 24.56180000305176 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9539851323853628, + 0.2998539097421978, + -0.0, + 437.4043177898913 + ], + [ + 0.03743160450750805, + -0.11908863957182658, + -0.9921777919853502, + 26.00010060213279 + ], + [ + -0.2975084038000718, + 0.9465228577995851, + -0.12483280550896779, + -170.27711253957162 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9539851323853628, + 0.03743160450750805, + -0.2975084038000718, + -468.9093092476479 + ], + [ + 0.2998539097421978, + -0.11908863957182658, + 0.9465228577995851, + 33.11009577294137 + ], + [ + -0.0, + -0.9921777919853502, + -0.12483280550896779, + 4.540553682197404 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -46890.93092476479, + -3311.0095772941368, + 454.05536821974044 + ], + "rotation_deg": [ + 0.0, + -7.171100616455077, + -107.44882965087896 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.11715136873933472, + -0.9931140703879389, + -4.336808656399051e-19, + -8.933976277516287 + ], + [ + -0.03888028250517916, + 0.004586460355631134, + -0.9992333501308508, + -15.88432028831871 + ], + [ + 0.9923526994975542, + -0.11706155555905916, + -0.03914986602799653, + 521.7502148907669 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.11715136873933472, + -0.03888028250517916, + 0.9923526994975542, + -519.4244486942378 + ], + [ + -0.9931140703879389, + 0.004586460355631134, + -0.11706155555905916, + 52.27728655924452 + ], + [ + -4.336808656399051e-19, + -0.9992333501308508, + -0.03914986602799653, + 4.554308279160416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -51942.44486942378, + -5227.728655924452, + 455.4308279160416 + ], + "rotation_deg": [ + 2.486714784487043e-17, + -2.243695497512818, + 6.727728366851809 + ] + } + } + ] + }, + { + "frame": 46, + "time": 1101.3931541480124, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.9220454857644095, + -0.38708154461492184, + -1.387778770100887e-17, + -420.19753495876887 + ], + [ + -0.031097484223639223, + 0.07407559297501871, + -0.9967676524648857, + -15.755885819739357 + ], + [ + 0.3858303541654854, + -0.9190651177719221, + -0.0803383289558501, + 248.44273860664447 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.9220454857644095, + -0.031097484223639223, + 0.3858303541654854, + -483.7879620279715 + ], + [ + -0.38708154461492184, + 0.07407559297501871, + -0.9190651177719221, + 66.85147317480319 + ], + [ + -1.387778770100887e-17, + -0.9967676524648857, + -0.0803383289558501, + 4.254517292171616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48378.79620279715, + -6685.1473174803195, + 425.4517292171615 + ], + "rotation_deg": [ + 7.9771716953246205e-16, + -4.608013153076172, + 67.22697448730466 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + -0.444819673189822, + -0.8956201529349926, + -0.0, + -167.087318914826 + ], + [ + -0.1214050830378642, + 0.06029717976255243, + -0.9907699308745959, + -57.68292779843193 + ], + [ + 0.8873535153116924, + -0.4407139599630495, + -0.13555421187727726, + 459.72908524207963 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.444819673189822, + -0.1214050830378642, + 0.8873535153116924, + -489.26894847442037 + ], + [ + -0.8956201529349926, + 0.06029717976255243, + -0.4407139599630495, + 56.44037227371612 + ], + [ + -0.0, + -0.9907699308745959, + -0.13555421187727726, + 5.167703048161302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48926.89484744204, + -5644.037227371612, + 516.7703048161302 + ], + "rotation_deg": [ + 0.0, + -7.790668487548831, + 26.411802291870128 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9546541291883855, + 0.29771713693297075, + 6.938893851026359e-18, + 437.7343782206606 + ], + [ + 0.037680770606876454, + -0.12082644493169989, + -0.9919582298321025, + 26.18595405297311 + ], + [ + -0.2953229778460164, + 0.9469770156877927, + -0.1265656766868629, + -169.20005276826106 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9546541291883855, + 0.037680770606876454, + -0.2953229778460164, + -468.84029784745684 + ], + [ + 0.29771713693297075, + -0.12082644493169989, + 0.9469770156877927, + 33.07148574233201 + ], + [ + 6.938893851026359e-18, + -0.9919582298321025, + -0.1265656766868629, + 4.560454413926049 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -46884.02978474568, + -3307.1485742332006, + 456.0454413926049 + ], + "rotation_deg": [ + -4.0079241572510454e-16, + -7.271180629730226, + -107.32054138183594 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.11837157640436564, + -0.9929693700711744, + -0.0, + -9.575346511142165 + ], + [ + -0.03877440803817452, + 0.00462228538156805, + -0.9992372990231804, + -15.8311813523379 + ], + [ + 0.9922120312422248, + -0.11828129519796249, + -0.039048947034089544, + 521.7404534222148 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.11837157640436564, + -0.03877440803817452, + 0.9922120312422248, + -519.4244486942378 + ], + [ + -0.9929693700711744, + 0.00462228538156805, + -0.11828129519796249, + 52.27728655924452 + ], + [ + -0.0, + -0.9992372990231804, + -0.039048947034089544, + 4.554308279160416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -51942.44486942378, + -5227.728655924452, + 455.4308279160416 + ], + "rotation_deg": [ + 0.0, + -2.2379088401794434, + 6.798130989074711 + ] + } + } + ] + }, + { + "frame": 47, + "time": 1101.459820818156, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.9144627593317345, + -0.4046700653561984, + 6.938893850480197e-18, + -415.35328466876945 + ], + [ + -0.03136405853187833, + 0.07087567370138356, + -0.9969919431518911, + -15.669977694962077 + ], + [ + 0.40345278662469664, + -0.9117120069307367, + -0.07750526035757282, + 256.46463966056973 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.9144627593317345, + -0.03136405853187833, + 0.40345278662469664, + -483.7879620279715 + ], + [ + -0.4046700653561984, + 0.07087567370138356, + -0.9117120069307367, + 66.85147317480319 + ], + [ + 6.938893850480197e-18, + -0.9969919431518911, + -0.07750526035757282, + 4.254517292171616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48378.79620279715, + -6685.1473174803195, + 425.4517292171615 + ], + "rotation_deg": [ + -3.9876885458536207e-16, + -4.445182323455811, + 66.12954711914062 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + -0.473470120534849, + -0.8808098801448103, + 6.938893851106639e-18, + -181.94099047040226 + ], + [ + -0.11645066966447146, + 0.0625968371214643, + -0.9912219113382655, + -55.38634499354363 + ], + [ + 0.8730780510100428, + -0.469313961109596, + -0.1322086334250735, + 454.34144959000196 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.473470120534849, + -0.11645066966447146, + 0.8730780510100428, + -489.26894847442037 + ], + [ + -0.8808098801448103, + 0.0625968371214643, + -0.469313961109596, + 56.44037227371612 + ], + [ + 6.938893851106639e-18, + -0.9912219113382655, + -0.1322086334250735, + 5.167703048161302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48926.89484744204, + -5644.037227371612, + 516.7703048161302 + ], + "rotation_deg": [ + -4.010901400480961e-16, + -7.597239494323734, + 28.259786605834968 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.955322511899384, + 0.29556538744963273, + -0.0, + 438.064402302059 + ], + [ + 0.037923247311543104, + -0.12257501527379855, + -0.991734436703685, + 26.36883029216778 + ], + [ + -0.29312238672400037, + 0.9474262288387187, + -0.1283074717608813, + -168.1158749781366 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.955322511899384, + 0.037923247311543104, + -0.29312238672400037, + -468.7712992334315 + ], + [ + 0.29556538744963273, + -0.12257501527379855, + 0.9474262288387187, + 33.03286921451283 + ], + [ + -0.0, + -0.991734436703685, + -0.1283074717608813, + 4.580355145654694 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -46877.12992334315, + -3303.2869214512825, + 458.0355145654693 + ], + "rotation_deg": [ + 0.0, + -7.371798515319824, + -107.19144439697267 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.11958555708461531, + -0.9928238990560018, + -0.0, + -10.213522586652537 + ], + [ + -0.03866899472220955, + 0.0046576772377803525, + -0.9992412195710917, + -15.778259433633025 + ], + [ + 0.992070563589416, + -0.11949481882412655, + -0.038948493341437, + 521.7299538899138 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.11958555708461531, + -0.03866899472220955, + 0.992070563589416, + -519.4244486942378 + ], + [ + -0.9928238990560018, + 0.0046576772377803525, + -0.11949481882412655, + 52.27728655924452 + ], + [ + -0.0, + -0.9992412195710917, + -0.038948493341437, + 4.554308279160416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -51942.44486942378, + -5227.728655924452, + 455.4308279160416 + ], + "rotation_deg": [ + 0.0, + -2.232148885726929, + 6.868184566497807 + ] + } + } + ] + }, + { + "frame": 48, + "time": 1101.5264874882996, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.9065432097776418, + -0.4221130284722924, + -0.0, + -410.3558141489708 + ], + [ + -0.031529113430215354, + 0.0677129151732566, + -0.9972065363429202, + -15.537481210507803 + ], + [ + 0.4209338631014883, + -0.9040108179293136, + -0.07469353359716492, + 264.3949756532661 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.9065432097776418, + -0.031529113430215354, + 0.4209338631014883, + -483.7879620279715 + ], + [ + -0.4221130284722924, + 0.0677129151732566, + -0.9040108179293136, + 66.85147317480319 + ], + [ + -0.0, + -0.9972065363429202, + -0.07469353359716492, + 4.254517292171616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48378.79620279715, + -6685.1473174803195, + 425.4517292171615 + ], + "rotation_deg": [ + 0.0, + -4.283613681793214, + 65.03193664550783 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + -0.5015703263810903, + -0.8651168751642554, + -6.938893851050362e-18, + -196.57526767990333 + ], + [ + -0.11097730939522611, + 0.06434150909805147, + -0.9917379729577672, + -52.80420285263825 + ], + [ + 0.8579692540118276, + -0.497426342208806, + -0.12828013582451447, + 448.5155563156866 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.5015703263810903, + -0.11097730939522611, + 0.8579692540118276, + -489.26894847442037 + ], + [ + -0.8651168751642554, + 0.06434150909805147, + -0.497426342208806, + 56.44037227371612 + ], + [ + -6.938893851050362e-18, + -0.9917379729577672, + -0.12828013582451447, + 5.167703048161302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48926.89484744204, + -5644.037227371612, + 516.7703048161302 + ], + "rotation_deg": [ + 4.008814284366546e-16, + -7.370219230651854, + 30.103946685791012 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9559901860108514, + 0.2933986439146196, + 1.3877787702151225e-17, + 438.39434382309145 + ], + [ + 0.03815890275542151, + -0.12433437338497415, + -0.9915063599067166, + 26.548667828803914 + ], + [ + -0.2909066351109158, + 0.9478703451017648, + -0.13005821206331386, + -167.02457891295043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9559901860108514, + 0.03815890275542151, + -0.2909066351109158, + -468.7023124562344 + ], + [ + 0.2933986439146196, + -0.12433437338497415, + 0.9478703451017648, + 32.99424604183684 + ], + [ + 1.3877787702151225e-17, + -0.9915063599067166, + -0.13005821206331386, + 4.600255877383338 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -46870.231245623436, + -3299.4246041836836, + 460.0255877383338 + ], + "rotation_deg": [ + -8.019501463874284e-16, + -7.4729561805725115, + -107.06153869628908 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.12079334466959857, + -0.9926776757253741, + -0.0, + -10.848521146079086 + ], + [ + -0.038564039179477295, + 0.004692640310516286, + -0.9992451120766516, + -15.72555300561403 + ], + [ + 0.9919283152113649, + -0.120702160161503, + -0.0388485007984877, + 521.7187277367696 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.12079334466959857, + -0.038564039179477295, + 0.9919283152113649, + -519.4244486942378 + ], + [ + -0.9926776757253741, + 0.004692640310516286, + -0.120702160161503, + 52.27728655924452 + ], + [ + -0.0, + -0.9992451120766516, + -0.0388485007984877, + 4.554308279160416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -51942.44486942378, + -5227.728655924452, + 455.4308279160416 + ], + "rotation_deg": [ + 0.0, + -2.2264153957366943, + 6.93789100646973 + ] + } + } + ] + }, + { + "frame": 49, + "time": 1101.5931541584432, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.8982892543706076, + -0.4394046147712805, + 6.9388938504349036e-18, + -405.20668186631536 + ], + [ + -0.031596516997465865, + 0.06459379519519996, + -0.9974113001845875, + -15.36070130809411 + ], + [ + 0.43826712036392484, + -0.8959638568959422, + -0.07190756805830999, + 272.23079272134527 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.8982892543706076, + -0.031596516997465865, + 0.43826712036392484, + -483.7879620279715 + ], + [ + -0.4394046147712805, + 0.06459379519519996, + -0.8959638568959422, + 66.85147317480319 + ], + [ + 6.9388938504349036e-18, + -0.9974113001845875, + -0.07190756805830999, + 4.254517292171616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48378.79620279715, + -6685.1473174803195, + 425.4517292171615 + ], + "rotation_deg": [ + -3.9860119403634403e-16, + -4.123558998107909, + 63.93410110473633 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + -0.514414652145283, + -0.8575415824659742, + -0.0, + -203.28714978038616 + ], + [ + -0.1077205128214088, + 0.06461845263828382, + -0.9920790022453485, + -51.22462187599213 + ], + [ + 0.8507489952755886, + -0.5103399783384929, + -0.12561549883291945, + 445.69798829395677 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.514414652145283, + -0.1077205128214088, + 0.8507489952755886, + -489.26894847442037 + ], + [ + -0.8575415824659742, + 0.06461845263828382, + -0.5103399783384929, + 56.44037227371612 + ], + [ + -0.0, + -0.9920790022453485, + -0.12561549883291945, + 5.167703048161302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48926.89484744204, + -5644.037227371612, + 516.7703048161302 + ], + "rotation_deg": [ + 0.0, + -7.216301441192628, + 30.958337783813484 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9566571338970832, + 0.291216634421556, + -2.7755575404403847e-17, + 438.72420108586175 + ], + [ + 0.03838756553668342, + -0.12610453553436068, + -0.9912739484773266, + 26.72538647293082 + ], + [ + -0.2886754767357319, + 0.9483092901546398, + -0.1318179021901083, + -165.92604945691684 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9566571338970832, + 0.03838756553668342, + -0.2886754767357319, + -468.6333366613021 + ], + [ + 0.291216634421556, + -0.12610453553436068, + 0.9483092901546398, + 32.95561612484612 + ], + [ + -2.7755575404403847e-17, + -0.9912739484773266, + -0.1318179021901083, + 4.620156609111983 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -46863.33366613021, + -3295.561612484612, + 462.01566091119827 + ], + "rotation_deg": [ + 1.6042763389385082e-15, + -7.574654579162595, + -106.93080902099608 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.12199498133040944, + -0.9925307171721148, + -8.673617312795998e-19, + -11.480363200552624 + ], + [ + -0.03845954210203963, + 0.004727179763345101, + -0.9992489766783784, + -15.673062697061305 + ], + [ + 0.9917853033290576, + -0.12190336119248564, + -0.03874896941163675, + 521.706786102538 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.12199498133040944, + -0.03845954210203963, + 0.9917853033290576, + -519.4244486942378 + ], + [ + -0.9925307171721148, + 0.004727179763345101, + -0.12190336119248564, + 52.27728655924452 + ], + [ + -8.673617312795998e-19, + -0.9992489766783784, + -0.03874896941163675, + 4.554308279160416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -51942.44486942378, + -5227.728655924452, + 455.4308279160416 + ], + "rotation_deg": [ + 4.9733517930277967e-17, + -2.22070837020874, + 7.007252693176271 + ] + } + } + ] + }, + { + "frame": 50, + "time": 1101.6598208285868, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.8897032940682668, + -0.45653920809069065, + -0.0, + -399.9074248239391 + ], + [ + -0.03157184669717798, + 0.06152719308331047, + -0.9976059457558475, + -15.142931122025674 + ], + [ + 0.45544622090472175, + -0.8875732999572782, + -0.06915473278492826, + 279.96920168407115 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.8897032940682668, + -0.03157184669717798, + 0.45544622090472175, + -483.7879620279715 + ], + [ + -0.45653920809069065, + 0.06152719308331047, + -0.8875732999572782, + 66.85147317480319 + ], + [ + -0.0, + -0.9976059457558475, + -0.06915473278492826, + 4.254517292171616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48378.79620279715, + -6685.1473174803195, + 425.4517292171615 + ], + "rotation_deg": [ + 0.0, + -3.965439319610595, + 62.83598709106445 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + -0.5145431941454492, + -0.8574644606971171, + 6.938893851001505e-18, + -203.35439417098695 + ], + [ + -0.10698129466986761, + 0.06419682633668164, + -0.9921863585431198, + -50.83859385740431 + ], + [ + 0.8507645385981347, + -0.5105227416120222, + -0.12476469917748119, + 445.7115117062579 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.5145431941454492, + -0.10698129466986761, + 0.8507645385981347, + -489.26894847442037 + ], + [ + -0.8574644606971171, + 0.06419682633668164, + -0.5105227416120222, + 56.44037227371612 + ], + [ + 6.938893851001505e-18, + -0.9921863585431198, + -0.12476469917748119, + 5.167703048161302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48926.89484744204, + -5644.037227371612, + 516.7703048161302 + ], + "rotation_deg": [ + -4.0070026342143538e-16, + -7.1671676635742205, + 30.966926574707042 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9568333587748279, + 0.29063709937941784, + -0.0, + 438.747194538139 + ], + [ + 0.038057103631647486, + -0.1252913216202079, + -0.9913898030491495, + 26.518424257923428 + ], + [ + -0.2881346703832104, + 0.9485948308149673, + -0.13094372330998524, + -165.56173776694988 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9568333587748279, + 0.038057103631647486, + -0.2881346703832104, + -468.5212388957711 + ], + [ + 0.29063709937941784, + -0.1252913216202079, + 0.9485948308149673, + 32.85731984057034 + ], + [ + -0.0, + -0.9913898030491495, + -0.13094372330998524, + 4.6108260079508225 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -46852.12388957711, + -3285.731984057034, + 461.0826007950822 + ], + "rotation_deg": [ + 0.0, + -7.524129867553711, + -106.89610290527348 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.12319050099468244, + -0.9923830412016718, + -0.0, + -12.109065442095513 + ], + [ + -0.0383554959477742, + 0.004761299382932116, + -0.9992528138358113, + -15.620784786275802 + ], + [ + 0.9916415461944548, + -0.1230984557040664, + -0.03864989087106671, + 521.6941401961809 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.12319050099468244, + -0.0383554959477742, + 0.9916415461944548, + -519.4244486942378 + ], + [ + -0.9923830412016718, + 0.004761299382932116, + -0.1230984557040664, + 52.27728655924452 + ], + [ + -0.0, + -0.9992528138358113, + -0.03864989087106671, + 4.554308279160416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -51942.44486942378, + -5227.728655924452, + 455.4308279160416 + ], + "rotation_deg": [ + 0.0, + -2.215027332305908, + 7.076271533966072 + ] + } + } + ] + }, + { + "frame": 51, + "time": 1101.7264874987304, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.8807872239706279, + -0.47351226603976654, + -0.0, + -394.4592635139268 + ], + [ + -0.03146499161272448, + 0.05852849989846559, + -0.9977897418807463, + -14.889986897687848 + ], + [ + 0.4724656743574001, + -0.8788404607709775, + -0.06645021494218688, + 287.6076988022406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.8807872239706279, + -0.03146499161272448, + 0.4724656743574001, + -483.7879620279715 + ], + [ + -0.47351226603976654, + 0.05852849989846559, + -0.8788404607709775, + 66.85147317480319 + ], + [ + -0.0, + -0.9977897418807463, + -0.06645021494218688, + 4.254517292171616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48378.79620279715, + -6685.1473174803195, + 425.4517292171615 + ], + "rotation_deg": [ + 0.0, + -3.8101243972778316, + 61.73747253417969 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + -0.5146704687345672, + -0.8573880735189524, + -0.0, + -203.4209769961448 + ], + [ + -0.10625203369518052, + 0.0637806679085918, + -0.9922915558124898, + -50.45775734229991 + ], + [ + 0.8507789431661769, + -0.51070316365293, + -0.12392525368112615, + 445.72440449622206 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.5146704687345672, + -0.10625203369518052, + 0.8507789431661769, + -489.26894847442037 + ], + [ + -0.8573880735189524, + 0.0637806679085918, + -0.51070316365293, + 56.44037227371612 + ], + [ + -0.0, + -0.9922915558124898, + -0.12392525368112615, + 5.167703048161302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48926.89484744204, + -5644.037227371612, + 516.7703048161302 + ], + "rotation_deg": [ + 0.0, + -7.118694782257083, + 30.975431442260735 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9565218512849497, + 0.29166067272502244, + -6.938893851038843e-18, + 438.4652145504357 + ], + [ + 0.03717517141496593, + -0.12191860990872583, + -0.9918436667077082, + 25.933218356242975 + ], + [ + -0.2892818047522796, + 0.9487201359606168, + -0.12746035094151165, + -165.92952329956586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9565218512849497, + 0.03717517141496593, + -0.2892818047522796, + -468.3660184632691 + ], + [ + 0.29166067272502244, + -0.12191860990872583, + 0.9487201359606168, + 32.69935716702887 + ], + [ + -6.938893851038843e-18, + -0.9918436667077082, + -0.12746035094151165, + 4.572264073899857 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -46836.60184632691, + -3269.935716702887, + 457.2264073899857 + ], + "rotation_deg": [ + 4.0083870934337876e-16, + -7.32286024093628, + -106.95740509033207 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.12437994586731001, + -0.9922346643138631, + -8.673617312794973e-19, + -12.734648930395018 + ], + [ + -0.038251905497342295, + 0.004795004756632771, + -0.9992566235233101, + -15.56872204865844 + ], + [ + 0.9914970602735691, + -0.12428748569772864, + -0.03855126934106878, + 521.6808007852364 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.12437994586731001, + -0.038251905497342295, + 0.9914970602735691, + -519.4244486942378 + ], + [ + -0.9922346643138631, + 0.004795004756632771, + -0.12428748569772864, + 52.27728655924452 + ], + [ + -8.673617312794973e-19, + -0.9992566235233101, + -0.03855126934106878, + 4.554308279160416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -51942.44486942378, + -5227.728655924452, + 455.4308279160416 + ], + "rotation_deg": [ + 4.9733137342852823e-17, + -2.209372520446777, + 7.144949913024904 + ] + } + } + ] + }, + { + "frame": 52, + "time": 1101.793154168874, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.8749539611995146, + -0.4842061191076359, + -0.0, + -390.92230137441436 + ], + [ + -0.0313753613182666, + 0.056694856975529014, + -0.9978984316525767, + -14.723580687007505 + ], + [ + 0.48318851963293036, + -0.8731151896082505, + -0.06479753213113852, + 292.405508086079 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.8749539611995146, + -0.0313753613182666, + 0.48318851963293036, + -483.7879620279715 + ], + [ + -0.4842061191076359, + 0.056694856975529014, + -0.8731151896082505, + 66.85147317480319 + ], + [ + -0.0, + -0.9978984316525767, + -0.06479753213113852, + 4.254517292171616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48378.79620279715, + -6685.1473174803195, + 425.4517292171615 + ], + "rotation_deg": [ + 0.0, + -3.7152280807495113, + 61.039527893066406 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + -0.5147964762454941, + -0.8573124214924347, + -6.938893850978823e-18, + -203.48689838705576 + ], + [ + -0.10553253797401446, + 0.06336987230826661, + -0.9923946506871127, + -50.08201220706455 + ], + [ + 0.850792258815737, + -0.5108812727219963, + -0.12309694358987555, + 445.73669151166064 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.5147964762454941, + -0.10553253797401446, + 0.850792258815737, + -489.26894847442037 + ], + [ + -0.8573124214924347, + 0.06336987230826661, + -0.5108812727219963, + 56.44037227371612 + ], + [ + -6.938893850978823e-18, + -0.9923946506871127, + -0.12309694358987555, + 5.167703048161302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48926.89484744204, + -5644.037227371612, + 516.7703048161302 + ], + "rotation_deg": [ + 4.006161610754499e-16, + -7.070869922637939, + 30.98385238647461 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9562134968071718, + 0.2926700335254719, + 1.3877787701982634e-17, + 438.18560390080495 + ], + [ + 0.036296458654756045, + -0.11858803319869281, + -0.9922799229406934, + 25.352114967193916 + ], + [ + -0.29041061200717394, + 0.9488314506105656, + -0.12401836463148622, + -166.28741673515026 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9562134968071718, + 0.036296458654756045, + -0.29041061200717394, + -468.21080691546376 + ], + [ + 0.2926700335254719, + -0.11858803319869281, + 0.9488314506105656, + 32.541387678179674 + ], + [ + 1.3877787701982634e-17, + -0.9922799229406934, + -0.12401836463148622, + 4.5337021398488915 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -46821.080691546376, + -3254.138767817967, + 453.3702139848891 + ], + "rotation_deg": [ + -8.013249609093641e-16, + -7.124071121215821, + -107.01787567138673 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.12556334165382096, + -0.9920856047905975, + -0.0, + -13.357126061802695 + ], + [ + -0.03814876321342513, + 0.004828299257551545, + -0.9992604061962856, + -15.516870743404231 + ], + [ + 0.9913518642908109, + -0.12547047674972148, + -0.0384530965116119, + 521.6667788948316 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.12556334165382096, + -0.03814876321342513, + 0.9913518642908109, + -519.4244486942378 + ], + [ + -0.9920856047905975, + 0.004828299257551545, + -0.12547047674972148, + 52.27728655924452 + ], + [ + -0.0, + -0.9992604061962856, + -0.0384530965116119, + 4.554308279160416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -51942.44486942378, + -5227.728655924452, + 455.4308279160416 + ], + "rotation_deg": [ + 0.0, + -2.203743457794189, + 7.21328926086426 + ] + } + } + ] + }, + { + "frame": 53, + "time": 1101.8598208390176, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.8736304039886768, + -0.486590091582824, + -3.4694469251900477e-18, + -390.1226082567812 + ], + [ + -0.031374112353992095, + 0.05632950387757498, + -0.997919161088164, + -14.698463866557129 + ], + [ + 0.48557756879422775, + -0.8718125238183223, + -0.06447749993147947, + 293.4728546013691 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.8736304039886768, + -0.031374112353992095, + 0.48557756879422775, + -483.7879620279715 + ], + [ + -0.486590091582824, + 0.05632950387757498, + -0.8718125238183223, + 66.85147317480319 + ], + [ + -3.4694469251900477e-18, + -0.997919161088164, + -0.06447749993147947, + 4.254517292171616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48378.79620279715, + -6685.1473174803195, + 425.4517292171615 + ], + "rotation_deg": [ + 1.9919916897990808e-16, + -3.6968531608581525, + 60.88329696655273 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + -0.5149212170079387, + -0.8572375051729029, + -1.3877787701935641e-17, + -203.55215847369269 + ], + [ + -0.1048226155343709, + 0.06296433419583856, + -0.9924956986767285, + -49.71125829348119 + ], + [ + 0.8508045343875402, + -0.511057096542958, + -0.12227954996107106, + 445.7483970821313 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.5149212170079387, + -0.1048226155343709, + 0.8508045343875402, + -489.26894847442037 + ], + [ + -0.8572375051729029, + 0.06296433419583856, + -0.511057096542958, + 56.44037227371612 + ], + [ + -1.3877787701935641e-17, + -0.9924956986767285, + -0.12227954996107106, + 5.167703048161302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48926.89484744204, + -5644.037227371612, + 516.7703048161302 + ], + "rotation_deg": [ + 8.011507470702852e-16, + -7.0236802101135245, + 30.99218940734863 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9559081441156866, + 0.29366583051710954, + 6.9388938509456826e-18, + 437.908262050452 + ], + [ + 0.03542113826510899, + -0.11529892491013775, + -0.992699098860561, + 24.77515640567093 + ], + [ + -0.2915218190247948, + 0.9489291489288064, + -0.12061716024565536, + -166.6357929710522 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9559081441156866, + 0.03542113826510899, + -0.2915218190247948, + -468.0556036802347 + ], + [ + 0.29366583051710954, + -0.11529892491013775, + 0.9489291489288064, + 32.38341140922908 + ], + [ + 6.9388938509456826e-18, + -0.992699098860561, + -0.12061716024565536, + 4.495140205797926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -46805.56036802347, + -3238.3411409229084, + 449.51402057979266 + ], + "rotation_deg": [ + -4.004932971980352e-16, + -6.927721977233888, + -107.07755279541016 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.12674073884824455, + -0.9919358775224337, + -8.673617312793959e-19, + -13.976522285713848 + ], + [ + -0.03804606967355383, + 0.004861188197710844, + -0.9992641619870603, + -15.465231447592442 + ], + [ + 0.991205973261372, + -0.12664747916913804, + -0.03835537238874353, + 521.6520849542749 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.12674073884824455, + -0.03804606967355383, + 0.991205973261372, + -519.4244486942378 + ], + [ + -0.9919358775224337, + 0.004861188197710844, + -0.12664747916913804, + 52.27728655924452 + ], + [ + -8.673617312793959e-19, + -0.9992641619870603, + -0.03835537238874353, + 4.554308279160416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -51942.44486942378, + -5227.728655924452, + 455.4308279160416 + ], + "rotation_deg": [ + 4.973276215531672e-17, + -2.1981401443481436, + 7.281292438507081 + ] + } + } + ] + }, + { + "frame": 54, + "time": 1101.9264875091612, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.8723137310744848, + -0.4889465764057573, + -0.0, + -389.32808326903967 + ], + [ + -0.03137087423470422, + 0.05596775940616044, + -0.9979396164882945, + -14.67262712474557 + ], + [ + 0.48793915177866, + -0.8705164342243275, + -0.06416012707970589, + 294.5273642535564 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.8723137310744848, + -0.03137087423470422, + 0.48793915177866, + -483.7879620279715 + ], + [ + -0.4889465764057573, + 0.05596775940616044, + -0.8705164342243275, + 66.85147317480319 + ], + [ + -0.0, + -0.9979396164882945, + -0.06416012707970589, + 4.254517292171616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48378.79620279715, + -6685.1473174803195, + 425.4517292171615 + ], + "rotation_deg": [ + 0.0, + -3.6786313056945783, + 60.728633880615256 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + -0.5150446628139084, + -0.8571633422556677, + 6.938893850957039e-18, + -203.61674245603072 + ], + [ + -0.10412207644217947, + 0.06256394447705015, + -0.9925947541916796, + -49.345396234209915 + ], + [ + 0.8508158347674709, + -0.511230633990471, + -0.1214728536695866, + 445.75955175839397 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.5150446628139084, + -0.10412207644217947, + 0.8508158347674709, + -489.26894847442037 + ], + [ + -0.8571633422556677, + 0.06256394447705015, + -0.511230633990471, + 56.44037227371612 + ], + [ + 6.938893850957039e-18, + -0.9925947541916796, + -0.1214728536695866, + 5.167703048161302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48926.89484744204, + -5644.037227371612, + 516.7703048161302 + ], + "rotation_deg": [ + -4.005353983082411e-16, + -6.97711277008057, + 31.000440597534194 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9556058349125268, + 0.2946480753053251, + -6.938893850901885e-18, + 437.63319981029673 + ], + [ + 0.0345492948277454, + -0.11205064786286086, + -0.9931017060404327, + 24.202344770869875 + ], + [ + -0.29261551998207275, + 0.9490137806133333, + -0.11725613703175329, + -166.97473575839894 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9556058349125268, + 0.0345492948277454, + -0.29261551998207275, + -467.9004082372991 + ], + [ + 0.2946480753053251, + -0.11205064786286086, + 0.9490137806133333, + 32.22542841788593 + ], + [ + -6.938893850901885e-18, + -0.9931017060404327, + -0.11725613703175329, + 4.456578271746961 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -46790.040823729905, + -3222.5428417885933, + 445.65782717469614 + ], + "rotation_deg": [ + 4.003309357012508e-16, + -6.733772754669189, + -107.13643646240234 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.1279121549354424, + -0.9917855013155671, + -4.336808656396728e-19, + -14.592845701056206 + ], + [ + -0.03794382147339459, + 0.004893675058477521, + -0.9992678911865513, + -15.41380257360034 + ], + [ + 0.9910594062707583, + -0.12781851030270971, + -0.03825809282031929, + 521.6367297649742 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.1279121549354424, + -0.03794382147339459, + 0.9910594062707583, + -519.4244486942378 + ], + [ + -0.9917855013155671, + 0.004893675058477521, + -0.12781851030270971, + 52.27728655924452 + ], + [ + -4.336808656396728e-19, + -0.9992678911865513, + -0.03825809282031929, + 4.554308279160416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -51942.44486942378, + -5227.728655924452, + 455.4308279160416 + ], + "rotation_deg": [ + 2.486628827802183e-17, + -2.1925623416900644, + 7.348960399627689 + ] + } + } + ] + }, + { + "frame": 55, + "time": 1101.9931541793048, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.871003916539806, + -0.49127607042509014, + 3.4694469251878553e-18, + -388.5386806577285 + ], + [ + -0.03136571150913234, + 0.055609583316103404, + -0.9979598019885043, + -14.64609898142664 + ], + [ + 0.49027376282880875, + -0.8692269000689924, + -0.06384538885566302, + 295.56927465842585 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.871003916539806, + -0.03136571150913234, + 0.49027376282880875, + -483.7879620279715 + ], + [ + -0.49127607042509014, + 0.055609583316103404, + -0.8692269000689924, + 66.85147317480319 + ], + [ + 3.4694469251878553e-18, + -0.9979598019885043, + -0.06384538885566302, + 4.254517292171616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48378.79620279715, + -6685.1473174803195, + 425.4517292171615 + ], + "rotation_deg": [ + -1.9919105679574607e-16, + -3.6605610847473127, + 60.57551193237306 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + -0.515166899590454, + -0.8570898818480817, + -3.469446925473235e-18, + -203.68069524790766 + ], + [ + -0.1034307436340598, + 0.06216862040816652, + -0.992691867554001, + -48.9843344675003 + ], + [ + 0.8508261532325098, + -0.5114019951651577, + -0.12067666019850777, + 445.77015745999853 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.515166899590454, + -0.1034307436340598, + 0.8508261532325098, + -489.26894847442037 + ], + [ + -0.8570898818480817, + 0.06216862040816652, + -0.5114019951651577, + 56.44037227371612 + ], + [ + -3.469446925473235e-18, + -0.992691867554001, + -0.12067666019850777, + 5.167703048161302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48926.89484744204, + -5644.037227371612, + 516.7703048161302 + ], + "rotation_deg": [ + 2.0024810730435561e-16, + -6.931156158447268, + 31.008611679077173 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9553065315971859, + 0.2956170338254463, + -0.0, + 437.360382761953 + ], + [ + 0.03368104449904512, + -0.10884258388152337, + -0.9934882380659806, + 23.63369773528945 + ], + [ + -0.29369205980252067, + 0.949085798536761, + -0.11393472264762564, + -167.30444243397517 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9553065315971859, + 0.03368104449904512, + -0.29369205980252067, + -467.74522011242334 + ], + [ + 0.2956170338254463, + -0.10884258388152337, + 0.949085798536761, + 32.067438780966405 + ], + [ + -0.0, + -0.9934882380659806, + -0.11393472264762564, + 4.418016337695995 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -46774.522011242334, + -3206.7438780966404, + 441.80163376959956 + ], + "rotation_deg": [ + 0.0, + -6.542185306549073, + -107.19454193115236 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.12907764043736059, + -0.9916344904949218, + -0.0, + -15.206121801295609 + ], + [ + -0.037842015030919475, + 0.004925764539662542, + -0.9992715940834601, + -15.362582505213581 + ], + [ + 0.9909121779244819, + -0.12898362051248466, + -0.03816125365408416, + 521.6207235272705 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.12907764043736059, + -0.037842015030919475, + 0.9909121779244819, + -519.4244486942378 + ], + [ + -0.9916344904949218, + 0.004925764539662542, + -0.12898362051248466, + 52.27728655924452 + ], + [ + -0.0, + -0.9992715940834601, + -0.03816125365408416, + 4.554308279160416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -51942.44486942378, + -5227.728655924452, + 455.4308279160416 + ], + "rotation_deg": [ + 0.0, + -2.1870098114013676, + 7.4162960052490305 + ] + } + } + ] + }, + { + "frame": 56, + "time": 1102.0598208494484, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.8697009934062109, + -0.49357895221357406, + -6.938893850373561e-18, + -387.75439109013985 + ], + [ + -0.03135867992260854, + 0.05525493937350682, + -0.9979797216719091, + -14.618903965859865 + ], + [ + 0.4925817782472869, + -0.8679439593341441, + -0.06353326053422952, + 296.5987703005991 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.8697009934062109, + -0.03135867992260854, + 0.4925817782472869, + -483.7879620279715 + ], + [ + -0.49357895221357406, + 0.05525493937350682, + -0.8679439593341441, + 66.85147317480319 + ], + [ + -6.938893850373561e-18, + -0.9979797216719091, + -0.06353326053422952, + 4.254517292171616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48378.79620279715, + -6685.1473174803195, + 425.4517292171615 + ], + "rotation_deg": [ + 3.983741618811241e-16, + -3.6426410675048806, + 60.423912048339815 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + -0.5152878991135337, + -0.8570171416180427, + -3.469446925468054e-18, + -203.74400204299343 + ], + [ + -0.10274842715025204, + 0.06177825225702428, + -0.9927870911057497, + -48.62797358812802 + ], + [ + 0.850835552813841, + -0.5115711779533381, + -0.11989075008272891, + 445.7802437727189 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.5152878991135337, + -0.10274842715025204, + 0.850835552813841, + -489.26894847442037 + ], + [ + -0.8570171416180427, + 0.06177825225702428, + -0.5115711779533381, + 56.44037227371612 + ], + [ + -3.469446925468054e-18, + -0.9927870911057497, + -0.11989075008272891, + 5.167703048161302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48926.89484744204, + -5644.037227371612, + 516.7703048161302 + ], + "rotation_deg": [ + 2.0022890043061987e-16, + -6.8857975006103525, + 31.016700744628903 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.955010115994774, + 0.2965732259453783, + -6.9388938508195634e-18, + 437.0897309339997 + ], + [ + 0.03281651637279621, + -0.10567408776644123, + -0.9938591768595207, + 23.06923835209462 + ], + [ + -0.2947520359514637, + 0.9491455634102903, + -0.11065232379407837, + -167.6252250080714 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.955010115994774, + 0.03281651637279621, + -0.2947520359514637, + -467.59003887232154 + ], + [ + 0.2965732259453783, + -0.10567408776644123, + 0.9491455634102903, + 31.90944259142258 + ], + [ + -6.9388938508195634e-18, + -0.9938591768595207, + -0.11065232379407837, + 4.379454403645031 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -46759.00388723215, + -3190.944259142258, + 437.9454403645031 + ], + "rotation_deg": [ + 4.000258230519449e-16, + -6.35292053222656, + -107.25189971923828 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.13023722937810245, + -0.9914828612154197, + -0.0, + -15.81636741484769 + ], + [ + -0.03774065095167309, + 0.004957461199930932, + -0.9992752708058953, + -15.311571794698022 + ], + [ + 0.9907643044976409, + -0.13014284365674592, + -0.03806485489584758, + 521.604076464893 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.13023722937810245, + -0.03774065095167309, + 0.9907643044976409, + -519.4244486942378 + ], + [ + -0.9914828612154197, + 0.004957461199930932, + -0.13014284365674592, + 52.27728655924452 + ], + [ + -0.0, + -0.9992752708058953, + -0.03806485489584758, + 4.554308279160416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -51942.44486942378, + -5227.728655924452, + 455.4308279160416 + ], + "rotation_deg": [ + 0.0, + -2.181482553482056, + 7.48330116271973 + ] + } + } + ] + }, + { + "frame": 57, + "time": 1102.126487519592, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.8684049562431805, + -0.49585565638830786, + -0.0, + -386.9751828842606 + ], + [ + -0.031349837640931646, + 0.0549037891048771, + -0.9979993795698544, + -14.591067628797363 + ], + [ + 0.4948636303538996, + -0.8666676115518148, + -0.06322371738541717, + 297.616060194695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.8684049562431805, + -0.031349837640931646, + 0.4948636303538996, + -483.7879620279715 + ], + [ + -0.49585565638830786, + 0.0549037891048771, + -0.8666676115518148, + 66.85147317480319 + ], + [ + -0.0, + -0.9979993795698544, + -0.06322371738541717, + 4.254517292171616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48378.79620279715, + -6685.1473174803195, + 425.4517292171615 + ], + "rotation_deg": [ + 0.0, + -3.62486982345581, + 60.27381134033201 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + -0.5154076616931081, + -0.8569451220866142, + -1.3877787701851899e-17, + -203.8066629635332 + ], + [ + -0.10207496322376898, + 0.06139275054681426, + -0.9928804721934873, + -48.276228175214044 + ], + [ + 0.8508440752203535, + -0.5117382060261016, + -0.11911493674434034, + 445.7898314752451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.5154076616931081, + -0.10207496322376898, + 0.8508440752203535, + -489.26894847442037 + ], + [ + -0.8569451220866142, + 0.06139275054681426, + -0.5117382060261016, + 56.44037227371612 + ], + [ + -1.3877787701851899e-17, + -0.9928804721934873, + -0.11911493674434034, + 5.167703048161302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48926.89484744204, + -5644.037227371612, + 516.7703048161302 + ], + "rotation_deg": [ + 8.008402750609794e-16, + -6.8410258293151855, + 31.024707794189457 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9547165862191199, + 0.29751678943903276, + 6.938893850780928e-18, + 436.82123127689255 + ], + [ + 0.031955797406644254, + -0.10254456519077575, + -0.9942149863897344, + 22.508971770645466 + ], + [ + -0.2957956645071716, + 0.9491935333969881, + -0.1074083842914607, + -167.93721948173308 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9547165862191199, + 0.031955797406644254, + -0.2957956645071716, + -467.43486412015403 + ], + [ + 0.29751678943903276, + -0.10254456519077575, + 0.9491935333969881, + 31.751439955743795 + ], + [ + 6.938893850780928e-18, + -0.9942149863897344, + -0.1074083842914607, + 4.340892469594065 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -46743.4864120154, + -3175.1439955743795, + 434.0892469594065 + ], + "rotation_deg": [ + -3.9988266186011465e-16, + -6.165941715240479, + -107.3085174560547 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.1313909557961494, + -0.9913306293739612, + -0.0, + -16.423599391085062 + ], + [ + -0.03763972570133563, + 0.0049887690234352395, + -0.9992789216393786, + -15.260768813221883 + ], + [ + 0.9906158021638041, + -0.13129621363085084, + -0.03796889239318325, + 521.5867987318346 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.1313909557961494, + -0.03763972570133563, + 0.9906158021638041, + -519.4244486942378 + ], + [ + -0.9913306293739612, + 0.0049887690234352395, + -0.13129621363085084, + 52.27728655924452 + ], + [ + -0.0, + -0.9992789216393786, + -0.03796889239318325, + 4.554308279160416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -51942.44486942378, + -5227.728655924452, + 455.4308279160416 + ], + "rotation_deg": [ + 0.0, + -2.1759803295135502, + 7.549977779388428 + ] + } + } + ] + }, + { + "frame": 58, + "time": 1102.1931541897357, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.8671158268429631, + -0.49810655771475654, + 3.4694469251846756e-18, + -386.2010415292949 + ], + [ + -0.031339237888907724, + 0.05455609598745799, + -0.998018779662562, + -14.562613261225607 + ], + [ + 0.4971196918223823, + -0.865397883346338, + -0.0629167346744684, + 298.62132631042226 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.8671158268429631, + -0.031339237888907724, + 0.4971196918223823, + -483.7879620279715 + ], + [ + -0.49810655771475654, + 0.05455609598745799, + -0.865397883346338, + 66.85147317480319 + ], + [ + 3.4694469251846756e-18, + -0.998018779662562, + -0.0629167346744684, + 4.254517292171616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48378.79620279715, + -6685.1473174803195, + 425.4517292171615 + ], + "rotation_deg": [ + -1.9917928564910586e-16, + -3.6072459220886244, + 60.1251907348633 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + -0.5155262161610267, + -0.8568738066078889, + -6.938893850915985e-18, + -203.86869305555678 + ], + [ + -0.10141018602543943, + 0.06101202893438907, + -0.9929720572582063, + -47.92901198046153 + ], + [ + 0.8508517443171768, + -0.5119031309457216, + -0.11834903345775573, + 445.7989341892955 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.5155262161610267, + -0.10141018602543943, + 0.8508517443171768, + -489.26894847442037 + ], + [ + -0.8568738066078889, + 0.06101202893438907, + -0.5119031309457216, + 56.44037227371612 + ], + [ + -6.938893850915985e-18, + -0.9929720572582063, + -0.11834903345775573, + 5.167703048161302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48926.89484744204, + -5644.037227371612, + 516.7703048161302 + ], + "rotation_deg": [ + 4.0038320546929693e-16, + -6.796830177307128, + 31.032634735107436 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9544259393783171, + 0.29844786184829225, + -0.0, + 436.5548703940243 + ], + [ + 0.03109896404045526, + -0.0994534113402088, + -0.9945561187828494, + 21.952898094142125 + ], + [ + -0.2968231608923981, + 0.949230153544777, + -0.10420233567058294, + -168.24056069725498 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9544259393783171, + 0.03109896404045526, + -0.2968231608923981, + -467.2796954915582 + ], + [ + 0.29844786184829225, + -0.0994534113402088, + 0.949230153544777, + 31.59343099168542 + ], + [ + -0.0, + -0.9945561187828494, + -0.10420233567058294, + 4.3023305355431 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -46727.969549155816, + -3159.343099168542, + 430.23305355431 + ], + "rotation_deg": [ + 0.0, + -5.981211662292481, + -107.36440277099611 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.13253885374357233, + -0.9911778106113653, + -0.0, + -17.02783459982632 + ], + [ + -0.037539239852132054, + 0.005019692498299317, + -0.9992825467096615, + -15.21017409206702 + ], + [ + 0.9904666866824353, + -0.1324437643252911, + -0.0378733661517616, + 521.5689002856752 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.13253885374357233, + -0.037539239852132054, + 0.9904666866824353, + -519.4244486942378 + ], + [ + -0.9911778106113653, + 0.005019692498299317, + -0.1324437643252911, + 52.27728655924452 + ], + [ + -0.0, + -0.9992825467096615, + -0.0378733661517616, + 4.554308279160416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -51942.44486942378, + -5227.728655924452, + 455.4308279160416 + ], + "rotation_deg": [ + 0.0, + -2.17050313949585, + 7.616327762603766 + ] + } + } + ] + }, + { + "frame": 59, + "time": 1102.2598208598793, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.8658336550741399, + -0.5003319715358545, + -0.0, + -385.43197006992216 + ], + [ + -0.03132692908592232, + 0.05421182545950648, + -0.9980379258797702, + -14.533561960637876 + ], + [ + 0.49935027610050126, + -0.8641348292900187, + -0.06261228766195218, + 299.6147238330214 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.8658336550741399, + -0.03132692908592232, + 0.49935027610050126, + -483.7879620279715 + ], + [ + -0.5003319715358545, + 0.05421182545950648, + -0.8641348292900187, + 66.85147317480319 + ], + [ + -0.0, + -0.9980379258797702, + -0.06261228766195218, + 4.254517292171616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48378.79620279715, + -6685.1473174803195, + 425.4517292171615 + ], + "rotation_deg": [ + 0.0, + -3.5897679328918457, + 59.97803497314453 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + -0.5156435913367119, + -0.8568031785149829, + -1.3877787701812428e-17, + -203.9301073601979 + ], + [ + -0.10075391558549203, + 0.06063599222844216, + -0.9930618938115908, + -47.58623133209064 + ], + [ + 0.8508585848389209, + -0.512066004860048, + -0.11759283682511386, + 445.8075659088909 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.5156435913367119, + -0.10075391558549203, + 0.8508585848389209, + -489.26894847442037 + ], + [ + -0.8568031785149829, + 0.06063599222844216, + -0.512066004860048, + 56.44037227371612 + ], + [ + -1.3877787701812428e-17, + -0.9930618938115908, + -0.11759283682511386, + 5.167703048161302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48926.89484744204, + -5644.037227371612, + 516.7703048161302 + ], + "rotation_deg": [ + 8.006939702418026e-16, + -6.753198623657227, + 31.040483474731452 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9541380520027651, + 0.2993669616380016, + -1.3877787701416915e-17, + 436.2905667027241 + ], + [ + 0.030246128258329313, + -0.09640002269831227, + -0.9948830118909183, + 21.40103427462185 + ], + [ + -0.297835118217458, + 0.9492557345351843, + -0.10103362216836889, + -168.53555515913115 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9541380520027651, + 0.030246128258329313, + -0.297835118217458, + -467.1245326511456 + ], + [ + 0.2993669616380016, + -0.09640002269831227, + 0.9492557345351843, + 31.435415826284753 + ], + [ + -1.3877787701416915e-17, + -0.9948830118909183, + -0.10103362216836889, + 4.263768601492135 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -46712.453265114564, + -3143.541582628475, + 426.37686014921354 + ], + "rotation_deg": [ + 7.992283121991491e-16, + -5.798694133758543, + -107.41958618164064 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.13368096553293782, + -0.9910244192017575, + 4.3368086563954997e-19, + -17.629094273040472 + ], + [ + -0.037439189796184505, + 0.005050235840562003, + -0.9992861462991269, + -15.159785976330472 + ], + [ + 0.9903169726027473, + -0.13358553790807146, + -0.037778272018988576, + 521.5503908691481 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.13368096553293782, + -0.037439189796184505, + 0.9903169726027473, + -519.4244486942378 + ], + [ + -0.9910244192017575, + 0.005050235840562003, + -0.13358553790807146, + 52.27728655924452 + ], + [ + 4.3368086563954997e-19, + -0.9992861462991269, + -0.037778272018988576, + 4.554308279160416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -51942.44486942378, + -5227.728655924452, + 455.4308279160416 + ], + "rotation_deg": [ + -2.486583401684692e-17, + -2.1650507450103773, + 7.682353496551519 + ] + } + } + ] + }, + { + "frame": 60, + "time": 1102.3264875300229, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.8645583524176077, + -0.5025324420024554, + 3.4694469251826233e-18, + -384.6678893043797 + ], + [ + -0.03131297499834018, + 0.0538709380950304, + -0.9980568218420806, + -14.503941925344252 + ], + [ + 0.5015559249423005, + -0.8628783655421628, + -0.062310355756961394, + 300.5965091640991 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.8645583524176077, + -0.03131297499834018, + 0.5015559249423005, + -483.7879620279715 + ], + [ + -0.5025324420024554, + 0.0538709380950304, + -0.8628783655421628, + 66.85147317480319 + ], + [ + 3.4694469251826233e-18, + -0.9980568218420806, + -0.062310355756961394, + 4.254517292171616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48378.79620279715, + -6685.1473174803195, + 425.4517292171615 + ], + "rotation_deg": [ + -1.991716936823032e-16, + -3.572434663772583, + 59.83231353759768 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + -0.515759758986923, + -0.8567332554592186, + 3.4694469254483153e-18, + -203.99089106756122 + ], + [ + -0.10010601137505129, + 0.06026455955916409, + -0.9931500235854186, + -47.24781269370663 + ], + [ + 0.8508646506247387, + -0.5122268203192845, + -0.1168461846310643, + 445.8157517171073 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.515759758986923, + -0.10010601137505129, + 0.8508646506247387, + -489.26894847442037 + ], + [ + -0.8567332554592186, + 0.06026455955916409, + -0.5122268203192845, + 56.44037227371612 + ], + [ + 3.4694469254483153e-18, + -0.9931500235854186, + -0.1168461846310643, + 5.167703048161302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48926.89484744204, + -5644.037227371612, + 516.7703048161302 + ], + "rotation_deg": [ + -2.0015572963996404e-16, + -6.710121631622316, + 31.048252105712898 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9538529981218843, + 0.30027397152249574, + -1.3877787701349039e-17, + 436.0283511572531 + ], + [ + 0.02939733232673801, + -0.09338383022167378, + -0.9951960897758795, + 20.85336597227902 + ], + [ + -0.2988314960916633, + 0.9492707695388085, + -0.09790170091891501, + -168.82221856278642 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9538529981218843, + 0.02939733232673801, + -0.2988314960916633, + -466.9693752894117 + ], + [ + 0.30027397152249574, + -0.09338383022167378, + 0.9492707695388085, + 31.27739459412982 + ], + [ + -1.3877787701349039e-17, + -0.9951960897758795, + -0.09790170091891501, + 4.22520666744117 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -46696.93752894117, + -3127.739459412982, + 422.52066674411697 + ], + "rotation_deg": [ + 7.989768836454762e-16, + -5.618353843688964, + -107.47406005859384 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.13481730874454856, + -0.9908704724952079, + 4.336808656395259e-19, + -18.22738663535197 + ], + [ + -0.03733957203704019, + 0.005080402284095014, + -0.9992897206880107, + -15.109602817650947 + ], + [ + 0.990166677545706, + -0.13472155183499926, + -0.03768360584216501, + 521.5312805286435 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.13481730874454856, + -0.03733957203704019, + 0.990166677545706, + -519.4244486942378 + ], + [ + -0.9908704724952079, + 0.005080402284095014, + -0.13472155183499926, + 52.27728655924452 + ], + [ + 4.336808656395259e-19, + -0.9992897206880107, + -0.03768360584216501, + 4.554308279160416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -51942.44486942378, + -5227.728655924452, + 455.4308279160416 + ], + "rotation_deg": [ + -2.4865745073510234e-17, + -2.15962290763855, + 7.74805593490601 + ] + } + } + ] + }, + { + "frame": 61, + "time": 1102.3931542001665, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.863290025175358, + -0.5047081656093249, + -0.0, + -383.90883752432677 + ], + [ + -0.03129741451717764, + 0.053533403276403636, + -0.9980754713838959, + -14.473769907203316 + ], + [ + 0.5037368333336171, + -0.8616286028572328, + -0.06201091421123109, + 301.56678393426307 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.863290025175358, + -0.03129741451717764, + 0.5037368333336171, + -483.7879620279715 + ], + [ + -0.5047081656093249, + 0.053533403276403636, + -0.8616286028572328, + 66.85147317480319 + ], + [ + -0.0, + -0.9980754713838959, + -0.06201091421123109, + 4.254517292171616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48378.79620279715, + -6685.1473174803195, + 425.4517292171615 + ], + "rotation_deg": [ + 0.0, + -3.555244684219361, + 59.68801879882814 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + -0.5158747479207433, + -0.8566640207559258, + -0.0, + -204.0510592147258 + ], + [ + -0.09946630047906495, + 0.05989763949811778, + -0.9932364914014997, + -46.91366607146289 + ], + [ + 0.8508699640444735, + -0.5123856281460284, + -0.11610888147061017, + 445.8235044174654 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.5158747479207433, + -0.09946630047906495, + 0.8508699640444735, + -489.26894847442037 + ], + [ + -0.8566640207559258, + 0.05989763949811778, + -0.5123856281460284, + 56.44037227371612 + ], + [ + -0.0, + -0.9932364914014997, + -0.11610888147061017, + 5.167703048161302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48926.89484744204, + -5644.037227371612, + 516.7703048161302 + ], + "rotation_deg": [ + 0.0, + -6.667587757110597, + 31.05594253540041 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.953570651277416, + 0.30116940917424667, + -0.0, + 435.76814126157393 + ], + [ + 0.028552674485207628, + -0.0904042428453245, + -0.9954957647601044, + 20.309904509319217 + ], + [ + -0.29981288508757015, + 0.9492755403211125, + -0.0948060255655063, + -169.10085422301182 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.953570651277416, + 0.028552674485207628, + -0.29981288508757015, + -466.814223120006 + ], + [ + 0.30116940917424667, + -0.0904042428453245, + 0.9492755403211125, + 31.119367435849867 + ], + [ + -0.0, + -0.9954957647601044, + -0.0948060255655063, + 4.186644733390205 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -46681.4223120006, + -3111.9367435849867, + 418.66447333902045 + ], + "rotation_deg": [ + 0.0, + -5.440155506134035, + -107.52785491943362 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.13594794220584483, + -0.9907159820099783, + 4.3368086563950207e-19, + -18.822741641028067 + ], + [ + -0.03724038285347157, + 0.005110196572801726, + -0.9992932701544198, + -15.059622929863677 + ], + [ + 0.9900158133026423, + -0.1358518647819812, + -0.03758936346848819, + 521.5115784373708 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.13594794220584483, + -0.03724038285347157, + 0.9900158133026423, + -519.4244486942378 + ], + [ + -0.9907159820099783, + 0.005110196572801726, + -0.1358518647819812, + 52.27728655924452 + ], + [ + 4.3368086563950207e-19, + -0.9992932701544198, + -0.03758936346848819, + 4.554308279160416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -51942.44486942378, + -5227.728655924452, + 455.4308279160416 + ], + "rotation_deg": [ + -2.486565675096181e-17, + -2.154219388961792, + 7.813438415527347 + ] + } + } + ] + }, + { + "frame": 62, + "time": 1102.45982087031, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.8620286076992324, + -0.5068596250522651, + -0.0, + -383.1547507010491 + ], + [ + -0.031280303371091285, + 0.05319917987275267, + -0.9980938782909546, + -14.443070101302297 + ], + [ + 0.5058934819760375, + -0.8603854803035142, + -0.06171393827209341, + 302.52577652246873 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.8620286076992324, + -0.031280303371091285, + 0.5058934819760375, + -483.7879620279715 + ], + [ + -0.5068596250522651, + 0.05319917987275267, + -0.8603854803035142, + 66.85147317480319 + ], + [ + -0.0, + -0.9980938782909546, + -0.06171393827209341, + 4.254517292171616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48378.79620279715, + -6685.1473174803195, + 425.4517292171615 + ], + "rotation_deg": [ + 0.0, + -3.538196563720703, + 59.54512405395508 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + -0.5159885869352355, + -0.8565954577001786, + -1.0408340776317005e-17, + -204.1106268340324 + ], + [ + -0.09883463833415128, + 0.05953515736729916, + -0.9933213373841355, + -46.583716312780815 + ], + [ + 0.850874543398818, + -0.5125424767696147, + -0.11538076487318775, + 445.8308348576962 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.5159885869352355, + -0.09883463833415128, + 0.850874543398818, + -489.26894847442037 + ], + [ + -0.8565954577001786, + 0.05953515736729916, + -0.5125424767696147, + 56.44037227371612 + ], + [ + -1.0408340776317005e-17, + -0.9933213373841355, + -0.11538076487318775, + 5.167703048161302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48926.89484744204, + -5644.037227371612, + 516.7703048161302 + ], + "rotation_deg": [ + 6.003636289611274e-16, + -6.625587463378907, + 31.06355667114258 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9532910033331443, + 0.3020534107804234, + -0.0, + 435.5099219705392 + ], + [ + 0.02771221604241075, + -0.08746071155892005, + -0.9957824345787718, + 19.77064546352841 + ], + [ + -0.3007794945470781, + 0.9492704317240637, + -0.09174607955882572, + -169.37158999819417 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9532910033331443, + 0.02771221604241075, + -0.3007794945470781, + -466.6590758773233 + ], + [ + 0.3020534107804234, + -0.08746071155892005, + 0.9492704317240637, + 30.961334496800628 + ], + [ + -0.0, + -0.9957824345787718, + -0.09174607955882572, + 4.148082799339239 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -46665.90758773233, + -3096.1334496800628, + 414.8082799339239 + ], + "rotation_deg": [ + 0.0, + -5.264065742492677, + -107.58097839355472 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.13707288352027983, + -0.9905609646071438, + -0.0, + -19.41516755228149 + ], + [ + -0.03714162695933441, + 0.005139622989252018, + -0.9992967946622976, + -15.009848985505952 + ], + [ + 0.989864396692819, + -0.13697649418981514, + -0.03749554906157898, + 521.4912942623863 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.13707288352027983, + -0.03714162695933441, + 0.989864396692819, + -519.4244486942378 + ], + [ + -0.9905609646071438, + 0.005139622989252018, + -0.13697649418981514, + 52.27728655924452 + ], + [ + -0.0, + -0.9992967946622976, + -0.03749554906157898, + 4.554308279160416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -51942.44486942378, + -5227.728655924452, + 455.4308279160416 + ], + "rotation_deg": [ + 0.0, + -2.1488404273986816, + 7.878501892089847 + ] + } + } + ] + }, + { + "frame": 63, + "time": 1102.5264875404537, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.8607740961062058, + -0.5089871859610459, + -0.0, + -382.40560251309716 + ], + [ + -0.03126169106143516, + 0.052868234423916784, + -0.9981120460453712, + -14.411864204124626 + ], + [ + 0.5080262346754504, + -0.8591489983023846, + -0.06141940733589952, + 303.47366287413655 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.8607740961062058, + -0.03126169106143516, + 0.5080262346754504, + -483.7879620279715 + ], + [ + -0.5089871859610459, + 0.052868234423916784, + -0.8591489983023846, + 66.85147317480319 + ], + [ + -0.0, + -0.9981120460453712, + -0.06141940733589952, + 4.254517292171616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48378.79620279715, + -6685.1473174803195, + 425.4517292171615 + ], + "rotation_deg": [ + 0.0, + -3.5212891101837163, + 59.403610229492216 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + -0.5161012763022816, + -0.8565275667479453, + -0.0, + -204.16959403276937 + ], + [ + -0.09821087529348255, + 0.05917703066835024, + -0.993404601869432, + -46.25788533543132 + ], + [ + 0.8508784241942727, + -0.5126973864310661, + -0.1146616639833255, + 445.83776066950816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.5161012763022816, + -0.09821087529348255, + 0.8508784241942727, + -489.26894847442037 + ], + [ + -0.8565275667479453, + 0.05917703066835024, + -0.5126973864310661, + 56.44037227371612 + ], + [ + -0.0, + -0.993404601869432, + -0.1146616639833255, + 5.167703048161302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48926.89484744204, + -5644.037227371612, + 516.7703048161302 + ], + "rotation_deg": [ + 0.0, + -6.584110736846927, + 31.071094512939467 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9530140049313682, + 0.3029262392145555, + -0.0, + 435.2536552139163 + ], + [ + 0.026876017600150154, + -0.08455266614122454, + -0.9960564875178349, + 19.235583637230395 + ], + [ + -0.3017316596041117, + 0.9492557778582577, + -0.08872132660900996, + -169.63461050265408 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9530140049313682, + 0.026876017600150154, + -0.3017316596041117, + -466.50393331437493 + ], + [ + 0.3029262392145555, + -0.08455266614122454, + 0.9492557778582577, + 30.8032959259204 + ], + [ + -0.0, + -0.9960564875178349, + -0.08872132660900996, + 4.109520865288274 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -46650.393331437495, + -3080.3295925920397, + 410.9520865288274 + ], + "rotation_deg": [ + 0.0, + -5.090050220489505, + -107.63344573974614 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.13819217503906342, + -0.9904054335260749, + -4.3368086563945474e-19, + -20.0046856752477 + ], + [ + -0.03704329656762619, + 0.00516868501525902, + -0.999300294643515, + -14.960277119871149 + ], + [ + 0.9897124413801061, + -0.1380954822953425, + -0.037402154310240895, + 521.470437271214 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.13819217503906342, + -0.03704329656762619, + 0.9897124413801061, + -519.4244486942378 + ], + [ + -0.9904054335260749, + 0.00516868501525902, + -0.1380954822953425, + 52.27728655924452 + ], + [ + -4.3368086563945474e-19, + -0.999300294643515, + -0.037402154310240895, + 4.554308279160416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -51942.44486942378, + -5227.728655924452, + 455.4308279160416 + ], + "rotation_deg": [ + 2.4865481960122323e-17, + -2.1434855461120605, + 7.9432487487792995 + ] + } + } + ] + }, + { + "frame": 64, + "time": 1102.5931542105973, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.8595265497990618, + -0.5110910977414113, + -0.0, + -381.66140502568123 + ], + [ + -0.031241614778076254, + 0.052540530404498756, + -0.9981299785954093, + -14.380167749105693 + ], + [ + 0.5101353395601471, + -0.8579192208156363, + -0.061127292488256595, + 304.41056718367025 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.8595265497990618, + -0.031241614778076254, + 0.5101353395601471, + -483.7879620279715 + ], + [ + -0.5110910977414113, + 0.052540530404498756, + -0.8579192208156363, + 66.85147317480319 + ], + [ + -0.0, + -0.9981299785954093, + -0.061127292488256595, + 4.254517292171616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48378.79620279715, + -6685.1473174803195, + 425.4517292171615 + ], + "rotation_deg": [ + 0.0, + -3.5045206546783447, + 59.263465881347656 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + -0.516212816291137, + -0.856460348350566, + -0.0, + -204.22796091720122 + ], + [ + -0.09759486169155109, + 0.05882317670206745, + -0.9934863244424073, + -45.93609504059137 + ], + [ + 0.850881641272233, + -0.5128503770103502, + -0.11395140782900536, + 445.8442991382144 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.516212816291137, + -0.09759486169155109, + 0.850881641272233, + -489.26894847442037 + ], + [ + -0.856460348350566, + 0.05882317670206745, + -0.5128503770103502, + 56.44037227371612 + ], + [ + -0.0, + -0.9934863244424073, + -0.11395140782900536, + 5.167703048161302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48926.89484744204, + -5644.037227371612, + 516.7703048161302 + ], + "rotation_deg": [ + 0.0, + -6.543147563934328, + 31.07855606079102 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9527396862902402, + 0.30378790326076976, + -0.0, + 434.9993480296204 + ], + [ + 0.02604412220371986, + -0.08167958154929288, + -0.9963182973611244, + 18.70470723236855 + ], + [ + -0.30266946033823094, + 0.9492319776121876, + -0.08573126884060071, + -169.88998273974974 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9527396862902402, + 0.02604412220371986, + -0.30266946033823094, + -466.3487952009082 + ], + [ + 0.30378790326076976, + -0.08167958154929288, + 0.9492319776121876, + 30.645251874736367 + ], + [ + -0.0, + -0.9963182973611244, + -0.08573126884060071, + 4.070958931237309 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -46634.87952009082, + -3064.525187473637, + 407.0958931237309 + ], + "rotation_deg": [ + 0.0, + -4.918076992034913, + -107.68525695800786 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.13930585087614683, + -0.9902494028837746, + -1.3010425969182942e-18, + -20.5913129915484 + ], + [ + -0.036945392158334575, + 0.005197386916449159, + -0.9993037702157975, + -14.910907804735809 + ], + [ + 0.989559961594306, + -0.13920886306348332, + -0.037309179219702636, + 521.4490166307788 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.13930585087614683, + -0.036945392158334575, + 0.989559961594306, + -519.4244486942378 + ], + [ + -0.9902494028837746, + 0.005197386916449159, + -0.13920886306348332, + 52.27728655924452 + ], + [ + -1.3010425969182942e-18, + -0.9993037702157975, + -0.037309179219702636, + 4.554308279160416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -51942.44486942378, + -5227.728655924452, + 455.4308279160416 + ], + "rotation_deg": [ + 7.459618643438925e-17, + -2.138154745101928, + 8.007680892944332 + ] + } + } + ] + }, + { + "frame": 65, + "time": 1102.6598208807409, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.8582858879394144, + -0.5131718372670606, + 3.469446925177724e-18, + -380.92208725045384 + ], + [ + -0.031220128929926434, + 0.05221603005906978, + -0.9981476793313045, + -14.34800452019224 + ], + [ + 0.5122212716034641, + -0.8566960713194198, + -0.06083757311729261, + 305.3367140340267 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.8582858879394144, + -0.031220128929926434, + 0.5122212716034641, + -483.7879620279715 + ], + [ + -0.5131718372670606, + 0.05221603005906978, + -0.8566960713194198, + 66.85147317480319 + ], + [ + 3.469446925177724e-18, + -0.9981476793313045, + -0.06083757311729261, + 4.254517292171616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48378.79620279715, + -6685.1473174803195, + 425.4517292171615 + ], + "rotation_deg": [ + -1.99153563859765e-16, + -3.487890005111695, + 59.12466430664065 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + -0.5163232356773629, + -0.856393785766605, + -3.469446925425676e-18, + -204.2857425112094 + ], + [ + -0.09698646006241336, + 0.058473524339614995, + -0.9935665420674479, + -45.61827396488439 + ], + [ + 0.850884210130864, + -0.5130014953857284, + -0.11324984186294586, + 445.85045969375807 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.5163232356773629, + -0.09698646006241336, + 0.850884210130864, + -489.26894847442037 + ], + [ + -0.856393785766605, + 0.058473524339614995, + -0.5130014953857284, + 56.44037227371612 + ], + [ + -3.469446925425676e-18, + -0.9935665420674479, + -0.11324984186294586, + 5.167703048161302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48926.89484744204, + -5644.037227371612, + 516.7703048161302 + ], + "rotation_deg": [ + 2.000718212569354e-16, + -6.502688884735108, + 31.085943222045916 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9524679149760307, + 0.3046389189535916, + -0.0, + 434.74691616370853 + ], + [ + 0.025216602274929056, + -0.07884089358668055, + -0.9965682297104206, + 18.178017165401318 + ], + [ + -0.30359348197225433, + 0.9491992594109074, + -0.08277538062580973, + -170.1380037489759 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9524679149760307, + 0.025216602274929056, + -0.30359348197225433, + -466.193661321743 + ], + [ + 0.3046389189535916, + -0.07884089358668055, + 0.9491992594109074, + 30.487202496502526 + ], + [ + -0.0, + -0.9965682297104206, + -0.08277538062580973, + 4.032396997186344 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -46619.3661321743, + -3048.7202496502528, + 403.23969971863437 + ], + "rotation_deg": [ + 0.0, + -4.748112678527835, + -107.73644256591801 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.14041394515393452, + -0.990092886554745, + 4.3368086563940813e-19, + -21.17506649987338 + ], + [ + -0.03684791007874814, + 0.005225732348041034, + -0.9993072216512073, + -14.861739332638168 + ], + [ + 0.989406971475893, + -0.14031667049110041, + -0.03721661963684483, + 521.4270414443379 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.14041394515393452, + -0.03684791007874814, + 0.989406971475893, + -519.4244486942378 + ], + [ + -0.990092886554745, + 0.005225732348041034, + -0.14031667049110041, + 52.27728655924452 + ], + [ + 4.3368086563940813e-19, + -0.9993072216512073, + -0.03721661963684483, + 4.554308279160416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -51942.44486942378, + -5227.728655924452, + 455.4308279160416 + ], + "rotation_deg": [ + -2.4865309597325628e-17, + -2.132847785949707, + 8.071800231933604 + ] + } + } + ] + }, + { + "frame": 66, + "time": 1102.7264875508845, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.8570521268866498, + -0.5152297077994141, + 3.4694469251767827e-18, + -380.18763682841654 + ], + [ + -0.03119727421115803, + 0.05189469825010237, + -0.9981651518538024, + -14.315391840420052 + ], + [ + 0.5142843326880631, + -0.8554795704575221, + -0.060550224453814486, + 306.25225074709016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.8570521268866498, + -0.03119727421115803, + 0.5142843326880631, + -483.7879620279715 + ], + [ + -0.5152297077994141, + 0.05189469825010237, + -0.8554795704575221, + 66.85147317480319 + ], + [ + 3.4694469251767827e-18, + -0.9981651518538024, + -0.060550224453814486, + 4.254517292171616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48378.79620279715, + -6685.1473174803195, + 425.4517292171615 + ], + "rotation_deg": [ + -1.9915007774810048e-16, + -3.4713957309722896, + 58.98719024658203 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + -0.5164325347183762, + -0.8563278794272395, + -0.0, + -204.34293891640425 + ], + [ + -0.09638552782521952, + 0.05812799470950323, + -0.9936452919713883, + -45.30434770401443 + ], + [ + 0.8508861635353206, + -0.5131507602699271, + -0.11255680316417599, + 445.85625858133795 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.5164325347183762, + -0.09638552782521952, + 0.8508861635353206, + -489.26894847442037 + ], + [ + -0.8563278794272395, + 0.05812799470950323, + -0.5131507602699271, + 56.44037227371612 + ], + [ + -0.0, + -0.9936452919713883, + -0.11255680316417599, + 5.167703048161302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48926.89484744204, + -5644.037227371612, + 516.7703048161302 + ], + "rotation_deg": [ + 0.0, + -6.462725162506106, + 31.093255996704123 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.952198719082298, + 0.30547929451606187, + 6.9388938505002234e-18, + 434.49636599612677 + ], + [ + 0.024393491388586038, + -0.0760360904032905, + -0.9968066364817488, + 17.655498035274157 + ], + [ + -0.3045038018981201, + 0.9491579979461106, + -0.07985317504346176, + -170.37873759817256 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.952198719082298, + 0.024393491388586038, + -0.3045038018981201, + -466.0385314753013 + ], + [ + 0.30547929451606187, + -0.0760360904032905, + 0.9491579979461106, + 30.329147945453315 + ], + [ + 6.9388938505002234e-18, + -0.9968066364817488, + -0.07985317504346176, + 3.9938350631353785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -46603.85314753013, + -3032.9147945453315, + 399.38350631353785 + ], + "rotation_deg": [ + -3.988429858431633e-16, + -4.58012628555298, + -107.78700256347659 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.1415164755253664, + -0.9899359005283513, + 4.336808656393851e-19, + -21.75595453371062 + ], + [ + -0.03675084675080781, + 0.0052537243087874405, + -0.9993106492197439, + -14.812770000583864 + ], + [ + 0.9892534872767965, + -0.14141892211914323, + -0.0371244714084495, + 521.4045210516191 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.1415164755253664, + -0.03675084675080781, + 0.9892534872767965, + -519.4244486942378 + ], + [ + -0.9899359005283513, + 0.0052537243087874405, + -0.14141892211914323, + 52.27728655924452 + ], + [ + 4.336808656393851e-19, + -0.9993106492197439, + -0.0371244714084495, + 4.554308279160416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -51942.44486942378, + -5227.728655924452, + 455.4308279160416 + ], + "rotation_deg": [ + -2.486522431097927e-17, + -2.1275644302368164, + 8.13560771942139 + ] + } + } + ] + }, + { + "frame": 67, + "time": 1102.793154221028, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.8558252790277749, + -0.5172650111664534, + -0.0, + -379.45803957460885 + ], + [ + -0.031173092495688684, + 0.05157650335389942, + -0.9981823994671718, + -14.282347839737595 + ], + [ + 0.5163248231948692, + -0.8542697346287224, + -0.060265225878273786, + 307.15732365209243 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.8558252790277749, + -0.031173092495688684, + 0.5163248231948692, + -483.7879620279715 + ], + [ + -0.5172650111664534, + 0.05157650335389942, + -0.8542697346287224, + 66.85147317480319 + ], + [ + -0.0, + -0.9981823994671718, + -0.060265225878273786, + 4.254517292171616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48378.79620279715, + -6685.1473174803195, + 425.4517292171615 + ], + "rotation_deg": [ + 0.0, + -3.4550366401672363, + 58.85102844238281 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + -0.5165407136690926, + -0.8562626297592487, + -6.938893850834397e-18, + -204.39955023342046 + ], + [ + -0.09579192946684467, + 0.057786513028666824, + -0.9937226097664308, + -44.994245550800045 + ], + [ + 0.8508875328483371, + -0.5132981895654728, + -0.11187213697823788, + 445.86171135646623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.5165407136690926, + -0.09579192946684467, + 0.8508875328483371, + -489.26894847442037 + ], + [ + -0.8562626297592487, + 0.057786513028666824, + -0.5132981895654728, + 56.44037227371612 + ], + [ + -6.938893850834397e-18, + -0.9937226097664308, + -0.11187213697823788, + 5.167703048161302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48926.89484744204, + -5644.037227371612, + 516.7703048161302 + ], + "rotation_deg": [ + 4.0008079851907033e-16, + -6.423247337341309, + 31.100494384765632 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9519320447717236, + 0.3063092916264958, + -0.0, + 434.2476580883649 + ], + [ + 0.023574835390030816, + -0.07326464417329358, + -0.9970338605335796, + 17.137139886512553 + ], + [ + -0.30540074937114203, + 0.9491084770680587, + -0.07696415426090025, + -170.61236263975195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9519320447717236, + 0.023574835390030816, + -0.30540074937114203, + -465.883405472306 + ], + [ + 0.3063092916264958, + -0.07326464417329358, + 0.9491084770680587, + 30.171088376157805 + ], + [ + -0.0, + -0.9970338605335796, + -0.07696415426090025, + 3.9552731290844134 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -46588.3405472306, + -3017.1088376157804, + 395.52731290844133 + ], + "rotation_deg": [ + 0.0, + -4.414086341857912, + -107.83695220947271 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.14261350908484885, + -0.9897784535068974, + -0.0, + -22.33401148860233 + ], + [ + -0.03665420655369684, + 0.005281368775832968, + -0.9993140528811615, + -14.764002395879938 + ], + [ + 0.9890995176599279, + -0.14251568485410193, + -0.037032738697871104, + 521.381463469001 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.14261350908484885, + -0.03665420655369684, + 0.9890995176599279, + -519.4244486942378 + ], + [ + -0.9897784535068974, + 0.005281368775832968, + -0.14251568485410193, + 52.27728655924452 + ], + [ + -0.0, + -0.9993140528811615, + -0.037032738697871104, + 4.554308279160416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -51942.44486942378, + -5227.728655924452, + 455.4308279160416 + ], + "rotation_deg": [ + 0.0, + -2.1223049163818364, + 8.19910717010498 + ] + } + } + ] + }, + { + "frame": 68, + "time": 1102.8598208911717, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.8546053528449687, + -0.5192780477631674, + -0.0, + -378.73327951075936 + ], + [ + -0.031147622580158667, + 0.05126141014445268, + -0.998199425684871, + -14.248888917633796 + ], + [ + 0.5183430422614876, + -0.8530665764880472, + -0.059982552613808186, + 308.0520782087998 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.8546053528449687, + -0.031147622580158667, + 0.5183430422614876, + -483.7879620279715 + ], + [ + -0.5192780477631674, + 0.05126141014445268, + -0.8530665764880472, + 66.85147317480319 + ], + [ + -0.0, + -0.998199425684871, + -0.059982552613808186, + 4.254517292171616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48378.79620279715, + -6685.1473174803195, + 425.4517292171615 + ], + "rotation_deg": [ + 0.0, + -3.438811302185059, + 58.716163635253935 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + -0.5166478012843413, + -0.8561980199860635, + -0.0, + -204.45559147797888 + ], + [ + -0.09520554171261834, + 0.05744901605438137, + -0.9937985285668267, + -44.68790345020532 + ], + [ + 0.8508883301823912, + -0.5134438282326957, + -0.11119570499428431, + 445.8668257682307 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.5166478012843413, + -0.09520554171261834, + 0.8508883301823912, + -489.26894847442037 + ], + [ + -0.8561980199860635, + 0.05744901605438137, + -0.5134438282326957, + 56.44037227371612 + ], + [ + -0.0, + -0.9937985285668267, + -0.11119570499428431, + 5.167703048161302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48926.89484744204, + -5644.037227371612, + 516.7703048161302 + ], + "rotation_deg": [ + 0.0, + -6.384247303009036, + 31.107660293579137 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9516678778753156, + 0.3071290448985465, + 6.938893850452297e-18, + 434.0007754991265 + ], + [ + 0.022760670813384776, + -0.07052605297928638, + -0.9972502332490513, + 16.62292941039645 + ], + [ + -0.30628452549258933, + 0.949051008678742, + -0.07410784283489794, + -170.83899783726545 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9516678778753156, + 0.022760670813384776, + -0.30628452549258933, + -465.72828313462855 + ], + [ + 0.3071290448985465, + -0.07052605297928638, + 0.949051008678742, + 30.01302394296345 + ], + [ + 6.938893850452297e-18, + -0.9972502332490513, + -0.07410784283489794, + 3.9167111950334483 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -46572.82831346286, + -3001.302394296345, + 391.6711195033448 + ], + "rotation_deg": [ + -3.9866557253602292e-16, + -4.249962806701661, + -107.88629913330082 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.14370506349629744, + -0.9896205609856358, + 4.3368086563933947e-19, + -22.909245729568326 + ], + [ + -0.03655798176502547, + 0.005308668087501189, + -0.9993174330573869, + -14.715432627647974 + ], + [ + 0.9889450785340956, + -0.14360697627365995, + -0.03694141319343379, + 521.3578778409677 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.14370506349629744, + -0.03655798176502547, + 0.9889450785340956, + -519.4244486942378 + ], + [ + -0.9896205609856358, + 0.005308668087501189, + -0.14360697627365995, + 52.27728655924452 + ], + [ + 4.3368086563933947e-19, + -0.9993174330573869, + -0.03694141319343379, + 4.554308279160416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -51942.44486942378, + -5227.728655924452, + 455.4308279160416 + ], + "rotation_deg": [ + -2.4865055514116815e-17, + -2.1170687675476074, + 8.262299537658691 + ] + } + } + ] + }, + { + "frame": 69, + "time": 1102.9264875613153, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.8533922488653789, + -0.521269287006717, + -0.0, + -378.0132771318708 + ], + [ + -0.031120914663096567, + 0.05094938070031602, + -0.9982162337273356, + -14.215036810746543 + ], + [ + 0.5203394576720773, + -0.8518700006521883, + -0.05970218403349502, + 308.93673426128447 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.8533922488653789, + -0.031120914663096567, + 0.5203394576720773, + -483.7879620279715 + ], + [ + -0.521269287006717, + 0.05094938070031602, + -0.8518700006521883, + 66.85147317480319 + ], + [ + -0.0, + -0.9982162337273356, + -0.05970218403349502, + 4.254517292171616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48378.79620279715, + -6685.1473174803195, + 425.4517292171615 + ], + "rotation_deg": [ + 0.0, + -3.4227185249328613, + 58.58256912231445 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + -0.5167538263079252, + -0.8561340333126107, + -0.0, + -204.51107766145 + ], + [ + -0.09462622007773086, + 0.057115427481631655, + -0.9938730836567571, + -44.38524622127769 + ], + [ + 0.850888569470207, + -0.5135877223745197, + -0.1105273439973022, + 445.87161039209985 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.5167538263079252, + -0.09462622007773086, + 0.850888569470207, + -489.26894847442037 + ], + [ + -0.8561340333126107, + 0.057115427481631655, + -0.5135877223745197, + 56.44037227371612 + ], + [ + -0.0, + -0.9938730836567571, + -0.1105273439973022, + 5.167703048161302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48926.89484744204, + -5644.037227371612, + 516.7703048161302 + ], + "rotation_deg": [ + 0.0, + -6.345715522766116, + 31.114755630493175 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9514061624501824, + 0.30793881543549695, + 6.93889385043007e-18, + 433.75567816515445 + ], + [ + 0.021951032238054273, + -0.06781979502613898, + -0.9974560780236371, + 16.11285200546419 + ], + [ + -0.30715545695174346, + 0.9489858548853464, + -0.07128374634020256, + -171.05881881806923 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9514061624501824, + 0.021951032238054273, + -0.30715545695174346, + -465.57316429426834 + ], + [ + 0.30793881543549695, + -0.06781979502613898, + 0.9489858548853464, + 29.854954799517436 + ], + [ + 6.93889385043007e-18, + -0.9974560780236371, + -0.07128374634020256, + 3.878149260982483 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -46557.316429426835, + -2985.4954799517436, + 387.8149260982483 + ], + "rotation_deg": [ + -3.9858330001496125e-16, + -4.087724685668948, + -107.93505859375004 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.1447911729093187, + -0.9894622358875266, + -8.673617312786338e-19, + -23.481674319171894 + ], + [ + -0.03646216868048666, + 0.005335625735457788, + -0.9993207900134605, + -14.66705895310806 + ], + [ + 0.9887901830823369, + -0.14469283041013714, + -0.036850490741672716, + 521.333772775312 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.1447911729093187, + -0.03646216868048666, + 0.9887901830823369, + -519.4244486942378 + ], + [ + -0.9894622358875266, + 0.005335625735457788, + -0.14469283041013714, + 52.27728655924452 + ], + [ + -8.673617312786338e-19, + -0.9993207900134605, + -0.036850490741672716, + 4.554308279160416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -51942.44486942378, + -5227.728655924452, + 455.4308279160416 + ], + "rotation_deg": [ + 4.972994397296718e-17, + -2.1118557453155513, + 8.325186729431158 + ] + } + } + ] + }, + { + "frame": 70, + "time": 1102.993154231459, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.8521860364536169, + -0.5232389122317592, + -0.0, + -377.2980537395153 + ], + [ + -0.0310930009457885, + 0.05064038743682673, + -0.9982328267756141, + -14.180805240061268 + ], + [ + 0.5223142516993294, + -0.8506800802120378, + -0.05942409950693862, + 309.811384789342 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.8521860364536169, + -0.0310930009457885, + 0.5223142516993294, + -483.7879620279715 + ], + [ + -0.5232389122317592, + 0.05064038743682673, + -0.8506800802120378, + 66.85147317480319 + ], + [ + -0.0, + -0.9982328267756141, + -0.05942409950693862, + 4.254517292171616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48378.79620279715, + -6685.1473174803195, + 425.4517292171615 + ], + "rotation_deg": [ + 0.0, + -3.406757116317749, + 58.45023727416992 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + -0.5168587604764829, + -0.8560706873376249, + -0.0, + -204.56599396216953 + ], + [ + -0.09405385221805806, + 0.05678568159674825, + -0.9939463060188594, + -44.086215028512655 + ], + [ + 0.8508882951284535, + -0.5137298592409023, + -0.1098669237656004, + 445.87608556720664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.5168587604764829, + -0.09405385221805806, + 0.8508882951284535, + -489.26894847442037 + ], + [ + -0.8560706873376249, + 0.05678568159674825, + -0.5137298592409023, + 56.44037227371612 + ], + [ + -0.0, + -0.9939463060188594, + -0.1098669237656004, + 5.167703048161302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48926.89484744204, + -5644.037227371612, + 516.7703048161302 + ], + "rotation_deg": [ + 0.0, + -6.307644367218019, + 31.121778488159205 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.951146882483004, + 0.30873873735387086, + 6.9388938504089536e-18, + 433.5123485866051 + ], + [ + 0.02114595371180598, + -0.06514539808803163, + -0.9976517056315644, + 15.606894503164082 + ], + [ + -0.30801374175785856, + 0.9489133050839417, + -0.06849141787840037, + -171.27194150383997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.951146882483004, + 0.02114595371180598, + -0.30801374175785856, + -465.418048792448 + ], + [ + 0.30873873735387086, + -0.06514539808803163, + 0.9489133050839417, + 29.69688109835611 + ], + [ + 6.9388938504089536e-18, + -0.9976517056315644, + -0.06849141787840037, + 3.8395873269315177 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -46541.8048792448, + -2969.6881098356107, + 383.9587326931518 + ], + "rotation_deg": [ + -3.9850514257954427e-16, + -3.927343845367433, + -107.98323822021487 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.14587185501201594, + -0.9893034933302081, + -0.0, + -24.05130565473722 + ], + [ + -0.036366771901019924, + 0.005362245775705531, + -0.9993241237064882, + -14.618883974332842 + ], + [ + 0.9886348463763096, + -0.14577326480293026, + -0.036759975505782305, + 521.3091570364942 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.14587185501201594, + -0.036366771901019924, + 0.9886348463763096, + -519.4244486942378 + ], + [ + -0.9893034933302081, + 0.005362245775705531, + -0.14577326480293026, + 52.27728655924452 + ], + [ + -0.0, + -0.9993241237064882, + -0.036759975505782305, + 4.554308279160416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -51942.44486942378, + -5227.728655924452, + 455.4308279160416 + ], + "rotation_deg": [ + 0.0, + -2.1066660881042485, + 8.387769699096683 + ] + } + } + ] + }, + { + "frame": 71, + "time": 1103.0598209016025, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.8509866774302546, + -0.525187275965646, + 3.469446925172251e-18, + -376.5875672959723 + ], + [ + -0.031063918607624565, + 0.050334389452335995, + -0.9982492084640986, + -14.146209442721272 + ], + [ + 0.5242677758158318, + -0.8494967812688767, + -0.059148270092529875, + 310.6761974418674 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.8509866774302546, + -0.031063918607624565, + 0.5242677758158318, + -483.7879620279715 + ], + [ + -0.525187275965646, + 0.050334389452335995, + -0.8494967812688767, + 66.85147317480319 + ], + [ + 3.469446925172251e-18, + -0.9982492084640986, + -0.059148270092529875, + 4.254517292171616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48378.79620279715, + -6685.1473174803195, + 425.4517292171615 + ], + "rotation_deg": [ + -1.9913330850792133e-16, + -3.3909254074096675, + 58.319149017334006 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + -0.5169626610210117, + -0.8560079480414151, + -1.0408340776203434e-17, + -204.6203703015713 + ], + [ + -0.09348831301715164, + 0.05645971767235709, + -0.9940182270006744, + -43.79074506684672 + ], + [ + 0.850887500568692, + -0.5138703112668344, + -0.10921430572269654, + 445.88025144216823 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.5169626610210117, + -0.09348831301715164, + 0.850887500568692, + -489.26894847442037 + ], + [ + -0.8560079480414151, + 0.05645971767235709, + -0.5138703112668344, + 56.44037227371612 + ], + [ + -1.0408340776203434e-17, + -0.9940182270006744, + -0.10921430572269654, + 5.167703048161302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48926.89484744204, + -5644.037227371612, + 516.7703048161302 + ], + "rotation_deg": [ + 5.999427240176233e-16, + -6.2700257301330575, + 31.128732681274414 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9508900212265468, + 0.30952894457833474, + -0.0, + 433.2707690304876 + ], + [ + 0.020345454784357796, + -0.06250236131589182, + -0.9978374202742425, + 15.10503634675056 + ], + [ + -0.30885957740629333, + 0.9488336412022509, + -0.06573037933318321, + -171.47848110101097 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9508900212265468, + 0.020345454784357796, + -0.30885957740629333, + -465.2629364788101 + ], + [ + 0.30952894457833474, + -0.06250236131589182, + 0.9488336412022509, + 29.53880299055439 + ], + [ + -0.0, + -0.9978374202742425, + -0.06573037933318321, + 3.8010253928805526 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -46526.29364788101, + -2953.880299055439, + 380.10253928805525 + ], + "rotation_deg": [ + 0.0, + -3.768790483474732, + -108.03084564208989 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.1469471768998931, + -0.9891443409336936, + 8.673617312785446e-19, + -24.618174188955834 + ], + [ + -0.03627178751700212, + 0.005388532852247838, + -0.9993274343997676, + -14.570905902145228 + ], + [ + 0.9884790762982458, + -0.1468483464114097, + -0.03666986333219303, + 521.2840382002757 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.1469471768998931, + -0.03627178751700212, + 0.9884790762982458, + -519.4244486942378 + ], + [ + -0.9891443409336936, + 0.005388532852247838, + -0.1468483464114097, + 52.27728655924452 + ], + [ + 8.673617312785446e-19, + -0.9993274343997676, + -0.03666986333219303, + 4.554308279160416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -51942.44486942378, + -5227.728655924452, + 455.4308279160416 + ], + "rotation_deg": [ + -4.972961332562125e-17, + -2.1014995574951176, + 8.450052261352543 + ] + } + } + ] + }, + { + "frame": 72, + "time": 1103.126487571746, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.8497888301109231, + -0.5271232723174994, + -0.0, + -375.87863897434977 + ], + [ + -0.031034364458846733, + 0.050031288033958156, + -0.9982653647404074, + -14.11157998781771 + ], + [ + 0.5262088990152545, + -0.8483147605599071, + -0.05887496593070052, + 311.53510687556104 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.8497888301109231, + -0.031034364458846733, + 0.5262088990152545, + -483.7879620279715 + ], + [ + -0.5271232723174994, + 0.050031288033958156, + -0.8483147605599071, + 66.85147317480319 + ], + [ + -0.0, + -0.9982653647404074, + -0.05887496593070052, + 4.254517292171616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48378.79620279715, + -6685.1473174803195, + 425.4517292171615 + ], + "rotation_deg": [ + 0.0, + -3.3752388954162593, + 58.18870925903322 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + -0.517054358465808, + -0.8559525631666227, + -6.9388938507946165e-18, + -204.66836095691622 + ], + [ + -0.09293018540664655, + 0.056136238695027624, + -0.9940888810088666, + -43.499048164903655 + ], + [ + 0.8508929234730348, + -0.5139979921624955, + -0.10856931811720724, + 445.8867779537422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.517054358465808, + -0.09293018540664655, + 0.8508929234730348, + -489.26894847442037 + ], + [ + -0.8559525631666227, + 0.056136238695027624, + -0.5139979921624955, + 56.44037227371612 + ], + [ + -6.9388938507946165e-18, + -0.9940888810088666, + -0.10856931811720724, + 5.167703048161302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48926.89484744204, + -5644.037227371612, + 516.7703048161302 + ], + "rotation_deg": [ + 3.99933389070854e-16, + -6.232849597930909, + 31.13487052917481 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.950635519892797, + 0.3103096974284749, + -0.0, + 433.0306756808079 + ], + [ + 0.019549565222779706, + -0.059890204054995684, + -0.9980135159194243, + 14.607274203401015 + ], + [ + -0.3096932860081147, + 0.9487470930115876, + -0.0630001754248213, + -171.67879351186366 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.950635519892797, + 0.019549565222779706, + -0.3096932860081147, + -465.10767273386665 + ], + [ + 0.3103096974284749, + -0.059890204054995684, + 0.9487470930115876, + 29.38096575851219 + ], + [ + -0.0, + -0.9980135159194243, + -0.0630001754248213, + 3.7624634588295875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -46510.767273386664, + -2938.096575851219, + 376.24634588295874 + ], + "rotation_deg": [ + 0.0, + -3.612036228179933, + -108.07789611816415 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.14801187215189687, + -0.9889855841730406, + -0.0, + -25.179502305925148 + ], + [ + -0.03617715443863438, + 0.0054142835277705016, + -0.9993307255511583, + -14.523082354111187 + ], + [ + 0.9883236812108119, + -0.1479128127235514, + -0.03658006274075375, + 521.258560623511 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.14801187215189687, + -0.03617715443863438, + 0.9883236812108119, + -519.4244486942378 + ], + [ + -0.9889855841730406, + 0.0054142835277705016, + -0.1479128127235514, + 52.27728655924452 + ], + [ + -0.0, + -0.9993307255511583, + -0.03658006274075375, + 4.554308279160416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -51942.44486942378, + -5227.728655924452, + 455.4308279160416 + ], + "rotation_deg": [ + 0.0, + -2.096350908279419, + 8.511729240417484 + ] + } + } + ] + }, + { + "frame": 73, + "time": 1103.1931542418897, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.8485921789834746, + -0.529047553409028, + -3.4694469251705204e-18, + -375.17107253837196 + ], + [ + -0.031004392808415448, + 0.049731040398577266, + -0.9982812986565741, + -14.076940276272616 + ], + [ + 0.5281382720045575, + -0.847133706588487, + -0.05860417054861753, + 312.38840700052367 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.8485921789834746, + -0.031004392808415448, + 0.5281382720045575, + -483.7879620279715 + ], + [ + -0.529047553409028, + 0.049731040398577266, + -0.847133706588487, + 66.85147317480319 + ], + [ + -3.4694469251705204e-18, + -0.9982812986565741, + -0.05860417054861753, + 4.254517292171616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48378.79620279715, + -6685.1473174803195, + 425.4517292171615 + ], + "rotation_deg": [ + 1.9912690727982454e-16, + -3.359696626663207, + 58.05887603759768 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + -0.5171335132653603, + -0.8559047432149356, + 3.4694469253935407e-18, + -204.70978791833517 + ], + [ + -0.09237936493680543, + 0.05581516625734643, + -0.9941582973297244, + -43.21106864198386 + ], + [ + 0.8509047999491233, + -0.5141125765756994, + -0.10793183047756481, + 445.89576158482896 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.5171335132653603, + -0.09237936493680543, + 0.8509047999491233, + -489.26894847442037 + ], + [ + -0.8559047432149356, + 0.05581516625734643, + -0.5141125765756994, + 56.44037227371612 + ], + [ + 3.4694469253935407e-18, + -0.9941582973297244, + -0.10793183047756481, + 5.167703048161302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48926.89484744204, + -5644.037227371612, + 516.7703048161302 + ], + "rotation_deg": [ + -1.999527320181077e-16, + -6.196108341217043, + 31.14016914367678 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9503833599984729, + 0.3110811293505496, + -0.0, + 432.79203787799844 + ], + [ + 0.01875830565964593, + -0.05730846354425829, + -0.9981802772921211, + 14.113588676867739 + ], + [ + -0.31051506181448985, + 0.948653921251082, + -0.0603003655153894, + -171.87300120488297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9503833599984729, + 0.01875830565964593, + -0.31051506181448985, + -464.95224940190224 + ], + [ + 0.3110811293505496, + -0.05730846354425829, + 0.948653921251082, + 29.223383515446628 + ], + [ + -0.0, + -0.9981802772921211, + -0.0603003655153894, + 3.723901524778622 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -46495.22494019022, + -2922.3383515446626, + 372.3901524778622 + ], + "rotation_deg": [ + 0.0, + -3.457053661346437, + -108.12439727783206 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.14906573060373876, + -0.9888272892470015, + -8.673617312784562e-19, + -25.735177380484302 + ], + [ + -0.0360828707183718, + 0.005439493372002584, + -0.9993339973965547, + -14.475412085951415 + ], + [ + 0.9881687275151463, + -0.14896645358285907, + -0.03649056957685318, + 521.232747791242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.14906573060373876, + -0.0360828707183718, + 0.9881687275151463, + -519.4244486942378 + ], + [ + -0.9888272892470015, + 0.005439493372002584, + -0.14896645358285907, + 52.27728655924452 + ], + [ + -8.673617312784562e-19, + -0.9993339973965547, + -0.03649056957685318, + 4.554308279160416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -51942.44486942378, + -5227.728655924452, + 455.4308279160416 + ], + "rotation_deg": [ + 4.9729286732812045e-17, + -2.0912199020385733, + 8.572788238525394 + ] + } + } + ] + }, + { + "frame": 74, + "time": 1103.2598209120333, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.8473965438485423, + -0.5309605422943829, + 3.4694469251696737e-18, + -374.464752527961 + ], + [ + -0.03097403697050143, + 0.04943360153359093, + -0.9982970139558507, + -14.04230339999624 + ], + [ + 0.5300563172612969, + -0.8459534434895909, + -0.058335855007832296, + 313.2362903263559 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.8473965438485423, + -0.03097403697050143, + 0.5300563172612969, + -483.7879620279715 + ], + [ + -0.5309605422943829, + 0.04943360153359093, + -0.8459534434895909, + 66.85147317480319 + ], + [ + 3.4694469251696737e-18, + -0.9982970139558507, + -0.058335855007832296, + 4.254517292171616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48378.79620279715, + -6685.1473174803195, + 425.4517292171615 + ], + "rotation_deg": [ + -1.9912377260252241e-16, + -3.344296932220459, + 57.92962265014653 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + -0.5171999280810766, + -0.8558646121863719, + 3.4694469253898387e-18, + -204.74454763557569 + ], + [ + -0.09183574472109157, + 0.055496441713701446, + -0.9942265038453962, + -42.92675074775706 + ], + [ + 0.8509232788973511, + -0.5142138798219382, + -0.10730172053163943, + 445.9072641322393 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.5171999280810766, + -0.09183574472109157, + 0.8509232788973511, + -489.26894847442037 + ], + [ + -0.8558646121863719, + 0.055496441713701446, + -0.5142138798219382, + 56.44037227371612 + ], + [ + 3.4694469253898387e-18, + -0.9942265038453962, + -0.10730172053163943, + 5.167703048161302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48926.89484744204, + -5644.037227371612, + 516.7703048161302 + ], + "rotation_deg": [ + -1.9993901474210533e-16, + -6.159794807434084, + 31.144615173339876 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9501334808488179, + 0.311843500124837, + -0.0, + 432.55480651925023 + ], + [ + 0.01797169890613895, + -0.05475667388167794, + -0.9983379811986733, + 13.623961197741039 + ], + [ + -0.31132522422874936, + 0.948554336562415, + -0.057630507090914426, + -172.06127914247432 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9501334808488179, + 0.01797169890613895, + -0.31132522422874936, + -464.7966616649467 + ], + [ + 0.311843500124837, + -0.05475667388167794, + 0.948554336562415, + 29.0660652274213 + ], + [ + -0.0, + -0.9983379811986733, + -0.057630507090914426, + 3.6853395907276565 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -46479.66616649467, + -2906.60652274213, + 368.53395907276564 + ], + "rotation_deg": [ + 0.0, + -3.303815364837648, + -108.17036437988286 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.15010864098726298, + -0.9886695079251492, + 4.3368086563920615e-19, + -26.28513891086004 + ], + [ + -0.03598893797441058, + 0.005464162216604612, + -0.9993372500186034, + -14.427895929019842 + ], + [ + 0.9880142670419224, + -0.1500091576399186, + -0.03640138384423157, + 521.2066208045595 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.15010864098726298, + -0.03598893797441058, + 0.9880142670419224, + -519.4244486942378 + ], + [ + -0.9886695079251492, + 0.005464162216604612, + -0.1500091576399186, + 52.27728655924452 + ], + [ + 4.3368086563920615e-19, + -0.9993372500186034, + -0.03640138384423157, + 4.554308279160416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -51942.44486942378, + -5227.728655924452, + 455.4308279160416 + ], + "rotation_deg": [ + -2.4864562437481877e-17, + -2.0861065387725835, + 8.63322257995606 + ] + } + } + ] + }, + { + "frame": 75, + "time": 1103.326487582177, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.8461372007904221, + -0.5329651371699172, + -3.4694469251688494e-18, + -373.72148739583076 + ], + [ + -0.03095117534765099, + 0.04913818755369266, + -0.9983123074812496, + -14.011429295747876 + ], + [ + 0.5320656492809055, + -0.8447091855021082, + -0.05807354633267983, + 314.12408449289285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.8461372007904221, + -0.03095117534765099, + 0.5320656492809055, + -483.7879620279715 + ], + [ + -0.5329651371699172, + 0.04913818755369266, + -0.8447091855021082, + 66.85147317480319 + ], + [ + -3.4694469251688494e-18, + -0.9983123074812496, + -0.05807354633267983, + 4.254517292171616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48378.79620279715, + -6685.1473174803195, + 425.4517292171615 + ], + "rotation_deg": [ + 1.991207221497751e-16, + -3.3292422294616695, + 57.79398345947268 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + -0.5171196087827555, + -0.8559131440820203, + -1.0408340776158605e-17, + -204.70251073868639 + ], + [ + -0.09130788534197695, + 0.055165758667563014, + -0.9942935226305197, + -42.64947533698647 + ], + [ + 0.851028892854821, + -0.5141686809750905, + -0.10667891558613107, + 445.9531682513971 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.5171196087827555, + -0.09130788534197695, + 0.851028892854821, + -489.26894847442037 + ], + [ + -0.8559131440820203, + 0.055165758667563014, + -0.5141686809750905, + 56.44037227371612 + ], + [ + -1.0408340776158605e-17, + -0.9942935226305197, + -0.10667891558613107, + 5.167703048161302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48926.89484744204, + -5644.037227371612, + 516.7703048161302 + ], + "rotation_deg": [ + 5.997766145047993e-16, + -6.123904705047607, + 31.13923835754394 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9498859039230146, + 0.3125968162479544, + -6.93889385031888e-18, + 432.31628973701163 + ], + [ + 0.017189748807282162, + -0.052234377432248194, + -0.9984868964339031, + 13.1384923779725 + ], + [ + -0.3121238387597117, + 0.9484486235855416, + -0.05499015999788953, + -172.24600259885838 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9498859039230146, + 0.017189748807282162, + -0.3121238387597117, + -464.6390762249495 + ], + [ + 0.3125968162479544, + -0.052234377432248194, + 0.9484486235855416, + 28.912064074607223 + ], + [ + -6.93889385031888e-18, + -0.9984868964339031, + -0.05499015999788953, + 3.646777656676692 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -46463.90762249495, + -2891.2064074607224, + 364.6777656676692 + ], + "rotation_deg": [ + 3.9817181037847415e-16, + -3.1522941589355478, + -108.21579742431646 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.15107571419034413, + -0.9885221942788524, + -8.673617312783685e-19, + -26.795161533918986 + ], + [ + -0.03589475136671612, + 0.005485790030609818, + -0.9993405190084418, + -14.38008885768668 + ], + [ + 0.987870282494529, + -0.15097608378754238, + -0.03631152831205144, + 521.181970755916 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.15107571419034413, + -0.03589475136671612, + 0.987870282494529, + -519.4244486942378 + ], + [ + -0.9885221942788524, + 0.005485790030609818, + -0.15097608378754238, + 52.27728655924452 + ], + [ + -8.673617312783685e-19, + -0.9993405190084418, + -0.03631152831205144, + 4.554308279160416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -51942.44486942378, + -5227.728655924452, + 455.4308279160416 + ], + "rotation_deg": [ + 4.972896220367873e-17, + -2.080954790115356, + 8.689270973205568 + ] + } + } + ] + }, + { + "frame": 76, + "time": 1103.3931542523205, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.8448328298255009, + -0.5350303632963609, + 3.469446925168044e-18, + -372.95238501599124 + ], + [ + -0.030933436713776116, + 0.04884504631497288, + -0.9983272429136464, + -13.983187091504288 + ], + [ + 0.5341353808765922, + -0.8434196338642176, + -0.057816227031578835, + 315.03809252737096 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.8448328298255009, + -0.030933436713776116, + 0.5341353808765922, + -483.7879620279715 + ], + [ + -0.5350303632963609, + 0.04884504631497288, + -0.8434196338642176, + 66.85147317480319 + ], + [ + 3.469446925168044e-18, + -0.9983272429136464, + -0.057816227031578835, + 4.254517292171616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48378.79620279715, + -6685.1473174803195, + 425.4517292171615 + ], + "rotation_deg": [ + -1.9911774321260624e-16, + -3.3144741058349614, + 57.65402984619143 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + -0.5169324263491596, + -0.8560262067184454, + -0.0, + -204.60454688893793 + ], + [ + -0.09079321999106377, + 0.054827713378021156, + -0.994359348047471, + -42.37824599373401 + ], + [ + 0.8511976585862204, + -0.514016593986127, + -0.10606359943089311, + 446.02397646589134 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.5169324263491596, + -0.09079321999106377, + 0.8511976585862204, + -489.26894847442037 + ], + [ + -0.8560262067184454, + 0.054827713378021156, + -0.514016593986127, + 56.44037227371612 + ], + [ + -0.0, + -0.994359348047471, + -0.10606359943089311, + 5.167703048161302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48926.89484744204, + -5644.037227371612, + 516.7703048161302 + ], + "rotation_deg": [ + 0.0, + -6.0884485244750985, + 31.126708984375004 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9496406087179883, + 0.3133412106214709, + -0.0, + 432.0772651118322 + ], + [ + 0.016412468796044466, + -0.04974113308341404, + -0.9986272830979519, + 12.657110398677556 + ], + [ + -0.31291109571950393, + 0.9483370164033199, + -0.05237890314687017, + -172.42668144046414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9496406087179883, + 0.016412468796044466, + -0.31291109571950393, + -464.48006893744497 + ], + [ + 0.3133412106214709, + -0.04974113308341404, + 0.9483370164033199, + 28.760565115014185 + ], + [ + -0.0, + -0.9986272830979519, + -0.05237890314687017, + 3.6082157226257268 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -46448.006893744496, + -2876.0565115014183, + 360.82157226257266 + ], + "rotation_deg": [ + 0.0, + -3.0024640560150155, + -108.2607040405274 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.15198501385931684, + -0.9883827980909942, + 4.3368086563916224e-19, + -27.274761267630915 + ], + [ + -0.035800553024580656, + 0.005505101422365271, + -0.9993437918261482, + -14.332154577494936 + ], + [ + 0.9877342130304301, + -0.15188528121678943, + -0.036221343968076226, + 521.1584125967856 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.15198501385931684, + -0.035800553024580656, + 0.9877342130304301, + -519.4244486942378 + ], + [ + -0.9883827980909942, + 0.005505101422365271, + -0.15188528121678943, + 52.27728655924452 + ], + [ + 4.3368086563916224e-19, + -0.9993437918261482, + -0.036221343968076226, + 4.554308279160416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -51942.44486942378, + -5227.728655924452, + 455.4308279160416 + ], + "rotation_deg": [ + -2.486439967148883e-17, + -2.0757842063903813, + 8.741978645324707 + ] + } + } + ] + }, + { + "frame": 77, + "time": 1103.4598209224641, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.8435083989823384, + -0.5371159845380251, + -0.0, + -372.17221446504084 + ], + [ + -0.03091768810811901, + 0.0485543725136865, + -0.9983419101048755, + -13.956073732020625 + ], + [ + 0.5362253913897963, + -0.8421097903773793, + -0.05756240595585007, + 315.96056960129164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.8435083989823384, + -0.03091768810811901, + 0.5362253913897963, + -483.7879620279715 + ], + [ + -0.5371159845380251, + 0.0485543725136865, + -0.8421097903773793, + 66.85147317480319 + ], + [ + -0.0, + -0.9983419101048755, + -0.05756240595585007, + 4.254517292171616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48378.79620279715, + -6685.1473174803195, + 425.4517292171615 + ], + "rotation_deg": [ + 0.0, + -3.299906969070434, + 57.51247406005859 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + -0.5166916658236292, + -0.8561715496723787, + -6.938893850758243e-18, + -204.47854702935018 + ], + [ + -0.09028807669266863, + 0.0544880249386913, + -0.9944240133592003, + -42.111588750197924 + ], + [ + 0.8513975463141201, + -0.5138106035340877, + -0.10545559172576852, + 446.10700714326475 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.5166916658236292, + -0.09028807669266863, + 0.8513975463141201, + -489.26894847442037 + ], + [ + -0.8561715496723787, + 0.0544880249386913, + -0.5138106035340877, + 56.44037227371612 + ], + [ + -6.938893850758243e-18, + -0.9944240133592003, + -0.10545559172576852, + 5.167703048161302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48926.89484744204, + -5644.037227371612, + 516.7703048161302 + ], + "rotation_deg": [ + 3.997986069085775e-16, + -6.053415775299074, + 31.110595703125 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9493974904371264, + 0.3140770688090526, + 3.4694469251447587e-18, + 431.8387054280152 + ], + [ + 0.015639880161574516, + -0.047276495009457575, + -0.9987593940324928, + 12.179738225623055 + ], + [ + -0.31368743680179384, + 0.9482196576334452, + -0.04979631382173589, + -172.60262662554484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9493974904371264, + 0.015639880161574516, + -0.31368743680179384, + -464.3203440095568 + ], + [ + 0.3140770688090526, + -0.047276495009457575, + 0.9482196576334452, + 28.610378871767626 + ], + [ + 3.4694469251447587e-18, + -0.9987593940324928, + -0.04979631382173589, + 3.569653788574761 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -46432.03440095568, + -2861.0378871767625, + 356.9653788574761 + ], + "rotation_deg": [ + -1.990315873703085e-16, + -2.8542990684509286, + -108.30510711669925 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.1528621091681082, + -0.9882475274852334, + -0.0, + -27.737417595072564 + ], + [ + -0.03570657791089725, + 0.005523092807046454, + -0.9993470547010873, + -14.284267286513181 + ], + [ + 0.9876022557164023, + -0.15276229974504726, + -0.03613120923078313, + 521.1353083892348 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.1528621091681082, + -0.03570657791089725, + 0.9876022557164023, + -519.4244486942378 + ], + [ + -0.9882475274852334, + 0.005523092807046454, + -0.15276229974504726, + 52.27728655924452 + ], + [ + -0.0, + -0.9993470547010873, + -0.03613120923078313, + 4.554308279160416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -51942.44486942378, + -5227.728655924452, + 455.4308279160416 + ], + "rotation_deg": [ + 0.0, + -2.0706164836883545, + 8.792826652526859 + ] + } + } + ] + }, + { + "frame": 78, + "time": 1103.5264875926077, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.8421718548859848, + -0.5392092050752655, + -0.0, + -371.3856756439111 + ], + [ + -0.030902920377470867, + 0.048266182273456845, + -0.9983563417742631, + -13.929601939805666 + ], + [ + 0.5383229228947171, + -0.8407876163432393, + -0.057311559828212136, + 316.8858735821833 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.8421718548859848, + -0.030902920377470867, + 0.5383229228947171, + -483.7879620279715 + ], + [ + -0.5392092050752655, + 0.048266182273456845, + -0.8407876163432393, + 66.85147317480319 + ], + [ + -0.0, + -0.9983563417742631, + -0.057311559828212136, + 4.254517292171616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48378.79620279715, + -6685.1473174803195, + 425.4517292171615 + ], + "rotation_deg": [ + 0.0, + -3.285510778427124, + 57.37017822265629 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + -0.5164147178951052, + -0.8563386241092471, + -3.469446925375675e-18, + -204.3336152641648 + ], + [ + -0.08979113206672389, + 0.05414851185061551, + -0.9944875520923021, + -41.84895858122441 + ], + [ + 0.8516180998205768, + -0.5135680121997689, + -0.10485470377225853, + 446.1981199697229 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.5164147178951052, + -0.08979113206672389, + 0.8516180998205768, + -489.26894847442037 + ], + [ + -0.8563386241092471, + 0.05414851185061551, + -0.5135680121997689, + 56.44037227371612 + ], + [ + -3.469446925375675e-18, + -0.9944875520923021, + -0.10485470377225853, + 5.167703048161302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48926.89484744204, + -5644.037227371612, + 516.7703048161302 + ], + "rotation_deg": [ + 1.9988653170198253e-16, + -6.018795490264894, + 31.092063903808608 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9491565686275869, + 0.3148043967785472, + -0.0, + 431.600944676717 + ], + [ + 0.014871981662364756, + -0.04484003154909071, + -0.9988834745515169, + 11.706327656746044 + ], + [ + -0.31445292354123167, + 0.9480968065413641, + -0.047241976064091216, + -172.77358888923794 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9491565686275869, + 0.014871981662364756, + -0.31445292354123167, + -464.16012370980826 + ], + [ + 0.3148043967785472, + -0.04484003154909071, + 0.9480968065413641, + 28.461119759212302 + ], + [ + -0.0, + -0.9988834745515169, + -0.047241976064091216, + 3.531091854523796 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -46416.012370980825, + -2846.11197592123, + 353.1091854523796 + ], + "rotation_deg": [ + 0.0, + -2.7077736854553227, + -108.34900665283206 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.1537153347514692, + -0.9881151733792187, + 4.336808656391184e-19, + -28.187522936849092 + ], + [ + -0.03561290458636456, + 0.005540092589858708, + -0.9993503031475092, + -14.23648497965152 + ], + [ + 0.9874731978675878, + -0.15361546756125424, + -0.03604124885596525, + 521.1124641783958 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.1537153347514692, + -0.03561290458636456, + 0.9874731978675878, + -519.4244486942378 + ], + [ + -0.9881151733792187, + 0.005540092589858708, + -0.15361546756125424, + 52.27728655924452 + ], + [ + 4.336808656391184e-19, + -0.9993503031475092, + -0.03604124885596525, + 4.554308279160416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -51942.44486942378, + -5227.728655924452, + 455.4308279160416 + ], + "rotation_deg": [ + -2.4864237666135247e-17, + -2.0654587745666504, + 8.842297554016124 + ] + } + } + ] + }, + { + "frame": 79, + "time": 1103.5931542627513, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.8408267646803617, + -0.5413043060951533, + -3.4694469251657094e-18, + -370.5948766049593 + ], + [ + -0.030888685298716443, + 0.04798046686956172, + -0.9983705544132878, + -13.903554216488136 + ], + [ + 0.5404222736738642, + -0.8394566873795657, + -0.057063439529154054, + 317.8114840231932 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.8408267646803617, + -0.030888685298716443, + 0.5404222736738642, + -483.7879620279715 + ], + [ + -0.5413043060951533, + 0.04798046686956172, + -0.8394566873795657, + 66.85147317480319 + ], + [ + -3.4694469251657094e-18, + -0.9983705544132878, + -0.057063439529154054, + 4.254517292171616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48378.79620279715, + -6685.1473174803195, + 425.4517292171615 + ], + "rotation_deg": [ + 1.9910910504899113e-16, + -3.2712712287902823, + 57.227527618408196 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + -0.5161094881336965, + -0.856522618649603, + 3.469446925372287e-18, + -204.17389109940325 + ], + [ + -0.0893017368003287, + 0.053809990146124316, + -0.9945499910838661, + -41.590083716655634 + ], + [ + 0.8518545605125427, + -0.513296690356662, + -0.10426080472967388, + 446.295430244113 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.5161094881336965, + -0.0893017368003287, + 0.8518545605125427, + -489.26894847442037 + ], + [ + -0.856522618649603, + 0.053809990146124316, + -0.513296690356662, + 56.44037227371612 + ], + [ + 3.469446925372287e-18, + -0.9945499910838661, + -0.10426080472967388, + 5.167703048161302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48926.89484744204, + -5644.037227371612, + 516.7703048161302 + ], + "rotation_deg": [ + -1.9987398259557994e-16, + -5.984580039978029, + 31.071643829345724 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9489178626070427, + 0.3155232004548662, + -0.0, + 431.36413232874406 + ], + [ + 0.014108772797569393, + -0.042431322032032384, + -0.9989997624828351, + 11.236841934666232 + ], + [ + -0.3152076161994584, + 0.9479687147262083, + -0.04471548490395844, + -172.93948308957022 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9489178626070427, + 0.014108772797569393, + -0.3152076161994584, + -463.99950632497644 + ], + [ + 0.3155232004548662, + -0.042431322032032384, + 0.9479687147262083, + 28.312616793304343 + ], + [ + -0.0, + -0.9989997624828351, + -0.04471548490395844, + 3.4925299204728306 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -46399.95063249765, + -2831.261679330434, + 349.25299204728304 + ], + "rotation_deg": [ + 0.0, + -2.5628631114959726, + -108.39240264892584 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.15454843248065697, + -0.9879852134610979, + -8.673617312781932e-19, + -28.627048217421695 + ], + [ + -0.03551955861306153, + 0.005556249254806919, + -0.9993535355669443, + -14.188828704099512 + ], + [ + 0.9873465159646686, + -0.15444852360112313, + -0.03595150858954535, + 521.0898037052901 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.15454843248065697, + -0.03551955861306153, + 0.9873465159646686, + -519.4244486942378 + ], + [ + -0.9879852134610979, + 0.005556249254806919, + -0.15444852360112313, + 52.27728655924452 + ], + [ + -8.673617312781932e-19, + -0.9993535355669443, + -0.03595150858954535, + 4.554308279160416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -51942.44486942378, + -5227.728655924452, + 455.4308279160416 + ], + "rotation_deg": [ + 4.9728314484995804e-17, + -2.060313701629638, + 8.890607833862306 + ] + } + } + ] + }, + { + "frame": 80, + "time": 1103.659820932895, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.8394718315141094, + -0.5434032058189818, + -0.0, + -369.79906171118995 + ], + [ + -0.030875125726417683, + 0.047697175990563265, + -0.9983845481646353, + -13.877996309384624 + ], + [ + 0.5425253576308036, + -0.8381157093692438, + -0.05681807842630787, + 318.73824047615466 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.8394718315141094, + -0.030875125726417683, + 0.5425253576308036, + -483.7879620279715 + ], + [ + -0.5434032058189818, + 0.047697175990563265, + -0.8381157093692438, + 66.85147317480319 + ], + [ + -0.0, + -0.9983845481646353, + -0.05681807842630787, + 4.254517292171616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48378.79620279715, + -6685.1473174803195, + 425.4517292171615 + ], + "rotation_deg": [ + 0.0, + -3.257190227508544, + 57.08438873291018 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + -0.5157738193924118, + -0.8567247908338845, + -3.4694469253689597e-18, + -203.99824813397493 + ], + [ + -0.08881992537857691, + 0.05347223827393621, + -0.9946113515286857, + -41.334968415012 + ], + [ + 0.8521081998744937, + -0.5129944991229913, + -0.10367381335805742, + 446.39943892519983 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.5157738193924118, + -0.08881992537857691, + 0.8521081998744937, + -489.26894847442037 + ], + [ + -0.8567247908338845, + 0.05347223827393621, + -0.5129944991229913, + 56.44037227371612 + ], + [ + -3.4694469253689597e-18, + -0.9946113515286857, + -0.10367381335805742, + 5.167703048161302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48926.89484744204, + -5644.037227371612, + 516.7703048161302 + ], + "rotation_deg": [ + 1.9986165179254644e-16, + -5.950764656066895, + 31.049192428588878 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.948681265136743, + 0.3162338646928071, + 3.4694469251259613e-18, + 431.1281546509722 + ], + [ + 0.013350267276071777, + -0.04004994361271361, + -0.9991084887940228, + 10.771260292933624 + ], + [ + -0.31595195255001585, + 0.9478355005128862, + -0.04221643811738806, + -173.10058015684828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.948681265136743, + 0.013350267276071777, + -0.31595195255001585, + -463.83846428358476 + ], + [ + 0.3162338646928071, + -0.04004994361271361, + 0.9478355005128862, + 28.164935698189925 + ], + [ + 3.4694469251259613e-18, + -0.9991084887940228, + -0.04221643811738806, + 3.453967986421865 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -46383.846428358476, + -2816.4935698189925, + 345.3967986421865 + ], + "rotation_deg": [ + -1.9896204448644123e-16, + -2.419542789459229, + -108.43531799316409 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.15536019290424474, + -0.9878578898104501, + 4.3368086563907485e-19, + -29.05535256288625 + ], + [ + -0.035426547944889794, + 0.005571525397955405, + -0.9993567520187414, + -14.141300635661569 + ], + [ + 0.9872224520196039, + -0.15526025896517484, + -0.035861988434385796, + 521.0673894788752 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.15536019290424474, + -0.035426547944889794, + 0.9872224520196039, + -519.4244486942378 + ], + [ + -0.9878578898104501, + 0.005571525397955405, + -0.15526025896517484, + 52.27728655924452 + ], + [ + 4.3368086563907485e-19, + -0.9993567520187414, + -0.035861988434385796, + 4.554308279160416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -51942.44486942378, + -5227.728655924452, + 455.4308279160416 + ], + "rotation_deg": [ + -2.486407721665695e-17, + -2.0551812648773202, + 8.937686920166023 + ] + } + } + ] + }, + { + "frame": 81, + "time": 1103.7264876030385, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.838106465393577, + -0.5455066935111654, + -3.469446925164213e-18, + -368.997892767288 + ], + [ + -0.030862303229028366, + 0.04741627587866861, + -0.9983983248289219, + -13.852955740152977 + ], + [ + 0.5446329625292672, + -0.8367640952492258, + -0.05657548080519015, + 319.66648482388143 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.838106465393577, + -0.030862303229028366, + 0.5446329625292672, + -483.7879620279715 + ], + [ + -0.5455066935111654, + 0.04741627587866861, + -0.8367640952492258, + 66.85147317480319 + ], + [ + -3.469446925164213e-18, + -0.9983983248289219, + -0.05657548080519015, + 4.254517292171616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48378.79620279715, + -6685.1473174803195, + 425.4517292171615 + ], + "rotation_deg": [ + 1.9910356683588322e-16, + -3.2432680130004874, + 56.94070434570311 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + -0.5154068629288736, + -0.8569456025010087, + -1.0408340776097064e-17, + -203.8062450382288 + ], + [ + -0.08834564083806977, + 0.05313516921599109, + -0.9946716551391711, + -41.0835797823363 + ], + [ + 0.8523794985828688, + -0.5126606009523652, + -0.10309364008888608, + 446.51033345874583 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.5154068629288736, + -0.08834564083806977, + 0.8523794985828688, + -489.26894847442037 + ], + [ + -0.8569456025010087, + 0.05313516921599109, + -0.5126606009523652, + 56.44037227371612 + ], + [ + -1.0408340776097064e-17, + -0.9946716551391711, + -0.10309364008888608, + 5.167703048161302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48926.89484744204, + -5644.037227371612, + 516.7703048161302 + ], + "rotation_deg": [ + 5.99548604549728e-16, + -5.917344093322755, + 31.024654388427745 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9484467942346416, + 0.3169363950480149, + -1.0408340775361513e-17, + 430.8929914239467 + ], + [ + 0.012596459581591125, + -0.03769548684068424, + -0.9992098775922169, + 10.309552295941161 + ], + [ + -0.31668599039563805, + 0.9476974005137544, + -0.039744440449031415, + -173.2569552280667 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9484467942346416, + 0.012596459581591125, + -0.31668599039563805, + -463.67698628618825 + ], + [ + 0.3169363950480149, + -0.03769548684068424, + 0.9476974005137544, + 28.01811315555341 + ], + [ + -1.0408340775361513e-17, + -0.9992098775922169, + -0.039744440449031415, + 3.4154060523708996 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -46367.698628618826, + -2801.811315555341, + 341.54060523708995 + ], + "rotation_deg": [ + 5.968255680365578e-16, + -2.277788639068603, + -108.47775268554689 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.15615004826121634, + -0.9877333458115201, + -0.0, + -29.472133568550724 + ], + [ + -0.03533386459928347, + 0.0055859050277383545, + -0.9993599530086749, + -14.093895789698692 + ], + [ + 0.9871011498559753, + -0.1560501060899826, + -0.035772675917755396, + 521.0452664771545 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.15615004826121634, + -0.03533386459928347, + 0.9871011498559753, + -519.4244486942378 + ], + [ + -0.9877333458115201, + 0.0055859050277383545, + -0.1560501060899826, + 52.27728655924452 + ], + [ + -0.0, + -0.9993599530086749, + -0.035772675917755396, + 4.554308279160416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -51942.44486942378, + -5227.728655924452, + 455.4308279160416 + ], + "rotation_deg": [ + 0.0, + -2.0500607490539546, + 8.983501434326179 + ] + } + } + ] + }, + { + "frame": 82, + "time": 1103.7931542731822, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.8367287189179776, + -0.5476176137944067, + -0.0, + -368.19023747697725 + ], + [ + -0.030850433182723434, + 0.04713771577978507, + -0.9984118822026822, + -13.828533321582754 + ], + [ + 0.5467479260874478, + -0.8353998993257421, + -0.056335721577120995, + 320.5974601664914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.8367287189179776, + -0.030850433182723434, + 0.5467479260874478, + -483.7879620279715 + ], + [ + -0.5476176137944067, + 0.04713771577978507, + -0.8353998993257421, + 66.85147317480319 + ], + [ + -0.0, + -0.9984118822026822, + -0.056335721577120995, + 4.254517292171616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48378.79620279715, + -6685.1473174803195, + 425.4517292171615 + ], + "rotation_deg": [ + 0.0, + -3.229508876800536, + 56.7962760925293 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + -0.515005056307967, + -0.8571871394142749, + -0.0, + -203.5960211020252 + ], + [ + -0.08787902065013402, + 0.05279843560081481, + -0.9947309198610845, + -40.835965380566336 + ], + [ + 0.8526705494657841, + -0.5122914569257776, + -0.1025202284165518, + 446.6289377706521 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.515005056307967, + -0.08787902065013402, + 0.8526705494657841, + -489.26894847442037 + ], + [ + -0.8571871394142749, + 0.05279843560081481, + -0.5122914569257776, + 56.44037227371612 + ], + [ + -0.0, + -0.9947309198610845, + -0.1025202284165518, + 5.167703048161302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48926.89484744204, + -5644.037227371612, + 516.7703048161302 + ], + "rotation_deg": [ + 0.0, + -5.884315013885501, + 30.99779319763185 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9482143831196336, + 0.3176310495607326, + -3.4694469251154314e-18, + 430.6585237003054 + ], + [ + 0.011847354677400834, + -0.03536755025230358, + -0.9993041461818813, + 9.85169459752464 + ], + [ + -0.3174100386810724, + 0.9475545598535396, + -0.03729910783444028, + -173.40885079878456 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9482143831196336, + 0.011847354677400834, + -0.3174100386810724, + -463.5150285319821 + ], + [ + 0.3176310495607326, + -0.03536755025230358, + 0.9475545598535396, + 27.872253540926646 + ], + [ + -3.4694469251154314e-18, + -0.9993041461818813, + -0.03729910783444028, + 3.376844118319935 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -46351.50285319821, + -2787.2253540926645, + 337.6844118319935 + ], + "rotation_deg": [ + 1.98923088984596e-16, + -2.137577295303345, + -108.51972198486334 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.15691603366543083, + -0.9876119472640603, + -0.0, + -29.87635150149609 + ], + [ + -0.03524151259556252, + 0.005599323086547711, + -0.9993631388894377, + -14.046612851302438 + ], + [ + 0.9869829754213723, + -0.1568161011491028, + -0.03568356272528735, + 521.0235220808696 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.15691603366543083, + -0.03524151259556252, + 0.9869829754213723, + -519.4244486942378 + ], + [ + -0.9876119472640603, + 0.005599323086547711, + -0.1568161011491028, + 52.27728655924452 + ], + [ + -0.0, + -0.9993631388894377, + -0.03568356272528735, + 4.554308279160416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -51942.44486942378, + -5227.728655924452, + 455.4308279160416 + ], + "rotation_deg": [ + 0.0, + -2.0449516773223873, + 9.027936935424808 + ] + } + } + ] + }, + { + "frame": 83, + "time": 1103.8598209433258, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.8353358467504117, + -0.5497399595570367, + -3.469446925162764e-18, + -367.37450074884697 + ], + [ + -0.03083982308681342, + 0.04686144655122776, + -0.998425215095803, + -13.804874554959266 + ], + [ + 0.5488742309661807, + -0.8340203766525605, + -0.056098929665416436, + 321.5329103121604 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.8353358467504117, + -0.03083982308681342, + 0.5488742309661807, + -483.7879620279715 + ], + [ + -0.5497399595570367, + 0.04686144655122776, + -0.8340203766525605, + 66.85147317480319 + ], + [ + -3.469446925162764e-18, + -0.998425215095803, + -0.056098929665416436, + 4.254517292171616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48378.79620279715, + -6685.1473174803195, + 425.4517292171615 + ], + "rotation_deg": [ + 1.9909820444313586e-16, + -3.2159202098846427, + 56.650825500488295 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + -0.5145632608405083, + -0.8574524188508554, + -0.0, + -203.36489182806372 + ], + [ + -0.08742033579040996, + 0.05246156178365147, + -0.994789158277025, + -40.592230879078464 + ], + [ + 0.8529843677988822, + -0.5118819566616639, + -0.10195357146744444, + 446.75643867430307 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.5145632608405083, + -0.08742033579040996, + 0.8529843677988822, + -489.26894847442037 + ], + [ + -0.8574524188508554, + 0.05246156178365147, + -0.5118819566616639, + 56.44037227371612 + ], + [ + -0.0, + -0.994789158277025, + -0.10195357146744444, + 5.167703048161302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48926.89484744204, + -5644.037227371612, + 516.7703048161302 + ], + "rotation_deg": [ + 0.0, + -5.851676940917971, + 30.96826744079591 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9479840488437304, + 0.3183178335215416, + -0.0, + 430.42464857933123 + ], + [ + 0.01110294278870019, + -0.03306573352322096, + -0.9993915058314247, + 9.39765772755953 + ], + [ + -0.31812415287859735, + 0.9474072013999242, + -0.034880052907627586, + -173.55642797918978 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9479840488437304, + 0.01110294278870019, + -0.31812415287859735, + -463.35252994538877 + ], + [ + 0.3183178335215416, + -0.03306573352322096, + 0.9474072013999242, + 27.727503365553453 + ], + [ + -0.0, + -0.9993915058314247, + -0.034880052907627586, + 3.33828218426897 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -46335.252994538874, + -2772.7503365553453, + 333.82821842689697 + ], + "rotation_deg": [ + 0.0, + -1.9988852739334109, + -108.56122589111332 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.15765531388980422, + -0.9874942035284596, + -8.673617312780213e-19, + -30.266507047478342 + ], + [ + -0.03514948040749535, + 0.005611680905980627, + -0.9993663107512142, + -13.999440670384914 + ], + [ + 0.9868684388655304, + -0.15755541062109898, + -0.0355946197497331, + 521.0022730128896 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.15765531388980422, + -0.03514948040749535, + 0.9868684388655304, + -519.4244486942378 + ], + [ + -0.9874942035284596, + 0.005611680905980627, + -0.15755541062109898, + 52.27728655924452 + ], + [ + -8.673617312780213e-19, + -0.9993663107512142, + -0.0355946197497331, + 4.554308279160416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -51942.44486942378, + -5227.728655924452, + 455.4308279160416 + ], + "rotation_deg": [ + 4.9727678793774294e-17, + -2.039852380752563, + 9.07082843780518 + ] + } + } + ] + }, + { + "frame": 84, + "time": 1103.9264876134694, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.8339248782782638, + -0.55187797327723, + -0.0, + -366.54896182035793 + ], + [ + -0.03083080334120791, + 0.04658742542461006, + -0.9984383172523189, + -13.782136451267895 + ], + [ + 0.5510161085935136, + -0.8326225563722149, + -0.0558652547712723, + 322.47468440554854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.8339248782782638, + -0.03083080334120791, + 0.5510161085935136, + -483.7879620279715 + ], + [ + -0.55187797327723, + 0.04658742542461006, + -0.8326225563722149, + 66.85147317480319 + ], + [ + -0.0, + -0.9984383172523189, + -0.0558652547712723, + 4.254517292171616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48378.79620279715, + -6685.1473174803195, + 425.4517292171615 + ], + "rotation_deg": [ + 0.0, + -3.2025105953216553, + 56.50405502319339 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + -0.5140758430800453, + -0.8577447333336068, + -1.3877787701424856e-17, + -203.10991511470675 + ], + [ + -0.0869698649893338, + 0.05212402353458764, + -0.9948463845007942, + -40.352482991352716 + ], + [ + 0.8533242445740716, + -0.5114264973753947, + -0.10139364577933287, + 446.89413000535313 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.5140758430800453, + -0.0869698649893338, + 0.8533242445740716, + -489.26894847442037 + ], + [ + -0.8577447333336068, + 0.05212402353458764, + -0.5114264973753947, + 56.44037227371612 + ], + [ + -1.3877787701424856e-17, + -0.9948463845007942, + -0.10139364577933287, + 5.167703048161302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48926.89484744204, + -5644.037227371612, + 516.7703048161302 + ], + "rotation_deg": [ + 7.992577374934461e-16, + -5.819428443908693, + 30.9357032775879 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9477557657863179, + 0.3189968783840841, + 1.734723462553195e-18, + 430.19122985427805 + ], + [ + 0.010363220810829129, + -0.030789650122388504, + -0.9994721612430068, + 8.94741539305653 + ], + [ + -0.3188285133742425, + 0.9472554988718686, + -0.03248690377026348, + -173.69992040002583 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9477557657863179, + 0.010363220810829129, + -0.3188285133742425, + -463.1894254933129 + ], + [ + 0.3189968783840841, + -0.030789650122388504, + 0.9472554988718686, + 27.584027946714915 + ], + [ + 1.734723462553195e-18, + -0.9994721612430068, + -0.03248690377026348, + 3.2997202502180043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -46318.94254933129, + -2758.4027946714914, + 329.97202502180045 + ], + "rotation_deg": [ + -9.944482462916972e-17, + -1.8616900444030766, + -108.60227203369145 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.15836475900903604, + -0.9873806779069608, + 4.336808656389896e-19, + -30.640944998861066 + ], + [ + -0.03505776647213251, + 0.00562287156613518, + -0.9993694693782357, + -13.952372842057988 + ], + [ + 0.9867581039495853, + -0.1582649063931505, + -0.03550582620059341, + 520.9816484805953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.15836475900903604, + -0.03505776647213251, + 0.9867581039495853, + -519.4244486942378 + ], + [ + -0.9873806779069608, + 0.00562287156613518, + -0.1582649063931505, + 52.27728655924452 + ], + [ + 4.336808656389896e-19, + -0.9993694693782357, + -0.03550582620059341, + 4.554308279160416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -51942.44486942378, + -5227.728655924452, + 455.4308279160416 + ], + "rotation_deg": [ + -2.4863760811740614e-17, + -2.034761667251586, + 9.111993789672857 + ] + } + } + ] + }, + { + "frame": 85, + "time": 1103.993154283613, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.8324928347048363, + -0.5540358112659378, + 3.469446925161364e-18, + -365.7119017300165 + ], + [ + -0.030823694830906082, + 0.0463156073381342, + -0.9984511827595132, + -13.76047126351662 + ], + [ + 0.5531777047031525, + -0.8312034596447003, + -0.05563484244637691, + 323.4245895821258 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.8324928347048363, + -0.030823694830906082, + 0.5531777047031525, + -483.7879620279715 + ], + [ + -0.5540358112659378, + 0.0463156073381342, + -0.8312034596447003, + 66.85147317480319 + ], + [ + 3.469446925161364e-18, + -0.9984511827595132, + -0.05563484244637691, + 4.254517292171616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48378.79620279715, + -6685.1473174803195, + 425.4517292171615 + ], + "rotation_deg": [ + -1.9909302630785217e-16, + -3.1892883777618404, + 56.355670928955085 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + -0.5135373008453882, + -0.8580672704633554, + -0.0, + -202.8282190061719 + ], + [ + -0.08652791264423845, + 0.051785346250431775, + -0.9949026074180094, + -40.116843816853034 + ], + [ + 0.8536933625219064, + -0.5109196031433795, + -0.10084047753681265, + 447.043260047182 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.5135373008453882, + -0.08652791264423845, + 0.8536933625219064, + -489.26894847442037 + ], + [ + -0.8580672704633554, + 0.051785346250431775, + -0.5109196031433795, + 56.44037227371612 + ], + [ + -0.0, + -0.9949026074180094, + -0.10084047753681265, + 5.167703048161302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48926.89484744204, + -5644.037227371612, + 516.7703048161302 + ], + "rotation_deg": [ + 0.0, + -5.787570953369142, + 30.899736404418956 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9475294652074051, + 0.3196684416137586, + -0.0, + 429.95811259742374 + ], + [ + 0.009628186260211965, + -0.028538914044817846, + -0.9995463112905182, + 8.50094072515508 + ], + [ + -0.3195234255602216, + 0.9470995770871684, + -0.0301192894930998, + -173.83962061847103 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9475294652074051, + 0.009628186260211965, + -0.3195234255602216, + -463.025655775466 + ], + [ + 0.3196684416137586, + -0.028538914044817846, + 0.9470995770871684, + 27.44199381248536 + ], + [ + -0.0, + -0.9995463112905182, + -0.0301192894930998, + 3.261158316167039 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -46302.5655775466, + -2744.199381248536, + 326.11583161670393 + ], + "rotation_deg": [ + 0.0, + -1.7259691953659055, + -108.64287567138675 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.15904125666607608, + -0.9872719375522, + -0.0, + -30.9980190720984 + ], + [ + -0.03496636917576109, + 0.005632789795029456, + -0.9993726155472691, + -13.90540302124851 + ], + [ + 0.9866525382817175, + -0.15894147787348686, + -0.035417161287096065, + 520.9617806055677 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.15904125666607608, + -0.03496636917576109, + 0.9866525382817175, + -519.4244486942378 + ], + [ + -0.9872719375522, + 0.005632789795029456, + -0.15894147787348686, + 52.27728655924452 + ], + [ + -0.0, + -0.9993726155472691, + -0.035417161287096065, + 4.554308279160416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -51942.44486942378, + -5227.728655924452, + 455.4308279160416 + ], + "rotation_deg": [ + 0.0, + -2.0296783447265625, + 9.151251792907722 + ] + } + } + ] + }, + { + "frame": 86, + "time": 1104.0598209537566, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.8310370621620381, + -0.556217045147925, + -0.0, + -364.86179780001027 + ], + [ + -0.030818776896458035, + 0.04604595640295135, + -0.9984638064995365, + -13.74001175585245 + ], + [ + 0.5553625818197789, + -0.8297604326288998, + -0.055407825782740575, + 324.3841725015017 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.8310370621620381, + -0.030818776896458035, + 0.5553625818197789, + -483.7879620279715 + ], + [ + -0.556217045147925, + 0.04604595640295135, + -0.8297604326288998, + 66.85147317480319 + ], + [ + -0.0, + -0.9984638064995365, + -0.055407825782740575, + 4.254517292171616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48378.79620279715, + -6685.1473174803195, + 425.4517292171615 + ], + "rotation_deg": [ + 0.0, + -3.1762611865997306, + 56.20541763305666 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + -0.5129427760464527, + -0.8584228028784873, + 3.4694469253501723e-18, + -202.51727010108937 + ], + [ + -0.08609473567747777, + 0.05144513003767709, + -0.9949578358322684, + -39.88541644407656 + ], + [ + 0.8540944919847064, + -0.5103564378844484, + -0.10029409290323917, + 447.20491142724615 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.5129427760464527, + -0.08609473567747777, + 0.8540944919847064, + -489.26894847442037 + ], + [ + -0.8584228028784873, + 0.05144513003767709, + -0.5103564378844484, + 56.44037227371612 + ], + [ + 3.4694469253501723e-18, + -0.9949578358322684, + -0.10029409290323917, + 5.167703048161302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48926.89484744204, + -5644.037227371612, + 516.7703048161302 + ], + "rotation_deg": [ + -1.9979205193231446e-16, + -5.756105899810793, + 30.860046386718764 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9473052054352924, + 0.3203324019751964, + -0.0, + 429.7252253192369 + ], + [ + 0.008897823859609777, + -0.026313150987165346, + -0.9996141489673355, + 8.058200112838536 + ], + [ + -0.32020881529942297, + 0.946939682032747, + -0.02777684640596182, + -173.97564172553302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9473052054352924, + 0.008897823859609777, + -0.32020881529942297, + -462.8611729839086 + ], + [ + 0.3203324019751964, + -0.026313150987165346, + 0.946939682032747, + 27.30155672164004 + ], + [ + -0.0, + -0.9996141489673355, + -0.02777684640596182, + 3.2225963821160737 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -46286.11729839086, + -2730.155672164004, + 322.25963821160735 + ], + "rotation_deg": [ + 0.0, + -1.5917007923126225, + -108.68302917480472 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.1596819255149835, + -0.9871685178650234, + -4.336808656389472e-19, + -31.336204636360122 + ], + [ + -0.03487529380473614, + 0.005641340831740839, + -0.9993757497336292, + -13.858528997809904 + ], + [ + 0.9865522774470026, + -0.15958224525446904, + -0.035328612535381776, + 520.9427969784507 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.1596819255149835, + -0.03487529380473614, + 0.9865522774470026, + -519.4244486942378 + ], + [ + -0.9871685178650234, + 0.005641340831740839, + -0.15958224525446904, + 52.27728655924452 + ], + [ + -4.336808656389472e-19, + -0.9993757497336292, + -0.035328612535381776, + 4.554308279160416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -51942.44486942378, + -5227.728655924452, + 455.4308279160416 + ], + "rotation_deg": [ + 2.486360456094427e-17, + -2.024601697921753, + 9.188434600830085 + ] + } + } + ] + }, + { + "frame": 87, + "time": 1104.1264876239002, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.8295552751454094, + -0.5584246103803306, + -0.0, + -363.9973480911602 + ], + [ + -0.030984083081677133, + 0.04602771634373913, + -0.9984595314401921, + -13.81878371179499 + ], + [ + 0.5575643685347133, + -0.8282773755310525, + -0.0554848098480868, + 325.35055338738385 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.8295552751454094, + -0.030984083081677133, + 0.5575643685347133, + -483.7879620279715 + ], + [ + -0.5584246103803306, + 0.04602771634373913, + -0.8282773755310525, + 66.85147317480319 + ], + [ + -0.0, + -0.9984595314401921, + -0.0554848098480868, + 4.254517292171616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48378.79620279715, + -6685.1473174803195, + 425.4517292171615 + ], + "rotation_deg": [ + 0.0, + -3.1806788444519034, + 56.05308151245119 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + -0.5122881399620365, + -0.8588136361599277, + -0.0, + -202.17491821653215 + ], + [ + -0.08596015250287971, + 0.05127581209988242, + -0.9949782124625537, + -39.80990740794243 + ], + [ + 0.8545008543544519, + -0.5097155412855285, + -0.10009174231429939, + 447.3665137862038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.5122881399620365, + -0.08596015250287971, + 0.8545008543544519, + -489.26894847442037 + ], + [ + -0.8588136361599277, + 0.05127581209988242, + -0.5097155412855285, + 56.44037227371612 + ], + [ + -0.0, + -0.9949782124625537, + -0.10009174231429939, + 5.167703048161302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48926.89484744204, + -5644.037227371612, + 516.7703048161302 + ], + "rotation_deg": [ + 0.0, + -5.744453430175784, + 30.81636238098146 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9470828740022124, + 0.32098914276297497, + -0.0, + 429.4924196640299 + ], + [ + 0.0081721318779383, + -0.024111987337210483, + -0.9996758616307688, + 7.610849314529503 + ], + [ + -0.32088511178100454, + 0.9467758833823728, + -0.025459216068449458, + -174.10852755087316 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9470828740022124, + 0.0081721318779383, + -0.32088511178100454, + -462.6959419196079 + ], + [ + 0.32098914276297497, + -0.024111987337210483, + 0.9467758833823728, + 27.16285891573399 + ], + [ + -0.0, + -0.9996758616307688, + -0.025459216068449458, + 3.17571591893608 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -46269.59419196079, + -2716.285891573399, + 317.571591893608 + ], + "rotation_deg": [ + 0.0, + -1.4588632583618169, + -108.72275543212893 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.16028426280056637, + -0.987070896693079, + -0.0, + -31.65417671883197 + ], + [ + -0.034943096440107464, + 0.005674190649968326, + -0.9993731953437842, + -13.895476277147385 + ], + [ + 0.9864521958496831, + -0.16018379710687397, + -0.0354007972758026, + 520.9225884000679 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.16028426280056637, + -0.034943096440107464, + 0.9864521958496831, + -519.4244486942378 + ], + [ + -0.987070896693079, + 0.005674190649968326, + -0.16018379710687397, + 52.27728655924452 + ], + [ + -0.0, + -0.9993731953437842, + -0.0354007972758026, + 4.554308279160416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -51942.44486942378, + -5227.728655924452, + 455.4308279160416 + ], + "rotation_deg": [ + 0.0, + -2.028740167617798, + 9.223396301269538 + ] + } + } + ] + }, + { + "frame": 88, + "time": 1104.1931542940438, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.8280453769751598, + -0.5606610862812449, + -0.0, + -363.1173658238093 + ], + [ + -0.030984231155028272, + 0.045760888342054225, + -0.9984717915484032, + -13.800965342060458 + ], + [ + 0.5598042730090885, + -0.8267799552428543, + -0.05526374516253872, + 326.333146932424 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.8280453769751598, + -0.030984231155028272, + 0.5598042730090885, + -483.7879620279715 + ], + [ + -0.5606610862812449, + 0.045760888342054225, + -0.8267799552428543, + 66.85147317480319 + ], + [ + -0.0, + -0.9984717915484032, + -0.05526374516253872, + 4.254517292171616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48378.79620279715, + -6685.1473174803195, + 425.4517292171615 + ], + "rotation_deg": [ + 0.0, + -3.1679933071136475, + 55.89847183227542 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + -0.5115697357814784, + -0.8592417619229572, + 3.4694469253461617e-18, + -201.7992617810855 + ], + [ + -0.08554378117195101, + 0.050930496480928046, + -0.9950318316672141, + -39.586423014470974 + ], + [ + 0.8549729020275861, + -0.5090281747374004, + -0.09955729065235615, + 447.55591494352063 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.5115697357814784, + -0.08554378117195101, + 0.8549729020275861, + -489.26894847442037 + ], + [ + -0.8592417619229572, + 0.050930496480928046, + -0.5090281747374004, + 56.44037227371612 + ], + [ + 3.4694469253461617e-18, + -0.9950318316672141, + -0.09955729065235615, + 5.167703048161302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48926.89484744204, + -5644.037227371612, + 516.7703048161302 + ], + "rotation_deg": [ + -1.9977719433735364e-16, + -5.713677883148195, + 30.768445968627944 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.94686248570672, + 0.3216386686349942, + -0.0, + 429.25962791619384 + ], + [ + 0.007451095915771115, + -0.021935059083497986, + -0.9997316311654132, + 7.175484674025821 + ], + [ + -0.3215523647584822, + 0.9466083725926857, + -0.023166045317565505, + -174.2379907648468 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.94686248570672, + 0.007451095915771115, + -0.3215523647584822, + -462.5299370342432 + ], + [ + 0.3216386686349942, + -0.021935059083497986, + 0.9466083725926857, + 27.026035192575 + ], + [ + -0.0, + -0.9997316311654132, + -0.023166045317565505, + 3.1371539848851153 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -46252.99370342432, + -2702.6035192575, + 313.71539848851154 + ], + "rotation_deg": [ + 0.0, + -1.327435374259949, + -108.76205444335939 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.16084593044181475, + -0.9869795269712065, + -0.0, + -31.950697184869973 + ], + [ + -0.034852297741755175, + 0.005679803993007559, + -0.9993763341047862, + -13.848592368770992 + ], + [ + 0.9863639812902668, + -0.16074561755340372, + -0.035312077970426174, + 520.9057339945873 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.16084593044181475, + -0.034852297741755175, + 0.9863639812902668, + -519.4244486942378 + ], + [ + -0.9869795269712065, + 0.005679803993007559, + -0.16074561755340372, + 52.27728655924452 + ], + [ + -0.0, + -0.9993763341047862, + -0.035312077970426174, + 4.554308279160416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -51942.44486942378, + -5227.728655924452, + 455.4308279160416 + ], + "rotation_deg": [ + 0.0, + -2.023653745651245, + 9.256000518798839 + ] + } + } + ] + }, + { + "frame": 89, + "time": 1104.2598209641874, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.8265056132462538, + -0.5629284779369699, + -3.4694469251596065e-18, + -362.2208681949478 + ], + [ + -0.03098719558816246, + 0.045496172420048456, + -0.9984837965659262, + -13.784651774211458 + ], + [ + 0.5620749576130798, + -0.8252524668136798, + -0.05504641716034747, + 327.328637331906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.8265056132462538, + -0.03098719558816246, + 0.5620749576130798, + -483.7879620279715 + ], + [ + -0.5629284779369699, + 0.045496172420048456, + -0.8252524668136798, + 66.85147317480319 + ], + [ + -3.4694469251596065e-18, + -0.9984837965659262, + -0.05504641716034747, + 4.254517292171616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48378.79620279715, + -6685.1473174803195, + 425.4517292171615 + ], + "rotation_deg": [ + 1.9908652326639948e-16, + -3.1555223464965807, + 55.741436004638686 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + -0.510784549972675, + -0.859708755049762, + -0.0, + -201.38873748012912 + ], + [ + -0.08513677814723568, + 0.0505828871191874, + -0.99508446904642, + -39.36739785641515 + ], + [ + 0.8554828278770721, + -0.5082737762204603, + -0.09902979154800404, + 447.76010133583026 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.510784549972675, + -0.08513677814723568, + 0.8554828278770721, + -489.26894847442037 + ], + [ + -0.859708755049762, + 0.0505828871191874, + -0.5082737762204603, + 56.44037227371612 + ], + [ + -0.0, + -0.99508446904642, + -0.09902979154800404, + 5.167703048161302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48926.89484744204, + -5644.037227371612, + 516.7703048161302 + ], + "rotation_deg": [ + 0.0, + -5.6833043098449725, + 30.716102600097678 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9466440122684495, + 0.32228111026911227, + -0.0, + 429.0267735936551 + ], + [ + 0.006734705238918125, + -0.019782010752945525, + -0.9997816340561151, + 6.743757076044577 + ], + [ + -0.3222107489711261, + 0.9464372927123157, + -0.020896990473491885, + -174.36446568715624 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9466440122684495, + 0.006734705238918125, + -0.3222107489711261, + -462.3631441644526 + ], + [ + 0.32228111026911227, + -0.019782010752945525, + 0.9464372927123157, + 26.89120785267589 + ], + [ + -0.0, + -0.9997816340561151, + -0.020896990473491885, + 3.09859205083415 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -46236.31441644526, + -2689.120785267589, + 309.85920508341496 + ], + "rotation_deg": [ + 0.0, + -1.1973965167999272, + -108.80093383789067 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.1613649026328408, + -0.9868948111112417, + -4.3368086563892227e-19, + -32.224692744368824 + ], + [ + -0.03476187247586575, + 0.00568383388406632, + -0.999379460592597, + -13.801819707668706 + ], + [ + 0.9862824037780342, + -0.16126477058849306, + -0.035223483144967344, + 520.8900970641065 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.1613649026328408, + -0.03476187247586575, + 0.9862824037780342, + -519.4244486942378 + ], + [ + -0.9868948111112417, + 0.00568383388406632, + -0.16126477058849306, + 52.27728655924452 + ], + [ + -4.3368086563892227e-19, + -0.999379460592597, + -0.035223483144967344, + 4.554308279160416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -51942.44486942378, + -5227.728655924452, + 455.4308279160416 + ], + "rotation_deg": [ + 2.4863512238323058e-17, + -2.018574476242065, + 9.286128997802738 + ] + } + } + ] + }, + { + "frame": 90, + "time": 1104.326487634331, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.8249344656313417, + -0.5652283851803027, + -6.938893850317947e-18, + -361.30701370490215 + ], + [ + -0.03099311876564631, + 0.045233559632769364, + -0.9984955441423498, + -13.769911304203916 + ], + [ + 0.5643780178223744, + -0.8236933923642222, + -0.05483291324019927, + 328.3376953571327 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.8249344656313417, + -0.03099311876564631, + 0.5643780178223744, + -483.7879620279715 + ], + [ + -0.5652283851803027, + 0.045233559632769364, + -0.8236933923642222, + 66.85147317480319 + ], + [ + -6.938893850317947e-18, + -0.9984955441423498, + -0.05483291324019927, + 4.254517292171616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48378.79620279715, + -6685.1473174803195, + 425.4517292171615 + ], + "rotation_deg": [ + 3.981683619166343e-16, + -3.143270969390868, + 55.58184814453125 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + -0.509930184059988, + -0.8602157911736718, + 3.469446925340509e-18, + -200.94210546082672 + ], + [ + -0.08473924417404294, + 0.05023285880373935, + -0.995136131588646, + -39.15287412226112 + ], + [ + 0.8560318125918308, + -0.5074499542556936, + -0.09850928766689464, + 447.9795158820771 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.509930184059988, + -0.08473924417404294, + 0.8560318125918308, + -489.26894847442037 + ], + [ + -0.8602157911736718, + 0.05023285880373935, + -0.5074499542556936, + 56.44037227371612 + ], + [ + 3.469446925340509e-18, + -0.995136131588646, + -0.09850928766689464, + 5.167703048161302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48926.89484744204, + -5644.037227371612, + 516.7703048161302 + ], + "rotation_deg": [ + -1.9975625574881712e-16, + -5.653335094451905, + 30.659179687500018 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9464274249042138, + 0.32291659819398966, + -1.734723462543679e-18, + 428.7937953737196 + ], + [ + 0.0060229463944872896, + -0.017652488841859798, + -0.9998260417464716, + 6.315630736265675 + ], + [ + -0.32286043810996107, + 0.9462627812888303, + -0.018651709063030552, + -174.4881445045492 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9464274249042138, + 0.0060229463944872896, + -0.32286043810996107, + -462.19556058957573 + ], + [ + 0.32291659819398966, + -0.017652488841859798, + 0.9462627812888303, + 26.758484653802995 + ], + [ + -1.734723462543679e-18, + -0.9998260417464716, + -0.018651709063030552, + 3.0600301167831843 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -46219.556058957576, + -2675.8484653802993, + 306.00301167831844 + ], + "rotation_deg": [ + 9.940962692108591e-17, + -1.0687261819839478, + -108.83940124511724 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.16183944912556641, + -0.9868171019529064, + -4.3368086563890137e-19, + -32.47524621867117 + ], + [ + -0.03467184355257218, + 0.005686233091837812, + -0.999382574401761, + -13.75516772664574 + ], + [ + 0.986207815600279, + -0.16173952654716228, + -0.035135025277153197, + 520.8757702298942 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.16183944912556641, + -0.03467184355257218, + 0.986207815600279, + -519.4244486942378 + ], + [ + -0.9868171019529064, + 0.005686233091837812, + -0.16173952654716228, + 52.27728655924452 + ], + [ + -4.3368086563890137e-19, + -0.999382574401761, + -0.035135025277153197, + 4.554308279160416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -51942.44486942378, + -5227.728655924452, + 455.4308279160416 + ], + "rotation_deg": [ + 2.4863434770258836e-17, + -2.013503074645996, + 9.313680648803714 + ] + } + } + ] + }, + { + "frame": 91, + "time": 1104.3931543044746, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.8233308076731629, + -0.5675617861838984, + -0.0, + -360.375191994927 + ], + [ + -0.031002095132209452, + 0.044973041959685024, + -0.9985070333224028, + -13.756789091140947 + ], + [ + 0.5667144291767539, + -0.8221016064398564, + -0.0546232958715772, + 329.3607179899846 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.8233308076731629, + -0.031002095132209452, + 0.5667144291767539, + -483.7879620279715 + ], + [ + -0.5675617861838984, + 0.044973041959685024, + -0.8221016064398564, + 66.85147317480319 + ], + [ + -0.0, + -0.9985070333224028, + -0.0546232958715772, + 4.254517292171616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48378.79620279715, + -6685.1473174803195, + 425.4517292171615 + ], + "rotation_deg": [ + 0.0, + -3.1312427520751944, + 55.41962432861331 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + -0.5090049699787769, + -0.8607635799317394, + 3.469446925337761e-18, + -200.4585095387661 + ], + [ + -0.08435125500377923, + 0.049880372522587056, + -0.9951868237754632, + -38.942886649808784 + ], + [ + 0.8566205709742234, + -0.5065550428648292, + -0.09799584650385015, + 448.21441463322014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.5090049699787769, + -0.08435125500377923, + 0.8566205709742234, + -489.26894847442037 + ], + [ + -0.8607635799317394, + 0.049880372522587056, + -0.5065550428648292, + 56.44037227371612 + ], + [ + 3.469446925337761e-18, + -0.9951868237754632, + -0.09799584650385015, + 5.167703048161302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48926.89484744204, + -5644.037227371612, + 516.7703048161302 + ], + "rotation_deg": [ + -1.997460806928881e-16, + -5.623774051666262, + 30.5975742340088 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9462126943375012, + 0.32354526279110685, + -8.673617312713155e-19, + 428.56064609865933 + ], + [ + 0.005315805304092646, + -0.01554614775060566, + -0.9998650206423292, + 5.891069140634478 + ], + [ + -0.3235016047852321, + 0.9460849703918162, + -0.0164298661009888, + -174.6092082176639 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9462126943375012, + 0.005315805304092646, + -0.3235016047852321, + -462.02719400543464 + ], + [ + 0.32354526279110685, + -0.01554614775060566, + 0.9460849703918162, + 26.627959019077775 + ], + [ + -8.673617312713155e-19, + -0.9998650206423292, + -0.0164298661009888, + 3.021468182732219 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -46202.719400543465, + -2662.7959019077775, + 302.1468182732219 + ], + "rotation_deg": [ + 4.970287576021589e-17, + -0.941404342651367, + -108.87746429443361 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.1622682006643646, + -0.9867466904191516, + -4.336808656388805e-19, + -32.70163117426539 + ], + [ + -0.034582235692461195, + 0.005686968312387187, + -0.9993856749853507, + -13.708647527630752 + ], + [ + 0.9861405070299653, + -0.16216851649314326, + -0.03504672100349103, + 520.862832778319 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.1622682006643646, + -0.034582235692461195, + 0.9861405070299653, + -519.4244486942378 + ], + [ + -0.9867466904191516, + 0.005686968312387187, + -0.16216851649314326, + 52.27728655924452 + ], + [ + -4.336808656388805e-19, + -0.9993856749853507, + -0.03504672100349103, + 4.554308279160416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -51942.44486942378, + -5227.728655924452, + 455.4308279160416 + ], + "rotation_deg": [ + 2.4863357631711675e-17, + -2.0084404945373535, + 9.338575363159183 + ] + } + } + ] + }, + { + "frame": 92, + "time": 1104.4598209746182, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.8216938748376342, + -0.569929097392223, + 3.4694469251577495e-18, + -359.4250053527102 + ], + [ + -0.031014177256239724, + 0.04471461380228977, + -0.9985182642904589, + -13.745310191922995 + ], + [ + 0.5690846069543307, + -0.8204763459134168, + -0.054417606748205116, + 330.397855298225 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.8216938748376342, + -0.031014177256239724, + 0.5690846069543307, + -483.7879620279715 + ], + [ + -0.569929097392223, + 0.04471461380228977, + -0.8204763459134168, + 66.85147317480319 + ], + [ + 3.4694469251577495e-18, + -0.9985182642904589, + -0.054417606748205116, + 4.254517292171616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48378.79620279715, + -6685.1473174803195, + 425.4517292171615 + ], + "rotation_deg": [ + -1.9907965102400403e-16, + -3.1194400787353516, + 55.254718780517614 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + -0.5080077995868183, + -0.8613524688296648, + -6.9388938506701336e-18, + -199.93738792101593 + ], + [ + -0.08397283720604523, + 0.049525435635038605, + -0.9952365516985024, + -38.73744882262108 + ], + [ + 0.8572494587245411, + -0.5055879341978308, + -0.09748951897538113, + 448.4649093580197 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.5080077995868183, + -0.08397283720604523, + 0.8572494587245411, + -489.26894847442037 + ], + [ + -0.8613524688296648, + 0.049525435635038605, + -0.5055879341978308, + 56.44037227371612 + ], + [ + -6.9388938506701336e-18, + -0.9952365516985024, + -0.09748951897538113, + 5.167703048161302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48926.89484744204, + -5644.037227371612, + 516.7703048161302 + ], + "rotation_deg": [ + 3.9947220038682466e-16, + -5.594624042510987, + 30.531221389770515 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9459998339732606, + 0.324167108329274, + 1.7347234625417251e-18, + 428.3273164198543 + ], + [ + 0.0046132648890842495, + -0.013462648452030707, + -0.999898732314288, + 5.470034011426465 + ], + [ + -0.32413429460462445, + 0.9459040299849375, + -0.014231132049744959, + -174.72776764142122 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9459998339732606, + 0.0046132648890842495, + -0.32413429460462445, + -461.85806216990153 + ], + [ + 0.324167108329274, + -0.013462648452030707, + 0.9459040299849375, + 26.49970799430632 + ], + [ + 1.7347234625417251e-18, + -0.999898732314288, + -0.014231132049744959, + 2.982906248681254 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -46185.80621699015, + -2649.970799430632, + 298.2906248681254 + ], + "rotation_deg": [ + -9.940240004689782e-17, + -0.8154113292694093, + -108.91512298583987 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.16265013230638273, + -0.986683806728739, + -8.673617312777194e-19, + -32.90330319556315 + ], + [ + -0.03449307959967626, + 0.005686020103180159, + -0.9993887615113133, + -13.662274046493028 + ], + [ + 0.9860807073948411, + -0.16255071553174133, + -0.03495859527797675, + 520.8513503627546 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.16265013230638273, + -0.03449307959967626, + 0.9860807073948411, + -519.4244486942378 + ], + [ + -0.986683806728739, + 0.005686020103180159, + -0.16255071553174133, + 52.27728655924452 + ], + [ + -8.673617312777194e-19, + -0.9993887615113133, + -0.03495859527797675, + 4.554308279160416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -51942.44486942378, + -5227.728655924452, + 455.4308279160416 + ], + "rotation_deg": [ + 4.972656168675129e-17, + -2.003388166427611, + 9.360753059387209 + ] + } + } + ] + }, + { + "frame": 93, + "time": 1104.5264876447618, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.8200231577585925, + -0.5723303423195614, + 3.469446925157158e-18, + -358.4562057810692 + ], + [ + -0.031029390113251995, + 0.044458272753578734, + -0.9985292378959005, + -13.73548652487797 + ], + [ + 0.5714885744296638, + -0.8188171030113043, + -0.05421587509693125, + 331.44908472073814 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.8200231577585925, + -0.031029390113251995, + 0.5714885744296638, + -483.7879620279715 + ], + [ + -0.5723303423195614, + 0.044458272753578734, + -0.8188171030113043, + 66.85147317480319 + ], + [ + 3.469446925157158e-18, + -0.9985292378959005, + -0.05421587509693125, + 4.254517292171616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48378.79620279715, + -6685.1473174803195, + 425.4517292171615 + ], + "rotation_deg": [ + -1.9907746318463708e-16, + -3.1078646183013916, + 55.087112426757855 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + -0.5069383556802114, + -0.861982310456684, + -0.0, + -199.37859372947554 + ], + [ + -0.08360395621565625, + 0.049168122800421356, + -0.9952853230131413, + -38.53654790326597 + ], + [ + 0.8579183401537541, + -0.5045483085770056, + -0.09699033941537706, + 448.7309158027464 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.5069383556802114, + -0.08360395621565625, + 0.8579183401537541, + -489.26894847442037 + ], + [ + -0.861982310456684, + 0.049168122800421356, + -0.5045483085770056, + 56.44037227371612 + ], + [ + -0.0, + -0.9952853230131413, + -0.09699033941537706, + 5.167703048161302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48926.89484744204, + -5644.037227371612, + 516.7703048161302 + ], + "rotation_deg": [ + 0.0, + -5.565886974334719, + 30.46010971069337 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9457887705745088, + 0.32478239092530736, + -8.673617312704781e-19, + 428.09376504023567 + ], + [ + 0.0039153107431410305, + -0.011401655501157211, + -0.9999273336566101, + 5.052487970791178 + ], + [ + -0.3247588041069551, + 0.9457200387780662, + -0.012055181816705784, + -174.8440326092142 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9457887705745088, + 0.0039153107431410305, + -0.3247588041069551, + -461.688192240595 + ], + [ + 0.32478239092530736, + -0.011401655501157211, + 0.9457200387780662, + 26.373790350395264 + ], + [ + -8.673617312704781e-19, + -0.9999273336566101, + -0.012055181816705784, + 2.944344314630289 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -46168.8192240595, + -2637.3790350395266, + 294.4344314630289 + ], + "rotation_deg": [ + 4.969977839908695e-17, + -0.6907277703285218, + -108.95239257812506 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.16298457962922913, + -0.9866286164525551, + -4.33680865638839e-19, + -33.07990850973326 + ], + [ + -0.034404407747579246, + 0.0056833826230312315, + -0.9993918330112062, + -13.616063849739906 + ], + [ + 0.9860285812819636, + -0.16288545903715815, + -0.03487067721356202, + 520.8413738614986 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.16298457962922913, + -0.034404407747579246, + 0.9860285812819636, + -519.4244486942378 + ], + [ + -0.9866286164525551, + 0.0056833826230312315, + -0.16288545903715815, + 52.27728655924452 + ], + [ + -4.33680865638839e-19, + -0.9993918330112062, + -0.03487067721356202, + 4.554308279160416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -51942.44486942378, + -5227.728655924452, + 455.4308279160416 + ], + "rotation_deg": [ + 2.486320442933752e-17, + -1.9983477592468266, + 9.380174636840831 + ] + } + } + ] + }, + { + "frame": 94, + "time": 1104.5931543149054, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.8183182929027457, + -0.5747653186307747, + -0.0, + -357.4686309333756 + ], + [ + -0.031047740378182736, + 0.0442040135011754, + -0.9985399556391307, + -13.72732095773609 + ], + [ + 0.5739261296885653, + -0.8171235161365374, + -0.054018117677000224, + 332.5142844718822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.8183182929027457, + -0.031047740378182736, + 0.5739261296885653, + -483.7879620279715 + ], + [ + -0.5747653186307747, + 0.0442040135011754, + -0.8171235161365374, + 66.85147317480319 + ], + [ + -0.0, + -0.9985399556391307, + -0.054018117677000224, + 4.254517292171616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48378.79620279715, + -6685.1473174803195, + 425.4517292171615 + ], + "rotation_deg": [ + 0.0, + -3.096517324447632, + 54.91680145263674 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + -0.5057965116958759, + -0.8626528205229977, + -0.0, + -198.78208108618185 + ], + [ + -0.083244566378406, + 0.04880852446098398, + -0.9953331452877536, + -38.34016662004101 + ], + [ + 0.8586269430121007, + -0.5034360363524742, + -0.096498342138117, + 449.012293623884 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.5057965116958759, + -0.083244566378406, + 0.8586269430121007, + -489.26894847442037 + ], + [ + -0.8626528205229977, + 0.04880852446098398, + -0.5034360363524742, + 56.44037227371612 + ], + [ + -0.0, + -0.9953331452877536, + -0.096498342138117, + 5.167703048161302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48926.89484744204, + -5644.037227371612, + 516.7703048161302 + ], + "rotation_deg": [ + 0.0, + -5.537564754486086, + 30.38424110412599 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9455795600942677, + 0.32539098870732613, + -1.7347234625403207e-18, + 427.8600267294671 + ], + [ + 0.0032219229096540672, + -0.009362842098582505, + -0.9999509769986733, + 4.6383911351168905 + ], + [ + -0.3253750509969284, + 0.9455332001510199, + -0.009901696870620527, + -174.95803650203908 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9455795600942677, + 0.0032219229096540672, + -0.3253750509969284, + -461.51761595584975 + ], + [ + 0.32539098870732613, + -0.009362842098582505, + 0.9455332001510199, + 26.250258422193752 + ], + [ + -1.7347234625403207e-18, + -0.9999509769986733, + -0.009901696870620527, + 2.9057823805793235 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -46151.761595584976, + -2625.025842219375, + 290.57823805793237 + ], + "rotation_deg": [ + 9.939720654519874e-17, + -0.5673347115516661, + -108.98926544189453 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.16327102507289, + -0.986581254824785, + -8.673617312776371e-19, + -33.23117121377463 + ], + [ + -0.03431624944766178, + 0.005679055016073452, + -0.9993948885990814, + -13.570032121769252 + ], + [ + 0.9859842630430089, + -0.16317222916528704, + -0.03478299384420727, + 520.8329461117323 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.16327102507289, + -0.03431624944766178, + 0.9859842630430089, + -519.4244486942378 + ], + [ + -0.986581254824785, + 0.005679055016073452, + -0.16317222916528704, + 52.27728655924452 + ], + [ + -8.673617312776371e-19, + -0.9993948885990814, + -0.03478299384420727, + 4.554308279160416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -51942.44486942378, + -5227.728655924452, + 455.4308279160416 + ], + "rotation_deg": [ + 4.972625682326234e-17, + -1.9933208227157586, + 9.396809577941895 + ] + } + } + ] + }, + { + "frame": 95, + "time": 1104.659820985049, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.8165790658096721, + -0.5772336002706382, + 3.469446925156016e-18, + -356.46220553867846 + ], + [ + -0.031069221412355862, + 0.04395183472417469, + -0.9985504192103715, + -13.720810183290265 + ], + [ + 0.5763968474845793, + -0.8153953727304366, + -0.053824347089687495, + 333.5932346662925 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.8165790658096721, + -0.031069221412355862, + 0.5763968474845793, + -483.7879620279715 + ], + [ + -0.5772336002706382, + 0.04395183472417469, + -0.8153953727304366, + 66.85147317480319 + ], + [ + 3.469446925156016e-18, + -0.9985504192103715, + -0.053824347089687495, + 4.254517292171616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48378.79620279715, + -6685.1473174803195, + 425.4517292171615 + ], + "rotation_deg": [ + -1.9907324034086668e-16, + -3.0853989124298096, + 54.74379730224614 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + -0.5045822750881762, + -0.8633636126608764, + -0.0, + -198.14787544506237 + ], + [ + -0.0828946074756497, + 0.04844673671582461, + -0.9953800268003398, + -38.148280890923814 + ], + [ + 0.8593748937893309, + -0.5022511219850492, + -0.09601355315441316, + 449.3088604606512 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.5045822750881762, + -0.0828946074756497, + 0.8593748937893309, + -489.26894847442037 + ], + [ + -0.8633636126608764, + 0.04844673671582461, + -0.5022511219850492, + 56.44037227371612 + ], + [ + -0.0, + -0.9953800268003398, + -0.09601355315441316, + 5.167703048161302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48926.89484744204, + -5644.037227371612, + 516.7703048161302 + ], + "rotation_deg": [ + 0.0, + -5.509658813476563, + 30.303627014160174 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9453720850355712, + 0.32599328342083495, + -0.0, + 427.62604686226325 + ], + [ + 0.0025330861918439348, + -0.007345884398688395, + -0.9999698102726632, + 4.227705801510103 + ], + [ + -0.3259834557069333, + 0.9453435397045755, + -0.007770363195476376, + -175.07003816777342 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9453720850355712, + 0.0025330861918439348, + -0.3259834557069333, + -461.34636821942854 + ], + [ + 0.32599328342083495, + -0.007345884398688395, + 0.9453435397045755, + 26.129161605854932 + ], + [ + -0.0, + -0.9999698102726632, + -0.007770363195476376, + 2.8672204465283584 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -46134.636821942855, + -2612.9161605854933, + 286.72204465283585 + ], + "rotation_deg": [ + 0.0, + -0.44521349668502813, + -109.02576446533207 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.16350901574169024, + -0.9865418398482568, + -0.0, + -33.35684989373326 + ], + [ + -0.03422863337186642, + 0.0056730388177737056, + -0.9993979273983246, + -13.524193839751428 + ], + [ + 0.9859478698189669, + -0.16341057269609516, + -0.034695572204187855, + 520.8261043893586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.16350901574169024, + -0.03422863337186642, + 0.9859478698189669, + -519.4244486942378 + ], + [ + -0.9865418398482568, + 0.0056730388177737056, + -0.16341057269609516, + 52.27728655924452 + ], + [ + -0.0, + -0.9993979273983246, + -0.034695572204187855, + 4.554308279160416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -51942.44486942378, + -5227.728655924452, + 455.4308279160416 + ], + "rotation_deg": [ + 0.0, + -1.9883089065551753, + 9.410631179809577 + ] + } + } + ] + }, + { + "frame": 96, + "time": 1104.7264876551926, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.8148051056819013, + -0.5797349737204971, + 3.4694469251554657e-18, + -355.43676448366193 + ], + [ + -0.031093846455307345, + 0.04370173613035855, + -0.9985606295923177, + -13.715960582952505 + ], + [ + 0.5789005143394592, + -0.813632303577477, + -0.05363458839889049, + 334.68580744979613 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.8148051056819013, + -0.031093846455307345, + 0.5789005143394592, + -483.7879620279715 + ], + [ + -0.5797349737204971, + 0.04370173613035855, + -0.813632303577477, + 66.85147317480319 + ], + [ + 3.4694469251554657e-18, + -0.9985606295923177, + -0.05363458839889049, + 4.254517292171616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48378.79620279715, + -6685.1473174803195, + 425.4517292171615 + ], + "rotation_deg": [ + -1.9907120479711454e-16, + -3.074510812759399, + 54.5680961608887 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + -0.5032955867246022, + -0.8641143167333463, + -6.938893850649612e-18, + -197.47596876508464 + ], + [ + -0.08255404486582409, + 0.04808285853231101, + -0.9954259733358642, + -37.96087932273325 + ], + [ + 0.8601618326997504, + -0.5009935027695339, + -0.09553602330701842, + 449.62043700471565 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.5032955867246022, + -0.08255404486582409, + 0.8601618326997504, + -489.26894847442037 + ], + [ + -0.8641143167333463, + 0.04808285853231101, + -0.5009935027695339, + 56.44037227371612 + ], + [ + -6.938893850649612e-18, + -0.9954259733358642, + -0.09553602330701842, + 5.167703048161302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48926.89484744204, + -5644.037227371612, + 516.7703048161302 + ], + "rotation_deg": [ + 3.9939618400642016e-16, + -5.482172012329101, + 30.21827507019044 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9451664007600682, + 0.32658915302602826, + -0.0, + 427.391865437435 + ], + [ + 0.0018487791564807757, + -0.005350465332178091, + -0.9999839771398139, + 3.820391513691521 + ], + [ + -0.32658393406998154, + 0.9451512516752213, + -0.005660871323104236, + -175.1800693512324 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9451664007600682, + 0.0018487791564807757, + -0.32658393406998154, + -461.1744859498227 + ], + [ + 0.32658915302602826, + -0.005350465332178091, + 0.9451512516752213, + 26.010550232378733 + ], + [ + -0.0, + -0.9999839771398139, + -0.005660871323104236, + 2.8286585124773933 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -46117.44859498227, + -2601.0550232378732, + 282.86585124773933 + ], + "rotation_deg": [ + 0.0, + -0.32434576749801636, + -109.06188201904298 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.16369814692132925, + -0.9865104747008632, + -4.3368086563877772e-19, + -33.45672893724641 + ], + [ + -0.03414159174843948, + 0.005665338022750138, + -0.9994009483975743, + -13.478565957259365 + ], + [ + 0.9859195038026359, + -0.16360008453844582, + -0.03460844348678588, + 520.8208807408142 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.16369814692132925, + -0.03414159174843948, + 0.9859195038026359, + -519.4244486942378 + ], + [ + -0.9865104747008632, + 0.005665338022750138, + -0.16360008453844582, + 52.27728655924452 + ], + [ + -4.3368086563877772e-19, + -0.9994009483975743, + -0.03460844348678588, + 4.554308279160416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -51942.44486942378, + -5227.728655924452, + 455.4308279160416 + ], + "rotation_deg": [ + 2.4862977655770217e-17, + -1.9833137989044187, + 9.421615600585946 + ] + } + } + ] + }, + { + "frame": 97, + "time": 1104.7931543253362, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.8129949905041576, + -0.5822706805388235, + 3.469446925154931e-18, + -354.3915368144409 + ], + [ + -0.03112176337474114, + 0.04345373820970415, + -0.9985705826230057, + -13.712845080830277 + ], + [ + 0.5814383667272821, + -0.8118328855949006, + -0.05344896223658788, + 335.79250639171886 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.8129949905041576, + -0.03112176337474114, + 0.5814383667272821, + -483.7879620279715 + ], + [ + -0.5822706805388235, + 0.04345373820970415, + -0.8118328855949006, + 66.85147317480319 + ], + [ + 3.469446925154931e-18, + -0.9985705826230057, + -0.05344896223658788, + 4.254517292171616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48378.79620279715, + -6685.1473174803195, + 425.4517292171615 + ], + "rotation_deg": [ + -1.9906922059902623e-16, + -3.063859939575196, + 54.38959121704107 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + -0.5019338734850901, + -0.8649059987352691, + -0.0, + -196.76504193335396 + ], + [ + -0.08222304034336284, + 0.047716779846149554, + -0.9954709842872405, + -37.778034867529314 + ], + [ + 0.8609888237810291, + -0.499660610557181, + -0.09506586969982828, + 449.9473995145556 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.5019338734850901, + -0.08222304034336284, + 0.8609888237810291, + -489.26894847442037 + ], + [ + -0.8649059987352691, + 0.047716779846149554, + -0.499660610557181, + 56.44037227371612 + ], + [ + -0.0, + -0.9954709842872405, + -0.09506586969982828, + 5.167703048161302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48926.89484744204, + -5644.037227371612, + 516.7703048161302 + ], + "rotation_deg": [ + 0.0, + -5.45511102676392, + 30.128026962280288 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9449624321182623, + 0.3271788530530947, + -2.168404328173968e-19, + 427.15741173706454 + ], + [ + 0.001168983179619628, + -0.003376273185783927, + -0.9999936171084797, + 3.4164094309804405 + ], + [ + -0.3271767786440016, + 0.9449563956996305, + -0.003572917924757378, + -175.28840195457124 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9449624321182623, + 0.001168983179619628, + -0.3271767786440016, + -461.00199059818334 + ], + [ + 0.3271788530530947, + -0.003376273185783927, + 0.9449563956996305, + 25.894554097541747 + ], + [ + -2.168404328173968e-19, + -0.9999936171084797, + -0.003572917924757378, + 2.790096578426428 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -46100.19905981833, + -2589.4554097541745, + 279.0096578426428 + ], + "rotation_deg": [ + 1.2424121026284835e-17, + -0.20471355319023138, + -109.09763336181646 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.16383643646271592, + -0.9864875174512846, + -0.0, + -33.5297600487562 + ], + [ + -0.034055161476430694, + 0.005655901570732544, + -0.999403950739758, + -13.433164975172613 + ], + [ + 0.9858995220784128, + -0.16373878313135698, + -0.03452163472693039, + 520.8173571769589 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.16383643646271592, + -0.034055161476430694, + 0.9858995220784128, + -519.4244486942378 + ], + [ + -0.9864875174512846, + 0.005655901570732544, + -0.16373878313135698, + 52.27728655924452 + ], + [ + -0.0, + -0.999403950739758, + -0.03452163472693039, + 4.554308279160416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -51942.44486942378, + -5227.728655924452, + 455.4308279160416 + ], + "rotation_deg": [ + 0.0, + -1.9783370494842534, + 9.429647445678718 + ] + } + } + ] + }, + { + "frame": 98, + "time": 1104.8598209954798, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.8111446275200203, + -0.5848456148808912, + -0.0, + -353.32421532323747 + ], + [ + -0.031153446969546205, + 0.04320790050417614, + -0.9985802622102727, + -13.711697427842868 + ], + [ + 0.5840152815110785, + -0.8099930191017415, + -0.053267813621186835, + 336.9154182578622 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.8111446275200203, + -0.031153446969546205, + 0.5840152815110785, + -483.7879620279715 + ], + [ + -0.5848456148808912, + 0.04320790050417614, + -0.8099930191017415, + 66.85147317480319 + ], + [ + -0.0, + -0.9985802622102727, + -0.053267813621186835, + 4.254517292171616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48378.79620279715, + -6685.1473174803195, + 425.4517292171615 + ], + "rotation_deg": [ + 0.0, + -3.053466081619263, + 54.20791625976565 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + -0.5004889814625075, + -0.8657429060839145, + -0.0, + -196.01086577048974 + ], + [ + -0.0819022576623457, + 0.047347979670230265, + -0.9955150370591886, + -37.60004299163188 + ], + [ + 0.8618600791506951, + -0.4982443103930783, + -0.09460344141353264, + 450.29135151254684 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.5004889814625075, + -0.0819022576623457, + 0.8618600791506951, + -489.26894847442037 + ], + [ + -0.8657429060839145, + 0.047347979670230265, + -0.4982443103930783, + 56.44037227371612 + ], + [ + -0.0, + -0.9955150370591886, + -0.09460344141353264, + 5.167703048161302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48926.89484744204, + -5644.037227371612, + 516.7703048161302 + ], + "rotation_deg": [ + 0.0, + -5.428495883941653, + 30.032356262207045 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9447601904969373, + 0.3277623871834455, + -0.0, + 426.92257981166307 + ], + [ + 0.0004936769788565345, + -0.0014230014633357206, + -0.9999988656742946, + 3.0157192062731446 + ], + [ + -0.32776202933381476, + 0.9447591139951074, + -0.001506203890333604, + -175.39534608791195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9447601904969373, + 0.0004936769788565345, + -0.32776202933381476, + -460.82887668138267 + ], + [ + 0.3277623871834455, + -0.0014230014633357206, + 0.9447591139951074, + 25.78147413723873 + ], + [ + -0.0, + -0.9999988656742946, + -0.001506203890333604, + 2.7515346443754627 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -46082.88766813827, + -2578.1474137238733, + 275.1534644375463 + ], + "rotation_deg": [ + 0.0, + -0.08629915863275531, + -109.13301849365234 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.16391873215414746, + -0.9864738462062623, + 4.3368086563873747e-19, + -33.57322113850159 + ], + [ + -0.03396939930268169, + 0.00564457019022611, + -0.9994069335052577, + -13.388012047094762 + ], + [ + 0.9858888014021158, + -0.16382151870227185, + -0.034435175039211716, + 520.8157200226616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.16391873215414746, + -0.03396939930268169, + 0.9858888014021158, + -519.4244486942378 + ], + [ + -0.9864738462062623, + 0.00564457019022611, + -0.16382151870227185, + 52.27728655924452 + ], + [ + 4.3368086563873747e-19, + -0.9994069335052577, + -0.034435175039211716, + 4.554308279160416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -51942.44486942378, + -5227.728655924452, + 455.4308279160416 + ], + "rotation_deg": [ + -2.486282875986414e-17, + -1.973380327224732, + 9.434427261352543 + ] + } + } + ] + }, + { + "frame": 99, + "time": 1104.9264876656234, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.809248523299256, + -0.5874664480104148, + -3.469446925153903e-18, + -352.2316963708273 + ], + [ + -0.0311895552671463, + 0.04296432864852089, + -0.9985896445016939, + -13.71284313305555 + ], + [ + 0.5866379055602815, + -0.808107199461951, + -0.05309163717205486, + 338.0573928349803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.809248523299256, + -0.0311895552671463, + 0.5866379055602815, + -483.7879620279715 + ], + [ + -0.5874664480104148, + 0.04296432864852089, + -0.808107199461951, + 66.85147317480319 + ], + [ + -3.469446925153903e-18, + -0.9985896445016939, + -0.05309163717205486, + 4.254517292171616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48378.79620279715, + -6685.1473174803195, + 425.4517292171615 + ], + "rotation_deg": [ + 1.9906542060629309e-16, + -3.0433576107025138, + 54.02257537841799 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + -0.49894962768137663, + -0.8666309878123534, + -0.0, + -195.20758410130313 + ], + [ + -0.08159266691499362, + 0.04697573863765587, + -0.995558093074003, + -37.427337929064464 + ], + [ + 0.8627814915556321, + -0.4967333433314725, + -0.09414926155725344, + 450.65454338094366 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.49894962768137663, + -0.08159266691499362, + 0.8627814915556321, + -489.26894847442037 + ], + [ + -0.8666309878123534, + 0.04697573863765587, + -0.4967333433314725, + 56.44037227371612 + ], + [ + -0.0, + -0.995558093074003, + -0.09414926155725344, + 5.167703048161302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -48926.89484744204, + -5644.037227371612, + 516.7703048161302 + ], + "rotation_deg": [ + 0.0, + -5.402356624603273, + 29.93053245544435 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9445595997201671, + 0.3283400106238616, + -5.4210108204343946e-20, + 426.6871786837954 + ], + [ + -0.00017716067813474719, + 0.0005096510136159112, + -0.9999998544349585, + 2.618278717405224 + ], + [ + -0.3283399767702378, + 0.9445594573791813, + 0.0005395647005385818, + -175.50143307401217 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9445595997201671, + -0.00017716067813474719, + -0.3283399767702378, + -460.6551387914403 + ], + [ + 0.3283400106238616, + 0.0005096510136159112, + 0.9445594573791813, + 25.67172610511243 + ], + [ + -5.4210108204343946e-20, + -0.9999998544349585, + 0.0005395647005385818, + 2.7129727103244976 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -46065.51387914403, + -2567.172610511243, + 271.29727103244977 + ], + "rotation_deg": [ + 3.1060108832433247e-18, + 0.03091478161513806, + -109.16805267333991 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.1639378773968667, + -0.9864706647207556, + 4.3368086563871764e-19, + -33.58333196507566 + ], + [ + -0.033884381078079326, + 0.005631118805159135, + -0.9994098954983174, + -13.343134810910438 + ], + [ + 0.9858885437226996, + -0.1638411381735994, + -0.034349101856007744, + 520.8162198265867 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.1639378773968667, + -0.033884381078079326, + 0.9858885437226996, + -519.4244486942378 + ], + [ + -0.9864706647207556, + 0.005631118805159135, + -0.1638411381735994, + 52.27728655924452 + ], + [ + 4.3368086563871764e-19, + -0.9994098954983174, + -0.034349101856007744, + 4.554308279160416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -51942.44486942378, + -5227.728655924452, + 455.4308279160416 + ], + "rotation_deg": [ + -2.4862755072853732e-17, + -1.9684457778930662, + 9.435539245605474 + ] + } + } + ] + } + ] +} \ No newline at end of file diff --git a/clips/clip_00207/caption.txt b/clips/clip_00207/caption.txt new file mode 100644 index 0000000000000000000000000000000000000000..0aacb61878d517f1ae5a1ec7112b60aa64548ea2 --- /dev/null +++ b/clips/clip_00207/caption.txt @@ -0,0 +1 @@ +A woman with dark hair, wearing a purple long-sleeve top and dark leggings, walks from a bank storefront across a paved plaza past picnic tables and mailboxes toward the sidewalk corner amid dusk streetlights, parked cars, and tall stone office buildings. diff --git a/clips/clip_00207/depth.zip b/clips/clip_00207/depth.zip new file mode 100644 index 0000000000000000000000000000000000000000..d90e7c86dddffe6ceb88d2a7cc783324b27b208a --- /dev/null +++ b/clips/clip_00207/depth.zip @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1254934afa12ed90485f320dfd6e0e473870d0012b4127d4b8c5633de4257e34 +size 209152702 diff --git a/clips/clip_00207/meta.json b/clips/clip_00207/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5796f6b8746a5acf019f86f0a610b87415f4d2f6 --- /dev/null +++ b/clips/clip_00207/meta.json @@ -0,0 +1,384 @@ +{ + "mode": "pie", + "clip": "clip_00192", + "num_cams": 4, + "resolution": 1280, + "focal_mm": 35.0, + "sensor_mm": 23.76, + "fov_deg": 37.4973605549133, + "fps": 15, + "frames": 100, + "radius_cm": 600.0, + "target_z_cm": 150.0, + "exposure_method": "manual", + "exposure_bias": 0.0, + "exposure_compensation": 2.0, + "capture_depth": true, + "fixed_timestep": true, + "center_cm": [ + -53650.08984375, + -8375.369140625, + 58.965145111083984 + ], + "intrinsics_mode": "per_camera", + "clip_index": 15, + "target": { + "tracked": true, + "kind": "pedestrian", + "aim_z_cm": 110.0, + "moving_at_acquire": true, + "motion_kinds": [ + "random_polyline", + "static(path_blocked)", + "random_polyline", + "static" + ], + "model_id": "arch_0c35b542", + "identity": { + "model_id": "arch_0c35b542", + "primary_mesh": "/Game/Crowd/Character/Female/UnderWeight/Meshes/f_tal_unw_base.f_tal_unw_base", + "meshes": [ + "/Game/Crowd/Character/Accessories/cupA.cupA", + "/Game/Crowd/Character/Female/UnderWeight/Meshes/f_tal_unw_base.f_tal_unw_base", + "/Game/Crowd/Character/Female/UnderWeight/Meshes/f_tal_unw_body.f_tal_unw_body", + "/Game/Crowd/Character/Female/UnderWeight/Meshes/f_tal_unw_loafers.f_tal_unw_loafers", + "/Game/Crowd/Character/Female/UnderWeight/Meshes/f_tal_unw_skirt.f_tal_unw_skirt", + "/Game/Crowd/Character/Female/UnderWeight/Meshes/f_tal_unw_turtleneck_blazer.f_tal_unw_turtleneck_blazer", + "/Game/Crowd/Character/Female/f_006/Face/f_006_nrw_FaceMesh.f_006_nrw_FaceMesh" + ], + "mesh_count": 7, + "actor_class": "BP_CrowdCharacter_C", + "source": "mesh_set" + }, + "model_cap_override": false, + "model_skipped_candidates": 0 + }, + "frame_count": 100, + "frame_bucket": 100, + "spec_gen": "gen3", + "bucket_retired": false, + "target_class": "pedestrian", + "target_class_requested": "pedestrian", + "target_class_fallback": false, + "hfov_deg_per_cam": [ + 27.736, + 30.968, + 34.965, + 29.422 + ], + "hfov_range_deg": [ + 25.0, + 90.0 + ], + "bench": { + "mode": true, + "clip_id": 207, + "bg_ratio": 0.0, + "placement_fallbacks": [], + "target_reacquires": 0, + "motion_gate": { + "enabled": true, + "required_travel_m": 1.23, + "travel_m": 13.2, + "retries": 1, + "probe_rejects": 3, + "rejects": [ + { + "attempt": 1, + "reason": "view_blocked_mid_capture", + "frames_captured": 45, + "clip_frames": 100, + "target_class": "pedestrian", + "cam": 4, + "streak_frames": 48, + "need_frames": 45, + "kind": "view_blocked", + "abort_sec": 3.0 + }, + { + "attempt": 2, + "reason": "probe_static", + "frames_captured": 0, + "clip_frames": 100, + "target_class": "pedestrian", + "probe_disp_cm": 0.0, + "probe_min_cm": 150.0, + "probe_samples": 68 + }, + { + "attempt": 3, + "reason": "probe_static", + "frames_captured": 0, + "clip_frames": 100, + "target_class": "pedestrian", + "probe_disp_cm": 0.0, + "probe_min_cm": 150.0, + "probe_samples": 70 + }, + { + "attempt": 4, + "reason": "probe_static", + "frames_captured": 0, + "clip_frames": 100, + "target_class": "pedestrian", + "probe_disp_cm": 0.0, + "probe_min_cm": 150.0, + "probe_samples": 66 + } + ], + "acquire_min_cm_s": 300.0 + }, + "view_block_guard": { + "enabled": true, + "abort_sec": 3.0, + "abort_frames": 45, + "aborts": 1, + "max_streak_frames": 0 + } + }, + "continuity": { + "target_lost_frame": null, + "target_survived": true, + "enclosed_retries_budget": 4, + "min_usable_dirs_used": 5 + }, + "oos": { + "prob": 0.3, + "max_cams": 2, + "force_min": 0, + "enabled": true, + "aim_mode": "departure_return_scheduler", + "scheduler": { + "enabled": true, + "out_run_target_frames": [ + 12, + 24 + ], + "gate_min_out_frames": 8, + "reentry_visible_frames": 8, + "slew_half_fov_frac": 0.08, + "window_lead_frac": 0.12, + "two_window_frames": 181, + "aim_offset_frac": 1.15, + "open_slew": true, + "min_clip_frames": 100, + "skipped_short_bucket": false, + "return_frames_est": [ + 29, + 29, + 29, + 29 + ], + "open_frames_est": [ + 15, + 15, + 15, + 15 + ], + "per_cam": [ + { + "windows": [ + 17 + ], + "target_out_frames": [ + 14 + ], + "opened_at": 17, + "left_at": 18, + "out_run_max": 14, + "returned_at": 52, + "cycles_live": 1, + "forced_returns": 0, + "aim_offset": { + "applied": true, + "reason": null, + "deg": 15.85, + "cm": 558.7, + "frac": 1.15 + }, + "events": [ + { + "window": 0, + "opened_at": 17, + "left_at": 18, + "out_run": 14, + "return_at": 31, + "forced": false + } + ] + }, + null, + null, + null + ] + }, + "pan_tilt_scale_half_fov": 1.5, + "allowed": [ + true, + false, + false, + false + ], + "reasons": [ + "sampled", + "path_blocked", + "none", + "none" + ], + "effective": [ + true, + true, + false, + false + ], + "departed": [ + true, + true, + false, + false + ], + "cycles": [ + 1, + 1, + 0, + 0 + ], + "segments": [ + { + "cam": 0, + "cam_name": "cam01", + "start": 0, + "end": 34, + "kind": "out_of_frustum", + "len": 35 + }, + { + "cam": 0, + "cam_name": "cam01", + "start": 53, + "end": 99, + "kind": "occluded", + "len": 47 + }, + { + "cam": 1, + "cam_name": "cam02", + "start": 0, + "end": 38, + "kind": "out_of_frustum", + "len": 39 + } + ], + "num_allowed": 1, + "num_effective": 2, + "num_departed": 2 + }, + "visibility": { + "frames": 100, + "states": [ + "visible", + "occluded", + "out_of_frustum", + "target_absent" + ], + "per_cam_ratio": [ + { + "visible": 0.18, + "occluded": 0.47, + "out_of_frustum": 0.35, + "target_absent": 0.0 + }, + { + "visible": 0.61, + "occluded": 0.0, + "out_of_frustum": 0.39, + "target_absent": 0.0 + }, + { + "visible": 1.0, + "occluded": 0.0, + "out_of_frustum": 0.0, + "target_absent": 0.0 + }, + { + "visible": 1.0, + "occluded": 0.0, + "out_of_frustum": 0.0, + "target_absent": 0.0 + } + ], + "visible_ratio": [ + 0.18, + 0.61, + 1.0, + 1.0 + ], + "non_oos_cams": [ + 3, + 4 + ], + "min_visible_ratio_non_oos": 1.0, + "gate1_cams": [ + 2, + 3, + 4 + ], + "min_visible_ratio_gate1": 0.61, + "target_absent_frames": 0, + "bbox_sources": { + "colliding": 100 + } + }, + "smoothing": { + "rot_cap_frac_hfov": 0.06, + "rot_cap_deg_per_cam": [ + 1.66416, + 1.85808, + 2.0979, + 1.76532 + ], + "max_step_cm": 150.0, + "max_accel_cm": 20.0, + "lag_closure_frac": 0.12, + "oos_slew_half_fov_frac": 0.08 + }, + "pins": { + "resample": { + "attempts": 2, + "used": 2, + "pinned": 1, + "pinned_per_attempt": [ + 2, + 1, + 1 + ] + }, + "live_rotation": true, + "forced_cams": null, + "force_pin_cams": 0, + "pinned_cams": [ + 2 + ] + }, + "motion_persistence": { + "enabled": true, + "min_moving_frac": 0.4, + "moving_speed_cm_s": 40.0, + "moving_frames": 99, + "still_frames": 0, + "moving_frac": 1.0 + }, + "points": { + "enabled": true, + "num_points": 256, + "frames": 100, + "valid_frames": 100, + "track_complete_ratio": 1.0, + "track_breaks": 0, + "in_frustum_ratio": 0.8068, + "render_lod_natural": 1, + "render_lod_forced": 1, + "sample_log": "ok=1 n=256 comps=7 skinned=6 static=1 tris=133627 area_m2=2.443 half_cm=81.2 centre_off_cm=10.9", + "npz_written": true + } +} \ No newline at end of file diff --git a/clips/clip_00207/points_target.npz b/clips/clip_00207/points_target.npz new file mode 100644 index 0000000000000000000000000000000000000000..872eefbd55ccadd65657d4de66abf0771dcfeeef --- /dev/null +++ b/clips/clip_00207/points_target.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9bdf83e06149b0c946c65e9aa0cd45bd3963dbfc56c50e36a6d147eca1911bd2 +size 289052 diff --git a/clips/clip_00207/videos/cam01.mp4 b/clips/clip_00207/videos/cam01.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..ad05f067a8f3d375dc88e90add86f0d8cf5cbbc9 --- /dev/null +++ b/clips/clip_00207/videos/cam01.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6a48ef8e67ec6f91fc644a7441ba436c90412a49e6ff541611fecb5677daf47d +size 28509282 diff --git a/clips/clip_00207/videos/cam02.mp4 b/clips/clip_00207/videos/cam02.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..e2674900e429cfbd2968a4105759f611f5e53fc7 --- /dev/null +++ b/clips/clip_00207/videos/cam02.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9b96da1c995d6254d484456f877e31f3c5b428bd9769a5655887eba681c61bc9 +size 23624645 diff --git a/clips/clip_00207/videos/cam03.mp4 b/clips/clip_00207/videos/cam03.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..9d92d00d1bc50505cd3bb3611f3141ad32bff03c --- /dev/null +++ b/clips/clip_00207/videos/cam03.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:614d15f89a219170b99e6e8775f89bd2cdabfa299acf9b12c4b95f290a589fc3 +size 22058790 diff --git a/clips/clip_00207/videos/cam04.mp4 b/clips/clip_00207/videos/cam04.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..66a6d395d23adaf35d441cff6626ca4d0ea115a5 --- /dev/null +++ b/clips/clip_00207/videos/cam04.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9693515d302c2061ea11020321ef957d6dbfce7511af82be25d223fee5933795 +size 17079074 diff --git a/clips/clip_00207/videos_depth/cam01.mp4 b/clips/clip_00207/videos_depth/cam01.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..b29304ae9f241988ebf97e40a0af3d67e8aaf0e6 --- /dev/null +++ b/clips/clip_00207/videos_depth/cam01.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0f775b551bc2a4b1d4ed685892a28b403c65c8a76fe3bded0ab58b533e5fee68 +size 5926821 diff --git a/clips/clip_00207/videos_depth/cam02.mp4 b/clips/clip_00207/videos_depth/cam02.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..5764cf45234afbc9469cffdeec1b02101f69f3cc --- /dev/null +++ b/clips/clip_00207/videos_depth/cam02.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1b8c0446bb39d68b16cad26a2fd25cb4d0a02c0e0df2833f118eff9e232209d8 +size 2926125 diff --git a/clips/clip_00207/videos_depth/cam03.mp4 b/clips/clip_00207/videos_depth/cam03.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..54d6d4a89f5f8da1f61b6661be5c8fdd9d4adb8e --- /dev/null +++ b/clips/clip_00207/videos_depth/cam03.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2422172d553febd389897836768ed7a8ee8e276f6a0bb33f48b23d701256d469 +size 2421287 diff --git a/clips/clip_00207/videos_depth/cam04.mp4 b/clips/clip_00207/videos_depth/cam04.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..72bd88314c2e76c4fc469ac58a41c1ec2704eac2 --- /dev/null +++ b/clips/clip_00207/videos_depth/cam04.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dc9ef8e787bbbe042730b405dd48b113658e150ab156398f72121b5619627302 +size 1093802 diff --git a/clips/clip_00207/views/cam01/frame_0000.png b/clips/clip_00207/views/cam01/frame_0000.png new file mode 100644 index 0000000000000000000000000000000000000000..08092e141170ef874519adf08046c6089626d25d --- /dev/null +++ b/clips/clip_00207/views/cam01/frame_0000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:052fcf3268754c68144dc81a10b12c3c5f54a3fffe8668f6045fb0791a655fa0 +size 3549484 diff --git a/clips/clip_00207/views/cam01/frame_0050.png b/clips/clip_00207/views/cam01/frame_0050.png new file mode 100644 index 0000000000000000000000000000000000000000..8c9f4bbe005c45b3fd337fc160500a4459b6b9ae --- /dev/null +++ b/clips/clip_00207/views/cam01/frame_0050.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8863b82a8b72cd14ed639336842f06a2fb841ba466391207a08595c0cd2259c4 +size 3909090 diff --git a/clips/clip_00207/views/cam01/frame_0099.png b/clips/clip_00207/views/cam01/frame_0099.png new file mode 100644 index 0000000000000000000000000000000000000000..ff02c75ab55b1efddfde1ee9581f0ce158c93908 --- /dev/null +++ b/clips/clip_00207/views/cam01/frame_0099.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b109260af7acb71ef76e23a6e7757305027b927556bba7791372fb8f5b5192fe +size 3732014 diff --git a/clips/clip_00207/views/cam02/frame_0000.png b/clips/clip_00207/views/cam02/frame_0000.png new file mode 100644 index 0000000000000000000000000000000000000000..2bc1e7b63e7e7c0bab7ce4b767b4b09a4a511ab7 --- /dev/null +++ b/clips/clip_00207/views/cam02/frame_0000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3837a8f7701c252543c467dc032e5945dca4d0fc426a0ef1d87876e183bdcc1e +size 3701640 diff --git a/clips/clip_00207/views/cam02/frame_0050.png b/clips/clip_00207/views/cam02/frame_0050.png new file mode 100644 index 0000000000000000000000000000000000000000..e163397dc471c1972ba68d7f2a5ead49467e459a --- /dev/null +++ b/clips/clip_00207/views/cam02/frame_0050.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:96f5338ae82a67f8ea07108f90302abbbc2839970d76240dbc20f4df52f7be1e +size 3470357 diff --git a/clips/clip_00207/views/cam03/frame_0000.png b/clips/clip_00207/views/cam03/frame_0000.png new file mode 100644 index 0000000000000000000000000000000000000000..e0dd3e850f8e806d3c8f2a6b09d3897accaa5763 --- /dev/null +++ b/clips/clip_00207/views/cam03/frame_0000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f03cad07a51f47deaee14e8bc69151bdd2e688bf236b6d2bbbd6a54dd1eaeab3 +size 3295294 diff --git a/clips/clip_00207/views/cam03/frame_0050.png b/clips/clip_00207/views/cam03/frame_0050.png new file mode 100644 index 0000000000000000000000000000000000000000..8488e09d54a3a34b75f1782298735832c3d2e0a6 --- /dev/null +++ b/clips/clip_00207/views/cam03/frame_0050.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:eff94478e5756e4281b151fb2882c46367b1809534ee286bdaa5f13e317d8e73 +size 3322114 diff --git a/clips/clip_00207/views/cam04/frame_0000.png b/clips/clip_00207/views/cam04/frame_0000.png new file mode 100644 index 0000000000000000000000000000000000000000..2882f060a2d3f947fd4ed272b02c3903d0da8b14 --- /dev/null +++ b/clips/clip_00207/views/cam04/frame_0000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3eee7fa0fcdfa79b1e742756f2b6d47efcbcd8ec3a45722cc28742fd47c60d67 +size 3424350 diff --git a/clips/clip_00207/views/cam04/frame_0050.png b/clips/clip_00207/views/cam04/frame_0050.png new file mode 100644 index 0000000000000000000000000000000000000000..235cc835e8b7e713a0e057fbe0319f15483630c6 --- /dev/null +++ b/clips/clip_00207/views/cam04/frame_0050.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bf5877c7c0675346b5151eae857f3b5d8fc88c516fb7011292c9842f362edf0a +size 3298926 diff --git a/clips/clip_00207/visibility.json b/clips/clip_00207/visibility.json new file mode 100644 index 0000000000000000000000000000000000000000..7ea4995ca7d2a5f210eb8ba267f5484f8d996b83 --- /dev/null +++ b/clips/clip_00207/visibility.json @@ -0,0 +1,6842 @@ +{ + "version": 1, + "convention": "visibility[t][k] = state of the target in camera k at capture frame t (index-aligned with rgb_%04d.png)", + "states": [ + "visible", + "occluded", + "out_of_frustum", + "target_absent" + ], + "state_note": "visible = in-frustum and at least one bbox sample ray unblocked; occluded = in-frustum but every sample ray blocked; out_of_frustum = target bbox does not overlap the image rect; target_absent = target actor despawned (Mass LOD) -- BM-M2", + "num_cams": 4, + "frames": 100, + "fps": 15, + "clip_id": 207, + "target_class": "pedestrian", + "target_lost_frame": null, + "target_bbox_extent_cm": [ + 55.1, + 55.1, + 88.0 + ], + "bbox_sources": { + "colliding": 100 + }, + "target_world_units": "cm, Unreal left-handed world (same frame as cameras.json ue_pose.location_cm)", + "cameras": [ + { + "oos_allowed": true, + "oos_reason": "sampled", + "pinned": false, + "oos_effective": true, + "oos_cycles": 1, + "oos_departed": true, + "oos_schedule": { + "windows": [ + 17 + ], + "target_out_frames": [ + 14 + ], + "opened_at": 17, + "left_at": 18, + "out_run_max": 14, + "returned_at": 52, + "cycles_live": 1, + "forced_returns": 0, + "aim_offset": { + "applied": true, + "reason": null, + "deg": 15.85, + "cm": 558.7, + "frac": 1.15 + }, + "events": [ + { + "window": 0, + "opened_at": 17, + "left_at": 18, + "out_run": 14, + "return_at": 31, + "forced": false + } + ] + }, + "name": "cam01", + "hfov_deg": 27.736, + "motion_kind": "random_polyline", + "ratio": { + "visible": 0.18, + "occluded": 0.47, + "out_of_frustum": 0.35, + "target_absent": 0.0 + } + }, + { + "oos_allowed": false, + "oos_reason": "path_blocked", + "pinned": true, + "oos_effective": true, + "oos_cycles": 1, + "oos_departed": true, + "oos_schedule": null, + "name": "cam02", + "hfov_deg": 30.968, + "motion_kind": "static(path_blocked)", + "ratio": { + "visible": 0.61, + "occluded": 0.0, + "out_of_frustum": 0.39, + "target_absent": 0.0 + } + }, + { + "oos_allowed": false, + "oos_reason": "none", + "pinned": false, + "oos_effective": false, + "oos_cycles": 0, + "oos_departed": false, + "oos_schedule": null, + "name": "cam03", + "hfov_deg": 34.965, + "motion_kind": "random_polyline", + "ratio": { + "visible": 1.0, + "occluded": 0.0, + "out_of_frustum": 0.0, + "target_absent": 0.0 + } + }, + { + "oos_allowed": false, + "oos_reason": "none", + "pinned": false, + "oos_effective": false, + "oos_cycles": 0, + "oos_departed": false, + "oos_schedule": null, + "name": "cam04", + "hfov_deg": 29.422, + "motion_kind": "static", + "ratio": { + "visible": 1.0, + "occluded": 0.0, + "out_of_frustum": 0.0, + "target_absent": 0.0 + } + } + ], + "summary": { + "frames": 100, + "states": [ + "visible", + "occluded", + "out_of_frustum", + "target_absent" + ], + "per_cam_ratio": [ + { + "visible": 0.18, + "occluded": 0.47, + "out_of_frustum": 0.35, + "target_absent": 0.0 + }, + { + "visible": 0.61, + "occluded": 0.0, + "out_of_frustum": 0.39, + "target_absent": 0.0 + }, + { + "visible": 1.0, + "occluded": 0.0, + "out_of_frustum": 0.0, + "target_absent": 0.0 + }, + { + "visible": 1.0, + "occluded": 0.0, + "out_of_frustum": 0.0, + "target_absent": 0.0 + } + ], + "visible_ratio": [ + 0.18, + 0.61, + 1.0, + 1.0 + ], + "non_oos_cams": [ + 3, + 4 + ], + "min_visible_ratio_non_oos": 1.0, + "gate1_cams": [ + 2, + 3, + 4 + ], + "min_visible_ratio_gate1": 0.61, + "target_absent_frames": 0, + "bbox_sources": { + "colliding": 100 + } + }, + "oos_segments": [ + { + "cam": 0, + "cam_name": "cam01", + "start": 0, + "end": 34, + "kind": "out_of_frustum", + "len": 35 + }, + { + "cam": 0, + "cam_name": "cam01", + "start": 53, + "end": 99, + "kind": "occluded", + "len": 47 + }, + { + "cam": 1, + "cam_name": "cam02", + "start": 0, + "end": 38, + "kind": "out_of_frustum", + "len": 39 + } + ], + "oos_segment_note": "derived from `visibility` (frame-level is authoritative); maximal runs only, no merging/smoothing; min length 8f applies to this list only; start/end inclusive", + "oos_cycles_per_cam": [ + 1, + 1, + 0, + 0 + ], + "oos_params": { + "segment_min_len": 8, + "min_out": 8, + "min_visible": 8 + }, + "visibility": [ + [ + "out_of_frustum", + "out_of_frustum", + "visible", + "visible" + ], + [ + "out_of_frustum", + "out_of_frustum", + "visible", + "visible" + ], + [ + "out_of_frustum", + "out_of_frustum", + "visible", + "visible" + ], + [ + "out_of_frustum", + "out_of_frustum", + "visible", + "visible" + ], + [ + "out_of_frustum", + "out_of_frustum", + "visible", + "visible" + ], + [ + "out_of_frustum", + "out_of_frustum", + "visible", + "visible" + ], + [ + "out_of_frustum", + "out_of_frustum", + "visible", + "visible" + ], + [ + "out_of_frustum", + "out_of_frustum", + "visible", + "visible" + ], + [ + "out_of_frustum", + "out_of_frustum", + "visible", + "visible" + ], + [ + "out_of_frustum", + "out_of_frustum", + "visible", + "visible" + ], + [ + "out_of_frustum", + "out_of_frustum", + "visible", + "visible" + ], + [ + "out_of_frustum", + "out_of_frustum", + "visible", + "visible" + ], + [ + "out_of_frustum", + "out_of_frustum", + "visible", + "visible" + ], + [ + "out_of_frustum", + "out_of_frustum", + "visible", + "visible" + ], + [ + "out_of_frustum", + "out_of_frustum", + "visible", + "visible" + ], + [ + "out_of_frustum", + "out_of_frustum", + "visible", + "visible" + ], + [ + "out_of_frustum", + "out_of_frustum", + "visible", + "visible" + ], + [ + "out_of_frustum", + "out_of_frustum", + "visible", + "visible" + ], + [ + "out_of_frustum", + "out_of_frustum", + "visible", + "visible" + ], + [ + "out_of_frustum", + "out_of_frustum", + "visible", + "visible" + ], + [ + "out_of_frustum", + "out_of_frustum", + "visible", + "visible" + ], + [ + "out_of_frustum", + "out_of_frustum", + "visible", + "visible" + ], + [ + "out_of_frustum", + "out_of_frustum", + "visible", + "visible" + ], + [ + "out_of_frustum", + "out_of_frustum", + "visible", + "visible" + ], + [ + "out_of_frustum", + "out_of_frustum", + "visible", + "visible" + ], + [ + "out_of_frustum", + "out_of_frustum", + "visible", + "visible" + ], + [ + "out_of_frustum", + "out_of_frustum", + "visible", + "visible" + ], + [ + "out_of_frustum", + "out_of_frustum", + "visible", + "visible" + ], + [ + "out_of_frustum", + "out_of_frustum", + "visible", + "visible" + ], + [ + "out_of_frustum", + "out_of_frustum", + "visible", + "visible" + ], + [ + "out_of_frustum", + "out_of_frustum", + "visible", + "visible" + ], + [ + "out_of_frustum", + "out_of_frustum", + "visible", + "visible" + ], + [ + "out_of_frustum", + "out_of_frustum", + "visible", + "visible" + ], + [ + "out_of_frustum", + "out_of_frustum", + "visible", + "visible" + ], + [ + "out_of_frustum", + "out_of_frustum", + "visible", + "visible" + ], + [ + "visible", + "out_of_frustum", + "visible", + "visible" + ], + [ + "visible", + "out_of_frustum", + "visible", + "visible" + ], + [ + "visible", + "out_of_frustum", + "visible", + "visible" + ], + [ + "visible", + "out_of_frustum", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "occluded", + "visible", + "visible", + "visible" + ], + [ + "occluded", + "visible", + "visible", + "visible" + ], + [ + "occluded", + "visible", + "visible", + "visible" + ], + [ + "occluded", + "visible", + "visible", + "visible" + ], + [ + "occluded", + "visible", + "visible", + "visible" + ], + [ + "occluded", + "visible", + "visible", + "visible" + ], + [ + "occluded", + "visible", + "visible", + "visible" + ], + [ + "occluded", + "visible", + "visible", + "visible" + ], + [ + "occluded", + "visible", + "visible", + "visible" + ], + [ + "occluded", + "visible", + "visible", + "visible" + ], + [ + "occluded", + "visible", + "visible", + "visible" + ], + [ + "occluded", + "visible", + "visible", + "visible" + ], + [ + "occluded", + "visible", + "visible", + "visible" + ], + [ + "occluded", + "visible", + "visible", + "visible" + ], + [ + "occluded", + "visible", + "visible", + "visible" + ], + [ + "occluded", + "visible", + "visible", + "visible" + ], + [ + "occluded", + "visible", + "visible", + "visible" + ], + [ + "occluded", + "visible", + "visible", + "visible" + ], + [ + "occluded", + "visible", + "visible", + "visible" + ], + [ + "occluded", + "visible", + "visible", + "visible" + ], + [ + "occluded", + "visible", + "visible", + "visible" + ], + [ + "occluded", + "visible", + "visible", + "visible" + ], + [ + "occluded", + "visible", + "visible", + "visible" + ], + [ + "occluded", + "visible", + "visible", + "visible" + ], + [ + "occluded", + "visible", + "visible", + "visible" + ], + [ + "occluded", + "visible", + "visible", + "visible" + ], + [ + "occluded", + "visible", + "visible", + "visible" + ], + [ + "occluded", + "visible", + "visible", + "visible" + ], + [ + "occluded", + "visible", + "visible", + "visible" + ], + [ + "occluded", + "visible", + "visible", + "visible" + ], + [ + "occluded", + "visible", + "visible", + "visible" + ], + [ + "occluded", + "visible", + "visible", + "visible" + ], + [ + "occluded", + "visible", + "visible", + "visible" + ], + [ + "occluded", + "visible", + "visible", + "visible" + ], + [ + "occluded", + "visible", + "visible", + "visible" + ], + [ + "occluded", + "visible", + "visible", + "visible" + ], + [ + "occluded", + "visible", + "visible", + "visible" + ], + [ + "occluded", + "visible", + "visible", + "visible" + ], + [ + "occluded", + "visible", + "visible", + "visible" + ], + [ + "occluded", + "visible", + "visible", + "visible" + ], + [ + "occluded", + "visible", + "visible", + "visible" + ], + [ + "occluded", + "visible", + "visible", + "visible" + ], + [ + "occluded", + "visible", + "visible", + "visible" + ], + [ + "occluded", + "visible", + "visible", + "visible" + ], + [ + "occluded", + "visible", + "visible", + "visible" + ], + [ + "occluded", + "visible", + "visible", + "visible" + ], + [ + "occluded", + "visible", + "visible", + "visible" + ] + ], + "visible_frac": [ + [ + 0.0, + 0.0, + 1.0, + 1.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.556 + ], + [ + 0.0, + 0.0, + 1.0, + 0.778 + ], + [ + 0.0, + 0.0, + 1.0, + 0.778 + ], + [ + 0.0, + 0.0, + 1.0, + 0.667 + ], + [ + 0.0, + 0.0, + 1.0, + 0.667 + ], + [ + 0.0, + 0.0, + 1.0, + 0.556 + ], + [ + 0.0, + 0.0, + 1.0, + 0.556 + ], + [ + 0.0, + 0.0, + 0.778, + 0.444 + ], + [ + 0.0, + 0.0, + 0.778, + 0.667 + ], + [ + 0.0, + 0.0, + 0.778, + 1.0 + ], + [ + 0.0, + 0.0, + 0.556, + 0.889 + ], + [ + 0.0, + 0.0, + 0.556, + 0.889 + ], + [ + 0.0, + 0.0, + 0.444, + 0.889 + ], + [ + 0.0, + 0.0, + 0.444, + 1.0 + ], + [ + 0.0, + 0.0, + 0.333, + 0.889 + ], + [ + 0.0, + 0.0, + 0.333, + 0.778 + ], + [ + 0.0, + 0.0, + 0.111, + 0.778 + ], + [ + 0.0, + 0.0, + 0.222, + 0.778 + ], + [ + 0.0, + 0.0, + 0.222, + 0.889 + ], + [ + 0.0, + 0.0, + 0.222, + 1.0 + ], + [ + 0.0, + 0.0, + 0.222, + 1.0 + ], + [ + 0.0, + 0.0, + 0.333, + 1.0 + ], + [ + 0.0, + 0.0, + 0.333, + 1.0 + ], + [ + 0.0, + 0.0, + 0.444, + 1.0 + ], + [ + 0.0, + 0.0, + 0.444, + 1.0 + ], + [ + 0.0, + 0.0, + 0.444, + 1.0 + ], + [ + 0.0, + 0.0, + 0.444, + 1.0 + ], + [ + 0.0, + 0.0, + 0.444, + 1.0 + ], + [ + 0.0, + 0.0, + 0.444, + 1.0 + ], + [ + 0.0, + 0.0, + 0.444, + 1.0 + ], + [ + 0.0, + 0.0, + 0.444, + 1.0 + ], + [ + 0.0, + 0.0, + 0.444, + 1.0 + ], + [ + 0.0, + 0.0, + 0.556, + 0.778 + ], + [ + 0.0, + 0.0, + 0.556, + 0.556 + ], + [ + 0.111, + 0.0, + 0.667, + 0.556 + ], + [ + 0.111, + 0.0, + 0.667, + 0.556 + ], + [ + 0.222, + 0.0, + 0.667, + 0.556 + ], + [ + 0.222, + 0.0, + 0.778, + 0.556 + ], + [ + 0.222, + 1.0, + 0.778, + 0.444 + ], + [ + 0.222, + 1.0, + 0.889, + 0.444 + ], + [ + 0.444, + 1.0, + 0.889, + 0.444 + ], + [ + 0.444, + 1.0, + 1.0, + 0.444 + ], + [ + 0.333, + 1.0, + 1.0, + 0.556 + ], + [ + 0.222, + 1.0, + 1.0, + 0.444 + ], + [ + 0.222, + 1.0, + 1.0, + 0.222 + ], + [ + 0.222, + 1.0, + 1.0, + 0.222 + ], + [ + 0.222, + 1.0, + 1.0, + 0.222 + ], + [ + 0.222, + 1.0, + 1.0, + 0.222 + ], + [ + 0.222, + 1.0, + 1.0, + 0.222 + ], + [ + 0.222, + 1.0, + 1.0, + 0.222 + ], + [ + 0.111, + 1.0, + 1.0, + 0.222 + ], + [ + 0.111, + 1.0, + 1.0, + 0.222 + ], + [ + 0.0, + 1.0, + 1.0, + 0.333 + ], + [ + 0.0, + 1.0, + 1.0, + 0.444 + ], + [ + 0.0, + 1.0, + 1.0, + 0.444 + ], + [ + 0.0, + 1.0, + 1.0, + 0.444 + ], + [ + 0.0, + 1.0, + 1.0, + 0.444 + ], + [ + 0.0, + 1.0, + 1.0, + 0.444 + ], + [ + 0.0, + 1.0, + 1.0, + 0.556 + ], + [ + 0.0, + 1.0, + 1.0, + 0.556 + ], + [ + 0.0, + 1.0, + 1.0, + 0.667 + ], + [ + 0.0, + 1.0, + 1.0, + 0.667 + ], + [ + 0.0, + 1.0, + 1.0, + 0.667 + ], + [ + 0.0, + 1.0, + 1.0, + 0.667 + ], + [ + 0.0, + 1.0, + 1.0, + 0.778 + ], + [ + 0.0, + 1.0, + 1.0, + 0.778 + ], + [ + 0.0, + 1.0, + 1.0, + 0.778 + ], + [ + 0.0, + 1.0, + 1.0, + 0.778 + ], + [ + 0.0, + 1.0, + 1.0, + 0.778 + ], + [ + 0.0, + 1.0, + 1.0, + 0.889 + ], + [ + 0.0, + 1.0, + 1.0, + 0.889 + ], + [ + 0.0, + 1.0, + 1.0, + 1.0 + ], + [ + 0.0, + 1.0, + 1.0, + 1.0 + ], + [ + 0.0, + 1.0, + 1.0, + 1.0 + ], + [ + 0.0, + 1.0, + 1.0, + 1.0 + ], + [ + 0.0, + 1.0, + 1.0, + 1.0 + ], + [ + 0.0, + 1.0, + 1.0, + 1.0 + ], + [ + 0.0, + 1.0, + 1.0, + 1.0 + ], + [ + 0.0, + 1.0, + 1.0, + 1.0 + ], + [ + 0.0, + 1.0, + 1.0, + 1.0 + ], + [ + 0.0, + 1.0, + 1.0, + 1.0 + ], + [ + 0.0, + 1.0, + 1.0, + 1.0 + ], + [ + 0.0, + 1.0, + 1.0, + 1.0 + ], + [ + 0.0, + 1.0, + 1.0, + 1.0 + ], + [ + 0.0, + 1.0, + 1.0, + 1.0 + ], + [ + 0.0, + 1.0, + 1.0, + 1.0 + ], + [ + 0.0, + 1.0, + 1.0, + 1.0 + ], + [ + 0.0, + 1.0, + 1.0, + 1.0 + ], + [ + 0.0, + 1.0, + 1.0, + 1.0 + ], + [ + 0.0, + 1.0, + 1.0, + 1.0 + ], + [ + 0.0, + 1.0, + 1.0, + 1.0 + ], + [ + 0.0, + 1.0, + 1.0, + 1.0 + ], + [ + 0.0, + 1.0, + 1.0, + 1.0 + ], + [ + 0.0, + 1.0, + 1.0, + 1.0 + ], + [ + 0.0, + 1.0, + 1.0, + 1.0 + ], + [ + 0.0, + 1.0, + 1.0, + 1.0 + ], + [ + 0.0, + 1.0, + 1.0, + 1.0 + ], + [ + 0.0, + 1.0, + 1.0, + 1.0 + ], + [ + 0.0, + 1.0, + 1.0, + 1.0 + ] + ], + "target_world_cm": [ + [ + -47830.7, + -5001.0, + 163.1 + ], + [ + -47819.3, + -4994.0, + 163.1 + ], + [ + -47808.0, + -4986.9, + 163.1 + ], + [ + -47796.7, + -4979.9, + 163.1 + ], + [ + -47785.4, + -4972.8, + 163.1 + ], + [ + -47774.1, + -4965.8, + 163.1 + ], + [ + -47762.8, + -4958.7, + 163.1 + ], + [ + -47751.4, + -4951.7, + 163.1 + ], + [ + -47740.1, + -4944.6, + 163.1 + ], + [ + -47728.8, + -4937.6, + 163.1 + ], + [ + -47717.5, + -4930.5, + 163.1 + ], + [ + -47706.2, + -4923.5, + 163.1 + ], + [ + -47694.9, + -4916.4, + 163.1 + ], + [ + -47683.6, + -4909.3, + 163.1 + ], + [ + -47672.3, + -4902.3, + 163.1 + ], + [ + -47661.0, + -4895.2, + 163.1 + ], + [ + -47649.6, + -4888.1, + 163.1 + ], + [ + -47638.3, + -4881.1, + 163.1 + ], + [ + -47627.0, + -4874.0, + 163.1 + ], + [ + -47615.7, + -4866.9, + 163.1 + ], + [ + -47604.4, + -4859.9, + 163.1 + ], + [ + -47593.1, + -4852.8, + 163.1 + ], + [ + -47581.8, + -4845.7, + 163.1 + ], + [ + -47570.5, + -4838.6, + 163.1 + ], + [ + -47559.2, + -4831.6, + 163.1 + ], + [ + -47547.9, + -4824.5, + 163.1 + ], + [ + -47536.6, + -4817.4, + 163.1 + ], + [ + -47525.3, + -4810.3, + 163.1 + ], + [ + -47514.0, + -4803.3, + 163.1 + ], + [ + -47502.7, + -4796.2, + 163.1 + ], + [ + -47491.4, + -4789.1, + 163.1 + ], + [ + -47480.1, + -4782.0, + 163.1 + ], + [ + -47468.8, + -4774.9, + 163.1 + ], + [ + -47457.5, + -4767.8, + 163.1 + ], + [ + -47446.2, + -4760.7, + 163.1 + ], + [ + -47435.0, + -4753.7, + 163.1 + ], + [ + -47423.7, + -4746.6, + 163.1 + ], + [ + -47412.4, + -4739.5, + 163.1 + ], + [ + -47401.1, + -4732.4, + 163.1 + ], + [ + -47389.8, + -4725.3, + 163.1 + ], + [ + -47378.5, + -4718.2, + 163.1 + ], + [ + -47367.2, + -4711.1, + 163.1 + ], + [ + -47355.9, + -4704.0, + 163.1 + ], + [ + -47344.6, + -4696.9, + 163.1 + ], + [ + -47333.4, + -4689.8, + 163.1 + ], + [ + -47322.1, + -4682.7, + 163.1 + ], + [ + -47310.8, + -4675.6, + 163.1 + ], + [ + -47299.5, + -4668.5, + 163.1 + ], + [ + -47288.2, + -4661.4, + 163.1 + ], + [ + -47276.9, + -4654.3, + 163.1 + ], + [ + -47265.7, + -4647.2, + 163.1 + ], + [ + -47254.4, + -4640.1, + 163.1 + ], + [ + -47243.1, + -4633.0, + 163.1 + ], + [ + -47231.8, + -4625.8, + 163.1 + ], + [ + -47220.5, + -4618.7, + 163.1 + ], + [ + -47209.3, + -4611.6, + 163.1 + ], + [ + -47198.0, + -4604.5, + 163.1 + ], + [ + -47186.7, + -4597.4, + 163.1 + ], + [ + -47175.4, + -4590.3, + 163.1 + ], + [ + -47164.1, + -4583.2, + 163.1 + ], + [ + -47152.9, + -4576.1, + 163.1 + ], + [ + -47141.6, + -4568.9, + 163.1 + ], + [ + -47130.3, + -4561.8, + 163.1 + ], + [ + -47119.0, + -4554.7, + 163.1 + ], + [ + -47107.8, + -4547.6, + 163.1 + ], + [ + -47096.5, + -4540.5, + 163.1 + ], + [ + -47085.2, + -4533.4, + 163.1 + ], + [ + -47073.9, + -4526.2, + 163.1 + ], + [ + -47062.7, + -4519.1, + 163.1 + ], + [ + -47051.4, + -4512.0, + 163.1 + ], + [ + -47040.1, + -4504.9, + 163.1 + ], + [ + -47028.9, + -4497.8, + 163.1 + ], + [ + -47017.6, + -4490.7, + 163.1 + ], + [ + -47006.3, + -4483.6, + 163.1 + ], + [ + -46994.9, + -4476.6, + 163.1 + ], + [ + -46983.4, + -4469.8, + 163.1 + ], + [ + -46971.8, + -4463.4, + 163.1 + ], + [ + -46960.0, + -4457.0, + 163.1 + ], + [ + -46948.2, + -4450.8, + 163.1 + ], + [ + -46936.4, + -4444.6, + 163.1 + ], + [ + -46924.5, + -4438.6, + 163.1 + ], + [ + -46912.6, + -4432.6, + 163.1 + ], + [ + -46900.7, + -4426.7, + 163.1 + ], + [ + -46888.7, + -4420.9, + 163.1 + ], + [ + -46876.6, + -4415.2, + 163.1 + ], + [ + -46864.5, + -4409.7, + 163.1 + ], + [ + -46852.2, + -4404.4, + 163.1 + ], + [ + -46840.0, + -4399.2, + 162.3 + ], + [ + -46827.6, + -4394.2, + 162.3 + ], + [ + -46815.2, + -4389.4, + 162.3 + ], + [ + -46802.6, + -4384.8, + 162.3 + ], + [ + -46790.0, + -4380.4, + 162.3 + ], + [ + -46777.4, + -4376.3, + 162.3 + ], + [ + -46764.6, + -4372.4, + 162.3 + ], + [ + -46751.8, + -4368.7, + 162.3 + ], + [ + -46738.9, + -4365.3, + 162.3 + ], + [ + -46726.0, + -4362.1, + 162.3 + ], + [ + -46713.0, + -4359.2, + 162.3 + ], + [ + -46699.9, + -4356.6, + 162.3 + ], + [ + -46686.7, + -4354.3, + 162.3 + ] + ], + "target_bbox_cm": [ + [ + -47830.7, + -5001.0, + 163.1, + 55.1, + 55.1, + 88.0 + ], + [ + -47819.3, + -4994.0, + 163.1, + 55.1, + 55.1, + 88.0 + ], + [ + -47808.0, + -4986.9, + 163.1, + 55.1, + 55.1, + 88.0 + ], + [ + -47796.7, + -4979.9, + 163.1, + 55.1, + 55.1, + 88.0 + ], + [ + -47785.4, + -4972.8, + 163.1, + 55.1, + 55.1, + 88.0 + ], + [ + -47774.1, + -4965.8, + 163.1, + 55.1, + 55.1, + 88.0 + ], + [ + -47762.8, + -4958.7, + 163.1, + 55.1, + 55.1, + 88.0 + ], + [ + -47751.4, + -4951.7, + 163.1, + 55.1, + 55.1, + 88.0 + ], + [ + -47740.1, + -4944.6, + 163.1, + 55.1, + 55.1, + 88.0 + ], + [ + -47728.8, + -4937.6, + 163.1, + 55.1, + 55.1, + 88.0 + ], + [ + -47717.5, + -4930.5, + 163.1, + 55.1, + 55.1, + 88.0 + ], + [ + -47706.2, + -4923.5, + 163.1, + 55.1, + 55.1, + 88.0 + ], + [ + -47694.9, + -4916.4, + 163.1, + 55.1, + 55.1, + 88.0 + ], + [ + -47683.6, + -4909.3, + 163.1, + 55.2, + 55.2, + 88.0 + ], + [ + -47672.3, + -4902.3, + 163.1, + 55.2, + 55.2, + 88.0 + ], + [ + -47661.0, + -4895.2, + 163.1, + 55.2, + 55.2, + 88.0 + ], + [ + -47649.6, + -4888.1, + 163.1, + 55.2, + 55.2, + 88.0 + ], + [ + -47638.3, + -4881.1, + 163.1, + 55.2, + 55.2, + 88.0 + ], + [ + -47627.0, + -4874.0, + 163.1, + 55.2, + 55.2, + 88.0 + ], + [ + -47615.7, + -4866.9, + 163.1, + 55.2, + 55.2, + 88.0 + ], + [ + -47604.4, + -4859.9, + 163.1, + 55.2, + 55.2, + 88.0 + ], + [ + -47593.1, + -4852.8, + 163.1, + 55.2, + 55.2, + 88.0 + ], + [ + -47581.8, + -4845.7, + 163.1, + 55.2, + 55.2, + 88.0 + ], + [ + -47570.5, + -4838.6, + 163.1, + 55.2, + 55.2, + 88.0 + ], + [ + -47559.2, + -4831.6, + 163.1, + 55.2, + 55.2, + 88.0 + ], + [ + -47547.9, + -4824.5, + 163.1, + 55.2, + 55.2, + 88.0 + ], + [ + -47536.6, + -4817.4, + 163.1, + 55.2, + 55.2, + 88.0 + ], + [ + -47525.3, + -4810.3, + 163.1, + 55.2, + 55.2, + 88.0 + ], + [ + -47514.0, + -4803.3, + 163.1, + 55.2, + 55.2, + 88.0 + ], + [ + -47502.7, + -4796.2, + 163.1, + 55.2, + 55.2, + 88.0 + ], + [ + -47491.4, + -4789.1, + 163.1, + 55.2, + 55.2, + 88.0 + ], + [ + -47480.1, + -4782.0, + 163.1, + 55.2, + 55.2, + 88.0 + ], + [ + -47468.8, + -4774.9, + 163.1, + 55.2, + 55.2, + 88.0 + ], + [ + -47457.5, + -4767.8, + 163.1, + 55.2, + 55.2, + 88.0 + ], + [ + -47446.2, + -4760.7, + 163.1, + 55.2, + 55.2, + 88.0 + ], + [ + -47435.0, + -4753.7, + 163.1, + 55.2, + 55.2, + 88.0 + ], + [ + -47423.7, + -4746.6, + 163.1, + 55.2, + 55.2, + 88.0 + ], + [ + -47412.4, + -4739.5, + 163.1, + 55.2, + 55.2, + 88.0 + ], + [ + -47401.1, + -4732.4, + 163.1, + 55.2, + 55.2, + 88.0 + ], + [ + -47389.8, + -4725.3, + 163.1, + 55.2, + 55.2, + 88.0 + ], + [ + -47378.5, + -4718.2, + 163.1, + 55.2, + 55.2, + 88.0 + ], + [ + -47367.2, + -4711.1, + 163.1, + 55.2, + 55.2, + 88.0 + ], + [ + -47355.9, + -4704.0, + 163.1, + 55.2, + 55.2, + 88.0 + ], + [ + -47344.6, + -4696.9, + 163.1, + 55.2, + 55.2, + 88.0 + ], + [ + -47333.4, + -4689.8, + 163.1, + 55.2, + 55.2, + 88.0 + ], + [ + -47322.1, + -4682.7, + 163.1, + 55.2, + 55.2, + 88.0 + ], + [ + -47310.8, + -4675.6, + 163.1, + 55.2, + 55.2, + 88.0 + ], + [ + -47299.5, + -4668.5, + 163.1, + 55.2, + 55.2, + 88.0 + ], + [ + -47288.2, + -4661.4, + 163.1, + 55.2, + 55.2, + 88.0 + ], + [ + -47276.9, + -4654.3, + 163.1, + 55.2, + 55.2, + 88.0 + ], + [ + -47265.7, + -4647.2, + 163.1, + 55.2, + 55.2, + 88.0 + ], + [ + -47254.4, + -4640.1, + 163.1, + 55.2, + 55.2, + 88.0 + ], + [ + -47243.1, + -4633.0, + 163.1, + 55.2, + 55.2, + 88.0 + ], + [ + -47231.8, + -4625.8, + 163.1, + 55.2, + 55.2, + 88.0 + ], + [ + -47220.5, + -4618.7, + 163.1, + 55.2, + 55.2, + 88.0 + ], + [ + -47209.3, + -4611.6, + 163.1, + 55.2, + 55.2, + 88.0 + ], + [ + -47198.0, + -4604.5, + 163.1, + 55.2, + 55.2, + 88.0 + ], + [ + -47186.7, + -4597.4, + 163.1, + 55.2, + 55.2, + 88.0 + ], + [ + -47175.4, + -4590.3, + 163.1, + 55.2, + 55.2, + 88.0 + ], + [ + -47164.1, + -4583.2, + 163.1, + 55.2, + 55.2, + 88.0 + ], + [ + -47152.9, + -4576.1, + 163.1, + 55.2, + 55.2, + 88.0 + ], + [ + -47141.6, + -4568.9, + 163.1, + 55.2, + 55.2, + 88.0 + ], + [ + -47130.3, + -4561.8, + 163.1, + 55.2, + 55.2, + 88.0 + ], + [ + -47119.0, + -4554.7, + 163.1, + 55.2, + 55.2, + 88.0 + ], + [ + -47107.8, + -4547.6, + 163.1, + 55.2, + 55.2, + 88.0 + ], + [ + -47096.5, + -4540.5, + 163.1, + 55.2, + 55.2, + 88.0 + ], + [ + -47085.2, + -4533.4, + 163.1, + 55.2, + 55.2, + 88.0 + ], + [ + -47073.9, + -4526.2, + 163.1, + 55.2, + 55.2, + 88.0 + ], + [ + -47062.7, + -4519.1, + 163.1, + 55.2, + 55.2, + 88.0 + ], + [ + -47051.4, + -4512.0, + 163.1, + 55.2, + 55.2, + 88.0 + ], + [ + -47040.1, + -4504.9, + 163.1, + 55.2, + 55.2, + 88.0 + ], + [ + -47028.9, + -4497.8, + 163.1, + 55.2, + 55.2, + 88.0 + ], + [ + -47017.6, + -4490.7, + 163.1, + 55.2, + 55.2, + 88.0 + ], + [ + -47006.3, + -4483.6, + 163.1, + 55.2, + 55.2, + 88.0 + ], + [ + -46994.9, + -4476.6, + 163.1, + 55.2, + 55.2, + 88.0 + ], + [ + -46983.4, + -4469.8, + 163.1, + 55.2, + 55.2, + 88.0 + ], + [ + -46971.8, + -4463.4, + 163.1, + 55.1, + 55.1, + 88.0 + ], + [ + -46960.0, + -4457.0, + 163.1, + 55.1, + 55.1, + 88.0 + ], + [ + -46948.2, + -4450.8, + 163.1, + 55.0, + 55.0, + 88.0 + ], + [ + -46936.4, + -4444.6, + 163.1, + 54.9, + 54.9, + 88.0 + ], + [ + -46924.5, + -4438.6, + 163.1, + 54.8, + 54.8, + 88.0 + ], + [ + -46912.6, + -4432.6, + 163.1, + 54.7, + 54.7, + 88.0 + ], + [ + -46900.7, + -4426.7, + 163.1, + 54.7, + 54.7, + 88.0 + ], + [ + -46888.7, + -4420.9, + 163.1, + 54.6, + 54.6, + 88.0 + ], + [ + -46876.6, + -4415.2, + 163.1, + 54.5, + 54.5, + 88.0 + ], + [ + -46864.5, + -4409.7, + 163.1, + 54.4, + 54.4, + 88.0 + ], + [ + -46852.2, + -4404.4, + 163.1, + 54.4, + 54.4, + 88.0 + ], + [ + -46840.0, + -4399.2, + 162.3, + 54.3, + 54.3, + 88.0 + ], + [ + -46827.6, + -4394.2, + 162.3, + 54.2, + 54.2, + 88.0 + ], + [ + -46815.2, + -4389.4, + 162.3, + 54.0, + 54.0, + 88.0 + ], + [ + -46802.6, + -4384.8, + 162.3, + 53.9, + 53.9, + 88.0 + ], + [ + -46790.0, + -4380.4, + 162.3, + 53.8, + 53.8, + 88.0 + ], + [ + -46777.4, + -4376.3, + 162.3, + 53.6, + 53.6, + 88.0 + ], + [ + -46764.6, + -4372.4, + 162.3, + 53.5, + 53.5, + 88.0 + ], + [ + -46751.8, + -4368.7, + 162.3, + 53.3, + 53.3, + 88.0 + ], + [ + -46738.9, + -4365.3, + 162.3, + 53.1, + 53.1, + 88.0 + ], + [ + -46726.0, + -4362.1, + 162.3, + 52.9, + 52.9, + 88.0 + ], + [ + -46713.0, + -4359.2, + 162.3, + 52.7, + 52.7, + 88.0 + ], + [ + -46699.9, + -4356.6, + 162.3, + 52.5, + 52.5, + 88.0 + ], + [ + -46686.7, + -4354.3, + 162.3, + 52.2, + 52.2, + 88.0 + ] + ], + "target_bbox_format": "[cx,cy,cz,ex,ey,ez] (\uc911\uc2ec + \ubc18\ud06c\uae30, cm, UE)", + "target_world_cam01_m": [ + [ + -14.566969452058629, + 1.7677256137639326, + 10.258535395802113 + ], + [ + -14.40170968092383, + 1.7329649831971814, + 10.666393649025395 + ], + [ + -14.224585278083453, + 1.6983184300793681, + 11.074518118943018 + ], + [ + -14.035175511789362, + 1.6640239083458752, + 11.480337573049496 + ], + [ + -13.834508523577483, + 1.6299904355723527, + 11.88518328302112 + ], + [ + -13.621484983600737, + 1.596411954456137, + 12.287014402844875 + ], + [ + -13.39705404938519, + 1.5631939809457513, + 12.687212901201747 + ], + [ + -13.16114076910452, + 1.5305730615046524, + 13.083238023439037 + ], + [ + -12.912820664842059, + 1.4983766087648558, + 13.47740880379655 + ], + [ + -12.652129419779044, + 1.4668487049697294, + 13.867100734063811 + ], + [ + -12.37985302573827, + 1.43588929819704, + 14.253781476820862 + ], + [ + -12.095265903621737, + 1.4057083447979508, + 14.63523340777877 + ], + [ + -11.799068648647733, + 1.3762038435443973, + 15.012960694700553 + ], + [ + -11.490939889243975, + 1.3475096491518848, + 15.385658962834682 + ], + [ + -11.170680824567455, + 1.3197625587682857, + 15.751987143943651 + ], + [ + -10.838856916112547, + 1.2928581731761826, + 16.113497928723852 + ], + [ + -10.496252032094048, + 1.2669493912766834, + 16.468666830731635 + ], + [ + -10.140826271088201, + 1.242142099001355, + 16.81653052834195 + ], + [ + -9.9420946126898, + 1.1704581148361224, + 17.064959263423937 + ], + [ + -9.737631417494754, + 1.0974227522292983, + 17.311584228973636 + ], + [ + -9.527323003304105, + 1.02315368138881, + 17.555279448617856 + ], + [ + -9.311377110302885, + 0.9475005609796172, + 17.797889180425777 + ], + [ + -9.08966687423981, + 0.8705812637664394, + 18.038287650527582 + ], + [ + -8.862187238916988, + 0.7924275868578639, + 18.276337421752498 + ], + [ + -8.628912673083164, + 0.7131764126612534, + 18.51090608106277 + ], + [ + -8.389910246871807, + 0.6326592235937305, + 18.743843830154425 + ], + [ + -8.145141409538155, + 0.5510132617764967, + 18.974017595039044 + ], + [ + -7.894613302946823, + 0.4682771678879769, + 19.201287975229548 + ], + [ + -7.6383891947961615, + 0.3846066923076146, + 19.42452335577923 + ], + [ + -7.376395585990451, + 0.2998159689494413, + 19.64556923769618 + ], + [ + -7.108682952503557, + 0.21406143768178687, + 19.863292507680413 + ], + [ + -6.835271074390278, + 0.12738842516495197, + 20.07755311611845 + ], + [ + -6.556212417777374, + 0.16237007821646188, + 20.28759091256974 + ], + [ + -6.271477297038189, + 0.1988452171263475, + 20.49420933297945 + ], + [ + -5.981091636764859, + 0.2367893951821216, + 20.69726139990793 + ], + [ + -5.684290568964968, + 0.2763074154438758, + 20.895438178304772 + ], + [ + -5.382725288818392, + 0.3171058144096932, + 21.090898483613557 + ], + [ + -5.075612561300261, + 0.3592860266748197, + 21.28235000920597 + ], + [ + -4.762994191310213, + 0.4028140956349464, + 21.469645156195725 + ], + [ + -4.444912486851024, + 0.44765283458064964, + 21.652637268474137 + ], + [ + -4.121415922400331, + 0.4937621104216916, + 21.8311794297004 + ], + [ + -3.792556360845765, + 0.5410980119804556, + 22.005125300122444 + ], + [ + -3.458386127613551, + 0.5896123964359212, + 22.1743297004019 + ], + [ + -3.1189579050055727, + 0.6392526837528791, + 22.338648513431707 + ], + [ + -2.7733973743916067, + 0.6899903100273317, + 22.49758733801903 + ], + [ + -2.423646111571429, + 0.7416992288522692, + 22.65168594612871 + ], + [ + -2.068823979755905, + 0.794333130307896, + 22.800470947049035 + ], + [ + -1.708993819809848, + 0.8478021377920744, + 22.943802727816717 + ], + [ + -1.3442247321074774, + 0.901994973710174, + 23.08154318185416 + ], + [ + -0.9745783520772875, + 0.9567636154499581, + 23.213557459001947 + ], + [ + -0.5992250379048869, + 1.011919641762196, + 23.339259485121204 + ], + [ + -0.21998820646160766, + 1.0669919537366344, + 23.459422657892446 + ], + [ + -0.0001960292232752181, + 1.0982130175934088, + 23.57516105791791 + ], + [ + 7.243790440725206e-05, + 1.0981781708897795, + 23.692361934440783 + ], + [ + -0.0001534114652486096, + 1.0981999324528608, + 23.80886937312829 + ], + [ + 0.0004840495747089335, + 1.0982529692163485, + 23.925063590479795 + ], + [ + 0.00024092304954592692, + 1.098274541419153, + 24.041920247972598 + ], + [ + -9.343455872112827e-06, + 1.098296021545318, + 24.15894887395274 + ], + [ + -0.0002670716002057816, + 1.098317414300812, + 24.2761469809451 + ], + [ + -0.0005340765310393181, + 1.0983387277258103, + 24.393512125508096 + ], + [ + 5.897426808587625e-05, + 1.098391184390346, + 24.510540356166587 + ], + [ + 0.0002816052153775672, + 1.0983586232949687, + 24.629091874440007 + ], + [ + -4.182212023806642e-06, + 1.0983797903458257, + 24.74694051290885 + ], + [ + -0.00029552778175911953, + 1.0984007333191403, + 24.864946878367505 + ], + [ + 0.00026423967284472383, + 1.0984528229067863, + 24.982598594495016 + ], + [ + -4.130817842451506e-05, + 1.0984734811332704, + 25.100911653288733 + ], + [ + -0.00035235296240898606, + 1.0984940042487157, + 25.219375869044768 + ], + [ + -0.00015248576909243639, + 1.0984627498636392, + 25.338843393990203 + ], + [ + 0.0003796261444222182, + 1.0985143769444754, + 25.45708405701822 + ], + [ + 5.3221031009798025e-05, + 1.0985346110346494, + 25.57598598257931 + ], + [ + -0.0002797628259827434, + 1.0985545710091706, + 25.69503083595788 + ], + [ + 0.00023294764190495698, + 1.098605485122098, + 25.813692364783208 + ], + [ + 0.00014922192167432513, + 1.0986175978343677, + 25.933015550268067 + ], + [ + 0.0003367864899246342, + 1.0986217496313149, + 26.05247617647916 + ], + [ + -0.0005737792327522584, + 1.0986364767446748, + 26.17175645495388 + ], + [ + 6.249911541544861e-05, + 1.0986165563134183, + 26.290023101006057 + ], + [ + 0.00025690861366456375, + 1.0986829988475435, + 26.40559948859584 + ], + [ + 7.02662055118708e-05, + 1.0986453311060185, + 26.522408163409523 + ], + [ + -0.0002721678191051069, + 1.0986749720433053, + 26.637700713441006 + ], + [ + 0.00012578376879446296, + 1.0986801262950774, + 26.753161565389405 + ], + [ + -0.0005968258329858145, + 1.0987237175688627, + 26.867654872711682 + ], + [ + -0.0004887796367825104, + 1.0987393012700757, + 26.982321749165976 + ], + [ + -1.1325033710818388e-07, + 1.098771278697983, + 27.096324690650818 + ], + [ + 0.0001645543562176499, + 1.0987837375093914, + 27.210214591403542 + ], + [ + 0.00015139449436674113, + 1.0987710196856213, + 27.32399990512357 + ], + [ + 0.000385620837391798, + 1.0988046582222992, + 27.436304773534516 + ], + [ + -0.0006748982231101763, + 1.098816868640709, + 27.548246283576304 + ], + [ + 0.0001273270980846064, + 1.0985122815289206, + 27.65977301497867 + ], + [ + -0.0001583287597668459, + 1.0985117241350508, + 27.770183333139755 + ], + [ + 0.0002050469470873395, + 1.0985356051570818, + 27.87914966205659 + ], + [ + -0.00036972671375679056, + 1.0985169538411004, + 27.987807501222846 + ], + [ + -0.00018356665356122903, + 1.0985134361396387, + 28.095044200490463 + ], + [ + 0.00021816641344685195, + 1.0985660608234777, + 28.20004626280877 + ], + [ + -0.00022803547500416244, + 1.098564208796299, + 28.30478746565501 + ], + [ + 0.00012825290758655683, + 1.0985669182146882, + 28.40814171769688 + ], + [ + -0.00011090157573789838, + 1.0985842542452957, + 28.509877396194156 + ], + [ + 0.0004499086014675413, + 1.0985996416684447, + 28.610249468215954 + ], + [ + 0.0004695937178098575, + 1.0986195448528377, + 28.70903532784064 + ], + [ + 0.0001305260835806621, + 1.0986307812859053, + 28.806256275776377 + ], + [ + -0.00031758939104520323, + 1.0986157351675363, + 28.901934266466412 + ] + ], + "target_bbox_centre_cam01_m": [ + [ + -14.566969452058629, + 1.7677256137639326, + 10.258535395802113 + ], + [ + -14.40170968092383, + 1.7329649831971814, + 10.666393649025395 + ], + [ + -14.224585278083453, + 1.6983184300793681, + 11.074518118943018 + ], + [ + -14.035175511789362, + 1.6640239083458752, + 11.480337573049496 + ], + [ + -13.834508523577483, + 1.6299904355723527, + 11.88518328302112 + ], + [ + -13.621484983600737, + 1.596411954456137, + 12.287014402844875 + ], + [ + -13.39705404938519, + 1.5631939809457513, + 12.687212901201747 + ], + [ + -13.16114076910452, + 1.5305730615046524, + 13.083238023439037 + ], + [ + -12.912820664842059, + 1.4983766087648558, + 13.47740880379655 + ], + [ + -12.652129419779044, + 1.4668487049697294, + 13.867100734063811 + ], + [ + -12.37985302573827, + 1.43588929819704, + 14.253781476820862 + ], + [ + -12.095265903621737, + 1.4057083447979508, + 14.63523340777877 + ], + [ + -11.799068648647733, + 1.3762038435443973, + 15.012960694700553 + ], + [ + -11.490939889243975, + 1.3475096491518848, + 15.385658962834682 + ], + [ + -11.170680824567455, + 1.3197625587682857, + 15.751987143943651 + ], + [ + -10.838856916112547, + 1.2928581731761826, + 16.113497928723852 + ], + [ + -10.496252032094048, + 1.2669493912766834, + 16.468666830731635 + ], + [ + -10.140826271088201, + 1.242142099001355, + 16.81653052834195 + ], + [ + -9.9420946126898, + 1.1704581148361224, + 17.064959263423937 + ], + [ + -9.737631417494754, + 1.0974227522292983, + 17.311584228973636 + ], + [ + -9.527323003304105, + 1.02315368138881, + 17.555279448617856 + ], + [ + -9.311377110302885, + 0.9475005609796172, + 17.797889180425777 + ], + [ + -9.08966687423981, + 0.8705812637664394, + 18.038287650527582 + ], + [ + -8.862187238916988, + 0.7924275868578639, + 18.276337421752498 + ], + [ + -8.628912673083164, + 0.7131764126612534, + 18.51090608106277 + ], + [ + -8.389910246871807, + 0.6326592235937305, + 18.743843830154425 + ], + [ + -8.145141409538155, + 0.5510132617764967, + 18.974017595039044 + ], + [ + -7.894613302946823, + 0.4682771678879769, + 19.201287975229548 + ], + [ + -7.6383891947961615, + 0.3846066923076146, + 19.42452335577923 + ], + [ + -7.376395585990451, + 0.2998159689494413, + 19.64556923769618 + ], + [ + -7.108682952503557, + 0.21406143768178687, + 19.863292507680413 + ], + [ + -6.835271074390278, + 0.12738842516495197, + 20.07755311611845 + ], + [ + -6.556212417777374, + 0.16237007821646188, + 20.28759091256974 + ], + [ + -6.271477297038189, + 0.1988452171263475, + 20.49420933297945 + ], + [ + -5.981091636764859, + 0.2367893951821216, + 20.69726139990793 + ], + [ + -5.684290568964968, + 0.2763074154438758, + 20.895438178304772 + ], + [ + -5.382725288818392, + 0.3171058144096932, + 21.090898483613557 + ], + [ + -5.075612561300261, + 0.3592860266748197, + 21.28235000920597 + ], + [ + -4.762994191310213, + 0.4028140956349464, + 21.469645156195725 + ], + [ + -4.444912486851024, + 0.44765283458064964, + 21.652637268474137 + ], + [ + -4.121415922400331, + 0.4937621104216916, + 21.8311794297004 + ], + [ + -3.792556360845765, + 0.5410980119804556, + 22.005125300122444 + ], + [ + -3.458386127613551, + 0.5896123964359212, + 22.1743297004019 + ], + [ + -3.1189579050055727, + 0.6392526837528791, + 22.338648513431707 + ], + [ + -2.7733973743916067, + 0.6899903100273317, + 22.49758733801903 + ], + [ + -2.423646111571429, + 0.7416992288522692, + 22.65168594612871 + ], + [ + -2.068823979755905, + 0.794333130307896, + 22.800470947049035 + ], + [ + -1.708993819809848, + 0.8478021377920744, + 22.943802727816717 + ], + [ + -1.3442247321074774, + 0.901994973710174, + 23.08154318185416 + ], + [ + -0.9745783520772875, + 0.9567636154499581, + 23.213557459001947 + ], + [ + -0.5992250379048869, + 1.011919641762196, + 23.339259485121204 + ], + [ + -0.21998820646160766, + 1.0669919537366344, + 23.459422657892446 + ], + [ + -0.0001960292232752181, + 1.0982130175934088, + 23.57516105791791 + ], + [ + 7.243790440725206e-05, + 1.0981781708897795, + 23.692361934440783 + ], + [ + -0.0001534114652486096, + 1.0981999324528608, + 23.80886937312829 + ], + [ + 0.0004840495747089335, + 1.0982529692163485, + 23.925063590479795 + ], + [ + 0.00024092304954592692, + 1.098274541419153, + 24.041920247972598 + ], + [ + -9.343455872112827e-06, + 1.098296021545318, + 24.15894887395274 + ], + [ + -0.0002670716002057816, + 1.098317414300812, + 24.2761469809451 + ], + [ + -0.0005340765310393181, + 1.0983387277258103, + 24.393512125508096 + ], + [ + 5.897426808587625e-05, + 1.098391184390346, + 24.510540356166587 + ], + [ + 0.0002816052153775672, + 1.0983586232949687, + 24.629091874440007 + ], + [ + -4.182212023806642e-06, + 1.0983797903458257, + 24.74694051290885 + ], + [ + -0.00029552778175911953, + 1.0984007333191403, + 24.864946878367505 + ], + [ + 0.00026423967284472383, + 1.0984528229067863, + 24.982598594495016 + ], + [ + -4.130817842451506e-05, + 1.0984734811332704, + 25.100911653288733 + ], + [ + -0.00035235296240898606, + 1.0984940042487157, + 25.219375869044768 + ], + [ + -0.00015248576909243639, + 1.0984627498636392, + 25.338843393990203 + ], + [ + 0.0003796261444222182, + 1.0985143769444754, + 25.45708405701822 + ], + [ + 5.3221031009798025e-05, + 1.0985346110346494, + 25.57598598257931 + ], + [ + -0.0002797628259827434, + 1.0985545710091706, + 25.69503083595788 + ], + [ + 0.00023294764190495698, + 1.098605485122098, + 25.813692364783208 + ], + [ + 0.00014922192167432513, + 1.0986175978343677, + 25.933015550268067 + ], + [ + 0.0003367864899246342, + 1.0986217496313149, + 26.05247617647916 + ], + [ + -0.0005737792327522584, + 1.0986364767446748, + 26.17175645495388 + ], + [ + 6.249911541544861e-05, + 1.0986165563134183, + 26.290023101006057 + ], + [ + 0.00025690861366456375, + 1.0986829988475435, + 26.40559948859584 + ], + [ + 7.02662055118708e-05, + 1.0986453311060185, + 26.522408163409523 + ], + [ + -0.0002721678191051069, + 1.0986749720433053, + 26.637700713441006 + ], + [ + 0.00012578376879446296, + 1.0986801262950774, + 26.753161565389405 + ], + [ + -0.0005968258329858145, + 1.0987237175688627, + 26.867654872711682 + ], + [ + -0.0004887796367825104, + 1.0987393012700757, + 26.982321749165976 + ], + [ + -1.1325033710818388e-07, + 1.098771278697983, + 27.096324690650818 + ], + [ + 0.0001645543562176499, + 1.0987837375093914, + 27.210214591403542 + ], + [ + 0.00015139449436674113, + 1.0987710196856213, + 27.32399990512357 + ], + [ + 0.000385620837391798, + 1.0988046582222992, + 27.436304773534516 + ], + [ + -0.0006748982231101763, + 1.098816868640709, + 27.548246283576304 + ], + [ + 0.0001273270980846064, + 1.0985122815289206, + 27.65977301497867 + ], + [ + -0.0001583287597668459, + 1.0985117241350508, + 27.770183333139755 + ], + [ + 0.0002050469470873395, + 1.0985356051570818, + 27.87914966205659 + ], + [ + -0.00036972671375679056, + 1.0985169538411004, + 27.987807501222846 + ], + [ + -0.00018356665356122903, + 1.0985134361396387, + 28.095044200490463 + ], + [ + 0.00021816641344685195, + 1.0985660608234777, + 28.20004626280877 + ], + [ + -0.00022803547500416244, + 1.098564208796299, + 28.30478746565501 + ], + [ + 0.00012825290758655683, + 1.0985669182146882, + 28.40814171769688 + ], + [ + -0.00011090157573789838, + 1.0985842542452957, + 28.509877396194156 + ], + [ + 0.0004499086014675413, + 1.0985996416684447, + 28.610249468215954 + ], + [ + 0.0004695937178098575, + 1.0986195448528377, + 28.70903532784064 + ], + [ + 0.0001305260835806621, + 1.0986307812859053, + 28.806256275776377 + ], + [ + -0.00031758939104520323, + 1.0986157351675363, + 28.901934266466412 + ] + ], + "target_bbox_half_world_m": [ + [ + 0.551, + 0.551, + 0.88 + ], + [ + 0.551, + 0.551, + 0.88 + ], + [ + 0.551, + 0.551, + 0.88 + ], + [ + 0.551, + 0.551, + 0.88 + ], + [ + 0.551, + 0.551, + 0.88 + ], + [ + 0.551, + 0.551, + 0.88 + ], + [ + 0.551, + 0.551, + 0.88 + ], + [ + 0.551, + 0.551, + 0.88 + ], + [ + 0.551, + 0.551, + 0.88 + ], + [ + 0.551, + 0.551, + 0.88 + ], + [ + 0.551, + 0.551, + 0.88 + ], + [ + 0.551, + 0.551, + 0.88 + ], + [ + 0.551, + 0.551, + 0.88 + ], + [ + 0.552, + 0.552, + 0.88 + ], + [ + 0.552, + 0.552, + 0.88 + ], + [ + 0.552, + 0.552, + 0.88 + ], + [ + 0.552, + 0.552, + 0.88 + ], + [ + 0.552, + 0.552, + 0.88 + ], + [ + 0.552, + 0.552, + 0.88 + ], + [ + 0.552, + 0.552, + 0.88 + ], + [ + 0.552, + 0.552, + 0.88 + ], + [ + 0.552, + 0.552, + 0.88 + ], + [ + 0.552, + 0.552, + 0.88 + ], + [ + 0.552, + 0.552, + 0.88 + ], + [ + 0.552, + 0.552, + 0.88 + ], + [ + 0.552, + 0.552, + 0.88 + ], + [ + 0.552, + 0.552, + 0.88 + ], + [ + 0.552, + 0.552, + 0.88 + ], + [ + 0.552, + 0.552, + 0.88 + ], + [ + 0.552, + 0.552, + 0.88 + ], + [ + 0.552, + 0.552, + 0.88 + ], + [ + 0.552, + 0.552, + 0.88 + ], + [ + 0.552, + 0.552, + 0.88 + ], + [ + 0.552, + 0.552, + 0.88 + ], + [ + 0.552, + 0.552, + 0.88 + ], + [ + 0.552, + 0.552, + 0.88 + ], + [ + 0.552, + 0.552, + 0.88 + ], + [ + 0.552, + 0.552, + 0.88 + ], + [ + 0.552, + 0.552, + 0.88 + ], + [ + 0.552, + 0.552, + 0.88 + ], + [ + 0.552, + 0.552, + 0.88 + ], + [ + 0.552, + 0.552, + 0.88 + ], + [ + 0.552, + 0.552, + 0.88 + ], + [ + 0.552, + 0.552, + 0.88 + ], + [ + 0.552, + 0.552, + 0.88 + ], + [ + 0.552, + 0.552, + 0.88 + ], + [ + 0.552, + 0.552, + 0.88 + ], + [ + 0.552, + 0.552, + 0.88 + ], + [ + 0.552, + 0.552, + 0.88 + ], + [ + 0.552, + 0.552, + 0.88 + ], + [ + 0.552, + 0.552, + 0.88 + ], + [ + 0.552, + 0.552, + 0.88 + ], + [ + 0.552, + 0.552, + 0.88 + ], + [ + 0.552, + 0.552, + 0.88 + ], + [ + 0.552, + 0.552, + 0.88 + ], + [ + 0.552, + 0.552, + 0.88 + ], + [ + 0.552, + 0.552, + 0.88 + ], + [ + 0.552, + 0.552, + 0.88 + ], + [ + 0.552, + 0.552, + 0.88 + ], + [ + 0.552, + 0.552, + 0.88 + ], + [ + 0.552, + 0.552, + 0.88 + ], + [ + 0.552, + 0.552, + 0.88 + ], + [ + 0.552, + 0.552, + 0.88 + ], + [ + 0.552, + 0.552, + 0.88 + ], + [ + 0.552, + 0.552, + 0.88 + ], + [ + 0.552, + 0.552, + 0.88 + ], + [ + 0.552, + 0.552, + 0.88 + ], + [ + 0.552, + 0.552, + 0.88 + ], + [ + 0.552, + 0.552, + 0.88 + ], + [ + 0.552, + 0.552, + 0.88 + ], + [ + 0.552, + 0.552, + 0.88 + ], + [ + 0.552, + 0.552, + 0.88 + ], + [ + 0.552, + 0.552, + 0.88 + ], + [ + 0.552, + 0.552, + 0.88 + ], + [ + 0.552, + 0.552, + 0.88 + ], + [ + 0.552, + 0.552, + 0.88 + ], + [ + 0.551, + 0.551, + 0.88 + ], + [ + 0.551, + 0.551, + 0.88 + ], + [ + 0.55, + 0.55, + 0.88 + ], + [ + 0.5489999999999999, + 0.5489999999999999, + 0.88 + ], + [ + 0.5479999999999999, + 0.5479999999999999, + 0.88 + ], + [ + 0.547, + 0.547, + 0.88 + ], + [ + 0.547, + 0.547, + 0.88 + ], + [ + 0.546, + 0.546, + 0.88 + ], + [ + 0.545, + 0.545, + 0.88 + ], + [ + 0.544, + 0.544, + 0.88 + ], + [ + 0.544, + 0.544, + 0.88 + ], + [ + 0.5429999999999999, + 0.5429999999999999, + 0.88 + ], + [ + 0.542, + 0.542, + 0.88 + ], + [ + 0.54, + 0.54, + 0.88 + ], + [ + 0.539, + 0.539, + 0.88 + ], + [ + 0.5379999999999999, + 0.5379999999999999, + 0.88 + ], + [ + 0.536, + 0.536, + 0.88 + ], + [ + 0.535, + 0.535, + 0.88 + ], + [ + 0.5329999999999999, + 0.5329999999999999, + 0.88 + ], + [ + 0.531, + 0.531, + 0.88 + ], + [ + 0.529, + 0.529, + 0.88 + ], + [ + 0.527, + 0.527, + 0.88 + ], + [ + 0.525, + 0.525, + 0.88 + ], + [ + 0.522, + 0.522, + 0.88 + ] + ], + "w2c_cam01": [ + [ + [ + -0.7953969564267239, + 0.6060888397810211, + -0.0, + -425.3214043671045 + ], + [ + 0.050930782847988576, + 0.06683869922494658, + -0.9964630668742359, + 24.410903479269102 + ], + [ + -0.6039451576951131, + -0.7925836801448107, + -0.08403187766992548, + -238.8384953093527 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.8126629106274058, + 0.5827340677278039, + 6.938893850537679e-18, + -432.11316424490144 + ], + [ + 0.048988432838013574, + 0.06831775353798455, + -0.9964601437085169, + 23.372328530007053 + ], + [ + -0.5806712865957089, + -0.8097861908020237, + -0.08406653382668205, + -226.42871601671206 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.8292433360798391, + 0.5588877253681446, + 6.93889385053786e-18, + -438.5404113675169 + ], + [ + 0.04699471018923593, + 0.06972786927778254, + -0.9964584895820848, + 22.313514160843923 + ], + [ + -0.5569084324861294, + -0.8263065527858108, + -0.08408613826946716, + -213.82803931163264 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.8451242462243357, + 0.5345699284880773, + 6.938893850537896e-18, + -444.5977239756741 + ], + [ + 0.04495224353773882, + 0.0710669061452296, + -0.9964581228791646, + 21.235875234637916 + ], + [ + -0.5326765613858021, + -0.8421309111372016, + -0.08409048375068648, + -201.0470516201193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.8602922445833279, + 0.5098011905731287, + -0.0, + -450.2799923715196 + ], + [ + 0.04286375478291908, + 0.07233281619450672, + -0.9964590619926547, + 20.140865559998957 + ], + [ + -0.507996030116609, + -0.8572459947435055, + -0.08407935467154266, + -188.09648943824666 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.8747345360620808, + 0.4846024055039925, + -0.0, + -455.5824232289525 + ], + [ + 0.04073205247773079, + 0.07352364045718843, + -0.9964613259905641, + 19.02997492208727 + ], + [ + -0.48288756956216056, + -0.8716391278780614, + -0.08405251878630116, + -174.98723049704202 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.888438937742106, + 0.4589948299313162, + 6.938893850537161e-18, + -460.500543637076 + ], + [ + 0.038560030150371676, + 0.07463751221604432, + -0.9964649345787345, + 17.9047280516484 + ], + [ + -0.4573722671968968, + -0.885298240670955, + -0.08400972719918705, + -161.73028461030518 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.9013938315007101, + 0.4330001853723265, + 6.938893850536624e-18, + -465.03018500341614 + ], + [ + 0.03635067819038519, + 0.07567266296550353, + -0.9964699073603819, + 16.766689973750193 + ], + [ + -0.43147166862659947, + -0.898211820974571, + -0.08395072265396475, + -148.33684598127655 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.9135883537553714, + 0.40664028315275186, + -0.0, + -469.16754977678113 + ], + [ + 0.03410704077171954, + 0.07662741868197452, + -0.9964762658869168, + 15.617445425737184 + ], + [ + -0.4052074049236187, + -0.9103691050130512, + -0.08387521465130343, + -134.81810027257234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.9250122178068662, + 0.3799373591896727, + -6.938893850535097e-18, + -472.90914787973185 + ], + [ + 0.031832255167918, + 0.07750020954367436, + -0.996484031508589, + 14.45861721851702 + ], + [ + -0.37860152538408515, + -0.9217598981947294, + -0.08378290432353193, + -121.18539746324079 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.9356557400519868, + 0.3529140633465446, + -0.0, + -476.2518086783465 + ], + [ + 0.02952954330295342, + 0.07828955987336568, + -0.9964932267141375, + 13.291862826998303 + ], + [ + -0.3516764876679783, + -0.9323746021854377, + -0.0836734678441198, + -107.45024533933994 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.9455099963685745, + 0.32559306928603143, + -0.0, + -479.1927305575043 + ], + [ + 0.027202182223890523, + 0.07899411149054046, + -0.9965038743688246, + 12.118858540750406 + ], + [ + -0.32445476887877117, + -0.9422043698030773, + -0.08354656471578643, + -93.6241109487596 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.9545666345861002, + 0.29799755055195803, + -0.0, + -481.7294220231901 + ], + [ + 0.024853535759294484, + 0.07961258722889576, + -0.9965159997285455, + 10.94131722743997 + ], + [ + -0.2969593407932466, + -0.9512409198111215, + -0.08340181288516349, + -79.71866299888794 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.9628180261306717, + 0.2701507885567567, + -0.0, + -483.85974885990584 + ], + [ + 0.022487030963116855, + 0.08014382960388348, + -0.9965296282674627, + 9.760974342441454 + ], + [ + -0.26921327859013455, + -0.9594766857712294, + -0.08323881361605523, + -65.74557250739595 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.9702572218465847, + 0.24207627610847673, + -6.938893850528527e-18, + -485.58191967860273 + ], + [ + 0.020106159756769066, + 0.08058677628891052, + -0.9965447876674665, + 8.579590371168882 + ], + [ + -0.24123986475750897, + -0.9669047736837096, + -0.0830571266023187, + -51.71656600906542 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.9768779863051109, + 0.2137975675083134, + -0.0, + -486.89449249365845 + ], + [ + 0.01771447237954781, + 0.08094048172890124, + -0.9965615063235221, + 7.398946209212954 + ], + [ + -0.2130624393835918, + -0.9735189945263548, + -0.08285628654669754, + -37.64335088247805 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.9826746854011278, + 0.18533877811131313, + 6.9388938505247405e-18, + -487.7963537398489 + ], + [ + 0.01531561405464882, + 0.08120408678769882, + -0.9965798152958469, + 6.220862938338648 + ], + [ + -0.18470489857794953, + -0.9793137539067145, + -0.08263577827096687, + -23.537863962992944 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.9876424731931107, + 0.1567237861493755, + -6.938893850522586e-18, + -488.2867553039791 + ], + [ + 0.012913263312364351, + 0.08137684539257924, + -0.9965997474736673, + 5.047170203207788 + ], + [ + -0.15619089886797602, + -0.9842842372355918, + -0.08239504499885188, + -9.411874224981466 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.9904593218018778, + 0.137805413013292, + -0.0, + -488.384791637538 + ], + [ + 0.01176848174698618, + 0.08458450357558461, + -0.9963468093953243, + 4.27782585832301 + ], + [ + -0.13730199663005715, + -0.9868409832394116, + -0.08539927119402604, + -0.0899469371669972 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.9929138212891776, + 0.11883662521681843, + -6.9388938505782806e-18, + -488.304157533763 + ], + [ + 0.010505480962077676, + 0.08777628300623422, + -0.9960848151695539, + 3.452311466600447 + ], + [ + -0.11837137080430918, + -0.9890263785483748, + -0.08840272116510361, + 9.227337076697323 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.9950050737021987, + 0.09982436229138397, + 6.9388938506076156e-18, + -488.0448824917926 + ], + [ + 0.009124482461460054, + 0.09094880383566552, + -0.9958137671777146, + 2.570960146929444 + ], + [ + -0.09940648708700033, + -0.9908397494532678, + -0.09140536761266836, + 18.536320848029494 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.9967323139782496, + 0.08077557967333779, + 6.9388938506379475e-18, + -487.6070613646729 + ], + [ + 0.007625794893014135, + 0.09409868948481694, + -0.995533667883457, + 1.6341469592054492 + ], + [ + -0.08041482179762406, + -0.992280575334958, + -0.09440718324460783, + 27.833352503187562 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.9980949102246487, + 0.06169724615937164, + -6.9388938506692715e-18, + -486.9908543246564 + ], + [ + 0.00600981399299944, + 0.09722256877260108, + -0.9952445198327021, + 0.6422887351206534 + ], + [ + -0.06140385868642317, + -0.993348488823993, + -0.09740814077636073, + 37.11478681862155 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.9990923639498966, + 0.04259634135706413, + -0.0, + -486.19648680460546 + ], + [ + 0.004277022480049129, + 0.10031707804291226, + -0.9949463256536188, + -0.4041561153136657 + ], + [ + -0.04238108573974987, + -0.9940432758926997, + -0.10040821293116584, + 46.37698677255969 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.9997243102460425, + 0.023479853131461954, + -0.0, + -485.22424941551867 + ], + [ + 0.0024279898988680717, + 0.10337886328929972, + -0.9946390880565992, + -1.5046878214217747 + ], + [ + -0.02335399198470387, + -0.9943648758797596, + -0.10340737244030912, + 55.616325092530104 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.9999905179221829, + 0.004354775048641707, + 6.938893850769224e-18, + -484.07449784021514 + ], + [ + 0.00046337241369057375, + 0.10640458227614404, + -0.9943228098342333, + -2.658765493590023 + ], + [ + -0.004330064294490626, + -0.9943133814472702, + -0.10640559204337198, + 64.8291857980206 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.9998908895890413, + -0.014771896182809791, + 6.938893850804541e-18, + -482.74765270321166 + ], + [ + -0.0016160874484192824, + 0.10939090665517172, + -0.9939974938612863, + -3.8658073889472684 + ], + [ + 0.014683215804046261, + -0.9938890384703322, + -0.10940284448847894, + 74.01196573757579 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.9994254616945946, + -0.03389316327147018, + -6.938893850840858e-18, + -481.2441994168405 + ], + [ + -0.003809561104316917, + 0.11233452407614591, + -0.9936631430946695, + -5.125191200869392 + ], + [ + 0.03367837531929974, + -0.9930922458592306, + -0.11239910253254531, + 83.16107611964986 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.998594404510741, + -0.05300203090296432, + -0.0, + -479.5646880036676 + ], + [ + -0.0061161338332831735, + 0.11523213203541266, + -0.9933197615337702, + -6.436253604233949 + ], + [ + 0.05264795302961614, + -0.9919235562733246, + -0.1153943306747422, + 92.27294409007816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.9973980220710066, + -0.07209150829913022, + -0.0, + -477.7097328952716 + ], + [ + -0.00853480677846654, + 0.11808047300493851, + -0.9929673504039214, + -7.798293588359248 + ], + [ + 0.07158450247716806, + -0.9903836719964423, + -0.11838851822680801, + 101.34401404543918 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.9958367520593194, + -0.09115461177551593, + -0.0, + -475.68001270746197 + ], + [ + -0.011064494494036155, + 0.12087627872579818, + -0.9926059148539235, + -9.21056751778935 + ], + [ + 0.0904805954753994, + -0.9884734512460499, + -0.12138162144303344, + 110.37074950548242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.9939111656498856, + -0.11018436729629584, + -3.4694469254980797e-17, + -473.47626999201276 + ], + [ + -0.013704028675047462, + 0.12361633005423456, + -0.9922354572086182, + -10.672294966262498 + ], + [ + 0.10932882489173021, + -0.9861939009907629, + -0.12437362138498063, + 119.34963422539401 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.9916221565030375, + -0.129172360558537, + 6.938893850955699e-18, + -471.0994995995817 + ], + [ + -0.015677921181171683, + 0.120355267519578, + -0.9926070785400067, + -11.40765249512514 + ], + [ + 0.1282173884381865, + -0.9842911731000736, + -0.1213721049474353, + 128.3477237230403 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.9889702311562905, + -0.148114421602601, + -0.0, + -468.5502253548659 + ], + [ + -0.017533537579157467, + 0.11707264238705545, + -0.9929685651945244, + -12.084391093400066 + ], + [ + 0.14707295386897135, + -0.9820163529639624, + -0.11837832889348267, + 137.3050071463876 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.9859562618778326, + -0.16700374146674338, + -0.0, + -465.8293244398378 + ], + [ + -0.019270986612012576, + 0.11377200148813042, + -0.9933199689689038, + -12.702800260183732 + ], + [ + 0.16588814063018037, + -0.9793700451541664, + -0.11539254504944213, + 146.2179553602146 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.9825812684565218, + -0.18583339548738964, + -0.0, + -462.93775314003204 + ], + [ + -0.020890466538970264, + 0.11045690176770638, + -0.993661341332983, + -13.26321347893403 + ], + [ + 0.1846554505397142, + -0.9763530230662901, + -0.11241502984606411, + 155.08299371299938 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.978846403227765, + -0.2045964781907736, + 6.938893850805059e-18, + -459.8765305825407 + ], + [ + -0.022392284927763944, + 0.10713091327581539, + -0.9939927328690099, + -13.766017995118794 + ], + [ + 0.20336740218718133, + -0.9729662134623208, + -0.10944609261381047, + 163.89656605991152 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.9747529209902239, + -0.22328623562823238, + -0.0, + -456.64671533526916 + ], + [ + -0.02377687663527699, + 0.10379762051633602, + -0.9943141928548627, + -14.211663606974712 + ], + [ + 0.22201666303196968, + -0.9692106660957447, + -0.10648608389076936, + 172.65519667500922 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.9703022306369108, + -0.24189580653875595, + -6.9388938507363525e-18, + -453.24944768910285 + ], + [ + -0.02504477579540599, + 0.10046061636124438, + -0.9946257707126214, + -14.600648700568486 + ], + [ + 0.24059579307399862, + -0.9650876063629099, + -0.10353538718623131, + 181.35536972701394 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.9654958378014084, + -0.26041848472824763, + 6.938893850703631e-18, + -449.68590437039893 + ], + [ + -0.026196654592029422, + 0.09712352408209078, + -0.9949275131174435, + -14.933540492829394 + ], + [ + 0.2590975056319253, + -0.9605983753771042, + -0.10059445212427147, + 189.99365157554126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.960335406362064, + -0.27884746240087865, + 6.938893850671986e-18, + -445.95734545465257 + ], + [ + -0.0272332987479245, + 0.09378999111015453, + -0.9952194657495718, + -15.210962748785477 + ], + [ + 0.2775144129983215, + -0.9557444927582681, + -0.09766378622825332, + 198.56657188476905 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.9548227306714148, + -0.2971759630138062, + -0.0, + -442.06509204989266 + ], + [ + -0.028155635687942, + 0.09046371274012278, + -0.995501670946001, + -15.433611001185405 + ], + [ + 0.29583915838025526, + -0.9505276266824079, + -0.0947439881067463, + 207.07068559365175 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.9489596929833131, + -0.31539737014283437, + -1.3877787701223805e-17, + -438.0104970855794 + ], + [ + -0.028964758262120388, + 0.08714843784306085, + -0.9957741674497941, + -15.602264410442515 + ], + [ + 0.31406454449987264, + -0.9449495512026685, + -0.0918357641116089, + 215.50263234905668 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.9427482507737586, + -0.333505225840643, + -0.0, + -433.79493928832926 + ], + [ + -0.02966193345302623, + 0.08384796911929011, + -0.9960369911697047, + -15.717789990814726 + ], + [ + 0.3321835327126346, + -0.9390121342404072, + -0.08893993672040348, + 223.85913531202638 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.9361905646663089, + -0.3514928543082741, + -0.0, + -429.41991022880484 + ], + [ + -0.030248605756107008, + 0.08056624467916465, + -0.9962901696133051, + -15.781149723257984 + ], + [ + 0.3501888666622231, + -0.9327174596947797, + -0.08605752754027352, + 232.13682760289973 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.9292888742956225, + -0.3693537438694437, + -0.0, + -424.88692873044573 + ], + [ + -0.030726460393263627, + 0.07730734631469702, + -0.9965337218767263, + -15.793431690405711 + ], + [ + 0.36807345249302986, + -0.9260677039506192, + -0.08318979065660266, + 240.33242812978935 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.9220454857644095, + -0.38708154461492184, + -1.387778770100887e-17, + -420.19753495876887 + ], + [ + -0.031097484223639223, + 0.07407559297501871, + -0.9967676524648857, + -15.755885819739357 + ], + [ + 0.3858303541654854, + -0.9190651177719221, + -0.0803383289558501, + 248.44273860664447 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.9144627593317345, + -0.4046700653561984, + 6.938893850480197e-18, + -415.35328466876945 + ], + [ + -0.03136405853187833, + 0.07087567370138356, + -0.9969919431518911, + -15.669977694962077 + ], + [ + 0.40345278662469664, + -0.9117120069307367, + -0.07750526035757282, + 256.46463966056973 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.9065432097776418, + -0.4221130284722924, + -0.0, + -410.3558141489708 + ], + [ + -0.031529113430215354, + 0.0677129151732566, + -0.9972065363429202, + -15.537481210507803 + ], + [ + 0.4209338631014883, + -0.9040108179293136, + -0.07469353359716492, + 264.3949756532661 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.8982892543706076, + -0.4394046147712805, + 6.9388938504349036e-18, + -405.20668186631536 + ], + [ + -0.031596516997465865, + 0.06459379519519996, + -0.9974113001845875, + -15.36070130809411 + ], + [ + 0.43826712036392484, + -0.8959638568959422, + -0.07190756805830999, + 272.23079272134527 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.8897032940682668, + -0.45653920809069065, + -0.0, + -399.9074248239391 + ], + [ + -0.03157184669717798, + 0.06152719308331047, + -0.9976059457558475, + -15.142931122025674 + ], + [ + 0.45544622090472175, + -0.8875732999572782, + -0.06915473278492826, + 279.96920168407115 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.8807872239706279, + -0.47351226603976654, + -0.0, + -394.4592635139268 + ], + [ + -0.03146499161272448, + 0.05852849989846559, + -0.9977897418807463, + -14.889986897687848 + ], + [ + 0.4724656743574001, + -0.8788404607709775, + -0.06645021494218688, + 287.6076988022406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.8749539611995146, + -0.4842061191076359, + -0.0, + -390.92230137441436 + ], + [ + -0.0313753613182666, + 0.056694856975529014, + -0.9978984316525767, + -14.723580687007505 + ], + [ + 0.48318851963293036, + -0.8731151896082505, + -0.06479753213113852, + 292.405508086079 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.8736304039886768, + -0.486590091582824, + -3.4694469251900477e-18, + -390.1226082567812 + ], + [ + -0.031374112353992095, + 0.05632950387757498, + -0.997919161088164, + -14.698463866557129 + ], + [ + 0.48557756879422775, + -0.8718125238183223, + -0.06447749993147947, + 293.4728546013691 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.8723137310744848, + -0.4889465764057573, + -0.0, + -389.32808326903967 + ], + [ + -0.03137087423470422, + 0.05596775940616044, + -0.9979396164882945, + -14.67262712474557 + ], + [ + 0.48793915177866, + -0.8705164342243275, + -0.06416012707970589, + 294.5273642535564 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.871003916539806, + -0.49127607042509014, + 3.4694469251878553e-18, + -388.5386806577285 + ], + [ + -0.03136571150913234, + 0.055609583316103404, + -0.9979598019885043, + -14.64609898142664 + ], + [ + 0.49027376282880875, + -0.8692269000689924, + -0.06384538885566302, + 295.56927465842585 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.8697009934062109, + -0.49357895221357406, + -6.938893850373561e-18, + -387.75439109013985 + ], + [ + -0.03135867992260854, + 0.05525493937350682, + -0.9979797216719091, + -14.618903965859865 + ], + [ + 0.4925817782472869, + -0.8679439593341441, + -0.06353326053422952, + 296.5987703005991 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.8684049562431805, + -0.49585565638830786, + -0.0, + -386.9751828842606 + ], + [ + -0.031349837640931646, + 0.0549037891048771, + -0.9979993795698544, + -14.591067628797363 + ], + [ + 0.4948636303538996, + -0.8666676115518148, + -0.06322371738541717, + 297.616060194695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.8671158268429631, + -0.49810655771475654, + 3.4694469251846756e-18, + -386.2010415292949 + ], + [ + -0.031339237888907724, + 0.05455609598745799, + -0.998018779662562, + -14.562613261225607 + ], + [ + 0.4971196918223823, + -0.865397883346338, + -0.0629167346744684, + 298.62132631042226 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.8658336550741399, + -0.5003319715358545, + -0.0, + -385.43197006992216 + ], + [ + -0.03132692908592232, + 0.05421182545950648, + -0.9980379258797702, + -14.533561960637876 + ], + [ + 0.49935027610050126, + -0.8641348292900187, + -0.06261228766195218, + 299.6147238330214 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.8645583524176077, + -0.5025324420024554, + 3.4694469251826233e-18, + -384.6678893043797 + ], + [ + -0.03131297499834018, + 0.0538709380950304, + -0.9980568218420806, + -14.503941925344252 + ], + [ + 0.5015559249423005, + -0.8628783655421628, + -0.062310355756961394, + 300.5965091640991 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.863290025175358, + -0.5047081656093249, + -0.0, + -383.90883752432677 + ], + [ + -0.03129741451717764, + 0.053533403276403636, + -0.9980754713838959, + -14.473769907203316 + ], + [ + 0.5037368333336171, + -0.8616286028572328, + -0.06201091421123109, + 301.56678393426307 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.8620286076992324, + -0.5068596250522651, + -0.0, + -383.1547507010491 + ], + [ + -0.031280303371091285, + 0.05319917987275267, + -0.9980938782909546, + -14.443070101302297 + ], + [ + 0.5058934819760375, + -0.8603854803035142, + -0.06171393827209341, + 302.52577652246873 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.8607740961062058, + -0.5089871859610459, + -0.0, + -382.40560251309716 + ], + [ + -0.03126169106143516, + 0.052868234423916784, + -0.9981120460453712, + -14.411864204124626 + ], + [ + 0.5080262346754504, + -0.8591489983023846, + -0.06141940733589952, + 303.47366287413655 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.8595265497990618, + -0.5110910977414113, + -0.0, + -381.66140502568123 + ], + [ + -0.031241614778076254, + 0.052540530404498756, + -0.9981299785954093, + -14.380167749105693 + ], + [ + 0.5101353395601471, + -0.8579192208156363, + -0.061127292488256595, + 304.41056718367025 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.8582858879394144, + -0.5131718372670606, + 3.469446925177724e-18, + -380.92208725045384 + ], + [ + -0.031220128929926434, + 0.05221603005906978, + -0.9981476793313045, + -14.34800452019224 + ], + [ + 0.5122212716034641, + -0.8566960713194198, + -0.06083757311729261, + 305.3367140340267 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.8570521268866498, + -0.5152297077994141, + 3.4694469251767827e-18, + -380.18763682841654 + ], + [ + -0.03119727421115803, + 0.05189469825010237, + -0.9981651518538024, + -14.315391840420052 + ], + [ + 0.5142843326880631, + -0.8554795704575221, + -0.060550224453814486, + 306.25225074709016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.8558252790277749, + -0.5172650111664534, + -0.0, + -379.45803957460885 + ], + [ + -0.031173092495688684, + 0.05157650335389942, + -0.9981823994671718, + -14.282347839737595 + ], + [ + 0.5163248231948692, + -0.8542697346287224, + -0.060265225878273786, + 307.15732365209243 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.8546053528449687, + -0.5192780477631674, + -0.0, + -378.73327951075936 + ], + [ + -0.031147622580158667, + 0.05126141014445268, + -0.998199425684871, + -14.248888917633796 + ], + [ + 0.5183430422614876, + -0.8530665764880472, + -0.059982552613808186, + 308.0520782087998 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.8533922488653789, + -0.521269287006717, + -0.0, + -378.0132771318708 + ], + [ + -0.031120914663096567, + 0.05094938070031602, + -0.9982162337273356, + -14.215036810746543 + ], + [ + 0.5203394576720773, + -0.8518700006521883, + -0.05970218403349502, + 308.93673426128447 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.8521860364536169, + -0.5232389122317592, + -0.0, + -377.2980537395153 + ], + [ + -0.0310930009457885, + 0.05064038743682673, + -0.9982328267756141, + -14.180805240061268 + ], + [ + 0.5223142516993294, + -0.8506800802120378, + -0.05942409950693862, + 309.811384789342 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.8509866774302546, + -0.525187275965646, + 3.469446925172251e-18, + -376.5875672959723 + ], + [ + -0.031063918607624565, + 0.050334389452335995, + -0.9982492084640986, + -14.146209442721272 + ], + [ + 0.5242677758158318, + -0.8494967812688767, + -0.059148270092529875, + 310.6761974418674 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.8497888301109231, + -0.5271232723174994, + -0.0, + -375.87863897434977 + ], + [ + -0.031034364458846733, + 0.050031288033958156, + -0.9982653647404074, + -14.11157998781771 + ], + [ + 0.5262088990152545, + -0.8483147605599071, + -0.05887496593070052, + 311.53510687556104 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.8485921789834746, + -0.529047553409028, + -3.4694469251705204e-18, + -375.17107253837196 + ], + [ + -0.031004392808415448, + 0.049731040398577266, + -0.9982812986565741, + -14.076940276272616 + ], + [ + 0.5281382720045575, + -0.847133706588487, + -0.05860417054861753, + 312.38840700052367 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.8473965438485423, + -0.5309605422943829, + 3.4694469251696737e-18, + -374.464752527961 + ], + [ + -0.03097403697050143, + 0.04943360153359093, + -0.9982970139558507, + -14.04230339999624 + ], + [ + 0.5300563172612969, + -0.8459534434895909, + -0.058335855007832296, + 313.2362903263559 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.8461372007904221, + -0.5329651371699172, + -3.4694469251688494e-18, + -373.72148739583076 + ], + [ + -0.03095117534765099, + 0.04913818755369266, + -0.9983123074812496, + -14.011429295747876 + ], + [ + 0.5320656492809055, + -0.8447091855021082, + -0.05807354633267983, + 314.12408449289285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.8448328298255009, + -0.5350303632963609, + 3.469446925168044e-18, + -372.95238501599124 + ], + [ + -0.030933436713776116, + 0.04884504631497288, + -0.9983272429136464, + -13.983187091504288 + ], + [ + 0.5341353808765922, + -0.8434196338642176, + -0.057816227031578835, + 315.03809252737096 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.8435083989823384, + -0.5371159845380251, + -0.0, + -372.17221446504084 + ], + [ + -0.03091768810811901, + 0.0485543725136865, + -0.9983419101048755, + -13.956073732020625 + ], + [ + 0.5362253913897963, + -0.8421097903773793, + -0.05756240595585007, + 315.96056960129164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.8421718548859848, + -0.5392092050752655, + -0.0, + -371.3856756439111 + ], + [ + -0.030902920377470867, + 0.048266182273456845, + -0.9983563417742631, + -13.929601939805666 + ], + [ + 0.5383229228947171, + -0.8407876163432393, + -0.057311559828212136, + 316.8858735821833 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.8408267646803617, + -0.5413043060951533, + -3.4694469251657094e-18, + -370.5948766049593 + ], + [ + -0.030888685298716443, + 0.04798046686956172, + -0.9983705544132878, + -13.903554216488136 + ], + [ + 0.5404222736738642, + -0.8394566873795657, + -0.057063439529154054, + 317.8114840231932 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.8394718315141094, + -0.5434032058189818, + -0.0, + -369.79906171118995 + ], + [ + -0.030875125726417683, + 0.047697175990563265, + -0.9983845481646353, + -13.877996309384624 + ], + [ + 0.5425253576308036, + -0.8381157093692438, + -0.05681807842630787, + 318.73824047615466 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.838106465393577, + -0.5455066935111654, + -3.469446925164213e-18, + -368.997892767288 + ], + [ + -0.030862303229028366, + 0.04741627587866861, + -0.9983983248289219, + -13.852955740152977 + ], + [ + 0.5446329625292672, + -0.8367640952492258, + -0.05657548080519015, + 319.66648482388143 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.8367287189179776, + -0.5476176137944067, + -0.0, + -368.19023747697725 + ], + [ + -0.030850433182723434, + 0.04713771577978507, + -0.9984118822026822, + -13.828533321582754 + ], + [ + 0.5467479260874478, + -0.8353998993257421, + -0.056335721577120995, + 320.5974601664914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.8353358467504117, + -0.5497399595570367, + -3.469446925162764e-18, + -367.37450074884697 + ], + [ + -0.03083982308681342, + 0.04686144655122776, + -0.998425215095803, + -13.804874554959266 + ], + [ + 0.5488742309661807, + -0.8340203766525605, + -0.056098929665416436, + 321.5329103121604 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.8339248782782638, + -0.55187797327723, + -0.0, + -366.54896182035793 + ], + [ + -0.03083080334120791, + 0.04658742542461006, + -0.9984383172523189, + -13.782136451267895 + ], + [ + 0.5510161085935136, + -0.8326225563722149, + -0.0558652547712723, + 322.47468440554854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.8324928347048363, + -0.5540358112659378, + 3.469446925161364e-18, + -365.7119017300165 + ], + [ + -0.030823694830906082, + 0.0463156073381342, + -0.9984511827595132, + -13.76047126351662 + ], + [ + 0.5531777047031525, + -0.8312034596447003, + -0.05563484244637691, + 323.4245895821258 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.8310370621620381, + -0.556217045147925, + -0.0, + -364.86179780001027 + ], + [ + -0.030818776896458035, + 0.04604595640295135, + -0.9984638064995365, + -13.74001175585245 + ], + [ + 0.5553625818197789, + -0.8297604326288998, + -0.055407825782740575, + 324.3841725015017 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.8295552751454094, + -0.5584246103803306, + -0.0, + -363.9973480911602 + ], + [ + -0.030984083081677133, + 0.04602771634373913, + -0.9984595314401921, + -13.81878371179499 + ], + [ + 0.5575643685347133, + -0.8282773755310525, + -0.0554848098480868, + 325.35055338738385 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.8280453769751598, + -0.5606610862812449, + -0.0, + -363.1173658238093 + ], + [ + -0.030984231155028272, + 0.045760888342054225, + -0.9984717915484032, + -13.800965342060458 + ], + [ + 0.5598042730090885, + -0.8267799552428543, + -0.05526374516253872, + 326.333146932424 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.8265056132462538, + -0.5629284779369699, + -3.4694469251596065e-18, + -362.2208681949478 + ], + [ + -0.03098719558816246, + 0.045496172420048456, + -0.9984837965659262, + -13.784651774211458 + ], + [ + 0.5620749576130798, + -0.8252524668136798, + -0.05504641716034747, + 327.328637331906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.8249344656313417, + -0.5652283851803027, + -6.938893850317947e-18, + -361.30701370490215 + ], + [ + -0.03099311876564631, + 0.045233559632769364, + -0.9984955441423498, + -13.769911304203916 + ], + [ + 0.5643780178223744, + -0.8236933923642222, + -0.05483291324019927, + 328.3376953571327 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.8233308076731629, + -0.5675617861838984, + -0.0, + -360.375191994927 + ], + [ + -0.031002095132209452, + 0.044973041959685024, + -0.9985070333224028, + -13.756789091140947 + ], + [ + 0.5667144291767539, + -0.8221016064398564, + -0.0546232958715772, + 329.3607179899846 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.8216938748376342, + -0.569929097392223, + 3.4694469251577495e-18, + -359.4250053527102 + ], + [ + -0.031014177256239724, + 0.04471461380228977, + -0.9985182642904589, + -13.745310191922995 + ], + [ + 0.5690846069543307, + -0.8204763459134168, + -0.054417606748205116, + 330.397855298225 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.8200231577585925, + -0.5723303423195614, + 3.469446925157158e-18, + -358.4562057810692 + ], + [ + -0.031029390113251995, + 0.044458272753578734, + -0.9985292378959005, + -13.73548652487797 + ], + [ + 0.5714885744296638, + -0.8188171030113043, + -0.05421587509693125, + 331.44908472073814 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.8183182929027457, + -0.5747653186307747, + -0.0, + -357.4686309333756 + ], + [ + -0.031047740378182736, + 0.0442040135011754, + -0.9985399556391307, + -13.72732095773609 + ], + [ + 0.5739261296885653, + -0.8171235161365374, + -0.054018117677000224, + 332.5142844718822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.8165790658096721, + -0.5772336002706382, + 3.469446925156016e-18, + -356.46220553867846 + ], + [ + -0.031069221412355862, + 0.04395183472417469, + -0.9985504192103715, + -13.720810183290265 + ], + [ + 0.5763968474845793, + -0.8153953727304366, + -0.053824347089687495, + 333.5932346662925 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.8148051056819013, + -0.5797349737204971, + 3.4694469251554657e-18, + -355.43676448366193 + ], + [ + -0.031093846455307345, + 0.04370173613035855, + -0.9985606295923177, + -13.715960582952505 + ], + [ + 0.5789005143394592, + -0.813632303577477, + -0.05363458839889049, + 334.68580744979613 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.8129949905041576, + -0.5822706805388235, + 3.469446925154931e-18, + -354.3915368144409 + ], + [ + -0.03112176337474114, + 0.04345373820970415, + -0.9985705826230057, + -13.712845080830277 + ], + [ + 0.5814383667272821, + -0.8118328855949006, + -0.05344896223658788, + 335.79250639171886 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.8111446275200203, + -0.5848456148808912, + -0.0, + -353.32421532323747 + ], + [ + -0.031153446969546205, + 0.04320790050417614, + -0.9985802622102727, + -13.711697427842868 + ], + [ + 0.5840152815110785, + -0.8099930191017415, + -0.053267813621186835, + 336.9154182578622 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.809248523299256, + -0.5874664480104148, + -3.469446925153903e-18, + -352.2316963708273 + ], + [ + -0.0311895552671463, + 0.04296432864852089, + -0.9985896445016939, + -13.71284313305555 + ], + [ + 0.5866379055602815, + -0.808107199461951, + -0.05309163717205486, + 338.0573928349803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ] + ], + "cv_convention": "opencv_rh camera space of cam01 at the same frame t (X right, Y down, Z forward), metres -- same frame as points_target.npz xyz. Back to world: X_world = inv(w2c_cam01[t]) @ X" +} \ No newline at end of file diff --git a/clips/clip_00208/.capture_done b/clips/clip_00208/.capture_done new file mode 100644 index 0000000000000000000000000000000000000000..916635435aeff53788b51e5352b765a5b2aa03ba --- /dev/null +++ b/clips/clip_00208/.capture_done @@ -0,0 +1,73 @@ +{ + "clip": "clip_00208", + "frames": 144, + "frame_count": 144, + "frame_bucket": 144, + "spec_gen": "gen3", + "bucket_retired": false, + "target_class": "pedestrian", + "target_model": "arch_e83630cc", + "target_class_fallback": false, + "target_lost_frame": null, + "hfov_deg_per_cam": [ + 45.485, + 84.854, + 26.374, + 72.142 + ], + "oos_allowed": [ + false, + false, + true, + true + ], + "oos_effective": [ + false, + false, + true, + true + ], + "oos_departed": [ + false, + false, + true, + true + ], + "oos_cycles": [ + 0, + 0, + 1, + 1 + ], + "oos_forced_returns": 0, + "visible_ratio": [ + 1.0, + 1.0, + 0.0625, + 0.7431 + ], + "min_visible_ratio_non_oos": 1.0, + "points_ok": true, + "points_n": 256, + "points_track_complete_ratio": 1.0, + "points_track_breaks": 0, + "points_in_frustum_ratio": 0.763, + "num_cams": 4, + "save_errors": 0, + "flush_ok": true, + "quality_ok": true, + "view_blocked": false, + "view_block_ratios": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "depth_qc": { + "frames": 576, + "sky": 0, + "near": 0, + "const": 74 + }, + "capture_wall_sec": 29.2 +} \ No newline at end of file diff --git a/clips/clip_00208/cameras.json b/clips/clip_00208/cameras.json new file mode 100644 index 0000000000000000000000000000000000000000..0cd6ab0db21668355cb07cac09069484c0d0ed2c --- /dev/null +++ b/clips/clip_00208/cameras.json @@ -0,0 +1,39635 @@ +{ + "convention": "opencv_w2c_rh_meters (X right, Y down, Z forward)", + "resolution": [ + 1280, + 1280 + ], + "num_cams": 4, + "frames": 144, + "fps": 15, + "intrinsics_mode": "per_camera", + "hfov_deg_per_cam": [ + 45.485, + 84.854, + 26.374, + 72.142 + ], + "hfov_range_deg": [ + 26.374, + 84.854 + ], + "oos_allowed_per_cam": [ + false, + false, + true, + true + ], + "num_oos_allowed": 2, + "depth": { + "present": true, + "format": "png16_gray", + "unit": "cm", + "clamp_cm": 65535, + "note": "16-bit grayscale PNG; pixel value = SCS_SceneDepth linear depth in cm (metres = value/100), clamped to 65535cm. Pixel-aligned with RGB." + }, + "cameras": [ + { + "name": "cam01", + "intrinsics": { + "fx": 1526.787148114586, + "fy": 1526.787148114586, + "cx": 640.0, + "cy": 640.0, + "width": 1280, + "height": 1280, + "fov_deg": 45.485, + "hfov_deg": 45.485 + }, + "oos_allowed": false, + "oos_reason": "none", + "pinned": false, + "oos_effective": false, + "oos_cycles": 0, + "oos_departed": false, + "oos_schedule": null + }, + { + "name": "cam02", + "intrinsics": { + "fx": 700.2264723159094, + "fy": 700.2264723159094, + "cx": 640.0, + "cy": 640.0, + "width": 1280, + "height": 1280, + "fov_deg": 84.854, + "hfov_deg": 84.854 + }, + "oos_allowed": false, + "oos_reason": "none", + "pinned": false, + "oos_effective": false, + "oos_cycles": 0, + "oos_departed": false, + "oos_schedule": null + }, + { + "name": "cam03", + "intrinsics": { + "fx": 2731.4414294549797, + "fy": 2731.4414294549797, + "cx": 640.0, + "cy": 640.0, + "width": 1280, + "height": 1280, + "fov_deg": 26.374, + "hfov_deg": 26.374 + }, + "oos_allowed": true, + "oos_reason": "sampled", + "pinned": false, + "oos_effective": true, + "oos_cycles": 1, + "oos_departed": true, + "oos_schedule": { + "windows": [ + 28 + ], + "target_out_frames": [ + 13 + ], + "opened_at": 28, + "left_at": 47, + "out_run_max": 13, + "returned_at": 75, + "cycles_live": 1, + "forced_returns": 0, + "aim_offset": { + "applied": true, + "reason": null, + "deg": 15.08, + "cm": 622.0, + "frac": 1.15 + }, + "events": [ + { + "window": 0, + "opened_at": 28, + "left_at": 47, + "out_run": 13, + "return_at": 59, + "forced": false + } + ] + } + }, + { + "name": "cam04", + "intrinsics": { + "fx": 878.5928310505535, + "fy": 878.5928310505535, + "cx": 640.0, + "cy": 640.0, + "width": 1280, + "height": 1280, + "fov_deg": 72.142, + "hfov_deg": 72.142 + }, + "oos_allowed": true, + "oos_reason": "sampled", + "pinned": false, + "oos_effective": true, + "oos_cycles": 1, + "oos_departed": true, + "oos_schedule": { + "windows": [ + 25 + ], + "target_out_frames": [ + 15 + ], + "opened_at": 25, + "left_at": 35, + "out_run_max": 15, + "returned_at": 85, + "cycles_live": 1, + "forced_returns": 0, + "aim_offset": { + "applied": true, + "reason": null, + "deg": 39.95, + "cm": 604.3, + "frac": 1.15 + }, + "events": [ + { + "window": 0, + "opened_at": 25, + "left_at": 35, + "out_run": 15, + "return_at": 49, + "forced": false + } + ] + } + } + ], + "per_frame": [ + { + "frame": 0, + "time": 1136.936370767653, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -2.4211808914522415e-06, + 0.9999999999970689, + -0.0, + 21.02595293575459 + ], + [ + 0.13150948588998893, + 3.1840825428248265e-07, + -0.9913149121852496, + 52.52151007540821 + ], + [ + -0.9913149120480416, + -2.37602817181362e-06, + -0.13150948690318123, + -363.0767520134825 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -2.4211808914522415e-06, + 0.13150948588998893, + -0.9913149120480416, + -366.83042497427397 + ], + [ + 0.9999999999970689, + 3.1840825428248265e-07, + -2.37602817181362e-06, + -21.02684109863157 + ], + [ + -0.0, + -0.9913149121852496, + -0.13150948690318123, + 4.317319078436037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36683.0424974274, + 2102.684109863157, + 431.73190784360366 + ], + "rotation_deg": [ + 0.0, + -7.556828498840333, + 179.99986267089844 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5555709137612667, + 0.8314691574451037, + -2.775557543931479e-17, + 227.92473076052775 + ], + [ + 0.33287721595671327, + -0.22242183896230433, + -0.9163630746868481, + 123.914883172212 + ], + [ + -0.7619276426280601, + 0.5091046549656275, + -0.4003482455207925, + -271.35150241865233 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5555709137612667, + 0.33287721595671327, + -0.7619276426280601, + -374.6269975360886 + ], + [ + 0.8314691574451037, + -0.22242183896230433, + 0.5091046549656275, + -23.804692263729574 + ], + [ + -2.775557543931479e-17, + -0.9163630746868481, + -0.4003482455207925, + 4.915927718875242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -37462.69975360886, + 2380.4692263729576, + 491.5927718875242 + ], + "rotation_deg": [ + 1.7354227673261775e-15, + -23.599950790405284, + -146.24995422363284 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.40274571187069186, + -0.9153119094438622, + 8.673617312741286e-19, + -176.7710760699291 + ], + [ + 0.0240142356300665, + -0.01056648594219438, + -0.9996557736850906, + 13.386624812057391 + ], + [ + 0.9149968337006368, + -0.40260707913434024, + 0.02623612297433974, + 360.43389890530455 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.40274571187069186, + 0.0240142356300665, + 0.9149968337006368, + -401.31113967857533 + ], + [ + -0.9153119094438622, + -0.01056648594219438, + -0.40260707913434024, + -16.545983158510953 + ], + [ + 8.673617312741286e-19, + -0.9996557736850906, + 0.02623612297433974, + 3.9256287460066854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -40131.113967857535, + 1654.5983158510953, + 392.5628746006685 + ], + "rotation_deg": [ + -4.9713279517142806e-17, + 1.5033916234970102, + 23.749938964843764 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.9167539111889271, + -0.3994524581471549, + -1.110223025062998e-16, + -358.02887156252 + ], + [ + -0.3068403549978621, + 0.7042066954843011, + -0.6402670744149405, + -103.01888323904221 + ], + [ + 0.25575624938988817, + -0.5869673421949676, + -0.7681523807777941, + 92.06351485324234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.9167539111889271, + -0.3068403549978621, + 0.25575624938988817, + -383.3805396753139 + ], + [ + -0.3994524581471549, + 0.7042066954843011, + -0.5869673421949676, + -16.43064702091901 + ], + [ + -1.110223025062998e-16, + -0.6402670744149405, + -0.7681523807777941, + 4.759210855434242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -38338.05396753139, + 1643.064702091901, + 475.92108554342417 + ], + "rotation_deg": [ + 9.935087510979357e-15, + -50.18826293945308, + 66.4560470581054 + ] + } + } + ] + }, + { + "frame": 1, + "time": 1137.0030374377966, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.00512046174822123, + 0.999986890349811, + -0.0, + 19.150309668759327 + ], + [ + 0.13150729984758597, + 0.0006733869263484698, + -0.9913149734755571, + 52.51940635904155 + ], + [ + -0.9913019776719973, + -0.005075966316497887, + -0.13150902489768912, + -363.0621942522297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.00512046174822123, + 0.13150729984758597, + -0.9913019776719973, + -366.7128985863444 + ], + [ + 0.999986890349811, + 0.0006733869263484698, + -0.005075966316497887, + -21.028324712531074 + ], + [ + -0.0, + -0.9913149734755571, + -0.13150902489768912, + 4.317319078436037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36671.28985863444, + 2102.8324712531075, + 431.73190784360366 + ], + "rotation_deg": [ + 0.0, + -7.556801795959472, + 179.7066192626953 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5555709137612667, + 0.8314691574451037, + -2.775557543931479e-17, + 227.91146844188867 + ], + [ + 0.33287721595671327, + -0.22242183896230433, + -0.9163630746868481, + 123.86176710476131 + ], + [ + -0.7619276426280601, + 0.5091046549656275, + -0.4003482455207925, + -271.2299242581064 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5555709137612667, + 0.33287721595671327, + -0.7619276426280601, + -374.509314488837 + ], + [ + 0.8314691574451037, + -0.22242183896230433, + 0.5091046549656275, + -23.867375237583786 + ], + [ + -2.775557543931479e-17, + -0.9163630746868481, + -0.4003482455207925, + 4.915927718875242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -37450.9314488837, + 2386.7375237583788, + 491.5927718875242 + ], + "rotation_deg": [ + 1.7354227673261775e-15, + -23.599950790405284, + -146.24995422363284 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.3989083576226539, + -0.9169907972377894, + -0.0, + -175.26941687153058 + ], + [ + 0.022682331715447868, + -0.009867243726891205, + -0.9996940278551157, + 12.860548921631473 + ], + [ + 0.916710222324816, + -0.39878630568876566, + 0.02473561562388921, + 361.0577313706749 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.3989083576226539, + 0.022682331715447868, + 0.916710222324816, + -401.1934566313237 + ], + [ + -0.9169907972377894, + -0.009867243726891205, + -0.39878630568876566, + -16.608666132365162 + ], + [ + -0.0, + -0.9996940278551157, + 0.02473561562388921, + 3.9256287460066854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -40119.34566313237, + 1660.8666132365163, + 392.5628746006685 + ], + "rotation_deg": [ + 0.0, + 1.417390942573548, + 23.50995254516603 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.9180068916409293, + -0.3965644296955521, + -5.551115126011801e-17, + -358.37861169770844 + ], + [ + -0.30584261555373365, + 0.7079949884848784, + -0.6365558819079026, + -102.51141587272883 + ], + [ + 0.252435412926808, + -0.5843626839497732, + -0.7712305854331046, + 90.78147986363408 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.9180068916409293, + -0.30584261555373365, + 0.252435412926808, + -383.2628566280623 + ], + [ + -0.3965644296955521, + 0.7079949884848784, + -0.5843626839497732, + -16.49332999477322 + ], + [ + -5.551115126011801e-17, + -0.6365558819079026, + -0.7712305854331046, + 4.759210855434242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -38326.28566280623, + 1649.332999477322, + 475.92108554342417 + ], + "rotation_deg": [ + 4.996505095863667e-15, + -50.46452331542965, + 66.63642120361321 + ] + } + } + ] + }, + { + "frame": 2, + "time": 1137.0697041079402, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.010239699698291745, + 0.9999475729007441, + -0.0, + 17.274828981066527 + ], + [ + 0.13150210449924032, + 0.0013466126587611208, + -0.9913149767589602, + 52.51624276766532 + ], + [ + -0.9912630051021502, + -0.01015074362237748, + -0.1315090001473941, + -363.0384167832864 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.010239699698291745, + 0.13150210449924032, + -0.9912630051021502, + -366.59565979569584 + ], + [ + 0.9999475729007441, + 0.0013466126587611208, + -0.01015074362237748, + -21.02976097743767 + ], + [ + -0.0, + -0.9913149767589602, + -0.1315090001473941, + 4.317319078436037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36659.56597956958, + 2102.9760977437672, + 431.73190784360366 + ], + "rotation_deg": [ + 0.0, + -7.556800365447999, + 179.41329956054688 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5555709137612667, + 0.8314691574451037, + -2.775557543931479e-17, + 227.89815113252945 + ], + [ + 0.33287721595671327, + -0.22242183896230433, + -0.9163630746868481, + 123.80865336485152 + ], + [ + -0.7619276426280601, + 0.5091046549656275, + -0.4003482455207925, + -271.10835142510257 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5555709137612667, + 0.33287721595671327, + -0.7619276426280601, + -374.39160572432843 + ], + [ + 0.8314691574451037, + -0.22242183896230433, + 0.5091046549656275, + -23.930009258377183 + ], + [ + -2.775557543931479e-17, + -0.9163630746868481, + -0.4003482455207925, + 4.915927718875242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -37439.16057243284, + 2393.000925837718, + 491.5927718875242 + ], + "rotation_deg": [ + 1.7354227673261775e-15, + -23.599950790405284, + -146.24995422363284 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.39496932242690025, + -0.9186943095184791, + -0.0, + -173.7284449597996 + ], + [ + 0.02131194004915789, + -0.00916252820291285, + -0.9997308884336187, + 12.319523349782006 + ], + [ + 0.9184470770080293, + -0.39486303450100674, + 0.02319807578365075, + 361.69290108638404 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.39496932242690025, + 0.02131194004915789, + 0.9184470770080293, + -401.07574786681516 + ], + [ + -0.9186943095184791, + -0.00916252820291285, + -0.39486303450100674, + -16.671300153158555 + ], + [ + -0.0, + -0.9997308884336187, + 0.02319807578365075, + 3.9256287460066854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -40107.574786681515, + 1667.1300153158556, + 392.5628746006685 + ], + "rotation_deg": [ + 0.0, + 1.3292710781097417, + 23.264060974121108 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.9191789424312805, + -0.39384016020577756, + -0.0, + -358.6993553311497 + ], + [ + -0.3048772286975507, + 0.7115493973473233, + -0.6330460730123539, + -102.01904490910275 + ], + [ + 0.24931895946630983, + -0.5818826172738822, + -0.7741141234760761, + 89.57589425682883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.9191789424312805, + -0.3048772286975507, + 0.24931895946630983, + -383.14514786355375 + ], + [ + -0.39384016020577756, + 0.7115493973473233, + -0.5818826172738822, + -16.555964015566612 + ], + [ + -0.0, + -0.6330460730123539, + -0.7741141234760761, + 4.759210855434242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -38314.51478635537, + 1655.5964015566612, + 475.92108554342417 + ], + "rotation_deg": [ + 0.0, + -50.72478485107419, + 66.80634307861322 + ] + } + } + ] + }, + { + "frame": 3, + "time": 1137.1363707780838, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.015358935569541831, + 0.9998820445923464, + -0.0, + 15.399847158441744 + ], + [ + 0.1314934704387376, + 0.0020198379910976584, + -0.9913149789478952, + 52.51185252521334 + ], + [ + -0.9911980482198126, + -0.015225518884926792, + -0.13150898364719737, + -363.00536959633774 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.015358935569541831, + 0.1314934704387376, + -0.9911980482198126, + -366.4786546391657 + ], + [ + 0.9998820445923464, + 0.0020198379910976584, + -0.015225518884926792, + -21.03104992872479 + ], + [ + -0.0, + -0.9913149789478952, + -0.13150898364719737, + 4.317319078436037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36647.86546391657, + 2103.104992872479, + 431.73190784360366 + ], + "rotation_deg": [ + 0.0, + -7.556799411773682, + 179.11996459960938 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5555709137612667, + 0.8314691574451037, + -2.775557543931479e-17, + 227.8846644077283 + ], + [ + 0.33287721595671327, + -0.22242183896230433, + -0.9163630746868481, + 123.75554658456228 + ], + [ + -0.7619276426280601, + 0.5091046549656275, + -0.4003482455207925, + -270.9867945220752 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5555709137612667, + 0.33287721595671327, + -0.7619276426280601, + -374.2738172917187 + ], + [ + 0.8314691574451037, + -0.22242183896230433, + 0.5091046549656275, + -23.992492757457317 + ], + [ + -2.775557543931479e-17, + -0.9163630746868481, + -0.4003482455207925, + 4.915927718875242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -37427.381729171866, + 2399.2492757457317, + 491.5927718875242 + ], + "rotation_deg": [ + 1.7354227673261775e-15, + -23.599950790405284, + -146.24995422363284 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.39092983740421766, + -0.9204204812079704, + -0.0, + -172.14854708916442 + ], + [ + 0.019903383072187312, + -0.008453556246371657, + -0.9997661690260736, + 11.76367069355645 + ], + [ + 0.9202052571710924, + -0.39083842876118513, + 0.0216242289613338, + 362.338527771258 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.39092983740421766, + 0.019903383072187312, + 0.9202052571710924, + -400.9579594342054 + ], + [ + -0.9204204812079704, + -0.008453556246371657, + -0.39083842876118513, + -16.733783652238696 + ], + [ + -0.0, + -0.9997661690260736, + 0.0216242289613338, + 3.9256287460066854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -40095.79594342054, + 1673.3783652238694, + 392.5628746006685 + ], + "rotation_deg": [ + 0.0, + 1.2390736341476445, + 23.012369155883814 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.920271127308092, + -0.3912812955446419, + -1.6653345381931527e-16, + -358.9915075268282 + ], + [ + -0.3039490825657406, + 0.7148707797741416, + -0.6297417910799278, + -101.54369799495424 + ], + [ + 0.24640617653090632, + -0.579533185294881, + -0.7768045335278297, + 88.44634188980524 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.920271127308092, + -0.3039490825657406, + 0.24640617653090632, + -383.027359430944 + ], + [ + -0.3912812955446419, + 0.7148707797741416, + -0.579533185294881, + -16.61844751464675 + ], + [ + -1.6653345381931527e-16, + -0.6297417910799278, + -0.7768045335278297, + 4.759210855434242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -38302.7359430944, + 1661.844751464675, + 475.92108554342417 + ], + "rotation_deg": [ + 1.515170862193224e-14, + -50.96892547607418, + 66.96575164794916 + ] + } + } + ] + }, + { + "frame": 4, + "time": 1137.2030374482274, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.02047750260946699, + 0.9997903139593219, + -2.1684043284676516e-19, + 13.52552546600689 + ], + [ + 0.13148139053977537, + 0.002692975197181339, + -0.9913149811368301, + 52.50622619332711 + ], + [ + -0.99110711657983, + -0.020299631147995933, + -0.13150896714700058, + -362.96300475492535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.02047750260946699, + 0.13148139053977537, + -0.99110711657983, + -366.36183996174884 + ], + [ + 0.9997903139593219, + 0.002692975197181339, + -0.020299631147995933, + -21.032111139944764 + ], + [ + -2.1684043284676516e-19, + -0.9913149811368301, + -0.13150896714700058, + 4.317319078436037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36636.183996174885, + 2103.2111139944764, + 431.73190784360366 + ], + "rotation_deg": [ + 1.2532890113193897e-17, + -7.556798458099365, + 178.82664489746094 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5555709137612667, + 0.8314691574451037, + -2.775557543931479e-17, + 227.87091609748674 + ], + [ + 0.33287721595671327, + -0.22242183896230433, + -0.9163630746868481, + 123.70245065075963 + ], + [ + -0.7619276426280601, + 0.5091046549656275, + -0.4003482455207925, + -270.8652624457282 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5555709137612667, + 0.33287721595671327, + -0.7619276426280601, + -374.15590605653256 + ], + [ + 0.8314691574451037, + -0.22242183896230433, + 0.5091046549656275, + -24.054743704434756 + ], + [ + -2.775557543931479e-17, + -0.9163630746868481, + -0.4003482455207925, + 4.915927718875242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -37415.590605653255, + 2405.4743704434754, + 491.5927718875242 + ], + "rotation_deg": [ + 1.7354227673261775e-15, + -23.599950790405284, + -146.24995422363284 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.38679145173497803, + -0.9221672152406786, + -0.0, + -170.53025660986245 + ], + [ + 0.0184570182850127, + -0.007741564413885466, + -0.9997996832648292, + 11.193126892099784 + ], + [ + 0.9219824885222653, + -0.386713973769423, + 0.020014828246904547, + 362.9936730693725 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.38679145173497803, + 0.0184570182850127, + 0.9219824885222653, + -400.8400481990193 + ], + [ + -0.9221672152406786, + -0.007741564413885466, + -0.386713973769423, + -16.796034599216128 + ], + [ + -0.0, + -0.9997996832648292, + 0.020014828246904547, + 3.9256287460066854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -40084.00481990193, + 1679.603459921613, + 392.5628746006685 + ], + "rotation_deg": [ + 0.0, + 1.146841764450074, + 22.75500106811525 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.9212841731617949, + -0.38889005166188995, + -5.551115127908794e-17, + -359.25537206336537 + ], + [ + -0.3030633004140523, + 0.7179597959486869, + -0.6266469239878717, + -101.08738542297313 + ], + [ + 0.24369674730714702, + -0.577319890472251, + -0.7793033038663603, + 87.39255677305175 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.9212841731617949, + -0.3030633004140523, + 0.24369674730714702, + -382.9094481957579 + ], + [ + -0.38889005166188995, + 0.7179597959486869, + -0.577319890472251, + -16.680698461624186 + ], + [ + -5.551115127908794e-17, + -0.6266469239878717, + -0.7793033038663603, + 4.759210855434242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -38290.94481957579, + 1668.0698461624186, + 475.92108554342417 + ], + "rotation_deg": [ + 5.075513159150655e-15, + -51.19683074951168, + 67.11454772949213 + ] + } + } + ] + }, + { + "frame": 5, + "time": 1137.269704118371, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.025595799200930167, + 0.99967237386219, + -0.0, + 11.65165026987968 + ], + [ + 0.13146586386474504, + 0.0033660766679571305, + -0.9913149833257648, + 52.49936050165137 + ], + [ + -0.9909902031045651, + -0.025373475334483073, + -0.13150895064680385, + -362.91129760353476 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.025595799200930167, + 0.13146586386474504, + -0.9909902031045651, + -366.2451811570174 + ], + [ + 0.99967237386219, + 0.0033660766679571305, + -0.025373475334483073, + -21.03287930609707 + ], + [ + -0.0, + -0.9913149833257648, + -0.13150895064680385, + 4.317319078436037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36624.518115701736, + 2103.287930609707, + 431.73190784360366 + ], + "rotation_deg": [ + 0.0, + -7.5567975044250515, + 178.53330993652344 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5555709137612667, + 0.8314691574451037, + -2.775557543931479e-17, + 227.85683135883073 + ], + [ + 0.33287721595671327, + -0.22242183896230433, + -0.9163630746868481, + 123.64936893530151 + ], + [ + -0.7619276426280601, + 0.5091046549656275, + -0.4003482455207925, + -270.7437629139563 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5555709137612667, + 0.33287721595671327, + -0.7619276426280601, + -374.0378374410835 + ], + [ + 0.8314691574451037, + -0.22242183896230433, + 0.5091046549656275, + -24.116695190493306 + ], + [ + -2.775557543931479e-17, + -0.9163630746868481, + -0.4003482455207925, + 4.915927718875242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -37403.783744108354, + 2411.6695190493306, + 491.5927718875242 + ], + "rotation_deg": [ + 1.7354227673261775e-15, + -23.599950790405284, + -146.24995422363284 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.3825557598205266, + -0.9239324058761761, + -4.336808656358847e-19, + -168.8741410183732 + ], + [ + 0.016973244647925115, + -0.0070278003689556575, + -0.9998312452549659, + 10.608043911971404 + ], + [ + 0.9237764867330533, + -0.3824912045289478, + 0.018370656415385034, + 363.65739467582864 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.3825557598205266, + 0.016973244647925115, + 0.9237764867330533, + -400.72197958357026 + ], + [ + -0.9239324058761761, + -0.0070278003689556575, + -0.3824912045289478, + -16.857986085274682 + ], + [ + -4.336808656358847e-19, + -0.9998312452549659, + 0.018370656415385034, + 3.9256287460066854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -40072.19795835703, + 1685.798608527468, + 392.5628746006685 + ], + "rotation_deg": [ + 2.4852277388732947e-17, + 1.0526202917099001, + 22.492082595825206 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.9222190414288229, + -0.38666786733073977, + -5.551115128470715e-17, + -359.4913438925047 + ], + [ + -0.3022241742958424, + 0.7208173004904138, + -0.623765154352909, + -100.6517869890426 + ], + [ + 0.24118993461782823, + -0.5752480999071053, + -0.7816118211697624, + 86.41410570747551 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.9222190414288229, + -0.3022241742958424, + 0.24118993461782823, + -382.79137958030884 + ], + [ + -0.38666786733073977, + 0.7208173004904138, + -0.5752480999071053, + -16.742649947682736 + ], + [ + -5.551115128470715e-17, + -0.623765154352909, + -0.7816118211697624, + 4.759210855434242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -38279.137958030886, + 1674.2649947682737, + 475.92108554342417 + ], + "rotation_deg": [ + 5.098961823962693e-15, + -51.40839004516604, + 67.25267791748041 + ] + } + } + ] + }, + { + "frame": 6, + "time": 1137.3363707885146, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.030713424904231405, + 0.9995282314825591, + -0.0, + 9.778314522889936 + ], + [ + 0.13144689135938958, + 0.004039089742040689, + -0.9913149855146991, + 52.49125151606576 + ], + [ + -0.9908473149130731, + -0.030446654482505216, + -0.131508934146607, + -362.850218483167 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.030713424904231405, + 0.13144689135938958, + -0.9908473149130731, + -366.12865107332624 + ], + [ + 0.9995282314825591, + 0.004039089742040689, + -0.030446654482505216, + -21.033302202715145 + ], + [ + -0.0, + -0.9913149855146991, + -0.131508934146607, + 4.317319078436037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36612.865107332625, + 2103.3302202715145, + 431.73190784360366 + ], + "rotation_deg": [ + 0.0, + -7.556796550750734, + 178.23997497558594 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5555709137612667, + 0.8314691574451037, + -2.775557543931479e-17, + 227.842350371209 + ], + [ + 0.33287721595671327, + -0.22242183896230433, + -0.9163630746868481, + 123.59630438487251 + ], + [ + -0.7619276426280601, + 0.5091046549656275, + -0.4003482455207925, + -270.62230267146884 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5555709137612667, + 0.33287721595671327, + -0.7619276426280601, + -373.9195843306786 + ], + [ + 0.8314691574451037, + -0.22242183896230433, + 0.5091046549656275, + -24.178293387518917 + ], + [ + -2.775557543931479e-17, + -0.9163630746868481, + -0.4003482455207925, + 4.915927718875242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -37391.95843306786, + 2417.8293387518916, + 491.5927718875242 + ], + "rotation_deg": [ + 1.7354227673261775e-15, + -23.599950790405284, + -146.24995422363284 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.3782243101809832, + -0.9257139791469713, + -0.0, + -167.180763792725 + ], + [ + 0.01545248042457946, + -0.006313509227285643, + -0.9998606705186305, + 10.008581080041488 + ], + [ + 0.9255849987600925, + -0.37817161516423786, + 0.016692499943133737, + 364.3287645973887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.3782243101809832, + 0.01545248042457946, + 0.9255849987600925, + -400.60372647316535 + ], + [ + -0.9257139791469713, + -0.006313509227285643, + -0.37817161516423786, + -16.919584282300292 + ], + [ + -0.0, + -0.9998606705186305, + 0.016692499943133737, + 3.9256287460066854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -40060.37264731654, + 1691.958428230029, + 392.5628746006685 + ], + "rotation_deg": [ + 0.0, + 0.9564542174339293, + 22.223735809326175 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.9230764554895008, + -0.3846165068232764, + -1.1102230257989234e-16, + -359.6997444141336 + ], + [ + -0.30143603307065026, + 0.7234440020836691, + -0.6210999064689949, + -100.23859125883978 + ], + [ + 0.23888526908848676, + -0.573322697297143, + -0.7837314035921045, + 85.51065892104108 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.9230764554895008, + -0.30143603307065026, + 0.23888526908848676, + -382.67312646990393 + ], + [ + -0.3846165068232764, + 0.7234440020836691, + -0.573322697297143, + -16.804248144708346 + ], + [ + -1.1102230257989234e-16, + -0.6210999064689949, + -0.7837314035921045, + 4.759210855434242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -38267.312646990395, + 1680.4248144708347, + 475.92108554342417 + ], + "rotation_deg": [ + 1.0241684715573617e-14, + -51.6035003662109, + 67.3800659179687 + ] + } + } + ] + }, + { + "frame": 7, + "time": 1137.4030374586582, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.03582997943684524, + 0.999357900140663, + 4.336808656935303e-19, + 7.905623737072045 + ], + [ + 0.13142448302153661, + 0.0047119620743448125, + -0.9913149866091662, + 52.481899447682295 + ], + [ + -0.990678464115955, + -0.03551877174677177, + -0.13150892589650862, + -362.77974578614476 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.03582997943684524, + 0.13142448302153661, + -0.990678464115955, + -366.0122295133743 + ], + [ + 0.999357900140663, + 0.0047119620743448125, + -0.03551877174677177, + -21.03333989876051 + ], + [ + 4.336808656935303e-19, + -0.9913149866091662, + -0.13150892589650862, + 4.317319078436037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36601.222951337426, + 2103.333989876051, + 431.73190784360366 + ], + "rotation_deg": [ + -2.5065780088017675e-17, + -7.5567960739135795, + 177.9466552734375 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5555709137612667, + 0.8314691574451037, + -2.775557543931479e-17, + 227.82742740404316 + ], + [ + 0.33287721595671327, + -0.22242183896230433, + -0.9163630746868481, + 123.54325952945888 + ], + [ + -0.7619276426280601, + 0.5091046549656275, + -0.4003482455207925, + -270.5008875091883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5555709137612667, + 0.33287721595671327, + -0.7619276426280601, + -373.80112657317795 + ], + [ + 0.8314691574451037, + -0.22242183896230433, + 0.5091046549656275, + -24.239496761035813 + ], + [ + -2.775557543931479e-17, + -0.9163630746868481, + -0.4003482455207925, + 4.915927718875242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -37380.1126573178, + 2423.949676103581, + 491.5927718875242 + ], + "rotation_deg": [ + 1.7354227673261775e-15, + -23.599950790405284, + -146.24995422363284 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.3737988528669951, + -0.9275097938002154, + -8.673617312710097e-19, + -165.45078089325798 + ], + [ + 0.013895185486723655, + -0.005599945607075933, + -0.9998877759176213, + 9.39491380218955 + ], + [ + 0.9274057037539193, + -0.3737569063852981, + 0.01498117398569035, + 365.00682528685746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.3737988528669951, + 0.013895185486723655, + 0.9274057037539193, + -400.4852687156647 + ], + [ + -0.9275097938002154, + -0.005599945607075933, + -0.3737569063852981, + -16.98078765581719 + ], + [ + -8.673617312710097e-19, + -0.9998877759176213, + 0.01498117398569035, + 3.9256287460066854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -40048.52687156647, + 1698.0787655817187, + 392.5628746006685 + ], + "rotation_deg": [ + 4.9701744630637654e-17, + 0.8583901524543763, + 21.95009422302247 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.9238571571496933, + -0.3827374468003968, + -5.551115129478922e-17, + -359.880908544205 + ], + [ + -0.300702745016838, + 0.7258406134042201, + -0.618654397117101, + -99.84930260297718 + ], + [ + 0.2367821970835685, + -0.5715482896579754, + -0.7856632508481743, + 84.68185206490078 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.9238571571496933, + -0.300702745016838, + 0.2367821970835685, + -382.55466871240327 + ], + [ + -0.3827374468003968, + 0.7258406134042201, + -0.5715482896579754, + -16.865451518225242 + ], + [ + -5.551115129478922e-17, + -0.618654397117101, + -0.7856632508481743, + 4.759210855434242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -38255.46687124033, + 1686.5451518225243, + 475.92108554342417 + ], + "rotation_deg": [ + 5.141084787504249e-15, + -51.78206253051755, + 67.49665069580072 + ] + } + } + ] + }, + { + "frame": 8, + "time": 1137.4697041288018, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.04094586102499929, + 0.9991613665794538, + -0.0, + 6.033402788611676 + ], + [ + 0.13139862886101883, + 0.005384745824027914, + -0.9913149877036332, + 52.471300233420436 + ], + [ + -0.990483638665333, + -0.040590221922922005, + -0.1315089176464101, + -362.699872086995 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.04094586102499929, + 0.13139862886101883, + -0.990483638665333, + -365.89590297178756 + ], + [ + 0.9991613665794538, + 0.005384745824027914, + -0.040590221922922005, + -21.032964528297708 + ], + [ + -0.0, + -0.9913149877036332, + -0.1315089176464101, + 4.317319078436037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36589.59029717876, + 2103.2964528297707, + 431.73190784360366 + ], + "rotation_deg": [ + 0.0, + -7.556795597076417, + 177.6533203125 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5555709137612667, + 0.8314691574451037, + -2.775557543931479e-17, + 227.8120304811262 + ], + [ + 0.33287721595671327, + -0.22242183896230433, + -0.9163630746868481, + 123.49023644577099 + ], + [ + -0.7619276426280601, + 0.5091046549656275, + -0.4003482455207925, + -270.37952218052743 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5555709137612667, + 0.33287721595671327, + -0.7619276426280601, + -373.68245071657753 + ], + [ + 0.8314691574451037, + -0.22242183896230433, + 0.5091046549656275, + -24.300275841923465 + ], + [ + -2.775557543931479e-17, + -0.9163630746868481, + -0.4003482455207925, + 4.915927718875242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -37368.24507165775, + 2430.0275841923467, + 491.5927718875242 + ], + "rotation_deg": [ + 1.7354227673261775e-15, + -23.599950790405284, + -146.24995422363284 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.369281094704615, + -0.9293177460340251, + -8.673617312706789e-19, + -163.6848440827951 + ], + [ + 0.012301853743680034, + -0.004888362496841744, + -0.9999123803146797, + 8.767230697135842 + ], + [ + 0.9292363184224136, + -0.3692487411334166, + 0.013237510949800298, + 365.6906361497028 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.369281094704615, + 0.012301853743680034, + 0.9292363184224136, + -400.36659285906427 + ], + [ + -0.9293177460340251, + -0.004888362496841744, + -0.3692487411334166, + -17.04156673670484 + ], + [ + -8.673617312706789e-19, + -0.9999123803146797, + 0.013237510949800298, + 3.9256287460066854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -40036.659285906426, + 1704.156673670484, + 392.5628746006685 + ], + "rotation_deg": [ + 4.970052164200144e-17, + 0.758475661277771, + 21.671287536621108 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.924561850872424, + -0.3810319985399614, + -1.110223025984436e-16, + -360.0351648679225 + ], + [ + -0.3000278712541022, + 0.72800794952373, + -0.6164314251406932, + -99.48529926568916 + ], + [ + 0.23488009056811152, + -0.5699289763981061, + -0.7874086009922185, + 83.92729492035036 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.924561850872424, + -0.3000278712541022, + 0.23488009056811152, + -382.43599285580285 + ], + [ + -0.3810319985399614, + 0.72800794952373, + -0.5699289763981061, + -16.926230599112895 + ], + [ + -1.110223025984436e-16, + -0.6164314251406932, + -0.7874086009922185, + 4.759210855434242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -38243.59928558028, + 1692.6230599112896, + 475.92108554342417 + ], + "rotation_deg": [ + 1.0319249085230803e-14, + -51.94399642944333, + 67.60237884521479 + ] + } + } + ] + }, + { + "frame": 9, + "time": 1137.5363707989454, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.0460606693865185, + 0.9989386441296912, + -0.0, + 4.161781405279761 + ], + [ + 0.13136933063159845, + 0.0060573883504347675, + -0.9913149887981001, + 52.45945274751402 + ], + [ + -0.9902628517760935, + -0.045660608205227875, + -0.13150890939631163, + -362.61058889788194 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.0460606693865185, + 0.13136933063159845, + -0.9902628517760935, + -365.7796644042862 + ], + [ + 0.9989386441296912, + 0.0060573883504347675, + -0.045660608205227875, + -21.032160202413383 + ], + [ + -0.0, + -0.9913149887981001, + -0.13150890939631163, + 4.317319078436037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36577.96644042862, + 2103.2160202413384, + 431.73190784360366 + ], + "rotation_deg": [ + 0.0, + -7.556795120239258, + 177.3599853515625 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5555704708939301, + 0.8314694533599514, + 1.3877787719657217e-17, + 227.79598294874845 + ], + [ + 0.3328759901220983, + -0.2224207634256369, + -0.9163637810375249, + 123.4368084459566 + ], + [ + -0.7619285011025212, + 0.509104641565918, + -0.40034662874027543, + -270.258539239499 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5555704708939301, + 0.3328759901220983, + -0.7619285011025212, + -373.56354977817415 + ], + [ + 0.8314694533599514, + -0.2224207634256369, + 0.509104641565918, + -24.360613138377683 + ], + [ + 1.3877787719657217e-17, + -0.9163637810375249, + -0.40034662874027543, + 4.915927718875242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -37356.35497781741, + 2436.0613138377685, + 491.5927718875242 + ], + "rotation_deg": [ + -8.677107148145964e-16, + -23.599849700927745, + -146.24998474121094 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.36467288556710836, + -0.9311356971635008, + -0.0, + -161.88367408902124 + ], + [ + 0.010673000363810303, + -0.004180007116241046, + -0.9999343051439642, + 8.125728533314938 + ], + [ + 0.9310745252825685, + -0.3646489311262917, + 0.01146234698014113, + 366.37924180575527 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.36467288556710836, + 0.010673000363810303, + 0.9310745252825685, + -400.2476919206609 + ], + [ + -0.9311356971635008, + -0.004180007116241046, + -0.3646489311262917, + -17.10190403315906 + ], + [ + -0.0, + -0.9999343051439642, + 0.01146234698014113, + 3.9256287460066854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -40024.76919206609, + 1710.1904033159058, + 392.5628746006685 + ], + "rotation_deg": [ + 0.0, + 0.6567584872245789, + 21.387453079223636 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.925191149948763, + -0.3795014309017626, + 5.551115130323018e-17, + -360.1628167386034 + ], + [ + -0.2994146792000893, + 0.7299466847922863, + -0.6144336312737595, + -99.14784129988897 + ], + [ + 0.2331784349509625, + -0.5684685548789535, + -0.7889685162208022, + 83.2466389713501 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.925191149948763, + -0.2994146792000893, + 0.2331784349509625, + -382.31709191739947 + ], + [ + -0.3795014309017626, + 0.7299466847922863, + -0.5684685548789535, + -16.986567895567113 + ], + [ + 5.551115130323018e-17, + -0.6144336312737595, + -0.7889685162208022, + 4.759210855434242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -38231.709191739945, + 1698.6567895567114, + 475.92108554342417 + ], + "rotation_deg": [ + -5.176400750771864e-15, + -52.08922195434571, + 67.69719696044922 + ] + } + } + ] + }, + { + "frame": 10, + "time": 1137.603037469089, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.05117427045782654, + 0.9986897386291246, + 4.3368086569353023e-19, + 2.2908032969871748 + ], + [ + 0.13133658910163976, + 0.006729872023038469, + -0.991314989892567, + 52.44635708282036 + ], + [ + -0.990016109235196, + -0.05072979769445068, + -0.13150890114621328, + -362.5118969169611 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.05117427045782654, + 0.13133658910163976, + -0.990016109235196, + -365.66351291504316 + ], + [ + 0.9986897386291246, + 0.006729872023038469, + -0.05072979769445068, + -21.03092280921131 + ], + [ + 4.3368086569353023e-19, + -0.991314989892567, + -0.13150890114621328, + 4.317319078436037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36566.35129150432, + 2103.092280921131, + 431.73190784360366 + ], + "rotation_deg": [ + -2.5065780004995624e-17, + -7.556794643402105, + 177.066650390625 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5555704708939301, + 0.8314694533599514, + 1.3877787719657217e-17, + 227.7795961279279 + ], + [ + 0.3328759901220983, + -0.2224207634256369, + -0.9163637810375249, + 123.3838332445637 + ], + [ + -0.7619285011025212, + 0.509104641565918, + -0.40034662874027543, + -270.13728292616844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5555704708939301, + 0.3328759901220983, + -0.7619285011025212, + -373.444422931923 + ], + [ + 0.8314694533599514, + -0.2224207634256369, + 0.509104641565918, + -24.420502935947667 + ], + [ + 1.3877787719657217e-17, + -0.9163637810375249, + -0.40034662874027543, + 4.915927718875242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -37344.442293192296, + 2442.0502935947666, + 491.5927718875242 + ], + "rotation_deg": [ + -8.677107148145964e-16, + -23.599849700927745, + -146.24998474121094 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.3599760651249352, + -0.9329615386162325, + 2.1684043281753198e-19, + -160.0479999773041 + ], + [ + 0.00900919069442374, + -0.0034761272377304983, + -0.999953374424257, + 7.470623677364433 + ], + [ + 0.9329180377198771, + -0.3599592836945707, + 0.009656551091669317, + 367.0717007161126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.3599760651249352, + 0.00900919069442374, + 0.9329180377198771, + -400.1285650744097 + ], + [ + -0.9329615386162325, + -0.0034761272377304983, + -0.3599592836945707, + -17.161793830729035 + ], + [ + 2.1684043281753198e-19, + -0.999953374424257, + 0.009656551091669317, + 3.9256287460066854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -40012.85650744097, + 1716.1793830729036, + 392.5628746006685 + ], + "rotation_deg": [ + -1.2424621029584727e-17, + 0.5532882213592533, + 21.098726272583015 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.9257456751878217, + -0.37814672399882543, + -0.0, + -360.26417536264603 + ], + [ + -0.29886599273881065, + 0.7316575357652134, + -0.6126633404588695, + -98.8380110038169 + ], + [ + 0.23167662780122716, + -0.5671704347336388, + -0.7903439998473493, + 82.63950262329053 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.9257456751878217, + -0.29886599273881065, + 0.23167662780122716, + -382.1979650711483 + ], + [ + -0.37814672399882543, + 0.7316575357652134, + -0.5671704347336388, + -17.046457693137093 + ], + [ + -0.0, + -0.6126633404588695, + -0.7903439998473493, + 4.759210855434242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -38219.79650711483, + 1704.6457693137093, + 475.92108554342417 + ], + "rotation_deg": [ + 0.0, + -52.217670440673814, + 67.78106689453124 + ] + } + } + ] + }, + { + "frame": 11, + "time": 1137.6697041392326, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.056286264313084734, + 0.9984146715917577, + -4.3368086569353023e-19, + 0.4206206979655569 + ], + [ + 0.1313004071010733, + 0.007402144248065003, + -0.9913149909870337, + 52.432014170214444 + ], + [ + -0.9897434323696999, + -0.05579739393810111, + -0.1315088928961147, + -362.4038031593703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.056286264313084734, + 0.1313004071010733, + -0.9897434323696999, + -365.5474533089028 + ], + [ + 0.9984146715917577, + 0.007402144248065003, + -0.05579739393810111, + -21.029259556464627 + ], + [ + -4.3368086569353023e-19, + -0.9913149909870337, + -0.1315088928961147, + 4.317319078436037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36554.74533089028, + 2102.9259556464626, + 431.73190784360366 + ], + "rotation_deg": [ + 2.506577997732161e-17, + -7.556794166564941, + 176.77333068847656 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5555704708939301, + 0.8314694533599514, + 1.3877787719657217e-17, + 227.76271909136403 + ], + [ + 0.3328759901220983, + -0.2224207634256369, + -0.9163637810375249, + 123.33088275549147 + ], + [ + -0.7619285011025212, + 0.509104641565918, + -0.40034662874027543, + -270.01608317750106 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5555704708939301, + 0.3328759901220983, + -0.7619285011025212, + -373.325075060654 + ], + [ + 0.8314694533599514, + -0.2224207634256369, + 0.509104641565918, + -24.47995084023023 + ], + [ + 1.3877787719657217e-17, + -0.9163637810375249, + -0.40034662874027543, + 4.915927718875242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -37332.5075060654, + 2447.995084023023, + 491.5927718875242 + ], + "rotation_deg": [ + -8.677107148145964e-16, + -23.599849700927745, + -146.24998474121094 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.35519252554628195, + -0.9347931695279195, + -0.0, + -158.1785832448528 + ], + [ + 0.007311011682494783, + -0.0027779585778478825, + -0.9999694155594552, + 6.802140846726489 + ], + [ + 0.9347645784022849, + -0.35518166481079677, + 0.007820993966846745, + 367.7670756476327 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.35519252554628195, + 0.007311011682494783, + 0.9347645784022849, + -400.00921720314074 + ], + [ + -0.9347931695279195, + -0.0027779585778478825, + -0.35518166481079677, + -17.221241735011603 + ], + [ + -0.0, + -0.9999694155594552, + 0.007820993966846745, + 3.9256287460066854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -40000.92172031407, + 1722.1241735011602, + 392.5628746006685 + ], + "rotation_deg": [ + 0.0, + 0.4481145143508911, + 20.80524444580078 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.926225850575138, + -0.376969062028122, + -0.0, + -360.3394893907316 + ], + [ + -0.29838454724036695, + 0.7331410158151622, + -0.6111226659989575, + -98.55685257125681 + ], + [ + 0.23037433088198223, + -0.5660376080471465, + -0.7915359081854366, + 82.10560618059364 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.926225850575138, + -0.29838454724036695, + 0.23037433088198223, + -382.0786171998793 + ], + [ + -0.376969062028122, + 0.7331410158151622, + -0.5660376080471465, + -17.105905597419657 + ], + [ + -0.0, + -0.6111226659989575, + -0.7915359081854366, + 4.759210855434242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -38207.86171998793, + 1710.5905597419658, + 475.92108554342417 + ], + "rotation_deg": [ + 0.0, + -52.32927703857421, + 67.85393524169918 + ] + } + } + ] + }, + { + "frame": 12, + "time": 1137.7363708093762, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.06139704882355891, + 0.9981134216088658, + -0.0, + -1.448896622790901 + ], + [ + 0.13126078181510945, + 0.00807425734916017, + -0.9913149920815005, + 52.41642585537709 + ], + [ + -0.9894447999567382, + -0.060863791351926384, + -0.1315088846460163, + -362.2863215360676 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.06139704882355891, + 0.13126078181510945, + -0.9894447999567382, + -365.4314954952843 + ], + [ + 0.9981134216088658, + 0.00807425734916017, + -0.060863791351926384, + -21.027188186658478 + ], + [ + -0.0, + -0.9913149920815005, + -0.1315088846460163, + 4.317319078436037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36543.14954952843, + 2102.7188186658477, + 431.73190784360366 + ], + "rotation_deg": [ + 0.0, + -7.556793689727787, + 176.47999572753906 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5555704708939301, + 0.8314694533599514, + 1.3877787719657217e-17, + 227.7453708128439 + ], + [ + 0.3328759901220983, + -0.2224207634256369, + -0.9163637810375249, + 123.27795671600414 + ], + [ + -0.7619285011025212, + 0.509104641565918, + -0.40034662874027543, + -269.89493939211434 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5555704708939301, + 0.3328759901220983, + -0.7619285011025212, + -373.20551615997385 + ], + [ + 0.8314694533599514, + -0.2224207634256369, + 0.509104641565918, + -24.53897299195446 + ], + [ + 1.3877787719657217e-17, + -0.9163637810375249, + -0.40034662874027543, + 4.915927718875242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -37320.551615997385, + 2453.897299195446, + 491.5927718875242 + ], + "rotation_deg": [ + -8.677107148145964e-16, + -23.599849700927745, + -146.24998474121094 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.3503243060395263, + -0.9366284645460676, + -0.0, + -156.27625406837706 + ], + [ + 0.005579086449908431, + -0.0020867287968297328, + -0.9999822595212943, + 6.120518853298012 + ], + [ + 0.936611847337202, + -0.35031809371535005, + 0.005956563038930753, + 368.46441923491756 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.3503243060395263, + 0.005579086449908431, + 0.936611847337202, + -399.8896583024606 + ], + [ + -0.9366284645460676, + -0.0020867287968297328, + -0.35031809371535005, + -17.280263886735835 + ], + [ + -0.0, + -0.9999822595212943, + 0.005956563038930753, + 3.9256287460066854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -39988.96583024606, + 1728.0263886735834, + 392.5628746006685 + ], + "rotation_deg": [ + 0.0, + 0.3412879407405853, + 20.50715255737305 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.9266322034997094, + -0.3759690937261639, + -0.0, + -360.3890461681816 + ], + [ + -0.29797244909262777, + 0.734397778148252, + -0.6098133509793404, + -98.30516093371001 + ], + [ + 0.22927096560927465, + -0.5650726860415434, + -0.7925450673737022, + 81.64457937861465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.9266322034997094, + -0.29797244909262777, + 0.22927096560927465, + -381.95905829919917 + ], + [ + -0.3759690937261639, + 0.734397778148252, + -0.5650726860415434, + -17.16492774914389 + ], + [ + -0.0, + -0.6098133509793404, + -0.7925450673737022, + 4.759210855434242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -38195.90582991992, + 1716.492774914389, + 475.92108554342417 + ], + "rotation_deg": [ + 0.0, + -52.42399215698241, + 67.91577911376947 + ] + } + } + ] + }, + { + "frame": 13, + "time": 1137.8030374795198, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.06650622406397629, + 0.9977860102049699, + -0.0, + -3.3175774225467407 + ], + [ + 0.13121772430689424, + 0.008746159281313913, + -0.9913149920815005, + 52.399597556383924 + ], + [ + -0.9891202322417534, + -0.06592859341120849, + -0.13150888464601623, + -362.15946973089285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.06650622406397629, + 0.13121772430689424, + -0.9891202322417534, + -365.31565375739694 + ], + [ + 0.9977860102049699, + 0.008746159281313913, + -0.06592859341120849, + -21.02473585093786 + ], + [ + -0.0, + -0.9913149920815005, + -0.13150888464601623, + 4.317319078436037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36531.565375739694, + 2102.473585093786, + 431.73190784360366 + ], + "rotation_deg": [ + 0.0, + -7.556793689727783, + 176.18666076660156 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5555704708939301, + 0.8314694533599514, + 1.3877787719657217e-17, + 227.72758052405567 + ], + [ + 0.3328759901220983, + -0.2224207634256369, + -0.9163637810375249, + 123.22505422924056 + ], + [ + -0.7619285011025212, + 0.509104641565918, + -0.40034662874027543, + -269.77384951716016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5555704708939301, + 0.3328759901220983, + -0.7619285011025212, + -373.0857606074779 + ], + [ + 0.8314694533599514, + -0.2224207634256369, + 0.509104641565918, + -24.597594940971522 + ], + [ + 1.3877787719657217e-17, + -0.9163637810375249, + -0.40034662874027543, + 4.915927718875242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -37308.576060747786, + 2459.759494097152, + 491.5927718875242 + ], + "rotation_deg": [ + -8.677107148145964e-16, + -23.599849700927745, + -146.24998474121094 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.34537340725970533, + -0.9384653480858105, + 1.0842021640870157e-19, + -154.3418369639063 + ], + [ + 0.003814084178143813, + -0.0014036567795153298, + -0.9999917412206599, + 5.426014541429235 + ], + [ + 0.9384575965640302, + -0.3453705574604411, + 0.004064171591917103, + 369.162807017701 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.34537340725970533, + 0.003814084178143813, + 0.9384575965640302, + -399.7699027499646 + ], + [ + -0.9384653480858105, + -0.0014036567795153298, + -0.3453705574604411, + -17.338885835752894 + ], + [ + 1.0842021640870157e-19, + -0.9999917412206599, + 0.004064171591917103, + 3.9256287460066854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -39976.99027499646, + 1733.8885835752894, + 392.5628746006685 + ], + "rotation_deg": [ + -6.2120721663674924e-18, + 0.2328605204820632, + 20.20459175109864 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.9269650109637757, + -0.3751477954739, + -0.0, + -360.41305015649846 + ], + [ + -0.2976317948035858, + 0.7354281786055941, + -0.6087369783698496, + -98.0837255838476 + ], + [ + 0.22836632816105853, + -0.5642778767069038, + -0.7933721056486573, + 81.25619660041112 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.9269650109637757, + -0.2976317948035858, + 0.22836632816105853, + -381.8393027467032 + ], + [ + -0.3751477954739, + 0.7354281786055941, + -0.5642778767069038, + -17.22354969816095 + ], + [ + -0.0, + -0.6087369783698496, + -0.7933721056486573, + 4.759210855434242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -38183.93027467032, + 1722.354969816095, + 475.92108554342417 + ], + "rotation_deg": [ + 0.0, + -52.501766204833956, + 67.96655273437494 + ] + } + } + ] + }, + { + "frame": 14, + "time": 1137.8697041496634, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.07161365611840952, + 0.9974324459618074, + -8.673617313870605e-19, + -5.185340629889467 + ], + [ + 0.1311712192390675, + 0.009417831378205208, + -0.9913149931759672, + 52.38152636902845 + ], + [ + -0.9887697399163354, + -0.07099166750306073, + -0.13150887639591777, + -362.02327217052914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.07161365611840952, + 0.1311712192390675, + -0.9887697399163354, + -365.19994591725515 + ], + [ + 0.9974324459618074, + 0.009417831378205208, + -0.07099166750306073, + -21.021937672452136 + ], + [ + -8.673617313870605e-19, + -0.9913149931759672, + -0.13150887639591777, + 4.317319078436037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36519.99459172552, + 2102.1937672452136, + 431.73190784360366 + ], + "rotation_deg": [ + 5.0131559843947175e-17, + -7.556793212890628, + 175.89332580566406 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5555704708939301, + 0.8314694533599514, + 1.3877787719657217e-17, + 227.70938605619472 + ], + [ + 0.3328759901220983, + -0.2224207634256369, + -0.9163637810375249, + 123.17217380580013 + ], + [ + -0.7619285011025212, + 0.509104641565918, + -0.40034662874027543, + -269.65281014351154 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5555704708939301, + 0.3328759901220983, + -0.7619285011025212, + -372.9658263277639 + ], + [ + 0.8314694533599514, + -0.2224207634256369, + 0.509104641565918, + -24.65585020964115 + ], + [ + 1.3877787719657217e-17, + -0.9163637810375249, + -0.40034662874027543, + 4.915927718875242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -37296.58263277639, + 2465.5850209641153, + 491.5927718875242 + ], + "rotation_deg": [ + -8.677107148145964e-16, + -23.599849700927745, + -146.24998474121094 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.34034194776798316, + -0.9403017380551283, + 5.421010820434576e-20, + -152.37621071225698 + ], + [ + 0.0020166977486479774, + -0.000729943178935099, + -0.999997700053928, + 4.718893984451316 + ], + [ + 0.9402995744962331, + -0.3403411675294038, + 0.0021447346980781592, + 369.8613125526734 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.34034194776798316, + 0.0020166977486479774, + 0.9402995744962331, + -399.64996847025066 + ], + [ + -0.9403017380551283, + -0.000729943178935099, + -0.3403411675294038, + -17.397141104422527 + ], + [ + 5.421010820434576e-20, + -0.999997700053928, + 0.0021447346980781592, + 3.9256287460066854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -39964.99684702507, + 1739.7141104422526, + 392.5628746006685 + ], + "rotation_deg": [ + -3.106017574789746e-18, + 0.1228843405842781, + 19.897708892822273 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.9272246988736695, + -0.374505484337189, + 5.551115131651701e-17, + -360.41175722037514 + ], + [ + -0.29736394869808425, + 0.7362327370864797, + -0.6078947596885774, + -97.89304879008704 + ], + [ + 0.22765991410753167, + -0.5636550323603313, + -0.7940176118975104, + 80.94011953850078 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.9272246988736695, + -0.29736394869808425, + 0.22765991410753167, + -381.71936846698924 + ], + [ + -0.374505484337189, + 0.7362327370864797, + -0.5636550323603313, + -17.28180496683058 + ], + [ + 5.551115131651701e-17, + -0.6078947596885774, + -0.7940176118975104, + 4.759210855434242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -38171.936846698925, + 1728.1804966830582, + 475.92108554342417 + ], + "rotation_deg": [ + -5.2320811461109475e-15, + -52.56256484985355, + 68.00624847412104 + ] + } + } + ] + }, + { + "frame": 15, + "time": 1137.936370819807, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.07671921111662172, + 0.9970527381466052, + -0.0, + -7.052099526826002 + ], + [ + 0.1311212842913161, + 0.010089257174226743, + -0.9913149931759673, + 52.36222197616429 + ], + [ + -0.9883933299834936, + -0.0760528807687365, + -0.1315088763959178, + -361.8777555407871 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.07671921111662172, + 0.1311212842913161, + -0.9883933299834936, + -365.0843924361003 + ], + [ + 0.9970527381466052, + 0.010089257174226743, + -0.0760528807687365, + -21.01883506264568 + ], + [ + -0.0, + -0.9913149931759673, + -0.1315088763959178, + 4.317319078436037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36508.43924361003, + 2101.883506264568, + 431.73190784360366 + ], + "rotation_deg": [ + 0.0, + -7.5567932128906286, + 175.59999084472656 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5555704708939301, + 0.8314694533599514, + 1.3877787719657217e-17, + 227.6908319402646 + ], + [ + 0.3328759901220983, + -0.2224207634256369, + -0.9163637810375249, + 123.1193134387762 + ], + [ + -0.7619285011025212, + 0.509104641565918, + -0.40034662874027543, + -269.5318166775085 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5555704708939301, + 0.3328759901220983, + -0.7619285011025212, + -372.84573389285055 + ], + [ + 0.8314694533599514, + -0.2224207634256369, + 0.509104641565918, + -24.71377860916427 + ], + [ + 1.3877787719657217e-17, + -0.9163637810375249, + -0.40034662874027543, + 4.915927718875242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -37284.573389285055, + 2471.377860916427, + 491.5927718875242 + ], + "rotation_deg": [ + -8.677107148145964e-16, + -23.599849700927745, + -146.24998474121094 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.33523213407109653, + -0.9421355615229361, + -6.776263525542982e-21, + -150.38029467700846 + ], + [ + 0.00018765577066566857, + -6.67719668381044e-05, + -0.9999999801634077, + 3.999437245604885 + ], + [ + 0.9421355419464461, + -0.33523212991610996, + 0.00019918128535131253, + 370.5590142429281 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.33523213407109653, + 0.00018765577066566857, + 0.9421355419464461, + -399.5298760353373 + ], + [ + -0.9421355615229361, + -6.67719668381044e-05, + -0.33523212991610996, + -17.45506950394564 + ], + [ + -6.776263525542982e-21, + -0.9999999801634077, + 0.00019918128535131253, + 3.9256287460066854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -39952.98760353373, + 1745.5069503945642, + 392.5628746006685 + ], + "rotation_deg": [ + 3.8825131159117246e-19, + 0.011412247084081168, + 19.58665466308594 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.9274114902336961, + -0.37404268176575095, + -0.0, + -360.38535362646104 + ], + [ + -0.2971701801827322, + 0.7368117412570608, + -0.6072876929066655, + -97.7335963010029 + ], + [ + 0.2271515099640389, + -0.5632055811280884, + -0.7944820104365039, + 80.6961245531834 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.9274114902336961, + -0.2971701801827322, + 0.2271515099640389, + -381.59927603207586 + ], + [ + -0.37404268176575095, + 0.7368117412570608, + -0.5632055811280884, + -17.3397333663537 + ], + [ + -0.0, + -0.6072876929066655, + -0.7944820104365039, + 4.759210855434242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -38159.92760320759, + 1733.9733366353698, + 475.92108554342417 + ], + "rotation_deg": [ + 0.0, + -52.606357574462876, + 68.03484344482415 + ] + } + } + ] + }, + { + "frame": 16, + "time": 1138.0030374899507, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.08182248981445077, + 0.9966469185025174, + 8.673617313870605e-19, + -8.917666272880847 + ], + [ + 0.13106790718387853, + 0.010760382941501256, + -0.9913149942704337, + 52.34168273172099 + ], + [ + -0.9879910360935236, + -0.08111183759384763, + -0.1315088681458193, + -361.7229537174197 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.08182248981445077, + 0.13106790718387853, + -0.9879910360935236, + -364.9690154928576 + ], + [ + 0.9966469185025174, + 0.010760382941501256, + -0.08111183759384763, + -21.015473876489704 + ], + [ + 8.673617313870605e-19, + -0.9913149942704337, + -0.1315088681458193, + 4.317319078436037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36496.90154928576, + 2101.5473876489705, + 431.73190784360366 + ], + "rotation_deg": [ + -5.013155978859916e-17, + -7.5567927360534695, + 175.30667114257812 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5555704708939301, + 0.8314694533599514, + 1.3877787719657217e-17, + 227.67196736125976 + ], + [ + 0.3328759901220983, + -0.2224207634256369, + -0.9163637810375249, + 123.06647070730101 + ], + [ + -0.7619285011025212, + 0.509104641565918, + -0.40034662874027543, + -269.41086357796496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5555704708939301, + 0.3328759901220983, + -0.7619285011025212, + -372.7255056006312 + ], + [ + 0.8314694533599514, + -0.2224207634256369, + 0.509104641565918, + -24.771424394856737 + ], + [ + 1.3877787719657217e-17, + -0.9163637810375249, + -0.40034662874027543, + 4.915927718875242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -37272.55056006312, + 2477.1424394856735, + 491.5927718875242 + ], + "rotation_deg": [ + -8.677107148145964e-16, + -23.599849700927745, + -146.24998474121094 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.3300461359447272, + -0.9439648023882853, + -5.4210108204345156e-20, + -148.35499772432624 + ], + [ + -0.001672266060288005, + 0.0005846880625984851, + -0.9999984308318153, + 3.267942863536086 + ], + [ + 0.94396332028879, + -0.33004562050632863, + -0.0017715343506569824, + 371.2550166406218 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.3300461359447272, + -0.001672266060288005, + 0.94396332028879, + -399.40964774311794 + ], + [ + -0.9439648023882853, + 0.0005846880625984851, + -0.33004562050632863, + -17.51271528963811 + ], + [ + -5.4210108204345156e-20, + -0.9999984308318153, + -0.0017715343506569824, + 3.9256287460066854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -39940.9647743118, + 1751.2715289638109, + 392.5628746006685 + ], + "rotation_deg": [ + 3.1060153049771884e-18, + -0.10150149464607233, + 19.271575927734375 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.9275255046764616, + -0.37375986699306674, + 5.551115131852707e-17, + -360.33398839630314 + ], + [ + -0.29705146786881304, + 0.7371653218589556, + -0.6069165623753943, + -97.60572259820118 + ], + [ + 0.22684104633618035, + -0.5629305876551739, + -0.7947655586267611, + 80.52404634905928 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.9275255046764616, + -0.29705146786881304, + 0.22684104633618035, + -381.4790477398565 + ], + [ + -0.37375986699306674, + 0.7371653218589556, + -0.5629305876551739, + -17.397379152046163 + ], + [ + 5.551115131852707e-17, + -0.6069165623753943, + -0.7947655586267611, + 4.759210855434242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -38147.904773985654, + 1739.7379152046165, + 475.92108554342417 + ], + "rotation_deg": [ + -5.240513949154941e-15, + -52.63311767578123, + 68.05231475830075 + ] + } + } + ] + }, + { + "frame": 17, + "time": 1138.0697041600943, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.08692388940485367, + 0.9962149554442217, + -0.0, + -10.782143153154031 + ], + [ + 0.13101110021143872, + 0.011431262222427976, + -0.9913149942704338, + 52.31991844827176 + ], + [ + -0.9875628247533648, + -0.08616893154820854, + -0.13150886814581927, + -361.558894401231 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.08692388940485367, + 0.13101110021143872, + -0.9875628247533648, + -364.85383808169274 + ], + [ + 0.9962149554442217, + 0.011431262222427976, + -0.08616893154820854, + -21.011902504376152 + ], + [ + -0.0, + -0.9913149942704338, + -0.13150886814581927, + 4.317319078436037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36485.383808169274, + 2101.1902504376153, + 431.73190784360366 + ], + "rotation_deg": [ + 0.0, + -7.556792736053468, + 175.01333618164062 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5555704708939301, + 0.8314694533599514, + 1.3877787719657217e-17, + 227.6528440702962 + ], + [ + 0.3328759901220983, + -0.2224207634256369, + -0.9163637810375249, + 123.01364290053617 + ], + [ + -0.7619285011025212, + 0.509104641565918, + -0.40034662874027543, + -269.2899446399735 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5555704708939301, + 0.3328759901220983, + -0.7619285011025212, + -372.60516457242835 + ], + [ + 0.8314694533599514, + -0.2224207634256369, + 0.509104641565918, + -24.82883435808518 + ], + [ + 1.3877787719657217e-17, + -0.9163637810375249, + -0.40034662874027543, + 4.915927718875242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -37260.51645724283, + 2482.8834358085182, + 491.5927718875242 + ], + "rotation_deg": [ + -8.677107148145964e-16, + -23.599849700927745, + -146.24998474121094 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.32478624358238256, + -0.9457874475692968, + -0.0, + -146.30127794693257 + ], + [ + -0.0035622681336219884, + 0.001223293551554077, + -0.9999929068741593, + 2.524718748543257 + ], + [ + 0.9457807381475865, + -0.32478394225610646, + -0.003766457432239806, + 371.94842640727745 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.32478624358238256, + -0.0035622681336219884, + 0.9457807381475865, + -399.2893067149151 + ], + [ + -0.9457874475692968, + 0.001223293551554077, + -0.32478394225610646, + -17.570125252866557 + ], + [ + -0.0, + -0.9999929068741593, + -0.003766457432239806, + 3.9256287460066854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -39928.93067149151, + 1757.0125252866555, + 392.5628746006685 + ], + "rotation_deg": [ + 0.0, + -0.21580262482166285, + 18.952625274658203 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.92756690690566, + -0.3736571064672346, + -1.110223026376096e-16, + -360.25782200088065 + ], + [ + -0.2970082947582172, + 0.737293792961387, + -0.6067816211005632, + -97.50958982146561 + ], + [ + 0.22672825750515194, + -0.5628305482901576, + -0.7948685873527008, + 80.4236537386851 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.92756690690566, + -0.2970082947582172, + 0.22672825750515194, + -381.35870671165367 + ], + [ + -0.3736571064672346, + 0.737293792961387, + -0.5628305482901576, + -17.45478911527461 + ], + [ + -1.110223026376096e-16, + -0.6067816211005632, + -0.7948685873527008, + 4.759210855434242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -38135.870671165365, + 1745.4789115274612, + 475.92108554342417 + ], + "rotation_deg": [ + 1.0483358758785515e-14, + -52.64284515380857, + 68.05866241455071 + ] + } + } + ] + }, + { + "frame": 18, + "time": 1138.1363708302379, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.09202301064450323, + 0.9957568807253714, + -0.0, + -12.645340299530094 + ], + [ + 0.13095085110900817, + 0.0121018411208293, + -0.9913149953649003, + 52.296927860782816 + ], + [ + -0.9871087296219448, + -0.09122376704059937, + -0.13150885989572075, + -361.3856143007145 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.09202301064450323, + 0.13095085110900817, + -0.9871087296219448, + -364.73888316481316 + ], + [ + 0.9957568807253714, + 0.0121018411208293, + -0.09122376704059937, + -21.00816999945911 + ], + [ + -0.0, + -0.9913149953649003, + -0.13150885989572075, + 4.317319078436037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36473.888316481316, + 2100.816999945911, + 431.73190784360366 + ], + "rotation_deg": [ + 0.0, + -7.55679225921631, + 174.72000122070312 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5555704708939301, + 0.8314694533599514, + 1.3877787719657217e-17, + 227.63351435690694 + ], + [ + 0.3328759901220983, + -0.2224207634256369, + -0.9163637810375249, + 122.96082715216794 + ], + [ + -0.7619285011025212, + 0.509104641565918, + -0.40034662874027543, + -269.1690533027552 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5555704708939301, + 0.3328759901220983, + -0.7619285011025212, + -372.4847339057903 + ], + [ + 0.8314694533599514, + -0.2224207634256369, + 0.509104641565918, + -24.886055953650317 + ], + [ + 1.3877787719657217e-17, + -0.9163637810375249, + -0.40034662874027543, + 4.915927718875242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -37248.47339057903, + 2488.6055953650316, + 491.5927718875242 + ], + "rotation_deg": [ + -8.677107148145964e-16, + -23.599849700927745, + -146.24998474121094 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.3194548056713397, + -0.9476015128383272, + -1.084202164087158e-19, + -144.2201162689492 + ], + [ + -0.0054815116090438, + 0.001847923628369132, + -0.999983268964408, + 1.770088228891494 + ], + [ + 0.947585657678826, + -0.3194494632482768, + -0.005784616821776162, + 372.63836370398184 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.3194548056713397, + -0.0054815116090438, + 0.947585657678826, + -399.168876048277 + ], + [ + -0.9476015128383272, + 0.001847923628369132, + -0.3194494632482768, + -17.62734684843169 + ], + [ + -1.084202164087158e-19, + -0.999983268964408, + -0.005784616821776162, + 3.9256287460066854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -39916.8876048277, + 1762.734684843169, + 392.5628746006685 + ], + "rotation_deg": [ + 6.212124797516131e-18, + -0.3314359784126281, + 18.629957199096687 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.9275357567695978, + -0.37373442430936077, + 5.551115131859565e-17, + -360.1569741224654 + ], + [ + -0.29704076079084657, + 0.7371970814855818, + -0.6068832255697428, + -97.44521913691443 + ], + [ + 0.2268131456382667, + -0.5629058887403648, + -0.7947910149134139, + 80.39481670064133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.9275357567695978, + -0.29704076079084657, + 0.2268131456382667, + -381.2382760450156 + ], + [ + -0.37373442430936077, + 0.7371970814855818, + -0.5629058887403648, + -17.512010710839746 + ], + [ + 5.551115131859565e-17, + -0.6068832255697428, + -0.7947910149134139, + 4.759210855434242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -38123.82760450156, + 1751.2010710839745, + 475.92108554342417 + ], + "rotation_deg": [ + -5.240801816724196e-15, + -52.63552093505864, + 68.05388641357418 + ] + } + } + ] + }, + { + "frame": 19, + "time": 1138.2030375003815, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.09711971988099623, + 0.9952727063525033, + -0.0, + -14.507166812427528 + ], + [ + 0.1308871778897319, + 0.012772103536578523, + -0.9913149953649003, + 52.272721529865855 + ], + [ + -0.9866287604213456, + -0.09627621138353099, + -0.13150885989572073, + -361.2031467972873 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.09711971988099623, + 0.1308871778897319, + -0.9866287604213456, + -364.62417290994716 + ], + [ + 0.9952727063525033, + 0.012772103536578523, + -0.09627621138353099, + -21.004324331408302 + ], + [ + -0.0, + -0.9913149953649003, + -0.13150885989572073, + 4.317319078436037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36462.417290994716, + 2100.43243314083, + 431.73190784360366 + ], + "rotation_deg": [ + 0.0, + -7.556792259216309, + 174.42666625976562 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5555704708939301, + 0.8314694533599514, + 1.3877787719657217e-17, + 227.61402917349062 + ], + [ + 0.3328759901220983, + -0.2224207634256369, + -0.9163637810375249, + 122.90802057497359 + ], + [ + -0.7619285011025212, + 0.509104641565918, + -0.40034662874027543, + -269.04818295767194 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5555704708939301, + 0.3328759901220983, + -0.7619285011025212, + -372.3642359119677 + ], + [ + 0.8314694533599514, + -0.2224207634256369, + 0.509104641565918, + -24.94313555358234 + ], + [ + 1.3877787719657217e-17, + -0.9163637810375249, + -0.40034662874027543, + 4.915927718875242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -37236.42359119677, + 2494.313555358234, + 491.5927718875242 + ], + "rotation_deg": [ + -8.677107148145964e-16, + -23.599849700927745, + -146.24998474121094 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.3140542298695465, + -0.9494050456475603, + -0.0, + -142.112514750043 + ], + [ + -0.007429122599879766, + 0.0024574836497949244, + -0.9999693839870835, + 1.0043884239094343 + ], + [ + 0.9493759778728168, + -0.31404461713041903, + -0.00782502967672783, + 373.3239633622991 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.3140542298695465, + -0.007429122599879766, + 0.9493759778728168, + -399.0483780544544 + ], + [ + -0.9494050456475603, + 0.0024574836497949244, + -0.31404461713041903, + -17.684426448363716 + ], + [ + -0.0, + -0.9999693839870835, + -0.00782502967672783, + 3.9256287460066854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -39904.837805445444, + 1768.4426448363718, + 392.5628746006685 + ], + "rotation_deg": [ + 0.0, + -0.4483457505702971, + 18.303728103637702 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.9274319594377353, + -0.3739919258666995, + -0.0, + -360.03150559562533 + ], + [ + -0.29714889242705417, + 0.7368752117033711, + -0.6072210949122955, + -97.412605263431 + ], + [ + 0.22709577941920295, + -0.5631562467140255, + -0.7945329123182728, + 80.43744556076139 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.9274319594377353, + -0.29714889242705417, + 0.22709577941920295, + -381.117778051193 + ], + [ + -0.3739919258666995, + 0.7368752117033711, + -0.5631562467140255, + -17.569090310771774 + ], + [ + -0.0, + -0.6072210949122955, + -0.7945329123182728, + 4.759210855434242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -38111.7778051193, + 1756.9090310771774, + 475.92108554342417 + ], + "rotation_deg": [ + 0.0, + -52.61116027832029, + 68.03797912597649 + ] + } + } + ] + }, + { + "frame": 20, + "time": 1138.269704170525, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.10221388352515012, + 0.9947624450162492, + -8.673617313870604e-19, + -16.367534851532728 + ], + [ + 0.13082007400366905, + 0.01344203118438405, + -0.9913149953649002, + 52.24730091597478 + ], + [ + -0.9861229308223016, + -0.10132613224317628, + -0.13150885989572073, + -361.01152601738397 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.10221388352515012, + 0.13082007400366905, + -0.9861229308223016, + -364.50972803313164 + ], + [ + 0.9947624450162492, + 0.01344203118438405, + -0.10132613224317628, + -21.00041083988519 + ], + [ + -8.673617313870604e-19, + -0.9913149953649002, + -0.13150885989572073, + 4.317319078436037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36450.97280331316, + 2100.041083988519, + 431.73190784360366 + ], + "rotation_deg": [ + 5.013155973325115e-17, + -7.556792259216309, + 174.13333129882812 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5555704708939301, + 0.8314694533599514, + 1.3877787719657217e-17, + 227.59443648432904 + ], + [ + 0.3328759901220983, + -0.2224207634256369, + -0.9163637810375249, + 122.85522038601971 + ], + [ + -0.7619285011025212, + 0.509104641565918, + -0.40034662874027543, + -268.92732723479605 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5555704708939301, + 0.3328759901220983, + -0.7619285011025212, + -372.24369145869736 + ], + [ + 0.8314694533599514, + -0.2224207634256369, + 0.509104641565918, + -25.000116900658906 + ], + [ + 1.3877787719657217e-17, + -0.9163637810375249, + -0.40034662874027543, + 4.915927718875242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -37224.369145869736, + 2500.0116900658904, + 491.5927718875242 + ], + "rotation_deg": [ + -8.677107148145964e-16, + -23.599849700927745, + -146.24998474121094 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.3085869515353866, + -0.9511961382081494, + -2.1684043281753956e-19, + -139.97948263500413 + ], + [ + -0.00940419242193968, + 0.0030509071205916793, + -0.9999511253709517, + 0.22797016007730297 + ], + [ + 0.9511496480991647, + -0.3085718717737473, + -0.009886701719059879, + 374.00438065585956 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.3085869515353866, + -0.00940419242193968, + 0.9511496480991647, + -398.9278336011841 + ], + [ + -0.9511961382081494, + 0.0030509071205916793, + -0.3085718717737473, + -17.74140779544028 + ], + [ + -2.1684043281753956e-19, + -0.9999511253709517, + -0.009886701719059879, + 3.9256287460066854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -39892.78336011841, + 1774.140779544028, + 392.5628746006685 + ], + "rotation_deg": [ + 1.2424648974585959e-17, + -0.5664755105972288, + 17.97409439086915 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.9272554645601891, + -0.3744293036652814, + 5.551115131672183e-17, + -359.88148457319124 + ], + [ + -0.29733206885901686, + 0.7363280142330217, + -0.6077949459181703, + -97.41150104818824 + ], + [ + 0.22757623107599706, + -0.5635811817938777, + -0.7940940187264105, + 80.55145305144087 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.9272554645601891, + -0.29733206885901686, + 0.22757623107599706, + -380.9972335979227 + ], + [ + -0.3744293036652814, + 0.7363280142330217, + -0.5635811817938777, + -17.626071657848335 + ], + [ + 5.551115131672183e-17, + -0.6077949459181703, + -0.7940940187264105, + 4.759210855434242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -38099.72335979227, + 1762.6071657848336, + 475.92108554342417 + ], + "rotation_deg": [ + -5.232940372995791e-15, + -52.56976699829101, + 68.01095581054685 + ] + } + } + ] + }, + { + "frame": 21, + "time": 1138.3363708406687, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.10730536805450461, + 0.9942261100910028, + -0.0, + -18.226360833350363 + ], + [ + 0.1307495412096708, + 0.014111606504859492, + -0.9913149953649003, + 52.22067031614549 + ], + [ + -0.9855912540830465, + -0.10637339725671385, + -0.1315088598957207, + -360.81078435209866 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.10730536805450461, + 0.1307495412096708, + -0.9855912540830465, + -364.395567259468 + ], + [ + 0.9942261100910028, + 0.014111606504859492, + -0.10637339725671385, + -20.996470940545006 + ], + [ + -0.0, + -0.9913149953649003, + -0.1315088598957207, + 4.317319078436037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36439.5567259468, + 2099.6470940545005, + 431.73190784360366 + ], + "rotation_deg": [ + 0.0, + -7.556792259216307, + 173.83999633789062 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5555704708939301, + 0.8314694533599514, + 1.3877787719657217e-17, + 227.57477989011159 + ], + [ + 0.3328759901220983, + -0.2224207634256369, + -0.9163637810375249, + 122.80242401496193 + ], + [ + -0.7619285011025212, + 0.509104641565918, + -0.40034662874027543, + -268.80648025080046 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5555704708939301, + 0.3328759901220983, + -0.7619285011025212, + -372.12311943095375 + ], + [ + 0.8314694533599514, + -0.2224207634256369, + 0.509104641565918, + -25.05703981444899 + ], + [ + 1.3877787719657217e-17, + -0.9163637810375249, + -0.40034662874027543, + 4.915927718875242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -37212.311943095374, + 2505.703981444899, + 491.5927718875242 + ], + "rotation_deg": [ + -8.677107148145964e-16, + -23.599849700927745, + -146.24998474121094 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.30305549719140046, + -0.9529729091753203, + -0.0, + -137.8220599341196 + ], + [ + -0.011405778197714862, + 0.0036271584945206437, + -0.9999283734072958, + -0.5588022361290554 + ], + [ + 0.9529046502490778, + -0.3030337926311591, + -0.011968628044142691, + 374.6787828394104 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.30305549719140046, + -0.011405778197714862, + 0.9529046502490778, + -398.8072615734405 + ], + [ + -0.9529729091753203, + 0.0036271584945206437, + -0.3030337926311591, + -17.798330709230367 + ], + [ + -0.0, + -0.9999283734072958, + -0.011968628044142691, + 3.9256287460066854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -39880.72615734405, + 1779.8330709230365, + 392.5628746006685 + ], + "rotation_deg": [ + 0.0, + -0.6857682466506957, + 17.641216278076172 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.9270060675579685, + -0.3750463314188138, + -0.0, + -359.7069185093707 + ], + [ + -0.2975895206261118, + 0.7355552318521741, + -0.6086041226515109, + -97.44160861517608 + ], + [ + 0.22825473618931927, + -0.5641797113142972, + -0.7934740252512748, + 80.73682532925157 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.9270060675579685, + -0.2975895206261118, + 0.22825473618931927, + -380.87666157017907 + ], + [ + -0.3750463314188138, + 0.7355552318521741, + -0.5641797113142972, + -17.68299457163842 + ], + [ + -0.0, + -0.6086041226515109, + -0.7934740252512748, + 4.759210855434242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -38087.666157017906, + 1768.2994571638421, + 475.92108554342417 + ], + "rotation_deg": [ + 0.0, + -52.51136016845702, + 67.97282409667967 + ] + } + } + ] + }, + { + "frame": 22, + "time": 1138.4030375108123, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.11239404001682121, + 0.9936637156345687, + -0.0, + -20.083566342059466 + ], + [ + 0.13067557315863967, + 0.014780811020591363, + -0.9913149964593667, + 52.192830771093305 + ], + [ + -0.9850337452268225, + -0.11141787425394763, + -0.13150885164562223, + -360.60095270271995 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.11239404001682121, + 0.13067557315863967, + -0.9850337452268225, + -364.28170690585887 + ], + [ + 0.9936637156345687, + 0.014780811020591363, + -0.11141787425394763, + -20.99254111134808 + ], + [ + -0.0, + -0.9913149964593667, + -0.13150885164562223, + 4.317319078436037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36428.17069058589, + 2099.2541111348078, + 431.73190784360366 + ], + "rotation_deg": [ + 0.0, + -7.556791782379151, + 173.54666137695312 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5555704708939301, + 0.8314694533599514, + 1.3877787719657217e-17, + 227.5550975532976 + ], + [ + 0.3328759901220983, + -0.2224207634256369, + -0.9163637810375249, + 122.74962919060283 + ], + [ + -0.7619285011025212, + 0.509104641565918, + -0.40034662874027543, + -268.6856368070832 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5555704708939301, + 0.3328759901220983, + -0.7619285011025212, + -372.0025363136818 + ], + [ + 0.8314694533599514, + -0.2224207634256369, + 0.509104641565918, + -25.113939177666094 + ], + [ + 1.3877787719657217e-17, + -0.9163637810375249, + -0.40034662874027543, + 4.915927718875242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -37200.25363136818, + 2511.3939177666093, + 491.5927718875242 + ], + "rotation_deg": [ + -8.677107148145964e-16, + -23.599849700927745, + -146.24998474121094 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.2974623897024934, + -0.9547335370209229, + -4.3368086563541587e-19, + -135.6412790775116 + ], + [ + -0.013432903029286814, + 0.004185234183981485, + -0.9999010155665564, + -1.3555510016387506 + ], + [ + 0.9546390325653146, + -0.2974329477894558, + -0.01406979289242435, + 375.34636408759724 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.2974623897024934, + -0.013432903029286814, + 0.9546390325653146, + -398.6866784561685 + ], + [ + -0.9547335370209229, + 0.004185234183981485, + -0.2974329477894558, + -17.85523007244747 + ], + [ + -4.3368086563541587e-19, + -0.9999010155665564, + -0.01406979289242435, + 3.9256287460066854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -39868.66784561685, + 1785.523007244747, + 392.5628746006685 + ], + "rotation_deg": [ + 2.4850543265917774e-17, + -0.8061663508415222, + 17.305252075195327 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.9266835598105388, + -0.37584249357525695, + 5.551115131293003e-17, + -359.50780417247745 + ], + [ + -0.297920051593356, + 0.7345566791110861, + -0.6096475441038902, + -97.50247175071556 + ], + [ + 0.22913144587790849, + -0.564950353296606, + -0.792672617680174, + 80.99352756364497 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.9266835598105388, + -0.297920051593356, + 0.22913144587790849, + -380.7560784529071 + ], + [ + -0.37584249357525695, + 0.7345566791110861, + -0.564950353296606, + -17.739893934855527 + ], + [ + 5.551115131293003e-17, + -0.6096475441038902, + -0.792672617680174, + 4.759210855434242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -38075.60784529071, + 1773.9893934855527, + 475.92108554342417 + ], + "rotation_deg": [ + -5.2170385028873874e-15, + -52.435977935791044, + 67.92360687255855 + ] + } + } + ] + }, + { + "frame": 23, + "time": 1138.469704180956, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.11747950156163567, + 0.9930753076745131, + 8.673617313870605e-19, + -21.93898178535079 + ], + [ + 0.13059819230410946, + 0.01544959422328731, + -0.9913149964593666, + 52.163792772916814 + ], + [ + -0.9844504477057304, + -0.1164591685992826, + -0.13150885164562218, + -360.38206403207136 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.11747950156163567, + 0.13059819230410946, + -0.9844504477057304, + -364.16816058222037 + ], + [ + 0.9930753076745131, + 0.01544959422328731, + -0.1164591685992826, + -20.988652163021747 + ], + [ + 8.673617313870605e-19, + -0.9913149964593666, + -0.13150885164562218, + 4.317319078436037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36416.81605822204, + 2098.8652163021748, + 431.73190784360366 + ], + "rotation_deg": [ + -5.0131559677903147e-17, + -7.556791782379148, + 173.2533416748047 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5555704708939301, + 0.8314694533599514, + 1.3877787719657217e-17, + 227.5354214255625 + ], + [ + 0.3328759901220983, + -0.2224207634256369, + -0.9163637810375249, + 122.69683400368645 + ], + [ + -0.7619285011025212, + 0.509104641565918, + -0.40034662874027543, + -268.5647925334993 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5555704708939301, + 0.3328759901220983, + -0.7619285011025212, + -371.88195589300494 + ], + [ + 0.8314694533599514, + -0.2224207634256369, + 0.509104641565918, + -25.17084420667193 + ], + [ + 1.3877787719657217e-17, + -0.9163637810375249, + -0.40034662874027543, + 4.915927718875242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -37188.19558930049, + 2517.084420667193, + 491.5927718875242 + ], + "rotation_deg": [ + -8.677107148145964e-16, + -23.599849700927745, + -146.24998474121094 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.29181030704292193, + -0.956476212304057, + -4.3368086563563143e-19, + -133.43822658075277 + ], + [ + -0.015484563041601165, + 0.004724168816190801, + -0.9998689466807172, + -2.1618876418686295 + ], + [ + 0.9563508622503976, + -0.2917720665267124, + -0.016189177485385658, + 376.00632354607313 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.29181030704292193, + -0.015484563041601165, + 0.9563508622503976, + -398.5660980354917 + ], + [ + -0.956476212304057, + 0.004724168816190801, + -0.2917720665267124, + -17.91213510145331 + ], + [ + -4.3368086563563143e-19, + -0.9998689466807172, + -0.016189177485385658, + 3.9256287460066854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -39856.60980354917, + 1791.213510145331, + 392.5628746006685 + ], + "rotation_deg": [ + 2.4851340299619074e-17, + -0.9276120662689205, + 16.966367721557624 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.9262875798055228, + -0.37681735562209334, + -0.0, + -359.28407698444465 + ], + [ + -0.2983222121592883, + 0.7333318271581626, + -0.610924127047917, + -97.59354796029928 + ], + [ + 0.2302068067366461, + -0.5658914280105135, + -0.7916891548053051, + 81.3216421726161 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.9262875798055228, + -0.2983222121592883, + 0.2302068067366461, + -380.63549803223026 + ], + [ + -0.37681735562209334, + 0.7333318271581626, + -0.5658914280105135, + -17.796798963861367 + ], + [ + -0.0, + -0.610924127047917, + -0.7916891548053051, + 4.759210855434242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -38063.549803223024, + 1779.6798963861365, + 475.92108554342417 + ], + "rotation_deg": [ + 0.0, + -52.34364700317382, + 67.86331939697266 + ] + } + } + ] + }, + { + "frame": 24, + "time": 1138.5363708510995, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.1225621484951793, + 0.9924608404144947, + -1.734723462774121e-18, + -23.792734691167983 + ], + [ + 0.13051738442099295, + 0.016118007279690053, + -0.9913149964593666, + 52.1335551939106 + ], + [ + -0.9838413172093257, + -0.12149767277881596, + -0.13150885164562218, + -360.1541329092653 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.1225621484951793, + 0.13051738442099295, + -0.9838413172093257, + -364.05493900119654 + ], + [ + 0.9924608404144947, + 0.016118007279690053, + -0.12149767277881596, + -20.984828776117766 + ], + [ + -1.734723462774121e-18, + -0.9913149964593666, + -0.13150885164562218, + 4.317319078436037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36405.493900119654, + 2098.4828776117765, + 431.73190784360366 + ], + "rotation_deg": [ + 1.0026311935580629e-16, + -7.556791782379148, + 172.9600067138672 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5555704708939301, + 0.8314694533599514, + 1.3877787719657217e-17, + 227.51577675719005 + ], + [ + 0.3328759901220983, + -0.2224207634256369, + -0.9163637810375249, + 122.64403694651381 + ], + [ + -0.7619285011025212, + 0.509104641565918, + -0.40034662874027543, + -268.44394397903784 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5555704708939301, + 0.3328759901220983, + -0.7619285011025212, + -371.7613890659346 + ], + [ + 0.8314694533599514, + -0.2224207634256369, + 0.509104641565918, + -25.22777798857564 + ], + [ + 1.3877787719657217e-17, + -0.9163637810375249, + -0.40034662874027543, + 4.915927718875242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -37176.13890659346, + 2522.777798857564, + 491.5927718875242 + ], + "rotation_deg": [ + -8.677107148145964e-16, + -23.599849700927745, + -146.24998474121094 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.286101828045433, + -0.9581992193636256, + -1.3010425969076378e-18, + -131.2139426319869 + ], + [ + -0.01755970742158013, + 0.005243027015398281, + -0.9998320695711778, + -2.9774051243709887 + ], + [ + 0.9580383079123777, + -0.2860537849953586, + -0.018325737699150774, + 376.6579023899414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.286101828045433, + -0.01755970742158013, + 0.9580383079123777, + -398.44553120842136 + ], + [ + -0.9581992193636256, + 0.005243027015398281, + -0.2860537849953586, + -17.969068883357018 + ], + [ + -1.3010425969076378e-18, + -0.9998320695711778, + -0.018325737699150774, + 3.9256287460066854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -39844.55312084214, + 1796.9068883357018, + 392.5628746006685 + ], + "rotation_deg": [ + 7.455677069746998e-17, + -1.0500462055206292, + 16.62472152709961 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.9258178649163475, + -0.3779699472203252, + 5.551115130726946e-17, + -359.03569560075465 + ], + [ + -0.2987939487504535, + 0.7318803458223564, + -0.6124323110263364, + -97.7140682542512 + ], + [ + 0.231481000967723, + -0.5670007715532236, + -0.790523036507495, + 81.72116273339815 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.9258178649163475, + -0.2987939487504535, + 0.231481000967723, + -380.51493120515994 + ], + [ + -0.3779699472203252, + 0.7318803458223564, + -0.5670007715532236, + -17.853732745765072 + ], + [ + 5.551115130726946e-17, + -0.6124323110263364, + -0.790523036507495, + 4.759210855434242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -38051.493120515996, + 1785.3732745765074, + 475.92108554342417 + ], + "rotation_deg": [ + -5.193316311359071e-15, + -52.23441696166991, + 67.79200744628902 + ] + } + } + ] + }, + { + "frame": 25, + "time": 1138.603037521243, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.12764158296819836, + 0.9918203598925422, + -1.734723462774121e-18, + -25.64466784481263 + ], + [ + 0.13043315556369825, + 0.016785997869101513, + -0.9913149964593666, + 52.10212167506674 + ], + [ + -0.9832063993757886, + -0.12653299239860946, + -0.13150885164562215, + -359.91718678013274 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.12764158296819836, + 0.13043315556369825, + -0.9832063993757886, + -363.94204988127115 + ], + [ + 0.9918203598925422, + 0.016785997869101513, + -0.12653299239860946, + -20.98108927001499 + ], + [ + -1.734723462774121e-18, + -0.9913149964593666, + -0.13150885164562215, + 4.317319078436037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36394.204988127116, + 2098.108927001499, + 431.73190784360366 + ], + "rotation_deg": [ + 1.0026311935580629e-16, + -7.556791782379146, + 172.6666717529297 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5555704708939301, + 0.8314694533599514, + 1.3877787719657217e-17, + 227.4961818512092 + ], + [ + 0.3328759901220983, + -0.2224207634256369, + -0.9163637810375249, + 122.591236932059 + ], + [ + -0.7619285011025212, + 0.509104641565918, + -0.40034662874027543, + -268.32308865557746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5555704708939301, + 0.3328759901220983, + -0.7619285011025212, + -371.64084374347755 + ], + [ + 0.8314694533599514, + -0.2224207634256369, + 0.509104641565918, + -25.28475725027823 + ], + [ + 1.3877787719657217e-17, + -0.9163637810375249, + -0.40034662874027543, + 4.915927718875242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -37164.08437434775, + 2528.475725027823, + 491.5927718875242 + ], + "rotation_deg": [ + -8.677107148145964e-16, + -23.599849700927745, + -146.24998474121094 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.2803397505006459, + -0.9599008408628652, + -0.0, + -128.96954593332174 + ], + [ + -0.019657267121438674, + 0.00574091940100295, + -0.9997902948587508, + -3.8016890377082917 + ], + [ + 0.9596995441013979, + -0.2802809639251676, + -0.02047843531006771, + 377.30033994342335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.2803397505006459, + -0.019657267121438674, + 0.9596995441013979, + -398.3249858859643 + ], + [ + -0.9599008408628652, + 0.00574091940100295, + -0.2802809639251676, + -18.02604814505961 + ], + [ + -0.0, + -0.9997902948587508, + -0.02047843531006771, + 3.9256287460066854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -39832.49858859643, + 1802.604814505961, + 392.5628746006685 + ], + "rotation_deg": [ + 0.0, + -1.173409938812256, + 16.280483245849627 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.9252738515885864, + -0.3792997489669906, + -5.551115130376027e-17, + -358.76250711661606 + ], + [ + -0.2993333107561875, + 0.7302016046845432, + -0.6141703229462144, + -97.86331420238942 + ], + [ + 0.232954642005484, + -0.5682757372321017, + -0.7891735051567609, + 82.19225802636858 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.9252738515885864, + -0.2993333107561875, + 0.232954642005484, + -380.39438588270286 + ], + [ + -0.3792997489669906, + 0.7302016046845432, + -0.5682757372321017, + -17.910712007467666 + ], + [ + -5.551115130376027e-17, + -0.6141703229462144, + -0.7891735051567609, + 4.759210855434242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -38039.438588270285, + 1791.0712007467666, + 475.92108554342417 + ], + "rotation_deg": [ + 5.17861998769009e-15, + -52.10834121704098, + 67.70968627929678 + ] + } + } + ] + }, + { + "frame": 26, + "time": 1138.6697041913867, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.13271767184429692, + 0.9911538828962074, + 1.734723462774121e-18, + -27.49472729559384 + ], + [ + 0.13034550793993707, + 0.017453548482907286, + -0.9913149964593666, + 52.0694947205283 + ], + [ + -0.982545710846868, + -0.13156499547855469, + -0.13150885164562218, + -359.6712445209271 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.13271767184429692, + 0.13034550793993707, + -0.982545710846868, + -363.82949792445334 + ], + [ + 0.9911538828962074, + 0.017453548482907286, + -0.13156499547855469, + -20.977445557156102 + ], + [ + 1.734723462774121e-18, + -0.9913149964593666, + -0.13150885164562218, + 4.317319078436037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36382.94979244533, + 2097.74455571561, + 431.73190784360366 + ], + "rotation_deg": [ + -1.0026311935580629e-16, + -7.556791782379148, + 172.3733367919922 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5555704708939301, + 0.8314694533599514, + 1.3877787719657217e-17, + 227.4766480129778 + ], + [ + 0.3328759901220983, + -0.2224207634256369, + -0.9163637810375249, + 122.53843329670885 + ], + [ + -0.7619285011025212, + 0.509104641565918, + -0.40034662874027543, + -268.2022250441568 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5555704708939301, + 0.3328759901220983, + -0.7619285011025212, + -371.5203248283158 + ], + [ + 0.8314694533599514, + -0.2224207634256369, + 0.509104641565918, + -25.34179231275105 + ], + [ + 1.3877787719657217e-17, + -0.9163637810375249, + -0.40034662874027543, + 4.915927718875242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -37152.03248283158, + 2534.179231275105, + 491.5927718875242 + ], + "rotation_deg": [ + -8.677107148145964e-16, + -23.599849700927745, + -146.24998474121094 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.27452680438183397, + -0.9615794474071803, + -8.673617312729484e-19, + -126.70612096618306 + ], + [ + -0.021776137885010222, + 0.006216993885913006, + -0.9997435415174412, + -4.6343109762281145 + ], + [ + 0.9613328416061719, + -0.2744564017240171, + -0.02264621827388771, + 377.93291446954163 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.27452680438183397, + -0.021776137885010222, + 0.9613328416061719, + -398.2044669708025 + ], + [ + -0.9615794474071803, + 0.006216993885913006, + -0.2744564017240171, + -18.08308320753243 + ], + [ + -8.673617312729484e-19, + -0.9997435415174412, + -0.02264621827388771, + 3.9256287460066854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -39820.44669708025, + 1808.308320753243, + 392.5628746006685 + ], + "rotation_deg": [ + 4.970891517101935e-17, + -1.297643661499023, + 15.933816909790037 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.940104187689897, + -0.34088724864376885, + -5.55111513520164e-17, + -363.62203066821536 + ], + [ + -0.27497639644641875, + 0.7583342082862651, + -0.5910306336732345, + -88.12794094483627 + ], + [ + 0.20147479931440918, + -0.5556303701650237, + -0.8066491164016095, + 70.47118830760209 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.940104187689897, + -0.27497639644641875, + 0.20147479931440918, + -380.2738669675411 + ], + [ + -0.34088724864376885, + 0.7583342082862651, + -0.5556303701650237, + -17.967747069940486 + ], + [ + -5.55111513520164e-17, + -0.5910306336732345, + -0.8066491164016095, + 4.759210855434242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -38027.38669675411, + 1796.7747069940485, + 475.92108554342417 + ], + "rotation_deg": [ + 5.381370324670281e-15, + -53.769821166992216, + 70.0690612792968 + ] + } + } + ] + }, + { + "frame": 27, + "time": 1138.7363708615303, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.13779028207476962, + 0.9904614268944325, + -0.0, + -29.34286515517095 + ], + [ + 0.1302544438470299, + 0.01812064162402504, + -0.9913149964593667, + 52.03567638616006 + ], + [ + -0.9818592689397855, + -0.13659355012547036, + -0.1315088516456222, + -359.4163216287765 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.13779028207476962, + 0.1302544438470299, + -0.9818592689397855, + -363.71728484734433 + ], + [ + 0.9904614268944325, + 0.01812064162402504, + -0.13659355012547036, + -20.973903228669716 + ], + [ + -0.0, + -0.9913149964593667, + -0.1315088516456222, + 4.317319078436037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36371.728484734434, + 2097.3903228669715, + 431.73190784360366 + ], + "rotation_deg": [ + 0.0, + -7.5567917823791495, + 172.08000183105472 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5555704708939301, + 0.8314694533599514, + 1.3877787719657217e-17, + 227.45717963866656 + ], + [ + 0.3328759901220983, + -0.2224207634256369, + -0.9163637810375249, + 122.48562579154938 + ], + [ + -0.7619285011025212, + 0.509104641565918, + -0.40034662874027543, + -268.0813525750304 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5555704708939301, + 0.3328759901220983, + -0.7619285011025212, + -371.39983424586904 + ], + [ + 0.8314694533599514, + -0.2224207634256369, + 0.509104641565918, + -25.39888717669961 + ], + [ + 1.3877787719657217e-17, + -0.9163637810375249, + -0.40034662874027543, + 4.915927718875242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -37139.983424586906, + 2539.888717669961, + 491.5927718875242 + ], + "rotation_deg": [ + -8.677107148145964e-16, + -23.599849700927745, + -146.24998474121094 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.2686657948410335, + -0.9632334559609295, + -8.673617312736449e-19, + -124.42477434539612 + ], + [ + -0.023915189083394347, + 0.0066704423980518054, + -0.9996917369516064, + -5.474831933758223 + ], + [ + 0.962936526108957, + -0.2685829771318092, + -0.024828030131858442, + 378.5549239196962 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.2686657948410335, + -0.023915189083394347, + 0.962936526108957, + -398.0839763883558 + ], + [ + -0.9632334559609295, + 0.0066704423980518054, + -0.2685829771318092, + -18.140178071480992 + ], + [ + -8.673617312736449e-19, + -0.9996917369516064, + -0.024828030131858442, + 3.9256287460066854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -39808.39763883558, + 1814.017807148099, + 392.5628746006685 + ], + "rotation_deg": [ + 4.9711491113895814e-17, + -1.4226875305175772, + 15.584889411926271 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.9534269262165591, + -0.30162409778604277, + -0.0, + -367.8851918237325 + ], + [ + -0.24830100552664316, + 0.7848738420219915, + -0.5677320342944339, + -77.54328220968495 + ], + [ + 0.17124165546656228, + -0.5412910041696687, + -0.8232134256910919, + 59.259254984880606 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.9534269262165591, + -0.24830100552664316, + 0.17124165546656228, + -380.15337638509436 + ], + [ + -0.30162409778604277, + 0.7848738420219915, + -0.5412910041696687, + -18.024841933889046 + ], + [ + -0.0, + -0.5677320342944339, + -0.8232134256910919, + 4.759210855434242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -38015.33763850944, + 1802.4841933889047, + 475.92108554342417 + ], + "rotation_deg": [ + 0.0, + -55.40777587890622, + 72.44482421874999 + ] + } + } + ] + }, + { + "frame": 28, + "time": 1138.803037531674, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.1428592807020911, + 0.9897430100370909, + -0.0, + -31.18904057023458 + ], + [ + 0.13015996567184565, + 0.018787259807363434, + -0.9913149964593667, + 52.00066816437404 + ], + [ + -0.9811470916467803, + -0.1416185245365652, + -0.1315088516456222, + -359.1524293534963 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.1428592807020911, + 0.13015996567184565, + -0.9811470916467803, + -363.60540881692447 + ], + [ + 0.9897430100370909, + 0.018787259807363434, + -0.1416185245365652, + -20.970460394525254 + ], + [ + -0.0, + -0.9913149964593667, + -0.1315088516456222, + 4.317319078436037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36360.54088169245, + 2097.0460394525253, + 431.73190784360366 + ], + "rotation_deg": [ + 0.0, + -7.5567917823791495, + 171.7866668701172 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5555704708939301, + 0.8314694533599514, + 1.3877787719657217e-17, + 227.4377729374545 + ], + [ + 0.3328759901220983, + -0.2224207634256369, + -0.9163637810375249, + 122.43281465251515 + ], + [ + -0.7619285011025212, + 0.509104641565918, + -0.40034662874027543, + -267.9604717882349 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5555704708939301, + 0.3328759901220983, + -0.7619285011025212, + -371.2793703800754 + ], + [ + 0.8314694533599514, + -0.2224207634256369, + 0.509104641565918, + -25.45603836276012 + ], + [ + 1.3877787719657217e-17, + -0.9163637810375249, + -0.40034662874027543, + 4.915927718875242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -37127.93703800754, + 2545.603836276012, + 491.5927718875242 + ], + "rotation_deg": [ + -8.677107148145964e-16, + -23.599849700927745, + -146.24998474121094 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.2627596020978823, + -0.9648613327858894, + 4.3368086563720525e-19, + -122.12663356047918 + ], + [ + -0.026073260311938677, + 0.0071005016702019785, + -0.9996348173071692, + -6.322800915537676 + ], + [ + 0.9645089815797304, + -0.26266364882385007, + -0.027022805897485798, + 379.1656867710228 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.2627596020978823, + -0.026073260311938677, + 0.9645089815797304, + -397.96351252256216 + ], + [ + -0.9648613327858894, + 0.0071005016702019785, + -0.26266364882385007, + -18.197329257541504 + ], + [ + 4.3368086563720525e-19, + -0.9996348173071692, + -0.027022805897485798, + 3.9256287460066854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -39796.351252256216, + 1819.7329257541503, + 392.5628746006685 + ], + "rotation_deg": [ + -2.4857160854011154e-17, + -1.548481225967407, + 15.233870506286626 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.9651904369382932, + -0.2615481226139214, + -5.551115146072511e-17, + -371.5334442390767 + ], + [ + -0.21940265090151603, + 0.8096610993520567, + -0.5443449099361602, + -66.14928980411528 + ], + [ + 0.14237238224084983, + -0.5253964966651997, + -0.8388615058917654, + 48.59829403240159 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.9651904369382932, + -0.21940265090151603, + 0.14237238224084983, + -380.03291251930074 + ], + [ + -0.2615481226139214, + 0.8096610993520567, + -0.5253964966651997, + -18.08199311994956 + ], + [ + -5.551115146072511e-17, + -0.5443449099361602, + -0.8388615058917654, + 4.759210855434242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -38003.29125193007, + 1808.199311994956, + 475.92108554342417 + ], + "rotation_deg": [ + 5.842903389363512e-15, + -57.020092010498104, + 74.83805847167972 + ] + } + } + ] + }, + { + "frame": 29, + "time": 1138.8697042018175, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.14792453486339668, + 0.9889986511545136, + -1.734723462774121e-18, + -33.03320931602346 + ], + [ + 0.13006207589073954, + 0.019453385560279833, + -0.9913149964593666, + 51.96447186821087 + ], + [ + -0.9804091976346395, + -0.14663978700288502, + -0.13150885164562218, + -358.8795813618042 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.14792453486339668, + 0.13006207589073954, + -0.9804091976346395, + -363.49386975243016 + ], + [ + 0.9889986511545136, + 0.019453385560279833, + -0.14663978700288502, + -20.967118881905495 + ], + [ + -1.734723462774121e-18, + -0.9913149964593666, + -0.13150885164562218, + 4.317319078436037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36349.38697524302, + 2096.7118881905494, + 431.73190784360366 + ], + "rotation_deg": [ + 1.0026311935580629e-16, + -7.556791782379148, + 171.4933319091797 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5555704708939301, + 0.8314694533599514, + 1.3877787719657217e-17, + 227.4184281882316 + ], + [ + 0.3328759901220983, + -0.2224207634256369, + -0.9163637810375249, + 122.37999987449511 + ], + [ + -0.7619285011025212, + 0.509104641565918, + -0.40034662874027543, + -267.8395826720714 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5555704708939301, + 0.3328759901220983, + -0.7619285011025212, + -371.158933375263 + ], + [ + 0.8314694533599514, + -0.2224207634256369, + 0.509104641565918, + -25.513246109913737 + ], + [ + 1.3877787719657217e-17, + -0.9163637810375249, + -0.40034662874027543, + 4.915927718875242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -37115.8933375263, + 2551.324610991374, + 491.5927718875242 + ], + "rotation_deg": [ + -8.677107148145964e-16, + -23.599849700927745, + -146.24998474121094 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.2461146049604265, + -0.969240734402539, + 8.673617312770747e-19, + -115.60803221990113 + ], + [ + -0.03252803583196699, + 0.008259686582258632, + -0.9994366935741739, + -8.866859647469639 + ], + [ + 0.9686947543864003, + -0.24597596888579737, + -0.033560327098610274, + 381.03006828148887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.2461146049604265, + -0.03252803583196699, + 0.9686947543864003, + -397.84307551774975 + ], + [ + -0.969240734402539, + 0.008259686582258632, + -0.24597596888579737, + -18.25453700469512 + ], + [ + 8.673617312770747e-19, + -0.9994366935741739, + -0.033560327098610274, + 3.9256287460066854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -39784.307551774975, + 1825.4537004695121, + 392.5628746006685 + ], + "rotation_deg": [ + -4.972417684663798e-17, + -1.9232262372970579, + 14.247713088989268 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.9753418773869322, + -0.22069939332797114, + -2.220446060877372e-16, + -374.5478577378418 + ], + [ + -0.18838711105555817, + 0.8325434692037349, + -0.5209430566524045, + -53.98966264737523 + ], + [ + 0.11497180976230778, + -0.5080975734913342, + -0.8535914355077598, + 38.52516254150637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.9753418773869322, + -0.18838711105555817, + 0.11497180976230778, + -379.91247551448834 + ], + [ + -0.22069939332797114, + 0.8325434692037349, + -0.5080975734913342, + -18.139200867103177 + ], + [ + -2.220446060877372e-16, + -0.5209430566524045, + -0.8535914355077598, + 4.759210855434242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -37991.24755144883, + 1813.9200867103177, + 475.92108554342417 + ], + "rotation_deg": [ + 2.4421515420085516e-14, + -58.60446929931637, + 77.24988555908193 + ] + } + } + ] + }, + { + "frame": 30, + "time": 1138.9363708719611, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.15298564861283157, + 0.9882284104995723, + -0.0, + -34.87523076473971 + ], + [ + 0.12996078242749756, + 0.020118966812389977, + -0.9913149964593667, + 51.92709056131716 + ], + [ + -0.9796456466329296, + -0.15165694501735957, + -0.13150885164562218, + -358.59780074749443 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.15298564861283157, + 0.12996078242749756, + -0.9796456466329296, + -363.3826675689031 + ], + [ + 0.9882284104995723, + 0.020118966812389977, + -0.15165694501735957, + -20.963880523812215 + ], + [ + -0.0, + -0.9913149964593667, + -0.13150885164562218, + 4.317319078436037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36338.26675689031, + 2096.3880523812213, + 431.73190784360366 + ], + "rotation_deg": [ + 0.0, + -7.556791782379148, + 171.20001220703125 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5555704708939301, + 0.8314694533599514, + 1.3877787719657217e-17, + 227.3991456778868 + ], + [ + 0.3328759901220983, + -0.2224207634256369, + -0.9163637810375249, + 122.32718145213235 + ], + [ + -0.7619285011025212, + 0.509104641565918, + -0.40034662874027543, + -267.71868521427854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5555704708939301, + 0.3328759901220983, + -0.7619285011025212, + -371.03852337969323 + ], + [ + 0.8314694533599514, + -0.2224207634256369, + 0.509104641565918, + -25.5705106641338 + ], + [ + 1.3877787719657217e-17, + -0.9163637810375249, + -0.40034662874027543, + 4.915927718875242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -37103.85233796932, + 2557.05106641338, + 491.5927718875242 + ], + "rotation_deg": [ + -8.677107148145964e-16, + -23.599849700927745, + -146.24998474121094 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.22938678508395735, + -0.9733353496246022, + -0.0, + -109.05584737175799 + ], + [ + -0.03900114036865603, + 0.009191432538872238, + -0.9991968918175377, + -11.420849775693132 + ], + [ + 0.9725536556179976, + -0.22920256442072418, + -0.04006958206711943, + 382.76681870246665 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.22938678508395735, + -0.03900114036865603, + 0.9725536556179976, + -397.72266552217997 + ], + [ + -0.9733353496246022, + 0.009191432538872238, + -0.22920256442072418, + -18.31180155891518 + ], + [ + -0.0, + -0.9991968918175377, + -0.04006958206711943, + 3.9256287460066854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -39772.266552217996, + 1831.180155891518, + 392.5628746006685 + ], + "rotation_deg": [ + 0.0, + -2.296432733535766, + 13.260972023010266 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.9838270714942416, + -0.17912089044850163, + -5.55111515882753e-17, + -376.90908268550953 + ], + [ + -0.15537024295860716, + 0.8533759001787835, + -0.4976039193947672, + -41.11175845954159 + ], + [ + 0.0891312505950285, + -0.4895562008015724, + -0.8674043730718083, + 29.071309594464502 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.9838270714942416, + -0.15537024295860716, + 0.0891312505950285, + -379.79206551891855 + ], + [ + -0.17912089044850163, + 0.8533759001787835, + -0.4895562008015724, + -18.196465421323236 + ], + [ + -5.55111515882753e-17, + -0.4976039193947672, + -0.8674043730718083, + 4.759210855434242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -37979.20655189185, + 1819.6465421323237, + 475.92108554342417 + ], + "rotation_deg": [ + 6.3917397001722676e-15, + -60.15839767456052, + 79.68144226074213 + ] + } + } + ] + }, + { + "frame": 31, + "time": 1139.0030375421047, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.15804301586161526, + 0.9874322281237153, + -0.0, + -36.715253940672454 + ], + [ + 0.12985606925194138, + 0.020784054062635147, + -0.9913149975538331, + 51.88852075304156 + ], + [ + -0.9788563802944734, + -0.15667038924306306, + -0.13150884339552363, + -358.3070841079406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.15804301586161526, + 0.12985606925194138, + -0.9788563802944734, + -363.2718021680702 + ], + [ + 0.9874322281237153, + 0.020784054062635147, + -0.15667038924306306, + -20.960747139863724 + ], + [ + -0.0, + -0.9913149975538331, + -0.13150884339552363, + 4.317319078436037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36327.18021680702, + 2096.0747139863724, + 431.73190784360366 + ], + "rotation_deg": [ + 0.0, + -7.556791305541989, + 170.90667724609375 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5555704708939301, + 0.8314694533599514, + 1.3877787719657217e-17, + 227.37992568030634 + ], + [ + 0.3328759901220983, + -0.2224207634256369, + -0.9163637810375249, + 122.27435938104806 + ], + [ + -0.7619285011025212, + 0.509104641565918, + -0.40034662874027543, + -267.5977794048333 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5555704708939301, + 0.3328759901220983, + -0.7619285011025212, + -370.9181405364348 + ], + [ + 0.8314694533599514, + -0.2224207634256369, + 0.509104641565918, + -25.62783225922497 + ], + [ + 1.3877787719657217e-17, + -0.9163637810375249, + -0.40034662874027543, + 4.915927718875242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -37091.81405364348, + 2562.783225922497, + 491.5927718875242 + ], + "rotation_deg": [ + -8.677107148145964e-16, + -23.599849700927745, + -146.24998474121094 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.21258091353004502, + -0.977143467052168, + 8.673617312840818e-19, + -102.47192515893036 + ], + [ + -0.04548599565331759, + 0.009895634402567903, + -0.9989159627412092, + -13.98218835647295 + ], + [ + 0.9760842067579194, + -0.2123504695154072, + -0.04654996685659227, + 384.37535465547154 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.21258091353004502, + -0.04548599565331759, + 0.9760842067579194, + -397.60228267892154 + ], + [ + -0.977143467052168, + 0.009895634402567903, + -0.2123504695154072, + -18.36912315400635 + ], + [ + 8.673617312840818e-19, + -0.9989159627412092, + -0.04654996685659227, + 3.9256287460066854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -39760.228267892155, + 1836.912315400635, + 392.5628746006685 + ], + "rotation_deg": [ + -4.975009785840984e-17, + -2.668080806732177, + 12.273643493652354 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.9905905816105427, + -0.13685868487051148, + -1.6653345498063278e-16, + -378.5973822477085 + ], + [ + -0.12047734404199789, + 0.8720215484926879, + -0.47440871465119594, + -27.566329212129766 + ], + [ + 0.06492694655512496, + -0.4699447980166335, + -0.8803047077166707, + 20.26220651816448 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.9905905816105427, + -0.12047734404199789, + 0.06492694655512496, + -379.6716826756601 + ], + [ + -0.13685868487051148, + 0.8720215484926879, + -0.4699447980166335, + -18.253787016414407 + ], + [ + -1.6653345498063278e-16, + -0.47440871465119594, + -0.8803047077166707, + 4.759210855434242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -37967.16826756601, + 1825.3787016414406, + 475.92108554342417 + ], + "rotation_deg": [ + 2.011275066700829e-14, + -61.67914199829098, + 82.13388824462885 + ] + } + } + ] + }, + { + "frame": 32, + "time": 1139.0697042122483, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.1630962406654772, + 0.986610164290227, + -0.0, + -38.553138352304714 + ], + [ + 0.12974796058883464, + 0.021448597806890693, + -0.9913149975538331, + 51.84877146381487 + ], + [ + -0.9780414561968366, + -0.1616797268340816, + -0.13150884339552366, + -358.0074536002403 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.1630962406654772, + 0.12974796058883464, + -0.9780414561968366, + -363.1612734379643 + ], + [ + 0.986610164290227, + 0.021448597806890693, + -0.1616797268340816, + -20.957720535536865 + ], + [ + -0.0, + -0.9913149975538331, + -0.13150884339552366, + 4.317319078436037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36316.127343796434, + 2095.7720535536864, + 431.73190784360366 + ], + "rotation_deg": [ + 0.0, + -7.55679130554199, + 170.61334228515625 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5555704708939301, + 0.8314694533599514, + 1.3877787719657217e-17, + 227.36076845556346 + ], + [ + 0.3328759901220983, + -0.2224207634256369, + -0.9163637810375249, + 122.2215336578722 + ], + [ + -0.7619285011025212, + 0.509104641565918, + -0.40034662874027543, + -267.47686523602215 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5555704708939301, + 0.3328759901220983, + -0.7619285011025212, + -370.79778498297776 + ], + [ + 0.8314694533599514, + -0.2224207634256369, + 0.509104641565918, + -25.685211116106792 + ], + [ + 1.3877787719657217e-17, + -0.9163637810375249, + -0.40034662874027543, + 4.915927718875242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -37079.778498297776, + 2568.5211116106793, + 491.5927718875242 + ], + "rotation_deg": [ + -8.677107148145964e-16, + -23.599849700927745, + -146.24998474121094 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.19570176555966712, + -0.9806634585610036, + -0.0, + -95.85811210769123 + ], + [ + -0.051976034622753395, + 0.010372367455588715, + -0.9985944651450159, + -16.548296818437365 + ], + [ + 0.9792851015694506, + -0.19542670139694837, + -0.053000888909707604, + 385.85516068387716 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.19570176555966712, + -0.051976034622753395, + 0.9792851015694506, + -397.4819271254645 + ], + [ + -0.9806634585610036, + 0.010372367455588715, + -0.19542670139694837, + -18.42650201088817 + ], + [ + -0.0, + -0.9985944651450159, + -0.053000888909707604, + 3.9256287460066854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -39748.19271254645, + 1842.6502010888173, + 392.5628746006685 + ], + "rotation_deg": [ + 0.0, + -3.038150787353515, + 11.285721778869638 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.9955757472658948, + -0.09396239383899856, + -0.0, + -379.59265710488734 + ], + [ + -0.08384264786612301, + 0.8883522800099442, + -0.4514428391279795, + -13.407310653257614 + ], + [ + 0.042418643988729736, + -0.449445534811634, + -0.8923000447607529, + 12.116824941028302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.9955757472658948, + -0.08384264786612301, + 0.042418643988729736, + -379.5513271222031 + ], + [ + -0.09396239383899856, + 0.8883522800099442, + -0.449445534811634, + -18.31116587329623 + ], + [ + -0.0, + -0.4514428391279795, + -0.8923000447607529, + 4.759210855434242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -37955.13271222031, + 1831.116587329623, + 475.92108554342417 + ], + "rotation_deg": [ + 0.0, + -63.16370773315427, + 84.6083984375 + ] + } + } + ] + }, + { + "frame": 33, + "time": 1139.136370882392, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.16814519057499916, + 0.9857622405461152, + 1.7347234627741211e-18, + -40.38884018160287 + ], + [ + 0.1296364511188176, + 0.022112579364740263, + -0.991314997553833, + 51.80784163350019 + ], + [ + -0.9772008967814717, + -0.16668482665875384, + -0.1315088433955236, + -357.69892416156364 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.16814519057499916, + 0.1296364511188176, + -0.9772008967814717, + -363.0510812525845 + ], + [ + 0.9857622405461152, + 0.022112579364740263, + -0.16668482665875384, + -20.954802501492363 + ], + [ + 1.7347234627741211e-18, + -0.991314997553833, + -0.1315088433955236, + 4.317319078436037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36305.10812525845, + 2095.4802501492363, + 431.73190784360366 + ], + "rotation_deg": [ + -1.0026311924511027e-16, + -7.556791305541987, + 170.32000732421878 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5555704708939301, + 0.8314694533599514, + 1.3877787719657217e-17, + 227.3416742491998 + ], + [ + 0.3328759901220983, + -0.2224207634256369, + -0.9163637810375249, + 122.16870428026937 + ], + [ + -0.7619285011025212, + 0.509104641565918, + -0.40034662874027543, + -267.3559427024994 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5555704708939301, + 0.3328759901220983, + -0.7619285011025212, + -370.6774568508874 + ], + [ + 0.8314694533599514, + -0.2224207634256369, + 0.509104641565918, + -25.742647442180605 + ], + [ + 1.3877787719657217e-17, + -0.9163637810375249, + -0.40034662874027543, + 4.915927718875242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -37067.74568508874, + 2574.2647442180605, + 491.5927718875242 + ], + "rotation_deg": [ + -8.677107148145964e-16, + -23.599849700927745, + -146.24998474121094 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.17875418445463495, + -0.98389376537305, + -0.0, + -89.21628025092708 + ], + [ + -0.058464711882785396, + 0.010621890553417638, + -0.9982329652468577, + -19.116605004834636 + ], + [ + 0.9821551906208905, + -0.17843832096087647, + -0.0594217733588071, + 387.2057819048034 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.17875418445463495, + -0.058464711882785396, + 0.9821551906208905, + -397.3615989933741 + ], + [ + -0.98389376537305, + 0.010621890553417638, + -0.17843832096087647, + -18.483938336961984 + ], + [ + -0.0, + -0.9982329652468577, + -0.0594217733588071, + 3.9256287460066854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -39736.159899337414, + 1848.3938336961985, + 392.5628746006685 + ], + "rotation_deg": [ + 0.0, + -3.406623601913451, + 10.297203063964846 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.9987247861228108, + -0.05048565721019816, + -2.2204460729135883e-16, + -379.8744942688326 + ], + [ + -0.04560880801608082, + 0.9022492634200169, + -0.4287961092283709, + 1.3083933139547455 + ], + [ + 0.021648047941802476, + -0.428249294853116, + -0.9034012970314567, + 4.647076777071832 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.9987247861228108, + -0.04560880801608082, + 0.021648047941802476, + -379.4309989901127 + ], + [ + -0.05048565721019816, + 0.9022492634200169, + -0.428249294853116, + -18.36860219937004 + ], + [ + -2.2204460729135883e-16, + -0.4287961092283709, + -0.9034012970314567, + 4.759210855434242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -37943.09989901127, + 1836.860219937004, + 475.92108554342417 + ], + "rotation_deg": [ + 2.966962312899611e-14, + -64.60881805419922, + 87.10615539550778 + ] + } + } + ] + }, + { + "frame": 34, + "time": 1139.2030375525355, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.1731897332528135, + 0.9848884791161989, + -0.0, + -42.2223157200621 + ], + [ + 0.12952154376465072, + 0.02277598133264987, + -0.9913149975538331, + 51.76573321333679 + ], + [ + -0.9763347240801731, + -0.1716855575290597, + -0.13150884339552366, + -357.3815105003712 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.1731897332528135, + 0.12952154376465072, + -0.9763347240801731, + -362.9412254715976 + ], + [ + 0.9848884791161989, + 0.02277598133264987, + -0.1716855575290597, + -20.951994812986868 + ], + [ + -0.0, + -0.9913149975538331, + -0.13150884339552366, + 4.317319078436037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36294.12254715976, + 2095.199481298687, + 431.73190784360366 + ], + "rotation_deg": [ + 0.0, + -7.55679130554199, + 170.02667236328125 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5555704708939301, + 0.8314694533599514, + 1.3877787719657217e-17, + 227.32264329160162 + ], + [ + 0.3328759901220983, + -0.2224207634256369, + -0.9163637810375249, + 122.11587124695868 + ], + [ + -0.7619285011025212, + 0.509104641565918, + -0.40034662874027543, + -267.2350118013332 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5555704708939301, + 0.3328759901220983, + -0.7619285011025212, + -370.5571562654992 + ], + [ + 0.8314694533599514, + -0.2224207634256369, + 0.509104641565918, + -25.800141430783036 + ], + [ + 1.3877787719657217e-17, + -0.9163637810375249, + -0.40034662874027543, + 4.915927718875242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -37055.71562654992, + 2580.0141430783037, + 491.5927718875242 + ], + "rotation_deg": [ + -8.677107148145964e-16, + -23.599849700927745, + -146.24998474121094 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.16174304808848658, + -0.9868329070288675, + -0.0, + -82.54831399345147 + ], + [ + -0.06494549467977555, + 0.010644641250105984, + -0.9978320371352363, + -21.684547608309735 + ], + [ + 0.9846934896964646, + -0.16139239640035324, + -0.06581204854393831, + 388.42682785479417 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.16174304808848658, + -0.06494549467977555, + 0.9846934896964646, + -397.24129840798594 + ], + [ + -0.9868329070288675, + 0.010644641250105984, + -0.16139239640035324, + -18.54143232556442 + ], + [ + -0.0, + -0.9978320371352363, + -0.06581204854393831, + 3.9256287460066854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -39724.129840798596, + 1854.1432325564417, + 392.5628746006685 + ], + "rotation_deg": [ + 0.0, + -3.773479938507081, + 9.30808353424073 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.9999789607429157, + -0.0064867612502808964, + -2.2204460765817003e-16, + -379.42224367617206 + ], + [ + -0.005926452133622719, + 0.9136034481330949, + -0.4065631767935051, + 16.521098199512604 + ], + [ + 0.0026372732816108916, + -0.40655461488467914, + -0.9136226737037605, + -2.1427455227354626 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.9999789607429157, + -0.005926452133622719, + 0.0026372732816108916, + -379.3106984047245 + ], + [ + -0.0064867612502808964, + 0.9136034481330949, + -0.40655461488467914, + -18.426096187972473 + ], + [ + -2.2204460765817003e-16, + -0.4065631767935051, + -0.9136226737037605, + 4.759210855434242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -37931.06984047245, + 1842.6096187972473, + 475.92108554342417 + ], + "rotation_deg": [ + 3.129210835408248e-14, + -66.01087951660152, + 89.6283340454101 + ] + } + } + ] + }, + { + "frame": 35, + "time": 1139.2697042226791, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.17822973647706716, + 0.983988902902525, + -1.7347234627741211e-18, + -44.05352136995384 + ], + [ + 0.12940324153815544, + 0.023438786322276653, + -0.991314997553833, + 51.72244818138155 + ], + [ + -0.9754429607960805, + -0.1766817883714894, + -0.13150884339552366, + -357.0552275272756 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.17822973647706716, + 0.12940324153815544, + -0.9754429607960805, + -362.8317059400735 + ], + [ + 0.983988902902525, + 0.023438786322276653, + -0.1766817883714894, + -20.94929922935544 + ], + [ + -1.7347234627741211e-18, + -0.991314997553833, + -0.13150884339552366, + 4.317319078436037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36283.17059400735, + 2094.929922935544, + 431.73190784360366 + ], + "rotation_deg": [ + 1.0026311924511027e-16, + -7.55679130554199, + 169.73333740234375 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5555704708939301, + 0.8314694533599514, + 1.3877787719657217e-17, + 227.30367579745283 + ], + [ + 0.3328759901220983, + -0.2224207634256369, + -0.9163637810375249, + 122.06303455772911 + ], + [ + -0.7619285011025212, + 0.509104641565918, + -0.40034662874027543, + -267.11407253204055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5555704708939301, + 0.3328759901220983, + -0.7619285011025212, + -370.43688334564706 + ], + [ + 0.8314694533599514, + -0.2224207634256369, + 0.509104641565918, + -25.857693260709983 + ], + [ + 1.3877787719657217e-17, + -0.9163637810375249, + -0.40034662874027543, + 4.915927718875242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -37043.68833456471, + 2585.7693260709984, + 491.5927718875242 + ], + "rotation_deg": [ + -8.677107148145964e-16, + -23.599849700927745, + -146.24998474121094 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.1446732677465493, + -0.989479482151871, + 8.6736173130462e-19, + -75.85610965895545 + ], + [ + -0.07141188002256153, + 0.010441237261757368, + -0.9973922618288587, + -24.24957088612007 + ], + [ + 0.9868991785344633, + -0.14429599884796573, + -0.07217115853628282, + 389.51797201131143 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.1446732677465493, + -0.07141188002256153, + 0.9868991785344633, + -397.1210254881338 + ], + [ + -0.989479482151871, + 0.010441237261757368, + -0.14429599884796573, + -18.59898415549136 + ], + [ + 8.6736173130462e-19, + -0.9973922618288587, + -0.07217115853628282, + 3.9256287460066854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -39712.10254881338, + 1859.8984155491362, + 392.5628746006685 + ], + "rotation_deg": [ + -4.982610032361259e-17, + -4.13870096206665, + 8.318359375000004 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.9992788669598323, + 0.03797033114780398, + -1.6653345604143571e-16, + -378.21514850448085 + ], + [ + 0.03504592003786419, + 0.9223160875442398, + -0.38484388801926656, + 32.16839646358918 + ], + [ + -0.014612654341637228, + -0.3845663557938877, + -0.9229816836343508, + -8.256503329169707 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.9992788669598323, + 0.03504592003786419, + -0.014612654341637228, + -379.1904254848724 + ], + [ + 0.03797033114780398, + 0.9223160875442398, + -0.3845663557938877, + -18.48364801789942 + ], + [ + -1.6653345604143571e-16, + -0.38484388801926656, + -0.9229816836343508, + 4.759210855434242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -37919.04254848724, + 1848.3648017899418, + 475.92108554342417 + ], + "rotation_deg": [ + 2.4793596961938058e-14, + -67.36595153808592, + 92.17606353759759 + ] + } + } + ] + }, + { + "frame": 36, + "time": 1139.3363708928227, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.18326506814489207, + 0.9830635354837693, + -0.0, + -45.88241364550608 + ], + [ + 0.12928154754013618, + 0.02410097696092537, + -0.9913149975538331, + 51.67798854234057 + ], + [ + -0.974525630303086, + -0.1816733882304844, + -0.13150884339552368, + -356.7200903537708 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.18326506814489207, + 0.12928154754013618, + -0.974525630303086, + -362.722522488248 + ], + [ + 0.9830635354837693, + 0.02410097696092537, + -0.1816733882304844, + -20.946717493550874 + ], + [ + -0.0, + -0.9913149975538331, + -0.13150884339552368, + 4.317319078436037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36272.2522488248, + 2094.6717493550873, + 431.73190784360366 + ], + "rotation_deg": [ + 0.0, + -7.556791305541991, + 169.44000244140625 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5555704708939301, + 0.8314694533599514, + 1.3877787719657217e-17, + 227.28477196525054 + ], + [ + 0.3328759901220983, + -0.2224207634256369, + -0.9163637810375249, + 122.01019421345151 + ], + [ + -0.7619285011025212, + 0.509104641565918, + -0.40034662874027543, + -266.9931248966148 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5555704708939301, + 0.3328759901220983, + -0.7619285011025212, + -370.3166382034187 + ], + [ + 0.8314694533599514, + -0.2224207634256369, + 0.509104641565918, + -25.915303095797363 + ], + [ + 1.3877787719657217e-17, + -0.9163637810375249, + -0.40034662874027543, + 4.915927718875242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -37031.66382034187, + 2591.5303095797362, + 491.5927718875242 + ], + "rotation_deg": [ + -8.677107148145964e-16, + -23.599849700927745, + -146.24998474121094 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.12754977042095617, + -0.9918321713201084, + 8.673617313110741e-19, + -69.1415685171741 + ], + [ + -0.07785738330364876, + 0.010012471517977925, + -0.9969142281456363, + -26.809128159974104 + ], + [ + 0.9887716033482252, + -0.12715618190288777, + -0.07849854658565084, + 390.4789530049595 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.12754977042095617, + -0.07785738330364876, + 0.9887716033482252, + -397.00078034590547 + ], + [ + -0.9918321713201084, + 0.010012471517977925, + -0.12715618190288777, + -18.65659399057874 + ], + [ + 8.673617313110741e-19, + -0.9969142281456363, + -0.07849854658565084, + 3.9256287460066854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -39700.078034590544, + 1865.659399057874, + 392.5628746006685 + ], + "rotation_deg": [ + -4.9849992604368184e-17, + -4.502267360687257, + 7.328025817871097 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.9965648639873013, + 0.0828158913854796, + -1.1102230424208848e-16, + -376.23251191830565 + ], + [ + 0.07714290781120488, + 0.9282990274489461, + -0.363744261001837, + 48.185543244319014 + ], + [ + -0.03012380913865414, + -0.36249474098713097, + -0.9314988560806989, + -13.706946758107229 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.9965648639873013, + 0.07714290781120488, + -0.03012380913865414, + -379.070180342644 + ], + [ + 0.0828158913854796, + 0.9282990274489461, + -0.36249474098713097, + -18.541257852986796 + ], + [ + -1.1102230424208848e-16, + -0.363744261001837, + -0.9314988560806989, + 4.759210855434242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -37907.0180342644, + 1854.1257852986796, + 475.92108554342417 + ], + "rotation_deg": [ + 1.7487862204738422e-14, + -68.66967773437497, + 94.75044250488277 + ] + } + } + ] + }, + { + "frame": 37, + "time": 1139.4030375629663, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.18829533472350712, + 0.9821124512607313, + 1.7347234627741211e-18, + -47.70885328127392 + ], + [ + 0.129156471554956, + 0.024762501495555526, + -0.991314997553833, + 51.63235799830875 + ], + [ + -0.973582806355811, + -0.186659966991091, + -0.13150884339552368, + -356.3761268862836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.18829533472350712, + 0.129156471554956, + -0.973582806355811, + -362.6136749313134 + ], + [ + 0.9821124512607313, + 0.024762501495555526, + -0.186659966991091, + -20.94425133174279 + ], + [ + 1.7347234627741211e-18, + -0.991314997553833, + -0.13150884339552368, + 4.317319078436037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36261.36749313134, + 2094.425133174279, + 431.73190784360366 + ], + "rotation_deg": [ + -1.0026311924511027e-16, + -7.556791305541991, + 169.1466827392578 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5555704708939301, + 0.8314694533599514, + 1.3877787719657217e-17, + 227.26593197688612 + ], + [ + 0.3328759901220983, + -0.2224207634256369, + -0.9163637810375249, + 121.95735021608638 + ], + [ + -0.7619285011025212, + 0.509104641565918, + -0.40034662874027543, + -266.87216889954334 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5555704708939301, + 0.3328759901220983, + -0.7619285011025212, + -370.19642094393924 + ], + [ + 0.8314694533599514, + -0.2224207634256369, + 0.509104641565918, + -25.97297108456156 + ], + [ + 1.3877787719657217e-17, + -0.9163637810375249, + -0.40034662874027543, + 4.915927718875242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -37019.64209439392, + 2597.297108456156, + 491.5927718875242 + ], + "rotation_deg": [ + -8.677107148145964e-16, + -23.599849700927745, + -146.24998474121094 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.11037753878476013, + -0.9938897317770307, + -8.673617313180428e-19, + -62.406612564043655 + ], + [ + -0.08427555492994133, + 0.009359316265653525, + -0.9963985317333067, + -29.360686279822048 + ], + [ + 0.9903102692977939, + -0.10998001842378492, + -0.08479366763405496, + 391.30957089104646 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.11037753878476013, + -0.08427555492994133, + 0.9903102692977939, + -396.880563086426 + ], + [ + -0.9938897317770307, + 0.009359316265653525, + -0.10998001842378492, + -18.71426197934294 + ], + [ + -8.673617313180428e-19, + -0.9963985317333067, + -0.08479366763405496, + 3.9256287460066854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -39688.0563086426, + 1871.426197934294, + 392.5628746006685 + ], + "rotation_deg": [ + 4.9875792986365217e-17, + -4.864160060882567, + 6.337079524993895 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.9917776138597791, + 0.1279732966153584, + -5.551115223649501e-17, + -373.4539243053989 + ], + [ + 0.12019224098809385, + 0.9314753712246345, + -0.3433765542493967, + 64.50548806263077 + ], + [ + -0.04394303297393324, + -0.3405531702454416, + -0.9391978215950201, + -18.51629341386724 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.9917776138597791, + 0.12019224098809385, + -0.04394303297393324, + -378.94996308316456 + ], + [ + 0.1279732966153584, + 0.9314753712246345, + -0.3405531702454416, + -18.598925841750994 + ], + [ + -5.551115223649501e-17, + -0.3433765542493967, + -0.9391978215950201, + 4.759210855434242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -37894.996308316455, + 1859.8925841750995, + 475.92108554342417 + ], + "rotation_deg": [ + 9.262585707546734e-15, + -69.9172744750976, + 97.35249328613287 + ] + } + } + ] + }, + { + "frame": 38, + "time": 1139.46970423311, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.19332092772326775, + 0.9811355762096362, + -1.7347234627741211e-18, + -49.532988898897344 + ], + [ + 0.1290280038478339, + 0.025423411413240758, + -0.991314997553833, + 51.58555532887384 + ], + [ + -0.9726144155733852, + -0.1916419127633986, + -0.13150884339552366, + -356.0233279253373 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.19332092772326775, + 0.1290280038478339, + -0.9726144155733852, + -362.50516306923623 + ], + [ + 0.9811355762096362, + 0.025423411413240758, + -0.1916419127633986, + -20.941902452971178 + ], + [ + -1.7347234627741211e-18, + -0.991314997553833, + -0.13150884339552366, + 4.317319078436037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36250.51630692362, + 2094.1902452971176, + 431.73190784360366 + ], + "rotation_deg": [ + 1.0026311924511027e-16, + -7.55679130554199, + 168.8533477783203 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5555704708939301, + 0.8314694533599514, + 1.3877787719657217e-17, + 227.24715599728555 + ], + [ + 0.3328759901220983, + -0.2224207634256369, + -0.9163637810375249, + 121.90450256868847 + ], + [ + -0.7619285011025212, + 0.509104641565918, + -0.40034662874027543, + -266.75120454781836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5555704708939301, + 0.3328759901220983, + -0.7619285011025212, + -370.0762316651811 + ], + [ + 0.8314694533599514, + -0.2224207634256369, + 0.509104641565918, + -26.030697359894365 + ], + [ + 1.3877787719657217e-17, + -0.9163637810375249, + -0.40034662874027543, + 4.915927718875242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -37007.62316651811, + 2603.0697359894366, + 491.5927718875242 + ], + "rotation_deg": [ + -8.677107148145964e-16, + -23.599849700927745, + -146.24998474121094 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.09316157708815427, + -0.995651003391473, + -8.67361731325519e-19, + -55.6531710914288 + ], + [ + -0.09065998134597847, + 0.008482919027053065, + -0.9958457751414759, + -31.901726030400717 + ], + [ + 0.9915148451116848, + -0.09277456365934304, + -0.09105598421284429, + 392.00968955214 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.09316157708815427, + -0.09065998134597847, + 0.9915148451116848, + -396.76037380766786 + ], + [ + -0.995651003391473, + 0.008482919027053065, + -0.09277456365934304, + -18.771988254675747 + ], + [ + -8.67361731325519e-19, + -0.9958457751414759, + -0.09105598421284429, + 3.9256287460066854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -39676.037380766786, + 1877.1988254675746, + 392.5628746006685 + ], + "rotation_deg": [ + 4.990347716644867e-17, + -5.224359989166259, + 5.345516681671144 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.9848588830288977, + 0.1733579548768161, + -5.55111523601798e-17, + -369.8595888312318 + ], + [ + 0.16401478540639836, + 0.9317796721260935, + -0.3238607614094107, + 81.05889490005994 + ], + [ + -0.05614384199764398, + -0.3189571380222828, + -0.9461047580000737, + -22.716919294168278 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.9848588830288977, + 0.16401478540639836, + -0.05614384199764398, + -378.82977380440644 + ], + [ + 0.1733579548768161, + 0.9317796721260935, + -0.3189571380222828, + -18.6566521170838 + ], + [ + -5.55111523601798e-17, + -0.3238607614094107, + -0.9461047580000737, + 4.759210855434242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -37882.97738044064, + 1865.6652117083802, + 475.92108554342417 + ], + "rotation_deg": [ + 9.820747524159019e-15, + -71.10343170166018, + 99.98311614990246 + ] + } + } + ] + }, + { + "frame": 39, + "time": 1139.5363709032536, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.19834145361334976, + 0.9801329847416337, + -0.0, + -51.35468136971258 + ], + [ + 0.1288961542044941, + 0.026083654961197928, + -0.9913149975538331, + 51.5375842246422 + ], + [ + -0.9716205317206893, + -0.19661883543439235, + -0.13150884339552366, + -355.6617212907571 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.19834145361334976, + 0.1288961542044941, + -0.9716205317206893, + -362.3969866865918 + ], + [ + 0.9801329847416337, + 0.026083654961197928, + -0.19661883543439235, + -20.939672548836725 + ], + [ + -0.0, + -0.9913149975538331, + -0.13150884339552366, + 4.317319078436037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36239.69866865918, + 2093.9672548836725, + 431.73190784360366 + ], + "rotation_deg": [ + 0.0, + -7.55679130554199, + 168.5600128173828 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5555704708939301, + 0.8314694533599514, + 1.3877787719657217e-17, + 227.22844417409038 + ], + [ + 0.3328759901220983, + -0.2224207634256369, + -0.9163637810375249, + 121.85165127540893 + ], + [ + -0.7619285011025212, + 0.509104641565918, + -0.40034662874027543, + -266.63023185094147 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5555704708939301, + 0.3328759901220983, + -0.7619285011025212, + -369.95607045779104 + ], + [ + 0.8314694533599514, + -0.2224207634256369, + 0.509104641565918, + -26.088482038794595 + ], + [ + 1.3877787719657217e-17, + -0.9163637810375249, + -0.40034662874027543, + 4.915927718875242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36995.60704577911, + 2608.8482038794596, + 491.5927718875242 + ], + "rotation_deg": [ + -8.677107148145964e-16, + -23.599849700927745, + -146.24998474121094 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.07590692642569774, + -0.9971149073805904, + -8.673617313334958e-19, + -48.883186729982555 + ], + [ + -0.09700428960170969, + 0.00738460273662677, + -0.9952565676453934, + -34.429743866425 + ], + [ + 0.9923851601499778, + -0.07554686763346463, + -0.09728496648955941, + 392.57923520087263 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.07590692642569774, + -0.09700428960170969, + 0.9923851601499778, + -396.64021260027783 + ], + [ + -0.9971149073805904, + 0.00738460273662677, + -0.07554686763346463, + -18.829772933575974 + ], + [ + -8.673617313334958e-19, + -0.9952565676453934, + -0.09728496648955941, + 3.9256287460066854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -39664.02126002778, + 1882.9772933575975, + 392.5628746006685 + ], + "rotation_deg": [ + 4.993302080799795e-17, + -5.582848072052002, + 4.353333950042724 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.9757524926651262, + 0.2188768444988942, + -0.0, + -365.43069161530406 + ], + [ + 0.20842505517623416, + 0.9291584387909266, + -0.30532538708465096, + 97.77435667416434 + ], + [ + -0.0668286593696956, + -0.29792199752169696, + -0.9522480841038912, + -26.3521486740948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.9757524926651262, + 0.20842505517623416, + -0.0668286593696956, + -378.70961259701636 + ], + [ + 0.2188768444988942, + 0.9291584387909266, + -0.29792199752169696, + -18.71443679598403 + ], + [ + -0.0, + -0.30532538708465096, + -0.9522480841038912, + 4.759210855434242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -37870.96125970164, + 1871.4436795984032, + 475.92108554342417 + ], + "rotation_deg": [ + 0.0, + -72.22225952148439, + 102.64307403564459 + ] + } + } + ] + }, + { + "frame": 40, + "time": 1139.6030375733972, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.20335678080140226, + 0.9791047031355179, + -1.7347234627741211e-18, + -53.1738876662256 + ], + [ + 0.12876092608083034, + 0.026743214833869294, + -0.991314997553833, + 51.48844679529019 + ], + [ + -0.9706011808482843, + -0.20159060455459726, + -0.13150884339552363, + -355.2913228853051 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.20335678080140226, + 0.12876092608083034, + -0.9706011808482843, + -362.2891455524212 + ], + [ + 0.9791047031355179, + 0.026743214833869294, + -0.20159060455459726, + -20.937563293236497 + ], + [ + -1.7347234627741211e-18, + -0.991314997553833, + -0.13150884339552363, + 4.317319078436037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36228.91455524212, + 2093.75632932365, + 431.73190784360366 + ], + "rotation_deg": [ + 1.0026311924511027e-16, + -7.556791305541989, + 168.2666778564453 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5555704708939301, + 0.8314694533599514, + 1.3877787719657217e-17, + 227.20979663738837 + ], + [ + 0.3328759901220983, + -0.2224207634256369, + -0.9163637810375249, + 121.79879634149461 + ], + [ + -0.7619285011025212, + 0.509104641565918, + -0.40034662874027543, + -266.50925082092226 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5555704708939301, + 0.3328759901220983, + -0.7619285011025212, + -369.8359374049389 + ], + [ + 0.8314694533599514, + -0.2224207634256369, + 0.509104641565918, + -26.146325222145038 + ], + [ + 1.3877787719657217e-17, + -0.9163637810375249, + -0.40034662874027543, + 4.915927718875242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36983.59374049389, + 2614.6325222145038, + 491.5927718875242 + ], + "rotation_deg": [ + -8.677107148145964e-16, + -23.599849700927745, + -146.24998474121094 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.05861863860103188, + -0.998280449176764, + -0.0, + -42.098605142126544 + ], + [ + -0.10330214397192902, + 0.006065861601512788, + -0.9946315259299967, + -36.942250569945834 + ], + [ + 0.9929212063613226, + -0.05830394640593801, + -0.10348008403296417, + 393.01819756541926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.05861863860103188, + -0.10330214397192902, + 0.9929212063613226, + -396.5200795474256 + ], + [ + -0.998280449176764, + 0.006065861601512788, + -0.05830394640593801, + -18.88761611692642 + ], + [ + -0.0, + -0.9946315259299967, + -0.10348008403296417, + 3.9256287460066854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -39652.00795474256, + 1888.761611692642, + 392.5628746006685 + ], + "rotation_deg": [ + 0.0, + -5.939604759216312, + 3.3605270385742188 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.9644056687525276, + 0.2644271281052503, + -1.6653345789083072e-16, + -360.149940119538 + ], + [ + 0.2532307053435523, + 0.9235706241090237, + -0.2879088608467552, + 114.57822625299791 + ], + [ + -0.07613091467549571, + -0.2776609272519056, + -0.9576578163980518, + -29.476996554318422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.9644056687525276, + 0.2532307053435523, + -0.07613091467549571, + -378.5894795441642 + ], + [ + 0.2644271281052503, + 0.9235706241090237, + -0.2776609272519056, + -18.772279979334474 + ], + [ + -1.6653345789083072e-16, + -0.2879088608467552, + -0.9576578163980518, + 4.759210855434242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -37858.94795441642, + 1877.2279979334476, + 475.92108554342417 + ], + "rotation_deg": [ + 3.314126675613563e-14, + -73.26719665527345, + 105.33291625976568 + ] + } + } + ] + }, + { + "frame": 41, + "time": 1139.6697042435408, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.2083667778313371, + 0.9780507583434442, + 1.7347234627741211e-18, + -54.990564877863555 + ], + [ + 0.12862232302128943, + 0.0274020737436169, + -0.991314997553833, + 51.43814517634347 + ], + [ + -0.9695563896742433, + -0.20655708980961887, + -0.13150884339552363, + -354.91214880659436 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.2083667778313371, + 0.12862232302128943, + -0.9695563896742433, + -362.18163942010136 + ], + [ + 0.9780507583434442, + 0.0274020737436169, + -0.20655708980961887, + -20.935576342126772 + ], + [ + 1.7347234627741211e-18, + -0.991314997553833, + -0.13150884339552363, + 4.317319078436037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36218.163942010135, + 2093.5576342126774, + 431.73190784360366 + ], + "rotation_deg": [ + -1.0026311924511027e-16, + -7.556791305541989, + 167.9733428955078 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5555704708939301, + 0.8314694533599514, + 1.3877787719657217e-17, + 227.19121349947346 + ], + [ + 0.3328759901220983, + -0.2224207634256369, + -0.9163637810375249, + 121.74593777328548 + ], + [ + -0.7619285011025212, + 0.509104641565918, + -0.40034662874027543, + -266.3882614722726 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5555704708939301, + 0.3328759901220983, + -0.7619285011025212, + -369.7158325821792 + ], + [ + 0.8314694533599514, + -0.2224207634256369, + 0.509104641565918, + -26.204226994516524 + ], + [ + 1.3877787719657217e-17, + -0.9163637810375249, + -0.40034662874027543, + 4.915927718875242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36971.58325821792, + 2620.4226994516525, + 491.5927718875242 + ], + "rotation_deg": [ + -8.677107148145964e-16, + -23.599849700927745, + -146.24998474121094 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.04130180385828838, + -0.9991467164526197, + -4.336808656754618e-19, + -35.30138599609499 + ], + [ + -0.10954724207301912, + 0.004528362682689985, + -0.9939712750807282, + -39.436769602525686 + ], + [ + 0.9931231356387676, + -0.041052806958132446, + -0.10964079760691507, + 393.32662824387813 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.04130180385828838, + -0.10954724207301912, + 0.9931231356387676, + -396.399974724666 + ], + [ + -0.9991467164526197, + 0.004528362682689985, + -0.041052806958132446, + -18.945517889297907 + ], + [ + -4.336808656754618e-19, + -0.9939712750807282, + -0.10964079760691507, + 3.9256287460066854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -39639.997472466595, + 1894.5517889297907, + 392.5628746006685 + ], + "rotation_deg": [ + 2.4998794305447293e-17, + -6.294609546661378, + 2.367092370986938 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.9507707532646615, + 0.3098951027953626, + 5.551115277409486e-17, + -354.00223138187494 + ], + [ + 0.29823214457049785, + 0.9149883240596691, + -0.27176084114412125, + 131.3944968654073 + ], + [ + -0.08421735458368788, + -0.2583822492293119, + -0.962364821920527, + -32.15897713700949 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.9507707532646615, + 0.29823214457049785, + -0.08421735458368788, + -378.4693747214045 + ], + [ + 0.3098951027953626, + 0.9149883240596691, + -0.2583822492293119, + -18.830181751705965 + ], + [ + 5.551115277409486e-17, + -0.27176084114412125, + -0.962364821920527, + 4.759210855434242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -37846.93747214045, + 1883.0181751705964, + 475.92108554342417 + ], + "rotation_deg": [ + -1.1703506587295952e-14, + -74.23092651367196, + 108.05290985107438 + ] + } + } + ] + }, + { + "frame": 42, + "time": 1139.7363709136844, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.21337131338677412, + 0.9769711779902226, + -0.0, + -56.80467021181062 + ], + [ + 0.1284803486587781, + 0.028060214421175587, + -0.9913149975538331, + 51.38668152902511 + ], + [ + -0.9684861855834522, + -0.21151816102355553, + -0.1315088433955236, + -354.5242153459459 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.21337131338677412, + 0.1284803486587781, + -0.9684861855834522, + -362.07446802723956 + ], + [ + 0.9769711779902226, + 0.028060214421175587, + -0.21151816102355553, + -20.93371333333614 + ], + [ + -0.0, + -0.9913149975538331, + -0.1315088433955236, + 4.317319078436037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36207.446802723956, + 2093.371333333614, + 431.73190784360366 + ], + "rotation_deg": [ + 0.0, + -7.556791305541987, + 167.6800079345703 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5555704708939301, + 0.8314694533599514, + 1.3877787719657217e-17, + 227.17269485466153 + ], + [ + 0.3328759901220983, + -0.2224207634256369, + -0.9163637810375249, + 121.69307557820929 + ], + [ + -0.7619285011025212, + 0.509104641565918, + -0.40034662874027543, + -266.26726382199394 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5555704708939301, + 0.3328759901220983, + -0.7619285011025212, + -369.59575605733767 + ], + [ + 0.8314694533599514, + -0.2224207634256369, + 0.509104641565918, + -26.262187424022223 + ], + [ + 1.3877787719657217e-17, + -0.9163637810375249, + -0.40034662874027543, + 4.915927718875242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36959.575605733764, + 2626.2187424022222, + 491.5927718875242 + ], + "rotation_deg": [ + -8.677107148145964e-16, + -23.599849700927745, + -146.24998474121094 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.023961535091989734, + -0.999712881199415, + -0.0, + -28.493496749866978 + ], + [ + -0.11573333614549805, + 0.0027739448470807783, + -0.9932764469847346, + -41.91084549229031 + ], + [ + 0.9929912585341895, + -0.023800428622309976, + -0.11576657579837535, + 393.5046405137227 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.023961535091989734, + -0.11573333614549805, + 0.9929912585341895, + -396.2798981998244 + ], + [ + -0.999712881199415, + 0.0027739448470807783, + -0.023800428622309976, + -19.0034783188036 + ], + [ + -0.0, + -0.9932764469847346, + -0.11576657579837535, + 3.9256287460066854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -39627.98981998244, + 1900.3478318803602, + 392.5628746006685 + ], + "rotation_deg": [ + 0.0, + -6.647841930389407, + 1.3730262517929086 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.9348073621271548, + 0.3551551713165256, + 5.551115292045643e-17, + -346.9754880375702 + ], + [ + 0.34322177484725647, + 0.9033973538389384, + -0.2570448099991584, + 148.14454575475952 + ], + [ + -0.09129079364576262, + -0.24028737024293206, + -0.9663994881503524, + -34.479090786488236 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.9348073621271548, + 0.34322177484725647, + -0.09129079364576262, + -378.349298196563 + ], + [ + 0.3551551713165256, + 0.9033973538389384, + -0.24028737024293206, + -18.88814218121166 + ], + [ + 5.551115292045643e-17, + -0.2570448099991584, + -0.9663994881503524, + 4.759210855434242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -37834.929819656296, + 1888.8142181211658, + 475.92108554342417 + ], + "rotation_deg": [ + -1.2373542196380566e-14, + -75.10521697998045, + 110.80295562744142 + ] + } + } + ] + }, + { + "frame": 43, + "time": 1139.803037583828, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.21837025629448303, + 0.975865990372593, + 1.7347234627741211e-18, + -58.616160993815285 + ], + [ + 0.12833500671456793, + 0.028717619616105708, + -0.991314997553833, + 51.334058040104864 + ], + [ + -0.9673905966268918, + -0.21647368816241408, + -0.13150884339552363, + -354.1275389872515 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.21837025629448303, + 0.12833500671456793, + -0.9673905966268918, + -361.9676310955754 + ], + [ + 0.975865990372593, + 0.028717619616105708, + -0.21647368816241408, + -20.93197588639532 + ], + [ + 1.7347234627741211e-18, + -0.991314997553833, + -0.13150884339552363, + 4.317319078436037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36196.76310955754, + 2093.197588639532, + 431.73190784360366 + ], + "rotation_deg": [ + -1.0026311924511027e-16, + -7.556791305541989, + 167.3866729736328 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5555704708939301, + 0.8314694533599514, + 1.3877787719657217e-17, + 227.154240779124 + ], + [ + 0.3328759901220983, + -0.2224207634256369, + -0.9163637810375249, + 121.64020976477474 + ], + [ + -0.7619285011025212, + 0.509104641565918, + -0.40034662874027543, + -266.14625788956215 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5555704708939301, + 0.3328759901220983, + -0.7619285011025212, + -369.4757078904043 + ], + [ + 0.8314694533599514, + -0.2224207634256369, + 0.509104641565918, + -26.320206562188574 + ], + [ + 1.3877787719657217e-17, + -0.9163637810375249, + -0.40034662874027543, + 4.915927718875242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36947.57078904043, + 2632.0206562188573, + 491.5927718875242 + ], + "rotation_deg": [ + -8.677107148145964e-16, + -23.599849700927745, + -146.24998474121094 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.006602960284634206, + -0.9999782002201245, + -5.421010821064191e-20, + -21.676909676655114 + ], + [ + -0.12185422114309, + 0.0008046161231772266, + -0.9925476821707383, + -44.36203907282373 + ], + [ + 0.9925260447341053, + -0.006553752975984748, + -0.12185687853544573, + 393.5524095551937 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.006602960284634206, + -0.12185422114309, + 0.9925260447341053, + -396.15985003289103 + ], + [ + -0.9999782002201245, + 0.0008046161231772266, + -0.006553752975984748, + -19.061497456969953 + ], + [ + -5.421010821064191e-20, + -0.9925476821707383, + -0.12185687853544573, + 3.9256287460066854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -39615.985003289104, + 1906.1497456969953, + 392.5628746006685 + ], + "rotation_deg": [ + 3.129331202189309e-18, + -6.999280452728271, + 0.3783245086669921 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.9164852624159189, + 0.40006844886147186, + -0.0, + -339.06177209585854 + ], + [ + 0.38798248108680006, + 0.8887984718703446, + -0.24394030165323505, + 164.74660540627352 + ], + [ + -0.09759281755005013, + -0.22356768075758907, + -0.9697902526233781, + -36.53277123788693 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.9164852624159189, + 0.38798248108680006, + -0.09759281755005013, + -378.2292500296296 + ], + [ + 0.40006844886147186, + 0.8887984718703446, + -0.22356768075758907, + -18.94616131937801 + ], + [ + -0.0, + -0.24394030165323505, + -0.9697902526233781, + 4.759210855434242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -37822.92500296296, + 1894.616131937801, + 475.92108554342417 + ], + "rotation_deg": [ + 0.0, + -75.88078308105466, + 113.58245849609375 + ] + } + } + ] + }, + { + "frame": 44, + "time": 1139.8697042539716, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.2233634755278219, + 0.9747352244584845, + -1.7347234627741211e-18, + -60.4249946689515 + ], + [ + 0.1281863009981977, + 0.029374272097245243, + -0.991314997553833, + 51.280276921751295 + ], + [ + -0.9662696515209019, + -0.22142354133751518, + -0.13150884339552363, + -353.7221364058603 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.2233634755278219, + 0.1281863009981977, + -0.9662696515209019, + -361.86112833090243 + ], + [ + 0.9747352244584845, + 0.029374272097245243, + -0.22142354133751518, + -20.930365602404663 + ], + [ + -1.7347234627741211e-18, + -0.991314997553833, + -0.13150884339552363, + 4.317319078436037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36186.11283309024, + 2093.0365602404663, + 431.73190784360366 + ], + "rotation_deg": [ + 1.0026311924511027e-16, + -7.556791305541989, + 167.0933380126953 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5555704708939301, + 0.8314694533599514, + 1.3877787719657217e-17, + 227.1358513307631 + ], + [ + 0.3328759901220983, + -0.2224207634256369, + -0.9163637810375249, + 121.58734034256273 + ], + [ + -0.7619285011025212, + 0.509104641565918, + -0.40034662874027543, + -266.0252436969071 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5555704708939301, + 0.3328759901220983, + -0.7619285011025212, + -369.35568813344617 + ], + [ + 0.8314694533599514, + -0.2224207634256369, + 0.509104641565918, + -26.378284443863922 + ], + [ + 1.3877787719657217e-17, + -0.9163637810375249, + -0.40034662874027543, + 4.915927718875242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36935.56881334462, + 2637.828444386392, + 491.5927718875242 + ], + "rotation_deg": [ + -8.677107148145964e-16, + -23.599849700927745, + -146.24998474121094 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.010768770496632604, + -0.9999420151098716, + -1.0842021642258074e-19, + -14.853604652403138 + ], + [ + -0.12790373928532373, + -0.0013774458850730864, + -0.9917856301235994, + -46.78792919910179 + ], + [ + 0.9917281214148339, + 0.010680311914021022, + -0.1279111571850694, + 393.47017162886164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.010768770496632604, + -0.12790373928532373, + 0.9917281214148339, + -396.0398302759329 + ], + [ + -0.9999420151098716, + -0.0013774458850730864, + 0.010680311914021022, + -19.1195753386453 + ], + [ + -1.0842021642258074e-19, + -0.9917856301235994, + -0.1279111571850694, + 3.9256287460066854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -39603.98302759329, + 1911.95753386453, + 392.5628746006685 + ], + "rotation_deg": [ + 6.263471333271166e-18, + -7.348902702331542, + -0.617017030715942 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.895788118896039, + 0.4444813224925155, + 5.551115320287301e-17, + -330.2587267501374 + ], + [ + 0.4322853844005704, + 0.8712089613730816, + -0.23264628098658205, + 181.11497015580863 + ], + [ + -0.10340692545149158, + -0.20840176376966885, + -0.9725614184340037, + -38.43100509573957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.895788118896039, + 0.4322853844005704, + -0.10340692545149158, + -378.1092302726715 + ], + [ + 0.4444813224925155, + 0.8712089613730816, + -0.20840176376966885, + -19.004239201053355 + ], + [ + 5.551115320287301e-17, + -0.23264628098658205, + -0.9725614184340037, + 4.759210855434242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -37810.92302726715, + 1900.4239201053356, + 475.92108554342417 + ], + "rotation_deg": [ + -1.367120422290322e-14, + -76.5470809936524, + 116.39015960693372 + ] + } + } + ] + }, + { + "frame": 45, + "time": 1139.9363709241152, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.22835058093041805, + 0.9735789706997275, + -0.0, + -62.231033733860365 + ], + [ + 0.1280342434048829, + 0.030030120555581283, + -0.9913149975538331, + 51.22534259089943 + ], + [ + -0.9651234399317313, + -0.22636733378098806, + -0.13150884339552363, + -353.3080408966706 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.22835058093041805, + 0.1280342434048829, + -0.9651234399317313, + -361.75495942299546 + ], + [ + 0.9735789706997275, + 0.030030120555581283, + -0.22636733378098806, + -20.92888406391517 + ], + [ + -0.0, + -0.9913149975538331, + -0.13150884339552363, + 4.317319078436037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36175.495942299545, + 2092.888406391517, + 431.73190784360366 + ], + "rotation_deg": [ + 0.0, + -7.556791305541989, + 166.80001831054688 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5555704708939301, + 0.8314694533599514, + 1.3877787719657217e-17, + 227.1175265491018 + ], + [ + 0.3328759901220983, + -0.2224207634256369, + -0.9163637810375249, + 121.53446732221643 + ], + [ + -0.7619285011025212, + 0.509104641565918, + -0.40034662874027543, + -265.9042212683904 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5555704708939301, + 0.3328759901220983, + -0.7619285011025212, + -369.2356968305257 + ], + [ + 0.8314694533599514, + -0.2224207634256369, + 0.509104641565918, + -26.436421087140566 + ], + [ + 1.3877787719657217e-17, + -0.9163637810375249, + -0.40034662874027543, + 4.915927718875242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36923.56968305257, + 2643.6421087140566, + 491.5927718875242 + ], + "rotation_deg": [ + -8.677107148145964e-16, + -23.599849700927745, + -146.24998474121094 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.0281484926556883, + -0.999603752674635, + -0.0, + -8.025566185269348 + ], + [ + -0.13387578467316458, + -0.003769895352597454, + -0.9909909495889329, + -49.18611451872034 + ], + [ + 0.9905982719303045, + 0.02789490167846179, + -0.1339288546544161, + 393.25822366149526 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.0281484926556883, + -0.13387578467316458, + 0.9905982719303045, + -395.9198389730125 + ], + [ + -0.999603752674635, + -0.003769895352597454, + 0.02789490167846179, + -19.17771198192194 + ], + [ + -0.0, + -0.9909909495889329, + -0.1339288546544161, + 3.9256287460066854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -39591.983897301245, + 1917.771198192194, + 392.5628746006685 + ], + "rotation_deg": [ + 0.0, + -7.696685314178469, + -1.6130028963088987 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.8727183778308933, + 0.4882239578269525, + 5.551115332586339e-17, + -320.5714468909113 + ], + [ + 0.47588665078632736, + 0.8506649852951826, + -0.22338526897743, + 197.15886623095722 + ], + [ + -0.10906203832276358, + -0.1949524189490023, + -0.9747302324965699, + -40.30158644426077 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.8727183778308933, + 0.47588665078632736, + -0.10906203832276358, + -377.989238969751 + ], + [ + 0.4882239578269525, + 0.8506649852951826, + -0.1949524189490023, + -19.062375844329996 + ], + [ + 5.551115332586339e-17, + -0.22338526897743, + -0.9747302324965699, + 4.759210855434242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -37798.9238969751, + 1906.2375844329997, + 475.92108554342417 + ], + "rotation_deg": [ + -1.423797925741769e-14, + -77.0920562744141, + 119.2239151000977 + ] + } + } + ] + }, + { + "frame": 46, + "time": 1140.0030375942588, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.23333196065335204, + 0.9723971391040097, + 1.7347234627741211e-18, + -64.03442612500629 + ], + [ + 0.12787882209983872, + 0.030685216036413093, + -0.991314997553833, + 51.169253014209644 + ], + [ + -0.96395187264866, + -0.23130545027282307, + -0.13150884339552363, + -352.88523713235134 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.23333196065335204, + 0.12787882209983872, + -0.96395187264866, + -361.64912404555696 + ], + [ + 0.9723971391040097, + 0.030685216036413093, + -0.23130545027282307, + -20.927532834847398 + ], + [ + 1.7347234627741211e-18, + -0.991314997553833, + -0.13150884339552363, + 4.317319078436037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36164.9124045557, + 2092.7532834847398, + 431.73190784360366 + ], + "rotation_deg": [ + -1.0026311924511027e-16, + -7.556791305541989, + 166.50668334960938 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5555704708939301, + 0.8314694533599514, + 1.3877787719657217e-17, + 227.0992664552156 + ], + [ + 0.3328759901220983, + -0.2224207634256369, + -0.9163637810375249, + 121.48159071542943 + ], + [ + -0.7619285011025212, + 0.509104641565918, + -0.40034662874027543, + -265.7831906307777 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5555704708939301, + 0.3328759901220983, + -0.7619285011025212, + -369.1157340176378 + ], + [ + 0.8314694533599514, + -0.2224207634256369, + 0.509104641565918, + -26.494616493314673 + ], + [ + 1.3877787719657217e-17, + -0.9163637810375249, + -0.40034662874027543, + 4.915927718875242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36911.57340176378, + 2649.4616493314675, + 491.5927718875242 + ], + "rotation_deg": [ + -8.677107148145964e-16, + -23.599849700927745, + -146.24998474121094 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.04553102837827895, + -0.9989629249650943, + -0.0, + -1.194782915204172 + ], + [ + -0.13976428317249662, + -0.0063702179373865304, + -0.9901643123606849, + -51.55420540569525 + ], + [ + 0.9891374375040013, + 0.04508319974731619, + -0.13990938077399165, + 392.91692381152745 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.04553102837827895, + -0.13976428317249662, + 0.9891374375040013, + -395.79987616012454 + ], + [ + -0.9989629249650943, + -0.0063702179373865304, + 0.04508319974731619, + -19.23590738809605 + ], + [ + -0.0, + -0.9901643123606849, + -0.13990938077399165, + 3.9256287460066854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -39579.987616012455, + 1923.590738809605, + 392.5628746006685 + ], + "rotation_deg": [ + 0.0, + -8.042602539062502, + -2.6096379756927486 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.8473041014942572, + 0.5311080488855439, + -1.110223068506531e-16, + -310.015098225944 + ], + [ + 0.5185222784428402, + 0.8272253718667456, + -0.2164089436653906, + 212.78059548331169 + ], + [ + -0.1149365294247856, + -0.18336417500282967, + -0.9763028083178483, + -42.29058002712001 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.8473041014942572, + 0.5185222784428402, + -0.1149365294247856, + -377.8692761568631 + ], + [ + 0.5311080488855439, + 0.8272253718667456, + -0.18336417500282967, + -19.120571250504106 + ], + [ + -1.110223068506531e-16, + -0.2164089436653906, + -0.9763028083178483, + 4.759210855434242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -37786.92761568631, + 1912.0571250504106, + 475.92108554342417 + ], + "rotation_deg": [ + 2.939393148861612e-14, + -77.50180053710929, + 122.08035278320305 + ] + } + } + ] + }, + { + "frame": 47, + "time": 1140.0697042644024, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.23830722454263015, + 0.9711898201334221, + -0.0, + -65.83503446994514 + ], + [ + 0.12772004897963005, + 0.03133950723104062, + -0.9913149975538331, + 51.11201259543441 + ], + [ + -0.9627550393481071, + -0.23623750404750848, + -0.13150884339552363, + -352.4537583084305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.23830722454263015, + 0.12772004897963005, + -0.9627550393481071, + -361.5436218561735 + ], + [ + 0.9711898201334221, + 0.03133950723104062, + -0.23623750404750848, + -20.926313460429114 + ], + [ + -0.0, + -0.9913149975538331, + -0.13150884339552363, + 4.317319078436037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36154.36218561735, + 2092.6313460429114, + 431.73190784360366 + ], + "rotation_deg": [ + 0.0, + -7.556791305541989, + 166.21334838867188 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5555704708939301, + 0.8314694533599514, + 1.3877787719657217e-17, + 227.08107105168483 + ], + [ + 0.3328759901220983, + -0.2224207634256369, + -0.9163637810375249, + 121.42871053493255 + ], + [ + -0.7619285011025212, + 0.509104641565918, + -0.40034662874027543, + -265.6621518132088 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5555704708939301, + 0.3328759901220983, + -0.7619285011025212, + -368.99579972265644 + ], + [ + 0.8314694533599514, + -0.2224207634256369, + 0.509104641565918, + -26.552870646864907 + ], + [ + 1.3877787719657217e-17, + -0.9163637810375249, + -0.40034662874027543, + 4.915927718875242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36899.579972265645, + 2655.287064686491, + 491.5927718875242 + ], + "rotation_deg": [ + -8.677107148145964e-16, + -23.599849700927745, + -146.24998474121094 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.06291119415821922, + -0.9980191288996352, + -8.673617314144935e-19, + 5.636755352548249 + ], + [ + -0.14556323002647495, + -0.009175732569965612, + -0.9893063994516883, + -53.88983882075001 + ], + [ + 0.9873467108002084, + 0.06223844744895468, + -0.14585214544583644, + 392.4466891641771 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.06291119415821922, + -0.14556323002647495, + 0.9873467108002084, + -395.6799418651432 + ], + [ + -0.9980191288996352, + -0.009175732569965612, + 0.06223844744895468, + -19.294161541646282 + ], + [ + -8.673617314144935e-19, + -0.9893063994516883, + -0.14585214544583644, + 3.9256287460066854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -39567.99418651432, + 1929.4161541646283, + 392.5628746006685 + ], + "rotation_deg": [ + 5.023334220188853e-17, + -8.386628150939941, + -3.6069278717041007 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.8196077617323699, + 0.5729250534826127, + -0.0, + -298.61826300894126 + ], + [ + 0.5599015731265493, + 0.8009767985379448, + -0.21200565231691343, + 227.87322452976397 + ], + [ + -0.12146334674145433, + -0.17376146769732426, + -0.9772684420066153, + -44.564213564973926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.8196077617323699, + 0.5599015731265493, + -0.12146334674145433, + -377.74934186188176 + ], + [ + 0.5729250534826127, + 0.8009767985379448, + -0.17376146769732426, + -19.17882540405434 + ], + [ + -0.0, + -0.21200565231691343, + -0.9772684420066153, + 4.759210855434242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -37774.93418618818, + 1917.882540405434, + 475.92108554342417 + ], + "rotation_deg": [ + 0.0, + -77.76008605957021, + 124.95445251464841 + ] + } + } + ] + }, + { + "frame": 48, + "time": 1140.136370934546, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.24327624219225788, + 0.9699570454328449, + -3.4694469255482422e-18, + -67.63281669802862 + ], + [ + 0.1275579282058384, + 0.03199297698992246, + -0.991314997553833, + 51.05362364689452 + ], + [ + -0.9615329714001155, + -0.2411633658316218, + -0.1315088433955236, + -352.0136218552059 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.24327624219225788, + 0.1275579282058384, + -0.9615329714001155, + -361.4384524962815 + ], + [ + 0.9699570454328449, + 0.03199297698992246, + -0.2411633658316218, + -20.925227467154773 + ], + [ + -3.4694469255482422e-18, + -0.991314997553833, + -0.1315088433955236, + 4.317319078436037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36143.84524962815, + 2092.5227467154773, + 431.73190784360366 + ], + "rotation_deg": [ + 2.0052623849022055e-16, + -7.556791305541987, + 165.92001342773438 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5555704708939301, + 0.8314694533599514, + 1.3877787719657217e-17, + 227.06294032257134 + ], + [ + 0.3328759901220983, + -0.2224207634256369, + -0.9163637810375249, + 121.37582679447952 + ], + [ + -0.7619285011025212, + 0.509104641565918, + -0.40034662874027543, + -265.5411048471651 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5555704708939301, + 0.3328759901220983, + -0.7619285011025212, + -368.87589396529154 + ], + [ + 0.8314694533599514, + -0.2224207634256369, + 0.509104641565918, + -26.611183515452787 + ], + [ + 1.3877787719657217e-17, + -0.9163637810375249, + -0.40034662874027543, + 4.915927718875242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36887.589396529154, + 2661.1183515452785, + 491.5927718875242 + ], + "rotation_deg": [ + -8.677107148145964e-16, + -23.599849700927745, + -146.24998474121094 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.08028379374541442, + -0.9967720463886633, + -0.0, + 12.467054832232204 + ], + [ + -0.1512666370337442, + -0.012183587543589953, + -0.9884179099526015, + -56.19065721275444 + ], + [ + 0.9852273425627431, + 0.07935394021591076, + -0.15175650114233805, + 391.84799797914656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.08028379374541442, + -0.1512666370337442, + 0.9852273425627431, + -395.5600361077783 + ], + [ + -0.9967720463886633, + -0.012183587543589953, + 0.07935394021591076, + -19.352474410234162 + ], + [ + -0.0, + -0.9884179099526015, + -0.15175650114233805, + 3.9256287460066854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -39556.00361077783, + 1935.247441023416, + 392.5628746006685 + ], + "rotation_deg": [ + 0.0, + -8.72873210906983, + -4.6048784255981445 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7897397228150128, + 0.6134420675239568, + -0.0, + -286.4280963207568 + ], + [ + 0.5996957124702701, + 0.7720427906929077, + -0.21051123909160424, + 242.31651502567627 + ], + [ + -0.12913644630700902, + -0.16624907725195345, + -0.9775914394817864, + -47.311316095290735 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7897397228150128, + 0.5996957124702701, + -0.12913644630700902, + -377.62943610451686 + ], + [ + 0.6134420675239568, + 0.7720427906929077, + -0.16624907725195345, + -19.237138272642216 + ], + [ + -0.0, + -0.21051123909160424, + -0.9775914394817864, + 4.759210855434242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -37762.943610451686, + 1923.7138272642217, + 475.92108554342417 + ], + "rotation_deg": [ + 0.0, + -77.84768676757803, + 127.83880615234371 + ] + } + } + ] + }, + { + "frame": 49, + "time": 1140.2030376046896, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.2482388833599604, + 0.9686988473143757, + -0.0, + -69.4277308612649 + ], + [ + 0.12739246402779042, + 0.032645608185047865, + -0.9913149975538331, + 50.994088505599976 + ], + [ + -0.9602857008361493, + -0.24608290651403966, + -0.13150884339552363, + -351.5648453890813 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.2482388833599604, + 0.12739246402779042, + -0.9602857008361493, + -361.3336155911461 + ], + [ + 0.9686988473143757, + 0.032645608185047865, + -0.24608290651403966, + -20.924276362765486 + ], + [ + -0.0, + -0.9913149975538331, + -0.13150884339552363, + 4.317319078436037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36133.36155911461, + 2092.4276362765486, + 431.73190784360366 + ], + "rotation_deg": [ + 0.0, + -7.556791305541989, + 165.62667846679688 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5555704708939301, + 0.8314694533599514, + 1.3877787719657217e-17, + 227.04487423341766 + ], + [ + 0.3328759901220983, + -0.2224207634256369, + -0.9163637810375249, + 121.32293950883154 + ], + [ + -0.7619285011025212, + 0.509104641565918, + -0.40034662874027543, + -265.4200497664338 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5555704708939301, + 0.3328759901220983, + -0.7619285011025212, + -368.7560167570567 + ], + [ + 0.8314694533599514, + -0.2224207634256369, + 0.509104641565918, + -26.669555049943526 + ], + [ + 1.3877787719657217e-17, + -0.9163637810375249, + -0.40034662874027543, + 4.915927718875242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36875.60167570567, + 2666.9555049943524, + 491.5927718875242 + ], + "rotation_deg": [ + -8.677107148145964e-16, + -23.599849700927745, + -146.24998474121094 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.09764363390551661, + -0.9952214430757231, + -8.673617314392508e-19, + 19.294123994696676 + ], + [ + -0.15686856211205097, + -0.015390762082874918, + -0.9874995588168156, + -58.45432018493473 + ], + [ + 0.9827807356969244, + 0.09642304612864297, + -0.15762176790749868, + 391.1213877244203 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.09764363390551661, + -0.15686856211205097, + 0.9827807356969244, + -395.44015889954346 + ], + [ + -0.9952214430757231, + -0.015390762082874918, + 0.09642304612864297, + -19.4108459447249 + ], + [ + -8.673617314392508e-19, + -0.9874995588168156, + -0.15762176790749868, + 3.9256287460066854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -39544.015889954346, + 1941.0845944724902, + 392.5628746006685 + ], + "rotation_deg": [ + 5.0325254795189405e-17, + -9.068881988525389, + -5.603496551513667 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7578779953910797, + 0.6523963090806068, + -5.551115348652762e-17, + -273.5178683572828 + ], + [ + 0.6375210745115711, + 0.7405976815707268, + -0.2123251129887278, + 255.9710094364521 + ], + [ + -0.13852011618221893, + -0.1609165207708015, + -0.9771990845042197, + -50.746937771981045 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7578779953910797, + 0.6375210745115711, + -0.13852011618221893, + -377.50955889628204 + ], + [ + 0.6523963090806068, + 0.7405976815707268, + -0.1609165207708015, + -19.29550980713296 + ], + [ + -5.551115348652762e-17, + -0.2123251129887278, + -0.9771990845042197, + 4.759210855434242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -37750.9558896282, + 1929.5509807132958, + 475.92108554342417 + ], + "rotation_deg": [ + 1.4979645085541792e-14, + -77.74135589599608, + 130.72251892089844 + ] + } + } + ] + }, + { + "frame": 50, + "time": 1140.2697042748332, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.25319501797059574, + 0.9674152587564814, + -6.9388938510964844e-18, + -71.21973513489709 + ], + [ + 0.12722366078244604, + 0.03329738371038546, + -0.991314997553833, + 50.933409533113704 + ], + [ + -0.9590132603482556, + -0.25099599714931903, + -0.13150884339552363, + -351.10744671154237 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.25319501797059574, + 0.12722366078244604, + -0.9590132603482556, + -361.2291107498463 + ], + [ + 0.9674152587564814, + 0.03329738371038546, + -0.25099599714931903, + -20.923461636248412 + ], + [ + -6.9388938510964844e-18, + -0.991314997553833, + -0.13150884339552363, + 4.317319078436037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36122.91107498463, + 2092.346163624841, + 431.73190784360366 + ], + "rotation_deg": [ + 4.010524769804411e-16, + -7.556791305541989, + 165.33334350585938 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5555704708939301, + 0.8314694533599514, + 1.3877787719657217e-17, + 227.02687273126742 + ], + [ + 0.3328759901220983, + -0.2224207634256369, + -0.9163637810375249, + 121.27004869374048 + ], + [ + -0.7619285011025212, + 0.509104641565918, + -0.40034662874027543, + -265.29898660706993 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5555704708939301, + 0.3328759901220983, + -0.7619285011025212, + -368.6361681012457 + ], + [ + 0.8314694533599514, + -0.2224207634256369, + 0.509104641565918, + -26.72798518444623 + ], + [ + 1.3877787719657217e-17, + -0.9163637810375249, + -0.40034662874027543, + 4.915927718875242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36863.61681012457, + 2672.798518444623, + 491.5927718875242 + ], + "rotation_deg": [ + -8.677107148145964e-16, + -23.599849700927745, + -146.24998474121094 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.11498552761149068, + -0.993367166983038, + -0.0, + 26.11597482688081 + ], + [ + -0.1623631223101333, + -0.018794067192879606, + -0.9865520764521527, + -60.67850957585955 + ], + [ + 0.9800084409587438, + 0.11343921187800793, + -0.16344724181860185, + 390.26745344648873 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.11498552761149068, + -0.1623631223101333, + 0.9800084409587438, + -395.3203102437325 + ], + [ + -0.993367166983038, + -0.018794067192879606, + 0.11343921187800793, + -19.46927607922761 + ], + [ + -0.0, + -0.9865520764521527, + -0.16344724181860185, + 3.9256287460066854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -39532.031024373246, + 1946.9276079227607, + 392.5628746006685 + ], + "rotation_deg": [ + 0.0, + -9.407043457031248, + -6.602790355682372 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7865326926308491, + 0.6175486405319554, + -0.0, + -284.87734566671935 + ], + [ + 0.6003828283637873, + 0.7646696820440321, + -0.23413828556769228, + 242.49198620138048 + ], + [ + -0.14459177693286887, + -0.18415740578602163, + -0.9722033058664008, + -53.50469964427186 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7865326926308491, + 0.6003828283637873, + -0.14459177693286887, + -377.389710240471 + ], + [ + 0.6175486405319554, + 0.7646696820440321, + -0.18415740578602163, + -19.353939941635662 + ], + [ + -0.0, + -0.23413828556769228, + -0.9722033058664008, + 4.759210855434242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -37738.9710240471, + 1935.3939941635663, + 475.92108554342417 + ], + "rotation_deg": [ + 0.0, + -76.45916748046868, + 128.13734436035156 + ] + } + } + ] + }, + { + "frame": 51, + "time": 1140.3363709449768, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.2581445161195651, + 0.9661063134031346, + -3.4694469255482422e-18, + -73.00878781795767 + ], + [ + 0.1270515228942851, + 0.033948286482331835, + -0.991314997553833, + 50.87158911541839 + ], + [ + -0.957715683288207, + -0.25590250896107863, + -0.13150884339552357, + -350.64144380815014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.2581445161195651, + 0.1270515228942851, + -0.957715683288207, + -361.1249375652736 + ], + [ + 0.9661063134031346, + 0.033948286482331835, + -0.25590250896107863, + -20.922784757854455 + ], + [ + -3.4694469255482422e-18, + -0.991314997553833, + -0.13150884339552357, + 4.317319078436037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36112.493756527365, + 2092.2784757854456, + 431.73190784360366 + ], + "rotation_deg": [ + 2.0052623849022055e-16, + -7.556791305541985, + 165.04000854492185 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5555704708939301, + 0.8314694533599514, + 1.3877787719657217e-17, + 227.00893574470683 + ], + [ + 0.3328759901220983, + -0.2224207634256369, + -0.9163637810375249, + 121.21715436593169 + ], + [ + -0.7619285011025212, + 0.509104641565918, + -0.40034662874027543, + -265.17791540735647 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5555704708939301, + 0.3328759901220983, + -0.7619285011025212, + -368.51634799291946 + ], + [ + 0.8314694533599514, + -0.2224207634256369, + 0.509104641565918, + -26.786473836372366 + ], + [ + 1.3877787719657217e-17, + -0.9163637810375249, + -0.40034662874027543, + 4.915927718875242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36851.63479929195, + 2678.6473836372365, + 491.5927718875242 + ], + "rotation_deg": [ + -8.677107148145964e-16, + -23.599849700927745, + -146.24998474121094 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.1323042827003225, + -0.991209148857673, + -1.7347234629313756e-18, + 32.930618311921 + ], + [ + -0.1677444013214918, + -0.02239013100253549, + -0.9855762263056994, + -62.860892464874624 + ], + [ + 0.9769121720558319, + 0.1303959566425319, + -0.16923209677964593, + 389.2868531627833 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.1323042827003225, + -0.1677444013214918, + 0.9769121720558319, + -395.2004901354062 + ], + [ + -0.991209148857673, + -0.02239013100253549, + 0.1303959566425319, + -19.52776473115374 + ], + [ + -1.7347234629313756e-18, + -0.9855762263056994, + -0.16923209677964593, + 3.9256287460066854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -39520.04901354062, + 1952.776473115374, + 392.5628746006685 + ], + "rotation_deg": [ + 1.0084692707206935e-16, + -9.743174552917473, + -7.60276842117309 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.813530923902988, + 0.5815216555327504, + -0.0, + -295.6319746663431 + ], + [ + 0.5621404684704092, + 0.786417238854203, + -0.2560195698394954, + 228.56339238865064 + ], + [ + -0.1488809219247643, + -0.20827982666956923, + -0.9666716013669414, + -55.61091234116515 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.813530923902988, + 0.5621404684704092, + -0.1488809219247643, + -377.2698901321448 + ], + [ + 0.5815216555327504, + 0.786417238854203, + -0.20827982666956923, + -19.412428593561796 + ], + [ + -0.0, + -0.2560195698394954, + -0.9666716013669414, + 4.759210855434242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -37726.98901321448, + 1941.2428593561797, + 475.92108554342417 + ], + "rotation_deg": [ + 0.0, + -75.16599273681642, + 125.5576400756836 + ] + } + } + ] + }, + { + "frame": 52, + "time": 1140.4030376151204, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.26308724807621536, + 0.964772045562932, + 3.4694469255482422e-18, + -74.79484733379763 + ], + [ + 0.12687605487519163, + 0.03459829944015902, + -0.991314997553833, + 50.80862966278468 + ], + [ + -0.9563930036666274, + -0.2608023133453734, + -0.13150884339552366, + -350.1668548475485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.26308724807621536, + 0.12687605487519163, + -0.9563930036666274, + -361.02109561413715 + ], + [ + 0.964772045562932, + 0.03459829944015902, + -0.2608023133453734, + -20.92224717913353 + ], + [ + 3.4694469255482422e-18, + -0.991314997553833, + -0.13150884339552366, + 4.317319078436037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36102.109561413716, + 2092.2247179133533, + 431.73190784360366 + ], + "rotation_deg": [ + -2.0052623849022055e-16, + -7.55679130554199, + 164.74667358398438 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5555704708939301, + 0.8314694533599514, + 1.3877787719657217e-17, + 226.99106318392495 + ], + [ + 0.3328759901220983, + -0.2224207634256369, + -0.9163637810375249, + 121.16425654308536 + ], + [ + -0.7619285011025212, + 0.509104641565918, + -0.40034662874027543, + -265.056836207762 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5555704708939301, + 0.3328759901220983, + -0.7619285011025212, + -368.3965564189012 + ], + [ + 0.8314694533599514, + -0.2224207634256369, + 0.509104641565918, + -26.845020906511685 + ], + [ + 1.3877787719657217e-17, + -0.9163637810375249, + -0.40034662874027543, + 4.915927718875242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36839.65564189012, + 2684.5020906511686, + 491.5927718875242 + ], + "rotation_deg": [ + -8.677107148145964e-16, + -23.599849700927745, + -146.24998474121094 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.14959474411948517, + -0.9887473957143076, + -0.0, + 39.736081222661355 + ], + [ + -0.17300653617178613, + -0.02617541004082191, + -0.9845727938304183, + -64.99915564702472 + ], + [ + 0.9734937853839538, + 0.14728691625675613, + -0.17497546719010507, + 388.18030096456545 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.14959474411948517, + -0.17300653617178613, + 0.9734937853839538, + -395.0806985613879 + ], + [ + -0.9887473957143076, + -0.02617541004082191, + 0.14728691625675613, + -19.58631180129306 + ], + [ + -0.0, + -0.9845727938304183, + -0.17497546719010507, + 3.9256287460066854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -39508.06985613879, + 1958.6311801293061, + 392.5628746006685 + ], + "rotation_deg": [ + 0.0, + -10.077230453491207, + -8.603442192077633 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.8388250899019292, + 0.5444010181392208, + -1.6653345815079808e-16, + -305.762946354059 + ], + [ + 0.522947091095841, + 0.8057684061682658, + -0.27796333487611424, + 214.24153009531864 + ], + [ + -0.15132352116664655, + -0.23316260880436745, + -0.9605916873454972, + -57.0399260178238 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.8388250899019292, + 0.522947091095841, + -0.15132352116664655, + -377.1500985581265 + ], + [ + 0.5444010181392208, + 0.8057684061682658, + -0.23316260880436745, + -19.470975663701118 + ], + [ + -1.6653345815079808e-16, + -0.27796333487611424, + -0.9605916873454972, + 4.759210855434242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -37715.00985581265, + 1947.0975663701117, + 475.92108554342417 + ], + "rotation_deg": [ + 3.4327061077768094e-14, + -73.8613128662109, + 122.98374176025388 + ] + } + } + ] + }, + { + "frame": 53, + "time": 1140.469704285264, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.2680228277149704, + 0.963412561587024, + 3.4694469255482422e-18, + -76.57777813577306 + ], + [ + 0.1266972707112821, + 0.03524737180493941, + -0.991314997553833, + 50.74453629162072 + ], + [ + -0.9550453269110005, + -0.26569502753012114, + -0.13150884339552363, + -349.6837183972722 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.2680228277149704, + 0.1266972707112821, + -0.9550453269110005, + -360.91758445697764 + ], + [ + 0.963412561587024, + 0.03524737180493941, + -0.26569502753012114, + -20.92185033298636 + ], + [ + 3.4694469255482422e-18, + -0.991314997553833, + -0.13150884339552363, + 4.317319078436037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36091.758445697764, + 2092.185033298636, + 431.73190784360366 + ], + "rotation_deg": [ + -2.0052623849022055e-16, + -7.556791305541989, + 164.45335388183594 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5555704708939301, + 0.8314694533599514, + 1.3877787719657217e-17, + 226.97325494079263 + ], + [ + 0.3328759901220983, + -0.2224207634256369, + -0.9163637810375249, + 121.11135524381712 + ], + [ + -0.7619285011025212, + 0.509104641565918, + -0.40034662874027543, + -264.93574905089645 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5555704708939301, + 0.3328759901220983, + -0.7619285011025212, + -368.2767933577799 + ], + [ + 0.8314694533599514, + -0.2224207634256369, + 0.509104641565918, + -26.903626279124715 + ], + [ + 1.3877787719657217e-17, + -0.9163637810375249, + -0.40034662874027543, + 4.915927718875242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36827.67933577799, + 2690.3626279124715, + 491.5927718875242 + ], + "rotation_deg": [ + -8.677107148145964e-16, + -23.599849700927745, + -146.24998474121094 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.1668517616070029, + -0.9859819925579978, + -0.0, + 46.53039327540459 + ], + [ + -0.17814362628112684, + -0.030146167058235782, + -0.9835426055983071, + -67.0909691189145 + ], + [ + 0.9697552975696974, + 0.1641058175764877, + -0.18067635006569172, + 386.94857300205484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.1668517616070029, + -0.17814362628112684, + 0.9697552975696974, + -394.96093550026666 + ], + [ + -0.9859819925579978, + -0.030146167058235782, + 0.1641058175764877, + -19.64491717390609 + ], + [ + -0.0, + -0.9835426055983071, + -0.18067635006569172, + 3.9256287460066854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -39496.093550026664, + 1964.491717390609, + 392.5628746006685 + ], + "rotation_deg": [ + 0.0, + -10.409157752990717, + -9.604824066162104 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.8623724641292356, + 0.5062743654498716, + -0.0, + -315.253253227363 + ], + [ + 0.4829607857671545, + 0.822660816590469, + -0.2999634315343715, + 199.58467739228317 + ], + [ + -0.15186379543271392, + -0.2586801930599275, + -0.953950703839171, + -57.769120989437425 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.8623724641292356, + 0.4829607857671545, + -0.15186379543271392, + -377.03033549700524 + ], + [ + 0.5062743654498716, + 0.822660816590469, + -0.2586801930599275, + -19.529581036314145 + ], + [ + -0.0, + -0.2999634315343715, + -0.953950703839171, + 4.759210855434242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -37703.03354970052, + 1952.9581036314146, + 475.92108554342417 + ], + "rotation_deg": [ + 0.0, + -72.54459381103506, + 120.41598510742188 + ] + } + } + ] + }, + { + "frame": 54, + "time": 1140.5363709554076, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.27295163917661197, + 0.9620277556655009, + 3.4694469255482422e-18, + -78.35772721911574 + ], + [ + 0.12651515648761788, + 0.035895554094582595, + -0.991314997553833, + 50.67930615876692 + ], + [ + -0.9536725481303843, + -0.2705810323198431, + -0.13150884339552368, + -349.1920130255585 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.27295163917661197, + 0.12651515648761788, + -0.9536725481303843, + -360.8144036381919 + ], + [ + 0.9620277556655009, + 0.035895554094582595, + -0.2705810323198431, + -20.9215956337321 + ], + [ + 3.4694469255482422e-18, + -0.991314997553833, + -0.13150884339552368, + 4.317319078436037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36081.44036381919, + 2092.15956337321, + 431.73190784360366 + ], + "rotation_deg": [ + -2.0052623849022055e-16, + -7.556791305541991, + 164.16001892089844 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5555704708939301, + 0.8314694533599514, + 1.3877787719657217e-17, + 226.95551088895965 + ], + [ + 0.3328759901220983, + -0.2224207634256369, + -0.9163637810375249, + 121.0584504876584 + ], + [ + -0.7619285011025212, + 0.509104641565918, + -0.40034662874027543, + -264.81465398146565 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5555704708939301, + 0.3328759901220983, + -0.7619285011025212, + -368.1570587799235 + ], + [ + 0.8314694533599514, + -0.2224207634256369, + 0.509104641565918, + -26.96228982205095 + ], + [ + 1.3877787719657217e-17, + -0.9163637810375249, + -0.40034662874027543, + 4.915927718875242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36815.705877992346, + 2696.228982205095, + 491.5927718875242 + ], + "rotation_deg": [ + -8.677107148145964e-16, + -23.599849700927745, + -146.24998474121094 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.18407021503179943, + -0.9829130968392611, + 3.4694469260333497e-18, + 53.31159721599797 + ], + [ + -0.18314975631251396, + -0.03429846965705781, + -0.9824865300561888, + -69.13399503147852 + ], + [ + 0.9656988773351313, + 0.18084650818835438, + -0.18633362227399217, + 385.5925048518194 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.18407021503179943, + -0.18314975631251396, + 0.9656988773351313, + -394.8412009224102 + ], + [ + -0.9829130968392611, + -0.03429846965705781, + 0.18084650818835438, + -19.703580716832324 + ], + [ + 3.4694469260333497e-18, + -0.9824865300561888, + -0.18633362227399217, + 3.9256287460066854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -39484.12009224102, + 1970.3580716832323, + 392.5628746006685 + ], + "rotation_deg": [ + -2.0232813536368624e-16, + -10.738895416259762, + -10.606928825378416 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.8841350885343249, + 0.46723136155699296, + -0.0, + -324.08764532790735 + ], + [ + 0.44234433756095143, + 0.8370417361301283, + -0.32201338326849704, + 184.6529779228765 + ], + [ + -0.15045475178153792, + -0.2847033206687281, + -0.9467351196963991, + -57.779117124021845 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.8841350885343249, + 0.44234433756095143, + -0.15045475178153792, + -376.9106009191488 + ], + [ + 0.46723136155699296, + 0.8370417361301283, + -0.2847033206687281, + -19.588244579240378 + ], + [ + -0.0, + -0.32201338326849704, + -0.9467351196963991, + 4.759210855434242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -37691.06009191488, + 1958.824457924038, + 475.92108554342417 + ], + "rotation_deg": [ + 0.0, + -71.21527099609372, + 117.85472869873048 + ] + } + } + ] + }, + { + "frame": 55, + "time": 1140.6030376255512, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.2778732963383598, + 0.9606177341596679, + -0.0, + -80.13455915846825 + ], + [ + 0.12632972619165103, + 0.03654279553052867, + -0.9913149975538331, + 50.612944366119734 + ], + [ + -0.9522747727623277, + -0.2754599449452296, + -0.13150884339552363, + -348.6917771905522 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.2778732963383598, + 0.12632972619165103, + -0.9522747727623277, + -360.71155268606316 + ], + [ + 0.9606177341596679, + 0.03654279553052867, + -0.2754599449452296, + -20.92148447719118 + ], + [ + -0.0, + -0.9913149975538331, + -0.13150884339552363, + 4.317319078436037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36071.155268606315, + 2092.148447719118, + 431.73190784360366 + ], + "rotation_deg": [ + 0.0, + -7.556791305541989, + 163.86668395996094 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5555704708939301, + 0.8314694533599514, + 1.3877787719657217e-17, + 226.93783088396827 + ], + [ + 0.3328759901220983, + -0.2224207634256369, + -0.9163637810375249, + 121.0055422950354 + ], + [ + -0.7619285011025212, + 0.509104641565918, + -0.40034662874027543, + -264.6935510462238 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5555704708939301, + 0.3328759901220983, + -0.7619285011025212, + -368.03735264749804 + ], + [ + 0.8314694533599514, + -0.2224207634256369, + 0.509104641565918, + -27.02101138683221 + ], + [ + 1.3877787719657217e-17, + -0.9163637810375249, + -0.40034662874027543, + 4.915927718875242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36803.735264749805, + 2702.101138683221, + 491.5927718875242 + ], + "rotation_deg": [ + -8.677107148145964e-16, + -23.599849700927745, + -146.24998474121094 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.20124504731894433, + -0.9795409286648494, + -3.4694469260932515e-18, + 60.077761967327675 + ], + [ + -0.18801889017351645, + -0.03862816687139264, + -0.981405503174949, + -71.12584523358873 + ], + [ + 0.9613268573854679, + 0.19750299837665505, + -0.19194592702532623, + 384.1129965332044 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.20124504731894433, + -0.18801889017351645, + 0.9613268573854679, + -394.7214947899848 + ], + [ + -0.9795409286648494, + -0.03862816687139264, + 0.19750299837665505, + -19.76230228161359 + ], + [ + -3.4694469260932515e-18, + -0.981405503174949, + -0.19194592702532623, + 3.9256287460066854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -39472.14947899848, + 1976.2302281613588, + 392.5628746006685 + ], + "rotation_deg": [ + 2.025510016059111e-16, + -11.066368103027338, + -11.609775543212889 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.9040799727674057, + 0.42736331480472983, + -5.551115223213504e-17, + -332.2527093206219 + ], + [ + 0.4012646117858175, + 0.8488686013248569, + -0.34410581078086727, + 169.50821690206413 + ], + [ + -0.14705820099781353, + -0.3110991617283787, + -0.9389308798261919, + -57.053775801831705 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.9040799727674057, + 0.4012646117858175, + -0.14705820099781353, + -376.79089478672336 + ], + [ + 0.42736331480472983, + 0.8488686013248569, + -0.3110991617283787, + -19.646966144021643 + ], + [ + -5.551115223213504e-17, + -0.34410581078086727, + -0.9389308798261919, + 4.759210855434242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -37679.08947867234, + 1964.6966144021644, + 475.92108554342417 + ], + "rotation_deg": [ + 9.24295569502235e-15, + -69.87277984619136, + 115.30034637451166 + ] + } + } + ] + }, + { + "frame": 56, + "time": 1140.6697042956948, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.28278767019929835, + 0.9591825340274148, + 3.4694469255482422e-18, + -81.90823287932076 + ], + [ + 0.1261409846836709, + 0.03718907914801662, + -0.991314997553833, + 50.54545341982532 + ], + [ + -0.9508520374437404, + -0.28033163752573437, + -0.13150884339552366, + -348.1830297836087 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.28278767019929835, + 0.1261409846836709, + -0.9508520374437404, + -360.6090311128011 + ], + [ + 0.9591825340274148, + 0.03718907914801662, + -0.28033163752573437, + -20.921518240782504 + ], + [ + 3.4694469255482422e-18, + -0.991314997553833, + -0.13150884339552366, + 4.317319078436037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36060.90311128011, + 2092.1518240782502, + 431.73190784360366 + ], + "rotation_deg": [ + -2.0052623849022055e-16, + -7.55679130554199, + 163.57334899902344 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5555704708939301, + 0.8314694533599514, + 1.3877787719657217e-17, + 226.9202147633833 + ], + [ + 0.3328759901220983, + -0.2224207634256369, + -0.9163637810375249, + 120.95263068724793 + ], + [ + -0.7619285011025212, + 0.509104641565918, + -0.40034662874027543, + -264.57244029392456 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5555704708939301, + 0.3328759901220983, + -0.7619285011025212, + -367.91767491449644 + ], + [ + 0.8314694533599514, + -0.2224207634256369, + 0.509104641565918, + -27.07979080885036 + ], + [ + 1.3877787719657217e-17, + -0.9163637810375249, + -0.40034662874027543, + 4.915927718875242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36791.767491449646, + 2707.9790808850357, + 491.5927718875242 + ], + "rotation_deg": [ + -8.677107148145964e-16, + -23.599849700927745, + -146.24998474121094 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.21837127210108506, + -0.9758657630642412, + -3.4694469261545943e-18, + 66.82698574265982 + ], + [ + -0.19274488034377937, + -0.04313087547971672, + -0.9803005348777564, + -73.06408465947692 + ], + [ + 0.9566417288388568, + 0.21406947640758806, + -0.19751167538853218, + 382.5110105650523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.21837127210108506, + -0.19274488034377937, + 0.9566417288388568, + -394.6018170569832 + ], + [ + -0.9758657630642412, + -0.04313087547971672, + 0.21406947640758806, + -19.821081703631737 + ], + [ + -3.4694469261545943e-18, + -0.9803005348777564, + -0.19751167538853218, + 3.9256287460066854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -39460.18170569832, + 1982.1081703631737, + 392.5628746006685 + ], + "rotation_deg": [ + 2.0277931163012398e-16, + -11.39148616790771, + -12.613388061523432 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.9221790912758958, + 0.38676313631674236, + -0.0, + -339.73686469380556 + ], + [ + 0.3598920837398017, + 0.8581090687731922, + -0.3662328687469606, + 154.21364761198427 + ], + [ + -0.1416453747534818, + -0.3377322839881532, + -0.9305232356922051, + -55.58044587159241 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.9221790912758958, + 0.3598920837398017, + -0.1416453747534818, + -376.67121705372176 + ], + [ + 0.38676313631674236, + 0.8581090687731922, + -0.3377322839881532, + -19.705745566039795 + ], + [ + -0.0, + -0.3662328687469606, + -0.9305232356922051, + 4.759210855434242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -37667.12170537218, + 1970.5745566039793, + 475.92108554342417 + ], + "rotation_deg": [ + 0.0, + -68.51652526855466, + 112.75324249267578 + ] + } + } + ] + }, + { + "frame": 57, + "time": 1140.7363709658384, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.28769463194941397, + 0.9577221928865861, + -3.4694469255482422e-18, + -83.67870743382278 + ], + [ + 0.12594893691075662, + 0.03783438800739061, + -0.991314997553833, + 50.47683584969019 + ], + [ + -0.949404379465753, + -0.28519598237005467, + -0.13150884339552363, + -347.66578987443427 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.28769463194941397, + 0.12594893691075662, + -0.949404379465753, + -360.506838414585 + ], + [ + 0.9577221928865861, + 0.03783438800739061, + -0.28519598237005467, + -20.921698283628373 + ], + [ + -3.4694469255482422e-18, + -0.991314997553833, + -0.13150884339552363, + 4.317319078436037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36050.6838414585, + 2092.1698283628375, + 431.73190784360366 + ], + "rotation_deg": [ + 2.0052623849022055e-16, + -7.556791305541989, + 163.28001403808594 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5555704708939301, + 0.8314694533599514, + 1.3877787719657217e-17, + 226.90266234693084 + ], + [ + 0.3328759901220983, + -0.2224207634256369, + -0.9163637810375249, + 120.89971568644776 + ], + [ + -0.7619285011025212, + 0.509104641565918, + -0.40034662874027543, + -264.4513217752716 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5555704708939301, + 0.3328759901220983, + -0.7619285011025212, + -367.79802552677023 + ], + [ + 0.8314694533599514, + -0.2224207634256369, + 0.509104641565918, + -27.138627907472618 + ], + [ + 1.3877787719657217e-17, + -0.9163637810375249, + -0.40034662874027543, + 4.915927718875242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36779.80255267702, + 2713.862790747262, + 491.5927718875242 + ], + "rotation_deg": [ + -8.677107148145964e-16, + -23.599849700927745, + -146.24998474121094 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.23544402128778794, + -0.9718879116646302, + -0.0, + 73.55741511358822 + ], + [ + -0.19732128576185595, + -0.0478019290577198, + -0.9791727558320078, + -74.9461582852797 + ], + [ + 0.9516461640875115, + 0.23054037284492276, + -0.2030288522994942, + 380.787581455029 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.23544402128778794, + -0.19732128576185595, + 0.9516461640875115, + -394.48216766925697 + ], + [ + -0.9718879116646302, + -0.0478019290577198, + 0.23054037284492276, + -19.879918802253997 + ], + [ + -0.0, + -0.9791727558320078, + -0.2030288522994942, + 3.9256287460066854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -39448.216766925696, + 1987.9918802253997, + 392.5628746006685 + ], + "rotation_deg": [ + 0.0, + -11.714134216308587, + -13.617797851562496 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.9384095665899457, + 0.34552494169375125, + 5.551115199690262e-17, + -346.5304371394028 + ], + [ + 0.3184001511629941, + 0.864741475363201, + -0.3883857934143018, + 138.83374032300696 + ], + [ + -0.1341969811645337, + -0.36446493421774623, + -0.9214968702996118, + -53.34998304588792 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.9384095665899457, + 0.3184001511629941, + -0.1341969811645337, + -376.55156766599555 + ], + [ + 0.34552494169375125, + 0.864741475363201, + -0.36446493421774623, + -19.764582664662054 + ], + [ + 5.551115199690262e-17, + -0.3883857934143018, + -0.9214968702996118, + 4.759210855434242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -37655.15676659955, + 1976.4582664662053, + 475.92108554342417 + ], + "rotation_deg": [ + -8.189163465556244e-15, + -67.14590454101561, + 110.21384429931643 + ] + } + } + ] + }, + { + "frame": 58, + "time": 1140.803037635982, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.29259405297297086, + 0.9562367490139931, + -0.0, + -85.44594200118478 + ], + [ + 0.12575358790664745, + 0.03847870519454416, + -0.9913149975538331, + 50.407094209063374 + ], + [ + -0.9479318367727407, + -0.2900528519794798, + -0.13150884339552368, + -347.1400767101994 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.29259405297297086, + 0.12575358790664745, + -0.9479318367727407, + -360.404974071625 + ], + [ + 0.9562367490139931, + 0.03847870519454416, + -0.2900528519794798, + -20.92202594669126 + ], + [ + -0.0, + -0.9913149975538331, + -0.13150884339552368, + 4.317319078436037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36040.497407162504, + 2092.202594669126, + 431.73190784360366 + ], + "rotation_deg": [ + 0.0, + -7.556791305541991, + 162.98667907714844 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5555704708939301, + 0.8314694533599514, + 1.3877787719657217e-17, + 226.8851734366726 + ], + [ + 0.3328759901220983, + -0.2224207634256369, + -0.9163637810375249, + 120.84679731561545 + ], + [ + -0.7619285011025212, + 0.509104641565918, + -0.40034662874027543, + -264.33019554286585 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5555704708939301, + 0.3328759901220983, + -0.7619285011025212, + -367.67840442207853 + ], + [ + 0.8314694533599514, + -0.2224207634256369, + 0.509104641565918, + -27.197522486228696 + ], + [ + 1.3877787719657217e-17, + -0.9163637810375249, + -0.40034662874027543, + 4.915927718875242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36767.84044220785, + 2719.7522486228695, + 491.5927718875242 + ], + "rotation_deg": [ + -8.677107148145964e-16, + -23.599849700927745, + -146.24998474121094 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.2524585748850337, + -0.9676077035488183, + 3.4694469262813717e-18, + 80.26725706663528 + ], + [ + -0.20174121207162826, + -0.052636309847871134, + -0.9780234671200222, + -76.76932666191558 + ], + [ + 0.9463430402204733, + 0.24691041249854914, + -0.2084948402864416, + 378.94382524005795 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.2524585748850337, + -0.20174121207162826, + 0.9463430402204733, + -394.36254656456526 + ], + [ + -0.9676077035488183, + -0.052636309847871134, + 0.24691041249854914, + -19.93881338101007 + ], + [ + 3.4694469262813717e-18, + -0.9780234671200222, + -0.2084948402864416, + 3.9256287460066854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -39436.25465645653, + 1993.881338101007, + 392.5628746006685 + ], + "rotation_deg": [ + -2.032514293811141e-16, + -12.034160614013668, + -14.623045921325682 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.9527537624957662, + 0.30374375392781566, + -0.0, + -352.62569601606896 + ], + [ + 0.27696439647722393, + 0.8687548876601912, + -0.41055531691909164, + 123.4339089607758 + ], + [ + -0.12470361638833627, + -0.3911581133678964, + -0.9118356970453276, + -50.356920671471826 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.9527537624957662, + 0.27696439647722393, + -0.12470361638833627, + -376.43194656130385 + ], + [ + 0.30374375392781566, + 0.8687548876601912, + -0.3911581133678964, + -19.823477243418125 + ], + [ + -0.0, + -0.41055531691909164, + -0.9118356970453276, + 4.759210855434242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -37643.194656130385, + 1982.3477243418126, + 475.92108554342417 + ], + "rotation_deg": [ + 0.0, + -65.76027679443358, + 107.68260192871101 + ] + } + } + ] + }, + { + "frame": 59, + "time": 1140.8697043061256, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.29748580485188164, + 0.954726241344412, + -0.0, + -87.20989588808338 + ], + [ + 0.1255549427916106, + 0.03912201382136322, + -0.9913149975538331, + 50.33623107471804 + ], + [ + -0.9464344479613293, + -0.29490211905122915, + -0.13150884339552366, + -346.60590971464654 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.29748580485188164, + 0.1255549427916106, + -0.9464344479613293, + -360.3034375482176 + ], + [ + 0.954726241344412, + 0.03912201382136322, + -0.29490211905122915, + -20.922502552898653 + ], + [ + -0.0, + -0.9913149975538331, + -0.13150884339552366, + 4.317319078436037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36030.343754821755, + 2092.2502552898654, + 431.73190784360366 + ], + "rotation_deg": [ + 0.0, + -7.55679130554199, + 162.69334411621097 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5555704708939301, + 0.8314694533599514, + 1.3877787719657217e-17, + 226.8677478171678 + ], + [ + 0.3328759901220983, + -0.2224207634256369, + -0.9163637810375249, + 120.79387559853834 + ], + [ + -0.7619285011025212, + 0.509104641565918, + -0.40034662874027543, + -264.2090616511547 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5555704708939301, + 0.3328759901220983, + -0.7619285011025212, + -367.55881153013206 + ], + [ + 0.8314694533599514, + -0.2224207634256369, + 0.509104641565918, + -27.25647433297594 + ], + [ + 1.3877787719657217e-17, + -0.9163637810375249, + -0.40034662874027543, + 4.915927718875242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36755.88115301321, + 2725.647433297594, + 491.5927718875242 + ], + "rotation_deg": [ + -8.677107148145964e-16, + -23.599849700927745, + -146.24998474121094 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.269410565635827, + -0.9630254135399461, + -0.0, + 86.95486101854362 + ], + [ + -0.20599675662681233, + -0.0576284923966581, + -0.976854284488389, + -78.53044358106466 + ], + [ + 0.9407355003876012, + 0.2631748672193958, + -0.21390583810299285, + 376.9809664129924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.269410565635827, + -0.20599675662681233, + 0.9407355003876012, + -394.2429536726188 + ], + [ + -0.9630254135399461, + -0.0576284923966581, + 0.2631748672193958, + -19.997765227757316 + ], + [ + -0.0, + -0.976854284488389, + -0.21390583810299285, + 3.9256287460066854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -39424.29536726188, + 1999.7765227757316, + 392.5628746006685 + ], + "rotation_deg": [ + 0.0, + -12.351343154907225, + -15.629195213317864 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.9651993585148777, + 0.26151519711571086, + -5.551115180753979e-17, + -358.01688500023374 + ], + [ + 0.2357619928876317, + 0.8701495240318501, + -0.43273096553955687, + 108.08029456740577 + ], + [ + -0.11316572763799417, + -0.417671641167918, + -0.9015231102152963, + -46.599449538091676 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.9651993585148777, + 0.2357619928876317, + -0.11316572763799417, + -376.3123536693574 + ], + [ + 0.26151519711571086, + 0.8701495240318501, + -0.417671641167918, + -19.88242909016537 + ], + [ + -5.551115180753979e-17, + -0.43273096553955687, + -0.9015231102152963, + 4.759210855434242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -37631.23536693574, + 1988.2429090165372, + 475.92108554342417 + ], + "rotation_deg": [ + 7.34995873279848e-15, + -64.3590011596679, + 105.15998840332031 + ] + } + } + ] + }, + { + "frame": 60, + "time": 1140.9363709762692, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.3023697593690757, + 0.9531907094695622, + -3.4694469255482422e-18, + -88.97052852903317 + ], + [ + 0.12535300677230735, + 0.03976429702616927, + -0.991314997553833, + 50.264249046738 + ], + [ + -0.9449122522793826, + -0.29974365648179474, + -0.13150884339552366, + -346.06330848723337 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.3023697593690757, + 0.12535300677230735, + -0.9449122522793826, + -360.2022282928199 + ], + [ + 0.9531907094695622, + 0.03976429702616927, + -0.29974365648179474, + -20.923129407304074 + ], + [ + -3.4694469255482422e-18, + -0.991314997553833, + -0.13150884339552366, + 4.317319078436037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36020.222829281985, + 2092.3129407304073, + 431.73190784360366 + ], + "rotation_deg": [ + 2.0052623849022055e-16, + -7.55679130554199, + 162.40000915527344 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5555704708939301, + 0.8314694533599514, + 1.3877787719657217e-17, + 226.85038525567498 + ], + [ + 0.3328759901220983, + -0.2224207634256369, + -0.9163637810375249, + 120.74095055978634 + ], + [ + -0.7619285011025212, + 0.509104641565918, + -0.40034662874027543, + -264.08792015637687 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5555704708939301, + 0.3328759901220983, + -0.7619285011025212, + -367.43924677265517 + ], + [ + 0.8314694533599514, + -0.2224207634256369, + 0.509104641565918, + -27.31548322010058 + ], + [ + 1.3877787719657217e-17, + -0.9163637810375249, + -0.40034662874027543, + 4.915927718875242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36743.92467726552, + 2731.548322010058, + 491.5927718875242 + ], + "rotation_deg": [ + -8.677107148145964e-16, + -23.599849700927745, + -146.24998474121094 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.25260946513228133, + -0.9675683222003411, + -0.0, + 80.15299919088852 + ], + [ + -0.20128604391262847, + -0.052551079572067505, + -0.9781218290999408, + -76.545799731226 + ], + [ + 0.9463996962742112, + 0.24708283387003954, + -0.20803290148154913, + 378.77060008862054 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.25260946513228133, + -0.20128604391262847, + 0.9463996962742112, + -394.1233889151419 + ], + [ + -0.9675683222003411, + -0.052551079572067505, + 0.24708283387003954, + -20.05677411488196 + ], + [ + -0.0, + -0.9781218290999408, + -0.20803290148154913, + 3.9256287460066854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -39412.33889151419, + 2005.677411488196, + 392.5628746006685 + ], + "rotation_deg": [ + 0.0, + -12.007100105285636, + -14.631980895996087 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.975739346413832, + 0.21893544221963687, + -1.6653345517802287e-16, + -362.7002184364215 + ], + [ + 0.19497113838340263, + 0.8689365650762542, + -0.4549016388967626, + 92.8395537424363 + ], + [ + -0.09959409597902512, + -0.44386541904321714, + -0.8905416923556752, + -42.079619760145206 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.975739346413832, + 0.19497113838340263, + -0.09959409597902512, + -376.1927889118805 + ], + [ + 0.21893544221963687, + 0.8689365650762542, + -0.44386541904321714, + -19.941437977290015 + ], + [ + -1.6653345517802287e-16, + -0.4549016388967626, + -0.8905416923556752, + 4.759210855434242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -37619.27889118805, + 1994.1437977290016, + 475.92108554342417 + ], + "rotation_deg": [ + 2.097522494420037e-14, + -62.941394805908146, + 102.64651489257812 + ] + } + } + ] + }, + { + "frame": 61, + "time": 1141.0030376464128, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.30724553507739616, + 0.9516302754615391, + -0.0, + -90.72770651258323 + ], + [ + 0.1251477959022976, + 0.04040550464528829, + -0.9913149975538331, + 50.19115392595471 + ], + [ + -0.943365370738792, + -0.30457708613688117, + -0.13150884339552368, + -345.512316754684 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.30724553507739616, + 0.1251477959022976, + -0.943365370738792, + -360.10134573812 + ], + [ + 0.9516302754615391, + 0.04040550464528829, + -0.30457708613688117, + -20.92390779723637 + ], + [ + -0.0, + -0.9913149975538331, + -0.13150884339552368, + 4.317319078436037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36010.134573812, + 2092.390779723637, + 431.73190784360366 + ], + "rotation_deg": [ + 0.0, + -7.556791305541991, + 162.106689453125 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5555704708939301, + 0.8314694533599514, + 1.3877787719657217e-17, + 226.83308550234125 + ], + [ + 0.3328759901220983, + -0.2224207634256369, + -0.9163637810375249, + 120.68802222468905 + ], + [ + -0.7619285011025212, + 0.509104641565918, + -0.40034662874027543, + -263.9667711165098 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5555704708939301, + 0.3328759901220983, + -0.7619285011025212, + -367.3197100634433 + ], + [ + 0.8314694533599514, + -0.2224207634256369, + 0.509104641565918, + -27.37454890470722 + ], + [ + 1.3877787719657217e-17, + -0.9163637810375249, + -0.40034662874027543, + 4.915927718875242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36731.971006344334, + 2737.4548904707217, + 491.5927718875242 + ], + "rotation_deg": [ + -8.677107148145964e-16, + -23.599849700927745, + -146.24998474121094 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.2357306160817046, + -0.9718184381054622, + -0.0, + 73.32982680395008 + ], + [ + -0.1964589353394698, + -0.04765436016280157, + -0.9793533318893421, + -74.51960720664665 + ], + [ + 0.9517536246147213, + 0.23086356596726898, + -0.2021560089179074, + 380.43219839747934 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.2357306160817046, + -0.1964589353394698, + 0.9517536246147213, + -394.0038522059301 + ], + [ + -0.9718184381054622, + -0.04765436016280157, + 0.23086356596726898, + -20.115839799488594 + ], + [ + -0.0, + -0.9793533318893421, + -0.2021560089179074, + 3.9256287460066854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -39400.38522059301, + 2011.5839799488595, + 392.5628746006685 + ], + "rotation_deg": [ + 0.0, + -11.663064956665032, + -13.634694099426262 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.9843721449904275, + 0.17610076708221523, + -2.2204460660669447e-16, + -366.6739299073763 + ], + [ + 0.1547702793503167, + 0.8651384908148143, + -0.47705508313033396, + 77.77857358345254 + ], + [ + -0.08400977115073134, + -0.46959972712794107, + -0.8788734007993216, + -36.803315085868974 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.9843721449904275, + 0.1547702793503167, + -0.08400977115073134, + -376.07325220266864 + ], + [ + 0.17610076708221523, + 0.8651384908148143, + -0.46959972712794107, + -20.00050366189665 + ], + [ + -2.2204460660669447e-16, + -0.47705508313033396, + -0.8788734007993216, + 4.759210855434242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -37607.32522026687, + 2000.050366189665, + 475.92108554342417 + ], + "rotation_deg": [ + 2.6668238890311674e-14, + -61.506759643554695, + 100.1427230834961 + ] + } + } + ] + }, + { + "frame": 62, + "time": 1141.0697043165565, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.31211351146303024, + 0.9500448178703028, + -3.4694469255482422e-18, + -92.48157562866197 + ], + [ + 0.12493929420982722, + 0.04104568658450945, + -0.991314997553833, + 50.116942065058396 + ], + [ + -0.9417936829443202, + -0.3094027842068409, + -0.13150884339552366, + -344.9529070235438 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.31211351146303024, + 0.12493929420982722, + -0.9417936829443202, + -360.00078930112204 + ], + [ + 0.9500448178703028, + 0.04104568658450945, + -0.3094027842068409, + -20.924838992477525 + ], + [ + -3.4694469255482422e-18, + -0.991314997553833, + -0.13150884339552366, + 4.317319078436037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36000.078930112206, + 2092.4838992477526, + 431.73190784360366 + ], + "rotation_deg": [ + 2.0052623849022055e-16, + -7.55679130554199, + 161.81335449218747 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5555704708939301, + 0.8314694533599514, + 1.3877787719657217e-17, + 226.81584829042427 + ], + [ + 0.3328759901220983, + -0.2224207634256369, + -0.9163637810375249, + 120.63509061931146 + ], + [ + -0.7619285011025212, + 0.509104641565918, + -0.40034662874027543, + -263.8456145912145 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5555704708939301, + 0.3328759901220983, + -0.7619285011025212, + -367.2002013084361 + ], + [ + 0.8314694533599514, + -0.2224207634256369, + 0.509104641565918, + -27.433671128836703 + ], + [ + 1.3877787719657217e-17, + -0.9163637810375249, + -0.40034662874027543, + 4.915927718875242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36720.02013084361, + 2743.3671128836704, + 491.5927718875242 + ], + "rotation_deg": [ + -8.677107148145964e-16, + -23.599849700927745, + -146.24998474121094 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.21877903474866203, + -0.975774427803088, + 3.4694469261408042e-18, + 66.48742443825842 + ], + [ + -0.19152078737583075, + -0.04294100337382851, + -0.9805487536232916, + -72.45410233097131 + ], + [ + 0.9567943983401765, + 0.21452351141073484, + -0.19627567948390476, + 381.96484255314994 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.21877903474866203, + -0.19152078737583075, + 0.9567943983401765, + -393.8843434509228 + ], + [ + -0.975774427803088, + -0.04294100337382851, + 0.21452351141073484, + -20.17496202361808 + ], + [ + 3.4694469261408042e-18, + -0.9805487536232916, + -0.19627567948390476, + 3.9256287460066854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -39388.43434509228, + 2017.496202361808, + 392.5628746006685 + ], + "rotation_deg": [ + -2.027279795296471e-16, + -11.3192548751831, + -12.637330055236811 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.9911016244546015, + 0.13310736269436668, + -1.665334547508592e-16, + -369.9382819524411 + ], + [ + 0.11533745682276855, + 0.8587890143987211, + -0.4991780241574429, + 62.96422846748463 + ], + [ + -0.06644427590569142, + -0.4947361427844852, + -0.8664994559848825, + -30.780342576815208 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.9911016244546015, + 0.11533745682276855, + -0.06644427590569142, + -375.9537434476614 + ], + [ + 0.13310736269436668, + 0.8587890143987211, + -0.4947361427844852, + -20.059625886026136 + ], + [ + -1.665334547508592e-16, + -0.4991780241574429, + -0.8664994559848825, + 4.759210855434242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -37595.37434476614, + 2005.9625886026136, + 475.92108554342417 + ], + "rotation_deg": [ + 1.911475208664404e-14, + -60.054367065429666, + 97.64919281005854 + ] + } + } + ] + }, + { + "frame": 63, + "time": 1141.1363709867, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.31697330708203153, + 0.9484344587779802, + -3.4694469255482422e-18, + -94.2320025752415 + ], + [ + 0.12472751774977538, + 0.04168479268058094, + -0.991314997553833, + 50.04161924939936 + ], + [ + -0.9401973099178033, + -0.3142203725605612, + -0.13150884339552366, + -344.38512290383983 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.31697330708203153, + 0.12472751774977538, + -0.9401973099178033, + -359.90055838323707 + ], + [ + 0.9484344587779802, + 0.04168479268058094, + -0.3142203725605612, + -20.925924245450577 + ], + [ + -3.4694469255482422e-18, + -0.991314997553833, + -0.13150884339552366, + 4.317319078436037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -35990.05583832371, + 2092.592424545058, + 431.73190784360366 + ], + "rotation_deg": [ + 2.0052623849022055e-16, + -7.55679130554199, + 161.52001953125 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5555704708939301, + 0.8314694533599514, + 1.3877787719657217e-17, + 226.79867333652493 + ], + [ + 0.3328759901220983, + -0.2224207634256369, + -0.9163637810375249, + 120.58215577042917 + ], + [ + -0.7619285011025212, + 0.509104641565918, + -0.40034662874027543, + -263.7244506417782 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5555704708939301, + 0.3328759901220983, + -0.7619285011025212, + -367.0807204057948 + ], + [ + 0.8314694533599514, + -0.2224207634256369, + 0.509104641565918, + -27.492849619694134 + ], + [ + 1.3877787719657217e-17, + -0.9163637810375249, + -0.40034662874027543, + 4.915927718875242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36708.07204057948, + 2749.2849619694134, + 491.5927718875242 + ], + "rotation_deg": [ + -8.677107148145964e-16, + -23.599849700927745, + -146.24998474121094 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.20175971114470292, + -0.9794350509139471, + -0.0, + 59.62785848167965 + ], + [ + -0.18647708502361907, + -0.03841353520518145, + -0.9817080508349385, + -70.35156727718514 + ], + [ + 0.961519274163732, + 0.19806913422103425, + -0.1903924984882025, + 383.36767378710357 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.20175971114470292, + -0.18647708502361907, + 0.961519274163732, + -393.76486254828154 + ], + [ + -0.9794350509139471, + -0.03841353520518145, + 0.19806913422103425, + -20.23414051447551 + ], + [ + -0.0, + -0.9817080508349385, + -0.1903924984882025, + 3.9256287460066854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -39376.48625482815, + 2023.414051447551, + 392.5628746006685 + ], + "rotation_deg": [ + 0.0, + -10.9756908416748, + -11.639881134033194 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.9959371549896847, + 0.09005100394250025, + -1.1102230304216426e-16, + -372.49558765447244 + ], + [ + 0.07684955694673676, + 0.8499331018743739, + -0.5212560483440887, + 48.46310181577666 + ], + [ + -0.04693963653528313, + -0.5191382584731681, + -0.8534003392965002, + -24.024452589335937 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.9959371549896847, + 0.07684955694673676, + -0.04693963653528313, + -375.8342625450201 + ], + [ + 0.09005100394250025, + 0.8499331018743739, + -0.5191382584731681, + -20.118804376883567 + ], + [ + -1.1102230304216426e-16, + -0.5212560483440887, + -0.8534003392965002, + 4.759210855434242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -37583.42625450201, + 2011.8804376883566, + 475.92108554342417 + ], + "rotation_deg": [ + 1.2203425678458273e-14, + -58.583457946777315, + 95.16654205322266 + ] + } + } + ] + }, + { + "frame": 64, + "time": 1141.2030376568437, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.3218247945549308, + 0.9467992403934832, + -0.0, + -95.97894730173681 + ], + [ + 0.12451247207298724, + 0.042322806181976196, + -0.9913149975538331, + 49.96518817119241 + ], + [ + -0.9385762935015669, + -0.3190297249248607, + -0.13150884339552366, + -343.8089846895143 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.3218247945549308, + 0.12451247207298724, + -0.9385762935015669, + -359.80065237037326 + ], + [ + 0.9467992403934832, + 0.042322806181976196, + -0.3190297249248607, + -20.92716479140197 + ], + [ + -0.0, + -0.9913149975538331, + -0.13150884339552366, + 4.317319078436037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -35980.06523703733, + 2092.716479140197, + 431.73190784360366 + ], + "rotation_deg": [ + 0.0, + -7.55679130554199, + 161.2266845703125 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5555704708939301, + 0.8314694533599514, + 1.3877787719657217e-17, + 226.78156034081502 + ], + [ + 0.3328759901220983, + -0.2224207634256369, + -0.9163637810375249, + 120.52921770550472 + ], + [ + -0.7619285011025212, + 0.509104641565918, + -0.40034662874027543, + -263.6032793310608 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5555704708939301, + 0.3328759901220983, + -0.7619285011025212, + -366.96126724598 + ], + [ + 0.8314694533599514, + -0.2224207634256369, + 0.509104641565918, + -27.55208408987115 + ], + [ + 1.3877787719657217e-17, + -0.9163637810375249, + -0.40034662874027543, + 4.915927718875242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36696.126724598005, + 2755.208408987115, + 491.5927718875242 + ], + "rotation_deg": [ + -8.677107148145964e-16, + -23.599849700927745, + -146.24998474121094 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.18467763961139735, + -0.9827991500950551, + -3.4694469260142757e-18, + 52.75319336224749 + ], + [ + -0.18133343710707053, + -0.03407433873372461, + -0.9828311777852773, + -68.21432809512262 + ], + [ + 0.9659256456924672, + 0.18150694339070542, + -0.1845071177341234, + 384.63989114719595 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.18467763961139735, + -0.18133343710707053, + 0.9659256456924672, + -393.6454093884668 + ], + [ + -0.9827991500950551, + -0.03407433873372461, + 0.18150694339070542, + -20.293374984652527 + ], + [ + -3.4694469260142757e-18, + -0.9828311777852773, + -0.1845071177341234, + 3.9256287460066854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -39364.54093884668, + 2029.3374984652526, + 392.5628746006685 + ], + "rotation_deg": [ + 2.0225718530120062e-16, + -10.632397651672356, + -10.642338752746577 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.9988936321680835, + 0.04702671170785399, + 1.110223029268418e-16, + -374.35022379043636 + ], + [ + 0.03948154656472275, + 0.8386268998915081, + -0.5432735317123558, + 34.341201195594294 + ], + [ + -0.025548374250567617, + -0.5426724645594085, + -0.839555761568087, + -16.553345738566552 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.9988936321680835, + 0.03948154656472275, + -0.025548374250567617, + -375.7148093852054 + ], + [ + 0.04702671170785399, + 0.8386268998915081, + -0.5426724645594085, + -20.17803884706058 + ], + [ + 1.110223029268418e-16, + -0.5432735317123558, + -0.839555761568087, + 4.759210855434242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -37571.48093852054, + 2017.8038847060582, + 475.92108554342417 + ], + "rotation_deg": [ + -1.1708852111305199e-14, + -57.0932388305664, + 92.69542694091793 + ] + } + } + ] + }, + { + "frame": 65, + "time": 1141.2697043269873, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.32666784672002064, + 0.945139205577308, + -3.4694469255482422e-18, + -97.72236988710682 + ], + [ + 0.12429416281599702, + 0.04295971036580629, + -0.991314997553833, + 49.887651545420084 + ], + [ + -0.9369306761838622, + -0.3238307152424276, + -0.13150884339552368, + -343.2245128461331 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.32666784672002064, + 0.12429416281599702, + -0.9369306761838622, + -359.70107063304226 + ], + [ + 0.945139205577308, + 0.04295971036580629, + -0.3238307152424276, + -20.928561848614585 + ], + [ + -3.4694469255482422e-18, + -0.991314997553833, + -0.13150884339552368, + 4.317319078436037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -35970.107063304225, + 2092.8561848614586, + 431.73190784360366 + ], + "rotation_deg": [ + 2.0052623849022055e-16, + -7.556791305541991, + 160.933349609375 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5555704708939301, + 0.8314694533599514, + 1.3877787719657217e-17, + 226.76450898729954 + ], + [ + 0.3328759901220983, + -0.2224207634256369, + -0.9163637810375249, + 120.47627645266232 + ], + [ + -0.7619285011025212, + 0.509104641565918, + -0.40034662874027543, + -263.48210072343636 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5555704708939301, + 0.3328759901220983, + -0.7619285011025212, + -366.84184171184467 + ], + [ + 0.8314694533599514, + -0.2224207634256369, + 0.509104641565918, + -27.611374237598916 + ], + [ + 1.3877787719657217e-17, + -0.9163637810375249, + -0.40034662874027543, + 4.915927718875242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36684.18417118447, + 2761.1374237598916, + 491.5927718875242 + ], + "rotation_deg": [ + -8.677107148145964e-16, + -23.599849700927745, + -146.24998474121094 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.1675378174138122, + -0.9858656499423316, + -1.7347234629770972e-18, + 45.865490991785066 + ], + [ + -0.17609558931560054, + -0.029925650307281226, + -0.9839180854508557, + -66.04475965744106 + ], + [ + 0.9700110423431029, + 0.16484348977363728, + -0.1786202721185249, + 385.7807510090988 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.1675378174138122, + -0.17609558931560054, + 0.9700110423431029, + -393.5259838543314 + ], + [ + -0.9858656499423316, + -0.029925650307281226, + 0.16484348977363728, + -20.35266513238029 + ], + [ + -1.7347234629770972e-18, + -0.9839180854508557, + -0.1786202721185249, + 3.9256287460066854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -39352.59838543314, + 2035.2665132380291, + 392.5628746006685 + ], + "rotation_deg": [ + 1.010168786310009e-16, + -10.28940486907959, + -9.644693374633787 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.9999914764364801, + 0.004128807865298033, + -5.551115141009639e-17, + -375.5086263968317 + ], + [ + 0.003406038171976124, + 0.8249376700282767, + -0.5652134459408136, + 20.66379721073007 + ], + [ + -0.00233366459109268, + -0.5652086220804059, + -0.8249447057442973, + -8.388740684892005 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.9999914764364801, + 0.003406038171976124, + -0.00233366459109268, + -375.59538385107 + ], + [ + 0.004128807865298033, + 0.8249376700282767, + -0.5652086220804059, + -20.237328994788346 + ], + [ + -5.551115141009639e-17, + -0.5652134459408136, + -0.8249447057442973, + 4.759210855434242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -37559.538385107, + 2023.7328994788347, + 475.92108554342417 + ], + "rotation_deg": [ + 5.6271745465181426e-15, + -55.58288574218752, + 90.23656463623048 + ] + } + } + ] + }, + { + "frame": 66, + "time": 1141.3363709971309, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.3315023366366912, + 0.9434543978404117, + -0.0, + -99.46223054017103 + ], + [ + 0.12407259570088035, + 0.043595488538258585, + -0.9913149975538331, + 49.80901210972934 + ], + [ + -0.9352605010977517, + -0.32862321767512725, + -0.13150884339552368, + -342.6317280101065 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.3315023366366912, + 0.12407259570088035, + -0.9352605010977517, + -359.60181252646106 + ], + [ + 0.9434543978404117, + 0.043595488538258585, + -0.32862321767512725, + -20.930116618609887 + ], + [ + -0.0, + -0.9913149975538331, + -0.13150884339552368, + 4.317319078436037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -35960.18125264611, + 2093.0116618609886, + 431.73190784360366 + ], + "rotation_deg": [ + 0.0, + -7.556791305541991, + 160.6400146484375 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5555704708939301, + 0.8314694533599514, + 1.3877787719657217e-17, + 226.74751894406663 + ], + [ + 0.3328759901220983, + -0.2224207634256369, + -0.9163637810375249, + 120.42333204066337 + ], + [ + -0.7619285011025212, + 0.509104641565918, + -0.40034662874027543, + -263.36091488473755 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5555704708939301, + 0.3328759901220983, + -0.7619285011025212, + -366.72244367872213 + ], + [ + 0.8314694533599514, + -0.2224207634256369, + 0.509104641565918, + -27.670719746990066 + ], + [ + 1.3877787719657217e-17, + -0.9163637810375249, + -0.40034662874027543, + 4.915927718875242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36672.24436787221, + 2767.0719746990067, + 491.5927718875242 + ], + "rotation_deg": [ + -8.677107148145964e-16, + -23.599849700927745, + -146.24998474121094 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.1503451940370744, + -0.9886335633741926, + 1.7347234629481121e-18, + 38.96679066434616 + ], + [ + -0.17076947102411916, + -0.025969550506765606, + -0.9849687153471519, + -63.84530379651464 + ], + [ + 0.9737731304629851, + 0.14808531373279266, + -0.17273282908867887, + 386.78956657892695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.1503451940370744, + -0.17076947102411916, + 0.9737731304629851, + -393.40658582120886 + ], + [ + -0.9886335633741926, + -0.025969550506765606, + 0.14808531373279266, + -20.41201064177144 + ], + [ + 1.7347234629481121e-18, + -0.9849687153471519, + -0.17273282908867887, + 3.9256287460066854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -39340.65858212089, + 2041.2010641771442, + 392.5628746006685 + ], + "rotation_deg": [ + -1.0090912764081478e-16, + -9.94674968719482, + -8.646931648254391 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.9992566942786274, + -0.03854943500688522, + -1.110223027213009e-16, + -375.9793177041057 + ], + [ + -0.031207514941089115, + 0.8089435866210203, + -0.5870573776692716, + 7.49512207702298 + ], + [ + 0.022630723034952883, + -0.5866210089187321, + -0.809545330583831, + 0.44363429126565057 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.9992566942786274, + -0.031207514941089115, + 0.022630723034952883, + -375.47598581794745 + ], + [ + -0.03854943500688522, + 0.8089435866210203, + -0.5866210089187321, + -20.2966745041795 + ], + [ + -1.110223027213009e-16, + -0.5870573776692716, + -0.809545330583831, + 4.759210855434242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -37547.598581794744, + 2029.6674504179498, + 475.92108554342417 + ], + "rotation_deg": [ + 1.0835583827060696e-14, + -54.051532745361335, + 87.79073333740234 + ] + } + } + ] + }, + { + "frame": 67, + "time": 1141.4030376672745, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.3363281375887563, + 0.9417448613430702, + -3.4694469255482422e-18, + -101.1984895999006 + ], + [ + 0.12384777653510394, + 0.044230124035034096, + -0.991314997553833, + 49.72927262433228 + ], + [ + -0.9335658120199773, + -0.3334071066073009, + -0.13150884339552366, + -342.03065098794104 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.3363281375887563, + 0.12384777653510394, + -0.9335658120199773, + -359.50287739066977 + ], + [ + 0.9417448613430702, + 0.044230124035034096, + -0.3334071066073009, + -20.931830286378673 + ], + [ + -3.4694469255482422e-18, + -0.991314997553833, + -0.13150884339552366, + 4.317319078436037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -35950.287739066975, + 2093.183028637867, + 431.73190784360366 + ], + "rotation_deg": [ + 2.0052623849022055e-16, + -7.55679130554199, + 160.3466796875 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5555704708939301, + 0.8314694533599514, + 1.3877787719657217e-17, + 226.7305898635709 + ], + [ + 0.3328759901220983, + -0.2224207634256369, + -0.9163637810375249, + 120.37038449888105 + ], + [ + -0.7619285011025212, + 0.509104641565918, + -0.40034662874027543, + -263.23972188219756 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5555704708939301, + 0.3328759901220983, + -0.7619285011025212, + -366.6030730145308 + ], + [ + 0.8314694533599514, + -0.2224207634256369, + 0.509104641565918, + -27.730120288309262 + ], + [ + 1.3877787719657217e-17, + -0.9163637810375249, + -0.40034662874027543, + 4.915927718875242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36660.30730145308, + 2773.0120288309263, + 491.5927718875242 + ], + "rotation_deg": [ + -8.677107148145964e-16, + -23.599849700927745, + -146.24998474121094 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.13310471054534978, + -0.991101980641063, + 1.7347234629201782e-18, + 32.059124764582776 + ], + [ + -0.1653612070585203, + -0.022207962481032777, + -0.985983000666132, + -61.61847374004738 + ], + [ + 0.977209704488177, + 0.13123898288804198, + -0.16684580553505657, + 387.6657051748779 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.13310471054534978, + -0.1653612070585203, + 0.977209704488177, + -393.28721515701756 + ], + [ + -0.991101980641063, + -0.022207962481032777, + 0.13123898288804198, + -20.47141118309064 + ], + [ + 1.7347234629201782e-18, + -0.985983000666132, + -0.16684580553505657, + 3.9256287460066854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -39328.721515701756, + 2047.141118309064, + 392.5628746006685 + ], + "rotation_deg": [ + -1.0080532194817252e-16, + -9.60447788238525, + -7.649038791656489 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.9967208900315924, + -0.08091642215663122, + -5.551115131469197e-17, + -375.7729202971313 + ], + [ + -0.06419382448375352, + 0.7907335021576352, + -0.6087854149564278, + -5.102008005594543 + ], + [ + 0.04926073018115105, + -0.6067891355896905, + -0.7933349389711362, + 9.914144013489006 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.9967208900315924, + -0.06419382448375352, + 0.04926073018115105, + -375.35661515375614 + ], + [ + -0.08091642215663122, + 0.7907335021576352, + -0.6067891355896905, + -20.356075045498695 + ], + [ + -5.551115131469197e-17, + -0.6087854149564278, + -0.7933349389711362, + 4.759210855434242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -37535.661515375614, + 2035.6075045498696, + 475.92108554342417 + ], + "rotation_deg": [ + 5.224426592265394e-15, + -52.49826812744139, + 85.35875701904293 + ] + } + } + ] + }, + { + "frame": 68, + "time": 1141.469704337418, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.3411451230877752, + 0.9400106408937222, + -6.9388938510964844e-18, + -102.9311075357165 + ], + [ + 0.12361971121137372, + 0.04486360022178442, + -0.991314997553833, + 49.64843587190735 + ], + [ + -0.931846653369815, + -0.33818225664905543, + -0.13150884339552363, + -341.42130275549476 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.3411451230877752, + 0.12361971121137372, + -0.931846653369815, + -359.40426455064585 + ], + [ + 0.9400106408937222, + 0.04486360022178442, + -0.33818225664905543, + -20.93370402060129 + ], + [ + -6.9388938510964844e-18, + -0.991314997553833, + -0.13150884339552363, + 4.317319078436037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -35940.42645506458, + 2093.370402060129, + 431.73190784360366 + ], + "rotation_deg": [ + 4.010524769804411e-16, + -7.556791305541989, + 160.0533447265625 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5555704708939301, + 0.8314694533599514, + 1.3877787719657217e-17, + 226.71372138290482 + ], + [ + 0.3328759901220983, + -0.2224207634256369, + -0.9163637810375249, + 120.31743385727587 + ], + [ + -0.7619285011025212, + 0.509104641565918, + -0.40034662874027543, + -263.11852178439364 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5555704708939301, + 0.3328759901220983, + -0.7619285011025212, + -366.48372957987425 + ], + [ + 0.8314694533599514, + -0.2224207634256369, + 0.509104641565918, + -27.78957551823308 + ], + [ + 1.3877787719657217e-17, + -0.9163637810375249, + -0.40034662874027543, + 4.915927718875242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36648.37295798743, + 2778.9575518233078, + 491.5927718875242 + ], + "rotation_deg": [ + -8.677107148145964e-16, + -23.599849700927745, + -146.24998474121094 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.11582120751606743, + -0.9932700780198302, + -0.0, + 25.144482375536583 + ], + [ + -0.15987721423663906, + -0.018642635489541905, + -0.9869608545985681, + -59.36689161514619 + ], + [ + 0.9803186847466333, + 0.11431099880886372, + -0.16096046684807785, + 388.40858577321046 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.11582120751606743, + -0.15987721423663906, + 0.9803186847466333, + -393.16787172236104 + ], + [ + -0.9932700780198302, + -0.018642635489541905, + 0.11431099880886372, + -20.530866413014454 + ], + [ + -0.0, + -0.9869608545985681, + -0.16096046684807785, + 3.9256287460066854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -39316.7871722361, + 2053.0866413014455, + 392.5628746006685 + ], + "rotation_deg": [ + 0.0, + -9.262649536132812, + -6.650993347167968 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.9924212792871578, + -0.12288207525119511, + -1.6653345381565673e-16, + -374.90215596328915 + ], + [ + -0.09539211935851544, + 0.7704066596708173, + -0.6303760165957648, + -17.066325745507378 + ], + [ + 0.07746190543587654, + -0.6255985683865615, + -0.7762899486911626, + 19.98919509553985 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.9924212792871578, + -0.09539211935851544, + 0.07746190543587654, + -375.23727171909957 + ], + [ + -0.12288207525119511, + 0.7704066596708173, + -0.6255985683865615, + -20.41553027542251 + ], + [ + -1.6653345381565673e-16, + -0.6303760165957648, + -0.7762899486911626, + 4.759210855434242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -37523.72717190996, + 2041.553027542251, + 475.92108554342417 + ], + "rotation_deg": [ + 1.513646438647089e-14, + -50.92213058471678, + 82.94153594970697 + ] + } + } + ] + }, + { + "frame": 69, + "time": 1141.5363710075617, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.34595291700479375, + 0.9382518740806618, + -3.4694469255482422e-18, + -104.6599532385462 + ], + [ + 0.12338841782376701, + 0.04549586763422623, + -0.991314997553833, + 49.56650832300316 + ], + [ + -0.9301031615405971, + -0.3429482949381106, + -0.13150884339552366, + -340.80373208782686 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.34595291700479375, + 0.12338841782376701, + -0.9301031615405971, + -359.30597331643213 + ], + [ + 0.9382518740806618, + 0.04549586763422623, + -0.3429482949381106, + -20.935738973894516 + ], + [ + -3.4694469255482422e-18, + -0.991314997553833, + -0.13150884339552366, + 4.317319078436037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -35930.597331643214, + 2093.5738973894518, + 431.73190784360366 + ], + "rotation_deg": [ + 2.0052623849022055e-16, + -7.55679130554199, + 159.76002502441406 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5555704708939301, + 0.8314694533599514, + 1.3877787719657217e-17, + 226.69691312410055 + ], + [ + 0.3328759901220983, + -0.2224207634256369, + -0.9163637810375249, + 120.26448014636998 + ], + [ + -0.7619285011025212, + 0.509104641565918, + -0.40034662874027543, + -262.99731466118885 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5555704708939301, + 0.3328759901220983, + -0.7619285011025212, + -366.36441322815534 + ], + [ + 0.8314694533599514, + -0.2224207634256369, + 0.509104641565918, + -27.849085080136533 + ], + [ + 1.3877787719657217e-17, + -0.9163637810375249, + -0.40034662874027543, + 4.915927718875242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36636.44132281553, + 2784.9085080136533, + 491.5927718875242 + ], + "rotation_deg": [ + -8.677107148145964e-16, + -23.599849700927745, + -146.24998474121094 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.09849943972308739, + -0.9951371063196454, + -8.67361731433728e-19, + 18.22481532226378 + ], + [ + -0.15432432809860827, + -0.015275141241163002, + -0.9879021570059331, + -57.093338013143985 + ], + [ + 0.9830980935893128, + 0.09730780969922434, + -0.15507845934428888, + 389.0176703178028 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.09849943972308739, + -0.15432432809860827, + 0.9830980935893128, + -393.0485553706421 + ], + [ + -0.9951371063196454, + -0.015275141241163002, + 0.09730780969922434, + -20.59037597491791 + ], + [ + -8.67361731433728e-19, + -0.9879021570059331, + -0.15507845934428888, + 3.9256287460066854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -39304.855537064206, + 2059.037597491791, + 392.5628746006685 + ], + "rotation_deg": [ + 5.0304745824113504e-17, + -8.921346664428713, + -5.652768135070799 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.986400762063679, + -0.16435795265271788, + -0.0, + -373.38187266629916 + ], + [ + -0.12464674774795204, + 0.7480723931085417, + -0.6518058629260081, + -28.338339569831124 + ], + [ + 0.10712946932538792, + -0.6429417960859264, + -0.758385867252195, + 30.63124685702535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.986400762063679, + -0.12464674774795204, + 0.10712946932538792, + -375.11795536738066 + ], + [ + -0.16435795265271788, + 0.7480723931085417, + -0.6429417960859264, + -20.475039837325966 + ], + [ + -0.0, + -0.6518058629260081, + -0.758385867252195, + 4.759210855434242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -37511.795536738064, + 2047.5039837325965, + 475.92108554342417 + ], + "rotation_deg": [ + 0.0, + -49.32210540771486, + 80.54006195068361 + ] + } + } + ] + }, + { + "frame": 70, + "time": 1141.6030376777053, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.3507518935349119, + 0.9364684240174219, + -0.0, + -106.38517102611016 + ], + [ + 0.12315387837050296, + 0.04612697548232392, + -0.9913149975538331, + 49.48348553436948 + ], + [ + -0.928335200834724, + -0.3477055924196846, + -0.13150884339552368, + -340.17790549167506 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.3507518935349119, + 0.12315387837050296, + -0.928335200834724, + -359.2080029832621 + ], + [ + 0.9364684240174219, + 0.04612697548232392, + -0.3477055924196846, + -20.937936283048135 + ], + [ + -0.0, + -0.9913149975538331, + -0.13150884339552368, + 4.317319078436037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -35920.800298326205, + 2093.7936283048134, + 431.73190784360366 + ], + "rotation_deg": [ + 0.0, + -7.556791305541991, + 159.46669006347656 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5555704708939301, + 0.8314694533599514, + 1.3877787719657217e-17, + 226.68016469442105 + ], + [ + 0.3328759901220983, + -0.2224207634256369, + -0.9163637810375249, + 120.21152339722254 + ], + [ + -0.7619285011025212, + 0.509104641565918, + -0.40034662874027543, + -262.8761005836752 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5555704708939301, + 0.3328759901220983, + -0.7619285011025212, + -366.2451238056869 + ], + [ + 0.8314694533599514, + -0.2224207634256369, + 0.509104641565918, + -27.908648604369223 + ], + [ + 1.3877787719657217e-17, + -0.9163637810375249, + -0.40034662874027543, + 4.915927718875242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36624.51238056869, + 2790.8648604369223, + 491.5927718875242 + ], + "rotation_deg": [ + -8.677107148145964e-16, + -23.599849700927745, + -146.24998474121094 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.08114396707660979, + -0.9967023911916082, + 8.673617314213324e-19, + 11.301995342769604 + ], + [ + -0.14871001451426272, + -0.012106844157643572, + -0.988806733344646, + -54.80083430494977 + ], + [ + 0.9855460353279634, + 0.08023570162177028, + -0.14920202557135392, + 389.4924543642562 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.08114396707660979, + -0.14871001451426272, + 0.9855460353279634, + -392.9292659481736 + ], + [ + -0.9967023911916082, + -0.012106844157643572, + 0.08023570162177028, + -20.6499394991506 + ], + [ + 8.673617314213324e-19, + -0.988806733344646, + -0.14920202557135392, + 3.9256287460066854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -39292.92659481736, + 2064.99394991506, + 392.5628746006685 + ], + "rotation_deg": [ + -5.025872623102906e-17, + -8.580685615539553, + -4.6543240547180185 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.9787079727754733, + -0.20525765278235952, + -0.0, + -371.2290686272622 + ], + [ + -0.15180796249089248, + 0.7238495676367079, + -0.6730498837058921, + -38.860633336262595 + ], + [ + 0.1381486313955469, + -0.6587192840504825, + -0.7395970933309278, + 41.798911766087116 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.9787079727754733, + -0.15180796249089248, + 0.1381486313955469, + -374.9986659449122 + ], + [ + -0.20525765278235952, + 0.7238495676367079, + -0.6587192840504825, + -20.534603361558656 + ], + [ + -0.0, + -0.6730498837058921, + -0.7395970933309278, + 4.759210855434242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -37499.86659449122, + 2053.4603361558657, + 475.92108554342417 + ], + "rotation_deg": [ + 0.0, + -47.697105407714844, + 78.15541839599602 + ] + } + } + ] + }, + { + "frame": 71, + "time": 1141.669704347849, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.35554167655279373, + 0.9346604283021875, + -0.0, + -108.10662988569614 + ], + [ + 0.12291611094695956, + 0.046756874302269984, + -0.9913149975538331, + 49.3993739604621 + ], + [ + -0.9265429076553342, + -0.35245377623508317, + -0.13150884339552366, + -339.543871620791 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.35554167655279373, + 0.12291611094695956, + -0.9265429076553342, + -359.110352831696 + ], + [ + 0.9346604283021875, + 0.046756874302269984, + -0.35245377623508317, + -20.940297069282202 + ], + [ + -0.0, + -0.9913149975538331, + -0.13150884339552366, + 4.317319078436037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -35911.0352831696, + 2094.02970692822, + 431.73190784360366 + ], + "rotation_deg": [ + 0.0, + -7.55679130554199, + 159.17335510253906 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5555704708939301, + 0.8314694533599514, + 1.3877787719657217e-17, + 226.66347568667473 + ], + [ + 0.3328759901220983, + -0.2224207634256369, + -0.9163637810375249, + 120.1585636414045 + ], + [ + -0.7619285011025212, + 0.509104641565918, + -0.40034662874027543, + -262.7548796241162 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5555704708939301, + 0.3328759901220983, + -0.7619285011025212, + -366.12586115181415 + ], + [ + 0.8314694533599514, + -0.2224207634256369, + 0.509104641565918, + -27.968265708552074 + ], + [ + 1.3877787719657217e-17, + -0.9163637810375249, + -0.40034662874027543, + 4.915927718875242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36612.58611518142, + 2796.8265708552076, + 491.5927718875242 + ], + "rotation_deg": [ + -8.677107148145964e-16, + -23.599849700927745, + -146.24998474121094 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.06375899951452202, + -0.9979653250393559, + -0.0, + 4.377753422274118 + ], + [ + -0.1430427945916942, + -0.00913886008070274, + -0.9896743101403731, + -52.49280843384928 + ], + [ + 0.987660644411779, + 0.06310064433773012, + -0.14333443467734083, + 389.8324451277233 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.06375899951452202, + -0.1430427945916942, + 0.987660644411779, + -392.81000329430094 + ], + [ + -0.9979653250393559, + -0.00913886008070274, + 0.06310064433773012, + -20.709556603333453 + ], + [ + -0.0, + -0.9896743101403731, + -0.14333443467734083, + 3.9256287460066854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -39281.00032943009, + 2070.9556603333453, + 392.5628746006685 + ], + "rotation_deg": [ + 0.0, + -8.24084186553955, + -3.6556012630462646 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.9693973248419578, + -0.24549710097933042, + 5.551115115968081e-17, + -368.46291210995184 + ], + [ + -0.17673262938030587, + 0.6978662373205714, + -0.6940808976771737, + -48.57813415439342 + ], + [ + 0.17039484023031293, + -0.6728401628336322, + -0.7198970160383342, + 53.447039071334835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.9693973248419578, + -0.17673262938030587, + 0.17039484023031293, + -374.87940329103947 + ], + [ + -0.24549710097933042, + 0.6978662373205714, + -0.6728401628336322, + -20.59422046574151 + ], + [ + 5.551115115968081e-17, + -0.6940808976771737, + -0.7198970160383342, + 4.759210855434242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -37487.94032910395, + 2059.422046574151, + 475.92108554342417 + ], + "rotation_deg": [ + -4.5823976897279725e-15, + -46.04597854614259, + 75.78878784179688 + ] + } + } + ] + }, + { + "frame": 72, + "time": 1141.7363710179925, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.3603221405140599, + 0.9328279343240992, + -3.4694469255482422e-18, + -109.82429081126467 + ], + [ + 0.12267512178522784, + 0.04738554758386841, + -0.991314997553833, + 49.314176472885535 + ], + [ + -0.9247263289799917, + -0.35719272193027607, + -0.13150884339552366, + -338.90165212135855 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.3603221405140599, + 0.12267512178522784, + -0.9247263289799917, + -359.0130221277631 + ], + [ + 0.9328279343240992, + 0.04738554758386841, + -0.35719272193027607, + -20.942822438510866 + ], + [ + -3.4694469255482422e-18, + -0.991314997553833, + -0.13150884339552366, + 4.317319078436037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -35901.30221277631, + 2094.2822438510866, + 431.73190784360366 + ], + "rotation_deg": [ + 2.0052623849022055e-16, + -7.55679130554199, + 158.88002014160156 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5555704708939301, + 0.8314694533599514, + 1.3877787719657217e-17, + 226.64684567953802 + ], + [ + 0.3328759901220983, + -0.2224207634256369, + -0.9163637810375249, + 120.10560091097325 + ], + [ + -0.7619285011025212, + 0.509104641565918, + -0.40034662874027543, + -262.63365185588896 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5555704708939301, + 0.3328759901220983, + -0.7619285011025212, + -366.0066250990414 + ], + [ + 0.8314694533599514, + -0.2224207634256369, + 0.509104641565918, + -28.027935997880558 + ], + [ + 1.3877787719657217e-17, + -0.9163637810375249, + -0.40034662874027543, + 4.915927718875242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36600.66250990414, + 2802.793599788056, + 491.5927718875242 + ], + "rotation_deg": [ + -8.677107148145964e-16, + -23.599849700927745, + -146.24998474121094 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.04634804658548026, + -0.9989253518545369, + -0.0, + -2.5464573077007024 + ], + [ + -0.1373333786422787, + -0.006371981469122451, + -0.9905043871497254, + -50.173538460555065 + ], + [ + 0.9894399432837919, + 0.04590794382729537, + -0.13748112353380146, + 390.03710281962856 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.04634804658548026, + -0.1373333786422787, + 0.9894399432837919, + -392.69076724152814 + ], + [ + -0.9989253518545369, + -0.006371981469122451, + 0.04590794382729537, + -20.769226892661937 + ], + [ + -0.0, + -0.9905043871497254, + -0.13748112353380146, + 3.9256287460066854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -39269.076724152816, + 2076.9226892661936, + 392.5628746006685 + ], + "rotation_deg": [ + 0.0, + -7.902115821838378, + -2.6564991474151607 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.958529236716565, + -0.2849942146071727, + -5.551115112695776e-17, + -365.10481642899157 + ], + [ + -0.19928437694851583, + 0.6702588752171447, + -0.7148697624720812, + -57.43817691306975 + ], + [ + 0.20373373850298282, + -0.6852235657765176, + -0.6992576268444365, + 65.52667173153067 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.958529236716565, + -0.19928437694851583, + 0.20373373850298282, + -374.7601672382667 + ], + [ + -0.2849942146071727, + 0.6702588752171447, + -0.6852235657765176, + -20.65389075506999 + ], + [ + -5.551115112695776e-17, + -0.7148697624720812, + -0.6992576268444365, + 4.759210855434242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -37476.01672382667, + 2065.3890755069992, + 475.92108554342417 + ], + "rotation_deg": [ + 4.449138664260569e-15, + -44.36747360229492, + 73.44149780273435 + ] + } + } + ] + }, + { + "frame": 73, + "time": 1141.803037688136, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.3650931601185918, + 0.9309709901144181, + -3.4694469255482422e-18, + -111.5381149285788 + ], + [ + 0.12243091720184339, + 0.04801297884904567, + -0.991314997553833, + 49.22789596525074 + ], + [ + -0.9228855124228041, + -0.36192230529337316, + -0.13150884339552368, + -338.2512688054458 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.3650931601185918, + 0.12243091720184339, + -0.9228855124228041, + -358.91601012310065 + ], + [ + 0.9309709901144181, + 0.04801297884904567, + -0.36192230529337316, + -20.945513481600464 + ], + [ + -3.4694469255482422e-18, + -0.991314997553833, + -0.13150884339552368, + 4.317319078436037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -35891.601012310064, + 2094.5513481600465, + 431.73190784360366 + ], + "rotation_deg": [ + 2.0052623849022055e-16, + -7.556791305541991, + 158.58668518066406 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5555704708939301, + 0.8314694533599514, + 1.3877787719657217e-17, + 226.63027423787202 + ], + [ + 0.3328759901220983, + -0.2224207634256369, + -0.9163637810375249, + 120.05263523844813 + ], + [ + -0.7619285011025212, + 0.509104641565918, + -0.40034662874027543, + -262.51241735342785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5555704708939301, + 0.3328759901220983, + -0.7619285011025212, + -365.88741547315686 + ], + [ + 0.8314694533599514, + -0.2224207634256369, + 0.509104641565918, + -28.08765906542213 + ], + [ + 1.3877787719657217e-17, + -0.9163637810375249, + -0.40034662874027543, + 4.915927718875242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36588.74154731569, + 2808.765906542213, + 491.5927718875242 + ], + "rotation_deg": [ + -8.677107148145964e-16, + -23.599849700927745, + -146.24998474121094 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.028912847718629595, + -0.9995819362297418, + -0.0, + -9.469880466846298 + ], + [ + -0.13159774945255978, + -0.0038064570318142787, + -0.9912958908539297, + -47.84935833941143 + ], + [ + 0.9908814658153394, + 0.02866118735442787, + -0.13165278972767194, + 390.1056828606522 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.028912847718629595, + -0.13159774945255978, + 0.9908814658153394, + -392.5715576156436 + ], + [ + -0.9995819362297418, + -0.0038064570318142787, + 0.02866118735442787, + -20.82894996020351 + ], + [ + -0.0, + -0.9912958908539297, + -0.13165278972767194, + 3.9256287460066854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -39257.15576156436, + 2082.894996020351, + 392.5628746006685 + ], + "rotation_deg": [ + 0.0, + -7.565111160278324, + -1.656815052032471 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.946170241904378, + -0.3236693889366286, + -5.5511151096280293e-17, + -361.1784882200295 + ], + [ + -0.21933442055011093, + 0.6411718526477245, + -0.7353849789968732, + -65.39081902761195 + ], + [ + 0.23802159883013166, + -0.6957993820607759, + -0.6776495690356416, + 77.98519720526689 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.946170241904378, + -0.21933442055011093, + 0.23802159883013166, + -374.6409576123822 + ], + [ + -0.3236693889366286, + 0.6411718526477245, + -0.6957993820607759, + -20.713613822611563 + ], + [ + -5.5511151096280293e-17, + -0.7353849789968732, + -0.6776495690356416, + 4.759210855434242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -37464.09576123822, + 2071.3613822611565, + 475.92108554342417 + ], + "rotation_deg": [ + 4.32501994085623e-15, + -42.660243988037166, + 71.11502075195312 + ] + } + } + ] + }, + { + "frame": 74, + "time": 1141.8697043582797, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.3698546103138153, + 0.9290896443452675, + 3.4694469255482422e-18, + -113.24806349545428 + ], + [ + 0.12218350359762081, + 0.04863915165228252, + -0.991314997553833, + 49.14053535308997 + ], + [ + -0.921020506233176, + -0.3666424023578777, + -0.1315088433955237, + -337.5927436503646 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.3698546103138153, + 0.12218350359762081, + -0.921020506233176, + -358.8193160551071 + ], + [ + 0.9290896443452675, + 0.04863915165228252, + -0.3666424023578777, + -20.948371274649904 + ], + [ + 3.4694469255482422e-18, + -0.991314997553833, + -0.1315088433955237, + 4.317319078436037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -35881.93160551071, + 2094.8371274649903, + 431.73190784360366 + ], + "rotation_deg": [ + -2.0052623849022055e-16, + -7.556791305541993, + 158.29335021972656 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5555704708939301, + 0.8314694533599514, + 1.3877787719657217e-17, + 226.61376091306494 + ], + [ + 0.3328759901220983, + -0.2224207634256369, + -0.9163637810375249, + 119.9996666567852 + ], + [ + -0.7619285011025212, + 0.509104641565918, + -0.40034662874027543, + -262.39117619216665 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5555704708939301, + 0.3328759901220983, + -0.7619285011025212, + -365.7682320933706 + ], + [ + 0.8314694533599514, + -0.2224207634256369, + 0.509104641565918, + -28.14743449243588 + ], + [ + 1.3877787719657217e-17, + -0.9163637810375249, + -0.40034662874027543, + 4.915927718875242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36576.82320933706, + 2814.743449243588, + 491.5927718875242 + ], + "rotation_deg": [ + -8.677107148145964e-16, + -23.599849700927745, + -146.24998474121094 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.011448497282006545, + -0.9999344638074957, + -0.0, + -16.394366479932888 + ], + [ + -0.12587187964180946, + -0.0014411383186785887, + -0.9920454591578876, + -45.534419385726466 + ], + [ + 0.99198044415163, + 0.01135742982936197, + -0.125880130316129, + 390.03648139377765 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.011448497282006545, + -0.12587187964180946, + 0.99198044415163, + -392.45237423585735 + ], + [ + -0.9999344638074957, + -0.0014411383186785887, + 0.01135742982936197, + -20.88872538721726 + ], + [ + -0.0, + -0.9920454591578876, + -0.125880130316129, + 3.9256287460066854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -39245.237423585735, + 2088.872538721726, + 392.5628746006685 + ], + "rotation_deg": [ + 0.0, + -7.231585025787357, + -0.6559649109840395 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.9323932849958342, + -0.3614453791303425, + -2.2204460427002338e-16, + -356.7100329323513 + ], + [ + -0.23676178291722433, + 0.6107564497485358, + -0.7555927588591763, + -72.38893628103591 + ], + [ + 0.2731055033298445, + -0.7045096137133721, + -0.6550416690840266, + 90.76638664627492 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.9323932849958342, + -0.23676178291722433, + 0.2731055033298445, + -374.52177423259593 + ], + [ + -0.3614453791303425, + 0.6107564497485358, + -0.7045096137133721, + -20.773389249625314 + ], + [ + -2.2204460427002338e-16, + -0.7555927588591763, + -0.6550416690840266, + 4.759210855434242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -37452.17742325959, + 2077.3389249625316, + 475.92108554342417 + ], + "rotation_deg": [ + 1.683740167929131e-14, + -40.92280960083006, + 68.81101226806635 + ] + } + } + ] + }, + { + "frame": 75, + "time": 1141.9363710284233, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.374606366297979, + 0.9271839463283561, + 3.4694469255482422e-18, + -114.9540979020153 + ], + [ + 0.12193288745748569, + 0.049264049581045036, + -0.991314997553833, + 49.05209757377223 + ], + [ + -0.9191313592945419, + -0.3713528894059387, + -0.13150884339552368, + -336.9260987980323 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.374606366297979, + 0.12193288745748569, + -0.9191313592945419, + -358.7229391470934 + ], + [ + 0.9271839463283561, + 0.049264049581045036, + -0.3713528894059387, + -20.95139687926488 + ], + [ + 3.4694469255482422e-18, + -0.991314997553833, + -0.13150884339552368, + 4.317319078436037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -35872.29391470934, + 2095.139687926488, + 431.73190784360366 + ], + "rotation_deg": [ + -2.0052623849022055e-16, + -7.556791305541991, + 158.00001525878906 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5555704708939301, + 0.8314694533599514, + 1.3877787719657217e-17, + 226.59730524336794 + ], + [ + 0.3328759901220983, + -0.2224207634256369, + -0.9163637810375249, + 119.94669519935266 + ], + [ + -0.7619285011025212, + 0.509104641565918, + -0.40034662874027543, + -262.2699284484829 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5555704708939301, + 0.3328759901220983, + -0.7619285011025212, + -365.64907477245026 + ], + [ + 0.8314694533599514, + -0.2224207634256369, + 0.509104641565918, + -28.20726184868592 + ], + [ + 1.3877787719657217e-17, + -0.9163637810375249, + -0.40034662874027543, + 4.915927718875242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36564.907477245026, + 2820.726184868592, + 491.5927718875242 + ], + "rotation_deg": [ + -8.677107148145964e-16, + -23.599849700927745, + -146.24998474121094 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.00811779326071989, + -0.9999670501734427, + -0.0, + -17.762982548059146 + ], + [ + -0.12488720851844758, + -0.0010138419455774368, + -0.9921704275339892, + -45.12374603977436 + ], + [ + 0.9921377355688411, + 0.008054234471527259, + -0.12489132462829315, + 389.9075909481473 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.00811779326071989, + -0.12488720851844758, + 0.9921377355688411, + -392.333216914937 + ], + [ + -0.9999670501734427, + -0.0010138419455774368, + 0.008054234471527259, + -20.9485527434673 + ], + [ + -0.0, + -0.9921704275339892, + -0.12489132462829315, + 3.9256287460066854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -39233.3216914937, + 2094.85527434673, + 392.5628746006685 + ], + "rotation_deg": [ + 0.0, + -7.174479961395266, + -0.4651204049587251 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.9172781606879286, + -0.39824712921121036, + -0.0, + -351.7281125030141 + ], + [ + -0.2514535055746969, + 0.5791700483790884, + -0.7754567619118169, + -78.38831321005367 + ], + [ + 0.30882342152948355, + -0.7113095519714978, + -0.6314006775328407, + 103.8104001728486 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.9172781606879286, + -0.2514535055746969, + 0.30882342152948355, + -374.4026169116756 + ], + [ + -0.39824712921121036, + 0.5791700483790884, + -0.7113095519714978, + -20.833216605875354 + ], + [ + -0.0, + -0.7754567619118169, + -0.6314006775328407, + 4.759210855434242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -37440.26169116756, + 2083.3216605875355, + 475.92108554342417 + ], + "rotation_deg": [ + 0.0, + -39.153537750244155, + 66.53135681152341 + ] + } + } + ] + }, + { + "frame": 76, + "time": 1142.003037698567, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.3793483035234252, + 0.925253946013687, + 3.4694469255482422e-18, + -116.65617967094992 + ], + [ + 0.12167907535030528, + 0.049887656256215, + -0.991314997553833, + 48.962585586420445 + ], + [ + -0.9172181211230875, + -0.37605364297159083, + -0.13150884339552368, + -336.251356554347 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.3793483035234252, + 0.12167907535030528, + -0.9172181211230875, + -358.62687860843647 + ], + [ + 0.925253946013687, + 0.049887656256215, + -0.37605364297159083, + -20.954591342834405 + ], + [ + 3.4694469255482422e-18, + -0.991314997553833, + -0.13150884339552368, + 4.317319078436037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -35862.687860843645, + 2095.4591342834406, + 431.73190784360366 + ], + "rotation_deg": [ + -2.0052623849022055e-16, + -7.556791305541991, + 157.70668029785156 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5555704708939301, + 0.8314694533599514, + 1.3877787719657217e-17, + 226.58090675423475 + ], + [ + 0.3328759901220983, + -0.2224207634256369, + -0.9163637810375249, + 119.89372089990687 + ], + [ + -0.7619285011025212, + 0.509104641565918, + -0.40034662874027543, + -262.1486741996423 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5555704708939301, + 0.3328759901220983, + -0.7619285011025212, + -365.52994331685954 + ], + [ + 0.8314694533599514, + -0.2224207634256369, + 0.509104641565918, + -28.267140692757017 + ], + [ + 1.3877787719657217e-17, + -0.9163637810375249, + -0.40034662874027543, + 4.915927718875242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36552.99433168596, + 2826.7140692757016, + 491.5927718875242 + ], + "rotation_deg": [ + -8.677107148145964e-16, + -23.599849700927745, + -146.24998474121094 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.012528877550013385, + -0.9999215105333702, + -1.0842021642226384e-19, + -16.092780396837725 + ], + [ + -0.1264497327273394, + -0.001584397576093432, + -0.9919717509977312, + -45.73453916537374 + ], + [ + 0.9918938915386744, + 0.012428292696035771, + -0.1264596594528308, + 389.79228815376604 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.012528877550013385, + -0.1264497327273394, + 0.9918938915386744, + -392.21408545934634 + ], + [ + -0.9999215105333702, + -0.001584397576093432, + 0.012428292696035771, + -21.008431587538393 + ], + [ + -1.0842021642226384e-19, + -0.9919717509977312, + -0.1264596594528308, + 3.9256287460066854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -39221.40854593463, + 2100.8431587538394, + 392.5628746006685 + ], + "rotation_deg": [ + 6.262296135714751e-18, + -7.26505708694458, + -0.7178705930709837 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.9009121708007805, + -0.4340014521899957, + -0.0, + -346.26418114314475 + ], + [ + -0.26330466267462144, + 0.5465750725836592, + -0.7949379501847748, + -83.34766439872818 + ], + [ + 0.34500421722770713, + -0.7161692745910219, + -0.6066907451303888, + 117.05375708880139 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.9009121708007805, + -0.26330466267462144, + 0.34500421722770713, + -374.2834854560849 + ], + [ + -0.4340014521899957, + 0.5465750725836592, + -0.7161692745910219, + -20.89309544994645 + ], + [ + -0.0, + -0.7949379501847748, + -0.6066907451303888, + 4.759210855434242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -37428.34854560849, + 2089.309544994645, + 475.92108554342417 + ], + "rotation_deg": [ + 0.0, + -37.35060501098633, + 64.2782287597656 + ] + } + } + ] + }, + { + "frame": 77, + "time": 1142.0697043687105, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.38408029769985436, + 0.9232996939882473, + -0.0, + -118.35427045774755 + ], + [ + 0.12142207392871562, + 0.05050995533251899, + -0.9913149975538331, + 48.87200237183251 + ], + [ + -0.9152808418664505, + -0.3807445398439917, + -0.13150884339552368, + -335.5685393885935 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.38408029769985436, + 0.12142207392871562, + -0.9152808418664505, + -358.5311336347477 + ], + [ + 0.9232996939882473, + 0.05050995533251899, + -0.3807445398439917, + -20.957955698833924 + ], + [ + -0.0, + -0.9913149975538331, + -0.13150884339552368, + 4.317319078436037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -35853.11336347477, + 2095.7955698833925, + 431.73190784360366 + ], + "rotation_deg": [ + 0.0, + -7.556791305541991, + 157.41334533691406 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5555704708939301, + 0.8314694533599514, + 1.3877787719657217e-17, + 226.5645649586908 + ], + [ + 0.3328759901220983, + -0.2224207634256369, + -0.9163637810375249, + 119.84074379256703 + ], + [ + -0.7619285011025212, + 0.509104641565918, + -0.40034662874027543, + -262.0274135237412 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5555704708939301, + 0.3328759901220983, + -0.7619285011025212, + -365.41083752691105 + ], + [ + 0.8314694533599514, + -0.2224207634256369, + 0.509104641565918, + -28.327070572396714 + ], + [ + 1.3877787719657217e-17, + -0.9163637810375249, + -0.40034662874027543, + 4.915927718875242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36541.083752691105, + 2832.7070572396715, + 491.5927718875242 + ], + "rotation_deg": [ + -8.677107148145964e-16, + -23.599849700927745, + -146.24998474121094 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.016838921880449564, + -0.999858215303502, + -0.0, + -14.462917563572308 + ], + [ + -0.12797369974410688, + -0.002155244713460701, + -0.9917752200443555, + -46.3299113606734 + ], + [ + 0.9916346013663776, + 0.01670042558050523, + -0.12799184801531405, + 389.6692479428305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.016838921880449564, + -0.12797369974410688, + 0.9916346013663776, + -392.0949796693978 + ], + [ + -0.999858215303502, + -0.002155244713460701, + 0.01670042558050523, + -21.068361467178093 + ], + [ + -0.0, + -0.9917752200443555, + -0.12799184801531405, + 3.9256287460066854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -39209.49796693978, + 2106.8361467178092, + 392.5628746006685 + ], + "rotation_deg": [ + 0.0, + -7.353564262390138, + -0.964844763278961 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.8833910430932465, + -0.4686366022651512, + -5.551115099143886e-17, + -340.3528162392386 + ], + [ + -0.27221813370456116, + 0.5131375994103639, + -0.8139945280858921, + -87.22857241910165 + ], + [ + 0.3814676225647976, + -0.7190754759747139, + -0.5808725443559026, + 130.42928461641327 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.8833910430932465, + -0.27221813370456116, + 0.3814676225647976, + -374.16437966613637 + ], + [ + -0.4686366022651512, + 0.5131375994103639, + -0.7190754759747139, + -20.953025329586147 + ], + [ + -5.551115099143886e-17, + -0.8139945280858921, + -0.5808725443559026, + 4.759210855434242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -37416.43796661364, + 2095.302532958615, + 475.92108554342417 + ], + "rotation_deg": [ + 3.907341613020075e-15, + -35.51193618774413, + 62.05416870117188 + ] + } + } + ] + }, + { + "frame": 78, + "time": 1142.1363710388541, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.3888019794348828, + 0.9213213450189444, + -0.0, + -120.04824193375717 + ], + [ + 0.12116190354593359, + 0.05113089823159224, + -0.9913149975538331, + 48.78035513684394 + ], + [ + -0.9133196749473814, + -0.3854252138389243, + -0.1315088433955237, + -334.8777016259695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.3888019794348828, + 0.12116190354593359, + -0.9133196749473814, + -358.43570340803495 + ], + [ + 0.9213213450189444, + 0.05113089823159224, + -0.3854252138389243, + -20.961490967111263 + ], + [ + -0.0, + -0.9913149975538331, + -0.1315088433955237, + 4.317319078436037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -35843.5703408035, + 2096.1490967111263, + 431.73190784360366 + ], + "rotation_deg": [ + 0.0, + -7.556791305541993, + 157.12002563476562 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5555704708939301, + 0.8314694533599514, + 1.3877787719657217e-17, + 226.5482793576846 + ], + [ + 0.3328759901220983, + -0.2224207634256369, + -0.9163637810375249, + 119.78776391179144 + ], + [ + -0.7619285011025212, + 0.509104641565918, + -0.40034662874027543, + -261.90614649965204 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5555704708939301, + 0.3328759901220983, + -0.7619285011025212, + -365.2917571969121 + ], + [ + 0.8314694533599514, + -0.2224207634256369, + 0.509104641565918, + -28.38705102484026 + ], + [ + 1.3877787719657217e-17, + -0.9163637810375249, + -0.40034662874027543, + 4.915927718875242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36529.17571969121, + 2838.705102484026, + 491.5927718875242 + ], + "rotation_deg": [ + -8.677107148145964e-16, + -23.599849700927745, + -146.24998474121094 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.02104578667234057, + -0.9997785129034044, + -0.0, + -12.874221106318153 + ], + [ + -0.12945849276593482, + -0.00272515940931994, + -0.9915810971155944, + -46.90960797000212 + ], + [ + 0.991361474563733, + 0.020868604397111027, + -0.12948717350123018, + 389.53904314217493 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.02104578667234057, + -0.12945849276593482, + 0.991361474563733, + -391.97589933939884 + ], + [ + -0.9997785129034044, + -0.00272515940931994, + 0.020868604397111027, + -21.12834191962164 + ], + [ + -0.0, + -0.9915810971155944, + -0.12948717350123018, + 3.9256287460066854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -39197.58993393988, + 2112.834191962164, + 392.5628746006685 + ], + "rotation_deg": [ + 0.0, + -7.439959049224855, + -1.2059237957000732 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.8648203457250607, + -0.5020814372390063, + -0.0, + -334.0322252324652 + ], + [ + -0.27810396502962764, + 0.47902581004989947, + -0.8325818025520598, + -89.99527637701101 + ], + [ + 0.4180238609522339, + -0.7200336835323293, + -0.5539021089086524, + 143.86592517377125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.8648203457250607, + -0.27810396502962764, + 0.4180238609522339, + -374.0452993361374 + ], + [ + -0.5020814372390063, + 0.47902581004989947, + -0.7200336835323293, + -21.013005782029694 + ], + [ + -0.0, + -0.8325818025520598, + -0.5539021089086524, + 4.759210855434242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -37404.52993361374, + 2101.3005782029695, + 475.92108554342417 + ], + "rotation_deg": [ + 0.0, + -33.63512802124024, + 59.86219787597659 + ] + } + } + ] + }, + { + "frame": 79, + "time": 1142.2030377089977, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.39351371622141884, + 0.9193187451290267, + -3.4694469255482422e-18, + -121.73823644296888 + ], + [ + 0.12089854395265469, + 0.05175053328200165, + -0.991314997553833, + 48.687638555672024 + ], + [ + -0.9113344677264247, + -0.390096029257624, + -0.13150884339552366, + -334.178803120674 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.39351371622141884, + 0.12089854395265469, + -0.9113344677264247, + -358.3405870968716 + ], + [ + 0.9193187451290267, + 0.05175053328200165, + -0.390096029257624, + -20.965198154184268 + ], + [ + -3.4694469255482422e-18, + -0.991314997553833, + -0.13150884339552366, + 4.317319078436037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -35834.05870968716, + 2096.519815418427, + 431.73190784360366 + ], + "rotation_deg": [ + 2.0052623849022055e-16, + -7.55679130554199, + 156.82669067382812 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5555704708939301, + 0.8314694533599514, + 1.3877787719657217e-17, + 226.5320494404523 + ], + [ + 0.3328759901220983, + -0.2224207634256369, + -0.9163637810375249, + 119.73478129235369 + ], + [ + -0.7619285011025212, + 0.509104641565918, + -0.40034662874027543, + -261.784873206969 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5555704708939301, + 0.3328759901220983, + -0.7619285011025212, + -365.17270211531763 + ], + [ + 0.8314694533599514, + -0.2224207634256369, + 0.509104641565918, + -28.44708157714708 + ], + [ + 1.3877787719657217e-17, + -0.9163637810375249, + -0.40034662874027543, + 4.915927718875242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36517.270211531766, + 2844.7081577147082, + 491.5927718875242 + ], + "rotation_deg": [ + -8.677107148145964e-16, + -23.599849700927745, + -146.24998474121094 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.025147388843790683, + -0.9996837544115337, + -0.0, + -11.327495308955697 + ], + [ + -0.1309035161511914, + -0.0032929229940434693, + -0.9913896439429906, + -47.47338273541962 + ], + [ + 0.9910761212036214, + 0.024930861061674667, + -0.1309449279151674, + 389.40224681750453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.025147388843790683, + -0.1309035161511914, + 0.9910761212036214, + -391.8568442578044 + ], + [ + -0.9996837544115337, + -0.0032929229940434693, + 0.024930861061674667, + -21.18837247192846 + ], + [ + -0.0, + -0.9913896439429906, + -0.1309449279151674, + 3.9256287460066854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -39185.68442578044, + 2118.837247192846, + 392.5628746006685 + ], + "rotation_deg": [ + 0.0, + -7.524199485778805, + -1.440991163253784 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.8453177580470386, + -0.534263874813119, + -2.775557547418242e-17, + -327.3450565142599 + ], + [ + -0.2808779859127844, + 0.44440801732966506, + -0.8506521446294562, + -91.6141911487705 + ], + [ + 0.4544727040932992, + -0.7190713654160981, + -0.5257289536184523, + 157.28830929049627 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.8453177580470386, + -0.2808779859127844, + 0.4544727040932992, + -373.926244254543 + ], + [ + -0.534263874813119, + 0.44440801732966506, + -0.7190713654160981, + -21.073036334336518 + ], + [ + -2.775557547418242e-17, + -0.8506521446294562, + -0.5257289536184523, + 4.759210855434242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -37392.6244254543, + 2107.3036334336516, + 475.92108554342417 + ], + "rotation_deg": [ + 1.8694802040839705e-15, + -31.71732902526855, + 57.70599746704103 + ] + } + } + ] + }, + { + "frame": 80, + "time": 1142.2697043791413, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.39821513867114905, + 0.9172920490951164, + -0.0, + -123.42412573797476 + ], + [ + 0.12063201550337356, + 0.05236881190591784, + -0.9913149975538331, + 48.59385981878226 + ], + [ + -0.9093253736359617, + -0.39475661991990724, + -0.1315088433955237, + -333.4718980745067 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.39821513867114905, + 0.12063201550337356, + -0.9093253736359617, + -358.2457838565655 + ], + [ + 0.9172920490951164, + 0.05236881190591784, + -0.39475661991990724, + -20.96907825353607 + ], + [ + -0.0, + -0.9913149975538331, + -0.1315088433955237, + 4.317319078436037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -35824.57838565655, + 2096.9078253536068, + 431.73190784360366 + ], + "rotation_deg": [ + 0.0, + -7.556791305541993, + 156.53335571289062 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5555704708939301, + 0.8314694533599514, + 1.3877787719657217e-17, + 226.51587468488088 + ], + [ + 0.3328759901220983, + -0.2224207634256369, + -0.9163637810375249, + 119.6817959693193 + ], + [ + -0.7619285011025212, + 0.509104641565918, + -0.40034662874027543, + -261.6635937259544 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5555704708939301, + 0.3328759901220983, + -0.7619285011025212, + -365.05367206488387 + ], + [ + 0.8314694533599514, + -0.2224207634256369, + 0.509104641565918, + -28.50716174653482 + ], + [ + 1.3877787719657217e-17, + -0.9163637810375249, + -0.40034662874027543, + 4.915927718875242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36505.36720648839, + 2850.716174653482, + 491.5927718875242 + ], + "rotation_deg": [ + -8.677107148145964e-16, + -23.599849700927745, + -146.24998474121094 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.029141714429900146, + -0.9995752900507727, + -0.0, + -9.823516699049273 + ], + [ + -0.13230821101261594, + -0.0038573263469375845, + -0.991201119012733, + -48.02100399410436 + ], + [ + 0.9907801458932208, + 0.028885300172592575, + -0.13236442852121266, + 389.2594302505692 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.029141714429900146, + -0.13230821101261594, + 0.9907801458932208, + -391.7378142073706 + ], + [ + -0.9995752900507727, + -0.0038573263469375845, + 0.028885300172592575, + -21.2484526413162 + ], + [ + -0.0, + -0.991201119012733, + -0.13236442852121266, + 3.9256287460066854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -39173.78142073706, + 2124.84526413162, + 392.5628746006685 + ], + "rotation_deg": [ + 0.0, + -7.606245040893556, + -1.6699336767196657 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.8250168340967846, + -0.5651081520000563, + -0.0, + -320.33974083863427 + ], + [ + -0.28045922100084764, + 0.40945008098794283, + -0.8681550878354423, + -92.05299071797701 + ], + [ + 0.49060151082476583, + -0.7162425641110973, + -0.4962930051209848, + 170.6159095508947 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.8250168340967846, + -0.28045922100084764, + 0.49060151082476583, + -373.8072142041092 + ], + [ + -0.5651081520000563, + 0.40945008098794283, + -0.7162425641110973, + -21.133116503724253 + ], + [ + -0.0, + -0.8681550878354423, + -0.4962930051209848, + 4.759210855434242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -37380.72142041092, + 2113.3116503724254, + 475.92108554342417 + ], + "rotation_deg": [ + 0.0, + -29.755048751831048, + 55.59019851684572 + ] + } + } + ] + }, + { + "frame": 81, + "time": 1142.336371049285, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.4029061235557013, + 0.915241310038679, + 3.4694469255482422e-18, + -125.105872007951 + ], + [ + 0.12036232518403238, + 0.05298571789772013, + -0.991314997553833, + 48.49902199290037 + ], + [ + -0.9072924453360958, + -0.39940686366763767, + -0.13150884339552368, + -332.7570096044778 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.4029061235557013, + 0.12036232518403238, + -0.9072924453360958, + -358.1512928293419 + ], + [ + 0.915241310038679, + 0.05298571789772013, + -0.39940686366763767, + -20.973132245932803 + ], + [ + 3.4694469255482422e-18, + -0.991314997553833, + -0.13150884339552368, + 4.317319078436037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -35815.12928293419, + 2097.31322459328, + 431.73190784360366 + ], + "rotation_deg": [ + -2.0052623849022055e-16, + -7.556791305541991, + 156.24002075195312 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5555704708939301, + 0.8314694533599514, + 1.3877787719657217e-17, + 226.49975455789627 + ], + [ + 0.3328759901220983, + -0.2224207634256369, + -0.9163637810375249, + 119.62880797802161 + ], + [ + -0.7619285011025212, + 0.509104641565918, + -0.40034662874027543, + -261.5423081374839 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5555704708939301, + 0.3328759901220983, + -0.7619285011025212, + -364.93466682283344 + ], + [ + 0.8314694533599514, + -0.2224207634256369, + 0.509104641565918, + -28.567291040735757 + ], + [ + 1.3877787719657217e-17, + -0.9163637810375249, + -0.40034662874027543, + 4.915927718875242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36493.466682283346, + 2856.729104073576, + 491.5927718875242 + ], + "rotation_deg": [ + -8.677107148145964e-16, + -23.599849700927745, + -146.24998474121094 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.03302680255330273, + -0.9994544663530727, + -0.0, + -8.363040307245791 + ], + [ + -0.13367203784487133, + -0.004417169715504172, + -0.9910157793446597, + -48.55224784444001 + ], + [ + 0.990475146745111, + 0.03273008272048039, + -0.1337450012724277, + 389.11116214910646 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.03302680255330273, + -0.13367203784487133, + 0.990475146745111, + -391.6188089653202 + ], + [ + -0.9994544663530727, + -0.004417169715504172, + 0.03273008272048039, + -21.308581935517136 + ], + [ + -0.0, + -0.9910157793446597, + -0.1337450012724277, + 3.9256287460066854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -39161.88089653202, + 2130.8581935517136, + 392.5628746006685 + ], + "rotation_deg": [ + 0.0, + -7.686055660247804, + -1.8926405906677246 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.8040734694771503, + -0.5945299451524527, + -0.0, + -313.07279394466786 + ], + [ + -0.2767650394861053, + 0.37431155040055786, + -0.8850378388266712, + -91.27887352622072 + ], + [ + 0.5261814915879387, + -0.7116354480873448, + -0.4655190940614743, + 183.76145773651893 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.8040734694771503, + -0.2767650394861053, + 0.5261814915879387, + -373.68820896205875 + ], + [ + -0.5945299451524527, + 0.37431155040055786, + -0.7116354480873448, + -21.193245797925194 + ], + [ + -0.0, + -0.8850378388266712, + -0.4655190940614743, + 4.759210855434242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -37368.82089620588, + 2119.324579792519, + 475.92108554342417 + ], + "rotation_deg": [ + 0.0, + -27.743822097778317, + 53.520870208740256 + ] + } + } + ] + }, + { + "frame": 82, + "time": 1142.4030377194285, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.40758654792028143, + 0.9131665817113698, + -3.4694469255482422e-18, + -126.78343757611464 + ], + [ + 0.1200894800634493, + 0.053601235087765944, + -0.991314997553833, + 48.40312816605116 + ], + [ + -0.9052357361116476, + -0.4040466386138792, + -0.13150884339552366, + -332.03416098814887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.40758654792028143, + 0.1200894800634493, + -0.9052357361116476, + -358.0571131445186 + ], + [ + 0.9131665817113698, + 0.053601235087765944, + -0.4040466386138792, + -20.97736109972544 + ], + [ + -3.4694469255482422e-18, + -0.991314997553833, + -0.13150884339552366, + 4.317319078436037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -35805.71131445186, + 2097.736109972544, + 431.73190784360366 + ], + "rotation_deg": [ + 2.0052623849022055e-16, + -7.55679130554199, + 155.94668579101562 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5555704708939301, + 0.8314694533599514, + 1.3877787719657217e-17, + 226.48368851583487 + ], + [ + 0.3328759901220983, + -0.2224207634256369, + -0.9163637810375249, + 119.57581735403907 + ], + [ + -0.7619285011025212, + 0.509104641565918, + -0.40034662874027543, + -261.4210165229935 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5555704708939301, + 0.3328759901220983, + -0.7619285011025212, + -364.8156861610148 + ], + [ + 0.8314694533599514, + -0.2224207634256369, + 0.509104641565918, + -28.627468958337257 + ], + [ + 1.3877787719657217e-17, + -0.9163637810375249, + -0.40034662874027543, + 4.915927718875242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36481.56861610148, + 2862.746895833726, + 491.5927718875242 + ], + "rotation_deg": [ + -8.677107148145964e-16, + -23.599849700927745, + -146.24998474121094 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.03680076054941598, + -0.9993226225914155, + -4.3368086569681153e-19, + -6.946793701410035 + ], + [ + -0.13499450848084418, + -0.004971268006729429, + -0.9908338756695898, + -49.06691077952162 + ], + [ + 0.9901627070344592, + 0.036463440479879976, + -0.13508601373407264, + 388.95800583825206 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.03680076054941598, + -0.13499450848084418, + 0.9901627070344592, + -391.49982830350154 + ], + [ + -0.9993226225914155, + -0.004971268006729429, + 0.036463440479879976, + -21.368759853118636 + ], + [ + -4.3368086569681153e-19, + -0.9908338756695898, + -0.13508601373407264, + 3.9256287460066854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -39149.982830350156, + 2136.8759853118636, + 392.5628746006685 + ], + "rotation_deg": [ + 2.5077951069948638e-17, + -7.763593673706055, + -2.109004497528076 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7826786478577716, + -0.6224260069980448, + -2.7755575446950678e-17, + -305.61334214559594 + ], + [ + -0.26970107425413176, + 0.33913954389710355, + -0.9012467477397249, + -89.25492245045844 + ], + [ + 0.5609594086672478, + -0.7053865886361154, + -0.4333062455123342, + 196.62748913941925 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7826786478577716, + -0.26970107425413176, + 0.5609594086672478, + -373.5692283002401 + ], + [ + -0.6224260069980448, + 0.33913954389710355, + -0.7053865886361154, + -21.253423715526694 + ], + [ + -2.7755575446950678e-17, + -0.9012467477397249, + -0.4333062455123342, + 4.759210855434242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -37356.922830024014, + 2125.342371552669, + 475.92108554342417 + ], + "rotation_deg": [ + 1.764530465573832e-15, + -25.677566528320305, + 51.506488800048814 + ] + } + } + ] + }, + { + "frame": 83, + "time": 1142.4697043895721, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.41225628908689543, + 0.9110679184936223, + -3.4694469255482422e-18, + -128.45678489996934 + ], + [ + 0.11981348729313214, + 0.054215347342814295, + -0.991314997553833, + 48.306181447488726 + ], + [ + -0.9031552998707562, + -0.4086758231460923, + -0.13150884339552368, + -331.3033756631093 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.41225628908689543, + 0.11981348729313214, + -0.9031552998707562, + -357.9632439186909 + ], + [ + 0.9110679184936223, + 0.054215347342814295, + -0.4086758231460923, + -20.981765771166454 + ], + [ + -3.4694469255482422e-18, + -0.991314997553833, + -0.13150884339552368, + 4.317319078436037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -35796.32439186909, + 2098.1765771166456, + 431.73190784360366 + ], + "rotation_deg": [ + 2.0052623849022055e-16, + -7.556791305541991, + 155.65335083007812 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5555704708939301, + 0.8314694533599514, + 1.3877787719657217e-17, + 226.4676760048324 + ], + [ + 0.3328759901220983, + -0.2224207634256369, + -0.9163637810375249, + 119.52282413317208 + ], + [ + -0.7619285011025212, + 0.509104641565918, + -0.40034662874027543, + -261.2997189644279 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5555704708939301, + 0.3328759901220983, + -0.7619285011025212, + -364.6967298460703 + ], + [ + 0.8314694533599514, + -0.2224207634256369, + 0.509104641565918, + -28.687694989136954 + ], + [ + 1.3877787719657217e-17, + -0.9163637810375249, + -0.40034662874027543, + 4.915927718875242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36469.67298460703, + 2868.7694989136953, + 491.5927718875242 + ], + "rotation_deg": [ + -8.677107148145964e-16, + -23.599849700927745, + -146.24998474121094 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.04046175928995512, + -0.9991810877089106, + -4.3368086569802766e-19, + -5.575478790898673 + ], + [ + -0.13627512738882927, + -0.005518450528580403, + -0.9906556598328813, + -49.56478665063556 + ], + [ + 0.9898443995798152, + 0.04008367115187449, + -0.13638681727888396, + 388.80052067431325 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.04046175928995512, + -0.13627512738882927, + 0.9898443995798152, + -391.38087198855703 + ], + [ + -0.9991810877089106, + -0.005518450528580403, + 0.04008367115187449, + -21.42898588391833 + ], + [ + -4.3368086569802766e-19, + -0.9906556598328813, + -0.13638681727888396, + 3.9256287460066854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -39138.087198855705, + 2142.898588391833, + 392.5628746006685 + ], + "rotation_deg": [ + 2.5082462514523943e-17, + -7.838820457458497, + -2.318921089172363 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7610867398066583, + -0.6486501171590676, + -0.0, + -298.05315139024043 + ], + [ + -0.25913799433431217, + 0.3040568190008857, + -0.9167316677804103, + -85.93167461788498 + ], + [ + 0.5946380982091831, + -0.6977123193249045, + -0.39950350639315907, + 209.09828493566067 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7610867398066583, + -0.25913799433431217, + 0.5946380982091831, + -373.4502719852956 + ], + [ + -0.6486501171590676, + 0.3040568190008857, + -0.6977123193249045, + -21.313649746326387 + ], + [ + -0.0, + -0.9167316677804103, + -0.39950350639315907, + 4.759210855434242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -37345.02719852956, + 2131.3649746326387, + 475.92108554342417 + ], + "rotation_deg": [ + 0.0, + -23.547143936157227, + 49.56009674072269 + ] + } + } + ] + }, + { + "frame": 84, + "time": 1142.5363710597157, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.4169152246575653, + 0.9089453753932255, + -0.0, + -130.12587657156558 + ], + [ + 0.11953435410709162, + 0.05482803856644882, + -0.9913149975538331, + 48.208184967626906 + ], + [ + -0.9010511911434651, + -0.4132942959293225, + -0.13150884339552377, + -330.56467722644953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.4169152246575653, + 0.11953435410709162, + -0.9010511911434651, + -357.86968425591095 + ], + [ + 0.9089453753932255, + 0.05482803856644882, + -0.4132942959293225, + -20.986347204711986 + ], + [ + -0.0, + -0.9913149975538331, + -0.13150884339552377, + 4.317319078436037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -35786.9684255911, + 2098.6347204711988, + 431.73190784360366 + ], + "rotation_deg": [ + 0.0, + -7.556791305541997, + 155.36001586914062 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5555704708939301, + 0.8314694533599514, + 1.3877787719657217e-17, + 226.45171646119684 + ], + [ + 0.3328759901220983, + -0.2224207634256369, + -0.9163637810375249, + 119.46982835142119 + ], + [ + -0.7619285011025212, + 0.509104641565918, + -0.40034662874027543, + -261.1784155441897 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5555704708939301, + 0.3328759901220983, + -0.7619285011025212, + -364.57779763959786 + ], + [ + 0.8314694533599514, + -0.2224207634256369, + 0.509104641565918, + -28.747968614483334 + ], + [ + 1.3877787719657217e-17, + -0.9163637810375249, + -0.40034662874027543, + 4.915927718875242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36457.779763959785, + 2874.7968614483334, + 491.5927718875242 + ], + "rotation_deg": [ + -8.677107148145964e-16, + -23.599849700927745, + -146.24998474121094 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.04400803055126538, + -0.9990311773148018, + -0.0, + -4.249772827686694 + ], + [ + -0.13751346481291743, + -0.006057565467539252, + -0.9904813743305589, + -50.045695429727566 + ], + [ + 0.9895217733438844, + 0.0435891349129583, + -0.13764682123432534, + 388.63925704529925 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.04400803055126538, + -0.13751346481291743, + 0.9895217733438844, + -391.2619397820846 + ], + [ + -0.9990311773148018, + -0.006057565467539252, + 0.0435891349129583, + -21.489259509264713 + ], + [ + -0.0, + -0.9904813743305589, + -0.13764682123432534, + 3.9256287460066854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -39126.19397820846, + 2148.925950926471, + 392.5628746006685 + ], + "rotation_deg": [ + 0.0, + -7.911700725555422, + -2.5222890377044678 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.739699294366579, + -0.6729375557312769, + -0.0, + -290.5362443494461 + ], + [ + -0.24484024664092846, + 0.26913070333253264, + -0.9314622473018138, + -81.22113304145542 + ], + [ + 0.626815922805042, + -0.6890019703247583, + -0.36383799115356935, + 221.01493465597022 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.739699294366579, + -0.24484024664092846, + 0.626815922805042, + -373.3313397788232 + ], + [ + -0.6729375557312769, + 0.26913070333253264, + -0.6890019703247583, + -21.373923371672767 + ], + [ + -0.0, + -0.9314622473018138, + -0.36383799115356935, + 4.759210855434242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -37333.13397788232, + 2137.3923371672768, + 475.92108554342417 + ], + "rotation_deg": [ + 0.0, + -21.336088180541985, + 47.70580673217775 + ] + } + } + ] + }, + { + "frame": 85, + "time": 1142.6030377298594, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.4215632325175366, + 0.9067990080438803, + -0.0, + -131.79067531775064 + ], + [ + 0.11925208782165111, + 0.05543929269949941, + -0.9913149975538331, + 48.10914187797245 + ], + [ + -0.8989234650802955, + -0.4179019359093777, + -0.1315088433955237, + -329.8180894342603 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.4215632325175366, + 0.11925208782165111, + -0.8989234650802955, + -357.7764332478775 + ], + [ + 0.9067990080438803, + 0.05543929269949941, + -0.4179019359093777, + -20.991106333343218 + ], + [ + -0.0, + -0.9913149975538331, + -0.1315088433955237, + 4.317319078436037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -35777.64332478775, + 2099.110633334322, + 431.73190784360366 + ], + "rotation_deg": [ + 0.0, + -7.556791305541993, + 155.06668090820315 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5555704708939301, + 0.8314694533599514, + 1.3877787719657217e-17, + 226.43580931180375 + ], + [ + 0.3328759901220983, + -0.2224207634256369, + -0.9163637810375249, + 119.4168300449647 + ], + [ + -0.7619285011025212, + 0.509104641565918, + -0.40034662874027543, + -261.0571063450883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5555704708939301, + 0.3328759901220983, + -0.7619285011025212, + -364.45888929832427 + ], + [ + 0.8314694533599514, + -0.2224207634256369, + 0.509104641565918, + -28.80828930763549 + ], + [ + 1.3877787719657217e-17, + -0.9163637810375249, + -0.40034662874027543, + 4.915927718875242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36445.88892983243, + 2880.828930763549, + 491.5927718875242 + ], + "rotation_deg": [ + -8.677107148145964e-16, + -23.599849700927745, + -146.24998474121094 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.04743786850832457, + -0.9988741905922821, + 4.3368086570037883e-19, + -2.970327788855961 + ], + [ + -0.13870909800197387, + -0.006587480199107254, + -0.9903112597744735, + -50.509460164930324 + ], + [ + 0.9891963578746875, + 0.04697825568002317, + -0.13886543508272783, + 388.4747579416484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.04743786850832457, + -0.13870909800197387, + 0.9891963578746875, + -391.143031440811 + ], + [ + -0.9988741905922821, + -0.006587480199107254, + 0.04697825568002317, + -21.54958020241687 + ], + [ + 4.3368086570037883e-19, + -0.9903112597744735, + -0.13886543508272783, + 3.9256287460066854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -39114.3031440811, + 2154.958020241687, + 392.5628746006685 + ], + "rotation_deg": [ + -2.5091185430278422e-17, + -7.982199192047123, + -2.7190101146698 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7290503729815668, + -0.6844600453316749, + -0.0, + -286.7615460051632 + ], + [ + -0.23514288737490516, + 0.2504616754679454, + -0.939136183755467, + -77.92024493110922 + ], + [ + 0.6428011899342797, + -0.6846775884348301, + -0.34354509182076837, + 226.86085202041932 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7290503729815668, + -0.23514288737490516, + 0.6428011899342797, + -373.2124314375496 + ], + [ + -0.6844600453316749, + 0.2504616754679454, + -0.6846775884348301, + -21.434244064824924 + ], + [ + -0.0, + -0.939136183755467, + -0.34354509182076837, + 4.759210855434242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -37321.24314375496, + 2143.4244064824925, + 475.92108554342417 + ], + "rotation_deg": [ + 0.0, + -20.093008041381836, + 46.8068428039551 + ] + } + } + ] + }, + { + "frame": 86, + "time": 1142.669704400003, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.4261999499212267, + 0.9046289862076847, + -3.4694469255482422e-18, + -133.45105544516596 + ], + [ + 0.11896671076202775, + 0.05604906203771449, + -0.991314997553833, + 48.00906002490795 + ], + [ + -0.8967722899689567, + -0.42249838349111396, + -0.13150884339552368, + -329.06367143265174 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.4261999499212267, + 0.11896671076202775, + -0.8967722899689567, + -357.6834899741284 + ], + [ + 0.9046289862076847, + 0.05604906203771449, + -0.42249838349111396, + -20.996044078888904 + ], + [ + -3.4694469255482422e-18, + -0.991314997553833, + -0.13150884339552368, + 4.317319078436037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -35768.34899741284, + 2099.6044078888904, + 431.73190784360366 + ], + "rotation_deg": [ + 2.0052623849022055e-16, + -7.556791305541991, + 154.7733612060547 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5555704708939301, + 0.8314694533599514, + 1.3877787719657217e-17, + 226.41995397449344 + ], + [ + 0.3328759901220983, + -0.2224207634256369, + -0.9163637810375249, + 119.36382925013655 + ], + [ + -0.7619285011025212, + 0.509104641565918, + -0.40034662874027543, + -260.9357914502894 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5555704708939301, + 0.3328759901220983, + -0.7619285011025212, + -364.34000457427976 + ], + [ + 0.8314694533599514, + -0.2224207634256369, + 0.509104641565918, + -28.868656534123907 + ], + [ + 1.3877787719657217e-17, + -0.9163637810375249, + -0.40034662874027543, + 4.915927718875242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36434.000457427974, + 2886.8656534123907, + 491.5927718875242 + ], + "rotation_deg": [ + -8.677107148145964e-16, + -23.599849700927745, + -146.24998474121094 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.05074962912031415, + -0.9987114073365491, + -4.3368086570151075e-19, + -1.7377705862276294 + ], + [ + -0.13986162660535864, + -0.007107083814447641, + -0.9901455523118595, + -50.95591306649631 + ], + [ + 0.9888696578454147, + 0.050249519936136876, + -0.14004208488479628, + 388.3075568913262 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.05074962912031415, + -0.13986162660535864, + 0.9888696578454147, + -391.0241467167665 + ], + [ + -0.9987114073365491, + -0.007107083814447641, + 0.050249519936136876, + -21.609947428905283 + ], + [ + -4.3368086570151075e-19, + -0.9901455523118595, + -0.14004208488479628, + 3.9256287460066854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -39102.41467167665, + 2160.9947428905284, + 392.5628746006685 + ], + "rotation_deg": [ + 2.5095384607588032e-17, + -8.050281524658208, + -2.9089891910552987 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7229843355175499, + -0.6908644227315853, + -4.1633363139057405e-17, + -284.5906521781625 + ], + [ + -0.2285556541031264, + 0.23918174430980613, + -0.9436919021409532, + -75.6402922439883 + ], + [ + 0.651963156341122, + -0.6822744662591963, + -0.3308256269765856, + 230.15249079477374 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7229843355175499, + -0.2285556541031264, + 0.651963156341122, + -373.0935467135051 + ], + [ + -0.6908644227315853, + 0.23918174430980613, + -0.6822744662591963, + -21.49461129131334 + ], + [ + -4.1633363139057405e-17, + -0.9436919021409532, + -0.3308256269765856, + 4.759210855434242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -37309.354671350506, + 2149.461129131334, + 475.92108554342417 + ], + "rotation_deg": [ + 2.527748736499738e-15, + -19.31889533996581, + 46.30142593383788 + ] + } + } + ] + }, + { + "frame": 87, + "time": 1142.7363710701466, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.4308257377486892, + 0.9024351409898094, + 3.4694469255482422e-18, + -135.10715726633728 + ], + [ + 0.11867820071705809, + 0.056657394040012174, + -0.991314997553833, + 47.90793331223742 + ], + [ + -0.8945974983814775, + -0.42708399642034495, + -0.13150884339552368, + -328.30137726843856 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.4308257377486892, + 0.11867820071705809, + -0.8945974983814775, + -357.59085350222716 + ], + [ + 0.9024351409898094, + 0.056657394040012174, + -0.42708399642034495, + -21.001161352333906 + ], + [ + 3.4694469255482422e-18, + -0.991314997553833, + -0.13150884339552368, + 4.317319078436037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -35759.08535022272, + 2100.1161352333907, + 431.73190784360366 + ], + "rotation_deg": [ + -2.0052623849022055e-16, + -7.556791305541991, + 154.4800262451172 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5555704708939301, + 0.8314694533599514, + 1.3877787719657217e-17, + 226.40414985845297 + ], + [ + 0.3328759901220983, + -0.2224207634256369, + -0.9163637810375249, + 119.31082600340551 + ], + [ + -0.7619285011025212, + 0.509104641565918, + -0.40034662874027543, + -260.8144709432672 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5555704708939301, + 0.3328759901220983, + -0.7619285011025212, + -364.2211432149672 + ], + [ + 0.8314694533599514, + -0.2224207634256369, + 0.509104641565918, + -28.92906975209713 + ], + [ + 1.3877787719657217e-17, + -0.9163637810375249, + -0.40034662874027543, + 4.915927718875242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36422.114321496716, + 2892.906975209713, + 491.5927718875242 + ], + "rotation_deg": [ + -8.677107148145964e-16, + -23.599849700927745, + -146.24998474121094 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.05394174195702382, + -0.9985440843921924, + -0.0, + -0.5526983981973572 + ], + [ + -0.14097068792473672, + -0.0076152916935749645, + -0.989984480928084, + -51.38490157125494 + ], + [ + 0.9885431468938062, + 0.053401487816590695, + -0.14117622968568483, + 388.13817589025115 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.05394174195702382, + -0.14097068792473672, + 0.9885431468938062, + -390.9052853574539 + ], + [ + -0.9985440843921924, + -0.0076152916935749645, + 0.053401487816590695, + -21.670360646878507 + ], + [ + -0.0, + -0.989984480928084, + -0.14117622968568483, + 3.9256287460066854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -39090.52853574539, + 2167.0360646878507, + 392.5628746006685 + ], + "rotation_deg": [ + 0.0, + -8.115915298461918, + -3.092134952545166 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7168543812477879, + -0.6972229170687457, + 2.7755575423966562e-17, + -282.39719435652114 + ], + [ + -0.22173770969242693, + 0.2279811015810221, + -0.9480806956278883, + -73.27629833299923 + ], + [ + 0.6610235834583428, + -0.679635803958466, + -0.3180298666628989, + 233.40906783413718 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7168543812477879, + -0.22173770969242693, + 0.6610235834583428, + -372.9746853541925 + ], + [ + -0.6972229170687457, + 0.2279811015810221, + -0.679635803958466, + -21.555024509286564 + ], + [ + 2.7755575423966562e-17, + -0.9480806956278883, + -0.3180298666628989, + 4.759210855434242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -37297.46853541925, + 2155.5024509286563, + 475.92108554342417 + ], + "rotation_deg": [ + -1.6773649641879775e-15, + -18.543821334838867, + 45.79537963867188 + ] + } + } + ] + }, + { + "frame": 88, + "time": 1142.8030377402902, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.43544023325880526, + 0.9002176421618923, + -3.4694469255482422e-18, + -136.75885515611952 + ], + [ + 0.11838658001321367, + 0.057264241002727805, + -0.991314997553833, + 47.80576957005056 + ], + [ + -0.8923992586150237, + -0.43165841510635106, + -0.13150884339552368, + -327.5312659649154 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.43544023325880526, + 0.11838658001321367, + -0.8923992586150237, + -357.49852288796 + ], + [ + 0.9002176421618923, + 0.057264241002727805, + -0.43165841510635106, + -21.006459054144297 + ], + [ + -3.4694469255482422e-18, + -0.991314997553833, + -0.13150884339552368, + 4.317319078436037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -35749.852288796, + 2100.6459054144298, + 431.73190784360366 + ], + "rotation_deg": [ + 2.0052623849022055e-16, + -7.556791305541991, + 154.1866912841797 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5555704708939301, + 0.8314694533599514, + 1.3877787719657217e-17, + 226.3883963646177 + ], + [ + 0.3328759901220983, + -0.2224207634256369, + -0.9163637810375249, + 119.25782034135395 + ], + [ + -0.7619285011025212, + 0.509104641565918, + -0.40034662874027543, + -260.69314490775616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5555704708939301, + 0.3328759901220983, + -0.7619285011025212, + -364.10230496354086 + ], + [ + 0.8314694533599514, + -0.2224207634256369, + 0.509104641565918, + -28.989528412685004 + ], + [ + 1.3877787719657217e-17, + -0.9163637810375249, + -0.40034662874027543, + 4.915927718875242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36410.23049635409, + 2898.9528412685004, + 491.5927718875242 + ], + "rotation_deg": [ + -8.677107148145964e-16, + -23.599849700927745, + -146.24998474121094 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.05701269291115279, + -0.9983734535969085, + -0.0, + 0.5843145812108155 + ], + [ + -0.1420359147505507, + -0.0081110429778087, + -0.9898282729356573, + -51.796271774321816 + ], + [ + 0.9882182711366349, + 0.056432775787362825, + -0.1422673202413451, + 387.96712627835734 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.05701269291115279, + -0.1420359147505507, + 0.9882182711366349, + -390.78644710602765 + ], + [ + -0.9983734535969085, + -0.0081110429778087, + 0.056432775787362825, + -21.73081930746638 + ], + [ + -0.0, + -0.9898282729356573, + -0.1422673202413451, + 3.9256287460066854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -39078.64471060276, + 2173.081930746638, + 392.5628746006685 + ], + "rotation_deg": [ + 0.0, + -8.179067611694338, + -3.2683589458465576 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7106637765984828, + -0.703531802145988, + -4.1633363132985654e-17, + -280.1823242576363 + ], + [ + -0.21469408636713913, + 0.21687052350104208, + -0.9522991259658717, + -70.82999195167814 + ], + [ + 0.6699727156132095, + -0.6767644968916391, + -0.3051661450437593, + 236.6270028533774 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7106637765984828, + -0.21469408636713913, + 0.6699727156132095, + -372.8558471027662 + ], + [ + -0.703531802145988, + 0.21687052350104208, + -0.6767644968916391, + -21.615483169874437 + ], + [ + -4.1633363132985654e-17, + -0.9522991259658717, + -0.3051661450437593, + 4.759210855434242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -37285.58471027662, + 2161.5483169874437, + 475.92108554342417 + ], + "rotation_deg": [ + 2.5049020290914675e-15, + -17.768159866332997, + 45.28894805908201 + ] + } + } + ] + }, + { + "frame": 89, + "time": 1142.8697044104338, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.44004331550163356, + 0.8979765478465066, + -3.4694469255482422e-18, + -138.41439248757885 + ], + [ + 0.1180918562941268, + 0.057869587019874616, + -0.991314997553833, + 47.701928034195745 + ], + [ + -0.890177628287373, + -0.4362215196496372, + -0.13150884339552366, + -326.74850743553174 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.44004331550163356, + 0.1180918562941268, + -0.890177628287373, + -357.405743384977 + ], + [ + 0.8979765478465066, + 0.057869587019874616, + -0.4362215196496372, + -21.00234784093288 + ], + [ + -3.4694469255482422e-18, + -0.991314997553833, + -0.13150884339552366, + 4.317319078436037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -35740.574338497696, + 2100.234784093288, + 431.73190784360366 + ], + "rotation_deg": [ + 2.0052623849022055e-16, + -7.55679130554199, + 153.8933563232422 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5555704708939301, + 0.8314694533599514, + 1.3877787719657217e-17, + 226.3643001159603 + ], + [ + 0.3328759901220983, + -0.2224207634256369, + -0.9163637810375249, + 119.2066944489712 + ], + [ + -0.7619285011025212, + 0.509104641565918, + -0.40034662874027543, + -260.57612152566395 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5555704708939301, + 0.3328759901220983, + -0.7619285011025212, + -363.98273576843036 + ], + [ + 0.8314694533599514, + -0.2224207634256369, + 0.509104641565918, + -29.040441726702138 + ], + [ + 1.3877787719657217e-17, + -0.9163637810375249, + -0.40034662874027543, + 4.915927718875242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36398.273576843036, + 2904.044172670214, + 491.5927718875242 + ], + "rotation_deg": [ + -8.677107148145964e-16, + -23.599849700927745, + -146.24998474121094 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.05996102767978389, + -0.9982007188735059, + 8.67361731409423e-19, + 1.6822463189159116 + ], + [ + -0.14305701646941027, + -0.008593307500309077, + -0.9896771418523697, + -52.18971007633968 + ], + [ + 0.9878964342627665, + 0.05934205894622003, + -0.14331488133105708, + 387.7935895518211 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.05996102767978389, + -0.14305701646941027, + 0.9878964342627665, + -390.6668779109171 + ], + [ + -0.9982007188735059, + -0.008593307500309077, + 0.05934205894622003, + -21.781732621483517 + ], + [ + 8.67361731409423e-19, + -0.9896771418523697, + -0.14331488133105708, + 3.9256287460066854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -39066.68779109171, + 2178.1732621483516, + 392.5628746006685 + ], + "rotation_deg": [ + -5.021452431736324e-17, + -8.23970985412598, + -3.437575817108155 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7044159496549054, + -0.7097874117450788, + -0.0, + -277.9399146553001 + ], + [ + -0.20743035119844885, + 0.20586057939159977, + -0.9563441175927435, + -68.30511679130754 + ], + [ + 0.6788010114085052, + -0.6736640534278826, + -0.2922429298202198, + 239.80873567786864 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7044159496549054, + -0.20743035119844885, + 0.6788010114085052, + -372.7362779076557 + ], + [ + -0.7097874117450788, + 0.20586057939159977, + -0.6736640534278826, + -21.66639648389157 + ], + [ + -0.0, + -0.9563441175927435, + -0.2922429298202198, + 4.759210855434242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -37273.62779076557, + 2166.639648389157, + 475.92108554342417 + ], + "rotation_deg": [ + 0.0, + -16.99228477478027, + 44.78237915039062 + ] + } + } + ] + }, + { + "frame": 90, + "time": 1142.9363710805774, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.4446348638263844, + 0.8957119167846839, + -0.0, + -140.06853413649793 + ], + [ + 0.11779403728476255, + 0.05847341622480692, + -0.9913149975538331, + 47.595933136063294 + ], + [ + -0.8879326656293889, + -0.4407731904472628, + -0.13150884339552368, + -325.9495168391407 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.4446348638263844, + 0.11779403728476255, + -0.8879326656293889, + -357.3070886106801 + ], + [ + 0.8957119167846839, + 0.05847341622480692, + -0.4407731904472628, + -20.99185485843389 + ], + [ + -0.0, + -0.9913149975538331, + -0.13150884339552368, + 4.317319078436037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -35730.708861068015, + 2099.185485843389, + 431.73190784360366 + ], + "rotation_deg": [ + 0.0, + -7.556791305541991, + 153.6000213623047 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5555704708939301, + 0.8314694533599514, + 1.3877787719657217e-17, + 226.33136254469687 + ], + [ + 0.3328759901220983, + -0.2224207634256369, + -0.9163637810375249, + 119.15496926822846 + ], + [ + -0.7619285011025212, + 0.509104641565918, + -0.40034662874027543, + -260.4577264167344 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5555704708939301, + 0.3328759901220983, + -0.7619285011025212, + -363.8570099492099 + ], + [ + 0.8314694533599514, + -0.2224207634256369, + 0.509104641565918, + -29.084835397660516 + ], + [ + 1.3877787719657217e-17, + -0.9163637810375249, + -0.40034662874027543, + 4.915927718875242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36385.70099492099, + 2908.4835397660518, + 491.5927718875242 + ], + "rotation_deg": [ + -8.677107148145964e-16, + -23.599849700927745, + -146.24998474121094 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.06278536768878924, + -0.9980270525412543, + -0.0, + 2.737205339641573 + ], + [ + -0.14403365440925253, + -0.009061082992308078, + -0.9895313047966307, + -52.56430513952002 + ], + [ + 0.9875790113316606, + 0.06212808728169212, + -0.14431838811425893, + 387.61280075932217 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.06278536768878924, + -0.14403365440925253, + 0.9875790113316606, + -390.54115209169663 + ], + [ + -0.9980270525412543, + -0.009061082992308078, + 0.06212808728169212, + -21.826126292441895 + ], + [ + -0.0, + -0.9895313047966307, + -0.14431838811425893, + 3.9256287460066854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -39054.115209169664, + 2182.6126292441895, + 392.5628746006685 + ], + "rotation_deg": [ + 0.0, + -8.2978105545044, + -3.5997042655944838 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.6981143470125413, + -0.7159862837340205, + -0.0, + -275.66940022110066 + ], + [ + -0.19995263639280295, + 0.19496156191820777, + -0.9602129620943369, + -65.70183672606443 + ], + [ + 0.6874993058720658, + -0.6703384487134479, + -0.2792688106500194, + 242.94501768389085 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.6981143470125413, + -0.19995263639280295, + 0.6874993058720658, + -372.6105520884352 + ], + [ + -0.7159862837340205, + 0.19496156191820777, + -0.6703384487134479, + -21.710790154849953 + ], + [ + -0.0, + -0.9602129620943369, + -0.2792688106500194, + 4.759210855434242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -37261.05520884352, + 2171.079015484995, + 475.92108554342417 + ], + "rotation_deg": [ + 0.0, + -16.216569900512695, + 44.275913238525405 + ] + } + } + ] + }, + { + "frame": 91, + "time": 1143.003037750721, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.4492147578845822, + 0.8934238083343738, + -0.0, + -141.72098780336682 + ], + [ + 0.1174931307912162, + 0.05907571279063605, + -0.9913149975538331, + 47.48850128562604 + ], + [ + -0.8856644294834969, + -0.44531330819597476, + -0.1315088433955237, + -325.13969448143104 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.4492147578845822, + 0.1174931307912162, + -0.8856644294834969, + -357.20738843317554 + ], + [ + 0.8934238083343738, + 0.05907571279063605, + -0.44531330819597476, + -20.977550107117448 + ], + [ + -0.0, + -0.9913149975538331, + -0.1315088433955237, + 4.317319078436037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -35720.73884331755, + 2097.755010711745, + 431.73190784360366 + ], + "rotation_deg": [ + 0.0, + -7.556791305541993, + 153.3066864013672 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5555704708939301, + 0.8314694533599514, + 1.3877787719657217e-17, + 226.29440305785545 + ], + [ + 0.3328759901220983, + -0.2224207634256369, + -0.9163637810375249, + 119.10368148095442 + ], + [ + -0.7619285011025212, + 0.509104641565918, + -0.40034662874027543, + -260.3403324689916 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5555704708939301, + 0.3328759901220983, + -0.7619285011025212, + -363.72995808353187 + ], + [ + 0.8314694533599514, + -0.2224207634256369, + 0.509104641565918, + -29.125277987421768 + ], + [ + 1.3877787719657217e-17, + -0.9163637810375249, + -0.40034662874027543, + 4.915927718875242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36372.99580835319, + 2912.527798742177, + 491.5927718875242 + ], + "rotation_deg": [ + -8.677107148145964e-16, + -23.599849700927745, + -146.24998474121094 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.06548438446964361, + -0.9978535941663145, + -0.0, + 3.7463926903788796 + ], + [ + -0.14496558891810218, + -0.00951340198109172, + -0.989390960749275, + -52.92065382436287 + ], + [ + 0.9872673260227186, + 0.06478965855491729, + -0.14527741432269609, + 387.43011749716334 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.06548438446964361, + -0.14496558891810218, + 0.9872673260227186, + -390.41410022601866 + ], + [ + -0.9978535941663145, + -0.00951340198109172, + 0.06478965855491729, + -21.866568882203147 + ], + [ + -0.0, + -0.989390960749275, + -0.14527741432269609, + 3.9256287460066854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -39041.41002260186, + 2186.6568882203146, + 392.5628746006685 + ], + "rotation_deg": [ + 0.0, + -8.353343963623049, + -3.75466561317444 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.6917626195848444, + -0.7221249740488925, + -1.3877787708314835e-17, + -273.3772702474603 + ], + [ + -0.19226759221199538, + 0.18418353890200084, + -0.9639033130882667, + -63.02286759290349 + ], + [ + 0.6960586506022655, + -0.6667922846229737, + -0.2662525194040975, + 246.03396024215039 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.6917626195848444, + -0.19226759221199538, + 0.6960586506022655, + -372.4835002227572 + ], + [ + -0.7221249740488925, + 0.18418353890200084, + -0.6667922846229737, + -21.7512327446112 + ], + [ + -1.3877787708314835e-17, + -0.9639033130882667, + -0.2662525194040975, + 4.759210855434242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -37248.35002227572, + 2175.12327446112, + 475.92108554342417 + ], + "rotation_deg": [ + 8.249153831382192e-16, + -15.441390991210932, + 43.76979827880859 + ] + } + } + ] + }, + { + "frame": 92, + "time": 1143.0697044208646, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.4537828776332197, + 0.8911122824688895, + 3.4694469255482422e-18, + -143.3708084027402 + ], + [ + 0.11718914470050863, + 0.059676460930645006, + -0.991314997553833, + 47.37975960222229 + ], + [ + -0.8833729793021405, + -0.44984175389533543, + -0.1315088433955237, + -324.31999858925434 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.4537828776332197, + 0.11718914470050863, + -0.8833729793021405, + -357.107129376717 + ], + [ + 0.8911122824688895, + 0.059676460930645006, + -0.44984175389533543, + -20.9606496921077 + ], + [ + 3.4694469255482422e-18, + -0.991314997553833, + -0.1315088433955237, + 4.317319078436037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -35710.7129376717, + 2096.06496921077, + 431.73190784360366 + ], + "rotation_deg": [ + -2.0052623849022055e-16, + -7.556791305541993, + 153.0133514404297 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5555704708939301, + 0.8314694533599514, + 1.3877787719657217e-17, + 226.25470231337457 + ], + [ + 0.3328759901220983, + -0.2224207634256369, + -0.9163637810375249, + 119.0527231101656 + ], + [ + -0.7619285011025212, + 0.509104641565918, + -0.40034662874027543, + -260.22369253113976 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5555704708939301, + 0.3328759901220983, + -0.7619285011025212, + -363.60206741255274 + ], + [ + 0.8314694533599514, + -0.2224207634256369, + 0.509104641565918, + -29.16298416615298 + ], + [ + 1.3877787719657217e-17, + -0.9163637810375249, + -0.40034662874027543, + 4.915927718875242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36360.20674125527, + 2916.2984166152983, + 491.5927718875242 + ], + "rotation_deg": [ + -8.677107148145964e-16, + -23.599849700927745, + -146.24998474121094 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.0680568280287888, + -0.9976814462335459, + -0.0, + 4.708152624204768 + ], + [ + -0.14585253000268958, + -0.009949328605268237, + -0.9892563117575337, + -53.25871090459989 + ], + [ + 0.9869626676086336, + 0.06732564719509115, + -0.14619148394011108, + 387.24653149989734 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.0680568280287888, + -0.14585253000268958, + 0.9869626676086336, + -390.2862095550395 + ], + [ + -0.9976814462335459, + -0.009949328605268237, + 0.06732564719509115, + -21.90427506093436 + ], + [ + -0.0, + -0.9892563117575337, + -0.14619148394011108, + 3.9256287460066854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -39028.620955503946, + 2190.427506093436, + 392.5628746006685 + ], + "rotation_deg": [ + 0.0, + -8.406281471252445, + -3.9023854732513428 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.6853644302114265, + -0.7282002456748876, + -2.7755575415029514e-17, + -271.0660008534558 + ], + [ + -0.1843823675876487, + 0.17353621761775875, + -0.967413212488694, + -60.270515364471024 + ], + [ + 0.7044705347594977, + -0.6630306089328678, + -0.2532028382024543, + 249.07186763549493 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.6853644302114265, + -0.1843823675876487, + 0.7044705347594977, + -372.35560955177806 + ], + [ + -0.7282002456748876, + 0.17353621761775875, + -0.6630306089328678, + -21.788938923342418 + ], + [ + -2.7755575415029514e-17, + -0.967413212488694, + -0.2532028382024543, + 4.759210855434242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -37235.5609551778, + 2178.8938923342416, + 475.92108554342417 + ], + "rotation_deg": [ + 1.643844968238653e-15, + -14.667120933532708, + 43.26427459716795 + ] + } + } + ] + }, + { + "frame": 93, + "time": 1143.1363710910082, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.45833910333790473, + 0.8887773997753347, + 3.4694469255482422e-18, + -145.01808088321513 + ], + [ + 0.11688208698037979, + 0.06027564489870254, + -0.991314997553833, + 47.269699878251515 + ], + [ + -0.8810583751462226, + -0.4543584088508427, + -0.1315088433955237, + -323.4903672936361 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.45833910333790473, + 0.11688208698037979, + -0.8810583751462226, + -357.00633014682984 + ], + [ + 0.8887773997753347, + 0.06027564489870254, + -0.4543584088508427, + -20.940991936725187 + ], + [ + 3.4694469255482422e-18, + -0.991314997553833, + -0.1315088433955237, + 4.317319078436037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -35700.633014682986, + 2094.0991936725186, + 431.73190784360366 + ], + "rotation_deg": [ + -2.0052623849022055e-16, + -7.556791305541993, + 152.7200164794922 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5555704708939301, + 0.8314694533599514, + 1.3877787719657217e-17, + 226.21213548658173 + ], + [ + 0.3328759901220983, + -0.2224207634256369, + -0.9163637810375249, + 119.00213690215828 + ], + [ + -0.7619285011025212, + 0.509104641565918, + -0.40034662874027543, + -260.1079044462831 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5555704708939301, + 0.3328759901220983, + -0.7619285011025212, + -363.47335736603696 + ], + [ + 0.8314694533599514, + -0.2224207634256369, + 0.509104641565918, + -29.197790825906704 + ], + [ + 1.3877787719657217e-17, + -0.9163637810375249, + -0.40034662874027543, + 4.915927718875242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36347.335736603694, + 2919.7790825906704, + 491.5927718875242 + ], + "rotation_deg": [ + -8.677107148145964e-16, + -23.599849700927745, + -146.24998474121094 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.0705015012269687, + -0.9975116732774326, + 8.673617314169411e-19, + 5.622199312937319 + ], + [ + -0.1466942679295876, + -0.010367964994782259, + -0.9891275433726779, + -53.578384881208315 + ], + [ + 0.9866662706686407, + 0.06973497724015935, + -0.1470602028903499, + 387.06247013779915 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.0705015012269687, + -0.1466942679295876, + 0.9866662706686407, + -390.1574995085237 + ], + [ + -0.9975116732774326, + -0.010367964994782259, + 0.06973497724015935, + -21.939081720688083 + ], + [ + 8.673617314169411e-19, + -0.9891275433726779, + -0.1470602028903499, + 3.9256287460066854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -39015.74995085237, + 2193.908172068808, + 392.5628746006685 + ], + "rotation_deg": [ + -5.02424254983979e-17, + -8.45659923553467, + -4.042792320251465 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.6789236913247491, + -0.7342088404248323, + -1.3877787706760661e-17, + -268.7368475607706 + ], + [ + -0.176304588897242, + 0.16302903983333666, + -0.9707410695467638, + -57.447444769788284 + ], + [ + 0.7127266708834328, + -0.6590591140713069, + -0.24012866711611838, + 252.05572342717474 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.6789236913247491, + -0.176304588897242, + 0.7127266708834328, + -372.2268995052623 + ], + [ + -0.7342088404248323, + 0.16302903983333666, + -0.6590591140713069, + -21.823745583096137 + ], + [ + -1.3877787706760661e-17, + -0.9707410695467638, + -0.24012866711611838, + 4.759210855434242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -37222.689950526226, + 2182.374558309614, + 475.92108554342417 + ], + "rotation_deg": [ + 8.191048011460016e-16, + -13.894134521484368, + 42.759593963623026 + ] + } + } + ] + }, + { + "frame": 94, + "time": 1143.2030377611518, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.46288307950826574, + 0.8864193447262667, + -3.4694469255482422e-18, + -146.66276077135296 + ], + [ + 0.11657198189060212, + 0.06087321794468139, + -0.991314997553833, + 47.15832526925452 + ], + [ + -0.8787207998861514, + -0.4588629206595509, + -0.1315088433955237, + -322.65082438107436 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.46288307950826574, + 0.11657198189060212, + -0.8787207998861514, + -356.9050346752587 + ], + [ + 0.8864193447262667, + 0.06087321794468139, + -0.4588629206595509, + -20.918474852171943 + ], + [ + -3.4694469255482422e-18, + -0.991314997553833, + -0.1315088433955237, + 4.317319078436037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -35690.50346752587, + 2091.8474852171944, + 431.73190784360366 + ], + "rotation_deg": [ + 2.0052623849022055e-16, + -7.556791305541993, + 152.42669677734375 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5555704708939301, + 0.8314694533599514, + 1.3877787719657217e-17, + 226.16664140356158 + ], + [ + 0.3328759901220983, + -0.2224207634256369, + -0.9163637810375249, + 118.95196072621455 + ], + [ + -0.7619285011025212, + 0.509104641565918, + -0.40034662874027543, + -259.99305489440303 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5555704708939301, + 0.3328759901220983, + -0.7619285011025212, + -363.3438726072867 + ], + [ + 0.8314694533599514, + -0.2224207634256369, + 0.509104641565918, + -29.229594550343577 + ], + [ + 1.3877787719657217e-17, + -0.9163637810375249, + -0.40034662874027543, + 4.915927718875242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36334.38726072867, + 2922.9594550343577, + 491.5927718875242 + ], + "rotation_deg": [ + -8.677107148145964e-16, + -23.599849700927745, + -146.24998474121094 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.07281727569053606, + -0.9973452984603718, + -8.673617314186203e-19, + 6.488218175359933 + ], + [ + -0.14749055695329652, + -0.01076844756174046, + -0.989004841316116, + -53.879575615623146 + ], + [ + 0.9863793284309357, + 0.07201663873388844, + -0.14788314369666658, + 386.87837489784323 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.07281727569053606, + -0.14749055695329652, + 0.9863793284309357, + -390.02801474977343 + ], + [ + -0.9973452984603718, + -0.01076844756174046, + 0.07201663873388844, + -21.970885445124953 + ], + [ + -8.673617314186203e-19, + -0.989004841316116, + -0.14788314369666658, + 3.9256287460066854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -39002.80147497734, + 2197.0885445124954, + 392.5628746006685 + ], + "rotation_deg": [ + 5.024865888449875e-17, + -8.504271507263182, + -4.175818443298338 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.672444173847343, + -0.7401478454057434, + 1.3877787706052063e-17, + -266.39107638008 + ], + [ + -0.16804237459274063, + 0.15267100546974635, + -0.9738856834506243, + -54.55649714931886 + ], + [ + 0.7208193862379928, + -0.6548837576768781, + -0.2270389313630945, + 254.98271200846457 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.672444173847343, + -0.16804237459274063, + 0.7208193862379928, + -372.097414746512 + ], + [ + -0.7401478454057434, + 0.15267100546974635, + -0.6548837576768781, + -21.85554930753301 + ], + [ + 1.3877787706052063e-17, + -0.9738856834506243, + -0.2270389313630945, + 4.759210855434242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -37209.7414746512, + 2185.554930753301, + 475.92108554342417 + ], + "rotation_deg": [ + -8.164599646618302e-16, + -13.122803688049316, + 42.25598907470703 + ] + } + } + ] + }, + { + "frame": 95, + "time": 1143.2697044312954, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.46741515980622045, + 0.8840379337920545, + -3.4694469255482422e-18, + -148.30433272521196 + ], + [ + 0.11625880529540633, + 0.061469226578250956, + -0.991314997553833, + 47.04570655571388 + ], + [ + -0.8763600715862581, + -0.46335563991182793, + -0.1315088433955237, + -321.80190339555963 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.46741515980622045, + 0.11625880529540633, + -0.8763600715862581, + -356.80350447889185 + ], + [ + 0.8840379337920545, + 0.061469226578250956, + -0.46335563991182793, + -20.893938635616923 + ], + [ + -3.4694469255482422e-18, + -0.991314997553833, + -0.1315088433955237, + 4.317319078436037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -35680.350447889185, + 2089.3938635616923, + 431.73190784360366 + ], + "rotation_deg": [ + 2.0052623849022055e-16, + -7.556791305541993, + 152.13336181640625 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5555704708939301, + 0.8314694533599514, + 1.3877787719657217e-17, + 226.11906318031495 + ], + [ + 0.3328759901220983, + -0.2224207634256369, + -0.9163637810375249, + 118.9020953203569 + ], + [ + -0.7619285011025212, + 0.509104641565918, + -0.40034662874027543, + -259.8789166721989 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5555704708939301, + 0.3328759901220983, + -0.7619285011025212, + -363.2138753920464 + ], + [ + 0.8314694533599514, + -0.2224207634256369, + 0.509104641565918, + -29.25923411285513 + ], + [ + 1.3877787719657217e-17, + -0.9163637810375249, + -0.40034662874027543, + 4.915927718875242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36321.38753920464, + 2925.923411285513, + 491.5927718875242 + ], + "rotation_deg": [ + -8.677107148145964e-16, + -23.599849700927745, + -146.24998474121094 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.07500309526674574, + -0.9971833009534442, + -0.0, + 7.305002003634122 + ], + [ + -0.14824119633122698, + -0.011149954637483918, + -0.9888883790508757, + -54.16224477493481 + ], + [ + 0.9861029778819742, + 0.07416968986270865, + -0.14865992774777084, + 386.6949519634604 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.07500309526674574, + -0.14824119633122698, + 0.9861029778819742, + -389.89801753453315 + ], + [ + -0.9971833009534442, + -0.011149954637483918, + 0.07416968986270865, + -22.000525007636508 + ], + [ + -0.0, + -0.9888883790508757, + -0.14865992774777084, + 3.9256287460066854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -38989.801753453314, + 2200.0525007636506, + 392.5628746006685 + ], + "rotation_deg": [ + 0.0, + -8.549275398254395, + -4.301400184631348 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.6659299910286564, + -0.7460142405132583, + -1.3877787705388438e-17, + -264.03092157292775 + ], + [ + -0.15960424980615256, + 0.14247081472388823, + -0.9768462265862149, + -51.60056277305004 + ], + [ + 0.7287411918861972, + -0.6505112027827882, + -0.21394263320426685, + 257.8496167619745 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.6659299910286564, + -0.15960424980615256, + 0.7287411918861972, + -371.96741753127174 + ], + [ + -0.7460142405132583, + 0.14247081472388823, + -0.6505112027827882, + -21.885188870044562 + ], + [ + -1.3877787705388438e-17, + -0.9768462265862149, + -0.21394263320426685, + 4.759210855434242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -37196.74175312717, + 2188.5188870044562, + 475.92108554342417 + ], + "rotation_deg": [ + 8.13985506639574e-16, + -12.353501319885254, + 41.753711700439425 + ] + } + } + ] + }, + { + "frame": 96, + "time": 1143.336371101439, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.47193498874624873, + 0.8816333514546042, + 3.4694469255482422e-18, + -149.94283231852677 + ], + [ + 0.11594258145579432, + 0.06206362404992201, + -0.991314997553833, + 46.93183519019897 + ], + [ + -0.8739763731262178, + -0.46783621420953825, + -0.13150884339552374, + -320.9435399064737 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.47193498874624873, + 0.11594258145579432, + -0.8739763731262178, + -356.701732323691 + ], + [ + 0.8816333514546042, + 0.06206362404992201, + -0.46783621420953825, + -20.86717304996262 + ], + [ + 3.4694469255482422e-18, + -0.991314997553833, + -0.13150884339552374, + 4.317319078436037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -35670.173232369096, + 2086.717304996262, + 431.73190784360366 + ], + "rotation_deg": [ + -2.0052623849022055e-16, + -7.556791305541995, + 151.84002685546875 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5555704708939301, + 0.8314694533599514, + 1.3877787719657217e-17, + 226.0692212259635 + ], + [ + 0.3328759901220983, + -0.2224207634256369, + -0.9163637810375249, + 118.85258560184627 + ], + [ + -0.7619285011025212, + 0.509104641565918, + -0.40034662874027543, + -259.7655925919514 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5555704708939301, + 0.3328759901220983, + -0.7619285011025212, + -363.0833592324136 + ], + [ + 0.8314694533599514, + -0.2224207634256369, + 0.509104641565918, + -29.28649785636775 + ], + [ + 1.3877787719657217e-17, + -0.9163637810375249, + -0.40034662874027543, + 4.915927718875242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36308.335923241364, + 2928.649785636775, + 491.5927718875242 + ], + "rotation_deg": [ + -8.677107148145964e-16, + -23.599849700927745, + -146.24998474121094 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.07705794214929076, + -0.9970266162704565, + 8.673617314217215e-19, + 8.072389890142045 + ], + [ + -0.14894601319690526, + -0.011511701975648374, + -0.9887783198828596, + -54.42631614683613 + ], + [ + 0.985838302295856, + 0.07619322314768423, + -0.14939020875810935, + 386.51255056716866 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.07705794214929076, + -0.14894601319690526, + 0.985838302295856, + -389.7675013749004 + ], + [ + -0.9970266162704565, + -0.011511701975648374, + 0.07619322314768423, + -22.027788751149128 + ], + [ + 8.673617314217215e-19, + -0.9887783198828596, + -0.14939020875810935, + 3.9256287460066854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -38976.75013749004, + 2202.778875114913, + 392.5628746006685 + ], + "rotation_deg": [ + -5.026017046214819e-17, + -8.591589927673342, + -4.419476032257079 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.6593851546198586, + -0.7518053058252152, + -0.0, + -261.6576308428232 + ], + [ + -0.15099918553616987, + 0.13243671005081734, + -0.9796222556671164, + -48.58282725273075 + ], + [ + 0.7364852056757576, + -0.6459483764223183, + -0.20084879093016386, + 260.6539453414653 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.6593851546198586, + -0.15099918553616987, + 0.7364852056757576, + -371.836901371639 + ], + [ + -0.7518053058252152, + 0.13243671005081734, + -0.6459483764223183, + -21.912452613557186 + ], + [ + -0.0, + -0.9796222556671164, + -0.20084879093016386, + 4.759210855434242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -37183.690137163896, + 2191.2452613557184, + 475.92108554342417 + ], + "rotation_deg": [ + 0.0, + -11.586598396301268, + 41.25299835205079 + ] + } + } + ] + }, + { + "frame": 97, + "time": 1143.4030377715826, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.47644244785970247, + 0.8792056607401106, + -0.0, + -151.57757353910262 + ], + [ + 0.11562331866026797, + 0.06265639478001975, + -0.9913149975538331, + 46.81678597559434 + ], + [ + -0.8715697669848418, + -0.47230452611293, + -0.1315088433955237, + -320.07629777871114 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.47644244785970247, + 0.11562331866026797, + -0.8715697669848418, + -356.59992091226087 + ], + [ + 0.8792056607401106, + 0.06265639478001975, + -0.47230452611293, + -20.838998774744105 + ], + [ + -0.0, + -0.9913149975538331, + -0.1315088433955237, + 4.317319078436037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -35659.992091226086, + 2083.8998774744105, + 431.73190784360366 + ], + "rotation_deg": [ + 0.0, + -7.556791305541993, + 151.54669189453125 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5555704708939301, + 0.8314694533599514, + 1.3877787719657217e-17, + 226.01790976714244 + ], + [ + 0.3328759901220983, + -0.2224207634256369, + -0.9163637810375249, + 118.80331707510997 + ], + [ + -0.7619285011025212, + 0.509104641565918, + -0.40034662874027543, + -259.6528205817879 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5555704708939301, + 0.3328759901220983, + -0.7619285011025212, + -362.9525275843888 + ], + [ + 0.8314694533599514, + -0.2224207634256369, + 0.509104641565918, + -29.31220504427893 + ], + [ + 1.3877787719657217e-17, + -0.9163637810375249, + -0.40034662874027543, + 4.915927718875242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36295.25275843888, + 2931.220504427893, + 491.5927718875242 + ], + "rotation_deg": [ + -8.677107148145964e-16, + -23.599849700927745, + -146.24998474121094 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.07898088186742681, + -0.9968761308705527, + -0.0, + 8.789244079016068 + ], + [ + -0.14960482822677312, + -0.011852948324338784, + -0.9886748216614288, + -54.671755692710704 + ], + [ + 0.9855863306845758, + 0.07808640988473405, + -0.1500736397873629, + 386.3317873339251 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.07898088186742681, + -0.14960482822677312, + 0.9855863306845758, + -389.63666972687554 + ], + [ + -0.9968761308705527, + -0.011852948324338784, + 0.07808640988473405, + -22.05349593906031 + ], + [ + -0.0, + -0.9886748216614288, + -0.1500736397873629, + 3.9256287460066854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -38963.666972687555, + 2205.349593906031, + 392.5628746006685 + ], + "rotation_deg": [ + 0.0, + -8.631194114685062, + -4.529989242553711 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.6528139169672692, + -0.7575183098868644, + -0.0, + -259.27345307161767 + ], + [ + -0.1422365294342443, + 0.1225765565055016, + -0.9822137025565032, + -45.50651512703553 + ], + [ + 0.7440448601672147, + -0.641202778385123, + -0.1877664587990866, + 263.3928018224562 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.6528139169672692, + -0.1422365294342443, + 0.7440448601672147, + -371.7060697236141 + ], + [ + -0.7575183098868644, + 0.1225765565055016, + -0.641202778385123, + -21.938159801468363 + ], + [ + -0.0, + -0.9822137025565032, + -0.1877664587990866, + 4.759210855434242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -37170.60697236141, + 2193.8159801468364, + 475.92108554342417 + ], + "rotation_deg": [ + 0.0, + -10.822465896606445, + 40.7540969848633 + ] + } + } + ] + }, + { + "frame": 98, + "time": 1143.4697044417262, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.4809374190021568, + 0.8767549252804592, + -0.0, + -153.20813335558285 + ], + [ + 0.11530102527698295, + 0.06324752323150767, + -0.9913149975538331, + 46.70060308743605 + ], + [ + -0.8691403162413724, + -0.4767604585036587, + -0.13150884339552374, + -319.20051000790585 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.4809374190021568, + 0.11530102527698295, + -0.8691403162413724, + -356.49817812354445 + ], + [ + 0.8767549252804592, + 0.06324752323150767, + -0.4767604585036587, + -20.809897708061882 + ], + [ + -0.0, + -0.9913149975538331, + -0.13150884339552374, + 4.317319078436037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -35649.81781235444, + 2080.989770806188, + 431.73190784360366 + ], + "rotation_deg": [ + 0.0, + -7.556791305541995, + 151.25335693359378 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5555704708939301, + 0.8314694533599514, + 1.3877787719657217e-17, + 225.96558867009136 + ], + [ + 0.3328759901220983, + -0.2224207634256369, + -0.9163637810375249, + 118.75421903362835 + ], + [ + -0.7619285011025212, + 0.509104641565918, + -0.40034662874027543, + -259.54043879972915 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5555704708939301, + 0.3328759901220983, + -0.7619285011025212, + -362.8214890875508 + ], + [ + 0.8314694533599514, + -0.2224207634256369, + 0.509104641565918, + -29.336836162427257 + ], + [ + 1.3877787719657217e-17, + -0.9163637810375249, + -0.40034662874027543, + 4.915927718875242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36282.14890875508, + 2933.6836162427257, + 491.5927718875242 + ], + "rotation_deg": [ + -8.677107148145964e-16, + -23.599849700927745, + -146.24998474121094 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.08077104604018931, + -0.9967326813752889, + 8.673617314244645e-19, + 9.45478649151848 + ], + [ + -0.15021748766376922, + -0.012172996670873164, + -0.9885780315948942, + -54.898523982933696 + ], + [ + 0.9853480319542275, + 0.07984848230719219, + -0.15070990610165216, + 386.15314324501065 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.08077104604018931, + -0.15021748766376922, + 0.9853480319542275, + -389.5056312300375 + ], + [ + -0.9967326813752889, + -0.012172996670873164, + 0.07984848230719219, + -22.078127057208636 + ], + [ + 8.673617314244645e-19, + -0.9885780315948942, + -0.15070990610165216, + 3.9256287460066854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -38950.563123003754, + 2207.8127057208635, + 392.5628746006685 + ], + "rotation_deg": [ + -5.027035329378125e-17, + -8.668068885803223, + -4.632886886596679 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.6462204685327613, + -0.7631507754364785, + -2.7755575407323243e-17, + -256.88031169549737 + ], + [ + -0.1333259875577623, + 0.11289771945510095, + -0.9846208843933711, + -42.37504058093016 + ], + [ + 0.751414187791255, + -0.6362821731760204, + -0.17470464929248275, + 266.0636742208415 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.6462204685327613, + -0.1333259875577623, + 0.751414187791255, + -371.5750312267761 + ], + [ + -0.7631507754364785, + 0.11289771945510095, + -0.6362821731760204, + -21.96279091961669 + ], + [ + -2.7755575407323243e-17, + -0.9846208843933711, + -0.17470464929248275, + 4.759210855434242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -37157.50312267761, + 2196.279091961669, + 475.92108554342417 + ], + "rotation_deg": [ + 1.615116402995423e-15, + -10.061470985412592, + 40.25724411010742 + ] + } + } + ] + }, + { + "frame": 99, + "time": 1143.5363711118698, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.4854197843565094, + 0.8742812093115575, + -6.9388938510964844e-18, + -154.83337822501852 + ], + [ + 0.11497570975352896, + 0.06383699391039496, + -0.991314997553833, + 46.58340775729101 + ], + [ + -0.8666880845738254, + -0.48120389458786056, + -0.13150884339552368, + -318.31709043882523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.4854197843565094, + 0.11497570975352896, + -0.8666880845738254, + -356.3967690756789 + ], + [ + 0.8742812093115575, + 0.06383699391039496, + -0.48120389458786056, + -20.78125936088791 + ], + [ + -6.9388938510964844e-18, + -0.991314997553833, + -0.13150884339552368, + 4.317319078436037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -35639.67690756789, + 2078.1259360887907, + 431.73190784360366 + ], + "rotation_deg": [ + 4.010524769804411e-16, + -7.556791305541991, + 150.96002197265625 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5555704708939301, + 0.8314694533599514, + 1.3877787719657217e-17, + 225.91355981814567 + ], + [ + 0.3328759901220983, + -0.2224207634256369, + -0.9163637810375249, + 118.70507124161962 + ], + [ + -0.7619285011025212, + 0.509104641565918, + -0.40034662874027543, + -259.4279431424033 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5555704708939301, + 0.3328759901220983, + -0.7619285011025212, + -362.690509627893 + ], + [ + 0.8314694533599514, + -0.2224207634256369, + 0.509104641565918, + -29.361779313435417 + ], + [ + 1.3877787719657217e-17, + -0.9163637810375249, + -0.40034662874027543, + 4.915927718875242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36269.0509627893, + 2936.177931343542, + 491.5927718875242 + ], + "rotation_deg": [ + -8.677107148145964e-16, + -23.599849700927745, + -146.24998474121094 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.08242761517079353, + -0.9965970541082567, + -0.0, + 10.06736929713377 + ], + [ + -0.15078386257706056, + -0.012471192993429893, + -0.9884880859836715, + -55.106628392427126 + ], + [ + 0.9851243142829494, + 0.08147871616743425, + -0.15129872511113535, + 385.97730923291215 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.08242761517079353, + -0.15078386257706056, + 0.9851243142829494, + -389.3746517703797 + ], + [ + -0.9965970541082567, + -0.012471192993429893, + 0.08147871616743425, + -22.103070208216796 + ], + [ + -0.0, + -0.9884880859836715, + -0.15129872511113535, + 3.9256287460066854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -38937.46517703797, + 2210.3070208216795, + 392.5628746006685 + ], + "rotation_deg": [ + 0.0, + -8.70219707489014, + -4.728118896484376 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.6396090823843967, + -0.7687003458639718, + 6.938893851585965e-18, + -254.48096789276326 + ], + [ + -0.12427764334245306, + 0.10340714668187234, + -0.9868444808481017, + -39.19190157906884 + ], + [ + 0.7585876901923211, + -0.6311946967993757, + -0.16167241886303063, + 268.6637772565591 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.6396090823843967, + -0.12427764334245306, + 0.7585876901923211, + -371.4440517671183 + ], + [ + -0.7687003458639718, + 0.10340714668187234, + -0.6311946967993757, + -21.987734070624853 + ], + [ + 6.938893851585965e-18, + -0.9868444808481017, + -0.16167241886303063, + 4.759210855434242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -37144.40517671183, + 2198.773407062485, + 475.92108554342417 + ], + "rotation_deg": [ + -4.0286928992417903e-16, + -9.303982734680174, + 39.76267623901368 + ] + } + } + ] + }, + { + "frame": 100, + "time": 1143.6030377820134, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.4898894264360638, + 0.8717845776716541, + -0.0, + -156.45295988379806 + ], + [ + 0.11464738061670926, + 0.0644247913661423, + -0.9913149975538331, + 46.46523937341493 + ], + [ + -0.8642131362573295, + -0.4856347178992063, + -0.13150884339552374, + -317.4263359805366 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.4898894264360638, + 0.11464738061670926, + -0.8642131362573295, + -356.2957723218035 + ], + [ + 0.8717845776716541, + 0.0644247913661423, + -0.4856347178992063, + -20.75348902001219 + ], + [ + -0.0, + -0.9913149975538331, + -0.13150884339552374, + 4.317319078436037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -35629.57723218035, + 2075.348902001219, + 431.73190784360366 + ], + "rotation_deg": [ + 0.0, + -7.556791305541995, + 150.66668701171878 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5555704708939301, + 0.8314694533599514, + 1.3877787719657217e-17, + 225.86220309957858 + ], + [ + 0.3328759901220983, + -0.2224207634256369, + -0.9163637810375249, + 118.65581027370581 + ], + [ + -0.7619285011025212, + 0.509104641565918, + -0.40034662874027543, + -259.31518843382395 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5555704708939301, + 0.3328759901220983, + -0.7619285011025212, + -362.5596685336108 + ], + [ + 0.8314694533599514, + -0.2224207634256369, + 0.509104641565918, + -29.387438379693744 + ], + [ + 1.3877787719657217e-17, + -0.9163637810375249, + -0.40034662874027543, + 4.915927718875242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36255.96685336108, + 2938.7438379693745, + 491.5927718875242 + ], + "rotation_deg": [ + -8.677107148145964e-16, + -23.599849700927745, + -146.24998474121094 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.08394984294719601, + -0.9964699814189791, + 8.673617314268335e-19, + 10.626342325464641 + ], + [ + -0.15130381488265424, + -0.012746928390780843, + -0.9884051150305503, + -55.29603526993191 + ], + [ + 0.9849160263762374, + 0.08297645480122048, + -0.15183981340828753, + 385.8046975434022 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.08394984294719601, + -0.15130381488265424, + 0.9849160263762374, + -389.24381067609755 + ], + [ + -0.9964699814189791, + -0.012746928390780843, + 0.08297645480122048, + -22.128729274475123 + ], + [ + 8.673617314268335e-19, + -0.9884051150305503, + -0.15183981340828753, + 3.9256287460066854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -38924.38106760976, + 2212.872927447512, + 392.5628746006685 + ], + "rotation_deg": [ + -5.027914784247739e-17, + -8.733561515808105, + -4.8156394958496085 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.6329842653975549, + -0.7741646593323138, + -1.3877787702724054e-17, + -252.07741088871617 + ], + [ + -0.11510182620783267, + 0.09411130310561946, + -0.9888855506232173, + -35.96080468234069 + ], + [ + 0.7655602419604143, + -0.6259489977793474, + -0.14867874127978883, + 271.190963513511 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.6329842653975549, + -0.11510182620783267, + 0.7655602419604143, + -371.31321067283614 + ], + [ + -0.7741646593323138, + 0.09411130310561946, + -0.6259489977793474, + -22.013393136883177 + ], + [ + -1.3877787702724054e-17, + -0.9888855506232173, + -0.14867874127978883, + 4.759210855434242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -37131.321067283614, + 2201.339313688318, + 475.92108554342417 + ], + "rotation_deg": [ + 8.040755272467725e-16, + -8.550365447998045, + 39.27064132690429 + ] + } + } + ] + }, + { + "frame": 101, + "time": 1143.669704452157, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.49434622808761447, + 0.8692650957996345, + -6.9388938510964844e-18, + -158.06699976040858 + ], + [ + 0.11431604647231564, + 0.0650109001920671, + -0.991314997553833, + 46.34608616685671 + ], + [ + -0.8617155361624323, + -0.4900528123019635, + -0.13150884339552368, + -316.52815791857006 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.49434622808761447, + 0.11431604647231564, + -0.8617155361624323, + -356.1951519471287 + ], + [ + 0.8692650957996345, + 0.0650109001920671, + -0.4900528123019635, + -20.726393081705023 + ], + [ + -6.9388938510964844e-18, + -0.991314997553833, + -0.13150884339552368, + 4.317319078436037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -35619.51519471287, + 2072.6393081705023, + 431.73190784360366 + ], + "rotation_deg": [ + 4.010524769804411e-16, + -7.556791305541991, + 150.37335205078125 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5555704708939301, + 0.8314694533599514, + 1.3877787719657217e-17, + 225.81133685579272 + ], + [ + 0.3328759901220983, + -0.2224207634256369, + -0.9163637810375249, + 118.60646780807382 + ], + [ + -0.7619285011025212, + 0.509104641565918, + -0.40034662874027543, + -259.20224718301165 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5555704708939301, + 0.3328759901220983, + -0.7619285011025212, + -362.42893067215095 + ], + [ + 0.8314694533599514, + -0.2224207634256369, + 0.509104641565918, + -29.413618357059228 + ], + [ + 1.3877787719657217e-17, + -0.9163637810375249, + -0.40034662874027543, + 4.915927718875242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36242.8930672151, + 2941.3618357059227, + 491.5927718875242 + ], + "rotation_deg": [ + -8.677107148145964e-16, + -23.599849700927745, + -146.24998474121094 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.08533703909438327, + -0.9963521414432768, + -0.0, + 11.13166623036549 + ], + [ + -0.15177724590738506, + -0.012999641621559884, + -0.9883292350945002, + -55.46670276299184 + ], + [ + 0.9847239496017782, + 0.08434109120972783, + -0.15233293607827128, + 385.6355336784995 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.08533703909438327, + -0.15177724590738506, + 0.9847239496017782, + -389.1130728146377 + ], + [ + -0.9963521414432768, + -0.012999641621559884, + 0.08434109120972783, + -22.154909251840603 + ], + [ + -0.0, + -0.9883292350945002, + -0.15233293607827128, + 3.9256287460066854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -38911.30728146377, + 2215.4909251840604, + 392.5628746006685 + ], + "rotation_deg": [ + 0.0, + -8.762147903442386, + -4.895406246185303 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.6263503449131943, + -0.7795416893451705, + 6.938893851158631e-18, + -249.67103592906568 + ], + [ + -0.10580920851905515, + 0.08501615135756674, + -0.9907455099070183, + -32.68563719485809 + ], + [ + 0.7723274251387602, + -0.620553795811281, + -0.1357325859281533, + 273.6436427253263 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.6263503449131943, + -0.10580920851905515, + 0.7723274251387602, + -371.1824728113763 + ], + [ + -0.7795416893451705, + 0.08501615135756674, + -0.620553795811281, + -22.03957311424866 + ], + [ + 6.938893851158631e-18, + -0.9907455099070183, + -0.1357325859281533, + 4.759210855434242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -37118.24728113763, + 2203.957311424866, + 475.92108554342417 + ], + "rotation_deg": [ + -4.012830048330952e-16, + -7.800983905792238, + 38.78136825561525 + ] + } + } + ] + }, + { + "frame": 102, + "time": 1143.7363711223006, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.4987898416722448, + 0.8667229625691111, + -0.0, + -159.6752856069839 + ], + [ + 0.11398173347398692, + 0.06559527467057802, + -0.9913149975538331, + 46.225969772816995 + ], + [ + -0.859195481435523, + -0.4944578331764511, + -0.13150884339552374, + -315.62271933928497 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.4987898416722448, + 0.11398173347398692, + -0.859195481435523, + -356.0949350389604 + ], + [ + 0.8667229625691111, + 0.06559527467057802, + -0.4944578331764511, + -20.700098458458548 + ], + [ + -0.0, + -0.9913149975538331, + -0.13150884339552374, + 4.317319078436037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -35609.49350389604, + 2070.0098458458547, + 431.73190784360366 + ], + "rotation_deg": [ + 0.0, + -7.556791305541995, + 150.0800323486328 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5555704708939301, + 0.8314694533599514, + 1.3877787719657217e-17, + 225.76108093706472 + ], + [ + 0.3328759901220983, + -0.2224207634256369, + -0.9163637810375249, + 118.55702520682092 + ], + [ + -0.7619285011025212, + 0.509104641565918, + -0.40034662874027543, + -259.08907672918946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5555704708939301, + 0.3328759901220983, + -0.7619285011025212, + -362.2983239202146 + ], + [ + 0.8314694533599514, + -0.2224207634256369, + 0.509104641565918, + -29.4404447616338 + ], + [ + 1.3877787719657217e-17, + -0.9163637810375249, + -0.40034662874027543, + 4.915927718875242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36229.83239202146, + 2944.04447616338, + 491.5927718875242 + ], + "rotation_deg": [ + -8.677107148145964e-16, + -23.599849700927745, + -146.24998474121094 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.0865885854378303, + -0.9962441552510486, + -0.0, + 11.583016995460742 + ], + [ + -0.15220402982321823, + -0.013228817023281533, + -0.9882605586108035, + -55.61859293014669 + ], + [ + 0.9845488051428424, + 0.08557208445960306, + -0.15277784084427753, + 385.47010862437133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.0865885854378303, + -0.15220402982321823, + 0.9845488051428424, + -388.98246606270135 + ], + [ + -0.9962441552510486, + -0.013228817023281533, + 0.08557208445960306, + -22.181735656415174 + ], + [ + -0.0, + -0.9882605586108035, + -0.15277784084427753, + 3.9256287460066854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -38898.246606270135, + 2218.1735656415176, + 392.5628746006685 + ], + "rotation_deg": [ + 0.0, + -8.787940979003906, + -4.967381000518798 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.6197118742160534, + -0.7848294037277315, + -0.0, + -247.2636065238355 + ], + [ + -0.09641065962116585, + 0.07612715614942188, + -0.9924261387166367, + -29.370337666033194 + ], + [ + 0.7788852114165715, + -0.6150182664051272, + -0.12284282406634309, + 276.0202072661594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.6197118742160534, + -0.09641065962116585, + 0.7788852114165715, + -371.05186605943993 + ], + [ + -0.7848294037277315, + 0.07612715614942188, + -0.6150182664051272, + -22.066399518823232 + ], + [ + -0.0, + -0.9924261387166367, + -0.12284282406634309, + 4.759210855434242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -37105.18660594399, + 2206.639951882323, + 475.92108554342417 + ], + "rotation_deg": [ + 0.0, + -7.0561985969543475, + 38.29509735107423 + ] + } + } + ] + }, + { + "frame": 103, + "time": 1143.8030377924442, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.503220613040559, + 0.8641579801234748, + -0.0, + -161.2776515137695 + ], + [ + 0.11364441560182922, + 0.06617796028408747, + -0.9913149975538331, + 46.10492086476101 + ], + [ + -0.8566527759383851, + -0.49885012336956513, + -0.13150884339552368, + -314.71025145957304 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.503220613040559, + 0.11364441560182922, + -0.8566527759383851, + -355.9952101056902 + ], + [ + 0.8641579801234748, + 0.06617796028408747, + -0.49885012336956513, + -20.675011706268887 + ], + [ + -0.0, + -0.9913149975538331, + -0.13150884339552368, + 4.317319078436037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -35599.52101056902, + 2067.501170626889, + 431.73190784360366 + ], + "rotation_deg": [ + 0.0, + -7.556791305541991, + 149.7866973876953 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5555704708939301, + 0.8314694533599514, + 1.3877787719657217e-17, + 225.71182183978587 + ], + [ + 0.3328759901220983, + -0.2224207634256369, + -0.9163637810375249, + 118.50742208060092 + ], + [ + -0.7619285011025212, + 0.509104641565918, + -0.40034662874027543, + -258.9755388456229 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5555704708939301, + 0.3328759901220983, + -0.7619285011025212, + -362.1679375827275 + ], + [ + 0.8314694533599514, + -0.2224207634256369, + 0.509104641565918, + -29.468322757083083 + ], + [ + 1.3877787719657217e-17, + -0.9163637810375249, + -0.40034662874027543, + 4.915927718875242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36216.79375827275, + 2946.8322757083083, + 491.5927718875242 + ], + "rotation_deg": [ + -8.677107148145964e-16, + -23.599849700927745, + -146.24998474121094 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.08770391883235702, + -0.9961465869145197, + -8.673617314296556e-19, + 11.979820402018508 + ], + [ + -0.15258409509915716, + -0.013433989803785238, + -0.988199181258881, + -55.75170332291215 + ], + [ + 0.9843912413620366, + 0.08666894143697025, + -0.15317434027898852, + 385.30877076519425 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.08770391883235702, + -0.15258409509915716, + 0.9843912413620366, + -388.85207972521425 + ], + [ + -0.9961465869145197, + -0.013433989803785238, + 0.08666894143697025, + -22.209613651864462 + ], + [ + -8.673617314296556e-19, + -0.988199181258881, + -0.15317434027898852, + 3.9256287460066854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -38885.20797252143, + 2220.961365186446, + 392.5628746006685 + ], + "rotation_deg": [ + 5.0289625664063954e-17, + -8.810929298400877, + -5.031528949737548 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.6130733712233265, + -0.7900259752038948, + -6.938893850811918e-18, + -244.857135171921 + ], + [ + -0.08691730757456684, + 0.06744928451073004, + -0.9939295627271473, + -26.018932764419187 + ], + [ + 0.7852301688881577, + -0.6093517517362942, + -0.11001829176907538, + 278.3191497081283 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.6130733712233265, + -0.08691730757456684, + 0.7852301688881577, + -370.92147972195284 + ], + [ + -0.7900259752038948, + 0.06744928451073004, + -0.6093517517362942, + -22.094277514272516 + ], + [ + -6.938893850811918e-18, + -0.9939295627271473, + -0.11001829176907538, + 4.759210855434242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -37092.147972195286, + 2209.4277514272517, + 475.92108554342417 + ], + "rotation_deg": [ + 3.9999749492274695e-16, + -6.316370010375976, + 37.812061309814474 + ] + } + } + ] + }, + { + "frame": 104, + "time": 1143.8697044625878, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.5076381945588714, + 0.8615703473454788, + 6.9388938510964844e-18, + -162.87368593830413 + ], + [ + 0.11330411901068342, + 0.06675891131569207, + -0.991314997553833, + 45.98298897067748 + ], + [ + -0.8540876168264699, + -0.5032293382668105, + -0.1315088433955237, + -313.7911276219115 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.5076381945588714, + 0.11330411901068342, + -0.8540876168264699, + -355.8960763952788 + ], + [ + 0.8615703473454788, + 0.06675891131569207, + -0.5032293382668105, + -20.651541442206444 + ], + [ + 6.9388938510964844e-18, + -0.991314997553833, + -0.1315088433955237, + 4.317319078436037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -35589.60763952788, + 2065.1541442206444, + 431.73190784360366 + ], + "rotation_deg": [ + -4.010524769804411e-16, + -7.556791305541993, + 149.4933624267578 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5555704708939301, + 0.8314694533599514, + 1.3877787719657217e-17, + 225.66395374801533 + ], + [ + 0.3328759901220983, + -0.2224207634256369, + -0.9163637810375249, + 118.45760115804472 + ], + [ + -0.7619285011025212, + 0.509104641565918, + -0.40034662874027543, + -258.8615024423964 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5555704708939301, + 0.3328759901220983, + -0.7619285011025212, + -362.03787171130216 + ], + [ + 0.8314694533599514, + -0.2224207634256369, + 0.509104641565918, + -29.497659572243148 + ], + [ + 1.3877787719657217e-17, + -0.9163637810375249, + -0.40034662874027543, + 4.915927718875242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36203.787171130214, + 2949.7659572243147, + 491.5927718875242 + ], + "rotation_deg": [ + -8.677107148145964e-16, + -23.599849700927745, + -146.24998474121094 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.0886825307204302, + -0.9960599423453488, + -8.67361731430396e-19, + 12.321524215290612 + ], + [ + -0.15291735828607245, + -0.013614741189129977, + -0.9881451919415293, + -55.86602985037591 + ], + [ + 0.9842518426712572, + 0.08763121700138299, + -0.15352224596159142, + 385.1518560586308 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.0886825307204302, + -0.15291735828607245, + 0.9842518426712572, + -388.7220138537889 + ], + [ + -0.9960599423453488, + -0.013614741189129977, + 0.08763121700138299, + -22.238950467024523 + ], + [ + -8.67361731430396e-19, + -0.9881451919415293, + -0.15352224596159142, + 3.9256287460066854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -38872.20138537889, + 2223.8950467024524, + 392.5628746006685 + ], + "rotation_deg": [ + 5.029237333983471e-17, + -8.831101417541502, + -5.087818622589111 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.6064394701718899, + -0.7951296554761602, + -3.4694469253338912e-18, + -242.45369039944902 + ], + [ + -0.0773404360949626, + 0.058986974973540364, + -0.9952582547902386, + -22.635520672534813 + ], + [ + 0.7913593501364095, + -0.6035638926689357, + -0.09726770490764605, + 280.53915503341494 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.6064394701718899, + -0.0773404360949626, + 0.7913593501364095, + -370.7914138505275 + ], + [ + -0.7951296554761602, + 0.058986974973540364, + -0.6035638926689357, + -22.12361432943258 + ], + [ + -3.4694469253338912e-18, + -0.9952582547902386, + -0.09726770490764605, + 4.759210855434242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -37079.141385052746, + 2212.361432943258, + 475.92108554342417 + ], + "rotation_deg": [ + 1.997317446495603e-16, + -5.581854343414308, + 37.33249664306643 + ] + } + } + ] + }, + { + "frame": 105, + "time": 1143.9363711327314, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.512042470438528, + 0.8589601320592294, + -6.9388938510964844e-18, + -164.46278563026493 + ], + [ + 0.11296085262001904, + 0.06733811253815983, + -0.991314997553833, + 45.86025798860415 + ], + [ + -0.8515000713348303, + -0.5075953630851546, + -0.13150884339552366, + -312.86598025055525 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.512042470438528, + 0.11296085262001904, + -0.8515000713348303, + -355.7977434668917 + ], + [ + 0.8589601320592294, + 0.06733811253815983, + -0.5075953630851546, + -20.63049174179131 + ], + [ + -6.9388938510964844e-18, + -0.991314997553833, + -0.13150884339552366, + 4.317319078436037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -35579.77434668917, + 2063.049174179131, + 431.73190784360366 + ], + "rotation_deg": [ + 4.010524769804411e-16, + -7.55679130554199, + 149.2000274658203 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5555704708939301, + 0.8314694533599514, + 1.3877787719657217e-17, + 225.61826095045998 + ], + [ + 0.3328759901220983, + -0.2224207634256369, + -0.9163637810375249, + 118.40745393100765 + ], + [ + -0.7619285011025212, + 0.509104641565918, + -0.40034662874027543, + -258.74671915241635 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5555704708939301, + 0.3328759901220983, + -0.7619285011025212, + -361.90833667585235 + ], + [ + 0.8314694533599514, + -0.2224207634256369, + 0.509104641565918, + -29.529257898532336 + ], + [ + 1.3877787719657217e-17, + -0.9163637810375249, + -0.40034662874027543, + 4.915927718875242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36190.83366758523, + 2952.9257898532337, + 491.5927718875242 + ], + "rotation_deg": [ + -8.677107148145964e-16, + -23.599849700927745, + -146.24998474121094 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.08952399988765794, + -0.9959846652655422, + -0.0, + 12.607227944889225 + ], + [ + -0.15320377212971495, + -0.013770708483019334, + -0.9880986650092701, + -55.96160628814427 + ], + [ + 0.9841311178738815, + 0.0884585454422067, + -0.15382141778878855, + 384.9998167087541 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.08952399988765794, + -0.15320377212971495, + 0.9841311178738815, + -388.5924788183391 + ], + [ + -0.9959846652655422, + -0.013770708483019334, + 0.0884585454422067, + -22.270548793313715 + ], + [ + -0.0, + -0.9880986650092701, + -0.15382141778878855, + 3.9256287460066854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -38859.24788183391, + 2227.0548793313715, + 392.5628746006685 + ], + "rotation_deg": [ + 0.0, + -8.848448753356935, + -5.136223793029784 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.5998147065516491, + -0.8001389365631189, + -6.938893850542559e-18, + -240.0556943650277 + ], + [ + -0.06769151879833382, + 0.050744147833199645, + -0.996415018826722, + -19.22426897724079 + ], + [ + 0.7972704505169569, + -0.5976643860607119, + -0.08459970666119779, + 282.67900938474065 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.5998147065516491, + -0.06769151879833382, + 0.7972704505169569, + -370.66187881507767 + ], + [ + -0.8001389365631189, + 0.050744147833199645, + -0.5976643860607119, + -22.15521265572177 + ], + [ + -6.938893850542559e-18, + -0.996415018826722, + -0.08459970666119779, + 4.759210855434242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -37066.187881507765, + 2215.521265572177, + 475.92108554342417 + ], + "rotation_deg": [ + 3.989997417674663e-16, + -4.853006839752197, + 36.85662841796877 + ] + } + } + ] + }, + { + "frame": 106, + "time": 1144.003037802875, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.5164333252396268, + 0.8563274026807397, + -0.0, + -166.04411765034124 + ], + [ + 0.11261462542714695, + 0.067915548770123, + -0.9913149975538331, + 45.73685488301251 + ], + [ + -0.8488902072852859, + -0.5119480833872863, + -0.13150884339552374, + -311.93576640497105 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.5164333252396268, + 0.11261462542714695, + -0.8488902072852859, + -355.7005660462383 + ], + [ + 0.8563274026807397, + 0.067915548770123, + -0.5119480833872863, + -20.613037031486915 + ], + [ + -0.0, + -0.9913149975538331, + -0.13150884339552374, + 4.317319078436037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -35570.05660462383, + 2061.3037031486915, + 431.73190784360366 + ], + "rotation_deg": [ + 0.0, + -7.556791305541995, + 148.9066925048828 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5555704708939301, + 0.8314694533599514, + 1.3877787719657217e-17, + 225.57591632896563 + ], + [ + 0.3328759901220983, + -0.2224207634256369, + -0.9163637810375249, + 118.35683784149057 + ], + [ + -0.7619285011025212, + 0.509104641565918, + -0.40034662874027543, + -258.6308626710007 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5555704708939301, + 0.3328759901220983, + -0.7619285011025212, + -361.77968801991153 + ], + [ + 0.8314694533599514, + -0.2224207634256369, + 0.509104641565918, + -29.56429078248118 + ], + [ + 1.3877787719657217e-17, + -0.9163637810375249, + -0.40034662874027543, + 4.915927718875242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36177.968801991155, + 2956.429078248118, + 491.5927718875242 + ], + "rotation_deg": [ + -8.677107148145964e-16, + -23.599849700927745, + -146.24998474121094 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.09022793407624749, + -0.9959211414124776, + -0.0, + 12.835688495010903 + ], + [ + -0.15344324392634595, + -0.01390156943329494, + -0.9880596729249964, + -56.03847738580368 + ], + [ + 0.9840295169968399, + 0.08915058370413036, + -0.15407168170750452, + 384.853259014492 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.09022793407624749, + -0.15344324392634595, + 0.9840295169968399, + -388.4638301623983 + ], + [ + -0.9959211414124776, + -0.01390156943329494, + 0.08915058370413036, + -22.30558167726256 + ], + [ + -0.0, + -0.9880596729249964, + -0.15407168170750452, + 3.9256287460066854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -38846.38301623983, + 2230.5581677262558, + 392.5628746006685 + ], + "rotation_deg": [ + 0.0, + -8.86296081542969, + -5.1767201423645 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.5932038300631064, + -0.8050523063742262, + 3.469446925217901e-18, + -237.6660396467767 + ], + [ + -0.05798212060950351, + 0.04272420033879133, + -0.9974029859565468, + -15.789390826905214 + ], + [ + 0.8029615712859733, + -0.5916632753118709, + -0.07202279975945218, + 284.73756303672553 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.5932038300631064, + -0.05798212060950351, + 0.8029615712859733, + -370.53323015913685 + ], + [ + -0.8050523063742262, + 0.04272420033879133, + -0.5916632753118709, + -22.190245539670613 + ], + [ + 3.469446925217901e-18, + -0.9974029859565468, + -0.07202279975945218, + 4.759210855434242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -37053.32301591369, + 2219.0245539670614, + 475.92108554342417 + ], + "rotation_deg": [ + -1.9930225836334675e-16, + -4.130178451538088, + 36.38469314575198 + ] + } + } + ] + }, + { + "frame": 107, + "time": 1144.0697044730186, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.5208106438740439, + 0.8536722282161365, + -6.9388938510964844e-18, + -167.61631403029273 + ], + [ + 0.11226544650698274, + 0.06849120487647545, + -0.991314997553833, + 45.61301181001262 + ], + [ + -0.8462580930846435, + -0.5162873850846196, + -0.13150884339552368, + -311.0022360802628 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.5208106438740439, + 0.11226544650698274, + -0.8462580930846435, + -355.6052788452676 + ], + [ + 0.8536722282161365, + 0.06849120487647545, + -0.5162873850846196, + -20.601232684902712 + ], + [ + -6.9388938510964844e-18, + -0.991314997553833, + -0.13150884339552368, + 4.317319078436037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -35560.52788452676, + 2060.123268490271, + 431.73190784360366 + ], + "rotation_deg": [ + 4.010524769804411e-16, + -7.556791305541991, + 148.6133575439453 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5555704708939301, + 0.8314694533599514, + 1.3877787719657217e-17, + 225.5390363625694 + ], + [ + 0.3328759901220983, + -0.2224207634256369, + -0.9163637810375249, + 118.30554088026611 + ], + [ + -0.7619285011025212, + 0.509104641565918, + -0.40034662874027543, + -258.5134477247662 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5555704708939301, + 0.3328759901220983, + -0.7619285011025212, + -361.6526612803066 + ], + [ + 0.8314694533599514, + -0.2224207634256369, + 0.509104641565918, + -29.60481222197126 + ], + [ + 1.3877787719657217e-17, + -0.9163637810375249, + -0.40034662874027543, + 4.915927718875242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36165.26612803066, + 2960.481222197126, + 491.5927718875242 + ], + "rotation_deg": [ + -8.677107148145964e-16, + -23.599849700927745, + -146.24998474121094 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.09079402769978874, + -0.9958696925471974, + 8.673617314319986e-19, + 13.004855646308094 + ], + [ + -0.15363576531961615, + -0.014007063410503756, + -0.9880282656833607, + -56.096793117334464 + ], + [ + 0.9839474049265099, + 0.08970706639881099, + -0.15427296126186818, + 384.713211692824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.09079402769978874, + -0.15363576531961615, + 0.9839474049265099, + -388.3368034227933 + ], + [ + -0.9958696925471974, + -0.014007063410503756, + 0.08970706639881099, + -22.346103116752637 + ], + [ + 8.673617314319986e-19, + -0.9880282656833607, + -0.15427296126186818, + 3.9256287460066854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -38833.68034227933, + 2234.610311675264, + 392.5628746006685 + ], + "rotation_deg": [ + -5.0298325091748213e-17, + -8.874632835388184, + -5.209288597106933 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.5866114823488979, + -0.8098684885686248, + -0.0, + -235.2885297122932 + ], + [ + -0.048223935493384024, + 0.03493000985193236, + -0.9982255989791455, + -12.335157843620795 + ], + [ + 0.8084314542299906, + -0.5855706022453567, + -0.05954539106927593, + 286.7137311494665 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.5866114823488979, + -0.048223935493384024, + 0.8084314542299906, + -370.4062034195319 + ], + [ + -0.8098684885686248, + 0.03493000985193236, + -0.5855706022453567, + -22.230766979160695 + ], + [ + -0.0, + -0.9982255989791455, + -0.05954539106927593, + 4.759210855434242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -37040.62034195319, + 2223.0766979160694, + 475.92108554342417 + ], + "rotation_deg": [ + 0.0, + -3.413718938827516, + 35.91691589355474 + ] + } + } + ] + }, + { + "frame": 108, + "time": 1144.1363711431623, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.5251743116084502, + 0.8509946782598526, + 6.9388938510964844e-18, + -169.1784101717053 + ], + [ + 0.11191332501181002, + 0.06906506576877011, + -0.991314997553833, + 45.488961847755334 + ], + [ + -0.8436037977229078, + -0.5206131544402797, + -0.13150884339552374, + -310.0671462218936 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.5251743116084502, + 0.11191332501181002, + -0.8436037977229078, + -355.51279217511086 + ], + [ + 0.8509946782598526, + 0.06906506576877011, + -0.5206131544402797, + -20.596810032582162 + ], + [ + 6.9388938510964844e-18, + -0.991314997553833, + -0.13150884339552374, + 4.317319078436037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -35551.27921751109, + 2059.681003258216, + 431.73190784360366 + ], + "rotation_deg": [ + -4.010524769804411e-16, + -7.556791305541995, + 148.3200225830078 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5555704708939301, + 0.8314694533599514, + 1.3877787719657217e-17, + 225.50956566355094 + ], + [ + 0.3328759901220983, + -0.2224207634256369, + -0.9163637810375249, + 118.25348156616225 + ], + [ + -0.7619285011025212, + 0.509104641565918, + -0.40034662874027543, + -258.39428780937936 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5555704708939301, + 0.3328759901220983, + -0.7619285011025212, + -361.528167600079 + ], + [ + 0.8314694533599514, + -0.2224207634256369, + 0.509104641565918, + -29.65255217605923 + ], + [ + 1.3877787719657217e-17, + -0.9163637810375249, + -0.40034662874027543, + 4.915927718875242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36152.816760007896, + 2965.255217605923, + 491.5927718875242 + ], + "rotation_deg": [ + -8.677107148145964e-16, + -23.599849700927745, + -146.24998474121094 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.09122202842232228, + -0.9958305787283883, + -0.0, + 13.113040648043803 + ], + [ + -0.15378126495070807, + -0.014086973448904657, + -0.9880044937798662, + -56.136702692439684 + ], + [ + 0.9838850865785788, + 0.09012777469226983, + -0.15442512955242058, + 384.58082495239387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.09122202842232228, + -0.15378126495070807, + 0.9838850865785788, + -388.2123097425657 + ], + [ + -0.9958305787283883, + -0.014086973448904657, + 0.09012777469226983, + -22.393843070840607 + ], + [ + -0.0, + -0.9880044937798662, + -0.15442512955242058, + 3.9256287460066854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -38821.23097425657, + 2239.3843070840608, + 392.5628746006685 + ], + "rotation_deg": [ + 0.0, + -8.883457183837894, + -5.2339134216308585 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.5800424054623091, + -0.8145862801849159, + -0.0, + -232.9268597067115 + ], + [ + -0.038428701283983395, + 0.02736392310277339, + -0.9988866054913601, + -8.865905887726006 + ], + [ + 0.8136793215024727, + -0.5793965933234968, + -0.047175728975844815, + 288.6069985654493 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.5800424054623091, + -0.038428701283983395, + 0.8136793215024727, + -370.2817097393043 + ], + [ + -0.8145862801849159, + 0.02736392310277339, + -0.5793965933234968, + -22.278506933248664 + ], + [ + -0.0, + -0.9988866054913601, + -0.047175728975844815, + 4.759210855434242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -37028.17097393043, + 2227.8506933248664, + 475.92108554342417 + ], + "rotation_deg": [ + 0.0, + -2.7039737701416025, + 35.45352554321291 + ] + } + } + ] + }, + { + "frame": 109, + "time": 1144.2030378133059, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.5295242140673188, + 0.8482948229928015, + -0.0, + -170.73049968054247 + ], + [ + 0.11155827017103925, + 0.06963711640561368, + -0.9913149975538331, + 45.36481509566285 + ], + [ + -0.8409273907714706, + -0.5249252780720873, + -0.13150884339552377, + -309.13132676043676 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.5295242140673188, + 0.11155827017103925, + -0.8409273907714706, + -355.4237479560241 + ], + [ + 0.8482948229928015, + 0.06963711640561368, + -0.5249252780720873, + -20.600127034938033 + ], + [ + -0.0, + -0.9913149975538331, + -0.13150884339552377, + 4.317319078436037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -35542.37479560241, + 2060.012703493803, + 431.73190784360366 + ], + "rotation_deg": [ + 0.0, + -7.556791305541997, + 148.0266876220703 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5555704708939301, + 0.8314694533599514, + 1.3877787719657217e-17, + 225.48815782628444 + ], + [ + 0.3328759901220983, + -0.2224207634256369, + -0.9163637810375249, + 118.20079454454391 + ], + [ + -0.7619285011025212, + 0.509104641565918, + -0.40034662874027543, + -258.27369111812135 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5555704708939301, + 0.3328759901220983, + -0.7619285011025212, + -361.4068497384054 + ], + [ + 0.8314694533599514, + -0.2224207634256369, + 0.509104641565918, + -29.707867237948086 + ], + [ + 1.3877787719657217e-17, + -0.9163637810375249, + -0.40034662874027543, + 4.915927718875242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36140.68497384054, + 2970.7867237948085, + 491.5927718875242 + ], + "rotation_deg": [ + -8.677107148145964e-16, + -23.599849700927745, + -146.24998474121094 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.09151174523452323, + -0.9958039970215682, + -0.0, + 13.159922578476387 + ], + [ + -0.15387973906357413, + -0.014141139742418317, + -0.9879883876202753, + -56.15832163064699 + ], + [ + 0.983842785154043, + 0.09041254230398561, + -0.15452814078498855, + 384.45682791618884 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.09151174523452323, + -0.15387973906357413, + 0.983842785154043, + -388.0909918808922 + ], + [ + -0.9958039970215682, + -0.014141139742418317, + 0.09041254230398561, + -22.449158132729462 + ], + [ + -0.0, + -0.9879883876202753, + -0.15452814078498855, + 3.9256287460066854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -38809.09918808922, + 2244.9158132729463, + 392.5628746006685 + ], + "rotation_deg": [ + 0.0, + -8.88943099975586, + -5.250582695007324 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.5735012216782585, + -0.8192047050240526, + -0.0, + -230.58340901831045 + ], + [ + -0.028608194266654615, + 0.020027758948788815, + -0.9993900440229985, + -5.3860160510053285 + ], + [ + 0.8187050234983579, + -0.5731514150483779, + -0.034921911840501564, + 290.41771139230923 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.5735012216782585, + -0.028608194266654615, + 0.8187050234983579, + -370.16039187763073 + ], + [ + -0.8192047050240526, + 0.020027758948788815, + -0.5731514150483779, + -22.33382199513752 + ], + [ + -0.0, + -0.9993900440229985, + -0.034921911840501564, + 4.759210855434242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -37016.039187763075, + 2233.382199513752, + 475.92108554342417 + ], + "rotation_deg": [ + 0.0, + -2.001285076141358, + 34.99473953247072 + ] + } + } + ] + }, + { + "frame": 110, + "time": 1144.2697044834495, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.5338600120462639, + 0.8455728753560882, + 6.9388938510964844e-18, + -172.27306907006337 + ], + [ + 0.11120030998830864, + 0.07020731217863006, + -0.991314997553833, + 45.24060941082388 + ], + [ + -0.8382290833220382, + -0.5292234197216399, + -0.1315088433955237, + -308.1950630630249 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.5338600120462639, + 0.11120030998830864, + -0.8382290833220382, + -355.338531672024 + ], + [ + 0.8455728753560882, + 0.07020731217863006, + -0.5292234197216399, + -20.61083584490076 + ], + [ + 6.9388938510964844e-18, + -0.991314997553833, + -0.1315088433955237, + 4.317319078436037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -35533.8531672024, + 2061.0835844900757, + 431.73190784360366 + ], + "rotation_deg": [ + -4.010524769804411e-16, + -7.556791305541993, + 147.73336791992193 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5555704708939301, + 0.8314694533599514, + 1.3877787719657217e-17, + 225.47473712684896 + ], + [ + 0.3328759901220983, + -0.2224207634256369, + -0.9163637810375249, + 118.14768608691519 + ], + [ + -0.7619285011025212, + 0.509104641565918, + -0.40034662874027543, + -258.1521297911887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5555704708939301, + 0.3328759901220983, + -0.7619285011025212, + -361.28909402521225 + ], + [ + 0.8314694533599514, + -0.2224207634256369, + 0.509104641565918, + -29.77040819767135 + ], + [ + 1.3877787719657217e-17, + -0.9163637810375249, + -0.40034662874027543, + 4.915927718875242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36128.909402521225, + 2977.040819767135, + 491.5927718875242 + ], + "rotation_deg": [ + -8.677107148145964e-16, + -23.599849700927745, + -146.24998474121094 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.09166304829133537, + -0.9957900810803149, + -0.0, + 13.145882818056307 + ], + [ + -0.15393115300199503, + -0.014169450950802135, + -0.9879799728715298, + -56.161703411335566 + ], + [ + 0.9838206570420076, + 0.0905612566467091, + -0.15458193158322608, + 384.34160315452107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.09166304829133537, + -0.15393115300199503, + 0.9838206570420076, + -387.973236167699 + ], + [ + -0.9957900810803149, + -0.014169450950802135, + 0.0905612566467091, + -22.511699092452726 + ], + [ + -0.0, + -0.9879799728715298, + -0.15458193158322608, + 3.9256287460066854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -38797.3236167699, + 2251.1699092452727, + 392.5628746006685 + ], + "rotation_deg": [ + 0.0, + -8.892550468444824, + -5.259288311004638 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.5669926447379323, + -0.823722854370986, + -8.673617312729931e-19, + -228.25984896537742 + ], + [ + -0.018774203034584738, + 0.012922835605374529, + -0.999740231070218, + -1.8998565058564347 + ], + [ + 0.8235088741162434, + -0.5668453615088367, + -0.02279189302611718, + 292.14659165185725 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.5669926447379323, + -0.018774203034584738, + 0.8235088741162434, + -370.04263616443757 + ], + [ + -0.823722854370986, + 0.012922835605374529, + -0.5668453615088367, + -22.396362954860784 + ], + [ + -8.673617312729931e-19, + -0.999740231070218, + -0.02279189302611718, + 4.759210855434242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -37004.26361644376, + 2239.6362954860783, + 475.92108554342417 + ], + "rotation_deg": [ + 4.9709079772520455e-17, + -1.3059923648834233, + 34.54077911376955 + ] + } + } + ] + }, + { + "frame": 111, + "time": 1144.336371153593, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.5381820430045023, + 0.8428286234979802, + -0.0, + -173.80688357033313 + ], + [ + 0.11083941660324226, + 0.07077569746669031, + -0.9913149975538331, + 45.11634846273837 + ], + [ + -0.835508665362817, + -0.5335079139173243, + -0.13150884339552374, + -307.2583827904009 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.5381820430045023, + 0.11083941660324226, + -0.835508665362817, + -355.2574486938151 + ], + [ + 0.8428286234979802, + 0.07077569746669031, + -0.5335079139173243, + -20.628506763466735 + ], + [ + -0.0, + -0.9913149975538331, + -0.13150884339552374, + 4.317319078436037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -35525.74486938151, + 2062.8506763466735, + 431.73190784360366 + ], + "rotation_deg": [ + 0.0, + -7.556791305541995, + 147.4400329589844 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5555704708939301, + 0.8314694533599514, + 1.3877787719657217e-17, + 225.46911528283616 + ], + [ + 0.3328759901220983, + -0.2224207634256369, + -0.9163637810375249, + 118.09435400390332 + ], + [ + -0.7619285011025212, + 0.509104641565918, + -0.40034662874027543, + -258.0300566024555 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5555704708939301, + 0.3328759901220983, + -0.7619285011025212, + -361.17520668407974 + ], + [ + 0.8314694533599514, + -0.2224207634256369, + 0.509104641565918, + -29.839743997677093 + ], + [ + 1.3877787719657217e-17, + -0.9163637810375249, + -0.40034662874027543, + 4.915927718875242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36117.520668407975, + 2983.974399767709, + 491.5927718875242 + ], + "rotation_deg": [ + -8.677107148145964e-16, + -23.599849700927745, + -146.24998474121094 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.09167587708884078, + -0.9957889000988067, + -8.673617314326707e-19, + 13.071402092128135 + ], + [ + -0.153935522813165, + -0.014171853158461483, + -0.9879792575728967, + -56.146906976266756 + ], + [ + 0.9838187779694615, + 0.09057386566618436, + -0.15458650320438522, + 384.2354114282605 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.09167587708884078, + -0.153935522813165, + 0.9838187779694615, + -387.8593488265665 + ], + [ + -0.9957889000988067, + -0.014171853158461483, + 0.09057386566618436, + -22.58103489245847 + ], + [ + -8.673617314326707e-19, + -0.9879792575728967, + -0.15458650320438522, + 3.9256287460066854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -38785.93488265665, + 2258.103489245847, + 392.5628746006685 + ], + "rotation_deg": [ + 5.030082010962623e-17, + -8.892815589904785, + -5.260026454925536 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.5605214779257349, + -0.8281398872074389, + 4.336808656351422e-19, + -225.95775025054837 + ], + [ + -0.008938485699761665, + 0.006049960027578599, + -0.9999417490319423, + 1.5882473749654502 + ], + [ + 0.8280916446731653, + -0.560488830823369, + -0.010793449158862678, + 293.79450109663617 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.5605214779257349, + -0.008938485699761665, + 0.8280916446731653, + -369.92874882330506 + ], + [ + -0.8281398872074389, + 0.006049960027578599, + -0.560488830823369, + -22.465698754866526 + ], + [ + 4.336808656351422e-19, + -0.9999417490319423, + -0.010793449158862678, + 4.759210855434242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36992.87488233051, + 2246.5698754866526, + 475.92108554342417 + ], + "rotation_deg": [ + -2.4849530958190248e-17, + -0.6184310913085939, + 34.09186935424806 + ] + } + } + ] + }, + { + "frame": 112, + "time": 1144.4030378237367, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.5424899677432473, + 0.8400622803685034, + 6.9388938510964844e-18, + -175.33251003579392 + ], + [ + 0.11047561802065134, + 0.07134222766215453, + -0.991314997553833, + 44.992023236372205 + ], + [ + -0.832766347994359, + -0.537778424406288, + -0.1315088433955237, + -306.3212179871592 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.5424899677432473, + 0.11047561802065134, + -0.832766347994359, + -355.1806452191364 + ], + [ + 0.8400622803685034, + 0.07134222766215453, + -0.537778424406288, + -20.652548195058383 + ], + [ + 6.9388938510964844e-18, + -0.991314997553833, + -0.1315088433955237, + 4.317319078436037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -35518.06452191364, + 2065.2548195058384, + 431.73190784360366 + ], + "rotation_deg": [ + -4.010524769804411e-16, + -7.556791305541993, + 147.1466979980469 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5555704708939301, + 0.8314694533599514, + 1.3877787719657217e-17, + 225.47088097548567 + ], + [ + 0.3328759901220983, + -0.2224207634256369, + -0.9163637810375249, + 118.04097913177306 + ], + [ + -0.7619285011025212, + 0.509104641565918, + -0.40034662874027543, + -257.9078854727327 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5555704708939301, + 0.3328759901220983, + -0.7619285011025212, + -361.06533477256676 + ], + [ + 0.8314694533599514, + -0.2224207634256369, + 0.509104641565918, + -29.91528168822359 + ], + [ + 1.3877787719657217e-17, + -0.9163637810375249, + -0.40034662874027543, + 4.915927718875242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36106.53347725668, + 2991.528168822359, + 491.5927718875242 + ], + "rotation_deg": [ + -8.677107148145964e-16, + -23.599849700927745, + -146.24998474121094 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.0915502155444859, + -0.9958004609527744, + -0.0, + 12.937122767068477 + ], + [ + -0.1538928172636889, + -0.014148337085281851, + -0.987986247552245, + -56.11394500703044 + ], + [ + 0.9838371604783196, + 0.0904503546000877, + -0.15454182286577098, + 384.13831319151757 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.0915502155444859, + -0.1538928172636889, + 0.9838371604783196, + -387.74947691505355 + ], + [ + -0.9958004609527744, + -0.014148337085281851, + 0.0904503546000877, + -22.65657258300497 + ], + [ + -0.0, + -0.987986247552245, + -0.15454182286577098, + 3.9256287460066854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -38774.94769150535, + 2265.657258300497, + 392.5628746006685 + ], + "rotation_deg": [ + 0.0, + -8.89022445678711, + -5.252796173095703 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.5540924458011084, + -0.8324551408371177, + 5.4210108204344313e-20, + -223.67841417128304 + ], + [ + 0.0008872449607168463, + -0.0005905612280968515, + -0.9999994320167463, + 5.074016106922102 + ], + [ + 0.8324546654958401, + -0.5540921348728988, + 0.0010658171522582639, + 295.3624552003786 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.5540924458011084, + 0.0008872449607168463, + 0.8324546654958401, + -369.81887691179213 + ], + [ + -0.8324551408371177, + -0.0005905612280968515, + -0.5540921348728988, + -22.541236445413023 + ], + [ + 5.4210108204344313e-20, + -0.9999994320167463, + 0.0010658171522582639, + 4.759210855434242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36981.88769117921, + 2254.1236445413024, + 475.92108554342417 + ], + "rotation_deg": [ + -3.106012195279655e-18, + 0.06106683611869815, + 33.64822769165039 + ] + } + } + ] + }, + { + "frame": 113, + "time": 1144.4697044938803, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.5467836733480455, + 0.8372739184759176, + -6.9388938510964844e-18, + -176.85060015796583 + ], + [ + 0.11010892377601329, + 0.07190688791577374, + -0.991314997553833, + 44.86758766795654 + ], + [ + -0.8300022030951868, + -0.5420348392547357, + -0.1315088433955237, + -305.38322142415234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.5467836733480455, + 0.11010892377601329, + -0.8300022030951868, + -355.10808304593047 + ], + [ + 0.8372739184759176, + 0.07190688791577374, + -0.5420348392547357, + -20.682242147220194 + ], + [ + -6.9388938510964844e-18, + -0.991314997553833, + -0.1315088433955237, + 4.317319078436037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -35510.80830459305, + 2068.2242147220195, + 431.73190784360366 + ], + "rotation_deg": [ + 4.010524769804411e-16, + -7.556791305541993, + 146.85336303710938 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5555704708939301, + 0.8314694533599514, + 1.3877787719657217e-17, + 225.4794153513325 + ], + [ + 0.3328759901220983, + -0.2224207634256369, + -0.9163637810375249, + 117.98770903913541 + ], + [ + -0.7619285011025212, + 0.509104641565918, + -0.40034662874027543, + -257.7859541756319 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5555704708939301, + 0.3328759901220983, + -0.7619285011025212, + -360.95944095535725 + ], + [ + 0.8314694533599514, + -0.2224207634256369, + 0.509104641565918, + -29.99630192711089 + ], + [ + 1.3877787719657217e-17, + -0.9163637810375249, + -0.40034662874027543, + 4.915927718875242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36095.94409553573, + 2999.630192711089, + 491.5927718875242 + ], + "rotation_deg": [ + -8.677107148145964e-16, + -23.599849700927745, + -146.24998474121094 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.09128612514147098, + -0.9958247051347215, + 8.673617314323736e-19, + 12.743823969623769 + ], + [ + -0.1538030556130874, + -0.01409895226483409, + -0.9880009309859535, + -56.06281894930744 + ], + [ + 0.9838757355233008, + 0.09019077730564139, + -0.15444792241233846, + 384.0501418159276 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.09128612514147098, + -0.1538030556130874, + 0.9838757355233008, + -387.64358309784404 + ], + [ + -0.9958247051347215, + -0.01409895226483409, + 0.09019077730564139, + -22.737592821892267 + ], + [ + 8.673617314323736e-19, + -0.9880009309859535, + -0.15444792241233846, + 3.9256287460066854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -38764.3583097844, + 2273.7592821892267, + 392.5628746006685 + ], + "rotation_deg": [ + -5.029971667901785e-17, + -8.884778976440431, + -5.237601280212403 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.5477101322226882, + -0.8366681606590545, + -0.0, + -221.42286874518885 + ], + [ + 0.010691356078004654, + -0.006998908679052765, + -0.9999183517580402, + 8.553224314512768 + ], + [ + 0.8365998457145639, + -0.5476654164089183, + 0.012778490521735152, + 296.851581457675 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.5477101322226882, + 0.010691356078004654, + 0.8365998457145639, + -369.71298309458257 + ], + [ + -0.8366681606590545, + -0.006998908679052765, + -0.5476654164089183, + -22.622256684300325 + ], + [ + -0.0, + -0.9999183517580402, + 0.012778490521735152, + 4.759210855434242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36971.29830945826, + 2262.2256684300323, + 475.92108554342417 + ], + "rotation_deg": [ + 0.0, + 0.7321735024452215, + 33.21006011962893 + ] + } + } + ] + }, + { + "frame": 114, + "time": 1144.5363711640239, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.5510630472771371, + 0.8344636109056138, + -0.0, + -178.36177385820474 + ], + [ + 0.10973934348070324, + 0.07246966342731138, + -0.9913149975538331, + 44.742961926168434 + ], + [ + -0.8272163031159454, + -0.5462770468983292, + -0.1315088433955237, + -304.443791332066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.5510630472771371, + 0.10973934348070324, + -0.8272163031159454, + -355.0395073378902 + ], + [ + 0.8344636109056138, + 0.07246966342731138, + -0.5462770468983292, + -20.716755929506743 + ], + [ + -0.0, + -0.9913149975538331, + -0.1315088433955237, + 4.317319078436037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -35503.95073378902, + 2071.6755929506744, + 431.73190784360366 + ], + "rotation_deg": [ + 0.0, + -7.556791305541993, + 146.56002807617188 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5555704708939301, + 0.8314694533599514, + 1.3877787719657217e-17, + 225.49388384098185 + ], + [ + 0.3328759901220983, + -0.2224207634256369, + -0.9163637810375249, + 117.93464469478101 + ], + [ + -0.7619285011025212, + 0.509104641565918, + -0.40034662874027543, + -257.66449382122283 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5555704708939301, + 0.3328759901220983, + -0.7619285011025212, + -360.85727126978435 + ], + [ + 0.8314694533599514, + -0.2224207634256369, + 0.509104641565918, + -30.081970678604176 + ], + [ + 1.3877787719657217e-17, + -0.9163637810375249, + -0.40034662874027543, + 4.915927718875242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36085.72712697843, + 3008.1970678604175, + 491.5927718875242 + ], + "rotation_deg": [ + -8.677107148145964e-16, + -23.599849700927745, + -146.24998474121094 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.09088372011461408, + -0.9958615111641418, + -0.0, + 12.49239758921657 + ], + [ + -0.1536662589113522, + -0.014023798599901171, + -0.9880232861350073, + -55.993495382203875 + ], + [ + 0.9839343625480506, + 0.08979523248065066, + -0.1543048489870203, + 383.970477196554 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.09088372011461408, + -0.1536662589113522, + 0.9839343625480506, + -387.5414134122711 + ], + [ + -0.9958615111641418, + -0.014023798599901171, + 0.08979523248065066, + -22.82326157338555 + ], + [ + -0.0, + -0.9880232861350073, + -0.1543048489870203, + 3.9256287460066854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -38754.14134122711, + 2282.3261573385553, + 392.5628746006685 + ], + "rotation_deg": [ + 0.0, + -8.876482009887697, + -5.214448928833008 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.541379308823288, + -0.8407784749730566, + -1.7347234625469656e-18, + -219.19198161469134 + ], + [ + 0.020462319484421995, + -0.013175737378091985, + -0.9997038028465536, + 12.02170207765514 + ], + [ + 0.8405294363798119, + -0.5412189575354158, + 0.024337349554001197, + 298.26298236421667 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.541379308823288, + 0.020462319484421995, + 0.8405294363798119, + -369.61081340900967 + ], + [ + -0.8407784749730566, + -0.013175737378091985, + -0.5412189575354158, + -22.70792543579361 + ], + [ + -1.7347234625469656e-18, + -0.9997038028465536, + 0.024337349554001197, + 4.759210855434242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36961.081340900964, + 2270.792543579361, + 475.92108554342417 + ], + "rotation_deg": [ + 9.942178224508268e-17, + 1.3945651054382329, + 32.777584075927756 + ] + } + } + ] + }, + { + "frame": 115, + "time": 1144.6030378341675, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.5553279773644091, + 0.8316314313181977, + -0.0, + -179.86659061452283 + ], + [ + 0.1093668868217422, + 0.07303053944593178, + -0.9913149975538331, + 44.61803072739578 + ], + [ + -0.8244087210774975, + -0.5505049361451142, + -0.13150884339552374, + -303.502058701866 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.5553279773644091, + 0.1093668868217422, + -0.8244087210774975, + -354.97442299755545 + ], + [ + 0.8316314313181977, + 0.07303053944593178, + -0.5505049361451142, + -20.755153154142352 + ], + [ + -0.0, + -0.9913149975538331, + -0.13150884339552374, + 4.317319078436037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -35497.442299755545, + 2075.5153154142354, + 431.73190784360366 + ], + "rotation_deg": [ + 0.0, + -7.556791305541995, + 146.26669311523438 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5555704708939301, + 0.8314694533599514, + 1.3877787719657217e-17, + 225.5132321794278 + ], + [ + 0.3328759901220983, + -0.2224207634256369, + -0.9163637810375249, + 117.88183015606072 + ], + [ + -0.7619285011025212, + 0.509104641565918, + -0.40034662874027543, + -257.54360525349995 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5555704708939301, + 0.3328759901220983, + -0.7619285011025212, + -360.7583314989039 + ], + [ + 0.8314694533599514, + -0.2224207634256369, + 0.509104641565918, + -30.171350214128708 + ], + [ + 1.3877787719657217e-17, + -0.9163637810375249, + -0.40034662874027543, + 4.915927718875242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36075.833149890386, + 3017.1350214128706, + 491.5927718875242 + ], + "rotation_deg": [ + -8.677107148145964e-16, + -23.599849700927745, + -146.24998474121094 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.09034318412627206, + -0.9959106933264279, + -0.0, + 12.183842441808203 + ], + [ + -0.15348244991021856, + -0.01392302876684279, + -0.9880532813768268, + -55.905903051080514 + ], + [ + 0.9840128282529301, + 0.08926388019888928, + -0.1541126650392737, + 383.89862463216383 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.09034318412627206, + -0.15348244991021856, + 0.9840128282529301, + -387.4424736413906 + ], + [ + -0.9959106933264279, + -0.01392302876684279, + 0.08926388019888928, + -22.912641108910083 + ], + [ + -0.0, + -0.9880532813768268, + -0.1541126650392737, + 3.9256287460066854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -38744.24736413906, + 2291.2641108910084, + 392.5628746006685 + ], + "rotation_deg": [ + 0.0, + -8.865337371826175, + -5.183350563049315 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.5351045985055333, + -0.8447858122969584, + -0.0, + -216.98634258453495 + ], + [ + 0.030188733134542435, + -0.019122160538453187, + -0.9993612877073403, + 15.475332706758143 + ], + [ + 0.8442462348666526, + -0.5347628243079152, + 0.03573536975746928, + 299.5977847047692 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.5351045985055333, + 0.030188733134542435, + 0.8442462348666526, + -369.5118736381292 + ], + [ + -0.8447858122969584, + -0.019122160538453187, + -0.5347628243079152, + -22.79730497131814 + ], + [ + -0.0, + -0.9993612877073403, + 0.03573536975746928, + 4.759210855434242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36951.18736381292, + 2279.730497131814, + 475.92108554342417 + ], + "rotation_deg": [ + 0.0, + 2.047921895980836, + 32.35100555419925 + ] + } + } + ] + }, + { + "frame": 116, + "time": 1144.669704504311, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.5595783518223342, + 0.8287774539475598, + 6.9388938510964844e-18, + -181.3655227573738 + ], + [ + 0.10899156356154309, + 0.07358950127058658, + -0.991314997553833, + 44.49264798744419 + ], + [ + -0.821579530569011, + -0.554718396178435, + -0.1315088433955237, + -302.55692234941284 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.5595783518223342, + 0.10899156356154309, + -0.821579530569011, + -354.91211165091477 + ], + [ + 0.8287774539475598, + 0.07358950127058658, + -0.554718396178435, + -20.796429294660683 + ], + [ + 6.9388938510964844e-18, + -0.991314997553833, + -0.1315088433955237, + 4.317319078436037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -35491.211165091474, + 2079.6429294660684, + 431.73190784360366 + ], + "rotation_deg": [ + -4.010524769804411e-16, + -7.556791305541993, + 145.97335815429688 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5555704708939301, + 0.8314694533599514, + 1.3877787719657217e-17, + 225.53622540813603 + ], + [ + 0.3328759901220983, + -0.2224207634256369, + -0.9163637810375249, + 117.82925031365656 + ], + [ + -0.7619285011025212, + 0.509104641565918, + -0.40034662874027543, + -257.42325388833075 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5555704708939301, + 0.3328759901220983, + -0.7619285011025212, + -360.6619041560734 + ], + [ + 0.8314694533599514, + -0.2224207634256369, + 0.509104641565918, + -30.263434670944545 + ], + [ + 1.3877787719657217e-17, + -0.9163637810375249, + -0.40034662874027543, + 4.915927718875242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36066.190415607336, + 3026.3434670944544, + 491.5927718875242 + ], + "rotation_deg": [ + -8.677107148145964e-16, + -23.599849700927745, + -146.24998474121094 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.08966475384346244, + -0.9959720035815217, + 8.673617314311405e-19, + 11.819225280059698 + ], + [ + -0.15325166989713368, + -0.013796846907355177, + -0.9880908726879095, + -55.79994316659234 + ], + [ + 0.9841108459465756, + 0.08859692554248183, + -0.15387146478387373, + 383.83363550035506 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.08966475384346244, + -0.15325166989713368, + 0.9841108459465756, + -387.3460462985601 + ], + [ + -0.9959720035815217, + -0.013796846907355177, + 0.08859692554248183, + -23.00472556572592 + ], + [ + 8.673617314311405e-19, + -0.9880908726879095, + -0.15387146478387373, + 3.9256287460066854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -38734.60462985601, + 2300.472556572592, + 392.5628746006685 + ], + "rotation_deg": [ + -5.0295138110060564e-17, + -8.851350784301756, + -5.144320964813231 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.5288906943737939, + -0.8486899512806815, + -1.7347234625686875e-18, + -214.80638670213307 + ], + [ + 0.03985934314045316, + -0.024839737573215993, + -0.9988965012461027, + 18.910049680847703 + ], + [ + 0.8477534206817925, + -0.5283070678023123, + 0.046965730404658255, + 300.8570622229925 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.5288906943737939, + 0.03985934314045316, + 0.8477534206817925, + -369.4154462952987 + ], + [ + -0.8486899512806815, + -0.024839737573215993, + -0.5283070678023123, + -22.889389428133978 + ], + [ + -1.7347234625686875e-18, + -0.9988965012461027, + 0.046965730404658255, + 4.759210855434242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36941.54462952987, + 2288.9389428133977, + 475.92108554342417 + ], + "rotation_deg": [ + 9.950213427862226e-17, + 2.691928386688232, + 31.93053436279299 + ] + } + } + ] + }, + { + "frame": 117, + "time": 1144.7363711744547, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.5638140592449002, + 0.82590175359893, + -6.9388938510964844e-18, + -182.85893052850133 + ], + [ + 0.10861338353765523, + 0.07414653425040016, + -0.991314997553833, + 44.36665619359063 + ], + [ + -0.818728805746032, + -0.5589173165598358, + -0.13150884339552374, + -301.6071949421984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.5638140592449002, + 0.10861338353765523, + -0.818728805746032, + -354.85174088260914 + ], + [ + 0.82590175359893, + 0.07414653425040016, + -0.5589173165598358, + -20.839609376831746 + ], + [ + -6.9388938510964844e-18, + -0.991314997553833, + -0.13150884339552374, + 4.317319078436037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -35485.174088260916, + 2083.9609376831745, + 431.73190784360366 + ], + "rotation_deg": [ + 4.010524769804411e-16, + -7.556791305541995, + 145.6800231933594 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5555704708939301, + 0.8314694533599514, + 1.3877787719657217e-17, + 225.56158978993506 + ], + [ + 0.3328759901220983, + -0.2224207634256369, + -0.9163637810375249, + 117.77684552485213 + ], + [ + -0.7619285011025212, + 0.509104641565918, + -0.40034662874027543, + -257.30330320793115 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5555704708939301, + 0.3328759901220983, + -0.7619285011025212, + -360.5671577201324 + ], + [ + 0.8314694533599514, + -0.2224207634256369, + 0.509104641565918, + -30.35724774310859 + ], + [ + 1.3877787719657217e-17, + -0.9163637810375249, + -0.40034662874027543, + 4.915927718875242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36056.71577201324, + 3035.724774310859, + 491.5927718875242 + ], + "rotation_deg": [ + -8.677107148145964e-16, + -23.599849700927745, + -146.24998474121094 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.08884872742879424, + -0.9960451313240196, + -0.0, + 11.399598236970053 + ], + [ + -0.15297394611443227, + -0.013645506628762225, + -0.9881360088363458, + -55.67549561877392 + ], + [ + 0.9842280604441701, + 0.08779462757367272, + -0.153581341326044, + 383.77442669383873 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.08884872742879424, + -0.15297394611443227, + 0.9842280604441701, + -387.25129986261913 + ], + [ + -0.9960451313240196, + -0.013645506628762225, + 0.08779462757367272, + -23.09853863788997 + ], + [ + -0.0, + -0.9881360088363458, + -0.153581341326044, + 3.9256287460066854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -38725.12998626191, + 2309.853863788997, + 392.5628746006685 + ], + "rotation_deg": [ + 0.0, + -8.83452796936035, + -5.097378730773923 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.5227421310424363, + -0.8524908588561004, + 1.7347234625843434e-18, + -212.6524597213074 + ], + [ + 0.04946307664928709, + -0.030330453197185827, + -0.9983153147464181, + 22.321840220642432 + ], + [ + 0.8510546778314767, + -0.5218614786955479, + 0.058021826883149004, + 302.04192308498205 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.5227421310424363, + 0.04946307664928709, + 0.8510546778314767, + -369.3206998593577 + ], + [ + -0.8524908588561004, + -0.030330453197185827, + -0.5218614786955479, + -22.983202500298024 + ], + [ + 1.7347234625843434e-18, + -0.9983153147464181, + 0.058021826883149004, + 4.759210855434242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36932.06998593577, + 2298.3202500298025, + 475.92108554342417 + ], + "rotation_deg": [ + -9.956006116522347e-17, + 3.3262739181518572, + 31.51636886596684 + ] + } + } + ] + }, + { + "frame": 118, + "time": 1144.8030378445983, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.5680347694311825, + 0.8230045569237532, + -0.0, + -184.34696686408142 + ], + [ + 0.10823237655674764, + 0.07470159496103108, + -0.9913149975538331, + 44.23992594350436 + ], + [ + -0.8158567712915328, + -0.56310136995618, + -0.1315088433955237, + -300.6519010441357 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.5680347694311825, + 0.10823237655674764, + -0.8158567712915328, + -354.79256222180334 + ], + [ + 0.8230045569237532, + 0.07470159496103108, + -0.56310136995618, + -20.883899449746828 + ], + [ + -0.0, + -0.9913149975538331, + -0.1315088433955237, + 4.317319078436037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -35479.25622218033, + 2088.3899449746827, + 431.73190784360366 + ], + "rotation_deg": [ + 0.0, + -7.556791305541993, + 145.38670349121097 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5555704708939301, + 0.8314694533599514, + 1.3877787719657217e-17, + 225.588248747716 + ], + [ + 0.3328759901220983, + -0.2224207634256369, + -0.9163637810375249, + 117.7245438279456 + ], + [ + -0.7619285011025212, + 0.509104641565918, + -0.40034662874027543, + -257.1835884972751 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5555704708939301, + 0.3328759901220983, + -0.7619285011025212, + -360.47334462125013 + ], + [ + 0.8314694533599514, + -0.2224207634256369, + 0.509104641565918, + -30.45199415259443 + ], + [ + 1.3877787719657217e-17, + -0.9163637810375249, + -0.40034662874027543, + 4.915927718875242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36047.334462125014, + 3045.199415259443, + 491.5927718875242 + ], + "rotation_deg": [ + -8.677107148145964e-16, + -23.599849700927745, + -146.24998474121094 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.08789548137446361, + -0.9961297025759, + -0.0, + 10.925873530825644 + ], + [ + -0.15264935742834188, + -0.013469319023387258, + -0.988188621226616, + -55.53247767559575 + ], + [ + 0.98436403711022, + 0.08685731520651917, + -0.15324245247053497, + 383.71998611476005 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.08789548137446361, + -0.15264935742834188, + 0.98436403711022, + -387.15748676373687 + ], + [ + -0.9961297025759, + -0.013469319023387258, + 0.08685731520651917, + -23.193285047375806 + ], + [ + -0.0, + -0.988188621226616, + -0.15324245247053497, + 3.9256287460066854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -38715.74867637369, + 2319.3285047375807, + 392.5628746006685 + ], + "rotation_deg": [ + 0.0, + -8.814878463745115, + -5.0425472259521475 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.5166635060283307, + -0.8561885432184391, + -0.0, + -210.5251332911301 + ], + [ + 0.0589890504046074, + -0.035596703367181896, + -0.9976237600627561, + 25.706746360715194 + ], + [ + 0.8541540316088614, + -0.5154357931446506, + 0.06889726722935602, + 303.15353638227475 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.5166635060283307, + 0.0589890504046074, + 0.8541540316088614, + -369.22688676047545 + ], + [ + -0.8561885432184391, + -0.035596703367181896, + -0.5154357931446506, + -23.077948909783863 + ], + [ + -0.0, + -0.9976237600627561, + 0.06889726722935602, + 4.759210855434242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36922.688676047546, + 2307.7948909783863, + 475.92108554342417 + ], + "rotation_deg": [ + 0.0, + 3.9506523609161364, + 31.1087112426758 + ] + } + } + ] + }, + { + "frame": 119, + "time": 1144.869704514742, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.5722408108830043, + 0.8200856384305005, + -0.0, + -185.8298733342205 + ], + [ + 0.10784851296469049, + 0.07525472660337393, + -0.9913149975538331, + 44.11238569234534 + ], + [ + -0.8129632036723861, + -0.5672708820162566, + -0.13150884339552374, + -299.69050134949435 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.5722408108830043, + 0.10784851296469049, + -0.8129632036723861, + -354.73423648751384 + ], + [ + 0.8200856384305005, + 0.07525472660337393, + -0.5672708820162566, + -20.928953022766947 + ], + [ + -0.0, + -0.9913149975538331, + -0.13150884339552374, + 4.317319078436037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -35473.423648751384, + 2092.8953022766946, + 431.73190784360366 + ], + "rotation_deg": [ + 0.0, + -7.556791305541995, + 145.09336853027347 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5555704708939301, + 0.8314694533599514, + 1.3877787719657217e-17, + 225.61572515088986 + ], + [ + 0.3328759901220983, + -0.2224207634256369, + -0.9163637810375249, + 117.67230998077298 + ], + [ + -0.7619285011025212, + 0.509104641565918, + -0.40034662874027543, + -257.0640290896503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5555704708939301, + 0.3328759901220983, + -0.7619285011025212, + -360.3801265862304 + ], + [ + 0.8314694533599514, + -0.2224207634256369, + 0.509104641565918, + -30.547326086275543 + ], + [ + 1.3877787719657217e-17, + -0.9163637810375249, + -0.40034662874027543, + 4.915927718875242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36038.01265862304, + 3054.7326086275543, + 491.5927718875242 + ], + "rotation_deg": [ + -8.677107148145964e-16, + -23.599849700927745, + -146.24998474121094 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.08680543764881826, + -0.9962252837559369, + -0.0, + 10.398574184979331 + ], + [ + -0.1522779369371737, + -0.013268638304635616, + -0.9882486393411825, + -55.370859272641944 + ], + [ + 0.9845182809103137, + 0.08578535629093835, + -0.15285492206480344, + 383.6697224318737 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.08680543764881826, + -0.1522779369371737, + 0.9845182809103137, + -387.06426872871714 + ], + [ + -0.9962252837559369, + -0.013268638304635616, + 0.08578535629093835, + -23.288616981056922 + ], + [ + -0.0, + -0.9882486393411825, + -0.15285492206480344, + 3.9256287460066854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -38706.426872871714, + 2328.861698105692, + 392.5628746006685 + ], + "rotation_deg": [ + 0.0, + -8.792409896850584, + -4.9798526763916 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.510659335179208, + -0.8597831374214833, + -0.0, + -208.4255499715467 + ], + [ + 0.06842659830530438, + -0.040641272988855844, + -0.9968280130364564, + 29.060884338677425 + ], + [ + 0.8570559143625104, + -0.5090395339583451, + 0.0795858814345365, + 304.1933118997776 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.510659335179208, + 0.06842659830530438, + 0.8570559143625104, + -369.1336687254557 + ], + [ + -0.8597831374214833, + -0.040641272988855844, + -0.5090395339583451, + -23.173280843464976 + ], + [ + -0.0, + -0.9968280130364564, + 0.0795858814345365, + 4.759210855434242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36913.36687254557, + 2317.3280843464977, + 475.92108554342417 + ], + "rotation_deg": [ + 0.0, + 4.564762592315675, + 30.707757949829116 + ] + } + } + ] + }, + { + "frame": 120, + "time": 1144.9363711848855, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.576431853405401, + 0.8171452247793007, + 6.9388938510964844e-18, + -187.3075657513059 + ], + [ + 0.10746182256929485, + 0.0758058857538711, + -0.991314997553833, + 43.98403626184664 + ], + [ + -0.8100483275801728, + -0.571425525412837, + -0.13150884339552374, + -298.72300205250593 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.576431853405401, + 0.10746182256929485, + -0.8100483275801728, + -354.6767139887821 + ], + [ + 0.8171452247793007, + 0.0758058857538711, + -0.571425525412837, + -20.974717018770082 + ], + [ + 6.9388938510964844e-18, + -0.991314997553833, + -0.13150884339552374, + 4.317319078436037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -35467.671398878214, + 2097.4717018770084, + 431.73190784360366 + ], + "rotation_deg": [ + -4.010524769804411e-16, + -7.556791305541995, + 144.80003356933594 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5555704708939301, + 0.8314694533599514, + 1.3877787719657217e-17, + 225.64394667298708 + ], + [ + 0.3328759901220983, + -0.2224207634256369, + -0.9163637810375249, + 117.6201398454027 + ], + [ + -0.7619285011025212, + 0.509104641565918, + -0.40034662874027543, + -256.9446155136365 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5555704708939301, + 0.3328759901220983, + -0.7619285011025212, + -360.28745483866044 + ], + [ + 0.8314694533599514, + -0.2224207634256369, + 0.509104641565918, + -30.643189149207227 + ], + [ + 1.3877787719657217e-17, + -0.9163637810375249, + -0.40034662874027543, + 4.915927718875242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36028.74548386604, + 3064.318914920723, + 491.5927718875242 + ], + "rotation_deg": [ + -8.677107148145964e-16, + -23.599849700927745, + -146.24998474121094 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.0855790806226241, + -0.9963313810975672, + -8.67361731428055e-19, + 9.817982198239527 + ], + [ + -0.15185980332722443, + -0.01304387535998299, + -0.9883159704512569, + -55.19069327008981 + ], + [ + 0.9846902155643437, + 0.08457917275399116, + -0.15241897161474605, + 383.62332552245454 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.0855790806226241, + -0.15185980332722443, + 0.9846902155643437, + -386.9715969811472 + ], + [ + -0.9963313810975672, + -0.01304387535998299, + 0.08457917275399116, + -23.384480043988606 + ], + [ + -8.67361731428055e-19, + -0.9883159704512569, + -0.15241897161474605, + 3.9256287460066854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -38697.159698114716, + 2338.4480043988606, + 392.5628746006685 + ], + "rotation_deg": [ + 5.0283682944292646e-17, + -8.76713562011719, + -4.90932512283325 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.5047341057468533, + -0.8632748591821284, + -6.938893850594562e-18, + -206.35524452264363 + ], + [ + 0.07776527428705497, + -0.04546731062297108, + -0.9959343782497785, + 32.38045066349726 + ], + [ + 0.8597651080236873, + -0.5026820512803419, + 0.09008170927332906, + 305.1628737928066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.5047341057468533, + 0.07776527428705497, + 0.8597651080236873, + -369.04099697788575 + ], + [ + -0.8632748591821284, + -0.04546731062297108, + -0.5026820512803419, + -23.26914390639666 + ], + [ + -6.938893850594562e-18, + -0.9959343782497785, + 0.09008170927332906, + 4.759210855434242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36904.09969778857, + 2326.914390639666, + 475.92108554342417 + ], + "rotation_deg": [ + 3.9919230010589813e-16, + 5.168307781219485, + 30.313703536987298 + ] + } + } + ] + }, + { + "frame": 121, + "time": 1145.003037855029, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.580607787147502, + 0.8141833930409542, + -0.0, + -188.78003862070108 + ], + [ + 0.10707231550605247, + 0.07635505796616172, + -0.9913149975538331, + 43.854871960471314 + ], + [ + -0.8071122194163322, + -0.5755651912491004, + -0.1315088433955237, + -297.7493602503071 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.580607787147502, + 0.10707231550605247, + -0.8071122194163322, + -354.61994391921615 + ], + [ + 0.8141833930409542, + 0.07635505796616172, + -0.5755651912491004, + -21.021139024565397 + ], + [ + -0.0, + -0.9913149975538331, + -0.1315088433955237, + 4.317319078436037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -35461.99439192162, + 2102.1139024565396, + 431.73190784360366 + ], + "rotation_deg": [ + 0.0, + -7.556791305541993, + 144.50669860839844 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5555704708939301, + 0.8314694533599514, + 1.3877787719657217e-17, + 225.67284092752368 + ], + [ + 0.3328759901220983, + -0.2224207634256369, + -0.9163637810375249, + 117.56802876612667 + ], + [ + -0.7619285011025212, + 0.509104641565918, + -0.40034662874027543, + -256.8253371126614 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5555704708939301, + 0.3328759901220983, + -0.7619285011025212, + -360.1952794934287 + ], + [ + 0.8314694533599514, + -0.2224207634256369, + 0.509104641565918, + -30.73952961507534 + ], + [ + 1.3877787719657217e-17, + -0.9163637810375249, + -0.40034662874027543, + 4.915927718875242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36019.52794934287, + 3073.952961507534, + 491.5927718875242 + ], + "rotation_deg": [ + -8.677107148145964e-16, + -23.599849700927745, + -146.24998474121094 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.08421695746393372, + -0.9964474417025303, + -8.673617314270336e-19, + 9.184404269460138 + ], + [ + -0.1513950139824986, + -0.012795484156225076, + -0.9883905226814179, + -54.99200966680068 + ], + [ + 0.9848792074956823, + 0.08323924323457106, + -0.15193477228209637, + 383.58046341652414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.08421695746393372, + -0.1513950139824986, + 0.9848792074956823, + -386.87942163591543 + ], + [ + -0.9964474417025303, + -0.012795484156225076, + 0.08323924323457106, + -23.480820509856716 + ], + [ + -8.673617314270336e-19, + -0.9883905226814179, + -0.15193477228209637, + 3.9256287460066854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -38687.94216359154, + 2348.0820509856717, + 392.5628746006685 + ], + "rotation_deg": [ + 5.027989015118435e-17, + -8.739066123962402, + -4.83099842071533 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.49889218678529196, + -0.8666640560012796, + -3.4694469253506364e-18, + -204.31570989267288 + ], + [ + 0.08699489206486417, + -0.050078310783580535, + -0.9949492708393154, + 35.66173229777325 + ], + [ + 0.8622867685049944, + -0.49637242091933625, + 0.10037902476061326, + 306.0639801612342 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.49889218678529196, + 0.08699489206486417, + 0.8622867685049944, + -368.948821632654 + ], + [ + -0.8666640560012796, + -0.050078310783580535, + -0.49637242091933625, + -23.365484372264774 + ], + [ + -3.4694469253506364e-18, + -0.9949492708393154, + 0.10037902476061326, + 4.759210855434242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36894.8821632654, + 2336.5484372264773, + 475.92108554342417 + ], + "rotation_deg": [ + 1.997937718366288e-16, + 5.760996818542481, + 29.92673492431641 + ] + } + } + ] + }, + { + "frame": 122, + "time": 1145.0697045251727, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.5847685026544516, + 0.8112002208476464, + -6.9388938510964844e-18, + -190.2472843765201 + ], + [ + 0.10668000198428218, + 0.07690222884596447, + -0.991314997553833, + 43.72488668418552 + ], + [ + -0.8041549561388146, + -0.5796897710208041, + -0.13150884339552366, + -296.7695299306293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.5847685026544516, + 0.10668000198428218, + -0.8041549561388146, + -354.56387269888614 + ], + [ + 0.8112002208476464, + 0.07690222884596447, + -0.5796897710208041, + -21.068165562273606 + ], + [ + -6.9388938510964844e-18, + -0.991314997553833, + -0.13150884339552366, + 4.317319078436037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -35456.38726988861, + 2106.8165562273607, + 431.73190784360366 + ], + "rotation_deg": [ + 4.010524769804411e-16, + -7.55679130554199, + 144.21336364746094 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5555704708939301, + 0.8314694533599514, + 1.3877787719657217e-17, + 225.70233310952838 + ], + [ + 0.3328759901220983, + -0.2224207634256369, + -0.9163637810375249, + 117.51597140198244 + ], + [ + -0.7619285011025212, + 0.509104641565918, + -0.40034662874027543, + -256.70618166165605 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5555704708939301, + 0.3328759901220983, + -0.7619285011025212, + -360.1035478985966 + ], + [ + 0.8314694533599514, + -0.2224207634256369, + 0.509104641565918, + -30.836292697611103 + ], + [ + 1.3877787719657217e-17, + -0.9163637810375249, + -0.40034662874027543, + 4.915927718875242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36010.35478985966, + 3083.62926976111, + 491.5927718875242 + ], + "rotation_deg": [ + -8.677107148145964e-16, + -23.599849700927745, + -146.24998474121094 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.08271968686996906, + -0.9965728540373423, + 8.673617314259145e-19, + 8.498176833382477 + ], + [ + -0.15088366383797283, + -0.012523970902786717, + -0.9884721898665917, + -54.77485392852553 + ], + [ + 0.9850845511617949, + 0.08176611064263367, + -0.15140254361384167, + 383.5407755251586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.08271968686996906, + -0.15088366383797283, + 0.9850845511617949, + -386.78769004108335 + ], + [ + -0.9965728540373423, + -0.012523970902786717, + 0.08176611064263367, + -23.57758359239248 + ], + [ + 8.673617314259145e-19, + -0.9884721898665917, + -0.15140254361384167, + 3.9256287460066854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -38678.76900410833, + 2357.758359239248, + 392.5628746006685 + ], + "rotation_deg": [ + -5.027573604628821e-17, + -8.708214759826664, + -4.744910717010499 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.49313799834567096, + -0.8699510989633984, + -6.938893850817387e-18, + -202.30845501431537 + ], + [ + 0.09610551767096136, + -0.054478099597442285, + -0.9938792009783921, + 38.90110361335349 + ], + [ + 0.8646263010877009, + -0.49011960317512837, + 0.11047232255571873, + 306.8984729004993 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.49313799834567096, + 0.09610551767096136, + 0.8646263010877009, + -368.85709003782193 + ], + [ + -0.8699510989633984, + -0.054478099597442285, + -0.49011960317512837, + -23.462247454800536 + ], + [ + -6.938893850817387e-18, + -0.9938792009783921, + 0.11047232255571873, + 4.759210855434242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36885.70900378219, + 2346.2247454800536, + 475.92108554342417 + ], + "rotation_deg": [ + 4.0001776355663683e-16, + 6.342543601989748, + 29.547042846679688 + ] + } + } + ] + }, + { + "frame": 123, + "time": 1145.1363711953163, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.5889138908702772, + 0.808195786390916, + -0.0, + -191.70932361863328 + ], + [ + 0.10628489228686286, + 0.07744738405145471, + -0.9913149975538331, + 43.594042502746916 + ], + [ + -0.8011766152600642, + -0.5837991566191222, + -0.1315088433955237, + -295.7832251749186 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.5889138908702772, + 0.10628489228686286, + -0.8011766152600642, + -354.5082687416579 + ], + [ + 0.808195786390916, + 0.07744738405145471, + -0.5837991566191222, + -21.115576892463466 + ], + [ + -0.0, + -0.9913149975538331, + -0.1315088433955237, + 4.317319078436037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -35450.82687416579, + 2111.5576892463464, + 431.73190784360366 + ], + "rotation_deg": [ + 0.0, + -7.556791305541993, + 143.92002868652344 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5555704708939301, + 0.8314694533599514, + 1.3877787719657217e-17, + 225.73211128531665 + ], + [ + 0.3328759901220983, + -0.2224207634256369, + -0.9163637810375249, + 117.46394013920249 + ], + [ + -0.7619285011025212, + 0.509104641565918, + -0.40034662874027543, + -256.5870859547459 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5555704708939301, + 0.3328759901220983, + -0.7619285011025212, + -360.01202940270747 + ], + [ + 0.8314694533599514, + -0.2224207634256369, + 0.509104641565918, + -30.933257353761856 + ], + [ + 1.3877787719657217e-17, + -0.9163637810375249, + -0.40034662874027543, + 4.915927718875242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36001.20294027075, + 3093.3257353761855, + 491.5927718875242 + ], + "rotation_deg": [ + -8.677107148145964e-16, + -23.599849700927745, + -146.24998474121094 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.08108794296155608, + -0.9967069506661741, + -0.0, + 7.759810308504079 + ], + [ + -0.150325886329508, + -0.012229890529192428, + -0.9885608517824744, + -54.53925896423242 + ], + [ + 0.9853054719013564, + 0.08016036656860838, + -0.1508225535947174, + 383.5036876046724 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.08108794296155608, + -0.150325886329508, + 0.9853054719013564, + -386.6961715451942 + ], + [ + -0.9967069506661741, + -0.012229890529192428, + 0.08016036656860838, + -23.674548248543232 + ], + [ + -0.0, + -0.9885608517824744, + -0.1508225535947174, + 3.9256287460066854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -38669.61715451942, + 2367.4548248543233, + 392.5628746006685 + ], + "rotation_deg": [ + 0.0, + -8.674597740173343, + -4.651103496551513 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.4874758069042514, + -0.8731364943026081, + 3.4694469254711195e-18, + -200.33470241699868 + ], + [ + 0.10508750197396624, + -0.058670797927451016, + -0.992730756247346, + 42.09502994590788 + ], + [ + 0.866789450289138, + -0.4839322298044936, + 0.12035632855776401, + 307.66824384770973 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.4874758069042514, + 0.10508750197396624, + 0.866789450289138, + -368.7655715419328 + ], + [ + -0.8731364943026081, + -0.058670797927451016, + -0.4839322298044936, + -23.55921211095129 + ], + [ + 3.4694469254711195e-18, + -0.992730756247346, + 0.12035632855776401, + 4.759210855434242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36876.55715419328, + 2355.921211095129, + 475.92108554342417 + ], + "rotation_deg": [ + -2.0024026289406603e-16, + 6.91266775131226, + 29.174808502197283 + ] + } + } + ] + }, + { + "frame": 124, + "time": 1145.20303786546, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.5930438431407478, + 0.8051701684196032, + -0.0, + -193.16621726489612 + ], + [ + 0.10588699676996315, + 0.07799050929364018, + -0.9913149975538331, + 43.462249645915136 + ], + [ + -0.7981772748449876, + -0.5878932403334817, + -0.1315088433955237, + -294.7897692941883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.5930438431407478, + 0.10588699676996315, + -0.7981772748449876, + -354.45261138115217 + ], + [ + 0.8051701684196032, + 0.07799050929364018, + -0.5878932403334817, + -21.162882416895865 + ], + [ + -0.0, + -0.9913149975538331, + -0.1315088433955237, + 4.317319078436037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -35445.26113811522, + 2116.2882416895864, + 431.73190784360366 + ], + "rotation_deg": [ + 0.0, + -7.556791305541993, + 143.62669372558594 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5555704708939301, + 0.8314694533599514, + 1.3877787719657217e-17, + 225.76147771362517 + ], + [ + 0.3328759901220983, + -0.2224207634256369, + -0.9163637810375249, + 117.41187138191879 + ], + [ + -0.7619285011025212, + 0.509104641565918, + -0.40034662874027543, + -256.46790442568573 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5555704708939301, + 0.3328759901220983, + -0.7619285011025212, + -359.9202042807213 + ], + [ + 0.8314694533599514, + -0.2224207634256369, + 0.509104641565918, + -31.029931686469357 + ], + [ + 1.3877787719657217e-17, + -0.9163637810375249, + -0.40034662874027543, + 4.915927718875242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -35992.02042807213, + 3102.993168646936, + 491.5927718875242 + ], + "rotation_deg": [ + -8.677107148145964e-16, + -23.599849700927745, + -146.24998474121094 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.07932246409097768, + -0.9968490089730416, + -8.673617314233916e-19, + 6.970089714373426 + ], + [ + -0.14972178846753711, + -0.011913841597322936, + -0.9886563844109214, + -54.285202833647176 + ], + [ + 0.9855411367918014, + 0.0784226611430505, + -0.15019505288246232, + 383.4682996131287 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.07932246409097768, + -0.14972178846753711, + 0.9855411367918014, + -386.604346423208 + ], + [ + -0.9968490089730416, + -0.011913841597322936, + 0.0784226611430505, + -23.771222581250736 + ], + [ + -8.673617314233916e-19, + -0.9886563844109214, + -0.15019505288246232, + 3.9256287460066854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -38660.434642320804, + 2377.1222581250736, + 392.5628746006685 + ], + "rotation_deg": [ + 5.026636927681961e-17, + -8.638230323791504, + -4.549622058868406 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.48190983730968545, + -0.8762208104719678, + 6.938893851075151e-18, + -198.39528514968424 + ], + [ + 0.11393146947950653, + -0.06266079881365579, + -0.991510587212398, + 45.24005289687391 + ], + [ + 0.8687822083425379, + -0.4778187090950834, + 0.13002598088909317, + 308.37514538989325 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.48190983730968545, + 0.11393146947950653, + 0.8687822083425379, + -368.6737464199466 + ], + [ + -0.8762208104719678, + -0.06266079881365579, + -0.4778187090950834, + -23.65588644365879 + ], + [ + 6.938893851075151e-18, + -0.991510587212398, + 0.13002598088909317, + 4.759210855434242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36867.37464199466, + 2365.588644365879, + 475.92108554342417 + ], + "rotation_deg": [ + -4.009733636363446e-16, + 7.471093654632568, + 28.81021118164063 + ] + } + } + ] + }, + { + "frame": 125, + "time": 1145.2697045356035, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.5971582512162212, + 0.8021234462377873, + -0.0, + -194.6180399065695 + ], + [ + 0.10548632586277074, + 0.07853159033673579, + -0.9913149975538331, + 43.32939659239122 + ], + [ + -0.795157013508907, + -0.5919719148543857, + -0.13150884339552368, + -293.7883216397496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.5971582512162212, + 0.10548632586277074, + -0.795157013508907, + -354.3962653767856 + ], + [ + 0.8021234462377873, + 0.07853159033673579, + -0.5919719148543857, + -21.209471239353732 + ], + [ + -0.0, + -0.9913149975538331, + -0.13150884339552368, + 4.317319078436037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -35439.62653767856, + 2120.9471239353734, + 431.73190784360366 + ], + "rotation_deg": [ + 0.0, + -7.556791305541991, + 143.33335876464847 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5555704708939301, + 0.8314694533599514, + 1.3877787719657217e-17, + 225.78957098276067 + ], + [ + 0.3328759901220983, + -0.2224207634256369, + -0.9163637810375249, + 117.3596901531634 + ], + [ + -0.7619285011025212, + 0.509104641565918, + -0.40034662874027543, + -256.3484654577326 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5555704708939301, + 0.3328759901220983, + -0.7619285011025212, + -359.82743824003114 + ], + [ + 0.8314694533599514, + -0.2224207634256369, + 0.509104641565918, + -31.12570350553371 + ], + [ + 1.3877787719657217e-17, + -0.9163637810375249, + -0.40034662874027543, + 4.915927718875242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -35982.74382400311, + 3112.570350553371, + 491.5927718875242 + ], + "rotation_deg": [ + -8.677107148145964e-16, + -23.599849700927745, + -146.24998474121094 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.07742404509674719, + -0.99699825337904, + -0.0, + 6.1299382994296145 + ], + [ + -0.14907150093797242, + -0.011576468235670441, + -0.9887586525493914, + -54.012657530775165 + ], + [ + 0.9857906493858868, + 0.07655369508314949, + -0.14952032421201983, + 383.4335697151596 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.07742404509674719, + -0.14907150093797242, + 0.9857906493858868, + -386.5115803825179 + ], + [ + -0.99699825337904, + -0.011576468235670441, + 0.07655369508314949, + -23.86699440031509 + ], + [ + -0.0, + -0.9887586525493914, + -0.14952032421201983, + 3.9256287460066854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -38651.158038251786, + 2386.699440031509, + 392.5628746006685 + ], + "rotation_deg": [ + 0.0, + -8.599129676818848, + -4.4405150413513175 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.47644427036709375, + -0.8792046731190452, + -6.938893851215444e-18, + -196.4908652068957 + ], + [ + 0.1226283543274949, + -0.06645275962491372, + -0.9902253871988757, + 48.33280723518054 + ], + [ + 0.8706107859185278, + -0.4717872153800545, + 0.1394764598283781, + 309.02105040848437 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.47644427036709375, + 0.1226283543274949, + 0.8706107859185278, + -368.58098037925646 + ], + [ + -0.8792046731190452, + -0.06645275962491372, + -0.4717872153800545, + -23.751658262723144 + ], + [ + -6.938893851215444e-18, + -0.9902253871988757, + 0.1394764598283781, + 4.759210855434242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36858.09803792564, + 2375.1658262723145, + 475.92108554342417 + ], + "rotation_deg": [ + 4.0149378149986095e-16, + 8.017552375793457, + 28.45342826843261 + ] + } + } + ] + }, + { + "frame": 126, + "time": 1145.3363712057471, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.6012567944530596, + 0.799055859827103, + 6.9388938510964844e-18, + -196.0647793057313 + ], + [ + 0.10508291112499271, + 0.07907058501326795, + -0.991314997553833, + 43.19539364605981 + ], + [ + -0.7921160691492131, + -0.5960348623229778, + -0.1315088433955237, + -292.77820608136875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.6012567944530596, + 0.10508291112499271, + -0.7921160691492131, + -354.3386938700143 + ], + [ + 0.799055859827103, + 0.07907058501326795, + -0.5960348623229778, + -21.25479428298339 + ], + [ + 6.9388938510964844e-18, + -0.991314997553833, + -0.1315088433955237, + 4.317319078436037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -35433.86938700143, + 2125.479428298339, + 431.73190784360366 + ], + "rotation_deg": [ + -4.010524769804411e-16, + -7.556791305541993, + 143.0400390625 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5555704708939301, + 0.8314694533599514, + 1.3877787719657217e-17, + 225.81563574782118 + ], + [ + 0.3328759901220983, + -0.2224207634256369, + -0.9163637810375249, + 117.3073404761949 + ], + [ + -0.7619285011025212, + 0.509104641565918, + -0.40034662874027543, + -256.228640924257 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5555704708939301, + 0.3328759901220983, + -0.7619285011025212, + -359.7331953766815 + ], + [ + 0.8314694533599514, + -0.2224207634256369, + 0.509104641565918, + -31.22002244498861 + ], + [ + 1.3877787719657217e-17, + -0.9163637810375249, + -0.40034662874027543, + 4.915927718875242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -35973.319537668154, + 3122.0022444988613, + 491.5927718875242 + ], + "rotation_deg": [ + -8.677107148145964e-16, + -23.599849700927745, + -146.24998474121094 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.07539355447888631, + -0.9971538557028394, + -0.0, + 5.240260603382087 + ], + [ + -0.14837519520367565, + -0.011218462726615976, + -0.9888675075773914, + -53.7216302713364 + ], + [ + 0.9860530477448077, + 0.07455423686838515, + -0.1487986989128211, + 383.39853924244136 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.07539355447888631, + -0.14837519520367565, + 0.9860530477448077, + -386.4173375191683 + ], + [ + -0.9971538557028394, + -0.011218462726615976, + 0.07455423686838515, + -23.96131333976999 + ], + [ + -0.0, + -0.9888675075773914, + -0.1487986989128211, + 3.9256287460066854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -38641.73375191683, + 2396.131333976999, + 392.5628746006685 + ], + "rotation_deg": [ + 0.0, + -8.557315826416016, + -4.323835372924806 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.4710831524520882, + -0.8820888070233078, + -0.0, + -194.6221635283528 + ], + [ + 0.1311693841086819, + -0.07005154864127412, + -0.9888818803100337, + 51.370028159815675 + ], + [ + 0.8722816361678959, + -0.46584559681264476, + 0.148703151057834, + 309.6079611744641 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.4710831524520882, + 0.1311693841086819, + 0.8722816361678959, + -368.48673751590684 + ], + [ + -0.8820888070233078, + -0.07005154864127412, + -0.46584559681264476, + -23.845977202178048 + ], + [ + -0.0, + -0.9888818803100337, + 0.148703151057834, + 4.759210855434242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36848.673751590686, + 2384.5977202178046, + 475.92108554342417 + ], + "rotation_deg": [ + 0.0, + 8.551779747009281, + 28.10462951660157 + ] + } + } + ] + }, + { + "frame": 127, + "time": 1145.4030378758907, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.6053397918447174, + 0.7959671704344309, + -0.0, + -197.5066343167008 + ], + [ + 0.10467672115848257, + 0.07960753527369653, + -0.9913149975538331, + 43.06016934718497 + ], + [ + -0.7890542050863628, + -0.6000823989622587, + -0.13150884339552368, + -291.75888395483014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.6053397918447174, + 0.10467672115848257, + -0.7890542050863628, + -354.27959020633693 + ], + [ + 0.7959671704344309, + 0.07960753527369653, + -0.6000823989622587, + -21.29849031886866 + ], + [ + -0.0, + -0.9913149975538331, + -0.13150884339552368, + 4.317319078436037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -35427.959020633694, + 2129.8490318868658, + 431.73190784360366 + ], + "rotation_deg": [ + 0.0, + -7.556791305541991, + 142.74670410156253 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5555704708939301, + 0.8314694533599514, + 1.3877787719657217e-17, + 225.83920075603234 + ], + [ + 0.3328759901220983, + -0.2224207634256369, + -0.9163637810375249, + 117.25480122349092 + ], + [ + -0.7619285011025212, + 0.509104641565918, + -0.40034662874027543, + -256.1083824659161 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5555704708939301, + 0.3328759901220983, + -0.7619285011025212, + -359.63716999734714 + ], + [ + 0.8314694533599514, + -0.2224207634256369, + 0.509104641565918, + -31.312525991709293 + ], + [ + 1.3877787719657217e-17, + -0.9163637810375249, + -0.40034662874027543, + 4.915927718875242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -35963.716999734716, + 3131.2525991709294, + 491.5927718875242 + ], + "rotation_deg": [ + -8.677107148145964e-16, + -23.599849700927745, + -146.24998474121094 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.07323192671841328, + -0.997314937674709, + -0.0, + 4.301823131396269 + ], + [ + -0.14763301890499503, + -0.01084055799552764, + -0.9889827976417702, + -53.41215907578574 + ], + [ + 0.9863273169804244, + 0.07242511631022319, + -0.14803049113492775, + 383.3624765322331 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.07323192671841328, + -0.14763301890499503, + 0.9863273169804244, + -386.3213121398339 + ], + [ + -0.997314937674709, + -0.01084055799552764, + 0.07242511631022319, + -24.053816886490672 + ], + [ + -0.0, + -0.9889827976417702, + -0.14803049113492775, + 3.9256287460066854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -38632.13121398339, + 2405.381688649067, + 392.5628746006685 + ], + "rotation_deg": [ + 0.0, + -8.512807846069336, + -4.199639797210692 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.46583053923347406, + -0.8848739507508686, + -0.0, + -192.7901821184347 + ], + [ + 0.13954609528678855, + -0.07346225161245844, + -0.9874868023818031, + 54.34856863207597 + ], + [ + 0.8738013462400438, + -0.4600015128293063, + 0.15770166614160008, + 310.1380273665156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.46583053923347406, + 0.13954609528678855, + 0.8738013462400438, + -368.39071213657246 + ], + [ + -0.8848739507508686, + -0.07346225161245844, + -0.4600015128293063, + -23.938480748898726 + ], + [ + -0.0, + -0.9874868023818031, + 0.15770166614160008, + 4.759210855434242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36839.07121365725, + 2393.848074889873, + 475.92108554342417 + ], + "rotation_deg": [ + 0.0, + 9.073517799377449, + 27.76398658752442 + ] + } + } + ] + }, + { + "frame": 128, + "time": 1145.4697045460343, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.6094069227538678, + 0.792857618049837, + 6.9388938510964844e-18, + -198.94353658606164 + ], + [ + 0.1042677875240562, + 0.08014239895137787, + -0.991314997553833, + 42.923709466702334 + ], + [ + -0.7859716592261063, + -0.6041142069196296, + -0.13150884339552368, + -290.7302480013012 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.6094069227538678, + 0.1042677875240562, + -0.7859716592261063, + -354.21885775732926 + ], + [ + 0.792857618049837, + 0.08014239895137787, + -0.6041142069196296, + -21.340385859997937 + ], + [ + 6.9388938510964844e-18, + -0.991314997553833, + -0.13150884339552368, + 4.317319078436037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -35421.885775732924, + 2134.0385859997937, + 431.73190784360366 + ], + "rotation_deg": [ + -4.010524769804411e-16, + -7.556791305541991, + 142.453369140625 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5555704708939301, + 0.8314694533599514, + 1.3877787719657217e-17, + 225.860067548316 + ], + [ + 0.3328759901220983, + -0.2224207634256369, + -0.9163637810375249, + 117.2020794235557 + ], + [ + -0.7619285011025212, + 0.509104641565918, + -0.40034662874027543, + -255.98770617043215 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5555704708939301, + 0.3328759901220983, + -0.7619285011025212, + -359.53926644134145 + ], + [ + 0.8314694533599514, + -0.2224207634256369, + 0.509104641565918, + -31.403039379413226 + ], + [ + 1.3877787719657217e-17, + -0.9163637810375249, + -0.40034662874027543, + 4.915927718875242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -35953.926644134146, + 3140.3039379413226, + 491.5927718875242 + ], + "rotation_deg": [ + -8.677107148145964e-16, + -23.599849700927745, + -146.24998474121094 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.07094013801186788, + -0.9974805746574, + -0.0, + 3.3152414717291165 + ], + [ + -0.14684516272833587, + -0.010443527798926105, + -0.9891043579473308, + -53.08433476703128 + ], + [ + 0.9866123831547794, + 0.07016720019159771, + -0.14721606373938545, + 383.32485324058354 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.07094013801186788, + -0.14684516272833587, + 0.9866123831547794, + -386.2234085838282 + ], + [ + -0.9974805746574, + -0.010443527798926105, + 0.07016720019159771, + -24.144330274194605 + ], + [ + -0.0, + -0.9891043579473308, + -0.14721606373938545, + 3.9256287460066854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -38622.34085838282, + 2414.4330274194604, + 392.5628746006685 + ], + "rotation_deg": [ + 0.0, + -8.465627670288091, + -4.067987442016602 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.46069031733467203, + -0.8875609452392995, + -0.0, + -190.9961276060916 + ], + [ + 0.14775035020769073, + -0.07669012036704483, + -0.986046885016931, + 57.26541003325737 + ], + [ + 0.875176703439731, + -0.45426225551177024, + 0.16646783765557888, + 310.613565499877 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.46069031733467203, + 0.14775035020769073, + 0.875176703439731, + -368.29280858056677 + ], + [ + -0.8875609452392995, + -0.07669012036704483, + -0.45426225551177024, + -24.02899413660266 + ], + [ + -0.0, + -0.986046885016931, + 0.16646783765557888, + 4.759210855434242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36829.28085805668, + 2402.899413660266, + 475.92108554342417 + ], + "rotation_deg": [ + 0.0, + 9.582514762878418, + 27.431661605834954 + ] + } + } + ] + }, + { + "frame": 129, + "time": 1145.536371216178, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.613458080577471, + 0.7897272841773957, + -0.0, + -200.3754716486397 + ], + [ + 0.10385612094022006, + 0.08067516202706967, + -0.9913149975538331, + 42.78601637778333 + ], + [ + -0.7828685123646534, + -0.6081301805178939, + -0.1315088433955237, + -289.6923161097722 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.613458080577471, + 0.10385612094022006, + -0.7828685123646534, + -354.1565281703458 + ], + [ + 0.7897272841773957, + 0.08067516202706967, + -0.6081301805178939, + -21.380434341089398 + ], + [ + -0.0, + -0.9913149975538331, + -0.1315088433955237, + 4.317319078436037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -35415.65281703458, + 2138.04343410894, + 431.73190784360366 + ], + "rotation_deg": [ + 0.0, + -7.556791305541993, + 142.1600341796875 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5555704708939301, + 0.8314694533599514, + 1.3877787719657217e-17, + 225.87821447113546 + ], + [ + 0.3328759901220983, + -0.2224207634256369, + -0.9163637810375249, + 117.14919657586265 + ], + [ + -0.7619285011025212, + 0.509104641565918, + -0.40034662874027543, + -255.86666124850723 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5555704708939301, + 0.3328759901220983, + -0.7619285011025212, + -359.43951733029377 + ], + [ + 0.8314694533599514, + -0.2224207634256369, + 0.509104641565918, + -31.491514768518858 + ], + [ + 1.3877787719657217e-17, + -0.9163637810375249, + -0.40034662874027543, + 4.915927718875242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -35943.951733029375, + 3149.151476851886, + 491.5927718875242 + ], + "rotation_deg": [ + -8.677107148145964e-16, + -23.599849700927745, + -146.24998474121094 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.06851925257617221, + -0.9976497942797374, + 8.673617314155114e-19, + 2.281050964239018 + ], + [ + -0.1460118445217897, + -0.010028190765201558, + -0.9892320135586601, + -52.73828130219578 + ], + [ + 0.9869071146195889, + 0.06778143870628771, + -0.1463558119110522, + 383.28525967077 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.06851925257617221, + -0.1460118445217897, + 0.9869071146195889, + -386.1236594727805 + ], + [ + -0.9976497942797374, + -0.010028190765201558, + 0.06778143870628771, + -24.232805663300237 + ], + [ + 8.673617314155114e-19, + -0.9892320135586601, + -0.1463558119110522, + 3.9256287460066854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -38612.36594727805, + 2423.2805663300237, + 392.5628746006685 + ], + "rotation_deg": [ + -5.023711952816445e-17, + -8.415799140930178, + -3.9289424419403076 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.4556663488691195, + -0.890150649333182, + -6.938893851836551e-18, + -189.24136824600882 + ], + [ + 0.15577433468932464, + -0.07974057243970246, + -0.9845688385070323, + 60.117658754459164 + ], + [ + 0.8764145890537601, + -0.4486348909561835, + 0.17499772201506555, + 311.0369795383296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.4556663488691195, + 0.15577433468932464, + 0.8764145890537601, + -368.1930594695191 + ], + [ + -0.890150649333182, + -0.07974057243970246, + -0.4486348909561835, + -24.117469525708294 + ], + [ + -6.938893851836551e-18, + -0.9845688385070323, + 0.17499772201506555, + 4.759210855434242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36819.30594695191, + 2411.7469525708293, + 475.92108554342417 + ], + "rotation_deg": [ + 4.038004451594146e-16, + 10.078525543212894, + 27.107816696167 + ] + } + } + ] + }, + { + "frame": 130, + "time": 1145.6030378863215, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.6174931591311563, + 0.7865762508658805, + -0.0, + -201.8024058659133 + ], + [ + 0.10344173219711326, + 0.08120581053658814, + -0.9913149975538331, + 42.647105368252724 + ], + [ + -0.7797448458381844, + -0.6121302144948881, + -0.13150884339552368, + -288.6452035200228 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.6174931591311563, + 0.10344173219711326, + -0.7797448458381844, + -354.09269897519 + ], + [ + 0.7865762508658805, + 0.08120581053658814, + -0.6121302144948881, + -21.418665299147193 + ], + [ + -0.0, + -0.9913149975538331, + -0.13150884339552368, + 4.317319078436037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -35409.269897519, + 2141.866529914719, + 431.73190784360366 + ], + "rotation_deg": [ + 0.0, + -7.556791305541991, + 141.86669921875003 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5555704708939301, + 0.8314694533599514, + 1.3877787719657217e-17, + 225.8937197578016 + ], + [ + 0.3328759901220983, + -0.2224207634256369, + -0.9163637810375249, + 117.09617918489619 + ], + [ + -0.7619285011025212, + 0.509104641565918, + -0.40034662874027543, + -255.74530836694498 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5555704708939301, + 0.3328759901220983, + -0.7619285011025212, + -359.3380211747931 + ], + [ + 0.8314694533599514, + -0.2224207634256369, + 0.509104641565918, + -31.577980426735213 + ], + [ + 1.3877787719657217e-17, + -0.9163637810375249, + -0.40034662874027543, + 4.915927718875242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -35933.80211747931, + 3157.798042673521, + 491.5927718875242 + ], + "rotation_deg": [ + -8.677107148145964e-16, + -23.599849700927745, + -146.24998474121094 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.06597038597508179, + -0.9978215813332052, + -8.673617314136837e-19, + 1.1997373420700583 + ], + [ + -0.1451332450364593, + -0.009595398989144637, + -0.9893655894073866, + -52.37412033159862 + ], + [ + 0.9872103367416539, + 0.06526883029768146, + -0.1454500973598945, + 383.24334331434636 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.06597038597508179, + -0.1451332450364593, + 0.9872103367416539, + -386.0221633172798 + ], + [ + -0.9978215813332052, + -0.009595398989144637, + 0.06526883029768146, + -24.319271321516588 + ], + [ + -8.673617314136837e-19, + -0.9893655894073866, + -0.1454500973598945, + 3.9256287460066854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -38602.216331727985, + 2431.927132151659, + 392.5628746006685 + ], + "rotation_deg": [ + 5.023033693328232e-17, + -8.363344192504881, + -3.782571792602538 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.45076235133038706, + -0.8926439954556912, + -1.3877787704006619e-17, + -187.52731599263407 + ], + [ + 0.16361055399927987, + -0.08261913864724293, + -0.9830593392818341, + 62.90254299854412 + ], + [ + 0.8775220145477939, + -0.44312614233269754, + 0.18328757722585465, + 311.4107495228415 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.45076235133038706, + 0.16361055399927987, + 0.8775220145477939, + -368.0915633140184 + ], + [ + -0.8926439954556912, + -0.08261913864724293, + -0.44312614233269754, + -24.203935183924646 + ], + [ + -1.3877787704006619e-17, + -0.9830593392818341, + 0.18328757722585465, + 4.759210855434242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36809.15633140184, + 2420.3935183924646, + 475.92108554342417 + ], + "rotation_deg": [ + 8.088409710429544e-16, + 10.561310768127443, + 26.792606353759762 + ] + } + } + ] + }, + { + "frame": 131, + "time": 1145.6697045564651, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.621512052652006, + 0.7834046007066144, + -0.0, + -203.22432265144505 + ], + [ + 0.1030246321562252, + 0.08173433057117452, + -0.9913149975538331, + 42.50697942140927 + ], + [ + -0.7766007415207157, + -0.6161142040062425, + -0.13150884339552368, + -287.58893272018935 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.621512052652006, + 0.1030246321562252, + -0.7766007415207157, + -354.0274039204125 + ], + [ + 0.7834046007066144, + 0.08173433057117452, + -0.6161142040062425, + -21.45503848079389 + ], + [ + -0.0, + -0.9913149975538331, + -0.13150884339552368, + 4.317319078436037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -35402.74039204125, + 2145.5038480793887, + 431.73190784360366 + ], + "rotation_deg": [ + 0.0, + -7.556791305541991, + 141.5733642578125 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5555704708939301, + 0.8314694533599514, + 1.3877787719657217e-17, + 225.90656818586626 + ], + [ + 0.3328759901220983, + -0.2224207634256369, + -0.9163637810375249, + 117.04304804776142 + ], + [ + -0.7619285011025212, + 0.509104641565918, + -0.40034662874027543, + -255.62369512877842 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5555704708939301, + 0.3328759901220983, + -0.7619285011025212, + -359.23481271066123 + ], + [ + 0.8314694533599514, + -0.2224207634256369, + 0.509104641565918, + -31.662394836427605 + ], + [ + 1.3877787719657217e-17, + -0.9163637810375249, + -0.40034662874027543, + 4.915927718875242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -35923.48127106612, + 3166.2394836427607, + 491.5927718875242 + ], + "rotation_deg": [ + -8.677107148145964e-16, + -23.599849700927745, + -146.24998474121094 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.0632947141028241, + -0.9979948793288679, + -0.0, + 0.07187651779315729 + ], + [ + -0.14420964030740355, + -0.009146046881790026, + -0.9895048910787885, + -51.99200207623458 + ], + [ + 0.9875208141747843, + 0.06263042965841381, + -0.1444993801106893, + 383.1986647449997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.0632947141028241, + -0.14420964030740355, + 0.9875208141747843, + -385.91895485314797 + ], + [ + -0.9979948793288679, + -0.009146046881790026, + 0.06263042965841381, + -24.403685731208984 + ], + [ + -0.0, + -0.9895048910787885, + -0.1444993801106893, + 3.9256287460066854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -38591.895485314795, + 2440.3685731208984, + 392.5628746006685 + ], + "rotation_deg": [ + 0.0, + -8.308290481567388, + -3.628945827484132 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.4459819543992513, + -0.8950419522850442, + -1.3877787704346496e-17, + -185.85525753017026 + ], + [ + 0.17125181271160014, + -0.085331439417502, + -0.9815250185756489, + 65.61739751618931 + ], + [ + 0.8785060670196481, + -0.43774244909473253, + 0.1913338403686475, + 311.73736260253116 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.4459819543992513, + 0.17125181271160014, + 0.8785060670196481, + -367.98835484988655 + ], + [ + -0.8950419522850442, + -0.085331439417502, + -0.43774244909473253, + -24.288349593617042 + ], + [ + -1.3877787704346496e-17, + -0.9815250185756489, + 0.1913338403686475, + 4.759210855434242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36798.83548498865, + 2428.834959361704, + 475.92108554342417 + ], + "rotation_deg": [ + 8.101053519256308e-16, + 11.030635833740234, + 26.486181259155273 + ] + } + } + ] + }, + { + "frame": 132, + "time": 1145.7363712266088, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.625514655801324, + 0.7802124168313083, + -0.0, + -204.64125845062716 + ], + [ + 0.10260483175011091, + 0.08226070827785875, + -0.9913149975538331, + 42.36561210667318 + ], + [ + -0.7734362818219599, + -0.620082044628123, + -0.13150884339552368, + -286.5233044762931 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.625514655801324, + 0.10260483175011091, + -0.7734362818219599, + -353.96053578705954 + ], + [ + 0.7802124168313083, + 0.08226070827785875, + -0.620082044628123, + -21.489332773708856 + ], + [ + -0.0, + -0.9913149975538331, + -0.13150884339552368, + 4.317319078436037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -35396.053578705956, + 2148.9332773708857, + 431.73190784360366 + ], + "rotation_deg": [ + 0.0, + -7.556791305541991, + 141.280029296875 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5555704708939301, + 0.8314694533599514, + 1.3877787719657217e-17, + 225.91651584461707 + ], + [ + 0.3328759901220983, + -0.2224207634256369, + -0.9163637810375249, + 116.98981726467237 + ], + [ + -0.7619285011025212, + 0.509104641565918, + -0.40034662874027543, + -255.5018538083491 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5555704708939301, + 0.3328759901220983, + -0.7619285011025212, + -359.12978571267524 + ], + [ + 0.8314694533599514, + -0.2224207634256369, + 0.509104641565918, + -31.744535626089167 + ], + [ + 1.3877787719657217e-17, + -0.9163637810375249, + -0.40034662874027543, + 4.915927718875242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -35912.97857126752, + 3174.453562608917, + 491.5927718875242 + ], + "rotation_deg": [ + -8.677107148145964e-16, + -23.599849700927745, + -146.24998474121094 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.06049348633963229, + -0.9981685920276577, + 8.673617314097978e-19, + -1.1017534086247167 + ], + [ + -0.14324123833093277, + -0.008681060457574684, + -0.9896497293642595, + -51.592030305605846 + ], + [ + 0.9878372767722211, + 0.05986736283782206, + -0.1435040539012298, + 383.1506253331095 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.06049348633963229, + -0.14324123833093277, + 0.9878372767722211, + -385.813927855162 + ], + [ + -0.9981685920276577, + -0.008681060457574684, + 0.05986736283782206, + -24.485826520870546 + ], + [ + 8.673617314097978e-19, + -0.9896497293642595, + -0.1435040539012298, + 3.9256287460066854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -38581.3927855162, + 2448.5826520870546, + 392.5628746006685 + ], + "rotation_deg": [ + -5.021591521864016e-17, + -8.250661849975586, + -3.4681389331817627 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.44132878778860196, + -0.8973454747582131, + -0.0, + -184.2262523915897 + ], + [ + 0.17869129161913075, + -0.08788322149827472, + -0.9799724290400074, + 68.25968523693847 + ], + [ + 0.8793738227780499, + -0.43249004715160067, + 0.19913321904575648, + 312.01925683670447 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.44132878778860196, + 0.17869129161913075, + 0.8793738227780499, + -367.88332785190056 + ], + [ + -0.8973454747582131, + -0.08788322149827472, + -0.43249004715160067, + -24.370490383278604 + ], + [ + -0.0, + -0.9799724290400074, + 0.19913321904575648, + 4.759210855434242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36788.332785190054, + 2437.04903832786, + 475.92108554342417 + ], + "rotation_deg": [ + 0.0, + 11.486276626586918, + 26.188694000244148 + ] + } + } + ] + }, + { + "frame": 133, + "time": 1145.8030378967524, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.6295008636674002, + 0.7769997829098776, + 6.9388938510964844e-18, + -206.05326613390116 + ], + [ + 0.10218234198210413, + 0.08278492985982337, + -0.991314997553833, + 42.222974366939 + ], + [ + -0.770251549685158, + -0.6240336323599749, + -0.1315088433955237, + -285.4480997555773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.6295008636674002, + 0.10218234198210413, + -0.770251549685158, + -353.89198625909955 + ], + [ + 0.7769997829098776, + 0.08278492985982337, + -0.6240336323599749, + -21.52129927057302 + ], + [ + 6.9388938510964844e-18, + -0.991314997553833, + -0.1315088433955237, + 4.317319078436037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -35389.19862590996, + 2152.129927057302, + 431.73190784360366 + ], + "rotation_deg": [ + -4.010524769804411e-16, + -7.556791305541993, + 140.9866943359375 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5555704708939301, + 0.8314694533599514, + 1.3877787719657217e-17, + 225.9232951109633 + ], + [ + 0.3328759901220983, + -0.2224207634256369, + -0.9163637810375249, + 116.93650675384323 + ], + [ + -0.7619285011025212, + 0.509104641565918, + -0.40034662874027543, + -255.3798299969693 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5555704708939301, + 0.3328759901220983, + -0.7619285011025212, + -359.02283286496754 + ], + [ + 0.8314694533599514, + -0.2224207634256369, + 0.509104641565918, + -31.824152634318583 + ], + [ + 1.3877787719657217e-17, + -0.9163637810375249, + -0.40034662874027543, + 4.915927718875242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -35902.28328649676, + 3182.4152634318584, + 491.5927718875242 + ], + "rotation_deg": [ + -8.677107148145964e-16, + -23.599849700927745, + -146.24998474121094 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.05756801380042155, + -0.9983415867262438, + -8.6736173140774475e-19, + -2.3203194113276133 + ], + [ + -0.14222836108995005, + -0.008201405573904802, + -0.989799894043376, + -51.17435516490651 + ], + [ + 0.9881583965778117, + 0.05698081439176909, + -0.14246462741333107, + 383.0986081870902 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.05756801380042155, + -0.14222836108995005, + 0.9881583965778117, + -385.70697500745433 + ], + [ + -0.9983415867262438, + -0.008201405573904802, + 0.05698081439176909, + -24.565443529099962 + ], + [ + -8.6736173140774475e-19, + -0.989799894043376, + -0.14246462741333107, + 3.9256287460066854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -38570.69750074543, + 2456.544352909996, + 392.5628746006685 + ], + "rotation_deg": [ + 5.020829685359652e-17, + -8.190488815307615, + -3.3002288341522212 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.4368062411534938, + -0.8995556167849519, + -6.93889385251985e-18, + -182.64124738566557 + ], + [ + 0.1859224505316986, + -0.09028022864562053, + -0.9784080553143369, + 70.82697384062546 + ], + [ + 0.8801324598692822, + -0.42737474789253077, + 0.2066825535652254, + 312.25892127930035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.4368062411534938, + 0.1859224505316986, + 0.8801324598692822, + -367.7763750041929 + ], + [ + -0.8995556167849519, + -0.09028022864562053, + -0.42737474789253077, + -24.450107391508016 + ], + [ + -6.93889385251985e-18, + -0.9784080553143369, + 0.2066825535652254, + 4.759210855434242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36777.63750041929, + 2445.010739150802, + 475.92108554342417 + ], + "rotation_deg": [ + 4.0634307246238775e-16, + 11.928011894226074, + 25.900283813476555 + ] + } + } + ] + }, + { + "frame": 134, + "time": 1145.869704566896, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.6334703657016796, + 0.7737669518516415, + -0.0, + -207.4603263737128 + ], + [ + 0.1017571961120166, + 0.0833069544771873, + -0.9913149975538331, + 42.07904904942738 + ], + [ + -0.767046795823109, + -0.6279686593503484, + -0.1315088433955237, + -284.36318926021715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.6334703657016796, + 0.1017571961120166, + -0.767046795823109, + -353.82168170011323 + ], + [ + 0.7737669518516415, + 0.0833069544771873, + -0.6279686593503484, + -21.550705527209487 + ], + [ + -0.0, + -0.9913149975538331, + -0.1315088433955237, + 4.317319078436037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -35382.168170011326, + 2155.070552720949, + 431.73190784360366 + ], + "rotation_deg": [ + 0.0, + -7.556791305541993, + 140.69337463378906 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5555704708939301, + 0.8314694533599514, + 1.3877787719657217e-17, + 225.9266713252138 + ], + [ + 0.3328759901220983, + -0.2224207634256369, + -0.9163637810375249, + 116.88314431674426 + ], + [ + -0.7619285011025212, + 0.509104641565918, + -0.40034662874027543, + -255.2576873301415 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5555704708939301, + 0.3328759901220983, + -0.7619285011025212, + -358.9138815376906 + ], + [ + 0.8314694533599514, + -0.2224207634256369, + 0.509104641565918, + -31.90101216799361 + ], + [ + 1.3877787719657217e-17, + -0.9163637810375249, + -0.40034662874027543, + 4.915927718875242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -35891.38815376906, + 3190.101216799361, + 491.5927718875242 + ], + "rotation_deg": [ + -8.677107148145964e-16, + -23.599849700927745, + -146.24998474121094 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.05451966588214077, + -0.9985126969809145, + 4.3368086570281133e-19, + -3.582977075175428 + ], + [ + -0.14117128133351708, + -0.007708075334172903, + -0.9899551782284364, + -50.739115306106164 + ], + [ + 0.9884828147251633, + 0.053972025964511644, + -0.1413815596402323, + 383.0420263352503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.05451966588214077, + -0.14117128133351708, + 0.9884828147251633, + -385.59802368017733 + ], + [ + -0.9985126969809145, + -0.007708075334172903, + 0.053972025964511644, + -24.642303062774985 + ], + [ + 4.3368086570281133e-19, + -0.9899551782284364, + -0.1413815596402323, + 3.9256287460066854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -38559.802368017736, + 2464.2303062774986, + 392.5628746006685 + ], + "rotation_deg": [ + -2.5100210594685637e-17, + -8.127799034118654, + -3.1252963542938232 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.43241773089367197, + -0.9016733920931499, + -1.3877787705390213e-17, + -181.1012265350806 + ], + [ + 0.1929390714162383, + -0.09252826599315118, + -0.9768382848319062, + 73.31695296374205 + ], + [ + 0.8807890880253546, + -0.4224021974735329, + 0.21397889144725168, + 312.4588394074549 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.43241773089367197, + 0.1929390714162383, + 0.8807890880253546, + -367.6674236769159 + ], + [ + -0.9016733920931499, + -0.09252826599315118, + -0.4224021974735329, + -24.526966925183043 + ], + [ + -1.3877787705390213e-17, + -0.9768382848319062, + 0.21397889144725168, + 4.759210855434242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36766.74236769159, + 2452.696692518304, + 475.92108554342417 + ], + "rotation_deg": [ + 8.139921243910551e-16, + 12.355628013610849, + 25.62109375000001 + ] + } + } + ] + }, + { + "frame": 135, + "time": 1145.9363712370396, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.63742347085422, + 0.7705136720423325, + -6.9388938510964844e-18, + -208.8626449935252 + ], + [ + 0.10132936105034723, + 0.08382682275961503, + -0.991314997553833, + 41.93380535700342 + ], + [ + -0.7638217708068205, + -0.6318874318660759, + -0.13150884339552366, + -283.26834084109856 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.63742347085422, + 0.10132936105034723, + -0.7638217708068205, + -353.7495971839689 + ], + [ + 0.7705136720423325, + 0.08382682275961503, + -0.6318874318660759, + -21.577360220869668 + ], + [ + -6.9388938510964844e-18, + -0.991314997553833, + -0.13150884339552366, + 4.317319078436037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -35374.95971839689, + 2157.736022086967, + 431.73190784360366 + ], + "rotation_deg": [ + 4.010524769804411e-16, + -7.55679130554199, + 140.40003967285153 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5555704708939301, + 0.8314694533599514, + 1.3877787719657217e-17, + 225.9264710887295 + ], + [ + 0.3328759901220983, + -0.2224207634256369, + -0.9163637810375249, + 116.82976482404555 + ], + [ + -0.7619285011025212, + 0.509104641565918, + -0.40034662874027543, + -255.13550562424405 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5555704708939301, + 0.3328759901220983, + -0.7619285011025212, + -358.802907817665 + ], + [ + 0.8314694533599514, + -0.2224207634256369, + 0.509104641565918, + -31.974921660589917 + ], + [ + 1.3877787719657217e-17, + -0.9163637810375249, + -0.40034662874027543, + 4.915927718875242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -35880.290781766504, + 3197.4921660589916, + 491.5927718875242 + ], + "rotation_deg": [ + -8.677107148145964e-16, + -23.599849700927745, + -146.24998474121094 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.05134987927141845, + -0.9986807247057542, + -4.336808657017169e-19, + -4.888891590630614 + ], + [ + -0.14007030582013477, + -0.007202094839162704, + -0.9901153666403634, + -50.28647213936237 + ], + [ + 0.9888091317257839, + 0.05084230492740476, + -0.14025534230598966, + 382.9803347815597 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.05134987927141845, + -0.14007030582013477, + 0.9888091317257839, + -385.4870499601518 + ], + [ + -0.9986807247057542, + -0.007202094839162704, + 0.05084230492740476, + -24.716212555371293 + ], + [ + -4.336808657017169e-19, + -0.9901153666403634, + -0.14025534230598966, + 3.9256287460066854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -38548.70499601518, + 2471.6212555371294, + 392.5628746006685 + ], + "rotation_deg": [ + 2.5096149691206738e-17, + -8.062622070312504, + -2.9434258937835707 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.4281664595375127, + -0.9036998854305067, + -6.938893852870738e-18, + -179.60715305845594 + ], + [ + 0.1997352916641291, + -0.09463313435719031, + -0.9752693900382495, + 75.72744935986577 + ], + [ + 0.8813508342653941, + -0.41757764468542885, + 0.22101949596961754, + 312.62152939291707 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.4281664595375127, + 0.1997352916641291, + 0.8813508342653941, + -367.55644995689033 + ], + [ + -0.9036998854305067, + -0.09463313435719031, + -0.41757764468542885, + -24.60087641777935 + ], + [ + -6.938893852870738e-18, + -0.9752693900382495, + 0.22101949596961754, + 4.759210855434242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36755.644995689036, + 2460.087641777935, + 475.92108554342417 + ], + "rotation_deg": [ + 4.076507879765297e-16, + 12.768919944763185, + 25.351255416870114 + ] + } + } + ] + }, + { + "frame": 136, + "time": 1146.0030379071832, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.641359868583117, + 0.767240196399437, + -1.3877787702192969e-17, + -210.26019630747817 + ], + [ + 0.10089887005798201, + 0.08434449386810022, + -0.991314997553833, + 41.78723916720699 + ], + [ + -0.7605767253571886, + -0.6357896420623003, + -0.13150884339552363, + -282.16352342307545 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.641359868583117, + 0.10089887005798201, + -0.7605767253571886, + -353.6757394076316 + ], + [ + 0.767240196399437, + 0.08434449386810022, + -0.6357896420623003, + -21.601096394340786 + ], + [ + -1.3877787702192969e-17, + -0.991314997553833, + -0.13150884339552363, + 4.317319078436037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -35367.57394076316, + 2160.1096394340784, + 431.73190784360366 + ], + "rotation_deg": [ + 8.021049539608822e-16, + -7.556791305541989, + 140.10670471191403 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5555704708939301, + 0.8314694533599514, + 1.3877787719657217e-17, + 225.92255883878477 + ], + [ + 0.3328759901220983, + -0.2224207634256369, + -0.9163637810375249, + 116.77640825454395 + ], + [ + -0.7619285011025212, + 0.509104641565918, + -0.40034662874027543, + -255.01337638778006 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5555704708939301, + 0.3328759901220983, + -0.7619285011025212, + -358.68991942116276 + ], + [ + 0.8314694533599514, + -0.2224207634256369, + 0.509104641565918, + -32.04571291632121 + ], + [ + 1.3877787719657217e-17, + -0.9163637810375249, + -0.40034662874027543, + 4.915927718875242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -35868.99194211628, + 3204.571291632121, + 491.5927718875242 + ], + "rotation_deg": [ + -8.677107148145964e-16, + -23.599849700927745, + -146.24998474121094 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.048060158641041864, + -0.9988444429196158, + -4.336808657005907e-19, + -6.237222478455529 + ], + [ + -0.1389258094170694, + -0.006684520785241863, + -0.9902802313788169, + -49.81662013034989 + ], + [ + 0.9891359058779902, + 0.04759302538031709, + -0.13908653291414086, + 382.91301207991484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.048060158641041864, + -0.1389258094170694, + 0.9891359058779902, + -385.37406156364955 + ], + [ + -0.9988444429196158, + -0.006684520785241863, + 0.04759302538031709, + -24.787003811102586 + ], + [ + -4.336808657005907e-19, + -0.9902802313788169, + -0.13908653291414086, + 3.9256287460066854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -38537.40615636495, + 2478.7003811102586, + 392.5628746006685 + ], + "rotation_deg": [ + 2.5091971611014432e-17, + -7.994991302490234, + -2.7547054290771475 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.4240555639020334, + -0.9056361734845445, + -6.938893853046052e-18, + -178.15999899942602 + ], + [ + 0.20630552472770738, + -0.09660060870570544, + -0.9737075294278629, + 78.05639747400619 + ], + [ + 0.8818247592761679, + -0.4129060982866097, + 0.22780177331455825, + 312.74950332835203 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.4240555639020334, + 0.20630552472770738, + 0.8818247592761679, + -367.4434615603881 + ], + [ + -0.9056361734845445, + -0.09660060870570544, + -0.4129060982866097, + -24.67166767351064 + ], + [ + -6.938893853046052e-18, + -0.9737075294278629, + 0.22780177331455825, + 4.759210855434242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36744.34615603881, + 2467.166767351064, + 475.92108554342417 + ], + "rotation_deg": [ + 4.083046739734393e-16, + 13.167687416076669, + 25.09089851379395 + ] + } + } + ] + }, + { + "frame": 137, + "time": 1146.0697045773268, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.6452794557119618, + 0.763946610723599, + 6.9388938510964844e-18, + -211.65304267680776 + ], + [ + 0.10046573441846429, + 0.08485995423403288, + -0.991314997553833, + 41.63933843900047 + ], + [ + -0.7573117445296768, + -0.6396751876586971, + -0.1315088433955237, + -281.04864624068466 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.6452794557119618, + 0.10046573441846429, + -0.7573117445296768, + -353.60012113666875 + ], + [ + 0.763946610723599, + 0.08485995423403288, + -0.6396751876586971, + -21.621734815081055 + ], + [ + 6.9388938510964844e-18, + -0.991314997553833, + -0.1315088433955237, + 4.317319078436037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -35360.012113666875, + 2162.1734815081054, + 431.73190784360366 + ], + "rotation_deg": [ + -4.010524769804411e-16, + -7.556791305541993, + 139.81336975097656 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5555704708939301, + 0.8314694533599514, + 1.3877787719657217e-17, + 225.91479218549694 + ], + [ + 0.3328759901220983, + -0.2224207634256369, + -0.9163637810375249, + 116.72311933835833 + ], + [ + -0.7619285011025212, + 0.509104641565918, + -0.40034662874027543, + -254.8914020046766 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5555704708939301, + 0.3328759901220983, + -0.7619285011025212, + -358.57493013938563 + ], + [ + 0.8314694533599514, + -0.2224207634256369, + 0.509104641565918, + -32.11320546930687 + ], + [ + 1.3877787719657217e-17, + -0.9163637810375249, + -0.40034662874027543, + 4.915927718875242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -35857.49301393856, + 3211.320546930687, + 491.5927718875242 + ], + "rotation_deg": [ + -8.677107148145964e-16, + -23.599849700927745, + -146.24998474121094 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.04465206902097162, + -0.9990025989616576, + 4.3368086569943465e-19, + -7.627091777121567 + ], + [ + -0.13773812932835952, + -0.006156432890146544, + -0.9904495474597345, + -49.329741746790994 + ], + [ + 0.9894616718897908, + 0.0442256218907259, + -0.1378756477026975, + 382.83953993520976 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.04465206902097162, + -0.13773812932835952, + 0.9894616718897908, + -385.25907228187236 + ], + [ + -0.9990025989616576, + -0.006156432890146544, + 0.0442256218907259, + -24.85449636408825 + ], + [ + 4.3368086569943465e-19, + -0.9904495474597345, + -0.1378756477026975, + 3.9256287460066854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -38525.907228187236, + 2485.449636408825, + 392.5628746006685 + ], + "rotation_deg": [ + -2.508768217055499e-17, + -7.924937725067142, + -2.5592260360717787 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.42008814455662735, + -0.907483306073985, + -0.0, + -176.76071127417708 + ], + [ + 0.21264449356101814, + -0.09843644522420447, + -0.9721587244939998, + 80.30185032251636 + ], + [ + 0.882217811571342, + -0.4083923575696893, + 0.23432331344734625, + 312.84524291524747 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.42008814455662735, + 0.21264449356101814, + 0.882217811571342, + -367.32847227861095 + ], + [ + -0.907483306073985, + -0.09843644522420447, + -0.4083923575696893, + -24.739160226496306 + ], + [ + -0.0, + -0.9721587244939998, + 0.23432331344734625, + 4.759210855434242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36732.84722786109, + 2473.9160226496306, + 475.92108554342417 + ], + "rotation_deg": [ + 0.0, + 13.551737785339364, + 24.84015274047852 + ] + } + } + ] + }, + { + "frame": 138, + "time": 1146.1363712474704, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.6491821295049668, + 0.7606330013425635, + 6.9388938510964844e-18, + -213.04127746010198 + ], + [ + 0.10002996548465574, + 0.08537319034674833, + -0.991314997553833, + 41.490084088538396 + ], + [ + -0.7540269139022745, + -0.6435439668117349, + -0.13150884339552368, + -279.923565439707 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.6491821295049668, + 0.10002996548465574, + -0.7540269139022745, + -353.52273768906167 + ], + [ + 0.7606330013425635, + 0.08537319034674833, + -0.6435439668117349, + -21.639037738642777 + ], + [ + 6.9388938510964844e-18, + -0.991314997553833, + -0.13150884339552368, + 4.317319078436037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -35352.27376890617, + 2163.903773864278, + 431.73190784360366 + ], + "rotation_deg": [ + -4.010524769804411e-16, + -7.556791305541991, + 139.52003479003906 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5555704708939301, + 0.8314694533599514, + 1.3877787719657217e-17, + 225.9029704026373 + ], + [ + 0.3328759901220983, + -0.2224207634256369, + -0.9163637810375249, + 116.66995001291383 + ], + [ + -0.7619285011025212, + 0.509104641565918, + -0.40034662874027543, + -254.7697013558501 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5555704708939301, + 0.3328759901220983, + -0.7619285011025212, + -358.4579363222502 + ], + [ + 0.8314694533599514, + -0.2224207634256369, + 0.509104641565918, + -32.17716034702737 + ], + [ + 1.3877787719657217e-17, + -0.9163637810375249, + -0.40034662874027543, + 4.915927718875242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -35845.79363222502, + 3217.716034702737, + 491.5927718875242 + ], + "rotation_deg": [ + -8.677107148145964e-16, + -23.599849700927745, + -146.24998474121094 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.04112723230356295, + -0.9991539174536869, + -0.0, + -9.057540444235594 + ], + [ + -0.13650767322883706, + -0.005618936872517915, + -0.9906230780160895, + -48.826045766710486 + ], + [ + 0.989784928961898, + 0.040741585764294125, + -0.13662326884283474, + 382.7593742233817 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.04112723230356295, + -0.13650767322883706, + 0.989784928961898, + -385.1420784647369 + ], + [ + -0.9991539174536869, + -0.005618936872517915, + 0.040741585764294125, + -24.918451241808746 + ], + [ + -0.0, + -0.9906230780160895, + -0.13662326884283474, + 3.9256287460066854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -38514.20784647369, + 2491.845124180875, + 392.5628746006685 + ], + "rotation_deg": [ + 0.0, + -7.8524961471557635, + -2.357081651687622 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.4162670535579144, + -0.9092423989906168, + -1.3877787706786016e-17, + -175.41008405160244 + ], + [ + 0.21874724583121793, + -0.10014631037571042, + -0.9706288471704251, + 82.4619864335971 + ], + [ + 0.8825368997752744, + -0.4040408130565982, + 0.2405818819437792, + 312.9112290660737 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.4162670535579144, + 0.21874724583121793, + 0.8825368997752744, + -367.2114784614755 + ], + [ + -0.9092423989906168, + -0.10014631037571042, + -0.4040408130565982, + -24.803115104216804 + ], + [ + -1.3877787706786016e-17, + -0.9706288471704251, + 0.2405818819437792, + 4.759210855434242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36721.14784614755, + 2480.3115104216804, + 475.92108554342417 + ], + "rotation_deg": [ + 8.191995045838561e-16, + 13.920886039733892, + 24.599134445190437 + ] + } + } + ] + }, + { + "frame": 139, + "time": 1146.203037917614, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.6530677876696571, + 0.7572994551089152, + -0.0, + -214.42497409146935 + ], + [ + 0.09959157467843938, + 0.08588418875388172, + -0.9913149975538331, + 41.3394685890743 + ], + [ + -0.7507223195732512, + -0.6473958781173451, + -0.13150884339552368, + -278.7882242834519 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.6530677876696571, + 0.09959157467843938, + -0.7507223195732512, + -353.44364228693064 + ], + [ + 0.7572994551089152, + 0.08588418875388172, + -0.6473958781173451, + -21.652839351909748 + ], + [ + -0.0, + -0.9913149975538331, + -0.13150884339552368, + 4.317319078436037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -35344.36422869306, + 2165.2839351909747, + 431.73190784360366 + ], + "rotation_deg": [ + 0.0, + -7.556791305541991, + 139.22669982910156 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5555704708939301, + 0.8314694533599514, + 1.3877787719657217e-17, + 225.8869847504032 + ], + [ + 0.3328759901220983, + -0.2224207634256369, + -0.9163637810375249, + 116.6169554924211 + ], + [ + -0.7619285011025212, + 0.509104641565918, + -0.40034662874027543, + -254.6484008225379 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5555704708939301, + 0.3328759901220983, + -0.7619285011025212, + -358.3389922300855 + ], + [ + 0.8314694533599514, + -0.2224207634256369, + 0.509104641565918, + -32.237410513593865 + ], + [ + 1.3877787719657217e-17, + -0.9163637810375249, + -0.40034662874027543, + 4.915927718875242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -35833.89922300855, + 3223.7410513593863, + 491.5927718875242 + ], + "rotation_deg": [ + -8.677107148145964e-16, + -23.599849700927745, + -146.24998474121094 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.03748735283362571, + -0.9992971021560741, + -4.336808656970387e-19, + -10.527645845678126 + ], + [ + -0.13523484615574105, + -0.005073162308089598, + -0.9908005850873466, + -48.305750091386884 + ], + [ + 0.9901041533393352, + 0.037142491403182036, + -0.1353299703412487, + 382.6720308981038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.03748735283362571, + -0.13523484615574105, + 0.9901041533393352, + -385.02313437257226 + ], + [ + -0.9992971021560741, + -0.005073162308089598, + 0.037142491403182036, + -24.97870140837524 + ], + [ + -4.336808656970387e-19, + -0.9908005850873466, + -0.1353299703412487, + 3.9256287460066854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -38502.313437257224, + 2497.870140837524, + 392.5628746006685 + ], + "rotation_deg": [ + 2.507879368108368e-17, + -7.7777009010314915, + -2.1483705043792716 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.4125951650452198, + -0.9109145019052597, + -6.938893853563317e-18, + -174.10900479629794 + ], + [ + 0.22460910197610637, + -0.10173581527866454, + -0.969123611929393, + 84.53509336458151 + ], + [ + 0.8827887504944607, + -0.3998557193252627, + 0.246575395616241, + 312.9498966270331 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.4125951650452198, + 0.22460910197610637, + 0.8827887504944607, + -367.09253436931084 + ], + [ + -0.9109145019052597, + -0.10173581527866454, + -0.3998557193252627, + -24.863365270783298 + ], + [ + -6.938893853563317e-18, + -0.969123611929393, + 0.246575395616241, + 4.759210855434242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36709.25343693108, + 2486.3365270783297, + 475.92108554342417 + ], + "rotation_deg": [ + 4.102359394449769e-16, + 14.27495384216309, + 24.36796379089355 + ] + } + } + ] + }, + { + "frame": 140, + "time": 1146.2697045877576, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.656936328359552, + 0.7539460593977998, + -6.9388938510964844e-18, + -215.80414349052916 + ], + [ + 0.0991505734904194, + 0.08639293606172024, + -0.991314997553833, + 41.18750596084445 + ], + [ + -0.7473980481589004, + -0.6512308206135806, + -0.13150884339552368, + -277.64272845660514 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.656936328359552, + 0.0991505734904194, + -0.7473980481589004, + -353.36297350003406 + ], + [ + 0.7539460593977998, + 0.08639293606172024, + -0.6512308206135806, + -21.66312920561242 + ], + [ + -6.9388938510964844e-18, + -0.991314997553833, + -0.13150884339552368, + 4.317319078436037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -35336.297350003406, + 2166.312920561242, + 431.73190784360366 + ], + "rotation_deg": [ + 4.010524769804411e-16, + -7.556791305541991, + 138.93336486816403 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5555704708939301, + 0.8314694533599514, + 1.3877787719657217e-17, + 225.8669030938156 + ], + [ + 0.3328759901220983, + -0.2224207634256369, + -0.9163637810375249, + 116.56418484601865 + ], + [ + -0.7619285011025212, + 0.509104641565918, + -0.40034662874027543, + -254.5276127203657 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5555704708939301, + 0.3328759901220983, + -0.7619285011025212, + -358.21823747710573 + ], + [ + 0.8314694533599514, + -0.2224207634256369, + 0.509104641565918, + -32.29394430229542 + ], + [ + 1.3877787719657217e-17, + -0.9163637810375249, + -0.40034662874027543, + 4.915927718875242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -35821.82374771057, + 3229.394430229542, + 491.5927718875242 + ], + "rotation_deg": [ + -8.677107148145964e-16, + -23.599849700927745, + -146.24998474121094 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.03373417437494997, + -0.999430840768505, + -0.0, + -12.036622170431212 + ], + [ + -0.13392009303034152, + -0.004520256516320053, + -0.9909818242348196, + -47.76910143530649 + ], + [ + 0.9904177976331489, + 0.03342995391529972, + -0.13399635932637916, + 382.57711384552385 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.03373417437494997, + -0.13392009303034152, + 0.9904177976331489, + -384.90237961959247 + ], + [ + -0.999430840768505, + -0.004520256516320053, + 0.03342995391529972, + -25.0352351970768 + ], + [ + -0.0, + -0.9909818242348196, + -0.13399635932637916, + 3.9256287460066854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -38490.23796195925, + 2503.52351970768, + 392.5628746006685 + ], + "rotation_deg": [ + 0.0, + -7.700588226318362, + -1.9331926107406614 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.40907513259483275, + -0.9125007045983687, + 6.93889385373064e-18, + -172.85845485541253 + ], + [ + 0.23022568758493753, + -0.10321044488069453, + -0.967648560606366, + 86.51957995200968 + ], + [ + 0.8829799916097575, + -0.3958409659139315, + 0.25230193047449817, + 312.9636638861004 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.40907513259483275, + 0.23022568758493753, + 0.8829799916097575, + -366.97177961633105 + ], + [ + -0.9125007045983687, + -0.10321044488069453, + -0.3958409659139315, + -24.919899059484855 + ], + [ + 6.93889385373064e-18, + -0.967648560606366, + 0.25230193047449817, + 4.759210855434242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36697.177961633104, + 2491.9899059484856, + 475.92108554342417 + ], + "rotation_deg": [ + -4.1086128949400637e-16, + 14.613770484924322, + 24.146749496459968 + ] + } + } + ] + }, + { + "frame": 141, + "time": 1146.3363712579012, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.6607876501768344, + 0.7505729021046372, + -1.3877787702192969e-17, + -217.17872410419906 + ], + [ + 0.09870697347962075, + 0.08689941893555435, + -0.991314997553833, + 41.034229324025446 + ], + [ + -0.7440541867912692, + -0.6550486937832598, + -0.13150884339552363, + -276.48732761939533 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.6607876501768344, + 0.09870697347962075, + -0.7440541867912692, + -353.2809307264862 + ], + [ + 0.7505729021046372, + 0.08689941893555435, + -0.6550486937832598, + -21.670049527811578 + ], + [ + -1.3877787702192969e-17, + -0.991314997553833, + -0.13150884339552363, + 4.317319078436037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -35328.09307264862, + 2167.004952781158, + 431.73190784360366 + ], + "rotation_deg": [ + 8.021049539608822e-16, + -7.556791305541989, + 138.64002990722656 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5555704708939301, + 0.8314694533599514, + 1.3877787719657217e-17, + 225.84295404678426 + ], + [ + 0.3328759901220983, + -0.2224207634256369, + -0.9163637810375249, + 116.511673433413 + ], + [ + -0.7619285011025212, + 0.509104641565918, + -0.40034662874027543, + -254.40741798508742 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5555704708939301, + 0.3328759901220983, + -0.7619285011025212, + -358.09587251209945 + ], + [ + 0.8314694533599514, + -0.2224207634256369, + 0.509104641565918, + -32.34690272911458 + ], + [ + 1.3877787719657217e-17, + -0.9163637810375249, + -0.40034662874027543, + 4.915927718875242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -35809.587251209945, + 3234.690272911458, + 491.5927718875242 + ], + "rotation_deg": [ + -8.677107148145964e-16, + -23.599849700927745, + -146.24998474121094 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.029869526439214526, + -0.999553806150673, + -0.0, + -13.583802605203735 + ], + [ + -0.13256389126777632, + -0.003961388202158604, + -0.9911665461139498, + -47.216368213414036 + ], + [ + 0.9907242935539725, + 0.029605675580002013, + -0.13262306788577097, + 382.4742900413454 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.029869526439214526, + -0.13256389126777632, + 0.9907242935539725, + -384.7800146545862 + ], + [ + -0.999553806150673, + -0.003961388202158604, + 0.029605675580002013, + -25.088193623895958 + ], + [ + -0.0, + -0.9911665461139498, + -0.13262306788577097, + 3.9256287460066854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -38478.00146545862, + 2508.819362389596, + 392.5628746006685 + ], + "rotation_deg": [ + 0.0, + -7.621195793151859, + -1.7116523981094363 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.4057095700650367, + -0.9140020485522135, + -0.0, + -171.6595611974837 + ], + [ + 0.23559288966392877, + -0.1045755752159804, + -0.9662090557472782, + 88.41395535954078 + ], + [ + 0.8831170545383868, + -0.3920002632468237, + 0.2577596973886048, + 312.9548750674474 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.4057095700650367, + 0.23559288966392877, + 0.8831170545383868, + -366.84941465132476 + ], + [ + -0.9140020485522135, + -0.1045755752159804, + -0.3920002632468237, + -24.972857486304015 + ], + [ + -0.0, + -0.9662090557472782, + 0.2577596973886048, + 4.759210855434242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36684.94146513248, + 2497.2857486304015, + 475.92108554342417 + ], + "rotation_deg": [ + 0.0, + 14.937171936035169, + 23.93560028076173 + ] + } + } + ] + }, + { + "frame": 142, + "time": 1146.4030379280448, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.6646214531888988, + 0.747180248642238, + -0.0, + -218.54850298017186 + ], + [ + 0.09826080955017495, + 0.0874035979315944, + -0.9913149975538331, + 40.87969566588248 + ], + [ + -0.7406909985780548, + -0.6588492002986843, + -0.1315088433955237, + -275.3224513424063 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.6646214531888988, + 0.09826080955017495, + -0.7406909985780548, + -353.1977507131508 + ], + [ + 0.747180248642238, + 0.0874035979315944, + -0.6588492002986843, + -21.673885774257037 + ], + [ + -0.0, + -0.9913149975538331, + -0.1315088433955237, + 4.317319078436037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -35319.77507131508, + 2167.3885774257037, + 431.73190784360366 + ], + "rotation_deg": [ + 0.0, + -7.556791305541993, + 138.34671020507812 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5555704708939301, + 0.8314694533599514, + 1.3877787719657217e-17, + 225.81550607045543 + ], + [ + 0.3328759901220983, + -0.2224207634256369, + -0.9163637810375249, + 116.45943719086183 + ], + [ + -0.7619285011025212, + 0.509104641565918, + -0.40034662874027543, + -254.28785309362326 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5555704708939301, + 0.3328759901220983, + -0.7619285011025212, + -357.9721351387967 + ], + [ + 0.8314694533599514, + -0.2224207634256369, + 0.509104641565918, + -32.396570043117855 + ], + [ + 1.3877787719657217e-17, + -0.9163637810375249, + -0.40034662874027543, + 4.915927718875242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -35797.21351387967, + 3239.6570043117854, + 491.5927718875242 + ], + "rotation_deg": [ + -8.677107148145964e-16, + -23.599849700927745, + -146.24998474121094 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.02589528742126805, + -0.9996646608185018, + -0.0, + -15.168646369593883 + ], + [ + -0.13116672728495815, + -0.0033977394983333888, + -0.9913545001762258, + -46.64782720023879 + ], + [ + 0.991022060030708, + 0.02567140991378312, + -0.13121072839341544, + 382.3632652546989 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.02589528742126805, + -0.13116672728495815, + 0.991022060030708, + -384.65627728128345 + ], + [ + -0.9996646608185018, + -0.0033977394983333888, + 0.02567140991378312, + -25.13786093789923 + ], + [ + -0.0, + -0.9913545001762258, + -0.13121072839341544, + 3.9256287460066854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -38465.62772812835, + 2513.786093789923, + 392.5628746006685 + ], + "rotation_deg": [ + 0.0, + -7.539561271667481, + -1.4838565587997437 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.40250092964944634, + -0.9154195768232898, + -6.938893854053812e-18, + -170.5135350944743 + ], + [ + 0.24070690488367544, + -0.1058364442291391, + -0.964810257519194, + 90.216843119482 + ], + [ + 0.8832061959107258, + -0.38833702820278604, + 0.26294708218866675, + 312.9257968444674 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.40250092964944634, + 0.24070690488367544, + 0.8832061959107258, + -366.72567727802203 + ], + [ + -0.9154195768232898, + -0.1058364442291391, + -0.38833702820278604, + -25.022524800307288 + ], + [ + -6.938893854053812e-18, + -0.964810257519194, + 0.26294708218866675, + 4.759210855434242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36672.567727802205, + 2502.2524800307287, + 475.92108554342417 + ], + "rotation_deg": [ + 4.1206997159061383e-16, + 15.245003700256358, + 23.734617233276378 + ] + } + } + ] + }, + { + "frame": 143, + "time": 1146.4697045981884, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.6684380357842208, + 0.743767834957208, + 6.9388938510964844e-18, + -219.9134147870252 + ], + [ + 0.09781204697672564, + 0.08790551229056319, + -0.991314997553833, + 40.723952021728394 + ], + [ + -0.7373082217591729, + -0.662632635956831, + -0.13150884339552366, + -274.1484541783059 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.6684380357842208, + 0.09781204697672564, + -0.7373082217591729, + -353.1136870466433 + ], + [ + 0.743767834957208, + 0.08790551229056319, + -0.662632635956831, + -21.675049435129992 + ], + [ + 6.9388938510964844e-18, + -0.991314997553833, + -0.13150884339552366, + 4.317319078436037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -35311.36870466433, + 2167.504943512999, + 431.73190784360366 + ], + "rotation_deg": [ + -4.010524769804411e-16, + -7.55679130554199, + 138.05337524414062 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5555704708939301, + 0.8314694533599514, + 1.3877787719657217e-17, + 225.78504178336033 + ], + [ + 0.3328759901220983, + -0.2224207634256369, + -0.9163637810375249, + 116.40746962834224 + ], + [ + -0.7619285011025212, + 0.509104641565918, + -0.40034662874027543, + -254.16890319080034 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5555704708939301, + 0.3328759901220983, + -0.7619285011025212, + -357.84728000684305 + ], + [ + 0.8314694533599514, + -0.2224207634256369, + 0.509104641565918, + -32.443356533229675 + ], + [ + 1.3877787719657217e-17, + -0.9163637810375249, + -0.40034662874027543, + 4.915927718875242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -35784.72800068431, + 3244.3356533229676, + 491.5927718875242 + ], + "rotation_deg": [ + -8.677107148145964e-16, + -23.599849700927745, + -146.24998474121094 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.021813401754662603, + -0.999762059444091, + -0.0, + -16.790716580366563 + ], + [ + -0.1297291304047397, + -0.0028305071332423905, + -0.9915454306050724, + -46.06377308756875 + ], + [ + 0.9913095015996819, + 0.02162897900045462, + -0.12976000657208908, + 382.24376026250474 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.021813401754662603, + -0.1297291304047397, + 0.9913095015996819, + -384.5314221493298 + ], + [ + -0.999762059444091, + -0.0028305071332423905, + 0.02162897900045462, + -25.184647428011054 + ], + [ + -0.0, + -0.9915454306050724, + -0.12976000657208908, + 3.9256287460066854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -38453.14221493298, + 2518.4647428011053, + 392.5628746006685 + ], + "rotation_deg": [ + 0.0, + -7.455724239349367, + -1.2499150037765503 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.39945156196147796, + -0.9167543016787733, + -0.0, + -169.42166998822495 + ], + [ + 0.24556413497728327, + -0.10699810963392202, + -0.9634571397564222, + 91.92694053263536 + ], + [ + 0.8832534756139524, + -0.3848544619453862, + 0.26786254112249647, + 312.8785997019572 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.39945156196147796, + 0.24556413497728327, + 0.8832534756139524, + -366.60082214606837 + ], + [ + -0.9167543016787733, + -0.10699810963392202, + -0.3848544619453862, + -25.069311290419108 + ], + [ + -0.0, + -0.9634571397564222, + 0.26786254112249647, + 4.759210855434242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + -36660.08221460684, + 2506.931129041911, + 475.92108554342417 + ], + "rotation_deg": [ + 0.0, + 15.537115097045904, + 23.543897628784173 + ] + } + } + ] + } + ] +} \ No newline at end of file diff --git a/clips/clip_00208/caption.txt b/clips/clip_00208/caption.txt new file mode 100644 index 0000000000000000000000000000000000000000..5e0890085ea4540c7f2dc5a69348fd1076857fa6 --- /dev/null +++ b/clips/clip_00208/caption.txt @@ -0,0 +1 @@ +A dark-haired man in a gray suit carrying a briefcase walks briskly along a sidewalk beneath a concrete overpass, continuing past parked cars, concrete barriers, and glass office towers on a quiet downtown street lit by early evening light. diff --git a/clips/clip_00208/depth.zip b/clips/clip_00208/depth.zip new file mode 100644 index 0000000000000000000000000000000000000000..0072cae170f9b59b702fca2f84d23acae86d3cfd --- /dev/null +++ b/clips/clip_00208/depth.zip @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e600bd47840d10b3c6e36e56f4ec5d93d791c6555eafc773c9e5398ad34646bc +size 213003448 diff --git a/clips/clip_00208/meta.json b/clips/clip_00208/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c1e3b97d16b8cfac31ba1fb32ad9b95d144eb58f --- /dev/null +++ b/clips/clip_00208/meta.json @@ -0,0 +1,398 @@ +{ + "mode": "pie", + "clip": "clip_00192", + "num_cams": 4, + "resolution": 1280, + "focal_mm": 35.0, + "sensor_mm": 23.76, + "fov_deg": 37.4973605549133, + "fps": 15, + "frames": 144, + "radius_cm": 600.0, + "target_z_cm": 150.0, + "exposure_method": "manual", + "exposure_bias": 0.0, + "exposure_compensation": 2.0, + "capture_depth": true, + "fixed_timestep": true, + "center_cm": [ + -39420.36328125, + 991.6356811523438, + 57.845943450927734 + ], + "intrinsics_mode": "per_camera", + "clip_index": 16, + "target": { + "tracked": true, + "kind": "pedestrian", + "aim_z_cm": 110.0, + "moving_at_acquire": true, + "motion_kinds": [ + "arc", + "static", + "pan_tilt", + "pan_tilt" + ], + "model_id": "arch_e83630cc", + "identity": { + "model_id": "arch_e83630cc", + "primary_mesh": "/Game/Crowd/Character/Male/OverWeight/Meshes/m_tal_ovw_base.m_tal_ovw_base", + "meshes": [ + "/Game/Crowd/Character/Accessories/briefcaseA.briefcaseA", + "/Game/Crowd/Character/Male/OverWeight/Meshes/m_tal_ovw_base.m_tal_ovw_base", + "/Game/Crowd/Character/Male/OverWeight/Meshes/m_tal_ovw_body.m_tal_ovw_body", + "/Game/Crowd/Character/Male/OverWeight/Meshes/m_tal_ovw_buttonDown_blazer.m_tal_ovw_buttonDown_blazer", + "/Game/Crowd/Character/Male/OverWeight/Meshes/m_tal_ovw_loafers.m_tal_ovw_loafers", + "/Game/Crowd/Character/Male/OverWeight/Meshes/m_tal_ovw_slacks.m_tal_ovw_slacks", + "/Game/Crowd/Character/Male/m_003/Face/m_003_nrw_FaceMesh.m_003_nrw_FaceMesh" + ], + "mesh_count": 7, + "actor_class": "BP_CrowdCharacter_C", + "source": "mesh_set" + }, + "model_cap_override": false, + "model_skipped_candidates": 0 + }, + "frame_count": 144, + "frame_bucket": 144, + "spec_gen": "gen3", + "bucket_retired": false, + "target_class": "pedestrian", + "target_class_requested": "pedestrian", + "target_class_fallback": false, + "hfov_deg_per_cam": [ + 45.485, + 84.854, + 26.374, + 72.142 + ], + "hfov_range_deg": [ + 25.0, + 90.0 + ], + "bench": { + "mode": true, + "clip_id": 208, + "bg_ratio": 0.0, + "placement_fallbacks": [], + "target_reacquires": 0, + "motion_gate": { + "enabled": true, + "required_travel_m": 1.78, + "travel_m": 19.06, + "retries": 0, + "probe_rejects": 0, + "rejects": [], + "acquire_min_cm_s": 300.0 + }, + "view_block_guard": { + "enabled": true, + "abort_sec": 3.0, + "abort_frames": 45, + "aborts": 0, + "max_streak_frames": 0 + } + }, + "continuity": { + "target_lost_frame": null, + "target_survived": true, + "enclosed_retries_budget": 5, + "min_usable_dirs_used": 5 + }, + "oos": { + "prob": 0.3, + "max_cams": 2, + "force_min": 0, + "enabled": true, + "aim_mode": "departure_return_scheduler", + "scheduler": { + "enabled": true, + "out_run_target_frames": [ + 12, + 24 + ], + "gate_min_out_frames": 8, + "reentry_visible_frames": 8, + "slew_half_fov_frac": 0.08, + "window_lead_frac": 0.12, + "two_window_frames": 181, + "aim_offset_frac": 1.15, + "open_slew": true, + "min_clip_frames": 100, + "skipped_short_bucket": false, + "return_frames_est": [ + 29, + 29, + 29, + 29 + ], + "open_frames_est": [ + 15, + 14, + 15, + 14 + ], + "per_cam": [ + null, + null, + { + "windows": [ + 28 + ], + "target_out_frames": [ + 13 + ], + "opened_at": 28, + "left_at": 47, + "out_run_max": 13, + "returned_at": 75, + "cycles_live": 1, + "forced_returns": 0, + "aim_offset": { + "applied": true, + "reason": null, + "deg": 15.08, + "cm": 622.0, + "frac": 1.15 + }, + "events": [ + { + "window": 0, + "opened_at": 28, + "left_at": 47, + "out_run": 13, + "return_at": 59, + "forced": false + } + ] + }, + { + "windows": [ + 25 + ], + "target_out_frames": [ + 15 + ], + "opened_at": 25, + "left_at": 35, + "out_run_max": 15, + "returned_at": 85, + "cycles_live": 1, + "forced_returns": 0, + "aim_offset": { + "applied": true, + "reason": null, + "deg": 39.95, + "cm": 604.3, + "frac": 1.15 + }, + "events": [ + { + "window": 0, + "opened_at": 25, + "left_at": 35, + "out_run": 15, + "return_at": 49, + "forced": false + } + ] + } + ] + }, + "pan_tilt_scale_half_fov": 1.5, + "allowed": [ + false, + false, + true, + true + ], + "reasons": [ + "none", + "none", + "sampled", + "sampled" + ], + "effective": [ + false, + false, + true, + true + ], + "departed": [ + false, + false, + true, + true + ], + "cycles": [ + 0, + 0, + 1, + 1 + ], + "segments": [ + { + "cam": 2, + "cam_name": "cam03", + "start": 0, + "end": 46, + "kind": "occluded", + "len": 47 + }, + { + "cam": 2, + "cam_name": "cam03", + "start": 47, + "end": 71, + "kind": "out_of_frustum", + "len": 25 + }, + { + "cam": 2, + "cam_name": "cam03", + "start": 72, + "end": 81, + "kind": "occluded", + "len": 10 + }, + { + "cam": 2, + "cam_name": "cam03", + "start": 91, + "end": 130, + "kind": "out_of_frustum", + "len": 40 + }, + { + "cam": 2, + "cam_name": "cam03", + "start": 131, + "end": 143, + "kind": "occluded", + "len": 13 + }, + { + "cam": 3, + "cam_name": "cam04", + "start": 35, + "end": 63, + "kind": "out_of_frustum", + "len": 29 + }, + { + "cam": 3, + "cam_name": "cam04", + "start": 132, + "end": 139, + "kind": "occluded", + "len": 8 + } + ], + "num_allowed": 2, + "num_effective": 2, + "num_departed": 2 + }, + "visibility": { + "frames": 144, + "states": [ + "visible", + "occluded", + "out_of_frustum", + "target_absent" + ], + "per_cam_ratio": [ + { + "visible": 1.0, + "occluded": 0.0, + "out_of_frustum": 0.0, + "target_absent": 0.0 + }, + { + "visible": 1.0, + "occluded": 0.0, + "out_of_frustum": 0.0, + "target_absent": 0.0 + }, + { + "visible": 0.0625, + "occluded": 0.4861, + "out_of_frustum": 0.4514, + "target_absent": 0.0 + }, + { + "visible": 0.7431, + "occluded": 0.0556, + "out_of_frustum": 0.2014, + "target_absent": 0.0 + } + ], + "visible_ratio": [ + 1.0, + 1.0, + 0.0625, + 0.7431 + ], + "non_oos_cams": [ + 1, + 2 + ], + "min_visible_ratio_non_oos": 1.0, + "gate1_cams": [ + 1, + 2 + ], + "min_visible_ratio_gate1": 1.0, + "target_absent_frames": 0, + "bbox_sources": { + "colliding": 144 + } + }, + "smoothing": { + "rot_cap_frac_hfov": 0.06, + "rot_cap_deg_per_cam": [ + 2.7291, + 5.09124, + 1.5824399999999998, + 4.328519999999999 + ], + "max_step_cm": 150.0, + "max_accel_cm": 20.0, + "lag_closure_frac": 0.12, + "oos_slew_half_fov_frac": 0.08 + }, + "pins": { + "resample": { + "attempts": 2, + "used": 1, + "pinned": 0, + "pinned_per_attempt": [ + 0 + ] + }, + "live_rotation": true, + "forced_cams": null, + "force_pin_cams": 0, + "pinned_cams": [] + }, + "motion_persistence": { + "enabled": true, + "min_moving_frac": 0.4, + "moving_speed_cm_s": 40.0, + "moving_frames": 143, + "still_frames": 0, + "moving_frac": 1.0 + }, + "points": { + "enabled": true, + "num_points": 256, + "frames": 144, + "valid_frames": 144, + "track_complete_ratio": 1.0, + "track_breaks": 0, + "in_frustum_ratio": 0.763, + "render_lod_natural": 1, + "render_lod_forced": 1, + "sample_log": "ok=1 n=256 comps=7 skinned=6 static=1 tris=142776 area_m2=4.712 half_cm=87.8 centre_off_cm=9.5", + "npz_written": true + } +} \ No newline at end of file diff --git a/clips/clip_00208/points_target.npz b/clips/clip_00208/points_target.npz new file mode 100644 index 0000000000000000000000000000000000000000..855d7e9a8833731b1b36b26cbe4766a2dcd8ae28 --- /dev/null +++ b/clips/clip_00208/points_target.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2787acaf6dfed5a0a318541ac06ff3bb0fa584d3d19e8253f825296afd91b6ee +size 417943 diff --git a/clips/clip_00208/videos/cam01.mp4 b/clips/clip_00208/videos/cam01.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..44286a6443228c5a2538b26982a779f35b512903 --- /dev/null +++ b/clips/clip_00208/videos/cam01.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ff34607836745168108994a278dbefeba7cd5ea5020b8c8a53f715fd140ba94e +size 24576597 diff --git a/clips/clip_00208/videos/cam02.mp4 b/clips/clip_00208/videos/cam02.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..0f8e8057b7b3aef597fd5da23182fb2e5e46892e --- /dev/null +++ b/clips/clip_00208/videos/cam02.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6d5cfeec0825a82b461078bc9789a98b6e4a5bf7d7b1d6eb9a47f4b9690c4b6b +size 27891952 diff --git a/clips/clip_00208/videos/cam03.mp4 b/clips/clip_00208/videos/cam03.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..23e4962dd508bae32bd66a878afe88da1f0f65d6 --- /dev/null +++ b/clips/clip_00208/videos/cam03.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:436e7f45608e95c9e1d061d46ae907372a59a55e8ffb0196f2d3c51d1e0cd0a7 +size 36648783 diff --git a/clips/clip_00208/videos/cam04.mp4 b/clips/clip_00208/videos/cam04.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..51cd7e97f02e03ac3ab9720b99b51a5b75ac1fc4 --- /dev/null +++ b/clips/clip_00208/videos/cam04.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8090834fff89391bcb69ee210bf678eb1ef43448e0b0ea3cde61ca9a4a547c55 +size 28639575 diff --git a/clips/clip_00208/videos_depth/cam01.mp4 b/clips/clip_00208/videos_depth/cam01.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..6a3d00214049aa7d1d1aa76cb56ef42aba865220 --- /dev/null +++ b/clips/clip_00208/videos_depth/cam01.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b4f839e4c96ba775fdbbb1490dc278bc31f13d103ca58053fd824a18915cc32b +size 1093604 diff --git a/clips/clip_00208/videos_depth/cam02.mp4 b/clips/clip_00208/videos_depth/cam02.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..a05a49f3ddd65760dd35b7764f0de5219cf0491b --- /dev/null +++ b/clips/clip_00208/videos_depth/cam02.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:675da0600ae013561c3dbbbff331c107a5ab777a8e3fe069739e061daea68486 +size 975166 diff --git a/clips/clip_00208/videos_depth/cam03.mp4 b/clips/clip_00208/videos_depth/cam03.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..efe47323ef27d8af8dfe30cd51fee707483f7854 --- /dev/null +++ b/clips/clip_00208/videos_depth/cam03.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8d64858d5924acb1a7e8d08cd47119c54646a13c0f23eecdc4845028edf19fc3 +size 1927906 diff --git a/clips/clip_00208/videos_depth/cam04.mp4 b/clips/clip_00208/videos_depth/cam04.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..cd6a948fbc2f24fc546c5ee1b4e2090339e45425 --- /dev/null +++ b/clips/clip_00208/videos_depth/cam04.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:641c6d06b960259624c5026c578b9e8109ac65b0e098e5bbf41009dae556b340 +size 1408958 diff --git a/clips/clip_00208/views/cam01/frame_0000.png b/clips/clip_00208/views/cam01/frame_0000.png new file mode 100644 index 0000000000000000000000000000000000000000..cca66cdf7aa46a7e316df9d22ca6880b3eb21118 --- /dev/null +++ b/clips/clip_00208/views/cam01/frame_0000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3cc8d4a6fd964ee3ebb21e359cbebce694527d00e787082d2741f877dfafe737 +size 3542829 diff --git a/clips/clip_00208/views/cam01/frame_0072.png b/clips/clip_00208/views/cam01/frame_0072.png new file mode 100644 index 0000000000000000000000000000000000000000..b3573a99288bc54fe038df60d1991dbe263c050c --- /dev/null +++ b/clips/clip_00208/views/cam01/frame_0072.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cff3609e328ad057d604f5119a5e64408c40128a0e6f9f0d2bf62a0b1e1a6c04 +size 3347512 diff --git a/clips/clip_00208/views/cam01/frame_0143.png b/clips/clip_00208/views/cam01/frame_0143.png new file mode 100644 index 0000000000000000000000000000000000000000..fbe0b498d89fd5ed9ef6ecf9af1624e087d2b35d --- /dev/null +++ b/clips/clip_00208/views/cam01/frame_0143.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7c28eb50aab2c7b9d39ccebbfe912c19e1c2d9eea046e9b41e7e52b9be51c434 +size 3155282 diff --git a/clips/clip_00208/views/cam02/frame_0000.png b/clips/clip_00208/views/cam02/frame_0000.png new file mode 100644 index 0000000000000000000000000000000000000000..388f1aea0395ec16c417e025d01872dd4e3f8186 --- /dev/null +++ b/clips/clip_00208/views/cam02/frame_0000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d71e0b5020a7ce3b175d6cfa4b4e14787e393429d5ae855cc0a50f520397097c +size 3220429 diff --git a/clips/clip_00208/views/cam02/frame_0072.png b/clips/clip_00208/views/cam02/frame_0072.png new file mode 100644 index 0000000000000000000000000000000000000000..cbd2001dc2fe5a2268c3eb7156da66829cd06694 --- /dev/null +++ b/clips/clip_00208/views/cam02/frame_0072.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8ff32b9da860e48649c9bcee93653a5ef46947d3cb1cbc9627e70ff0d5b6f664 +size 3276660 diff --git a/clips/clip_00208/views/cam03/frame_0000.png b/clips/clip_00208/views/cam03/frame_0000.png new file mode 100644 index 0000000000000000000000000000000000000000..c2cfc4db3c2285e2f06658813e63ed2f7341fa44 --- /dev/null +++ b/clips/clip_00208/views/cam03/frame_0000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:17551c1099d070ec58f23d867b6ceb820fbfa94916a441164aabdecc28578fe6 +size 3207076 diff --git a/clips/clip_00208/views/cam03/frame_0072.png b/clips/clip_00208/views/cam03/frame_0072.png new file mode 100644 index 0000000000000000000000000000000000000000..78b8fc61144aa2e7ef85b8a47f271c082423fb16 --- /dev/null +++ b/clips/clip_00208/views/cam03/frame_0072.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dca0d0e096c844f3118f89e9b38de17121b6dca1568cc3e8ebda4fd9c6b508e8 +size 3691515 diff --git a/clips/clip_00208/views/cam04/frame_0000.png b/clips/clip_00208/views/cam04/frame_0000.png new file mode 100644 index 0000000000000000000000000000000000000000..7f0c06852699bd06635fa8a875f26564990a071d --- /dev/null +++ b/clips/clip_00208/views/cam04/frame_0000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1bc1da3a17ccc7611fb5a64adf6dcff66ef172899bf6c32925791555174c2d42 +size 3448016 diff --git a/clips/clip_00208/views/cam04/frame_0072.png b/clips/clip_00208/views/cam04/frame_0072.png new file mode 100644 index 0000000000000000000000000000000000000000..f435341afbc4400f6f14e1c0fdb5b7500ffaf238 --- /dev/null +++ b/clips/clip_00208/views/cam04/frame_0072.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a24281c8ed1c16dfd61c79c263ceddf7adb1984ac5419446924c9cee3d5d35ce +size 3319648 diff --git a/clips/clip_00208/visibility.json b/clips/clip_00208/visibility.json new file mode 100644 index 0000000000000000000000000000000000000000..bc74a3ab5aab2e13316df6db52ae013f24a7f1d8 --- /dev/null +++ b/clips/clip_00208/visibility.json @@ -0,0 +1,9807 @@ +{ + "version": 1, + "convention": "visibility[t][k] = state of the target in camera k at capture frame t (index-aligned with rgb_%04d.png)", + "states": [ + "visible", + "occluded", + "out_of_frustum", + "target_absent" + ], + "state_note": "visible = in-frustum and at least one bbox sample ray unblocked; occluded = in-frustum but every sample ray blocked; out_of_frustum = target bbox does not overlap the image rect; target_absent = target actor despawned (Mass LOD) -- BM-M2", + "num_cams": 4, + "frames": 144, + "fps": 15, + "clip_id": 208, + "target_class": "pedestrian", + "target_lost_frame": null, + "target_bbox_extent_cm": [ + 53.8, + 53.8, + 88.0 + ], + "bbox_sources": { + "colliding": 144 + }, + "target_world_units": "cm, Unreal left-handed world (same frame as cameras.json ue_pose.location_cm)", + "cameras": [ + { + "oos_allowed": false, + "oos_reason": "none", + "pinned": false, + "oos_effective": false, + "oos_cycles": 0, + "oos_departed": false, + "oos_schedule": null, + "name": "cam01", + "hfov_deg": 45.485, + "motion_kind": "arc", + "ratio": { + "visible": 1.0, + "occluded": 0.0, + "out_of_frustum": 0.0, + "target_absent": 0.0 + } + }, + { + "oos_allowed": false, + "oos_reason": "none", + "pinned": false, + "oos_effective": false, + "oos_cycles": 0, + "oos_departed": false, + "oos_schedule": null, + "name": "cam02", + "hfov_deg": 84.854, + "motion_kind": "static", + "ratio": { + "visible": 1.0, + "occluded": 0.0, + "out_of_frustum": 0.0, + "target_absent": 0.0 + } + }, + { + "oos_allowed": true, + "oos_reason": "sampled", + "pinned": false, + "oos_effective": true, + "oos_cycles": 1, + "oos_departed": true, + "oos_schedule": { + "windows": [ + 28 + ], + "target_out_frames": [ + 13 + ], + "opened_at": 28, + "left_at": 47, + "out_run_max": 13, + "returned_at": 75, + "cycles_live": 1, + "forced_returns": 0, + "aim_offset": { + "applied": true, + "reason": null, + "deg": 15.08, + "cm": 622.0, + "frac": 1.15 + }, + "events": [ + { + "window": 0, + "opened_at": 28, + "left_at": 47, + "out_run": 13, + "return_at": 59, + "forced": false + } + ] + }, + "name": "cam03", + "hfov_deg": 26.374, + "motion_kind": "pan_tilt", + "ratio": { + "visible": 0.0625, + "occluded": 0.4861, + "out_of_frustum": 0.4514, + "target_absent": 0.0 + } + }, + { + "oos_allowed": true, + "oos_reason": "sampled", + "pinned": false, + "oos_effective": true, + "oos_cycles": 1, + "oos_departed": true, + "oos_schedule": { + "windows": [ + 25 + ], + "target_out_frames": [ + 15 + ], + "opened_at": 25, + "left_at": 35, + "out_run_max": 15, + "returned_at": 85, + "cycles_live": 1, + "forced_returns": 0, + "aim_offset": { + "applied": true, + "reason": null, + "deg": 39.95, + "cm": 604.3, + "frac": 1.15 + }, + "events": [ + { + "window": 0, + "opened_at": 25, + "left_at": 35, + "out_run": 15, + "return_at": 49, + "forced": false + } + ] + }, + "name": "cam04", + "hfov_deg": 72.142, + "motion_kind": "pan_tilt", + "ratio": { + "visible": 0.7431, + "occluded": 0.0556, + "out_of_frustum": 0.2014, + "target_absent": 0.0 + } + } + ], + "summary": { + "frames": 144, + "states": [ + "visible", + "occluded", + "out_of_frustum", + "target_absent" + ], + "per_cam_ratio": [ + { + "visible": 1.0, + "occluded": 0.0, + "out_of_frustum": 0.0, + "target_absent": 0.0 + }, + { + "visible": 1.0, + "occluded": 0.0, + "out_of_frustum": 0.0, + "target_absent": 0.0 + }, + { + "visible": 0.0625, + "occluded": 0.4861, + "out_of_frustum": 0.4514, + "target_absent": 0.0 + }, + { + "visible": 0.7431, + "occluded": 0.0556, + "out_of_frustum": 0.2014, + "target_absent": 0.0 + } + ], + "visible_ratio": [ + 1.0, + 1.0, + 0.0625, + 0.7431 + ], + "non_oos_cams": [ + 1, + 2 + ], + "min_visible_ratio_non_oos": 1.0, + "gate1_cams": [ + 1, + 2 + ], + "min_visible_ratio_gate1": 1.0, + "target_absent_frames": 0, + "bbox_sources": { + "colliding": 144 + } + }, + "oos_segments": [ + { + "cam": 2, + "cam_name": "cam03", + "start": 0, + "end": 46, + "kind": "occluded", + "len": 47 + }, + { + "cam": 2, + "cam_name": "cam03", + "start": 47, + "end": 71, + "kind": "out_of_frustum", + "len": 25 + }, + { + "cam": 2, + "cam_name": "cam03", + "start": 72, + "end": 81, + "kind": "occluded", + "len": 10 + }, + { + "cam": 2, + "cam_name": "cam03", + "start": 91, + "end": 130, + "kind": "out_of_frustum", + "len": 40 + }, + { + "cam": 2, + "cam_name": "cam03", + "start": 131, + "end": 143, + "kind": "occluded", + "len": 13 + }, + { + "cam": 3, + "cam_name": "cam04", + "start": 35, + "end": 63, + "kind": "out_of_frustum", + "len": 29 + }, + { + "cam": 3, + "cam_name": "cam04", + "start": 132, + "end": 139, + "kind": "occluded", + "len": 8 + } + ], + "oos_segment_note": "derived from `visibility` (frame-level is authoritative); maximal runs only, no merging/smoothing; min length 8f applies to this list only; start/end inclusive", + "oos_cycles_per_cam": [ + 0, + 0, + 1, + 1 + ], + "oos_params": { + "segment_min_len": 8, + "min_out": 8, + "min_visible": 8 + }, + "visibility": [ + [ + "visible", + "visible", + "occluded", + "visible" + ], + [ + "visible", + "visible", + "occluded", + "visible" + ], + [ + "visible", + "visible", + "occluded", + "visible" + ], + [ + "visible", + "visible", + "occluded", + "visible" + ], + [ + "visible", + "visible", + "occluded", + "visible" + ], + [ + "visible", + "visible", + "occluded", + "visible" + ], + [ + "visible", + "visible", + "occluded", + "visible" + ], + [ + "visible", + "visible", + "occluded", + "visible" + ], + [ + "visible", + "visible", + "occluded", + "visible" + ], + [ + "visible", + "visible", + "occluded", + "visible" + ], + [ + "visible", + "visible", + "occluded", + "visible" + ], + [ + "visible", + "visible", + "occluded", + "visible" + ], + [ + "visible", + "visible", + "occluded", + "visible" + ], + [ + "visible", + "visible", + "occluded", + "visible" + ], + [ + "visible", + "visible", + "occluded", + "visible" + ], + [ + "visible", + "visible", + "occluded", + "visible" + ], + [ + "visible", + "visible", + "occluded", + "visible" + ], + [ + "visible", + "visible", + "occluded", + "visible" + ], + [ + "visible", + "visible", + "occluded", + "visible" + ], + [ + "visible", + "visible", + "occluded", + "visible" + ], + [ + "visible", + "visible", + "occluded", + "visible" + ], + [ + "visible", + "visible", + "occluded", + "visible" + ], + [ + "visible", + "visible", + "occluded", + "visible" + ], + [ + "visible", + "visible", + "occluded", + "visible" + ], + [ + "visible", + "visible", + "occluded", + "visible" + ], + [ + "visible", + "visible", + "occluded", + "visible" + ], + [ + "visible", + "visible", + "occluded", + "visible" + ], + [ + "visible", + "visible", + "occluded", + "visible" + ], + [ + "visible", + "visible", + "occluded", + "visible" + ], + [ + "visible", + "visible", + "occluded", + "visible" + ], + [ + "visible", + "visible", + "occluded", + "visible" + ], + [ + "visible", + "visible", + "occluded", + "visible" + ], + [ + "visible", + "visible", + "occluded", + "visible" + ], + [ + "visible", + "visible", + "occluded", + "visible" + ], + [ + "visible", + "visible", + "occluded", + "visible" + ], + [ + "visible", + "visible", + "occluded", + "out_of_frustum" + ], + [ + "visible", + "visible", + "occluded", + "out_of_frustum" + ], + [ + "visible", + "visible", + "occluded", + "out_of_frustum" + ], + [ + "visible", + "visible", + "occluded", + "out_of_frustum" + ], + [ + "visible", + "visible", + "occluded", + "out_of_frustum" + ], + [ + "visible", + "visible", + "occluded", + "out_of_frustum" + ], + [ + "visible", + "visible", + "occluded", + "out_of_frustum" + ], + [ + "visible", + "visible", + "occluded", + "out_of_frustum" + ], + [ + "visible", + "visible", + "occluded", + "out_of_frustum" + ], + [ + "visible", + "visible", + "occluded", + "out_of_frustum" + ], + [ + "visible", + "visible", + "occluded", + "out_of_frustum" + ], + [ + "visible", + "visible", + "occluded", + "out_of_frustum" + ], + [ + "visible", + "visible", + "out_of_frustum", + "out_of_frustum" + ], + [ + "visible", + "visible", + "out_of_frustum", + "out_of_frustum" + ], + [ + "visible", + "visible", + "out_of_frustum", + "out_of_frustum" + ], + [ + "visible", + "visible", + "out_of_frustum", + "out_of_frustum" + ], + [ + "visible", + "visible", + "out_of_frustum", + "out_of_frustum" + ], + [ + "visible", + "visible", + "out_of_frustum", + "out_of_frustum" + ], + [ + "visible", + "visible", + "out_of_frustum", + "out_of_frustum" + ], + [ + "visible", + "visible", + "out_of_frustum", + "out_of_frustum" + ], + [ + "visible", + "visible", + "out_of_frustum", + "out_of_frustum" + ], + [ + "visible", + "visible", + "out_of_frustum", + "out_of_frustum" + ], + [ + "visible", + "visible", + "out_of_frustum", + "out_of_frustum" + ], + [ + "visible", + "visible", + "out_of_frustum", + "out_of_frustum" + ], + [ + "visible", + "visible", + "out_of_frustum", + "out_of_frustum" + ], + [ + "visible", + "visible", + "out_of_frustum", + "out_of_frustum" + ], + [ + "visible", + "visible", + "out_of_frustum", + "out_of_frustum" + ], + [ + "visible", + "visible", + "out_of_frustum", + "out_of_frustum" + ], + [ + "visible", + "visible", + "out_of_frustum", + "out_of_frustum" + ], + [ + "visible", + "visible", + "out_of_frustum", + "visible" + ], + [ + "visible", + "visible", + "out_of_frustum", + "visible" + ], + [ + "visible", + "visible", + "out_of_frustum", + "visible" + ], + [ + "visible", + "visible", + "out_of_frustum", + "visible" + ], + [ + "visible", + "visible", + "out_of_frustum", + "visible" + ], + [ + "visible", + "visible", + "out_of_frustum", + "visible" + ], + [ + "visible", + "visible", + "out_of_frustum", + "visible" + ], + [ + "visible", + "visible", + "out_of_frustum", + "visible" + ], + [ + "visible", + "visible", + "occluded", + "visible" + ], + [ + "visible", + "visible", + "occluded", + "visible" + ], + [ + "visible", + "visible", + "occluded", + "visible" + ], + [ + "visible", + "visible", + "occluded", + "visible" + ], + [ + "visible", + "visible", + "occluded", + "visible" + ], + [ + "visible", + "visible", + "occluded", + "visible" + ], + [ + "visible", + "visible", + "occluded", + "visible" + ], + [ + "visible", + "visible", + "occluded", + "visible" + ], + [ + "visible", + "visible", + "occluded", + "visible" + ], + [ + "visible", + "visible", + "occluded", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "out_of_frustum", + "visible" + ], + [ + "visible", + "visible", + "out_of_frustum", + "visible" + ], + [ + "visible", + "visible", + "out_of_frustum", + "visible" + ], + [ + "visible", + "visible", + "out_of_frustum", + "visible" + ], + [ + "visible", + "visible", + "out_of_frustum", + "visible" + ], + [ + "visible", + "visible", + "out_of_frustum", + "visible" + ], + [ + "visible", + "visible", + "out_of_frustum", + "visible" + ], + [ + "visible", + "visible", + "out_of_frustum", + "visible" + ], + [ + "visible", + "visible", + "out_of_frustum", + "visible" + ], + [ + "visible", + "visible", + "out_of_frustum", + "visible" + ], + [ + "visible", + "visible", + "out_of_frustum", + "visible" + ], + [ + "visible", + "visible", + "out_of_frustum", + "visible" + ], + [ + "visible", + "visible", + "out_of_frustum", + "visible" + ], + [ + "visible", + "visible", + "out_of_frustum", + "visible" + ], + [ + "visible", + "visible", + "out_of_frustum", + "visible" + ], + [ + "visible", + "visible", + "out_of_frustum", + "visible" + ], + [ + "visible", + "visible", + "out_of_frustum", + "visible" + ], + [ + "visible", + "visible", + "out_of_frustum", + "visible" + ], + [ + "visible", + "visible", + "out_of_frustum", + "visible" + ], + [ + "visible", + "visible", + "out_of_frustum", + "visible" + ], + [ + "visible", + "visible", + "out_of_frustum", + "visible" + ], + [ + "visible", + "visible", + "out_of_frustum", + "visible" + ], + [ + "visible", + "visible", + "out_of_frustum", + "visible" + ], + [ + "visible", + "visible", + "out_of_frustum", + "visible" + ], + [ + "visible", + "visible", + "out_of_frustum", + "visible" + ], + [ + "visible", + "visible", + "out_of_frustum", + "visible" + ], + [ + "visible", + "visible", + "out_of_frustum", + "visible" + ], + [ + "visible", + "visible", + "out_of_frustum", + "visible" + ], + [ + "visible", + "visible", + "out_of_frustum", + "visible" + ], + [ + "visible", + "visible", + "out_of_frustum", + "visible" + ], + [ + "visible", + "visible", + "out_of_frustum", + "visible" + ], + [ + "visible", + "visible", + "out_of_frustum", + "visible" + ], + [ + "visible", + "visible", + "out_of_frustum", + "visible" + ], + [ + "visible", + "visible", + "out_of_frustum", + "visible" + ], + [ + "visible", + "visible", + "out_of_frustum", + "visible" + ], + [ + "visible", + "visible", + "out_of_frustum", + "visible" + ], + [ + "visible", + "visible", + "out_of_frustum", + "visible" + ], + [ + "visible", + "visible", + "out_of_frustum", + "visible" + ], + [ + "visible", + "visible", + "out_of_frustum", + "visible" + ], + [ + "visible", + "visible", + "out_of_frustum", + "visible" + ], + [ + "visible", + "visible", + "occluded", + "visible" + ], + [ + "visible", + "visible", + "occluded", + "occluded" + ], + [ + "visible", + "visible", + "occluded", + "occluded" + ], + [ + "visible", + "visible", + "occluded", + "occluded" + ], + [ + "visible", + "visible", + "occluded", + "occluded" + ], + [ + "visible", + "visible", + "occluded", + "occluded" + ], + [ + "visible", + "visible", + "occluded", + "occluded" + ], + [ + "visible", + "visible", + "occluded", + "occluded" + ], + [ + "visible", + "visible", + "occluded", + "occluded" + ], + [ + "visible", + "visible", + "occluded", + "visible" + ], + [ + "visible", + "visible", + "occluded", + "visible" + ], + [ + "visible", + "visible", + "occluded", + "visible" + ], + [ + "visible", + "visible", + "occluded", + "visible" + ] + ], + "visible_frac": [ + [ + 1.0, + 1.0, + 0.0, + 1.0 + ], + [ + 1.0, + 1.0, + 0.0, + 1.0 + ], + [ + 1.0, + 1.0, + 0.0, + 1.0 + ], + [ + 1.0, + 1.0, + 0.0, + 1.0 + ], + [ + 1.0, + 1.0, + 0.0, + 1.0 + ], + [ + 1.0, + 1.0, + 0.0, + 1.0 + ], + [ + 1.0, + 1.0, + 0.0, + 1.0 + ], + [ + 1.0, + 1.0, + 0.0, + 1.0 + ], + [ + 1.0, + 1.0, + 0.0, + 1.0 + ], + [ + 1.0, + 1.0, + 0.0, + 1.0 + ], + [ + 1.0, + 1.0, + 0.0, + 1.0 + ], + [ + 1.0, + 1.0, + 0.0, + 1.0 + ], + [ + 1.0, + 1.0, + 0.0, + 1.0 + ], + [ + 1.0, + 1.0, + 0.0, + 1.0 + ], + [ + 1.0, + 1.0, + 0.0, + 1.0 + ], + [ + 1.0, + 1.0, + 0.0, + 1.0 + ], + [ + 1.0, + 1.0, + 0.0, + 1.0 + ], + [ + 1.0, + 1.0, + 0.0, + 1.0 + ], + [ + 1.0, + 1.0, + 0.0, + 1.0 + ], + [ + 1.0, + 1.0, + 0.0, + 1.0 + ], + [ + 1.0, + 1.0, + 0.0, + 1.0 + ], + [ + 0.889, + 1.0, + 0.0, + 1.0 + ], + [ + 0.778, + 1.0, + 0.0, + 1.0 + ], + [ + 0.778, + 1.0, + 0.0, + 1.0 + ], + [ + 0.778, + 1.0, + 0.0, + 1.0 + ], + [ + 0.889, + 1.0, + 0.0, + 1.0 + ], + [ + 1.0, + 1.0, + 0.0, + 1.0 + ], + [ + 1.0, + 1.0, + 0.0, + 1.0 + ], + [ + 1.0, + 1.0, + 0.0, + 1.0 + ], + [ + 0.889, + 1.0, + 0.0, + 1.0 + ], + [ + 0.778, + 1.0, + 0.0, + 1.0 + ], + [ + 0.778, + 1.0, + 0.0, + 1.0 + ], + [ + 0.889, + 1.0, + 0.0, + 1.0 + ], + [ + 0.889, + 1.0, + 0.0, + 1.0 + ], + [ + 1.0, + 1.0, + 0.0, + 1.0 + ], + [ + 1.0, + 1.0, + 0.0, + 0.0 + ], + [ + 1.0, + 1.0, + 0.0, + 0.0 + ], + [ + 1.0, + 1.0, + 0.0, + 0.0 + ], + [ + 1.0, + 1.0, + 0.0, + 0.0 + ], + [ + 1.0, + 1.0, + 0.0, + 0.0 + ], + [ + 1.0, + 1.0, + 0.0, + 0.0 + ], + [ + 1.0, + 1.0, + 0.0, + 0.0 + ], + [ + 1.0, + 1.0, + 0.0, + 0.0 + ], + [ + 1.0, + 1.0, + 0.0, + 0.0 + ], + [ + 1.0, + 1.0, + 0.0, + 0.0 + ], + [ + 1.0, + 1.0, + 0.0, + 0.0 + ], + [ + 1.0, + 1.0, + 0.0, + 0.0 + ], + [ + 1.0, + 1.0, + 0.0, + 0.0 + ], + [ + 1.0, + 1.0, + 0.0, + 0.0 + ], + [ + 1.0, + 1.0, + 0.0, + 0.0 + ], + [ + 1.0, + 1.0, + 0.0, + 0.0 + ], + [ + 1.0, + 1.0, + 0.0, + 0.0 + ], + [ + 1.0, + 1.0, + 0.0, + 0.0 + ], + [ + 1.0, + 1.0, + 0.0, + 0.0 + ], + [ + 1.0, + 1.0, + 0.0, + 0.0 + ], + [ + 1.0, + 1.0, + 0.0, + 0.0 + ], + [ + 1.0, + 1.0, + 0.0, + 0.0 + ], + [ + 1.0, + 1.0, + 0.0, + 0.0 + ], + [ + 1.0, + 1.0, + 0.0, + 0.0 + ], + [ + 1.0, + 1.0, + 0.0, + 0.0 + ], + [ + 1.0, + 1.0, + 0.0, + 0.0 + ], + [ + 1.0, + 1.0, + 0.0, + 0.0 + ], + [ + 1.0, + 1.0, + 0.0, + 0.0 + ], + [ + 1.0, + 1.0, + 0.0, + 0.0 + ], + [ + 1.0, + 1.0, + 0.0, + 1.0 + ], + [ + 1.0, + 1.0, + 0.0, + 1.0 + ], + [ + 1.0, + 1.0, + 0.0, + 1.0 + ], + [ + 1.0, + 1.0, + 0.0, + 1.0 + ], + [ + 1.0, + 1.0, + 0.0, + 1.0 + ], + [ + 1.0, + 1.0, + 0.0, + 1.0 + ], + [ + 1.0, + 1.0, + 0.0, + 1.0 + ], + [ + 1.0, + 1.0, + 0.0, + 1.0 + ], + [ + 1.0, + 1.0, + 0.0, + 1.0 + ], + [ + 1.0, + 1.0, + 0.0, + 1.0 + ], + [ + 1.0, + 1.0, + 0.0, + 1.0 + ], + [ + 1.0, + 1.0, + 0.0, + 1.0 + ], + [ + 1.0, + 1.0, + 0.0, + 1.0 + ], + [ + 1.0, + 1.0, + 0.0, + 1.0 + ], + [ + 1.0, + 1.0, + 0.0, + 1.0 + ], + [ + 1.0, + 1.0, + 0.0, + 1.0 + ], + [ + 1.0, + 1.0, + 0.0, + 1.0 + ], + [ + 1.0, + 1.0, + 0.0, + 1.0 + ], + [ + 1.0, + 1.0, + 0.222, + 1.0 + ], + [ + 0.889, + 1.0, + 0.222, + 1.0 + ], + [ + 0.889, + 1.0, + 0.444, + 1.0 + ], + [ + 0.889, + 1.0, + 0.444, + 1.0 + ], + [ + 0.889, + 1.0, + 0.444, + 1.0 + ], + [ + 0.778, + 1.0, + 0.444, + 1.0 + ], + [ + 0.778, + 1.0, + 0.444, + 1.0 + ], + [ + 0.667, + 1.0, + 0.556, + 1.0 + ], + [ + 0.667, + 1.0, + 0.556, + 1.0 + ], + [ + 0.667, + 1.0, + 0.0, + 1.0 + ], + [ + 0.444, + 1.0, + 0.0, + 1.0 + ], + [ + 0.444, + 1.0, + 0.0, + 1.0 + ], + [ + 0.444, + 1.0, + 0.0, + 1.0 + ], + [ + 0.222, + 1.0, + 0.0, + 1.0 + ], + [ + 0.444, + 1.0, + 0.0, + 1.0 + ], + [ + 0.444, + 1.0, + 0.0, + 1.0 + ], + [ + 0.222, + 1.0, + 0.0, + 1.0 + ], + [ + 0.444, + 1.0, + 0.0, + 1.0 + ], + [ + 0.556, + 1.0, + 0.0, + 1.0 + ], + [ + 0.778, + 1.0, + 0.0, + 1.0 + ], + [ + 0.667, + 1.0, + 0.0, + 1.0 + ], + [ + 0.556, + 1.0, + 0.0, + 1.0 + ], + [ + 0.556, + 1.0, + 0.0, + 0.778 + ], + [ + 0.778, + 1.0, + 0.0, + 0.778 + ], + [ + 0.667, + 1.0, + 0.0, + 0.778 + ], + [ + 0.556, + 1.0, + 0.0, + 0.778 + ], + [ + 0.556, + 1.0, + 0.0, + 0.778 + ], + [ + 0.556, + 1.0, + 0.0, + 0.778 + ], + [ + 0.556, + 1.0, + 0.0, + 0.222 + ], + [ + 0.556, + 1.0, + 0.0, + 0.222 + ], + [ + 0.556, + 1.0, + 0.0, + 0.222 + ], + [ + 0.556, + 1.0, + 0.0, + 0.222 + ], + [ + 0.556, + 1.0, + 0.0, + 0.222 + ], + [ + 0.556, + 1.0, + 0.0, + 0.222 + ], + [ + 0.556, + 1.0, + 0.0, + 0.222 + ], + [ + 0.556, + 1.0, + 0.0, + 0.222 + ], + [ + 0.667, + 1.0, + 0.0, + 0.222 + ], + [ + 0.778, + 1.0, + 0.0, + 0.222 + ], + [ + 0.778, + 1.0, + 0.0, + 0.222 + ], + [ + 0.778, + 1.0, + 0.0, + 0.222 + ], + [ + 0.778, + 1.0, + 0.0, + 0.222 + ], + [ + 0.889, + 1.0, + 0.0, + 0.222 + ], + [ + 1.0, + 1.0, + 0.0, + 0.222 + ], + [ + 1.0, + 1.0, + 0.0, + 0.222 + ], + [ + 1.0, + 1.0, + 0.0, + 0.222 + ], + [ + 1.0, + 1.0, + 0.0, + 0.222 + ], + [ + 1.0, + 1.0, + 0.0, + 0.222 + ], + [ + 1.0, + 1.0, + 0.0, + 0.222 + ], + [ + 1.0, + 1.0, + 0.0, + 0.222 + ], + [ + 1.0, + 1.0, + 0.0, + 0.222 + ], + [ + 1.0, + 1.0, + 0.0, + 0.0 + ], + [ + 1.0, + 1.0, + 0.0, + 0.0 + ], + [ + 1.0, + 1.0, + 0.0, + 0.0 + ], + [ + 1.0, + 1.0, + 0.0, + 0.0 + ], + [ + 1.0, + 1.0, + 0.0, + 0.0 + ], + [ + 1.0, + 1.0, + 0.0, + 0.0 + ], + [ + 1.0, + 1.0, + 0.0, + 0.0 + ], + [ + 1.0, + 1.0, + 0.0, + 0.0 + ], + [ + 1.0, + 1.0, + 0.0, + 0.222 + ], + [ + 0.889, + 1.0, + 0.0, + 0.222 + ], + [ + 0.889, + 1.0, + 0.0, + 0.778 + ], + [ + 1.0, + 1.0, + 0.0, + 1.0 + ] + ], + "target_world_cm": [ + [ + -37878.4, + 2102.7, + 163.1 + ], + [ + -37866.7, + 2109.0, + 163.1 + ], + [ + -37854.9, + 2115.2, + 163.1 + ], + [ + -37843.1, + 2121.5, + 163.1 + ], + [ + -37831.3, + 2127.7, + 163.1 + ], + [ + -37819.5, + 2133.9, + 163.1 + ], + [ + -37807.7, + 2140.0, + 163.1 + ], + [ + -37795.8, + 2146.2, + 163.1 + ], + [ + -37784.0, + 2152.2, + 163.1 + ], + [ + -37772.1, + 2158.3, + 163.1 + ], + [ + -37760.2, + 2164.3, + 163.1 + ], + [ + -37748.2, + 2170.2, + 163.1 + ], + [ + -37736.3, + 2176.1, + 163.1 + ], + [ + -37724.3, + 2182.0, + 163.1 + ], + [ + -37712.3, + 2187.8, + 163.1 + ], + [ + -37700.3, + 2193.6, + 163.1 + ], + [ + -37688.3, + 2199.4, + 163.1 + ], + [ + -37676.3, + 2205.1, + 163.1 + ], + [ + -37664.2, + 2210.8, + 163.1 + ], + [ + -37652.2, + 2216.5, + 163.1 + ], + [ + -37640.1, + 2222.2, + 163.1 + ], + [ + -37628.0, + 2227.9, + 163.1 + ], + [ + -37616.0, + 2233.6, + 163.1 + ], + [ + -37603.9, + 2239.3, + 163.1 + ], + [ + -37591.9, + 2245.0, + 163.1 + ], + [ + -37579.8, + 2250.7, + 163.1 + ], + [ + -37567.8, + 2256.4, + 163.1 + ], + [ + -37555.7, + 2262.1, + 163.1 + ], + [ + -37543.7, + 2267.8, + 163.1 + ], + [ + -37531.6, + 2273.5, + 163.1 + ], + [ + -37519.6, + 2279.3, + 163.1 + ], + [ + -37507.5, + 2285.0, + 163.1 + ], + [ + -37495.5, + 2290.7, + 163.1 + ], + [ + -37483.5, + 2296.5, + 163.1 + ], + [ + -37471.5, + 2302.2, + 163.1 + ], + [ + -37459.4, + 2308.0, + 163.1 + ], + [ + -37447.4, + 2313.7, + 163.1 + ], + [ + -37435.4, + 2319.5, + 163.1 + ], + [ + -37423.4, + 2325.3, + 163.1 + ], + [ + -37411.3, + 2331.1, + 163.1 + ], + [ + -37399.3, + 2336.8, + 163.1 + ], + [ + -37387.3, + 2342.6, + 163.1 + ], + [ + -37375.3, + 2348.4, + 163.1 + ], + [ + -37363.3, + 2354.2, + 163.1 + ], + [ + -37351.3, + 2360.0, + 163.1 + ], + [ + -37339.3, + 2365.9, + 163.1 + ], + [ + -37327.3, + 2371.7, + 163.1 + ], + [ + -37315.3, + 2377.5, + 163.1 + ], + [ + -37303.3, + 2383.3, + 163.1 + ], + [ + -37291.3, + 2389.2, + 163.1 + ], + [ + -37279.4, + 2395.0, + 163.1 + ], + [ + -37267.4, + 2400.9, + 163.1 + ], + [ + -37255.4, + 2406.7, + 163.1 + ], + [ + -37243.4, + 2412.6, + 163.1 + ], + [ + -37231.4, + 2418.4, + 163.1 + ], + [ + -37219.5, + 2424.3, + 163.1 + ], + [ + -37207.5, + 2430.2, + 163.1 + ], + [ + -37195.5, + 2436.1, + 163.1 + ], + [ + -37183.6, + 2442.0, + 163.1 + ], + [ + -37171.6, + 2447.9, + 163.1 + ], + [ + -37159.7, + 2453.8, + 163.1 + ], + [ + -37147.7, + 2459.7, + 163.1 + ], + [ + -37135.8, + 2465.6, + 163.1 + ], + [ + -37123.8, + 2471.5, + 163.1 + ], + [ + -37111.9, + 2477.4, + 163.1 + ], + [ + -37099.9, + 2483.4, + 163.1 + ], + [ + -37088.0, + 2489.3, + 163.1 + ], + [ + -37076.0, + 2495.2, + 163.1 + ], + [ + -37064.1, + 2501.2, + 163.1 + ], + [ + -37052.2, + 2507.1, + 163.1 + ], + [ + -37040.2, + 2513.1, + 163.1 + ], + [ + -37028.3, + 2519.0, + 163.1 + ], + [ + -37016.4, + 2525.0, + 163.1 + ], + [ + -37004.5, + 2531.0, + 163.1 + ], + [ + -36992.6, + 2537.0, + 163.1 + ], + [ + -36980.6, + 2542.9, + 163.1 + ], + [ + -36968.7, + 2548.9, + 163.1 + ], + [ + -36956.8, + 2554.9, + 163.1 + ], + [ + -36944.9, + 2560.9, + 163.1 + ], + [ + -36933.0, + 2566.9, + 163.1 + ], + [ + -36921.1, + 2572.9, + 163.1 + ], + [ + -36909.2, + 2578.9, + 163.1 + ], + [ + -36897.3, + 2585.0, + 163.1 + ], + [ + -36885.4, + 2591.0, + 163.1 + ], + [ + -36873.5, + 2597.0, + 163.1 + ], + [ + -36861.6, + 2603.0, + 163.1 + ], + [ + -36849.7, + 2609.1, + 163.1 + ], + [ + -36837.8, + 2615.1, + 163.1 + ], + [ + -36826.0, + 2621.2, + 163.1 + ], + [ + -36814.0, + 2626.3, + 163.1 + ], + [ + -36801.4, + 2630.7, + 163.1 + ], + [ + -36788.7, + 2634.7, + 163.1 + ], + [ + -36775.9, + 2638.5, + 163.1 + ], + [ + -36763.1, + 2642.0, + 163.1 + ], + [ + -36750.1, + 2645.2, + 163.1 + ], + [ + -36737.1, + 2648.1, + 163.1 + ], + [ + -36724.1, + 2650.9, + 163.1 + ], + [ + -36711.0, + 2653.4, + 163.1 + ], + [ + -36697.9, + 2655.9, + 163.1 + ], + [ + -36684.8, + 2658.4, + 163.1 + ], + [ + -36671.7, + 2661.0, + 163.1 + ], + [ + -36658.6, + 2663.6, + 163.1 + ], + [ + -36645.6, + 2666.3, + 163.1 + ], + [ + -36632.5, + 2669.0, + 163.1 + ], + [ + -36619.5, + 2672.0, + 163.1 + ], + [ + -36606.6, + 2675.1, + 163.1 + ], + [ + -36593.7, + 2678.6, + 163.1 + ], + [ + -36581.0, + 2682.7, + 163.1 + ], + [ + -36568.6, + 2687.5, + 163.1 + ], + [ + -36556.4, + 2693.0, + 163.1 + ], + [ + -36544.6, + 2699.3, + 163.1 + ], + [ + -36533.3, + 2706.2, + 163.1 + ], + [ + -36522.3, + 2713.7, + 163.1 + ], + [ + -36511.7, + 2721.8, + 163.1 + ], + [ + -36501.5, + 2730.4, + 163.1 + ], + [ + -36491.6, + 2739.3, + 163.1 + ], + [ + -36481.9, + 2748.6, + 163.1 + ], + [ + -36472.5, + 2757.9, + 163.1 + ], + [ + -36463.1, + 2767.4, + 163.1 + ], + [ + -36453.7, + 2776.9, + 163.1 + ], + [ + -36444.5, + 2786.5, + 163.1 + ], + [ + -36435.3, + 2796.2, + 163.1 + ], + [ + -36426.1, + 2805.8, + 163.1 + ], + [ + -36416.9, + 2815.5, + 163.1 + ], + [ + -36407.8, + 2825.2, + 163.1 + ], + [ + -36398.5, + 2834.8, + 163.1 + ], + [ + -36389.1, + 2844.2, + 163.1 + ], + [ + -36379.5, + 2853.5, + 163.1 + ], + [ + -36369.7, + 2862.5, + 163.1 + ], + [ + -36359.7, + 2871.4, + 163.1 + ], + [ + -36349.5, + 2880.0, + 163.1 + ], + [ + -36339.2, + 2888.5, + 163.1 + ], + [ + -36328.7, + 2896.7, + 163.1 + ], + [ + -36318.0, + 2904.6, + 163.1 + ], + [ + -36307.1, + 2912.3, + 163.1 + ], + [ + -36296.0, + 2919.7, + 163.1 + ], + [ + -36284.7, + 2926.8, + 163.1 + ], + [ + -36273.2, + 2933.5, + 163.1 + ], + [ + -36261.5, + 2939.9, + 163.1 + ], + [ + -36249.6, + 2946.0, + 163.1 + ], + [ + -36237.6, + 2951.6, + 163.1 + ], + [ + -36225.3, + 2956.9, + 163.1 + ], + [ + -36212.9, + 2961.9, + 163.1 + ], + [ + -36200.5, + 2966.6, + 163.1 + ] + ], + "target_bbox_cm": [ + [ + -37878.4, + 2102.7, + 163.1, + 53.8, + 53.8, + 88.0 + ], + [ + -37866.7, + 2109.0, + 163.1, + 53.9, + 53.9, + 88.0 + ], + [ + -37854.9, + 2115.2, + 163.1, + 53.9, + 53.9, + 88.0 + ], + [ + -37843.1, + 2121.5, + 163.1, + 53.9, + 53.9, + 88.0 + ], + [ + -37831.3, + 2127.7, + 163.1, + 53.9, + 53.9, + 88.0 + ], + [ + -37819.5, + 2133.9, + 163.1, + 53.9, + 53.9, + 88.0 + ], + [ + -37807.7, + 2140.0, + 163.1, + 53.9, + 53.9, + 88.0 + ], + [ + -37795.8, + 2146.2, + 163.1, + 53.9, + 53.9, + 88.0 + ], + [ + -37784.0, + 2152.2, + 163.1, + 53.9, + 53.9, + 88.0 + ], + [ + -37772.1, + 2158.3, + 163.1, + 53.9, + 53.9, + 88.0 + ], + [ + -37760.2, + 2164.3, + 163.1, + 53.9, + 53.9, + 88.0 + ], + [ + -37748.2, + 2170.2, + 163.1, + 53.9, + 53.9, + 88.0 + ], + [ + -37736.3, + 2176.1, + 163.1, + 53.8, + 53.8, + 88.0 + ], + [ + -37724.3, + 2182.0, + 163.1, + 53.8, + 53.8, + 88.0 + ], + [ + -37712.3, + 2187.8, + 163.1, + 53.8, + 53.8, + 88.0 + ], + [ + -37700.3, + 2193.6, + 163.1, + 53.7, + 53.7, + 88.0 + ], + [ + -37688.3, + 2199.4, + 163.1, + 53.7, + 53.7, + 88.0 + ], + [ + -37676.3, + 2205.1, + 163.1, + 53.7, + 53.7, + 88.0 + ], + [ + -37664.2, + 2210.8, + 163.1, + 53.7, + 53.7, + 88.0 + ], + [ + -37652.2, + 2216.5, + 163.1, + 53.6, + 53.6, + 88.0 + ], + [ + -37640.1, + 2222.2, + 163.1, + 53.6, + 53.6, + 88.0 + ], + [ + -37628.0, + 2227.9, + 163.1, + 53.6, + 53.6, + 88.0 + ], + [ + -37616.0, + 2233.6, + 163.1, + 53.6, + 53.6, + 88.0 + ], + [ + -37603.9, + 2239.3, + 163.1, + 53.6, + 53.6, + 88.0 + ], + [ + -37591.9, + 2245.0, + 163.1, + 53.5, + 53.5, + 88.0 + ], + [ + -37579.8, + 2250.7, + 163.1, + 53.5, + 53.5, + 88.0 + ], + [ + -37567.8, + 2256.4, + 163.1, + 53.5, + 53.5, + 88.0 + ], + [ + -37555.7, + 2262.1, + 163.1, + 53.5, + 53.5, + 88.0 + ], + [ + -37543.7, + 2267.8, + 163.1, + 53.5, + 53.5, + 88.0 + ], + [ + -37531.6, + 2273.5, + 163.1, + 53.5, + 53.5, + 88.0 + ], + [ + -37519.6, + 2279.3, + 163.1, + 53.5, + 53.5, + 88.0 + ], + [ + -37507.5, + 2285.0, + 163.1, + 53.5, + 53.5, + 88.0 + ], + [ + -37495.5, + 2290.7, + 163.1, + 53.5, + 53.5, + 88.0 + ], + [ + -37483.5, + 2296.5, + 163.1, + 53.5, + 53.5, + 88.0 + ], + [ + -37471.5, + 2302.2, + 163.1, + 53.5, + 53.5, + 88.0 + ], + [ + -37459.4, + 2308.0, + 163.1, + 53.5, + 53.5, + 88.0 + ], + [ + -37447.4, + 2313.7, + 163.1, + 53.5, + 53.5, + 88.0 + ], + [ + -37435.4, + 2319.5, + 163.1, + 53.5, + 53.5, + 88.0 + ], + [ + -37423.4, + 2325.3, + 163.1, + 53.5, + 53.5, + 88.0 + ], + [ + -37411.3, + 2331.1, + 163.1, + 53.6, + 53.6, + 88.0 + ], + [ + -37399.3, + 2336.8, + 163.1, + 53.6, + 53.6, + 88.0 + ], + [ + -37387.3, + 2342.6, + 163.1, + 53.6, + 53.6, + 88.0 + ], + [ + -37375.3, + 2348.4, + 163.1, + 53.6, + 53.6, + 88.0 + ], + [ + -37363.3, + 2354.2, + 163.1, + 53.6, + 53.6, + 88.0 + ], + [ + -37351.3, + 2360.0, + 163.1, + 53.6, + 53.6, + 88.0 + ], + [ + -37339.3, + 2365.9, + 163.1, + 53.6, + 53.6, + 88.0 + ], + [ + -37327.3, + 2371.7, + 163.1, + 53.6, + 53.6, + 88.0 + ], + [ + -37315.3, + 2377.5, + 163.1, + 53.6, + 53.6, + 88.0 + ], + [ + -37303.3, + 2383.3, + 163.1, + 53.6, + 53.6, + 88.0 + ], + [ + -37291.3, + 2389.2, + 163.1, + 53.6, + 53.6, + 88.0 + ], + [ + -37279.4, + 2395.0, + 163.1, + 53.6, + 53.6, + 88.0 + ], + [ + -37267.4, + 2400.9, + 163.1, + 53.6, + 53.6, + 88.0 + ], + [ + -37255.4, + 2406.7, + 163.1, + 53.6, + 53.6, + 88.0 + ], + [ + -37243.4, + 2412.6, + 163.1, + 53.6, + 53.6, + 88.0 + ], + [ + -37231.4, + 2418.4, + 163.1, + 53.6, + 53.6, + 88.0 + ], + [ + -37219.5, + 2424.3, + 163.1, + 53.6, + 53.6, + 88.0 + ], + [ + -37207.5, + 2430.2, + 163.1, + 53.6, + 53.6, + 88.0 + ], + [ + -37195.5, + 2436.1, + 163.1, + 53.6, + 53.6, + 88.0 + ], + [ + -37183.6, + 2442.0, + 163.1, + 53.6, + 53.6, + 88.0 + ], + [ + -37171.6, + 2447.9, + 163.1, + 53.7, + 53.7, + 88.0 + ], + [ + -37159.7, + 2453.8, + 163.1, + 53.7, + 53.7, + 88.0 + ], + [ + -37147.7, + 2459.7, + 163.1, + 53.7, + 53.7, + 88.0 + ], + [ + -37135.8, + 2465.6, + 163.1, + 53.7, + 53.7, + 88.0 + ], + [ + -37123.8, + 2471.5, + 163.1, + 53.7, + 53.7, + 88.0 + ], + [ + -37111.9, + 2477.4, + 163.1, + 53.7, + 53.7, + 88.0 + ], + [ + -37099.9, + 2483.4, + 163.1, + 53.7, + 53.7, + 88.0 + ], + [ + -37088.0, + 2489.3, + 163.1, + 53.7, + 53.7, + 88.0 + ], + [ + -37076.0, + 2495.2, + 163.1, + 53.7, + 53.7, + 88.0 + ], + [ + -37064.1, + 2501.2, + 163.1, + 53.7, + 53.7, + 88.0 + ], + [ + -37052.2, + 2507.1, + 163.1, + 53.7, + 53.7, + 88.0 + ], + [ + -37040.2, + 2513.1, + 163.1, + 53.7, + 53.7, + 88.0 + ], + [ + -37028.3, + 2519.0, + 163.1, + 53.7, + 53.7, + 88.0 + ], + [ + -37016.4, + 2525.0, + 163.1, + 53.7, + 53.7, + 88.0 + ], + [ + -37004.5, + 2531.0, + 163.1, + 53.7, + 53.7, + 88.0 + ], + [ + -36992.6, + 2537.0, + 163.1, + 53.7, + 53.7, + 88.0 + ], + [ + -36980.6, + 2542.9, + 163.1, + 53.7, + 53.7, + 88.0 + ], + [ + -36968.7, + 2548.9, + 163.1, + 53.7, + 53.7, + 88.0 + ], + [ + -36956.8, + 2554.9, + 163.1, + 53.7, + 53.7, + 88.0 + ], + [ + -36944.9, + 2560.9, + 163.1, + 53.7, + 53.7, + 88.0 + ], + [ + -36933.0, + 2566.9, + 163.1, + 53.8, + 53.8, + 88.0 + ], + [ + -36921.1, + 2572.9, + 163.1, + 53.8, + 53.8, + 88.0 + ], + [ + -36909.2, + 2578.9, + 163.1, + 53.8, + 53.8, + 88.0 + ], + [ + -36897.3, + 2585.0, + 163.1, + 53.8, + 53.8, + 88.0 + ], + [ + -36885.4, + 2591.0, + 163.1, + 53.8, + 53.8, + 88.0 + ], + [ + -36873.5, + 2597.0, + 163.1, + 53.8, + 53.8, + 88.0 + ], + [ + -36861.6, + 2603.0, + 163.1, + 53.8, + 53.8, + 88.0 + ], + [ + -36849.7, + 2609.1, + 163.1, + 53.8, + 53.8, + 88.0 + ], + [ + -36837.8, + 2615.1, + 163.1, + 53.8, + 53.8, + 88.0 + ], + [ + -36826.0, + 2621.2, + 163.1, + 53.8, + 53.8, + 88.0 + ], + [ + -36814.0, + 2626.3, + 163.1, + 53.8, + 53.8, + 88.0 + ], + [ + -36801.4, + 2630.7, + 163.1, + 53.7, + 53.7, + 88.0 + ], + [ + -36788.7, + 2634.7, + 163.1, + 53.4, + 53.4, + 88.0 + ], + [ + -36775.9, + 2638.5, + 163.1, + 53.1, + 53.1, + 88.0 + ], + [ + -36763.1, + 2642.0, + 163.1, + 52.8, + 52.8, + 88.0 + ], + [ + -36750.1, + 2645.2, + 163.1, + 52.5, + 52.5, + 88.0 + ], + [ + -36737.1, + 2648.1, + 163.1, + 52.2, + 52.2, + 88.0 + ], + [ + -36724.1, + 2650.9, + 163.1, + 51.9, + 51.9, + 88.0 + ], + [ + -36711.0, + 2653.4, + 163.1, + 51.6, + 51.6, + 88.0 + ], + [ + -36697.9, + 2655.9, + 163.1, + 51.4, + 51.4, + 88.0 + ], + [ + -36684.8, + 2658.4, + 163.1, + 51.1, + 51.1, + 88.0 + ], + [ + -36671.7, + 2661.0, + 163.1, + 50.9, + 50.9, + 88.0 + ], + [ + -36658.6, + 2663.6, + 163.1, + 50.8, + 50.8, + 88.0 + ], + [ + -36645.6, + 2666.3, + 163.1, + 50.7, + 50.7, + 88.0 + ], + [ + -36632.5, + 2669.0, + 163.1, + 50.6, + 50.6, + 88.0 + ], + [ + -36619.5, + 2672.0, + 163.1, + 50.6, + 50.6, + 88.0 + ], + [ + -36606.6, + 2675.1, + 163.1, + 50.6, + 50.6, + 88.0 + ], + [ + -36593.7, + 2678.6, + 163.1, + 50.6, + 50.6, + 88.0 + ], + [ + -36581.0, + 2682.7, + 163.1, + 50.8, + 50.8, + 88.0 + ], + [ + -36568.6, + 2687.5, + 163.1, + 51.0, + 51.0, + 88.0 + ], + [ + -36556.4, + 2693.0, + 163.1, + 51.3, + 51.3, + 88.0 + ], + [ + -36544.6, + 2699.3, + 163.1, + 51.8, + 51.8, + 88.0 + ], + [ + -36533.3, + 2706.2, + 163.1, + 52.3, + 52.3, + 88.0 + ], + [ + -36522.3, + 2713.7, + 163.1, + 52.8, + 52.8, + 88.0 + ], + [ + -36511.7, + 2721.8, + 163.1, + 53.3, + 53.3, + 88.0 + ], + [ + -36501.5, + 2730.4, + 163.1, + 53.8, + 53.8, + 88.0 + ], + [ + -36491.6, + 2739.3, + 163.1, + 54.3, + 54.3, + 88.0 + ], + [ + -36481.9, + 2748.6, + 163.1, + 54.7, + 54.7, + 88.0 + ], + [ + -36472.5, + 2757.9, + 163.1, + 55.0, + 55.0, + 88.0 + ], + [ + -36463.1, + 2767.4, + 163.1, + 55.3, + 55.3, + 88.0 + ], + [ + -36453.7, + 2776.9, + 163.1, + 55.5, + 55.5, + 88.0 + ], + [ + -36444.5, + 2786.5, + 163.1, + 55.7, + 55.7, + 88.0 + ], + [ + -36435.3, + 2796.2, + 163.1, + 55.8, + 55.8, + 88.0 + ], + [ + -36426.1, + 2805.8, + 163.1, + 55.9, + 55.9, + 88.0 + ], + [ + -36416.9, + 2815.5, + 163.1, + 56.0, + 56.0, + 88.0 + ], + [ + -36407.8, + 2825.2, + 163.1, + 56.0, + 56.0, + 88.0 + ], + [ + -36398.5, + 2834.8, + 163.1, + 56.1, + 56.1, + 88.0 + ], + [ + -36389.1, + 2844.2, + 163.1, + 56.1, + 56.1, + 88.0 + ], + [ + -36379.5, + 2853.5, + 163.1, + 56.1, + 56.1, + 88.0 + ], + [ + -36369.7, + 2862.5, + 163.1, + 56.1, + 56.1, + 88.0 + ], + [ + -36359.7, + 2871.4, + 163.1, + 56.1, + 56.1, + 88.0 + ], + [ + -36349.5, + 2880.0, + 163.1, + 56.0, + 56.0, + 88.0 + ], + [ + -36339.2, + 2888.5, + 163.1, + 56.0, + 56.0, + 88.0 + ], + [ + -36328.7, + 2896.7, + 163.1, + 55.9, + 55.9, + 88.0 + ], + [ + -36318.0, + 2904.6, + 163.1, + 55.8, + 55.8, + 88.0 + ], + [ + -36307.1, + 2912.3, + 163.1, + 55.7, + 55.7, + 88.0 + ], + [ + -36296.0, + 2919.7, + 163.1, + 55.6, + 55.6, + 88.0 + ], + [ + -36284.7, + 2926.8, + 163.1, + 55.5, + 55.5, + 88.0 + ], + [ + -36273.2, + 2933.5, + 163.1, + 55.4, + 55.4, + 88.0 + ], + [ + -36261.5, + 2939.9, + 163.1, + 55.2, + 55.2, + 88.0 + ], + [ + -36249.6, + 2946.0, + 163.1, + 55.0, + 55.0, + 88.0 + ], + [ + -36237.6, + 2951.6, + 163.1, + 54.8, + 54.8, + 88.0 + ], + [ + -36225.3, + 2956.9, + 163.1, + 54.5, + 54.5, + 88.0 + ], + [ + -36212.9, + 2961.9, + 163.1, + 54.3, + 54.3, + 88.0 + ], + [ + -36200.5, + 2966.6, + 163.1, + 54.0, + 54.0, + 88.0 + ] + ], + "target_bbox_format": "[cx,cy,cz,ex,ey,ez] (\uc911\uc2ec + \ubc18\ud06c\uae30, cm, UE)", + "target_world_cam01_m": [ + [ + -0.00012995960099004833, + 1.0909796551101465, + 12.203033619328096 + ], + [ + -0.00046395990450065483, + 1.0908951956403925, + 12.203712636899297 + ], + [ + 0.00016600015863232898, + 1.0909343335304058, + 12.203419884987625 + ], + [ + -0.00035307106760029683, + 1.090961419966284, + 12.203217220349245 + ], + [ + -0.0001075994103132416, + 1.0909737265484694, + 12.203125966259051 + ], + [ + -0.00015523716981036273, + 1.090964669502256, + 12.203195751253816 + ], + [ + 0.0004499166802673926, + 1.0909339097276742, + 12.203429131555424 + ], + [ + -0.0003681477557098134, + 1.0910018206292165, + 12.202917975285402 + ], + [ + 0.00043598677440570555, + 1.0909170600037328, + 12.203557657858198 + ], + [ + -0.00022924962620862743, + 1.090926452518886, + 12.20348761350391 + ], + [ + -0.00033184274674979974, + 1.090908996153594, + 12.20361995619885 + ], + [ + 7.712051308317314e-05, + 1.090997812115738, + 12.20295121733983 + ], + [ + 0.0001317447832356322, + 1.0909247810219398, + 12.203502482758665 + ], + [ + -0.00026068065257689454, + 1.090953638075021, + 12.20328495805785 + ], + [ + -1.0846298934552578e-05, + 1.0909645871712144, + 12.203203180169282 + ], + [ + -7.564221019151773e-05, + 1.0909517352414042, + 12.203300058121215 + ], + [ + -0.0004131696855615985, + 1.0909180504688365, + 12.203554730709016 + ], + [ + 2.6208186326925897e-05, + 1.090877780387629, + 12.203858286944751 + ], + [ + 0.00019735656037767058, + 1.0909551364443146, + 12.203275932797737 + ], + [ + 0.00032482030169944665, + 1.090891104139807, + 12.20375860890465 + ], + [ + 0.0002620680662168695, + 1.0909506665002127, + 12.203309627279168 + ], + [ + 0.00013955148117972271, + 1.0910057110086413, + 12.202894701262494 + ], + [ + 0.00010299825428106146, + 1.0909282175582504, + 12.203479604103848 + ], + [ + -4.286237025041828e-05, + 1.0909816144044981, + 12.203077098153585 + ], + [ + -4.02583140761692e-05, + 1.0909065371010769, + 12.203643031597665 + ], + [ + -0.00011708863107173784, + 1.0909654672749696, + 12.203198815371366 + ], + [ + -1.3986142075594898e-05, + 1.0908983614750625, + 12.203704659546759 + ], + [ + 1.1872204339624659e-05, + 1.0909664248987667, + 12.203191596796785 + ], + [ + 0.00022721709524731182, + 1.090908895296721, + 12.203625255502118 + ], + [ + 0.0003510767692631589, + 1.0909863132638833, + 12.2030416781148 + ], + [ + -0.00031750831652033185, + 1.0909184678697557, + 12.203553097340887 + ], + [ + -9.617900401082125e-05, + 1.091005182028134, + 12.202900201634861 + ], + [ + 0.0003335330230598288, + 1.090967110255633, + 12.20318718705471 + ], + [ + -0.00016752656460283788, + 1.0909123322566359, + 12.20360010415942 + ], + [ + 0.000372609552776737, + 1.0908845383151302, + 12.203809615186742 + ], + [ + -0.00019534305362611804, + 1.0909683713093088, + 12.20317768120725 + ], + [ + 0.00044846249626573353, + 1.0909512438403866, + 12.203306788257635 + ], + [ + 0.0001601468172154341, + 1.0909152626250318, + 12.203578015019957 + ], + [ + -7.038691062888347e-05, + 1.0908839902811778, + 12.203813746262142 + ], + [ + -0.0004451413736745735, + 1.0909864449255053, + 12.203041442098197 + ], + [ + 0.0004061531624586223, + 1.0909915622940431, + 12.20300286734107 + ], + [ + 0.00033038531842777275, + 1.0909756608766514, + 12.20312273238602 + ], + [ + 0.0003071365139817317, + 1.0909649402836195, + 12.203203544325277 + ], + [ + 0.00033583090971944785, + 1.0909595143080324, + 12.203244445385394 + ], + [ + 0.0004158686516149146, + 1.090959494506187, + 12.203244594653654 + ], + [ + -0.0004301362936232067, + 1.0909349599851907, + 12.203429536104636 + ], + [ + -0.000248124177403497, + 1.0909454227906252, + 12.203350667374366 + ], + [ + -1.668386117614773e-05, + 1.090961613110224, + 12.203228624585165 + ], + [ + 0.0002634918749180315, + 1.090983632874888, + 12.203062639380335 + ], + [ + -0.0003770108870639888, + 1.0909789358371, + 12.203098045684953 + ], + [ + 0.0002529472154577661, + 1.0908850345084744, + 12.203805874873353 + ], + [ + -0.000284896110699151, + 1.0908907011489717, + 12.203763159667574 + ], + [ + 0.00019046542563216917, + 1.0909358811759304, + 12.20342259217324 + ], + [ + -0.00025577942430743406, + 1.090952118358814, + 12.203300196113048 + ], + [ + 0.0003101262708895547, + 1.09100934500227, + 12.202868821102356 + ], + [ + 0.00023664295473224684, + 1.0909101731612694, + 12.203616379451432 + ], + [ + -6.44318510580888e-05, + 1.0909427811830668, + 12.203370579843295 + ], + [ + -0.00032094798862658536, + 1.090980733791362, + 12.203084492688618 + ], + [ + -0.00024113084889165748, + 1.0908983543461375, + 12.20370546979018 + ], + [ + -0.0004061136312003555, + 1.0909474226482558, + 12.203335592423855 + ], + [ + -0.00022668572688644417, + 1.090876707730466, + 12.203868642200462 + ], + [ + -0.00030676416481867363, + 1.090937188786441, + 12.203412735380937 + ], + [ + -3.1268184159216617e-05, + 1.0908784364474116, + 12.203855611118797 + ], + [ + -2.3649420029414614e-05, + 1.0909506028973794, + 12.203311619681813 + ], + [ + 0.00034424718640480023, + 1.0909040865748736, + 12.203662260204112 + ], + [ + -0.0005124531327425075, + 1.0909452266132647, + 12.203352146155908 + ], + [ + -5.425379636392336e-05, + 1.090910558993663, + 12.203613471036476 + ], + [ + 0.00011291227438903206, + 1.0910061802446762, + 12.20289267707301 + ], + [ + -0.0002841193742000314, + 1.090939359055021, + 12.203396375874831 + ], + [ + 0.00030074082771136545, + 1.0909233156373759, + 12.203517311333485 + ], + [ + -0.00035612097354942307, + 1.0909908963218555, + 12.20300788742935 + ], + [ + 0.00031254436987637746, + 1.090987226004593, + 12.203035554332757 + ], + [ + 8.866829828946265e-05, + 1.090942854875479, + 12.20337002435241 + ], + [ + -9.225229044318439e-05, + 1.0909039536149479, + 12.203663262447947 + ], + [ + -0.0002311975452897741, + 1.0908705628077868, + 12.203914962690476 + ], + [ + 0.0002234219913503921, + 1.091013916862586, + 12.202834358370524 + ], + [ + 0.00015878377166700375, + 1.0909920260671697, + 12.202999371408566 + ], + [ + 0.00013312088651673548, + 1.0909757443440995, + 12.20312210320293 + ], + [ + 0.00014224189072820081, + 1.0909650998791705, + 12.203202341288488 + ], + [ + 0.0001915003707466667, + 1.0909601178120667, + 12.203239896162245 + ], + [ + 0.00027669477061920134, + 1.0909608202285455, + 12.203234601341535 + ], + [ + 0.0003968028823919667, + 1.0909672262008883, + 12.203186313059064 + ], + [ + -0.0003623675635537893, + 1.0909257505710244, + 12.203498956764747 + ], + [ + -0.00017341328134534706, + 1.0909429948051326, + 12.203368969555754 + ], + [ + 4.739357970606761e-05, + 1.0909659833674965, + 12.203195681542468 + ], + [ + 0.00029902055140951234, + 1.090994723528425, + 12.202979037920898 + ], + [ + -0.00032737818841610533, + 1.0909731705967047, + 12.203141504127416 + ], + [ + -1.5017975158571062e-05, + 1.0910128159383277, + 12.20284265714372 + ], + [ + -0.00013969257940971147, + 1.090882568210688, + 12.203824465842786 + ], + [ + -0.0004043949002721092, + 1.090928333162637, + 12.20347948916202 + ], + [ + -0.00017275514957759697, + 1.0909833771123871, + 12.20306456731123 + ], + [ + 0.00024475233269072305, + 1.0910033123327025, + 12.20291429542533 + ], + [ + -6.868016663474918e-05, + 1.090998753642566, + 12.20294865887189 + ], + [ + 8.311393776239129e-05, + 1.090904060333493, + 12.203662458006022 + ], + [ + -0.000330675685006554, + 1.0909522303933343, + 12.203299351594467 + ], + [ + 0.00023342321165387148, + 1.0909916455061932, + 12.203002240082526 + ], + [ + -0.00017363007577841927, + 1.09088626284192, + 12.203796615674207 + ], + [ + 0.0003704925946692583, + 1.0909499221200178, + 12.203316751396528 + ], + [ + 6.567188597728091e-05, + 1.0909224017982027, + 12.203524199857384 + ], + [ + 7.158259819561863e-06, + 1.0909211785041748, + 12.203533421059035 + ], + [ + -0.000366701286765192, + 1.0909174365338146, + 12.203561628062289 + ], + [ + -0.00033848240138922847, + 1.090958856230202, + 12.203249405968336 + ], + [ + -0.00018973811995692813, + 1.0908780813217192, + 12.203858288056608 + ], + [ + 0.00026306881770210566, + 1.091005798428327, + 12.202895555211398 + ], + [ + -0.00027696288941569946, + 1.0909542381946693, + 12.20328421676868 + ], + [ + 0.0005108605688235457, + 1.0909339038856416, + 12.203437497013567 + ], + [ + 0.000358279665789496, + 1.0909760477118269, + 12.20311981641828 + ], + [ + -3.7261083036810305e-05, + 1.0909405090617597, + 12.203387707117656 + ], + [ + 1.1649088662579743e-06, + 1.0908672739405745, + 12.203939754210069 + ], + [ + -8.947243330226229e-05, + 1.0909653130435757, + 12.20320073444833 + ], + [ + -0.0006117322913326007, + 1.090960188188376, + 12.203239365648699 + ], + [ + 0.0001485375283891699, + 1.0908851909721946, + 12.203804695445683 + ], + [ + 0.0005333509380136547, + 1.0909378029376668, + 12.203408105919891 + ], + [ + 0.0004927907749276983, + 1.0909513093280694, + 12.203306294610229 + ], + [ + 0.0003099114925646518, + 1.0909090143299238, + 12.203625114734677 + ], + [ + 0.000593775288479037, + 1.090943527900187, + 12.203364951095068 + ], + [ + -0.00048512310428350247, + 1.0909389675519563, + 12.203399327025522 + ], + [ + 0.000607767090031075, + 1.0909178537172366, + 12.203558483348672 + ], + [ + 0.0002910400721134465, + 1.0909195472790358, + 12.203545717256361 + ], + [ + 0.00011704906063414455, + 1.0910290576765718, + 12.202720226757492 + ], + [ + 0.0003893745502523416, + 1.0909465680380563, + 12.203342034500679 + ], + [ + -4.558635842499825e-05, + 1.0908776970344576, + 12.203861184820994 + ], + [ + 0.00041937234979627647, + 1.0909649834185373, + 12.203203219175009 + ], + [ + 0.00010673986847109518, + 1.0910137045533403, + 12.202835958757078 + ], + [ + 0.0003314599104555782, + 1.0909010063262627, + 12.203685479148533 + ], + [ + 1.0708418017202348e-05, + 1.0909079893545268, + 12.203632841003923 + ], + [ + 0.0004101193845258422, + 1.0909076939174298, + 12.203635068019537 + ], + [ + 3.2049101690745374e-05, + 1.0908657932895593, + 12.203950915373184 + ], + [ + 0.00038368207518146846, + 1.0909170165721775, + 12.203564793752207 + ], + [ + -0.00018316278271868214, + 1.090901008826549, + 12.203685460291297 + ], + [ + -0.0001260124709858701, + 1.0909908187989927, + 12.203008471802718 + ], + [ + -0.0004567055378288387, + 1.0909213933355986, + 12.20353180164875 + ], + [ + -0.000328766884081233, + 1.0909298969756094, + 12.20346770112593 + ], + [ + 0.00012183842494550845, + 1.0909855721596884, + 12.20304802102811 + ], + [ + -2.2166813664625806e-05, + 1.0909789035919744, + 12.203098288756848 + ], + [ + -0.00010969489750323191, + 1.090973965046608, + 12.203135515560689 + ], + [ + -0.0002781399186346789, + 1.090957455736536, + 12.203259962905634 + ], + [ + 9.102692675355684e-05, + 1.0910001434564194, + 12.202938182443802 + ], + [ + 5.0823871532656995e-05, + 1.0909969703055964, + 12.202962101686353 + ], + [ + -0.0005552798779717705, + 1.0909381727390866, + 12.203405318332273 + ], + [ + 0.00034354590638940863, + 1.0909090798721834, + 12.203624620676862 + ], + [ + -0.00010560702227735419, + 1.090968380596678, + 12.203177611201397 + ], + [ + -0.0005325428635671869, + 1.0909650361409717, + 12.203202821734749 + ], + [ + -0.00012023479888512156, + 1.0908622672966786, + 12.203977494340677 + ] + ], + "target_bbox_centre_cam01_m": [ + [ + -0.00012995960099004833, + 1.0909796551101465, + 12.203033619328096 + ], + [ + -0.00046395990450065483, + 1.0908951956403925, + 12.203712636899297 + ], + [ + 0.00016600015863232898, + 1.0909343335304058, + 12.203419884987625 + ], + [ + -0.00035307106760029683, + 1.090961419966284, + 12.203217220349245 + ], + [ + -0.0001075994103132416, + 1.0909737265484694, + 12.203125966259051 + ], + [ + -0.00015523716981036273, + 1.090964669502256, + 12.203195751253816 + ], + [ + 0.0004499166802673926, + 1.0909339097276742, + 12.203429131555424 + ], + [ + -0.0003681477557098134, + 1.0910018206292165, + 12.202917975285402 + ], + [ + 0.00043598677440570555, + 1.0909170600037328, + 12.203557657858198 + ], + [ + -0.00022924962620862743, + 1.090926452518886, + 12.20348761350391 + ], + [ + -0.00033184274674979974, + 1.090908996153594, + 12.20361995619885 + ], + [ + 7.712051308317314e-05, + 1.090997812115738, + 12.20295121733983 + ], + [ + 0.0001317447832356322, + 1.0909247810219398, + 12.203502482758665 + ], + [ + -0.00026068065257689454, + 1.090953638075021, + 12.20328495805785 + ], + [ + -1.0846298934552578e-05, + 1.0909645871712144, + 12.203203180169282 + ], + [ + -7.564221019151773e-05, + 1.0909517352414042, + 12.203300058121215 + ], + [ + -0.0004131696855615985, + 1.0909180504688365, + 12.203554730709016 + ], + [ + 2.6208186326925897e-05, + 1.090877780387629, + 12.203858286944751 + ], + [ + 0.00019735656037767058, + 1.0909551364443146, + 12.203275932797737 + ], + [ + 0.00032482030169944665, + 1.090891104139807, + 12.20375860890465 + ], + [ + 0.0002620680662168695, + 1.0909506665002127, + 12.203309627279168 + ], + [ + 0.00013955148117972271, + 1.0910057110086413, + 12.202894701262494 + ], + [ + 0.00010299825428106146, + 1.0909282175582504, + 12.203479604103848 + ], + [ + -4.286237025041828e-05, + 1.0909816144044981, + 12.203077098153585 + ], + [ + -4.02583140761692e-05, + 1.0909065371010769, + 12.203643031597665 + ], + [ + -0.00011708863107173784, + 1.0909654672749696, + 12.203198815371366 + ], + [ + -1.3986142075594898e-05, + 1.0908983614750625, + 12.203704659546759 + ], + [ + 1.1872204339624659e-05, + 1.0909664248987667, + 12.203191596796785 + ], + [ + 0.00022721709524731182, + 1.090908895296721, + 12.203625255502118 + ], + [ + 0.0003510767692631589, + 1.0909863132638833, + 12.2030416781148 + ], + [ + -0.00031750831652033185, + 1.0909184678697557, + 12.203553097340887 + ], + [ + -9.617900401082125e-05, + 1.091005182028134, + 12.202900201634861 + ], + [ + 0.0003335330230598288, + 1.090967110255633, + 12.20318718705471 + ], + [ + -0.00016752656460283788, + 1.0909123322566359, + 12.20360010415942 + ], + [ + 0.000372609552776737, + 1.0908845383151302, + 12.203809615186742 + ], + [ + -0.00019534305362611804, + 1.0909683713093088, + 12.20317768120725 + ], + [ + 0.00044846249626573353, + 1.0909512438403866, + 12.203306788257635 + ], + [ + 0.0001601468172154341, + 1.0909152626250318, + 12.203578015019957 + ], + [ + -7.038691062888347e-05, + 1.0908839902811778, + 12.203813746262142 + ], + [ + -0.0004451413736745735, + 1.0909864449255053, + 12.203041442098197 + ], + [ + 0.0004061531624586223, + 1.0909915622940431, + 12.20300286734107 + ], + [ + 0.00033038531842777275, + 1.0909756608766514, + 12.20312273238602 + ], + [ + 0.0003071365139817317, + 1.0909649402836195, + 12.203203544325277 + ], + [ + 0.00033583090971944785, + 1.0909595143080324, + 12.203244445385394 + ], + [ + 0.0004158686516149146, + 1.090959494506187, + 12.203244594653654 + ], + [ + -0.0004301362936232067, + 1.0909349599851907, + 12.203429536104636 + ], + [ + -0.000248124177403497, + 1.0909454227906252, + 12.203350667374366 + ], + [ + -1.668386117614773e-05, + 1.090961613110224, + 12.203228624585165 + ], + [ + 0.0002634918749180315, + 1.090983632874888, + 12.203062639380335 + ], + [ + -0.0003770108870639888, + 1.0909789358371, + 12.203098045684953 + ], + [ + 0.0002529472154577661, + 1.0908850345084744, + 12.203805874873353 + ], + [ + -0.000284896110699151, + 1.0908907011489717, + 12.203763159667574 + ], + [ + 0.00019046542563216917, + 1.0909358811759304, + 12.20342259217324 + ], + [ + -0.00025577942430743406, + 1.090952118358814, + 12.203300196113048 + ], + [ + 0.0003101262708895547, + 1.09100934500227, + 12.202868821102356 + ], + [ + 0.00023664295473224684, + 1.0909101731612694, + 12.203616379451432 + ], + [ + -6.44318510580888e-05, + 1.0909427811830668, + 12.203370579843295 + ], + [ + -0.00032094798862658536, + 1.090980733791362, + 12.203084492688618 + ], + [ + -0.00024113084889165748, + 1.0908983543461375, + 12.20370546979018 + ], + [ + -0.0004061136312003555, + 1.0909474226482558, + 12.203335592423855 + ], + [ + -0.00022668572688644417, + 1.090876707730466, + 12.203868642200462 + ], + [ + -0.00030676416481867363, + 1.090937188786441, + 12.203412735380937 + ], + [ + -3.1268184159216617e-05, + 1.0908784364474116, + 12.203855611118797 + ], + [ + -2.3649420029414614e-05, + 1.0909506028973794, + 12.203311619681813 + ], + [ + 0.00034424718640480023, + 1.0909040865748736, + 12.203662260204112 + ], + [ + -0.0005124531327425075, + 1.0909452266132647, + 12.203352146155908 + ], + [ + -5.425379636392336e-05, + 1.090910558993663, + 12.203613471036476 + ], + [ + 0.00011291227438903206, + 1.0910061802446762, + 12.20289267707301 + ], + [ + -0.0002841193742000314, + 1.090939359055021, + 12.203396375874831 + ], + [ + 0.00030074082771136545, + 1.0909233156373759, + 12.203517311333485 + ], + [ + -0.00035612097354942307, + 1.0909908963218555, + 12.20300788742935 + ], + [ + 0.00031254436987637746, + 1.090987226004593, + 12.203035554332757 + ], + [ + 8.866829828946265e-05, + 1.090942854875479, + 12.20337002435241 + ], + [ + -9.225229044318439e-05, + 1.0909039536149479, + 12.203663262447947 + ], + [ + -0.0002311975452897741, + 1.0908705628077868, + 12.203914962690476 + ], + [ + 0.0002234219913503921, + 1.091013916862586, + 12.202834358370524 + ], + [ + 0.00015878377166700375, + 1.0909920260671697, + 12.202999371408566 + ], + [ + 0.00013312088651673548, + 1.0909757443440995, + 12.20312210320293 + ], + [ + 0.00014224189072820081, + 1.0909650998791705, + 12.203202341288488 + ], + [ + 0.0001915003707466667, + 1.0909601178120667, + 12.203239896162245 + ], + [ + 0.00027669477061920134, + 1.0909608202285455, + 12.203234601341535 + ], + [ + 0.0003968028823919667, + 1.0909672262008883, + 12.203186313059064 + ], + [ + -0.0003623675635537893, + 1.0909257505710244, + 12.203498956764747 + ], + [ + -0.00017341328134534706, + 1.0909429948051326, + 12.203368969555754 + ], + [ + 4.739357970606761e-05, + 1.0909659833674965, + 12.203195681542468 + ], + [ + 0.00029902055140951234, + 1.090994723528425, + 12.202979037920898 + ], + [ + -0.00032737818841610533, + 1.0909731705967047, + 12.203141504127416 + ], + [ + -1.5017975158571062e-05, + 1.0910128159383277, + 12.20284265714372 + ], + [ + -0.00013969257940971147, + 1.090882568210688, + 12.203824465842786 + ], + [ + -0.0004043949002721092, + 1.090928333162637, + 12.20347948916202 + ], + [ + -0.00017275514957759697, + 1.0909833771123871, + 12.20306456731123 + ], + [ + 0.00024475233269072305, + 1.0910033123327025, + 12.20291429542533 + ], + [ + -6.868016663474918e-05, + 1.090998753642566, + 12.20294865887189 + ], + [ + 8.311393776239129e-05, + 1.090904060333493, + 12.203662458006022 + ], + [ + -0.000330675685006554, + 1.0909522303933343, + 12.203299351594467 + ], + [ + 0.00023342321165387148, + 1.0909916455061932, + 12.203002240082526 + ], + [ + -0.00017363007577841927, + 1.09088626284192, + 12.203796615674207 + ], + [ + 0.0003704925946692583, + 1.0909499221200178, + 12.203316751396528 + ], + [ + 6.567188597728091e-05, + 1.0909224017982027, + 12.203524199857384 + ], + [ + 7.158259819561863e-06, + 1.0909211785041748, + 12.203533421059035 + ], + [ + -0.000366701286765192, + 1.0909174365338146, + 12.203561628062289 + ], + [ + -0.00033848240138922847, + 1.090958856230202, + 12.203249405968336 + ], + [ + -0.00018973811995692813, + 1.0908780813217192, + 12.203858288056608 + ], + [ + 0.00026306881770210566, + 1.091005798428327, + 12.202895555211398 + ], + [ + -0.00027696288941569946, + 1.0909542381946693, + 12.20328421676868 + ], + [ + 0.0005108605688235457, + 1.0909339038856416, + 12.203437497013567 + ], + [ + 0.000358279665789496, + 1.0909760477118269, + 12.20311981641828 + ], + [ + -3.7261083036810305e-05, + 1.0909405090617597, + 12.203387707117656 + ], + [ + 1.1649088662579743e-06, + 1.0908672739405745, + 12.203939754210069 + ], + [ + -8.947243330226229e-05, + 1.0909653130435757, + 12.20320073444833 + ], + [ + -0.0006117322913326007, + 1.090960188188376, + 12.203239365648699 + ], + [ + 0.0001485375283891699, + 1.0908851909721946, + 12.203804695445683 + ], + [ + 0.0005333509380136547, + 1.0909378029376668, + 12.203408105919891 + ], + [ + 0.0004927907749276983, + 1.0909513093280694, + 12.203306294610229 + ], + [ + 0.0003099114925646518, + 1.0909090143299238, + 12.203625114734677 + ], + [ + 0.000593775288479037, + 1.090943527900187, + 12.203364951095068 + ], + [ + -0.00048512310428350247, + 1.0909389675519563, + 12.203399327025522 + ], + [ + 0.000607767090031075, + 1.0909178537172366, + 12.203558483348672 + ], + [ + 0.0002910400721134465, + 1.0909195472790358, + 12.203545717256361 + ], + [ + 0.00011704906063414455, + 1.0910290576765718, + 12.202720226757492 + ], + [ + 0.0003893745502523416, + 1.0909465680380563, + 12.203342034500679 + ], + [ + -4.558635842499825e-05, + 1.0908776970344576, + 12.203861184820994 + ], + [ + 0.00041937234979627647, + 1.0909649834185373, + 12.203203219175009 + ], + [ + 0.00010673986847109518, + 1.0910137045533403, + 12.202835958757078 + ], + [ + 0.0003314599104555782, + 1.0909010063262627, + 12.203685479148533 + ], + [ + 1.0708418017202348e-05, + 1.0909079893545268, + 12.203632841003923 + ], + [ + 0.0004101193845258422, + 1.0909076939174298, + 12.203635068019537 + ], + [ + 3.2049101690745374e-05, + 1.0908657932895593, + 12.203950915373184 + ], + [ + 0.00038368207518146846, + 1.0909170165721775, + 12.203564793752207 + ], + [ + -0.00018316278271868214, + 1.090901008826549, + 12.203685460291297 + ], + [ + -0.0001260124709858701, + 1.0909908187989927, + 12.203008471802718 + ], + [ + -0.0004567055378288387, + 1.0909213933355986, + 12.20353180164875 + ], + [ + -0.000328766884081233, + 1.0909298969756094, + 12.20346770112593 + ], + [ + 0.00012183842494550845, + 1.0909855721596884, + 12.20304802102811 + ], + [ + -2.2166813664625806e-05, + 1.0909789035919744, + 12.203098288756848 + ], + [ + -0.00010969489750323191, + 1.090973965046608, + 12.203135515560689 + ], + [ + -0.0002781399186346789, + 1.090957455736536, + 12.203259962905634 + ], + [ + 9.102692675355684e-05, + 1.0910001434564194, + 12.202938182443802 + ], + [ + 5.0823871532656995e-05, + 1.0909969703055964, + 12.202962101686353 + ], + [ + -0.0005552798779717705, + 1.0909381727390866, + 12.203405318332273 + ], + [ + 0.00034354590638940863, + 1.0909090798721834, + 12.203624620676862 + ], + [ + -0.00010560702227735419, + 1.090968380596678, + 12.203177611201397 + ], + [ + -0.0005325428635671869, + 1.0909650361409717, + 12.203202821734749 + ], + [ + -0.00012023479888512156, + 1.0908622672966786, + 12.203977494340677 + ] + ], + "target_bbox_half_world_m": [ + [ + 0.5379999999999999, + 0.5379999999999999, + 0.88 + ], + [ + 0.539, + 0.539, + 0.88 + ], + [ + 0.539, + 0.539, + 0.88 + ], + [ + 0.539, + 0.539, + 0.88 + ], + [ + 0.539, + 0.539, + 0.88 + ], + [ + 0.539, + 0.539, + 0.88 + ], + [ + 0.539, + 0.539, + 0.88 + ], + [ + 0.539, + 0.539, + 0.88 + ], + [ + 0.539, + 0.539, + 0.88 + ], + [ + 0.539, + 0.539, + 0.88 + ], + [ + 0.539, + 0.539, + 0.88 + ], + [ + 0.539, + 0.539, + 0.88 + ], + [ + 0.5379999999999999, + 0.5379999999999999, + 0.88 + ], + [ + 0.5379999999999999, + 0.5379999999999999, + 0.88 + ], + [ + 0.5379999999999999, + 0.5379999999999999, + 0.88 + ], + [ + 0.537, + 0.537, + 0.88 + ], + [ + 0.537, + 0.537, + 0.88 + ], + [ + 0.537, + 0.537, + 0.88 + ], + [ + 0.537, + 0.537, + 0.88 + ], + [ + 0.536, + 0.536, + 0.88 + ], + [ + 0.536, + 0.536, + 0.88 + ], + [ + 0.536, + 0.536, + 0.88 + ], + [ + 0.536, + 0.536, + 0.88 + ], + [ + 0.536, + 0.536, + 0.88 + ], + [ + 0.535, + 0.535, + 0.88 + ], + [ + 0.535, + 0.535, + 0.88 + ], + [ + 0.535, + 0.535, + 0.88 + ], + [ + 0.535, + 0.535, + 0.88 + ], + [ + 0.535, + 0.535, + 0.88 + ], + [ + 0.535, + 0.535, + 0.88 + ], + [ + 0.535, + 0.535, + 0.88 + ], + [ + 0.535, + 0.535, + 0.88 + ], + [ + 0.535, + 0.535, + 0.88 + ], + [ + 0.535, + 0.535, + 0.88 + ], + [ + 0.535, + 0.535, + 0.88 + ], + [ + 0.535, + 0.535, + 0.88 + ], + [ + 0.535, + 0.535, + 0.88 + ], + [ + 0.535, + 0.535, + 0.88 + ], + [ + 0.535, + 0.535, + 0.88 + ], + [ + 0.536, + 0.536, + 0.88 + ], + [ + 0.536, + 0.536, + 0.88 + ], + [ + 0.536, + 0.536, + 0.88 + ], + [ + 0.536, + 0.536, + 0.88 + ], + [ + 0.536, + 0.536, + 0.88 + ], + [ + 0.536, + 0.536, + 0.88 + ], + [ + 0.536, + 0.536, + 0.88 + ], + [ + 0.536, + 0.536, + 0.88 + ], + [ + 0.536, + 0.536, + 0.88 + ], + [ + 0.536, + 0.536, + 0.88 + ], + [ + 0.536, + 0.536, + 0.88 + ], + [ + 0.536, + 0.536, + 0.88 + ], + [ + 0.536, + 0.536, + 0.88 + ], + [ + 0.536, + 0.536, + 0.88 + ], + [ + 0.536, + 0.536, + 0.88 + ], + [ + 0.536, + 0.536, + 0.88 + ], + [ + 0.536, + 0.536, + 0.88 + ], + [ + 0.536, + 0.536, + 0.88 + ], + [ + 0.536, + 0.536, + 0.88 + ], + [ + 0.536, + 0.536, + 0.88 + ], + [ + 0.537, + 0.537, + 0.88 + ], + [ + 0.537, + 0.537, + 0.88 + ], + [ + 0.537, + 0.537, + 0.88 + ], + [ + 0.537, + 0.537, + 0.88 + ], + [ + 0.537, + 0.537, + 0.88 + ], + [ + 0.537, + 0.537, + 0.88 + ], + [ + 0.537, + 0.537, + 0.88 + ], + [ + 0.537, + 0.537, + 0.88 + ], + [ + 0.537, + 0.537, + 0.88 + ], + [ + 0.537, + 0.537, + 0.88 + ], + [ + 0.537, + 0.537, + 0.88 + ], + [ + 0.537, + 0.537, + 0.88 + ], + [ + 0.537, + 0.537, + 0.88 + ], + [ + 0.537, + 0.537, + 0.88 + ], + [ + 0.537, + 0.537, + 0.88 + ], + [ + 0.537, + 0.537, + 0.88 + ], + [ + 0.537, + 0.537, + 0.88 + ], + [ + 0.537, + 0.537, + 0.88 + ], + [ + 0.537, + 0.537, + 0.88 + ], + [ + 0.537, + 0.537, + 0.88 + ], + [ + 0.5379999999999999, + 0.5379999999999999, + 0.88 + ], + [ + 0.5379999999999999, + 0.5379999999999999, + 0.88 + ], + [ + 0.5379999999999999, + 0.5379999999999999, + 0.88 + ], + [ + 0.5379999999999999, + 0.5379999999999999, + 0.88 + ], + [ + 0.5379999999999999, + 0.5379999999999999, + 0.88 + ], + [ + 0.5379999999999999, + 0.5379999999999999, + 0.88 + ], + [ + 0.5379999999999999, + 0.5379999999999999, + 0.88 + ], + [ + 0.5379999999999999, + 0.5379999999999999, + 0.88 + ], + [ + 0.5379999999999999, + 0.5379999999999999, + 0.88 + ], + [ + 0.5379999999999999, + 0.5379999999999999, + 0.88 + ], + [ + 0.5379999999999999, + 0.5379999999999999, + 0.88 + ], + [ + 0.537, + 0.537, + 0.88 + ], + [ + 0.534, + 0.534, + 0.88 + ], + [ + 0.531, + 0.531, + 0.88 + ], + [ + 0.528, + 0.528, + 0.88 + ], + [ + 0.525, + 0.525, + 0.88 + ], + [ + 0.522, + 0.522, + 0.88 + ], + [ + 0.519, + 0.519, + 0.88 + ], + [ + 0.516, + 0.516, + 0.88 + ], + [ + 0.514, + 0.514, + 0.88 + ], + [ + 0.511, + 0.511, + 0.88 + ], + [ + 0.509, + 0.509, + 0.88 + ], + [ + 0.508, + 0.508, + 0.88 + ], + [ + 0.507, + 0.507, + 0.88 + ], + [ + 0.506, + 0.506, + 0.88 + ], + [ + 0.506, + 0.506, + 0.88 + ], + [ + 0.506, + 0.506, + 0.88 + ], + [ + 0.506, + 0.506, + 0.88 + ], + [ + 0.508, + 0.508, + 0.88 + ], + [ + 0.51, + 0.51, + 0.88 + ], + [ + 0.513, + 0.513, + 0.88 + ], + [ + 0.518, + 0.518, + 0.88 + ], + [ + 0.523, + 0.523, + 0.88 + ], + [ + 0.528, + 0.528, + 0.88 + ], + [ + 0.5329999999999999, + 0.5329999999999999, + 0.88 + ], + [ + 0.5379999999999999, + 0.5379999999999999, + 0.88 + ], + [ + 0.5429999999999999, + 0.5429999999999999, + 0.88 + ], + [ + 0.547, + 0.547, + 0.88 + ], + [ + 0.55, + 0.55, + 0.88 + ], + [ + 0.5529999999999999, + 0.5529999999999999, + 0.88 + ], + [ + 0.555, + 0.555, + 0.88 + ], + [ + 0.557, + 0.557, + 0.88 + ], + [ + 0.5579999999999999, + 0.5579999999999999, + 0.88 + ], + [ + 0.5589999999999999, + 0.5589999999999999, + 0.88 + ], + [ + 0.56, + 0.56, + 0.88 + ], + [ + 0.56, + 0.56, + 0.88 + ], + [ + 0.561, + 0.561, + 0.88 + ], + [ + 0.561, + 0.561, + 0.88 + ], + [ + 0.561, + 0.561, + 0.88 + ], + [ + 0.561, + 0.561, + 0.88 + ], + [ + 0.561, + 0.561, + 0.88 + ], + [ + 0.56, + 0.56, + 0.88 + ], + [ + 0.56, + 0.56, + 0.88 + ], + [ + 0.5589999999999999, + 0.5589999999999999, + 0.88 + ], + [ + 0.5579999999999999, + 0.5579999999999999, + 0.88 + ], + [ + 0.557, + 0.557, + 0.88 + ], + [ + 0.556, + 0.556, + 0.88 + ], + [ + 0.555, + 0.555, + 0.88 + ], + [ + 0.5539999999999999, + 0.5539999999999999, + 0.88 + ], + [ + 0.552, + 0.552, + 0.88 + ], + [ + 0.55, + 0.55, + 0.88 + ], + [ + 0.5479999999999999, + 0.5479999999999999, + 0.88 + ], + [ + 0.545, + 0.545, + 0.88 + ], + [ + 0.5429999999999999, + 0.5429999999999999, + 0.88 + ], + [ + 0.54, + 0.54, + 0.88 + ] + ], + "w2c_cam01": [ + [ + [ + -2.4211808914522415e-06, + 0.9999999999970689, + -0.0, + 21.02595293575459 + ], + [ + 0.13150948588998893, + 3.1840825428248265e-07, + -0.9913149121852496, + 52.52151007540821 + ], + [ + -0.9913149120480416, + -2.37602817181362e-06, + -0.13150948690318123, + -363.0767520134825 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.00512046174822123, + 0.999986890349811, + -0.0, + 19.150309668759327 + ], + [ + 0.13150729984758597, + 0.0006733869263484698, + -0.9913149734755571, + 52.51940635904155 + ], + [ + -0.9913019776719973, + -0.005075966316497887, + -0.13150902489768912, + -363.0621942522297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.010239699698291745, + 0.9999475729007441, + -0.0, + 17.274828981066527 + ], + [ + 0.13150210449924032, + 0.0013466126587611208, + -0.9913149767589602, + 52.51624276766532 + ], + [ + -0.9912630051021502, + -0.01015074362237748, + -0.1315090001473941, + -363.0384167832864 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.015358935569541831, + 0.9998820445923464, + -0.0, + 15.399847158441744 + ], + [ + 0.1314934704387376, + 0.0020198379910976584, + -0.9913149789478952, + 52.51185252521334 + ], + [ + -0.9911980482198126, + -0.015225518884926792, + -0.13150898364719737, + -363.00536959633774 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.02047750260946699, + 0.9997903139593219, + -2.1684043284676516e-19, + 13.52552546600689 + ], + [ + 0.13148139053977537, + 0.002692975197181339, + -0.9913149811368301, + 52.50622619332711 + ], + [ + -0.99110711657983, + -0.020299631147995933, + -0.13150896714700058, + -362.96300475492535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.025595799200930167, + 0.99967237386219, + -0.0, + 11.65165026987968 + ], + [ + 0.13146586386474504, + 0.0033660766679571305, + -0.9913149833257648, + 52.49936050165137 + ], + [ + -0.9909902031045651, + -0.025373475334483073, + -0.13150895064680385, + -362.91129760353476 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.030713424904231405, + 0.9995282314825591, + -0.0, + 9.778314522889936 + ], + [ + 0.13144689135938958, + 0.004039089742040689, + -0.9913149855146991, + 52.49125151606576 + ], + [ + -0.9908473149130731, + -0.030446654482505216, + -0.131508934146607, + -362.850218483167 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.03582997943684524, + 0.999357900140663, + 4.336808656935303e-19, + 7.905623737072045 + ], + [ + 0.13142448302153661, + 0.0047119620743448125, + -0.9913149866091662, + 52.481899447682295 + ], + [ + -0.990678464115955, + -0.03551877174677177, + -0.13150892589650862, + -362.77974578614476 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.04094586102499929, + 0.9991613665794538, + -0.0, + 6.033402788611676 + ], + [ + 0.13139862886101883, + 0.005384745824027914, + -0.9913149877036332, + 52.471300233420436 + ], + [ + -0.990483638665333, + -0.040590221922922005, + -0.1315089176464101, + -362.699872086995 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.0460606693865185, + 0.9989386441296912, + -0.0, + 4.161781405279761 + ], + [ + 0.13136933063159845, + 0.0060573883504347675, + -0.9913149887981001, + 52.45945274751402 + ], + [ + -0.9902628517760935, + -0.045660608205227875, + -0.13150890939631163, + -362.61058889788194 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.05117427045782654, + 0.9986897386291246, + 4.3368086569353023e-19, + 2.2908032969871748 + ], + [ + 0.13133658910163976, + 0.006729872023038469, + -0.991314989892567, + 52.44635708282036 + ], + [ + -0.990016109235196, + -0.05072979769445068, + -0.13150890114621328, + -362.5118969169611 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.056286264313084734, + 0.9984146715917577, + -4.3368086569353023e-19, + 0.4206206979655569 + ], + [ + 0.1313004071010733, + 0.007402144248065003, + -0.9913149909870337, + 52.432014170214444 + ], + [ + -0.9897434323696999, + -0.05579739393810111, + -0.1315088928961147, + -362.4038031593703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.06139704882355891, + 0.9981134216088658, + -0.0, + -1.448896622790901 + ], + [ + 0.13126078181510945, + 0.00807425734916017, + -0.9913149920815005, + 52.41642585537709 + ], + [ + -0.9894447999567382, + -0.060863791351926384, + -0.1315088846460163, + -362.2863215360676 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.06650622406397629, + 0.9977860102049699, + -0.0, + -3.3175774225467407 + ], + [ + 0.13121772430689424, + 0.008746159281313913, + -0.9913149920815005, + 52.399597556383924 + ], + [ + -0.9891202322417534, + -0.06592859341120849, + -0.13150888464601623, + -362.15946973089285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.07161365611840952, + 0.9974324459618074, + -8.673617313870605e-19, + -5.185340629889467 + ], + [ + 0.1311712192390675, + 0.009417831378205208, + -0.9913149931759672, + 52.38152636902845 + ], + [ + -0.9887697399163354, + -0.07099166750306073, + -0.13150887639591777, + -362.02327217052914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.07671921111662172, + 0.9970527381466052, + -0.0, + -7.052099526826002 + ], + [ + 0.1311212842913161, + 0.010089257174226743, + -0.9913149931759673, + 52.36222197616429 + ], + [ + -0.9883933299834936, + -0.0760528807687365, + -0.1315088763959178, + -361.8777555407871 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.08182248981445077, + 0.9966469185025174, + 8.673617313870605e-19, + -8.917666272880847 + ], + [ + 0.13106790718387853, + 0.010760382941501256, + -0.9913149942704337, + 52.34168273172099 + ], + [ + -0.9879910360935236, + -0.08111183759384763, + -0.1315088681458193, + -361.7229537174197 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.08692388940485367, + 0.9962149554442217, + -0.0, + -10.782143153154031 + ], + [ + 0.13101110021143872, + 0.011431262222427976, + -0.9913149942704338, + 52.31991844827176 + ], + [ + -0.9875628247533648, + -0.08616893154820854, + -0.13150886814581927, + -361.558894401231 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.09202301064450323, + 0.9957568807253714, + -0.0, + -12.645340299530094 + ], + [ + 0.13095085110900817, + 0.0121018411208293, + -0.9913149953649003, + 52.296927860782816 + ], + [ + -0.9871087296219448, + -0.09122376704059937, + -0.13150885989572075, + -361.3856143007145 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.09711971988099623, + 0.9952727063525033, + -0.0, + -14.507166812427528 + ], + [ + 0.1308871778897319, + 0.012772103536578523, + -0.9913149953649003, + 52.272721529865855 + ], + [ + -0.9866287604213456, + -0.09627621138353099, + -0.13150885989572073, + -361.2031467972873 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.10221388352515012, + 0.9947624450162492, + -8.673617313870604e-19, + -16.367534851532728 + ], + [ + 0.13082007400366905, + 0.01344203118438405, + -0.9913149953649002, + 52.24730091597478 + ], + [ + -0.9861229308223016, + -0.10132613224317628, + -0.13150885989572073, + -361.01152601738397 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.10730536805450461, + 0.9942261100910028, + -0.0, + -18.226360833350363 + ], + [ + 0.1307495412096708, + 0.014111606504859492, + -0.9913149953649003, + 52.22067031614549 + ], + [ + -0.9855912540830465, + -0.10637339725671385, + -0.1315088598957207, + -360.81078435209866 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.11239404001682121, + 0.9936637156345687, + -0.0, + -20.083566342059466 + ], + [ + 0.13067557315863967, + 0.014780811020591363, + -0.9913149964593667, + 52.192830771093305 + ], + [ + -0.9850337452268225, + -0.11141787425394763, + -0.13150885164562223, + -360.60095270271995 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.11747950156163567, + 0.9930753076745131, + 8.673617313870605e-19, + -21.93898178535079 + ], + [ + 0.13059819230410946, + 0.01544959422328731, + -0.9913149964593666, + 52.163792772916814 + ], + [ + -0.9844504477057304, + -0.1164591685992826, + -0.13150885164562218, + -360.38206403207136 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.1225621484951793, + 0.9924608404144947, + -1.734723462774121e-18, + -23.792734691167983 + ], + [ + 0.13051738442099295, + 0.016118007279690053, + -0.9913149964593666, + 52.1335551939106 + ], + [ + -0.9838413172093257, + -0.12149767277881596, + -0.13150885164562218, + -360.1541329092653 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.12764158296819836, + 0.9918203598925422, + -1.734723462774121e-18, + -25.64466784481263 + ], + [ + 0.13043315556369825, + 0.016785997869101513, + -0.9913149964593666, + 52.10212167506674 + ], + [ + -0.9832063993757886, + -0.12653299239860946, + -0.13150885164562215, + -359.91718678013274 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.13271767184429692, + 0.9911538828962074, + 1.734723462774121e-18, + -27.49472729559384 + ], + [ + 0.13034550793993707, + 0.017453548482907286, + -0.9913149964593666, + 52.0694947205283 + ], + [ + -0.982545710846868, + -0.13156499547855469, + -0.13150885164562218, + -359.6712445209271 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.13779028207476962, + 0.9904614268944325, + -0.0, + -29.34286515517095 + ], + [ + 0.1302544438470299, + 0.01812064162402504, + -0.9913149964593667, + 52.03567638616006 + ], + [ + -0.9818592689397855, + -0.13659355012547036, + -0.1315088516456222, + -359.4163216287765 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.1428592807020911, + 0.9897430100370909, + -0.0, + -31.18904057023458 + ], + [ + 0.13015996567184565, + 0.018787259807363434, + -0.9913149964593667, + 52.00066816437404 + ], + [ + -0.9811470916467803, + -0.1416185245365652, + -0.1315088516456222, + -359.1524293534963 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.14792453486339668, + 0.9889986511545136, + -1.734723462774121e-18, + -33.03320931602346 + ], + [ + 0.13006207589073954, + 0.019453385560279833, + -0.9913149964593666, + 51.96447186821087 + ], + [ + -0.9804091976346395, + -0.14663978700288502, + -0.13150885164562218, + -358.8795813618042 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.15298564861283157, + 0.9882284104995723, + -0.0, + -34.87523076473971 + ], + [ + 0.12996078242749756, + 0.020118966812389977, + -0.9913149964593667, + 51.92709056131716 + ], + [ + -0.9796456466329296, + -0.15165694501735957, + -0.13150885164562218, + -358.59780074749443 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.15804301586161526, + 0.9874322281237153, + -0.0, + -36.715253940672454 + ], + [ + 0.12985606925194138, + 0.020784054062635147, + -0.9913149975538331, + 51.88852075304156 + ], + [ + -0.9788563802944734, + -0.15667038924306306, + -0.13150884339552363, + -358.3070841079406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.1630962406654772, + 0.986610164290227, + -0.0, + -38.553138352304714 + ], + [ + 0.12974796058883464, + 0.021448597806890693, + -0.9913149975538331, + 51.84877146381487 + ], + [ + -0.9780414561968366, + -0.1616797268340816, + -0.13150884339552366, + -358.0074536002403 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.16814519057499916, + 0.9857622405461152, + 1.7347234627741211e-18, + -40.38884018160287 + ], + [ + 0.1296364511188176, + 0.022112579364740263, + -0.991314997553833, + 51.80784163350019 + ], + [ + -0.9772008967814717, + -0.16668482665875384, + -0.1315088433955236, + -357.69892416156364 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.1731897332528135, + 0.9848884791161989, + -0.0, + -42.2223157200621 + ], + [ + 0.12952154376465072, + 0.02277598133264987, + -0.9913149975538331, + 51.76573321333679 + ], + [ + -0.9763347240801731, + -0.1716855575290597, + -0.13150884339552366, + -357.3815105003712 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.17822973647706716, + 0.983988902902525, + -1.7347234627741211e-18, + -44.05352136995384 + ], + [ + 0.12940324153815544, + 0.023438786322276653, + -0.991314997553833, + 51.72244818138155 + ], + [ + -0.9754429607960805, + -0.1766817883714894, + -0.13150884339552366, + -357.0552275272756 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.18326506814489207, + 0.9830635354837693, + -0.0, + -45.88241364550608 + ], + [ + 0.12928154754013618, + 0.02410097696092537, + -0.9913149975538331, + 51.67798854234057 + ], + [ + -0.974525630303086, + -0.1816733882304844, + -0.13150884339552368, + -356.7200903537708 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.18829533472350712, + 0.9821124512607313, + 1.7347234627741211e-18, + -47.70885328127392 + ], + [ + 0.129156471554956, + 0.024762501495555526, + -0.991314997553833, + 51.63235799830875 + ], + [ + -0.973582806355811, + -0.186659966991091, + -0.13150884339552368, + -356.3761268862836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.19332092772326775, + 0.9811355762096362, + -1.7347234627741211e-18, + -49.532988898897344 + ], + [ + 0.1290280038478339, + 0.025423411413240758, + -0.991314997553833, + 51.58555532887384 + ], + [ + -0.9726144155733852, + -0.1916419127633986, + -0.13150884339552366, + -356.0233279253373 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.19834145361334976, + 0.9801329847416337, + -0.0, + -51.35468136971258 + ], + [ + 0.1288961542044941, + 0.026083654961197928, + -0.9913149975538331, + 51.5375842246422 + ], + [ + -0.9716205317206893, + -0.19661883543439235, + -0.13150884339552366, + -355.6617212907571 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.20335678080140226, + 0.9791047031355179, + -1.7347234627741211e-18, + -53.1738876662256 + ], + [ + 0.12876092608083034, + 0.026743214833869294, + -0.991314997553833, + 51.48844679529019 + ], + [ + -0.9706011808482843, + -0.20159060455459726, + -0.13150884339552363, + -355.2913228853051 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.2083667778313371, + 0.9780507583434442, + 1.7347234627741211e-18, + -54.990564877863555 + ], + [ + 0.12862232302128943, + 0.0274020737436169, + -0.991314997553833, + 51.43814517634347 + ], + [ + -0.9695563896742433, + -0.20655708980961887, + -0.13150884339552363, + -354.91214880659436 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.21337131338677412, + 0.9769711779902226, + -0.0, + -56.80467021181062 + ], + [ + 0.1284803486587781, + 0.028060214421175587, + -0.9913149975538331, + 51.38668152902511 + ], + [ + -0.9684861855834522, + -0.21151816102355553, + -0.1315088433955236, + -354.5242153459459 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.21837025629448303, + 0.975865990372593, + 1.7347234627741211e-18, + -58.616160993815285 + ], + [ + 0.12833500671456793, + 0.028717619616105708, + -0.991314997553833, + 51.334058040104864 + ], + [ + -0.9673905966268918, + -0.21647368816241408, + -0.13150884339552363, + -354.1275389872515 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.2233634755278219, + 0.9747352244584845, + -1.7347234627741211e-18, + -60.4249946689515 + ], + [ + 0.1281863009981977, + 0.029374272097245243, + -0.991314997553833, + 51.280276921751295 + ], + [ + -0.9662696515209019, + -0.22142354133751518, + -0.13150884339552363, + -353.7221364058603 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.22835058093041805, + 0.9735789706997275, + -0.0, + -62.231033733860365 + ], + [ + 0.1280342434048829, + 0.030030120555581283, + -0.9913149975538331, + 51.22534259089943 + ], + [ + -0.9651234399317313, + -0.22636733378098806, + -0.13150884339552363, + -353.3080408966706 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.23333196065335204, + 0.9723971391040097, + 1.7347234627741211e-18, + -64.03442612500629 + ], + [ + 0.12787882209983872, + 0.030685216036413093, + -0.991314997553833, + 51.169253014209644 + ], + [ + -0.96395187264866, + -0.23130545027282307, + -0.13150884339552363, + -352.88523713235134 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.23830722454263015, + 0.9711898201334221, + -0.0, + -65.83503446994514 + ], + [ + 0.12772004897963005, + 0.03133950723104062, + -0.9913149975538331, + 51.11201259543441 + ], + [ + -0.9627550393481071, + -0.23623750404750848, + -0.13150884339552363, + -352.4537583084305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.24327624219225788, + 0.9699570454328449, + -3.4694469255482422e-18, + -67.63281669802862 + ], + [ + 0.1275579282058384, + 0.03199297698992246, + -0.991314997553833, + 51.05362364689452 + ], + [ + -0.9615329714001155, + -0.2411633658316218, + -0.1315088433955236, + -352.0136218552059 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.2482388833599604, + 0.9686988473143757, + -0.0, + -69.4277308612649 + ], + [ + 0.12739246402779042, + 0.032645608185047865, + -0.9913149975538331, + 50.994088505599976 + ], + [ + -0.9602857008361493, + -0.24608290651403966, + -0.13150884339552363, + -351.5648453890813 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.25319501797059574, + 0.9674152587564814, + -6.9388938510964844e-18, + -71.21973513489709 + ], + [ + 0.12722366078244604, + 0.03329738371038546, + -0.991314997553833, + 50.933409533113704 + ], + [ + -0.9590132603482556, + -0.25099599714931903, + -0.13150884339552363, + -351.10744671154237 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.2581445161195651, + 0.9661063134031346, + -3.4694469255482422e-18, + -73.00878781795767 + ], + [ + 0.1270515228942851, + 0.033948286482331835, + -0.991314997553833, + 50.87158911541839 + ], + [ + -0.957715683288207, + -0.25590250896107863, + -0.13150884339552357, + -350.64144380815014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.26308724807621536, + 0.964772045562932, + 3.4694469255482422e-18, + -74.79484733379763 + ], + [ + 0.12687605487519163, + 0.03459829944015902, + -0.991314997553833, + 50.80862966278468 + ], + [ + -0.9563930036666274, + -0.2608023133453734, + -0.13150884339552366, + -350.1668548475485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.2680228277149704, + 0.963412561587024, + 3.4694469255482422e-18, + -76.57777813577306 + ], + [ + 0.1266972707112821, + 0.03524737180493941, + -0.991314997553833, + 50.74453629162072 + ], + [ + -0.9550453269110005, + -0.26569502753012114, + -0.13150884339552363, + -349.6837183972722 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.27295163917661197, + 0.9620277556655009, + 3.4694469255482422e-18, + -78.35772721911574 + ], + [ + 0.12651515648761788, + 0.035895554094582595, + -0.991314997553833, + 50.67930615876692 + ], + [ + -0.9536725481303843, + -0.2705810323198431, + -0.13150884339552368, + -349.1920130255585 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.2778732963383598, + 0.9606177341596679, + -0.0, + -80.13455915846825 + ], + [ + 0.12632972619165103, + 0.03654279553052867, + -0.9913149975538331, + 50.612944366119734 + ], + [ + -0.9522747727623277, + -0.2754599449452296, + -0.13150884339552363, + -348.6917771905522 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.28278767019929835, + 0.9591825340274148, + 3.4694469255482422e-18, + -81.90823287932076 + ], + [ + 0.1261409846836709, + 0.03718907914801662, + -0.991314997553833, + 50.54545341982532 + ], + [ + -0.9508520374437404, + -0.28033163752573437, + -0.13150884339552366, + -348.1830297836087 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.28769463194941397, + 0.9577221928865861, + -3.4694469255482422e-18, + -83.67870743382278 + ], + [ + 0.12594893691075662, + 0.03783438800739061, + -0.991314997553833, + 50.47683584969019 + ], + [ + -0.949404379465753, + -0.28519598237005467, + -0.13150884339552363, + -347.66578987443427 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.29259405297297086, + 0.9562367490139931, + -0.0, + -85.44594200118478 + ], + [ + 0.12575358790664745, + 0.03847870519454416, + -0.9913149975538331, + 50.407094209063374 + ], + [ + -0.9479318367727407, + -0.2900528519794798, + -0.13150884339552368, + -347.1400767101994 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.29748580485188164, + 0.954726241344412, + -0.0, + -87.20989588808338 + ], + [ + 0.1255549427916106, + 0.03912201382136322, + -0.9913149975538331, + 50.33623107471804 + ], + [ + -0.9464344479613293, + -0.29490211905122915, + -0.13150884339552366, + -346.60590971464654 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.3023697593690757, + 0.9531907094695622, + -3.4694469255482422e-18, + -88.97052852903317 + ], + [ + 0.12535300677230735, + 0.03976429702616927, + -0.991314997553833, + 50.264249046738 + ], + [ + -0.9449122522793826, + -0.29974365648179474, + -0.13150884339552366, + -346.06330848723337 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.30724553507739616, + 0.9516302754615391, + -0.0, + -90.72770651258323 + ], + [ + 0.1251477959022976, + 0.04040550464528829, + -0.9913149975538331, + 50.19115392595471 + ], + [ + -0.943365370738792, + -0.30457708613688117, + -0.13150884339552368, + -345.512316754684 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.31211351146303024, + 0.9500448178703028, + -3.4694469255482422e-18, + -92.48157562866197 + ], + [ + 0.12493929420982722, + 0.04104568658450945, + -0.991314997553833, + 50.116942065058396 + ], + [ + -0.9417936829443202, + -0.3094027842068409, + -0.13150884339552366, + -344.9529070235438 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.31697330708203153, + 0.9484344587779802, + -3.4694469255482422e-18, + -94.2320025752415 + ], + [ + 0.12472751774977538, + 0.04168479268058094, + -0.991314997553833, + 50.04161924939936 + ], + [ + -0.9401973099178033, + -0.3142203725605612, + -0.13150884339552366, + -344.38512290383983 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.3218247945549308, + 0.9467992403934832, + -0.0, + -95.97894730173681 + ], + [ + 0.12451247207298724, + 0.042322806181976196, + -0.9913149975538331, + 49.96518817119241 + ], + [ + -0.9385762935015669, + -0.3190297249248607, + -0.13150884339552366, + -343.8089846895143 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.32666784672002064, + 0.945139205577308, + -3.4694469255482422e-18, + -97.72236988710682 + ], + [ + 0.12429416281599702, + 0.04295971036580629, + -0.991314997553833, + 49.887651545420084 + ], + [ + -0.9369306761838622, + -0.3238307152424276, + -0.13150884339552368, + -343.2245128461331 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.3315023366366912, + 0.9434543978404117, + -0.0, + -99.46223054017103 + ], + [ + 0.12407259570088035, + 0.043595488538258585, + -0.9913149975538331, + 49.80901210972934 + ], + [ + -0.9352605010977517, + -0.32862321767512725, + -0.13150884339552368, + -342.6317280101065 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.3363281375887563, + 0.9417448613430702, + -3.4694469255482422e-18, + -101.1984895999006 + ], + [ + 0.12384777653510394, + 0.044230124035034096, + -0.991314997553833, + 49.72927262433228 + ], + [ + -0.9335658120199773, + -0.3334071066073009, + -0.13150884339552366, + -342.03065098794104 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.3411451230877752, + 0.9400106408937222, + -6.9388938510964844e-18, + -102.9311075357165 + ], + [ + 0.12361971121137372, + 0.04486360022178442, + -0.991314997553833, + 49.64843587190735 + ], + [ + -0.931846653369815, + -0.33818225664905543, + -0.13150884339552363, + -341.42130275549476 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.34595291700479375, + 0.9382518740806618, + -3.4694469255482422e-18, + -104.6599532385462 + ], + [ + 0.12338841782376701, + 0.04549586763422623, + -0.991314997553833, + 49.56650832300316 + ], + [ + -0.9301031615405971, + -0.3429482949381106, + -0.13150884339552366, + -340.80373208782686 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.3507518935349119, + 0.9364684240174219, + -0.0, + -106.38517102611016 + ], + [ + 0.12315387837050296, + 0.04612697548232392, + -0.9913149975538331, + 49.48348553436948 + ], + [ + -0.928335200834724, + -0.3477055924196846, + -0.13150884339552368, + -340.17790549167506 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.35554167655279373, + 0.9346604283021875, + -0.0, + -108.10662988569614 + ], + [ + 0.12291611094695956, + 0.046756874302269984, + -0.9913149975538331, + 49.3993739604621 + ], + [ + -0.9265429076553342, + -0.35245377623508317, + -0.13150884339552366, + -339.543871620791 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.3603221405140599, + 0.9328279343240992, + -3.4694469255482422e-18, + -109.82429081126467 + ], + [ + 0.12267512178522784, + 0.04738554758386841, + -0.991314997553833, + 49.314176472885535 + ], + [ + -0.9247263289799917, + -0.35719272193027607, + -0.13150884339552366, + -338.90165212135855 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.3650931601185918, + 0.9309709901144181, + -3.4694469255482422e-18, + -111.5381149285788 + ], + [ + 0.12243091720184339, + 0.04801297884904567, + -0.991314997553833, + 49.22789596525074 + ], + [ + -0.9228855124228041, + -0.36192230529337316, + -0.13150884339552368, + -338.2512688054458 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.3698546103138153, + 0.9290896443452675, + 3.4694469255482422e-18, + -113.24806349545428 + ], + [ + 0.12218350359762081, + 0.04863915165228252, + -0.991314997553833, + 49.14053535308997 + ], + [ + -0.921020506233176, + -0.3666424023578777, + -0.1315088433955237, + -337.5927436503646 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.374606366297979, + 0.9271839463283561, + 3.4694469255482422e-18, + -114.9540979020153 + ], + [ + 0.12193288745748569, + 0.049264049581045036, + -0.991314997553833, + 49.05209757377223 + ], + [ + -0.9191313592945419, + -0.3713528894059387, + -0.13150884339552368, + -336.9260987980323 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.3793483035234252, + 0.925253946013687, + 3.4694469255482422e-18, + -116.65617967094992 + ], + [ + 0.12167907535030528, + 0.049887656256215, + -0.991314997553833, + 48.962585586420445 + ], + [ + -0.9172181211230875, + -0.37605364297159083, + -0.13150884339552368, + -336.251356554347 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.38408029769985436, + 0.9232996939882473, + -0.0, + -118.35427045774755 + ], + [ + 0.12142207392871562, + 0.05050995533251899, + -0.9913149975538331, + 48.87200237183251 + ], + [ + -0.9152808418664505, + -0.3807445398439917, + -0.13150884339552368, + -335.5685393885935 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.3888019794348828, + 0.9213213450189444, + -0.0, + -120.04824193375717 + ], + [ + 0.12116190354593359, + 0.05113089823159224, + -0.9913149975538331, + 48.78035513684394 + ], + [ + -0.9133196749473814, + -0.3854252138389243, + -0.1315088433955237, + -334.8777016259695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.39351371622141884, + 0.9193187451290267, + -3.4694469255482422e-18, + -121.73823644296888 + ], + [ + 0.12089854395265469, + 0.05175053328200165, + -0.991314997553833, + 48.687638555672024 + ], + [ + -0.9113344677264247, + -0.390096029257624, + -0.13150884339552366, + -334.178803120674 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.39821513867114905, + 0.9172920490951164, + -0.0, + -123.42412573797476 + ], + [ + 0.12063201550337356, + 0.05236881190591784, + -0.9913149975538331, + 48.59385981878226 + ], + [ + -0.9093253736359617, + -0.39475661991990724, + -0.1315088433955237, + -333.4718980745067 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.4029061235557013, + 0.915241310038679, + 3.4694469255482422e-18, + -125.105872007951 + ], + [ + 0.12036232518403238, + 0.05298571789772013, + -0.991314997553833, + 48.49902199290037 + ], + [ + -0.9072924453360958, + -0.39940686366763767, + -0.13150884339552368, + -332.7570096044778 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.40758654792028143, + 0.9131665817113698, + -3.4694469255482422e-18, + -126.78343757611464 + ], + [ + 0.1200894800634493, + 0.053601235087765944, + -0.991314997553833, + 48.40312816605116 + ], + [ + -0.9052357361116476, + -0.4040466386138792, + -0.13150884339552366, + -332.03416098814887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.41225628908689543, + 0.9110679184936223, + -3.4694469255482422e-18, + -128.45678489996934 + ], + [ + 0.11981348729313214, + 0.054215347342814295, + -0.991314997553833, + 48.306181447488726 + ], + [ + -0.9031552998707562, + -0.4086758231460923, + -0.13150884339552368, + -331.3033756631093 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.4169152246575653, + 0.9089453753932255, + -0.0, + -130.12587657156558 + ], + [ + 0.11953435410709162, + 0.05482803856644882, + -0.9913149975538331, + 48.208184967626906 + ], + [ + -0.9010511911434651, + -0.4132942959293225, + -0.13150884339552377, + -330.56467722644953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.4215632325175366, + 0.9067990080438803, + -0.0, + -131.79067531775064 + ], + [ + 0.11925208782165111, + 0.05543929269949941, + -0.9913149975538331, + 48.10914187797245 + ], + [ + -0.8989234650802955, + -0.4179019359093777, + -0.1315088433955237, + -329.8180894342603 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.4261999499212267, + 0.9046289862076847, + -3.4694469255482422e-18, + -133.45105544516596 + ], + [ + 0.11896671076202775, + 0.05604906203771449, + -0.991314997553833, + 48.00906002490795 + ], + [ + -0.8967722899689567, + -0.42249838349111396, + -0.13150884339552368, + -329.06367143265174 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.4308257377486892, + 0.9024351409898094, + 3.4694469255482422e-18, + -135.10715726633728 + ], + [ + 0.11867820071705809, + 0.056657394040012174, + -0.991314997553833, + 47.90793331223742 + ], + [ + -0.8945974983814775, + -0.42708399642034495, + -0.13150884339552368, + -328.30137726843856 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.43544023325880526, + 0.9002176421618923, + -3.4694469255482422e-18, + -136.75885515611952 + ], + [ + 0.11838658001321367, + 0.057264241002727805, + -0.991314997553833, + 47.80576957005056 + ], + [ + -0.8923992586150237, + -0.43165841510635106, + -0.13150884339552368, + -327.5312659649154 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.44004331550163356, + 0.8979765478465066, + -3.4694469255482422e-18, + -138.41439248757885 + ], + [ + 0.1180918562941268, + 0.057869587019874616, + -0.991314997553833, + 47.701928034195745 + ], + [ + -0.890177628287373, + -0.4362215196496372, + -0.13150884339552366, + -326.74850743553174 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.4446348638263844, + 0.8957119167846839, + -0.0, + -140.06853413649793 + ], + [ + 0.11779403728476255, + 0.05847341622480692, + -0.9913149975538331, + 47.595933136063294 + ], + [ + -0.8879326656293889, + -0.4407731904472628, + -0.13150884339552368, + -325.9495168391407 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.4492147578845822, + 0.8934238083343738, + -0.0, + -141.72098780336682 + ], + [ + 0.1174931307912162, + 0.05907571279063605, + -0.9913149975538331, + 47.48850128562604 + ], + [ + -0.8856644294834969, + -0.44531330819597476, + -0.1315088433955237, + -325.13969448143104 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.4537828776332197, + 0.8911122824688895, + 3.4694469255482422e-18, + -143.3708084027402 + ], + [ + 0.11718914470050863, + 0.059676460930645006, + -0.991314997553833, + 47.37975960222229 + ], + [ + -0.8833729793021405, + -0.44984175389533543, + -0.1315088433955237, + -324.31999858925434 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.45833910333790473, + 0.8887773997753347, + 3.4694469255482422e-18, + -145.01808088321513 + ], + [ + 0.11688208698037979, + 0.06027564489870254, + -0.991314997553833, + 47.269699878251515 + ], + [ + -0.8810583751462226, + -0.4543584088508427, + -0.1315088433955237, + -323.4903672936361 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.46288307950826574, + 0.8864193447262667, + -3.4694469255482422e-18, + -146.66276077135296 + ], + [ + 0.11657198189060212, + 0.06087321794468139, + -0.991314997553833, + 47.15832526925452 + ], + [ + -0.8787207998861514, + -0.4588629206595509, + -0.1315088433955237, + -322.65082438107436 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.46741515980622045, + 0.8840379337920545, + -3.4694469255482422e-18, + -148.30433272521196 + ], + [ + 0.11625880529540633, + 0.061469226578250956, + -0.991314997553833, + 47.04570655571388 + ], + [ + -0.8763600715862581, + -0.46335563991182793, + -0.1315088433955237, + -321.80190339555963 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.47193498874624873, + 0.8816333514546042, + 3.4694469255482422e-18, + -149.94283231852677 + ], + [ + 0.11594258145579432, + 0.06206362404992201, + -0.991314997553833, + 46.93183519019897 + ], + [ + -0.8739763731262178, + -0.46783621420953825, + -0.13150884339552374, + -320.9435399064737 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.47644244785970247, + 0.8792056607401106, + -0.0, + -151.57757353910262 + ], + [ + 0.11562331866026797, + 0.06265639478001975, + -0.9913149975538331, + 46.81678597559434 + ], + [ + -0.8715697669848418, + -0.47230452611293, + -0.1315088433955237, + -320.07629777871114 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.4809374190021568, + 0.8767549252804592, + -0.0, + -153.20813335558285 + ], + [ + 0.11530102527698295, + 0.06324752323150767, + -0.9913149975538331, + 46.70060308743605 + ], + [ + -0.8691403162413724, + -0.4767604585036587, + -0.13150884339552374, + -319.20051000790585 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.4854197843565094, + 0.8742812093115575, + -6.9388938510964844e-18, + -154.83337822501852 + ], + [ + 0.11497570975352896, + 0.06383699391039496, + -0.991314997553833, + 46.58340775729101 + ], + [ + -0.8666880845738254, + -0.48120389458786056, + -0.13150884339552368, + -318.31709043882523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.4898894264360638, + 0.8717845776716541, + -0.0, + -156.45295988379806 + ], + [ + 0.11464738061670926, + 0.0644247913661423, + -0.9913149975538331, + 46.46523937341493 + ], + [ + -0.8642131362573295, + -0.4856347178992063, + -0.13150884339552374, + -317.4263359805366 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.49434622808761447, + 0.8692650957996345, + -6.9388938510964844e-18, + -158.06699976040858 + ], + [ + 0.11431604647231564, + 0.0650109001920671, + -0.991314997553833, + 46.34608616685671 + ], + [ + -0.8617155361624323, + -0.4900528123019635, + -0.13150884339552368, + -316.52815791857006 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.4987898416722448, + 0.8667229625691111, + -0.0, + -159.6752856069839 + ], + [ + 0.11398173347398692, + 0.06559527467057802, + -0.9913149975538331, + 46.225969772816995 + ], + [ + -0.859195481435523, + -0.4944578331764511, + -0.13150884339552374, + -315.62271933928497 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.503220613040559, + 0.8641579801234748, + -0.0, + -161.2776515137695 + ], + [ + 0.11364441560182922, + 0.06617796028408747, + -0.9913149975538331, + 46.10492086476101 + ], + [ + -0.8566527759383851, + -0.49885012336956513, + -0.13150884339552368, + -314.71025145957304 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.5076381945588714, + 0.8615703473454788, + 6.9388938510964844e-18, + -162.87368593830413 + ], + [ + 0.11330411901068342, + 0.06675891131569207, + -0.991314997553833, + 45.98298897067748 + ], + [ + -0.8540876168264699, + -0.5032293382668105, + -0.1315088433955237, + -313.7911276219115 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.512042470438528, + 0.8589601320592294, + -6.9388938510964844e-18, + -164.46278563026493 + ], + [ + 0.11296085262001904, + 0.06733811253815983, + -0.991314997553833, + 45.86025798860415 + ], + [ + -0.8515000713348303, + -0.5075953630851546, + -0.13150884339552366, + -312.86598025055525 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.5164333252396268, + 0.8563274026807397, + -0.0, + -166.04411765034124 + ], + [ + 0.11261462542714695, + 0.067915548770123, + -0.9913149975538331, + 45.73685488301251 + ], + [ + -0.8488902072852859, + -0.5119480833872863, + -0.13150884339552374, + -311.93576640497105 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.5208106438740439, + 0.8536722282161365, + -6.9388938510964844e-18, + -167.61631403029273 + ], + [ + 0.11226544650698274, + 0.06849120487647545, + -0.991314997553833, + 45.61301181001262 + ], + [ + -0.8462580930846435, + -0.5162873850846196, + -0.13150884339552368, + -311.0022360802628 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.5251743116084502, + 0.8509946782598526, + 6.9388938510964844e-18, + -169.1784101717053 + ], + [ + 0.11191332501181002, + 0.06906506576877011, + -0.991314997553833, + 45.488961847755334 + ], + [ + -0.8436037977229078, + -0.5206131544402797, + -0.13150884339552374, + -310.0671462218936 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.5295242140673188, + 0.8482948229928015, + -0.0, + -170.73049968054247 + ], + [ + 0.11155827017103925, + 0.06963711640561368, + -0.9913149975538331, + 45.36481509566285 + ], + [ + -0.8409273907714706, + -0.5249252780720873, + -0.13150884339552377, + -309.13132676043676 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.5338600120462639, + 0.8455728753560882, + 6.9388938510964844e-18, + -172.27306907006337 + ], + [ + 0.11120030998830864, + 0.07020731217863006, + -0.991314997553833, + 45.24060941082388 + ], + [ + -0.8382290833220382, + -0.5292234197216399, + -0.1315088433955237, + -308.1950630630249 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.5381820430045023, + 0.8428286234979802, + -0.0, + -173.80688357033313 + ], + [ + 0.11083941660324226, + 0.07077569746669031, + -0.9913149975538331, + 45.11634846273837 + ], + [ + -0.835508665362817, + -0.5335079139173243, + -0.13150884339552374, + -307.2583827904009 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.5424899677432473, + 0.8400622803685034, + 6.9388938510964844e-18, + -175.33251003579392 + ], + [ + 0.11047561802065134, + 0.07134222766215453, + -0.991314997553833, + 44.992023236372205 + ], + [ + -0.832766347994359, + -0.537778424406288, + -0.1315088433955237, + -306.3212179871592 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.5467836733480455, + 0.8372739184759176, + -6.9388938510964844e-18, + -176.85060015796583 + ], + [ + 0.11010892377601329, + 0.07190688791577374, + -0.991314997553833, + 44.86758766795654 + ], + [ + -0.8300022030951868, + -0.5420348392547357, + -0.1315088433955237, + -305.38322142415234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.5510630472771371, + 0.8344636109056138, + -0.0, + -178.36177385820474 + ], + [ + 0.10973934348070324, + 0.07246966342731138, + -0.9913149975538331, + 44.742961926168434 + ], + [ + -0.8272163031159454, + -0.5462770468983292, + -0.1315088433955237, + -304.443791332066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.5553279773644091, + 0.8316314313181977, + -0.0, + -179.86659061452283 + ], + [ + 0.1093668868217422, + 0.07303053944593178, + -0.9913149975538331, + 44.61803072739578 + ], + [ + -0.8244087210774975, + -0.5505049361451142, + -0.13150884339552374, + -303.502058701866 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.5595783518223342, + 0.8287774539475598, + 6.9388938510964844e-18, + -181.3655227573738 + ], + [ + 0.10899156356154309, + 0.07358950127058658, + -0.991314997553833, + 44.49264798744419 + ], + [ + -0.821579530569011, + -0.554718396178435, + -0.1315088433955237, + -302.55692234941284 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.5638140592449002, + 0.82590175359893, + -6.9388938510964844e-18, + -182.85893052850133 + ], + [ + 0.10861338353765523, + 0.07414653425040016, + -0.991314997553833, + 44.36665619359063 + ], + [ + -0.818728805746032, + -0.5589173165598358, + -0.13150884339552374, + -301.6071949421984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.5680347694311825, + 0.8230045569237532, + -0.0, + -184.34696686408142 + ], + [ + 0.10823237655674764, + 0.07470159496103108, + -0.9913149975538331, + 44.23992594350436 + ], + [ + -0.8158567712915328, + -0.56310136995618, + -0.1315088433955237, + -300.6519010441357 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.5722408108830043, + 0.8200856384305005, + -0.0, + -185.8298733342205 + ], + [ + 0.10784851296469049, + 0.07525472660337393, + -0.9913149975538331, + 44.11238569234534 + ], + [ + -0.8129632036723861, + -0.5672708820162566, + -0.13150884339552374, + -299.69050134949435 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.576431853405401, + 0.8171452247793007, + 6.9388938510964844e-18, + -187.3075657513059 + ], + [ + 0.10746182256929485, + 0.0758058857538711, + -0.991314997553833, + 43.98403626184664 + ], + [ + -0.8100483275801728, + -0.571425525412837, + -0.13150884339552374, + -298.72300205250593 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.580607787147502, + 0.8141833930409542, + -0.0, + -188.78003862070108 + ], + [ + 0.10707231550605247, + 0.07635505796616172, + -0.9913149975538331, + 43.854871960471314 + ], + [ + -0.8071122194163322, + -0.5755651912491004, + -0.1315088433955237, + -297.7493602503071 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.5847685026544516, + 0.8112002208476464, + -6.9388938510964844e-18, + -190.2472843765201 + ], + [ + 0.10668000198428218, + 0.07690222884596447, + -0.991314997553833, + 43.72488668418552 + ], + [ + -0.8041549561388146, + -0.5796897710208041, + -0.13150884339552366, + -296.7695299306293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.5889138908702772, + 0.808195786390916, + -0.0, + -191.70932361863328 + ], + [ + 0.10628489228686286, + 0.07744738405145471, + -0.9913149975538331, + 43.594042502746916 + ], + [ + -0.8011766152600642, + -0.5837991566191222, + -0.1315088433955237, + -295.7832251749186 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.5930438431407478, + 0.8051701684196032, + -0.0, + -193.16621726489612 + ], + [ + 0.10588699676996315, + 0.07799050929364018, + -0.9913149975538331, + 43.462249645915136 + ], + [ + -0.7981772748449876, + -0.5878932403334817, + -0.1315088433955237, + -294.7897692941883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.5971582512162212, + 0.8021234462377873, + -0.0, + -194.6180399065695 + ], + [ + 0.10548632586277074, + 0.07853159033673579, + -0.9913149975538331, + 43.32939659239122 + ], + [ + -0.795157013508907, + -0.5919719148543857, + -0.13150884339552368, + -293.7883216397496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.6012567944530596, + 0.799055859827103, + 6.9388938510964844e-18, + -196.0647793057313 + ], + [ + 0.10508291112499271, + 0.07907058501326795, + -0.991314997553833, + 43.19539364605981 + ], + [ + -0.7921160691492131, + -0.5960348623229778, + -0.1315088433955237, + -292.77820608136875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.6053397918447174, + 0.7959671704344309, + -0.0, + -197.5066343167008 + ], + [ + 0.10467672115848257, + 0.07960753527369653, + -0.9913149975538331, + 43.06016934718497 + ], + [ + -0.7890542050863628, + -0.6000823989622587, + -0.13150884339552368, + -291.75888395483014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.6094069227538678, + 0.792857618049837, + 6.9388938510964844e-18, + -198.94353658606164 + ], + [ + 0.1042677875240562, + 0.08014239895137787, + -0.991314997553833, + 42.923709466702334 + ], + [ + -0.7859716592261063, + -0.6041142069196296, + -0.13150884339552368, + -290.7302480013012 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.613458080577471, + 0.7897272841773957, + -0.0, + -200.3754716486397 + ], + [ + 0.10385612094022006, + 0.08067516202706967, + -0.9913149975538331, + 42.78601637778333 + ], + [ + -0.7828685123646534, + -0.6081301805178939, + -0.1315088433955237, + -289.6923161097722 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.6174931591311563, + 0.7865762508658805, + -0.0, + -201.8024058659133 + ], + [ + 0.10344173219711326, + 0.08120581053658814, + -0.9913149975538331, + 42.647105368252724 + ], + [ + -0.7797448458381844, + -0.6121302144948881, + -0.13150884339552368, + -288.6452035200228 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.621512052652006, + 0.7834046007066144, + -0.0, + -203.22432265144505 + ], + [ + 0.1030246321562252, + 0.08173433057117452, + -0.9913149975538331, + 42.50697942140927 + ], + [ + -0.7766007415207157, + -0.6161142040062425, + -0.13150884339552368, + -287.58893272018935 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.625514655801324, + 0.7802124168313083, + -0.0, + -204.64125845062716 + ], + [ + 0.10260483175011091, + 0.08226070827785875, + -0.9913149975538331, + 42.36561210667318 + ], + [ + -0.7734362818219599, + -0.620082044628123, + -0.13150884339552368, + -286.5233044762931 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.6295008636674002, + 0.7769997829098776, + 6.9388938510964844e-18, + -206.05326613390116 + ], + [ + 0.10218234198210413, + 0.08278492985982337, + -0.991314997553833, + 42.222974366939 + ], + [ + -0.770251549685158, + -0.6240336323599749, + -0.1315088433955237, + -285.4480997555773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.6334703657016796, + 0.7737669518516415, + -0.0, + -207.4603263737128 + ], + [ + 0.1017571961120166, + 0.0833069544771873, + -0.9913149975538331, + 42.07904904942738 + ], + [ + -0.767046795823109, + -0.6279686593503484, + -0.1315088433955237, + -284.36318926021715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.63742347085422, + 0.7705136720423325, + -6.9388938510964844e-18, + -208.8626449935252 + ], + [ + 0.10132936105034723, + 0.08382682275961503, + -0.991314997553833, + 41.93380535700342 + ], + [ + -0.7638217708068205, + -0.6318874318660759, + -0.13150884339552366, + -283.26834084109856 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.641359868583117, + 0.767240196399437, + -1.3877787702192969e-17, + -210.26019630747817 + ], + [ + 0.10089887005798201, + 0.08434449386810022, + -0.991314997553833, + 41.78723916720699 + ], + [ + -0.7605767253571886, + -0.6357896420623003, + -0.13150884339552363, + -282.16352342307545 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.6452794557119618, + 0.763946610723599, + 6.9388938510964844e-18, + -211.65304267680776 + ], + [ + 0.10046573441846429, + 0.08485995423403288, + -0.991314997553833, + 41.63933843900047 + ], + [ + -0.7573117445296768, + -0.6396751876586971, + -0.1315088433955237, + -281.04864624068466 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.6491821295049668, + 0.7606330013425635, + 6.9388938510964844e-18, + -213.04127746010198 + ], + [ + 0.10002996548465574, + 0.08537319034674833, + -0.991314997553833, + 41.490084088538396 + ], + [ + -0.7540269139022745, + -0.6435439668117349, + -0.13150884339552368, + -279.923565439707 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.6530677876696571, + 0.7572994551089152, + -0.0, + -214.42497409146935 + ], + [ + 0.09959157467843938, + 0.08588418875388172, + -0.9913149975538331, + 41.3394685890743 + ], + [ + -0.7507223195732512, + -0.6473958781173451, + -0.13150884339552368, + -278.7882242834519 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.656936328359552, + 0.7539460593977998, + -6.9388938510964844e-18, + -215.80414349052916 + ], + [ + 0.0991505734904194, + 0.08639293606172024, + -0.991314997553833, + 41.18750596084445 + ], + [ + -0.7473980481589004, + -0.6512308206135806, + -0.13150884339552368, + -277.64272845660514 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.6607876501768344, + 0.7505729021046372, + -1.3877787702192969e-17, + -217.17872410419906 + ], + [ + 0.09870697347962075, + 0.08689941893555435, + -0.991314997553833, + 41.034229324025446 + ], + [ + -0.7440541867912692, + -0.6550486937832598, + -0.13150884339552363, + -276.48732761939533 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.6646214531888988, + 0.747180248642238, + -0.0, + -218.54850298017186 + ], + [ + 0.09826080955017495, + 0.0874035979315944, + -0.9913149975538331, + 40.87969566588248 + ], + [ + -0.7406909985780548, + -0.6588492002986843, + -0.1315088433955237, + -275.3224513424063 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.6684380357842208, + 0.743767834957208, + 6.9388938510964844e-18, + -219.9134147870252 + ], + [ + 0.09781204697672564, + 0.08790551229056319, + -0.991314997553833, + 40.723952021728394 + ], + [ + -0.7373082217591729, + -0.662632635956831, + -0.13150884339552366, + -274.1484541783059 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ] + ], + "cv_convention": "opencv_rh camera space of cam01 at the same frame t (X right, Y down, Z forward), metres -- same frame as points_target.npz xyz. Back to world: X_world = inv(w2c_cam01[t]) @ X" +} \ No newline at end of file diff --git a/clips/clip_00221/.capture_done b/clips/clip_00221/.capture_done new file mode 100644 index 0000000000000000000000000000000000000000..077a20725a2febe82903461c753a1c64e5ed5ef6 --- /dev/null +++ b/clips/clip_00221/.capture_done @@ -0,0 +1,73 @@ +{ + "clip": "clip_00221", + "frames": 181, + "frame_count": 181, + "frame_bucket": 181, + "spec_gen": "gen3", + "bucket_retired": false, + "target_class": "pedestrian", + "target_model": "arch_a037facd", + "target_class_fallback": false, + "target_lost_frame": null, + "hfov_deg_per_cam": [ + 44.655, + 41.102, + 36.21, + 65.419 + ], + "oos_allowed": [ + false, + false, + false, + false + ], + "oos_effective": [ + false, + false, + false, + false + ], + "oos_departed": [ + false, + false, + true, + false + ], + "oos_cycles": [ + 0, + 0, + 0, + 0 + ], + "oos_forced_returns": 0, + "visible_ratio": [ + 1.0, + 1.0, + 0.9945, + 1.0 + ], + "min_visible_ratio_non_oos": 0.9945, + "points_ok": true, + "points_n": 256, + "points_track_complete_ratio": 1.0, + "points_track_breaks": 0, + "points_in_frustum_ratio": 0.9976, + "num_cams": 4, + "save_errors": 0, + "flush_ok": true, + "quality_ok": true, + "view_blocked": false, + "view_block_ratios": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "depth_qc": { + "frames": 724, + "sky": 0, + "near": 0, + "const": 0 + }, + "capture_wall_sec": 30.4 +} \ No newline at end of file diff --git a/clips/clip_00221/cameras.json b/clips/clip_00221/cameras.json new file mode 100644 index 0000000000000000000000000000000000000000..795faa02bc10373a051dd21039fb33368aac7a39 --- /dev/null +++ b/clips/clip_00221/cameras.json @@ -0,0 +1,49713 @@ +{ + "convention": "opencv_w2c_rh_meters (X right, Y down, Z forward)", + "resolution": [ + 1280, + 1280 + ], + "num_cams": 4, + "frames": 181, + "fps": 15, + "intrinsics_mode": "per_camera", + "hfov_deg_per_cam": [ + 44.655, + 41.102, + 36.21, + 65.419 + ], + "hfov_range_deg": [ + 36.21, + 65.419 + ], + "oos_allowed_per_cam": [ + false, + false, + false, + false + ], + "num_oos_allowed": 0, + "depth": { + "present": true, + "format": "png16_gray", + "unit": "cm", + "clamp_cm": 65535, + "note": "16-bit grayscale PNG; pixel value = SCS_SceneDepth linear depth in cm (metres = value/100), clamped to 65535cm. Pixel-aligned with RGB." + }, + "cameras": [ + { + "name": "cam01", + "intrinsics": { + "fx": 1558.3503641625402, + "fy": 1558.3503641625402, + "cx": 640.0, + "cy": 640.0, + "width": 1280, + "height": 1280, + "fov_deg": 44.655, + "hfov_deg": 44.655 + }, + "oos_allowed": false, + "oos_reason": "none", + "pinned": false, + "oos_effective": false, + "oos_cycles": 0, + "oos_departed": false, + "oos_schedule": null + }, + { + "name": "cam02", + "intrinsics": { + "fx": 1707.123880916154, + "fy": 1707.123880916154, + "cx": 640.0, + "cy": 640.0, + "width": 1280, + "height": 1280, + "fov_deg": 41.102, + "hfov_deg": 41.102 + }, + "oos_allowed": false, + "oos_reason": "none", + "pinned": false, + "oos_effective": false, + "oos_cycles": 0, + "oos_departed": false, + "oos_schedule": null + }, + { + "name": "cam03", + "intrinsics": { + "fx": 1957.5039734895083, + "fy": 1957.5039734895083, + "cx": 640.0, + "cy": 640.0, + "width": 1280, + "height": 1280, + "fov_deg": 36.21, + "hfov_deg": 36.21 + }, + "oos_allowed": false, + "oos_reason": "none", + "pinned": false, + "oos_effective": false, + "oos_cycles": 0, + "oos_departed": true, + "oos_schedule": null + }, + { + "name": "cam04", + "intrinsics": { + "fx": 996.5389605777973, + "fy": 996.5389605777973, + "cx": 640.0, + "cy": 640.0, + "width": 1280, + "height": 1280, + "fov_deg": 65.419, + "hfov_deg": 65.419 + }, + "oos_allowed": false, + "oos_reason": "none", + "pinned": false, + "oos_effective": false, + "oos_cycles": 0, + "oos_departed": false, + "oos_schedule": null + } + ], + "per_frame": [ + { + "frame": 0, + "time": 452.206109713763, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -2.4335928950132557e-08, + 0.9999999999999996, + 3.851859859013503e-34, + 284.55016154630306 + ], + [ + 0.050739858768389684, + 1.2348015979272924e-09, + -0.9987119037701332, + -30.167649567509464 + ], + [ + -0.9987119037501815, + -1.2230693361980193e-16, + -0.05073985916110161, + 659.6843651830299 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -2.4335928950132557e-08, + 0.050739858768389684, + -0.9987119037501815, + 660.3653305474404 + ], + [ + 0.9999999999999996, + 1.2348015979272924e-09, + -1.2230693361980193e-16, + -284.5501454756994 + ], + [ + 3.851859859013503e-34, + -0.9987119037701332, + -0.05073985916110161, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 66036.53305474404, + 28455.014547569943, + 334.35004389556343 + ], + "rotation_deg": [ + -2.2097995835815413e-32, + -2.9084286689758296, + 180.0 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5555702494602022, + 0.8314696013172871, + -6.938893851196044e-18, + -123.59213848463298 + ], + [ + 0.11491743030339298, + -0.07678537534004015, + -0.9904029434257319, + -93.64719599364386 + ], + [ + -0.8234899512700646, + 0.550238393979861, + -0.13821002115508652, + 704.9478557783258 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5555702494602022, + 0.11491743030339298, + -0.8234899512700646, + 659.9432762377761 + ], + [ + 0.8314696013172871, + -0.07678537534004015, + 0.550238393979861, + -292.31701524542325 + ], + [ + -6.938893851196044e-18, + -0.9904029434257319, + -0.13821002115508652, + 4.682398434179741 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65994.32762377762, + 29231.701524542324, + 468.2398434179741 + ], + "rotation_deg": [ + 4.0142180299602666e-16, + -7.94428110122681, + -146.25000000000003 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.16676105492547708, + -0.985997338008649, + -0.0, + -172.45126986980526 + ], + [ + -0.17576197581136305, + 0.029726502671178594, + -0.9839837716638553, + 125.09631937296328 + ], + [ + 0.970205379047301, + -0.1640901730101325, + -0.1782580645838723, + -660.2425533413808 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.16676105492547708, + -0.17576197581136305, + 0.970205379047301, + 633.7998975572609 + ], + [ + -0.985997338008649, + 0.029726502671178594, + -0.1640901730101325, + -282.09448309451074 + ], + [ + -0.0, + -0.9839837716638553, + -0.1782580645838723, + 5.399189353542299 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 63379.98975572609, + 28209.448309451072, + 539.9189353542299 + ], + "rotation_deg": [ + 0.0, + -10.268313407897944, + 9.599553108215332 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 257.2236561567763 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 115.03629306049345 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -641.4172569225744 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 642.6624799330427 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -278.89329122620705 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64266.24799330427, + 27889.329122620704, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 1, + "time": 452.2727763839066, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.0030959441334388496, + 0.9999952075534776, + -0.0, + 286.4744371080018 + ], + [ + 0.05073961560033002, + 0.00015708776808551192, + -0.9987119037701333, + -30.117438845911778 + ], + [ + -0.9987071175519625, + -0.0030919319788967315, + -0.05073985916110162, + 658.6960683184382 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.0030959441334388496, + 0.05073961560033002, + -0.9987071175519625, + 660.2595008846384 + ], + [ + 0.9999952075534776, + 0.00015708776808551192, + -0.0030919319788967315, + -284.43167370327626 + ], + [ + -0.0, + -0.9987119037701333, + -0.05073985916110162, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 66025.95008846384, + 28443.167370327625, + 334.35004389556343 + ], + "rotation_deg": [ + 0.0, + -2.9084286689758305, + 179.82261657714844 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5561620010493634, + 0.8310739007987, + 6.938893851211232e-18, + -124.09701712811139 + ], + [ + 0.11568748671703291, + -0.07741908878029025, + -0.9902639497172081, + -94.3086200782349 + ], + [ + -0.8229825342735095, + 0.5507471634897674, + -0.13920240726628033, + 704.6177169568225 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5561620010493634, + 0.11568748671703291, + -0.8229825342735095, + 659.8164374998648 + ], + [ + 0.8310739007987, + -0.07741908878029025, + 0.5507471634897674, + -292.2337145272744 + ], + [ + 6.938893851211232e-18, + -0.9902639497172081, + -0.13920240726628033, + 4.694054713007768 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65981.64374998648, + 29223.37145272744, + 469.4054713007768 + ], + "rotation_deg": [ + -4.014781466667892e-16, + -8.00169563293457, + -146.20921325683594 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.16991373487416214, + -0.9854589401396249, + -6.93889385186952e-18, + -170.19209865625118 + ], + [ + -0.17410133863984253, + 0.030018712591612973, + -0.9842700852805376, + 124.08277483596378 + ], + [ + 0.9699577545909746, + -0.1672410075565237, + -0.1766703135795976, + -660.7185224822712 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.16991373487416214, + -0.17410133863984253, + 0.9699577545909746, + 633.5540568109868 + ], + [ + -0.9854589401396249, + 0.030018712591612973, + -0.1672410075565237, + -281.94136089964036 + ], + [ + -6.93889385186952e-18, + -0.9842700852805376, + -0.1766703135795976, + 5.401615718533439 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 63355.40568109868, + 28194.136089964035, + 540.1615718533438 + ], + "rotation_deg": [ + 4.0392300977815537e-16, + -10.175874710083004, + 9.782803535461417 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 257.2062665296733 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 115.01377867894549 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -641.2869937923726 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 642.5567079961685 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -278.8121119369639 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64255.67079961685, + 27881.21119369639, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 2, + "time": 452.3394430540502, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.006191567946119874, + 0.9999808320594793, + -2.7105054102713412e-20, + 288.39511546614705 + ], + [ + 0.05073888618979482, + 0.0003141592831410112, + -0.9987119037701332, + -30.066943709896194 + ], + [ + -0.9986927606499997, + -0.00618356835445142, + -0.05073985916110163, + 657.7021733288082 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.006191567946119874, + 0.05073888618979482, + -0.9986927606499997, + 660.1535732947491 + ], + [ + 0.9999808320594793, + 0.0003141592831410112, + -0.00618356835445142, + -284.3131794603319 + ], + [ + -2.7105054102713412e-20, + -0.9987119037701332, + -0.05073985916110163, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 66015.35732947491, + 28431.317946033192, + 334.35004389556343 + ], + "rotation_deg": [ + 1.5550082158095791e-18, + -2.908428668975831, + 179.64524841308594 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5567552405857874, + 0.830676592953155, + 6.938893851226566e-18, + -124.60315961716981 + ], + [ + 0.11645833972938216, + -0.07805539665412245, + -0.9901236337754205, + -94.97103643336028 + ], + [ + -0.8224725374739443, + 0.5512565055936414, + -0.1401969690894146, + 704.2861227106675 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5567552405857874, + 0.11645833972938216, + -0.8224725374739443, + 659.6896162861689 + ], + [ + 0.830676592953155, + -0.07805539665412245, + 0.5512565055936414, + -292.1503909811838 + ], + [ + 6.938893851226566e-18, + -0.9901236337754205, + -0.1401969690894146, + 4.705710991835795 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65968.96162861689, + 29215.039098118385, + 470.57109918357946 + ], + "rotation_deg": [ + -4.0153504237477313e-16, + -8.05924415588379, + -146.1683044433594 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.17256919123181316, + -0.9849973980867145, + -3.469446925921758e-18, + -168.27776741135187 + ], + [ + -0.1727217636629442, + 0.03026044040455693, + -0.9845057125805233, + 123.23719991404008 + ], + [ + 0.9697355648292316, + -0.16989535584465232, + -0.1753525088721296, + -661.0894071495808 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.17256919123181316, + -0.1727217636629442, + 0.9697355648292316, + 633.3280981925222 + ], + [ + -0.9849973980867145, + 0.03026044040455693, + -0.16989535584465232, + -281.7983942292422 + ], + [ + -3.469446925921758e-18, + -0.9845057125805233, + -0.1753525088721296, + 5.404042083524578 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 63332.80981925222, + 28179.83942292422, + 540.4042083524578 + ], + "rotation_deg": [ + 2.0191316830328144e-16, + -10.099172592163082, + 9.93723106384277 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 257.18890543585405 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 114.99126365867417 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -641.1567269666615 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 642.4509535835094 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -278.7309098197791 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64245.09535835095, + 27873.090981977908, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 3, + "time": 452.4061097241938, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.009287398729048081, + 0.9999568711823765, + -0.0, + 290.31253083302323 + ], + [ + 0.05073767041827468, + 0.000471241299837622, + -0.9987119037701333, + -30.016156990829856 + ], + [ + -0.998668830711685, + -0.0092754114338895, + -0.050739859161101644, + 656.7025391140503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.009287398729048081, + 0.05073767041827468, + -0.998668830711685, + 660.0475478243243 + ], + [ + 0.9999568711823765, + 0.000471241299837622, + -0.0092754114338895, + -284.1946630560408 + ], + [ + -0.0, + -0.9987119037701333, + -0.050739859161101644, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 66004.75478243243, + 28419.46630560408, + 334.35004389556343 + ], + "rotation_deg": [ + 0.0, + -2.908428668975832, + 179.46786499023438 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5573497441112815, + 0.8302778226226982, + -1.3877787702484097e-17, + -125.1103750348843 + ], + [ + 0.11722998022978143, + -0.07869426076785718, + -0.9899819922895189, + -95.63442700351446 + ], + [ + -0.8219601037660609, + 0.5517661937520479, + -0.14119367991968787, + 703.9531018602648 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5573497441112815, + 0.11722998022978143, + -0.8219601037660609, + 659.5628126415801 + ], + [ + 0.8302778226226982, + -0.07869426076785718, + 0.5517661937520479, + -292.0670445589089 + ], + [ + -1.3877787702484097e-17, + -0.9899819922895189, + -0.14119367991968787, + 4.717367270663821 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65956.28126415801, + 29206.70445589089, + 471.7367270663822 + ], + "rotation_deg": [ + 8.031849838514968e-16, + -8.116925239562987, + -146.12728881835938 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.1748031927822804, + -0.9846033941608777, + 1.7347234629555522e-18, + -166.65635234322576 + ], + [ + -0.17158163777925553, + 0.030462029975214515, + -0.9846988404110046, + 122.53551583625574 + ], + [ + 0.969537820027865, + -0.17212850251114126, + -0.17426472436751902, + -661.3737416824769 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.1748031927822804, + -0.17158163777925553, + 0.969537820027865, + 633.1196379943276 + ], + [ + -0.9846033941608777, + 0.030462029975214515, + -0.17212850251114126, + -281.66436163278377 + ], + [ + 1.7347234629555522e-18, + -0.9846988404110046, + -0.17426472436751902, + 5.406468448515717 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 63311.96379943276, + 28166.436163278377, + 540.6468448515717 + ], + "rotation_deg": [ + -1.0093678365470191e-16, + -10.035872459411618, + 10.067205429077147 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 257.17157294117493 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 114.96874799927598 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -641.0264564431064 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 642.3452167399577 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -278.64968482640984 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64234.52167399576, + 27864.968482640983, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 4, + "time": 452.4727763943374, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.01238314049465227, + 0.999923325976292, + 5.4210108205426824e-20, + 292.22649243465946 + ], + [ + 0.050735968339255574, + 0.0006283187998077839, + -0.9987119037701332, + -29.965083101164367 + ], + [ + -0.9986353287897762, + -0.012367165610897322, + -0.05073985916110163, + 655.6972525243817 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.01238314049465227, + 0.050735968339255574, + -0.9986353287897762, + 659.9414233443111 + ], + [ + 0.999923325976292, + 0.0006283187998077839, + -0.012367165610897322, + -284.0761263307913 + ], + [ + 5.4210108205426824e-20, + -0.9987119037701332, + -0.05073985916110163, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65994.14233443112, + 28407.61263307913, + 334.35004389556343 + ], + "rotation_deg": [ + -3.1100164316191583e-18, + -2.908428668975831, + 179.2904815673828 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5579455090910088, + 0.8298775866868405, + 6.938893851257681e-18, + -125.61865991609426 + ], + [ + 0.11800244019470231, + -0.07933571483869854, + -0.9898390113847443, + -96.29882187416788 + ], + [ + -0.821445220753934, + 0.5522762148133249, + -0.14219258719070632, + 703.6186433584843 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5579455090910088, + 0.11800244019470231, + -0.821445220753934, + 659.4360254342795 + ], + [ + 0.8298775866868405, + -0.07933571483869854, + 0.5522762148133249, + -291.9836767434276 + ], + [ + 6.938893851257681e-18, + -0.9898390113847443, + -0.14219258719070632, + 4.729023549491848 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65943.60254342794, + 29198.367674342764, + 472.9023549491848 + ], + "rotation_deg": [ + -4.016505014182835e-16, + -8.17474174499512, + -146.08616638183594 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.1766781104974935, + -0.9842686855076895, + -6.9388938518048684e-18, + -165.2849521789543 + ], + [ + -0.17064646895330504, + 0.030631367371184732, + -0.9848560818549784, + 121.95756820974424 + ], + [ + 0.9693630006319096, + -0.1740025129464392, + -0.17337386912169045, + -661.5861977181381 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.1766781104974935, + -0.17064646895330504, + 0.9693630006319096, + 632.9265773824444 + ], + [ + -0.9842686855076895, + 0.030631367371184732, + -0.1740025129464392, + -281.5381897592284 + ], + [ + -6.9388938518048684e-18, + -0.9848560818549784, + -0.17337386912169045, + 5.408894813506857 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 63292.657738244445, + 28153.818975922837, + 540.8894813506856 + ], + "rotation_deg": [ + 4.03682672628258e-16, + -9.984041213989252, + 10.17632865905761 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 257.1542671966947 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 114.94623174304067 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -640.8961824663862 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 642.2394963336939 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -278.5684384398343 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64223.94963336939, + 27856.84384398343, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 5, + "time": 452.539443064481, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.01547876357104521, + 0.999880196762748, + 5.4210108205426824e-20, + 294.1369926221488 + ], + [ + 0.05073377996905156, + 0.0007853902775041299, + -0.9987119037701332, + -29.913722281844976 + ], + [ + -0.9985922552053812, + -0.015458801251807201, + -0.05073985916110163, + 654.6863183023241 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.01547876357104521, + 0.05073377996905156, + -0.9985922552053812, + 659.8351928923107 + ], + [ + 0.999880196762748, + 0.0007853902775041299, + -0.015458801251807201, + -283.95757871268574 + ], + [ + 5.4210108205426824e-20, + -0.9987119037701332, + -0.05073985916110163, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65983.51928923107, + 28395.757871268575, + 334.35004389556343 + ], + "rotation_deg": [ + -3.1100164316191583e-18, + -2.908428668975831, + 179.11309814453125 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5585425329796986, + 0.8294758820198583, + -6.938893851273466e-18, + -126.12800123751998 + ], + [ + 0.1187756967984682, + -0.07997975587270523, + -0.9896946865071977, + -96.96420412615672 + ], + [ + -0.8209278838036127, + 0.5527865607798573, + -0.14319367239825784, + 703.2827418902913 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5585425329796986, + 0.1187756967984682, + -0.8209278838036127, + 659.309247697995 + ], + [ + 0.8294758820198583, + -0.07997975587270523, + 0.5527865607798573, + -291.9002966054425 + ], + [ + -6.938893851273466e-18, + -0.9896946865071977, + -0.14319367239825784, + 4.740679828319875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65930.9247697995, + 29190.029660544253, + 474.06798283198754 + ], + "rotation_deg": [ + 4.017090731789774e-16, + -8.232692718505863, + -146.0449371337891 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.17824568130685461, + -0.9839860146848913, + -0.0, + -164.1278716106493 + ], + [ + -0.16988742960310912, + 0.030774523400897934, + -0.9849828373998687, + 121.48636449124115 + ], + [ + 0.9692093362340366, + -0.17556893823196404, + -0.1726522820146878, + -661.7385091987329 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.17824568130685461, + -0.16988742960310912, + 0.9692093362340366, + 632.747063412718 + ], + [ + -0.9839860146848913, + 0.030774523400897934, + -0.17556893823196404, + -281.41894182534526 + ], + [ + -0.0, + -0.9849828373998687, + -0.1726522820146878, + 5.411321178497996 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 63274.706341271805, + 28141.894182534525, + 541.1321178497996 + ], + "rotation_deg": [ + 0.0, + -9.942064285278315, + 10.267592430114743 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 257.1369768625606 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 114.92371514340309 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -640.765906502818 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 642.1337853984464 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -278.4871797307549 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64213.37853984464, + 27848.71797307549, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 6, + "time": 452.6061097346246, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.018573972017313464, + 0.9998274889017107, + -0.0, + 296.0439203624487 + ], + [ + 0.05073110557962655, + 0.000942440716926508, + -0.9987119037701333, + -29.862075898390927 + ], + [ + -0.9985396153115541, + -0.018550022796903494, + -0.05073985916110163, + 653.6697633253712 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.018573972017313464, + 0.05073110557962655, + -0.9985396153115541, + 659.728794218833 + ], + [ + 0.9998274889017107, + 0.000942440716926508, + -0.018550022796903494, + -283.83910159476574 + ], + [ + -0.0, + -0.9987119037701333, + -0.05073985916110163, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65972.87942188329, + 28383.910159476574, + 334.35004389556343 + ], + "rotation_deg": [ + 0.0, + -2.908428668975831, + 178.93572998046875 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5591410340170145, + 0.8290725565825849, + 6.9388938512894e-18, + -126.63848438897637 + ], + [ + 0.11954971939032699, + -0.08062642188023364, + -0.9895490107561545, + -97.63056286607885 + ], + [ + -0.8204079389992539, + 0.5532974407997886, + -0.1441969335020703, + 702.9453516777232 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5591410340170145, + 0.11954971939032699, + -0.8204079389992539, + 659.1824171782577 + ], + [ + 0.8290725565825849, + -0.08062642188023364, + 0.5532974407997886, + -291.8169851806088 + ], + [ + 6.9388938512894e-18, + -0.9895490107561545, + -0.1441969335020703, + 4.752336107147903 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65918.24171782576, + 29181.698518060883, + 475.23361071479025 + ], + "rotation_deg": [ + -4.0176821049427263e-16, + -8.290778160095217, + -146.0035858154297 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.1795491643208643, + -0.9837490013167378, + -5.20417038883484e-18, + -163.1552609299991 + ], + [ + -0.16928029339043088, + 0.030896229804106903, + -0.9850835524226059, + 121.10751237008363 + ], + [ + 0.9690749604351664, + -0.17687092993750808, + -0.17207671312708783, + -661.8401164319308 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.1795491643208643, + -0.16928029339043088, + 0.9690749604351664, + 632.5794093701423 + ], + [ + -0.9837490013167378, + 0.030896229804106903, + -0.17687092993750808, + -281.30586651532855 + ], + [ + -5.20417038883484e-18, + -0.9850835524226059, + -0.17207671312708783, + 5.4137475434891345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 63257.94093701424, + 28130.586651532853, + 541.3747543489135 + ], + "rotation_deg": [ + 3.026920921821074e-16, + -9.908585548400868, + 10.343501091003414 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 257.1196006173535 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 114.9012004621658 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -640.6356416386815 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 642.028021679746 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -278.4059897348269 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64202.802167974594, + 27840.59897348269, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 7, + "time": 452.67277640476823, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.021669268721047293, + 0.999765193829579, + -0.0, + 297.947765599796 + ], + [ + 0.05072794473646461, + 0.0010994956345202246, + -0.9987119037701333, + -29.81013011385589 + ], + [ + -0.9984774005557372, + -0.0216413324860119, + -0.05073985916110162, + 652.64731524112 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.021669268721047293, + 0.05072794473646461, + -0.9984774005557372, + 659.6221041350294 + ], + [ + 0.999765193829579, + 0.0010994956345202246, + -0.0216413324860119, + -283.7208563787063 + ], + [ + -0.0, + -0.9987119037701333, + -0.05073985916110162, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65962.21041350294, + 28372.08563787063, + 334.35004389556343 + ], + "rotation_deg": [ + 0.0, + -2.9084286689758305, + 178.7583465576172 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5597407886257677, + 0.8286677558277524, + -0.0, + -127.14971619899683 + ], + [ + 0.1203245198750244, + -0.08127568759880958, + -0.989401977217645, + -98.29789597891245 + ], + [ + -0.8198855268655387, + 0.5538086267243172, + -0.14520236844536588, + 702.6064880703523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5597407886257677, + 0.1203245198750244, + -0.8198855268655387, + 659.0554106801335 + ], + [ + 0.8286677558277524, + -0.08127568759880958, + 0.5538086267243172, + -291.73390351323235 + ], + [ + -0.0, + -0.989401977217645, + -0.14520236844536588, + 4.763992385975929 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65905.54106801335, + 29173.390351323236, + 476.3992385975929 + ], + "rotation_deg": [ + 0.0, + -8.348998069763184, + -145.96212768554685 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.18062489492393607, + -0.9835520562398905, + 1.734723462942788e-18, + -162.34208846762584 + ], + [ + -0.16880457667173251, + 0.031000198444579883, + -0.9851619169411056, + 120.80875278099393 + ], + [ + 0.9689580286607643, + -0.1779447690523667, + -0.17162749739113953, + -661.8986536159288 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.18062489492393607, + -0.16880457667173251, + 0.9689580286607643, + 632.4220625345112 + ], + [ + -0.9835520562398905, + 0.031000198444579883, + -0.1779447690523667, + -281.19839240419833 + ], + [ + 1.734723462942788e-18, + -0.9851619169411056, + -0.17162749739113953, + 5.416173908480274 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 63242.20625345112, + 28119.839240419835, + 541.6173908480274 + ], + "rotation_deg": [ + -1.0088933819882107e-16, + -9.88245868682861, + 10.40616035461426 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 257.1019374735795 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 114.87869225749722 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -640.5054142465114 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 641.9220819826588 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -278.3250294963562 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64192.20819826588, + 27832.50294963562, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 8, + "time": 452.73944307491183, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.024764357730423292, + 0.9996933162656435, + -1.0842021641085365e-19, + 299.84856723679087 + ], + [ + 0.050724297679021924, + 0.0012565400137315582, + -0.9987119037701332, + -29.757880042392102 + ], + [ + -0.9984056156511352, + -0.02473243474852089, + -0.05073985916110164, + 651.6188778815017 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.024764357730423292, + 0.050724297679021924, + -0.9984056156511352, + 659.5149441076134 + ], + [ + 0.9996933162656435, + 0.0012565400137315582, + -0.02473243474852089, + -283.60307968390225 + ], + [ + -1.0842021641085365e-19, + -0.9987119037701332, + -0.05073985916110164, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65951.49441076134, + 28360.307968390225, + 334.35004389556343 + ], + "rotation_deg": [ + 6.2200328632383165e-18, + -2.9084286689758314, + 178.58096313476562 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5603417942280373, + 0.8282614766130946, + -0.0, + -127.66139927195402 + ], + [ + 0.12110010262397956, + -0.08192756840871204, + -0.9892535765308595, + -98.9662077521915 + ], + [ + -0.819360638840434, + 0.5543201077620039, + -0.14620999162066828, + 702.2661285915923 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5603417942280373, + 0.12110010262397956, + -0.819360638840434, + 658.928049663144 + ], + [ + 0.8282614766130946, + -0.08192756840871204, + 0.5543201077620039, + -291.65128786535945 + ], + [ + -0.0, + -0.9892535765308595, + -0.14620999162066828, + 4.775648664803956 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65892.80496631439, + 29165.128786535945, + 477.5648664803956 + ], + "rotation_deg": [ + 0.0, + -8.407353401184084, + -145.92056274414062 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.18150360079667388, + -0.9833902800505206, + -1.7347234629411591e-18, + -161.6672508782642 + ], + [ + -0.16844292463643182, + 0.031089383300254392, + -0.9852210063665587, + 120.57963561998157 + ], + [ + 0.968856760885036, + -0.17882116156439629, + -0.17128797116002165, + -661.9203309615575 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.18150360079667388, + -0.16844292463643182, + 0.968856760885036, + 632.2735863831061 + ], + [ + -0.9833902800505206, + 0.031089383300254392, + -0.17882116156439629, + -281.0961111810294 + ], + [ + -1.7347234629411591e-18, + -0.9852210063665587, + -0.17128797116002165, + 5.418600273471413 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 63227.35863831061, + 28109.61111810294, + 541.8600273471413 + ], + "rotation_deg": [ + 1.0088328727919662e-16, + -9.862712860107417, + 10.457352638244625 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 257.08369412156 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 114.85619748075763 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -640.3752645453113 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 641.8157877667061 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -278.244535277389 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64181.57877667061, + 27824.453527738897, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 9, + "time": 452.80610974505544, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.027858943167071562, + 0.9996118643181532, + -1.0842021641085365e-19, + 301.746551381852 + ], + [ + 0.05072016481870985, + 0.001413558841733807, + -0.9987119037701332, + -29.705313461686806 + ], + [ + -0.9983242686955457, + -0.027823034087177262, + -0.05073985916110164, + 650.5842106749184 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.027858943167071562, + 0.05072016481870985, + -0.9983242686955457, + 659.4069970989142 + ], + [ + 0.9996118643181532, + 0.001413558841733807, + -0.027823034087177262, + -283.4862004354042 + ], + [ + -1.0842021641085365e-19, + -0.9987119037701332, + -0.05073985916110164, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65940.69970989141, + 28348.62004354042, + 334.35004389556343 + ], + "rotation_deg": [ + 6.2200328632383165e-18, + -2.9084286689758314, + 178.40359497070312 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5609440482353579, + 0.8278537157912189, + -0.0, + -128.17299926819837 + ], + [ + 0.1218764583011177, + -0.08258207047929507, + -0.9891038017050224, + -99.63548980640408 + ], + [ + -0.8188332683480471, + 0.5548318744092178, + -0.1472198009304745, + 701.9242465261857 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5609440482353579, + 0.1218764583011177, + -0.8188332683480471, + 658.80001708132 + ], + [ + 0.8278537157912189, + -0.08258207047929507, + 0.5548318744092178, + -291.5695668047161 + ], + [ + -0.0, + -0.9891038017050224, + -0.1472198009304745, + 4.787304943631983 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65880.001708132, + 29156.95668047161, + 478.7304943631983 + ], + "rotation_deg": [ + 0.0, + -8.465844154357908, + -145.8788909912109 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.1822114332326619, + -0.9832593724950192, + 3.4694469258799817e-18, + -161.11300736394242 + ], + [ + -0.16818047116782542, + 0.0311661455262549, + -0.9852634168032447, + 120.41114259656602 + ], + [ + 0.9687694884695016, + -0.17952626062100788, + -0.17104385390296292, + -661.9101793690508 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.1822114332326619, + -0.16818047116782542, + 0.9687694884695016, + 632.132556845587 + ], + [ + -0.9832593724950192, + 0.0311661455262549, + -0.17952626062100788, + -280.99888418933284 + ], + [ + 3.4694469258799817e-18, + -0.9852634168032447, + -0.17104385390296292, + 5.4210266384625525 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 63213.2556845587, + 28099.888418933282, + 542.1026638462553 + ], + "rotation_deg": [ + -2.0175788956256005e-16, + -9.848516464233393, + 10.49859619140625 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 257.06434333279486 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 114.83372956241952 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -640.2452702407671 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 641.7088219859191 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -278.1649356456513 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64170.88219859191, + 27816.49356456513, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 10, + "time": 452.87277641519904, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.030953527817360153, + 0.9995208247533716, + -1.0842021641085365e-19, + 303.6425628032198 + ], + [ + 0.05071554548405048, + 0.0015705776298362763, + -0.9987119037701332, + -29.652402538917336 + ], + [ + -0.9982333464722901, + -0.030913632640715904, + -0.05073985916110162, + 649.542765788344 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.030953527817360153, + 0.05071554548405048, + -0.9982333464722901, + 659.2978873001803 + ], + [ + 0.9995208247533716, + 0.0015705776298362763, + -0.030913632640715904, + -283.3707515585122 + ], + [ + -1.0842021641085365e-19, + -0.9987119037701332, + -0.05073985916110162, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65929.78873001803, + 28337.07515585122, + 334.35004389556343 + ], + "rotation_deg": [ + 6.2200328632383165e-18, + -2.9084286689758305, + 178.22621154785156 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5615477684104572, + 0.8274443206604511, + -0.0, + -128.68405146062415 + ], + [ + 0.12265356897943895, + -0.08323924187793877, + -0.9889526432687219, + -100.30574192616486 + ], + [ + -0.818303258883272, + 0.5553441336606585, + -0.14823181072127944, + 701.5807908153616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5615477684104572, + 0.12265356897943895, + -0.818303258883272, + 658.6709371165058 + ], + [ + 0.8274443206604511, + -0.08323924187793877, + 0.5553441336606585, + -291.489272899305 + ], + [ + -0.0, + -0.9889526432687219, + -0.14823181072127944, + 4.79896122246001 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65867.09371165058, + 29148.9272899305, + 479.89612224600097 + ], + "rotation_deg": [ + 0.0, + -8.524471282958986, + -145.83709716796875 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.18277063381344752, + -0.9831555804731164, + -3.4694469258784433e-18, + -160.6644274889082 + ], + [ + -0.1680045309266005, + 0.03123238601382822, + -0.9852913354191316, + 120.29553349488124 + ], + [ + 0.9686946743292374, + -0.1800823232031449, + -0.17088295642319357, + -661.8722960132466 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.18277063381344752, + -0.1680045309266005, + 0.9686946743292374, + 631.9976239223519 + ], + [ + -0.9831555804731164, + 0.03123238601382822, + -0.1800823232031449, + -280.9067448398022 + ], + [ + -3.4694469258784433e-18, + -0.9852913354191316, + -0.17088295642319357, + 5.423453003453692 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 63199.762392235185, + 28090.67448398022, + 542.3453003453692 + ], + "rotation_deg": [ + 2.0175217267364964e-16, + -9.839159965515131, + 10.531183242797848 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 257.0432427812707 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 114.81130737973658 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -640.115540552412 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 641.600808822142 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -278.08676316914597 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64160.08088221419, + 27808.676316914596, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 11, + "time": 452.93944308534265, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.03404781578605948, + 0.9994202050390009, + -1.0842021641085365e-19, + 305.5369015599515 + ], + [ + 0.05071044005395399, + 0.0017275813643568075, + -0.9987119037701332, + -29.599133665235932 + ], + [ + -0.9981328564394449, + -0.03400393489504568, + -0.050739859161101616, + 648.4942753590342 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.03404781578605948, + 0.05071044005395399, + -0.9981328564394449, + 659.1872848442665 + ], + [ + 0.9994202050390009, + 0.0017275813643568075, + -0.03400393489504568, + -283.25724544063416 + ], + [ + -1.0842021641085365e-19, + -0.9987119037701332, + -0.050739859161101616, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65918.72848442665, + 28325.724544063418, + 334.35004389556343 + ], + "rotation_deg": [ + 6.2200328632383165e-18, + -2.90842866897583, + 178.048828125 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5621527315631136, + 0.8270334372902524, + -0.0, + -129.19375628992677 + ], + [ + 0.12343143341423632, + -0.08389904727662376, + -0.988800096638032, + -100.97695474533538 + ], + [ + -0.8177707535289919, + 0.5558566590781303, + -0.14924600239578856, + 701.2358092989853 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5621527315631136, + 0.12343143341423632, + -0.8177707535289919, + 658.540479891046 + ], + [ + 0.8270334372902524, + -0.08389904727662376, + 0.5558566590781303, + -291.41091817926787 + ], + [ + -0.0, + -0.988800096638032, + -0.14924600239578856, + 4.810617501288037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65854.0479891046, + 29141.091817926786, + 481.0617501288037 + ], + "rotation_deg": [ + 0.0, + -8.583233833312992, + -145.79519653320312 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.18320031237571718, + -0.9830756052030991, + -0.0, + -160.30871953556476 + ], + [ + -0.1679041899525961, + 0.031289658583433626, + -0.9853066224592701, + 120.22612708488175 + ], + [ + 0.9686309037039091, + -0.18050848236122724, + -0.17079478969042078, + -661.8101226857593 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.18320031237571718, + -0.1679041899525961, + 0.9686309037039091, + 631.8676004560721 + ], + [ + -0.9830756052030991, + 0.031289658583433626, + -0.18050848236122724, + -280.8197659041471 + ], + [ + -0.0, + -0.9853066224592701, + -0.17079478969042078, + 5.425879368444831 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 63186.76004560721, + 28081.976590414713, + 542.5879368444831 + ], + "rotation_deg": [ + 0.0, + -9.83403301239013, + 10.556224822998042 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 257.01979714827405 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 114.78895286918144 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -639.9862023997293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 641.491418397719 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -278.01052987801455 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64149.1418397719, + 27801.052987801453, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 12, + "time": 453.00610975548625, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.03714151128286478, + 0.9993100160308737, + -1.0842021641085365e-19, + 307.42978444830914 + ], + [ + 0.05070484907924381, + 0.0018845550369371127, + -0.9987119037701332, + -29.54549798380897 + ], + [ + -0.9980228094388522, + -0.0370936454408655, + -0.05073985916110164, + 647.4385650580664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.03714151128286478, + 0.05070484907924381, + -0.9980228094388522, + 659.0749545402963 + ], + [ + 0.9993100160308737, + 0.0018845550369371127, + -0.0370936454408655, + -283.14611086541476 + ], + [ + -1.0842021641085365e-19, + -0.9987119037701332, + -0.05073985916110164, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65907.49545402963, + 28314.611086541478, + 334.35004389556343 + ], + "rotation_deg": [ + 6.2200328632383165e-18, + -2.9084286689758314, + 177.8714599609375 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5627591552143478, + 0.8266209126452301, + -2.0816681554164755e-17, + -129.70181410419167 + ], + [ + 0.12421003321920424, + -0.08456153515388422, + -0.9886461522810382, + -101.64913710040818 + ], + [ + -0.817235595500312, + 0.5563696572605322, + -0.15026239026132823, + 700.889311326908 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5627591552143478, + 0.12421003321920424, + -0.817235595500312, + 658.4084102024473 + ], + [ + 0.8266209126452301, + -0.08456153515388422, + 0.5563696572605322, + -291.3349310710171 + ], + [ + -2.0816681554164755e-17, + -0.9886461522810382, + -0.15026239026132823, + 4.822273780116063 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65840.84102024473, + 29133.49310710171, + 482.22737801160633 + ], + "rotation_deg": [ + 1.2064053483733977e-15, + -8.642132759094235, + -145.753173828125 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.18351687888182214, + -0.9830165589477496, + 3.469446925877368e-18, + -160.0348644097458 + ], + [ + -0.16787003547365054, + 0.03133923298391009, + -0.9853108665117092, + 120.19714936319455 + ], + [ + 0.968576897010487, + -0.18082117629367792, + -0.17077030415533972, + -661.7265987476625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.18351687888182214, + -0.16787003547365054, + 0.968576897010487, + 631.7414968381426 + ], + [ + -0.9830165589477496, + 0.03133923298391009, + -0.18082117629367792, + -280.73798926135987 + ], + [ + 3.469446925877368e-18, + -0.9853108665117092, + -0.17077030415533972, + 5.428305733435971 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 63174.149683814256, + 28073.798926135987, + 542.830573343597 + ], + "rotation_deg": [ + -2.0174817348866368e-16, + -9.832609176635735, + 10.574675559997557 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 256.99353717730503 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 114.76668930055041 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -639.8573904165115 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 641.3804155101573 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -277.9366641986695 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64138.041551015725, + 27793.66641986695, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 13, + "time": 453.07277642562985, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.04023511694955299, + 0.9991902398262585, + -0.0, + 309.3218658101352 + ], + [ + 0.050698771651537834, + 0.002041524151549963, + -0.9987119037701333, + -29.49147857591928 + ], + [ + -0.997903187590853, + -0.04018326627250458, + -0.050739859161101644, + 646.3753018745914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.04023511694955299, + 0.050698771651537834, + -0.997903187590853, + 658.960749298966 + ], + [ + 0.9991902398262585, + 0.002041524151549963, + -0.04018326627250458, + -283.0376956505316 + ], + [ + -0.0, + -0.9987119037701333, + -0.050739859161101644, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65896.0749298966, + 28303.76956505316, + 334.35004389556343 + ], + "rotation_deg": [ + 0.0, + -2.908428668975832, + 177.69407653808594 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5633668163690745, + 0.8262068931049734, + -6.9388938514052765e-18, + -130.20766457380944 + ], + [ + 0.12498938102070999, + -0.08522667899919358, + -0.9884908031028047, + -102.32230092768637 + ], + [ + -0.8166979261180073, + 0.5568829005648658, + -0.15128097214457448, + 700.5414042223521 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5633668163690745, + 0.12498938102070999, + -0.8166979261180073, + 658.2745809486837 + ], + [ + 0.8262068931049734, + -0.08522667899919358, + 0.5568829005648658, + -291.2616590350359 + ], + [ + -6.9388938514052765e-18, + -0.9884908031028047, + -0.15128097214457448, + 4.83393005894409 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65827.45809486837, + 29126.165903503592, + 483.39300589440904 + ], + "rotation_deg": [ + 4.021983148518674e-16, + -8.701168060302736, + -145.71104431152347 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.18373445721060142, + -0.9829759148796705, + -6.9388938517553335e-18, + -159.83333562297014 + ], + [ + -0.16789393417692625, + 0.03138215331423069, + -0.9853054284433612, + 120.20360481287811 + ], + [ + 0.9685315044776516, + -0.18103455942633645, + -0.17080167776567487, + -661.6242568482176 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.18373445721060142, + -0.16789393417692625, + 0.9685315044776516, + 631.6185020891585 + ], + [ + -0.9829759148796705, + 0.03138215331423069, + -0.18103455942633645, + -280.66142221019385 + ], + [ + -6.9388938517553335e-18, + -0.9853054284433612, + -0.17080167776567487, + 5.430732098427111 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 63161.85020891585, + 28066.142221019385, + 543.0732098427111 + ], + "rotation_deg": [ + 4.034985739423719e-16, + -9.834433555603022, + 10.58735752105712 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 256.9641131598586 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 114.7445408028464 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -639.7292442077257 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 641.2676530574306 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -277.86551359159404 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64126.765305743065, + 27786.551359159403, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 14, + "time": 453.13944309577346, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.0433283369730114, + 0.9990608866406256, + -2.168404328217073e-19, + 311.21324255968324 + ], + [ + 0.050692208289167574, + 0.0021984736986797974, + -0.9987119037701332, + -29.437073595094404 + ], + [ + -0.997774001097752, + -0.04327250195788328, + -0.050739859161101644, + 645.3044494645218 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.0433283369730114, + 0.050692208289167574, + -0.997774001097752, + 658.8445768898761 + ], + [ + 0.9990608866406256, + 0.0021984736986797974, + -0.04327250195788328, + -282.9323082298148 + ], + [ + -2.168404328217073e-19, + -0.9987119037701332, + -0.050739859161101644, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65884.4576889876, + 28293.23082298148, + 334.35004389556343 + ], + "rotation_deg": [ + 1.2440065726476633e-17, + -2.908428668975832, + 177.51669311523438 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.563975932304814, + 0.8257912252990557, + -0.0, + -130.71118826632764 + ], + [ + 0.1257694579427641, + -0.08589452772770047, + -0.9883340394599482, + -102.99646342391337 + ], + [ + -0.8161575882790065, + 0.5573965951575703, + -0.15230176230544232, + 700.1921491774443 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.563975932304814, + 0.1257694579427641, + -0.8161575882790065, + 658.1388998855281 + ], + [ + 0.8257912252990557, + -0.08589452772770047, + 0.5573965951575703, + -291.19141014800107 + ], + [ + -0.0, + -0.9883340394599482, + -0.15230176230544232, + 4.845586337772118 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65813.88998855281, + 29119.141014800105, + 484.55863377721175 + ], + "rotation_deg": [ + 0.0, + -8.760340690612795, + -145.66879272460938 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.1838653140187713, + -0.9829514465632462, + 3.4694469258784356e-18, + -159.6958516285162 + ], + [ + -0.16796884190381595, + 0.031419297433250504, + -0.9852914776340509, + 120.24116531120774 + ], + [ + 0.9684936827438878, + -0.18116092828071562, + -0.17088213642640113, + -661.505293769492 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.1838653140187713, + -0.16796884190381595, + 0.9684936827438878, + 631.4979397527995 + ], + [ + -0.9829514465632462, + 0.031419297433250504, + -0.18116092828071562, + -280.5900734850036 + ], + [ + 3.4694469258784356e-18, + -0.9852914776340509, + -0.17088213642640113, + 5.433158463418249 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 63149.79397527995, + 28059.007348500356, + 543.3158463418249 + ], + "rotation_deg": [ + -2.0175214355316087e-16, + -9.839112281799308, + 10.594985008239748 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 256.93124202630815 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 114.72253336859251 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -639.6019141602461 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 641.153038795312 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -277.79738613346484 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64115.303879531195, + 27779.738613346486, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 15, + "time": 453.20610976591706, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.04642114170552304, + 0.9989219577137926, + -0.0, + 313.1042064245004 + ], + [ + 0.050685159055041215, + 0.0023554021740056458, + -0.9987119037701333, + -29.38227762995738 + ], + [ + -0.9976352511977689, + -0.046361322887473, + -0.05073985916110164, + 644.2259013158097 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.04642114170552304, + 0.050685159055041215, + -0.9976352511977689, + 658.7263608660209 + ], + [ + 0.9989219577137926, + 0.0023554021740056458, + -0.046361322887473, + -282.8302796828934 + ], + [ + -0.0, + -0.9987119037701333, + -0.05073985916110164, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65872.63608660208, + 28283.027968289338, + 334.35004389556343 + ], + "rotation_deg": [ + 0.0, + -2.9084286689758314, + 177.3393096923828 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5645862802231609, + 0.8253740559187539, + -0.0, + -131.2118791820149 + ], + [ + 0.1265502632707169, + -0.086565045131863, + -0.9881758567317006, + -103.67163345912388 + ], + [ + -0.8156147256652306, + 0.557910514996923, + -0.15332474208000021, + 699.8417057173301 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5645862802231609, + 0.1265502632707169, + -0.8156147256652306, + 658.0012905510408 + ], + [ + 0.8253740559187539, + -0.086565045131863, + 0.557910514996923, + -291.12451513243263 + ], + [ + -0.0, + -0.9881758567317006, + -0.15332474208000021, + 4.857242616600144 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65800.12905510409, + 29112.45151324326, + 485.7242616600144 + ], + "rotation_deg": [ + 0.0, + -8.8196496963501, + -145.62643432617188 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.18392000851585033, + -0.9829412141463646, + -3.4694469258796173e-18, + -159.61533998395055 + ], + [ + -0.1680886220348158, + 0.03145138320698953, + -0.9852700267626148, + 120.30604990571506 + ], + [ + 0.9684625158846523, + -0.1812108730584034, + -0.17100577420596338, + -661.3715916065362 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.18392000851585033, + -0.1680886220348158, + 0.9684625158846523, + 631.3792192604839 + ], + [ + -0.9829412141463646, + 0.03145138320698953, + -0.1812108730584034, + -280.52401038706563 + ], + [ + -3.4694469258796173e-18, + -0.9852700267626148, + -0.17100577420596338, + 5.4355848284093895 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 63137.92192604839, + 28052.401038706565, + 543.558482840939 + ], + "rotation_deg": [ + 2.0175653601334284e-16, + -9.846302032470698, + 10.598173141479489 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 256.8946358537597 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 114.70069761817982 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -639.4755774367462 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 641.0364962618617 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -277.73261254680216 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64103.64962618617, + 27773.261254680216, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 16, + "time": 453.27277643606067, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.049513235513891515, + 0.9987734675635641, + -2.168404328217073e-19, + 314.9948190857171 + ], + [ + 0.050677624685790124, + 0.0025122945771408737, + -0.9987119037701332, + -29.32709267432005 + ], + [ + -0.9974869523900017, + -0.049449433808878146, + -0.05073985916110164, + 643.1396966726277 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.049513235513891515, + 0.050677624685790124, + -0.9974869523900017, + 658.6060878001273 + ], + [ + 0.9987734675635641, + 0.0025122945771408737, + -0.049449433808878146, + -282.73188057192266 + ], + [ + -2.168404328217073e-19, + -0.9987119037701332, + -0.05073985916110164, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65860.60878001273, + 28273.188057192267, + 334.35004389556343 + ], + "rotation_deg": [ + 1.2440065726476633e-17, + -2.9084286689758314, + 177.1619415283203 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5651980771563321, + 0.8249552312572996, + -0.0, + -131.7096941875747 + ], + [ + 0.1273317776619403, + -0.08723828053765001, + -0.9880162452137538, + -104.34783601615158 + ], + [ + -0.8150691808948427, + 0.558424865846388, + -0.15434992568787784, + 699.4901795823653 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5651980771563321, + 0.1273317776619403, + -0.8150691808948427, + 657.8617395019096 + ], + [ + 0.8249552312572996, + -0.08723828053765001, + 0.558424865846388, + -291.0612441934252 + ], + [ + -0.0, + -0.9880162452137538, + -0.15434992568787784, + 4.868898895428171 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65786.17395019096, + 29106.124419342515, + 486.8898895428171 + ], + "rotation_deg": [ + 0.0, + -8.879096031188967, + -145.5839538574219 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.18390778697107796, + -0.9829435008643175, + -0.0, + -159.58557538066145 + ], + [ + -0.16824795263635323, + 0.03147903069154899, + -0.9852419484879822, + 120.3949866744536 + ], + [ + 0.9684371695613614, + -0.18119366772310233, + -0.1711674717609309, + -661.2248214028212 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.18390778697107796, + -0.16824795263635323, + 0.9684371695613614, + 631.2618747550544 + ], + [ + -0.9829435008643175, + 0.03147903069154899, + -0.18119366772310233, + -280.4632713107803 + ], + [ + -0.0, + -0.9852419484879822, + -0.1711674717609309, + 5.438011193400528 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 63126.18747550543, + 28046.327131078033, + 543.8011193400528 + ], + "rotation_deg": [ + 0.0, + -9.855705261230463, + 10.597460746765133 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 256.8540940725004 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 114.67906447321721 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -639.3504129426774 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 640.9180120137673 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -277.6714630367004 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64091.80120137674, + 27767.14630367004, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 17, + "time": 453.33944310620427, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.05260512077966274, + 0.9986153920643107, + -2.168404328217073e-19, + 316.8854996064901 + ], + [ + 0.05066960395728326, + 0.002669176398854171, + -0.9987119037701332, + -29.271513439559953 + ], + [ + -0.9973290805799081, + -0.05253733645653314, + -0.05073985916110163, + 642.0457314391043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.05260512077966274, + 0.05066960395728326, + -0.9973290805799081, + 658.4838466643716 + ], + [ + 0.9986153920643107, + 0.002669176398854171, + -0.05253733645653314, + -282.63721905768233 + ], + [ + -2.168404328217073e-19, + -0.9987119037701332, + -0.05073985916110163, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65848.38466643717, + 28263.72190576823, + 334.35004389556343 + ], + "rotation_deg": [ + 1.2440065726476633e-17, + -2.908428668975831, + 176.98455810546875 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5658111005041557, + 0.8245348983192138, + -0.0, + -132.20440560851546 + ], + [ + 0.12811401424137606, + -0.0879142065856558, + -0.987855197706311, + -105.02509467924996 + ], + [ + -0.8145210958383806, + 0.5589394204192716, + -0.1553773108777878, + 699.1377405315884 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5658111005041557, + 0.12811401424137606, + -0.8145210958383806, + 657.7203356931666 + ], + [ + 0.8245348983192138, + -0.0879142065856558, + 0.5589394204192716, + -291.00170513474876 + ], + [ + -0.0, + -0.987855197706311, + -0.1553773108777878, + 4.880555174256198 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65772.03356931666, + 29100.170513474874, + 488.05551742561977 + ], + "rotation_deg": [ + 0.0, + -8.938679695129395, + -145.54136657714847 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.18383663312913803, + -0.9829568110144731, + -0.0, + -159.60103603954195 + ], + [ + -0.16844219614102196, + 0.0315027535985886, + -0.9852079999040284, + 120.50512963277568 + ], + [ + 0.9684169132875072, + -0.18111732297920144, + -0.1713627654292048, + -661.0664853676619 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.18383663312913803, + -0.16844219614102196, + 0.9684169132875072, + 631.1455970673593 + ], + [ + -0.9829568110144731, + 0.0315027535985886, + -0.18111732297920144, + -280.4077600665066 + ], + [ + -0.0, + -0.9852079999040284, + -0.1713627654292048, + 5.440437558391668 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 63114.559706735934, + 28040.776006650663, + 544.0437558391668 + ], + "rotation_deg": [ + 0.0, + -9.867062568664545, + 10.593313217163082 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 256.809603354459 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 114.65765762920445 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -639.2265577748539 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 640.7976750060612 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -277.6140454069297 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64079.767500606125, + 27761.40454069297, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 18, + "time": 453.4061097763479, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.05569650183890447, + 0.9984477450938074, + 2.168404328217073e-19, + 318.77599282063824 + ], + [ + 0.050661097573676976, + 0.002826032637199372, + -0.9987119037701332, + -29.21555172445214 + ], + [ + -0.997161649627381, + -0.0556247355473461, + -0.05073985916110164, + 640.9442378503531 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.05569650183890447, + 0.050661097573676976, + -0.997161649627381, + 658.3598047042292 + ], + [ + 0.9984477450938074, + 0.002826032637199372, + -0.0556247355473461, + -282.54623853225627 + ], + [ + 2.168404328217073e-19, + -0.9987119037701332, + -0.05073985916110164, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65835.98047042292, + 28254.623853225625, + 334.35004389556343 + ], + "rotation_deg": [ + -1.2440065726476633e-17, + -2.9084286689758314, + 176.8071746826172 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5664255670517375, + 0.8241129030600827, + 6.938893851492805e-18, + -132.69634299248358 + ], + [ + 0.12889695316882416, + -0.0885928730381371, + -0.9876927043927387, + -105.70342991930183 + ], + [ + -0.8139703127967802, + 0.5594543840388373, + -0.1564069118205362, + 698.7844588471422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5664255670517375, + 0.12889695316882416, + -0.8139703127967802, + 657.5772463520369 + ], + [ + 0.8241129030600827, + -0.0885928730381371, + 0.5594543840388373, + -290.9458409915325 + ], + [ + 6.938893851492805e-18, + -0.9876927043927387, + -0.1564069118205362, + 4.892211453084225 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65757.72463520369, + 29094.58409915325, + 489.2211453084225 + ], + "rotation_deg": [ + -4.025233086073761e-16, + -8.998401641845701, + -145.4986572265625 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.1837135473063136, + -0.9829798230564708, + 3.469446925885193e-18, + -159.65671327559647 + ], + [ + -0.16866729388802396, + 0.03152299380711221, + -0.9851688407749848, + 120.63399620204432 + ], + [ + 0.9684010923014001, + -0.18098886377832926, + -0.17158774903146376, + -660.897947515771 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.1837135473063136, + -0.16866729388802396, + 0.9684010923014001, + 631.0302030753427 + ], + [ + -0.9829798230564708, + 0.03152299380711221, + -0.18098886377832926, + -280.3572401751721 + ], + [ + 3.469446925885193e-18, + -0.9851688407749848, + -0.17158774903146376, + 5.442863923382806 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 63103.020307534265, + 28035.72401751721, + 544.2863923382806 + ], + "rotation_deg": [ + -2.0177725828330493e-16, + -9.880146980285643, + 10.586138725280762 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 256.76132222738624 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 114.63649036494587 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -639.1040887614391 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 640.6756524659685 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -277.5603026926192 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64067.56524659685, + 27756.03026926192, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 19, + "time": 453.4727764464915, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.058787083206002864, + 0.99827054391489, + -0.0, + 320.66589208020787 + ], + [ + 0.05065210641088512, + 0.002982848299278161, + -0.9987119037701333, + -29.159222586694874 + ], + [ + -0.9969846767730125, + -0.05871133597631425, + -0.05073985916110164, + 639.8355122868207 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.058787083206002864, + 0.05065210641088512, + -0.9969846767730125, + 658.2341814319678 + ], + [ + 0.99827054391489, + 0.002982848299278161, + -0.05871133597631425, + -282.45872444711904 + ], + [ + -0.0, + -0.9987119037701333, + -0.05073985916110164, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65823.41814319679, + 28245.872444711906, + 334.35004389556343 + ], + "rotation_deg": [ + 0.0, + -2.9084286689758314, + 176.6298065185547 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5670414737604262, + 0.823689241786976, + 6.938893851510803e-18, + -133.18580754005922 + ], + [ + 0.12968057049354148, + -0.08927427733694762, + -0.9875287606153226, + -106.38283736035356 + ], + [ + -0.8134168269273759, + 0.5599697476944826, + -0.15743870978376764, + 698.4303964605264 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5670414737604262, + 0.12968057049354148, + -0.8134168269273759, + 657.4326909714341 + ], + [ + 0.823689241786976, + -0.08927427733694762, + 0.5599697476944826, + -290.89343685835456 + ], + [ + 6.938893851510803e-18, + -0.9875287606153226, + -0.15743870978376764, + 4.903867731912252 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65743.2690971434, + 29089.343685835454, + 490.3867731912252 + ], + "rotation_deg": [ + -4.02590133185428e-16, + -9.058260917663576, + -145.45582580566406 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.18354461251987278, + -0.9830113810200417, + -3.469446925887607e-18, + -159.74807616650628 + ], + [ + -0.1689196996696402, + 0.03154012397157106, + -0.985125045688808, + 120.77942055779604 + ], + [ + 0.9683891311554635, + -0.18081439613709072, + -0.1718390084048029, + -660.7204257200868 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.18354461251987278, + -0.1689196996696402, + 0.9683891311554635, + 630.9156039645499 + ], + [ + -0.9830113810200417, + 0.03154012397157106, + -0.18081439613709072, + -280.3113387588573 + ], + [ + -3.469446925887607e-18, + -0.985125045688808, + -0.1718390084048029, + 5.445290288373947 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 63091.56039645498, + 28031.133875885727, + 544.5290288373947 + ], + "rotation_deg": [ + 2.017862285684398e-16, + -9.894760131835932, + 10.576292037963862 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 256.709557857291 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 114.61556323290957 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -638.9830090988874 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 640.5521638864026 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -277.5100199883469 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64055.21638864026, + 27751.001998834694, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 20, + "time": 453.5394431166351, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.06187736701677305, + 0.9980837597371631, + 2.168404328217073e-19, + 322.55516480614705 + ], + [ + 0.050642629008087095, + 0.003139648863390882, + -0.9987119037701332, + -29.10253012424524 + ], + [ + -0.9967981332635043, + -0.06179763923245699, + -0.050739859161101644, + 638.7196354085353 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.06187736701677305, + 0.050642629008087095, + -0.9967981332635043, + 658.1072246281503 + ], + [ + 0.9980837597371631, + 0.003139648863390882, + -0.06179763923245699, + -282.37431957179575 + ], + [ + 2.168404328217073e-19, + -0.9987119037701332, + -0.050739859161101644, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65810.72246281503, + 28237.431957179575, + 334.35004389556343 + ], + "rotation_deg": [ + -1.2440065726476633e-17, + -2.908428668975832, + 176.45242309570312 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5676585983297039, + 0.8232640619766878, + -1.3877787703057924e-17, + -133.6730460775152 + ], + [ + 0.130464906799307, + -0.08995841012067307, + -0.9873633538583496, + -107.06334412505556 + ], + [ + -0.812860776202525, + 0.5604852814017952, + -0.15847273533128425, + 698.0755872615633 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5676585983297039, + 0.130464906799307, + -0.812860776202525, + 657.2869173114615 + ], + [ + 0.8232640619766878, + -0.08995841012067307, + 0.5604852814017952, + -290.844135147905 + ], + [ + -1.3877787703057924e-17, + -0.9873633538583496, + -0.15847273533128425, + 4.9155240107402784 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65728.69173114614, + 29084.413514790496, + 491.55240107402784 + ], + "rotation_deg": [ + 8.053151531460229e-16, + -9.118259429931639, + -145.4128875732422 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.18333517494451113, + -0.9830504634188753, + -0.0, + -159.87096607586133 + ], + [ + -0.1691962934610146, + 0.031554465631150996, + -0.9850771187971968, + 120.93949963766968 + ], + [ + 0.9683805176522616, + -0.1805992872493377, + -0.17211353949230493, + -660.5350073940645 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.18333517494451113, + -0.1691962934610146, + 0.9683805176522616, + 630.8017761846007 + ], + [ + -0.9830504634188753, + 0.031554465631150996, + -0.1805992872493377, + -280.26955921445455 + ], + [ + -0.0, + -0.9850771187971968, + -0.17211353949230493, + 5.4477166533650845 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 63080.17761846007, + 28026.955921445457, + 544.7716653365085 + ], + "rotation_deg": [ + 0.0, + -9.910727500915522, + 10.56408500671387 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 256.6547382894346 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 114.59486300669637 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -638.8632422622355 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 640.427457027467 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -277.4628397068031 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64042.745702746695, + 27746.28397068031, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 21, + "time": 453.6061097867787, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.06496705774892246, + 0.9978874091837455, + 2.168404328217073e-19, + 324.443153405638 + ], + [ + 0.05063266620873759, + 0.0032964193347781463, + -0.9987119037701332, + -29.045492374709518 + ], + [ + -0.9966020357005558, + -0.06488335017414004, + -0.050739859161101644, + 637.5969622494248 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.06496705774892246, + 0.05063266620873759, + -0.9966020357005558, + 657.9791896802063 + ], + [ + 0.9978874091837455, + 0.0032964193347781463, + -0.06488335017414004, + -282.29255004080807 + ], + [ + 2.168404328217073e-19, + -0.9987119037701332, + -0.050739859161101644, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65797.91896802063, + 28229.25500408081, + 334.35004389556343 + ], + "rotation_deg": [ + -1.2440065726476633e-17, + -2.908428668975832, + 176.27503967285156 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5682771571699236, + 0.8228372090753249, + -0.0, + -134.1587820315639 + ], + [ + 0.13124990091500757, + -0.09064529380560234, + -0.9871964820747168, + -107.74490990881502 + ], + [ + -0.8123020089823546, + 0.5610011943241486, + -0.1595089532600253, + 697.7199416523179 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5682771571699236, + 0.13124990091500757, + -0.8123020089823546, + 657.1401807379848 + ], + [ + 0.8228372090753249, + -0.09064529380560234, + 0.5610011943241486, + -290.79746163793567 + ], + [ + -0.0, + -0.9871964820747168, + -0.1595089532600253, + 4.927180289568305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65714.01807379848, + 29079.746163793567, + 492.71802895683055 + ], + "rotation_deg": [ + 0.0, + -9.178395271301268, + -145.36982727050778 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.18308987696688617, + -0.9830961788921013, + -0.0, + -160.0216019951196 + ], + [ + -0.16949439656257217, + 0.03156629928944512, + -0.985025491184395, + 121.11260183327389 + ], + [ + 0.968374796009955, + -0.18034819732904703, + -0.17240876477964018, + -660.3426346705926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.18308987696688617, + -0.16949439656257217, + 0.968374796009955, + 630.6887363481353 + ], + [ + -0.9830961788921013, + 0.03156629928944512, + -0.18034819732904703, + -280.2313049858138 + ], + [ + -0.0, + -0.985025491184395, + -0.17240876477964018, + 5.450143018356226 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 63068.87363481353, + 28023.130498581377, + 545.0143018356225 + ], + "rotation_deg": [ + 0.0, + -9.927899360656733, + 10.549788475036623 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 256.5973794205206 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 114.57436332961367 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -638.7446357576055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 640.3017872550272 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -277.4182876257395 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64030.17872550272, + 27741.82876257395, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 22, + "time": 453.6727764569223, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.06805586008990755, + 0.9976815122610134, + 2.168404328217073e-19, + 326.32912511404743 + ], + [ + 0.0506222190279573, + 0.0034531447293232004, + -0.9987119037701332, + -28.988127601181546 + ], + [ + -0.9963964040647664, + -0.06796817386920746, + -0.05073985916110163, + 636.4678522816833 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.06805586008990755, + 0.0506222190279573, + -0.9963964040647664, + 657.8503232056595 + ], + [ + 0.9976815122610134, + 0.0034531447293232004, + -0.06796817386920746, + -282.2128626196305 + ], + [ + 2.168404328217073e-19, + -0.9987119037701332, + -0.05073985916110163, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65785.03232056595, + 28221.286261963054, + 334.35004389556343 + ], + "rotation_deg": [ + -1.2440065726476633e-17, + -2.908428668975831, + 176.09767150878906 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5688969281827416, + 0.822408830876858, + -0.0, + -134.64342279209268 + ], + [ + 0.13203559365690734, + -0.09133491862205749, + -0.9870281326527477, + -108.4275432710518 + ], + [ + -0.8117406634853449, + 0.5615172566328451, + -0.16054739408628016, + 697.363379989868 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5688969281827416, + 0.13203559365690734, + -0.8117406634853449, + 656.9927278458589 + ], + [ + 0.822408830876858, + -0.09133491862205749, + 0.5615172566328451, + -290.7528627372197 + ], + [ + -0.0, + -0.9870281326527477, + -0.16054739408628016, + 4.938836568396333 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65699.27278458589, + 29075.28627372197, + 493.88365683963326 + ], + "rotation_deg": [ + 0.0, + -9.238670349121094, + -145.32666015625 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.18281282103077984, + -0.9831477368466897, + -6.938893851792246e-18, + -160.19650686658554 + ], + [ + -0.1698115891054556, + 0.03157586035610118, + -0.9849705524777131, + 121.29724843152225 + ], + [ + 0.9683715690443108, + -0.1800652466673368, + -0.17272235295204547, + -660.1441408972489 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.18281282103077984, + -0.1698115891054556, + 0.9683715690443108, + 630.57652094717 + ], + [ + -0.9831477368466897, + 0.03157586035610118, + -0.1800652466673368, + -280.19591482787416 + ], + [ + -6.938893851792246e-18, + -0.9849705524777131, + -0.17272235295204547, + 5.452569383347363 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 63057.652094717, + 28019.591482787415, + 545.2569383347363 + ], + "rotation_deg": [ + 4.036357577153908e-16, + -9.946140289306635, + 10.533641815185542 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 256.5380470675551 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 114.55402723034294 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -638.6269756772889 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 640.1754011639383 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -277.37581015392925 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64017.54011639383, + 27737.581015392923, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 23, + "time": 453.7394431270659, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.07114427588649987, + 0.9974660355162904, + -0.0, + 328.21283596082145 + ], + [ + 0.05061128576836219, + 0.0036098505106603586, + -0.9987119037701333, + -28.93044006437013 + ], + [ + -0.9961812049465613, + -0.07105261151800842, + -0.05073985916110164, + 635.332389368773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.07114427588649987, + 0.05061128576836219, + -0.9961812049465613, + 657.7208476873516 + ], + [ + 0.9974660355162904, + 0.0036098505106603586, + -0.07105261151800842, + -282.1346817799029 + ], + [ + -0.0, + -0.9987119037701333, + -0.05073985916110164, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65772.08476873516, + 28213.46817799029, + 334.35004389556343 + ], + "rotation_deg": [ + 0.0, + -2.9084286689758314, + 175.9202880859375 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5695183464329686, + 0.8219786208145908, + 6.938893851584446e-18, + -135.12794390483077 + ], + [ + 0.13282192592547087, + -0.09202736142717652, + -0.9868582982081066, + -109.11120630210493 + ], + [ + -0.8111764337731574, + 0.5620338901101026, + -0.16158805543346147, + 697.0056863280981 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5695183464329686, + 0.13282192592547087, + -0.8111764337731574, + 656.8447810941534 + ], + [ + 0.8219786208145908, + -0.09202736142717652, + 0.5620338901101026, + -290.70976256076733 + ], + [ + 6.938893851584446e-18, + -0.9868582982081066, + -0.16158805543346147, + 4.950492847224359 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65684.47810941534, + 29070.976256076734, + 495.0492847224359 + ], + "rotation_deg": [ + -4.0286364920543463e-16, + -9.299084663391117, + -145.28335571289062 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.18250758614382323, + -0.9832044451689359, + -0.0, + -160.3925539491013 + ], + [ + -0.1701457901668829, + 0.031583357467994046, + -0.9849126365417066, + 121.49216762595528 + ], + [ + 0.9683704818660602, + -0.1797540291919934, + -0.1730523008796432, + -659.9402359463885 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.18250758614382323, + -0.1701457901668829, + 0.9683704818660602, + 630.4651675502764 + ], + [ + -0.9832044451689359, + 0.031583357467994046, + -0.1797540291919934, + -280.1627181202723 + ], + [ + -0.0, + -0.9849126365417066, + -0.1730523008796432, + 5.454995748338503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 63046.516755027646, + 28016.27181202723, + 545.4995748338504 + ], + "rotation_deg": [ + 0.0, + -9.96533393859863, + 10.515853881835938 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 256.4773057450376 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 114.5338121460935 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -638.5100157625817 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 640.0485212132697 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -277.3348314063826 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64004.85212132698, + 27733.483140638262, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 24, + "time": 453.8061097972095, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.07423200978353742, + 0.9972409983166038, + -0.0, + 330.09357672651134 + ], + [ + 0.05059986741263247, + 0.003766521692510414, + -0.9987119037701333, + -28.872445529989996 + ], + [ + -0.9959564576880149, + -0.07413636814582339, + -0.050739859161101644, + 634.1908838270122 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.07423200978353742, + 0.05059986741263247, + -0.9959564576880149, + 657.5909487925471 + ], + [ + 0.9972409983166038, + 0.003766521692510414, + -0.07413636814582339, + -282.0574760333679 + ], + [ + -0.0, + -0.9987119037701333, + -0.050739859161101644, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65759.09487925471, + 28205.74760333679, + 334.35004389556343 + ], + "rotation_deg": [ + 0.0, + -2.908428668975832, + 175.74290466308594 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5701409708899277, + 0.8215468783415165, + -0.0, + -135.61251152851895 + ], + [ + 0.13360893586833025, + -0.0927225584123924, + -0.9866869713427824, + -109.79588238449 + ], + [ + -0.8106096120842974, + 0.5625506517710424, + -0.16263093490637087, + 696.64677954209 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5701409708899277, + 0.13360893586833025, + -0.8106096120842974, + 656.6965261252559 + ], + [ + 0.8215468783415165, + -0.0927225584123924, + 0.5625506517710424, + -290.6676292637672 + ], + [ + -0.0, + -0.9866869713427824, + -0.16263093490637087, + 4.9621491260523864 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65669.65261252559, + 29066.76292637672, + 496.2149126052386 + ], + "rotation_deg": [ + 0.0, + -9.35963821411133, + -145.2399444580078 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.18217729341109262, + -0.9832656984586662, + -0.0, + -160.60698838809122 + ], + [ + -0.170495158998778, + 0.031588965886616825, + -0.984852038629253, + 121.6962296926653 + ], + [ + 0.9683712271564439, + -0.17941768013947998, + -0.173396835233203, + -659.7315258189551 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.18217729341109262, + -0.170495158998778, + 0.9683712271564439, + 630.3546990962042 + ], + [ + -0.9832656984586662, + 0.031588965886616825, + -0.17941768013947998, + -280.1310996510678 + ], + [ + -0.0, + -0.984852038629253, + -0.173396835233203, + 5.457422113329642 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 63035.46990962041, + 28013.10996510678, + 545.7422113329642 + ], + "rotation_deg": [ + 0.0, + -9.985377311706538, + 10.496606826782225 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 256.41566279303356 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 114.5136763839943 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -638.3935147879389 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 639.9213330454091 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -277.29481953828815 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 63992.13330454092, + 27729.481953828817, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 25, + "time": 453.8727764673531, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.07731903218588629, + 0.9970064028188773, + -4.336808656434146e-19, + 331.97091200261775 + ], + [ + 0.05058796407021011, + 0.00392315677322045, + -0.9987119037701332, + -28.814152967425187 + ], + [ + -0.9957221644432718, + -0.07721941419563917, + -0.05073985916110163, + 633.0435122006475 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.07731903218588629, + 0.05058796407021011, + -0.9957221644432718, + 657.460766147724 + ], + [ + 0.9970064028188773, + 0.00392315677322045, + -0.07721941419563917, + -281.9808188483194 + ], + [ + -4.336808656434146e-19, + -0.9987119037701332, + -0.05073985916110163, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65746.0766147724, + 28198.081884831943, + 334.35004389556343 + ], + "rotation_deg": [ + 2.4880131452953266e-17, + -2.908428668975831, + 175.56552124023438 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5707650174573675, + 0.8211134482194838, + -0.0, + -136.09774267978892 + ], + [ + 0.13439658842730245, + -0.09342055145516948, + -0.9865141446451309, + -110.48154028155247 + ], + [ + -0.8100400419089875, + 0.5630677469698463, + -0.16367603009111292, + 696.2864924972821 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5707650174573675, + 0.13439658842730245, + -0.8100400419089875, + 656.5481025396641 + ], + [ + 0.8211134482194838, + -0.09342055145516948, + 0.5630677469698463, + -290.6260359580377 + ], + [ + -0.0, + -0.9865141446451309, + -0.16367603009111292, + 4.973805404880412 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65654.81025396641, + 29062.60359580377, + 497.3805404880413 + ], + "rotation_deg": [ + 0.0, + -9.420331001281738, + -145.19641113281253 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.18182470426565653, + -0.9833309600122974, + -3.4694469259061312e-18, + -160.83742064222793 + ], + [ + -0.1708580757888139, + 0.031592841438971585, + -0.9847890181696562, + 121.9084384878075 + ], + [ + 0.968373530161582, + -0.1790589733215892, + -0.17375439607507473, + -659.5185298571662 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.18182470426565653, + -0.1708580757888139, + 0.968373530161582, + 630.2451120062491 + ], + [ + -0.9833309600122974, + 0.031592841438971585, + -0.1790589733215892, + -280.10055916900575 + ], + [ + -3.4694469259061312e-18, + -0.9847890181696562, + -0.17375439607507473, + 5.459848478320782 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 63024.511200624904, + 28010.055916900576, + 545.9848478320782 + ], + "rotation_deg": [ + 2.0185508161776832e-16, + -10.006179809570305, + 10.476061820983883 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 256.35351877953065 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 114.49358534622766 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -638.2772725781933 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 639.7939762608544 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -277.2553476614644 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 63979.39762608543, + 27725.534766146437, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 26, + "time": 453.9394431374967, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.080405048051387, + 0.9967622726848433, + -0.0, + 333.84439192722465 + ], + [ + 0.05057557694168811, + 0.004079740782392966, + -0.9987119037701333, + -28.755572735477465 + ], + [ + -0.9954783488435786, + -0.08030145500533588, + -0.05073985916110163, + 631.8904783818128 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.080405048051387, + 0.05057557694168811, + -0.9954783488435786, + 657.3303850757908 + ], + [ + 0.9967622726848433, + 0.004079740782392966, + -0.08030145500533588, + -281.9044404366346 + ], + [ + -0.0, + -0.9987119037701333, + -0.05073985916110163, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65733.03850757908, + 28190.44404366346, + 334.35004389556343 + ], + "rotation_deg": [ + 0.0, + -2.908428668975831, + 175.38815307617188 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5713902644448426, + 0.8206784788805253, + -0.0, + -136.5837186906782 + ], + [ + 0.1351848978838302, + -0.09412131125475255, + -0.9863398106899185, + -111.16816714434816 + ], + [ + -0.8094678663831486, + 0.5635849492564582, + -0.16472333855500848, + 695.9247725132354 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5713902644448426, + 0.1351848978838302, + -0.8094678663831486, + 656.3995956332028 + ], + [ + 0.8206784788805253, + -0.09412131125475255, + 0.5635849492564582, + -290.58471249906245 + ], + [ + -0.0, + -0.9863398106899185, + -0.16472333855500848, + 4.98546168370844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65639.95956332028, + 29058.471249906244, + 498.546168370844 + ], + "rotation_deg": [ + 0.0, + -9.481163024902346, + -145.15277099609375 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.18145226958591829, + -0.9833997528279734, + -0.0, + -161.08184441285653 + ], + [ + -0.17123314011045893, + 0.03159512884970342, + -0.9847237986160802, + 122.12793242007531 + ], + [ + 0.9683771396781782, + -0.1786803695000489, + -0.17412363683324686, + -659.3016873800195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.18145226958591829, + -0.17123314011045893, + 0.9683771396781782, + 630.1363655785389 + ], + [ + -0.9833997528279734, + 0.03159512884970342, + -0.1786803695000489, + -280.0707619700652 + ], + [ + -0.0, + -0.9847237986160802, + -0.17412363683324686, + 5.462274843311921 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 63013.63655785388, + 28007.076197006518, + 546.227484331192 + ], + "rotation_deg": [ + 0.0, + -10.027663230895989, + 10.454361915588375 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 256.29112503880526 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 114.47351677161878 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -638.1611603352102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 639.66653615543 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -277.21614563139485 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 63966.653615543, + 27721.614563139487, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 27, + "time": 454.0061098076403, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.0834905587740842, + 0.9965085682499629, + -0.0, + 335.71425428707 + ], + [ + 0.05056270401449337, + 0.004236299160690974, + -0.9987119037701333, + -28.696698079793457 + ], + [ + -0.9952249712755002, + -0.08338299132311822, + -0.05073985916110163, + 630.7316494246738 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.0834905587740842, + 0.05056270401449337, + -0.9952249712755002, + 657.199831884842 + ], + [ + 0.9965085682499629, + 0.004236299160690974, + -0.08338299132311822, + -281.82825722209316 + ], + [ + -0.0, + -0.9987119037701333, + -0.05073985916110163, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65719.9831884842, + 28182.825722209316, + 334.35004389556343 + ], + "rotation_deg": [ + 0.0, + -2.908428668975831, + 175.2107696533203 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5720171459442108, + 0.8202416624055614, + -2.0816681554982403e-17, + -137.07089724606251 + ], + [ + 0.13597381692201715, + -0.09482492568198223, + -0.986163959279117, + -111.85575290482754 + ], + [ + -0.8088927762550838, + 0.5641026774281434, + -0.1657728742609674, + 695.5615140895168 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5720171459442108, + 0.13597381692201715, + -0.8088927762550838, + 656.2510316857796 + ], + [ + 0.8202416624055614, + -0.09482492568198223, + 0.5641026774281434, + -290.54357495431356 + ], + [ + -2.0816681554982403e-17, + -0.986163959279117, + -0.1657728742609674, + 4.997117962536467 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65625.10316857796, + 29054.357495431355, + 499.7117962536467 + ], + "rotation_deg": [ + 1.2094418930898051e-15, + -9.54213523864746, + -145.10899353027344 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.18106208058077744, + -0.9834716686187559, + -0.0, + -161.33869904298615 + ], + [ + -0.17161909193253547, + 0.03159593798602281, + -0.9846565817517472, + 122.35392765240755 + ], + [ + 0.9683818509872054, + -0.17828397067235702, + -0.17450334231725256, + -659.0813581127778 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.18106208058077744, + -0.17161909193253547, + 0.9683818509872054, + 630.028375215007 + ], + [ + -0.9834716686187559, + 0.03159593798602281, + -0.17828397067235702, + -280.04156730935404 + ], + [ + -0.0, + -0.9846565817517472, + -0.17450334231725256, + 5.464701208303061 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 63002.8375215007, + 28004.156730935403, + 546.4701208303061 + ], + "rotation_deg": [ + 0.0, + -10.049757003784176, + 10.4316291809082 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 256.22855950281826 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 114.45346371711034 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -638.0451378880266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 639.5390390090437 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -277.17712951555166 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 63953.90390090437, + 27717.712951555168, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 28, + "time": 454.0727764777839, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.08657526926128603, + 0.9962453125371961, + 4.336808656434146e-19, + 337.5802880196218 + ], + [ + 0.050549346456807615, + 0.004392816935152966, + -0.9987119037701332, + -28.637534604402617 + ], + [ + -0.9949620547323341, + -0.08646372843639914, + -0.05073985916110164, + 629.567135633257 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.08657526926128603, + 0.050549346456807615, + -0.9949620547323341, + 657.0691146499886 + ], + [ + 0.9962453125371961, + 0.004392816935152966, + -0.08646372843639914, + -281.7522441141163 + ], + [ + 4.336808656434146e-19, + -0.9987119037701332, + -0.05073985916110164, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65706.91146499886, + 28175.22441141163, + 334.35004389556343 + ], + "rotation_deg": [ + -2.4880131452953266e-17, + -2.9084286689758314, + 175.03338623046875 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.572645221794992, + 0.819803299551401, + -1.3877787703360642e-17, + -137.5589268336265 + ], + [ + 0.13676338494832488, + -0.09553132922253747, + -0.9859865829079274, + -112.54430277909469 + ], + [ + -0.8083150648775206, + 0.5646204894788853, + -0.16682463472962647, + 695.1967751141752 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.572645221794992, + 0.13676338494832488, + -0.8083150648775206, + 656.1024187432157 + ], + [ + 0.819803299551401, + -0.09553132922253747, + 0.5646204894788853, + -290.5025978769934 + ], + [ + -1.3877787703360642e-17, + -0.9859865829079274, + -0.16682463472962647, + 5.008774241364494 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65610.24187432157, + 29050.259787699335, + 500.87742413644935 + ], + "rotation_deg": [ + 8.064396456546946e-16, + -9.603247642517088, + -145.0651092529297 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.18065604881713213, + -0.983546334458007, + -6.938893851834487e-18, + -161.60661293469857 + ], + [ + -0.17201482197220364, + 0.03159537785538614, + -0.9845875446703792, + 122.58573659681903 + ], + [ + 0.968387470029021, + -0.17787169685435666, + -0.1748924450882419, + -658.8578635823611 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.18065604881713213, + -0.17201482197220364, + 0.968387470029021, + 629.9210513888582 + ], + [ + -0.983546334458007, + 0.03159537785538614, + -0.17787169685435666, + -280.0128997451944 + ], + [ + -6.938893851834487e-18, + -0.9845875446703792, + -0.1748924450882419, + 5.467127573294199 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62992.105138885825, + 28001.289974519437, + 546.7127573294199 + ], + "rotation_deg": [ + 4.0379277336095855e-16, + -10.072399139404292, + 10.407975196838374 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 256.1658458544274 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 114.4334240871172 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -637.9291931120596 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 639.4114928675167 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -277.13827386713723 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 63941.14928675167, + 27713.82738671372, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 29, + "time": 454.1394431479275, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.0896588847033131, + 0.9959725319474214, + -4.336808656434146e-19, + 339.44228499527765 + ], + [ + 0.05053550560820769, + 0.0045492791471774445, + -0.9987119037701332, + -28.57808799562286 + ], + [ + -0.9946896255809451, + -0.08954337191523892, + -0.05073985916110163, + 628.3970489312715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.0896588847033131, + 0.05053550560820769, + -0.9946896255809451, + 656.9382408593789 + ], + [ + 0.9959725319474214, + 0.0045492791471774445, + -0.08954337191523892, + -281.6763776128712 + ], + [ + -4.336808656434146e-19, + -0.9987119037701332, + -0.05073985916110163, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65693.82408593789, + 28167.637761287122, + 334.35004389556343 + ], + "rotation_deg": [ + 2.4880131452953266e-17, + -2.908428668975831, + 174.85601806640625 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5732749255963769, + 0.8193630817180309, + -0.0, + -138.04820472905854 + ], + [ + 0.13755355374770306, + -0.09624061060316187, + -0.9858076712635727, + -113.23380933885966 + ], + [ + -0.8077344224086244, + 0.5651388034331285, + -0.1678786338709548, + 694.8304679475433 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5732749255963769, + 0.13755355374770306, + -0.8077344224086244, + 655.9537642632665 + ], + [ + 0.8193630817180309, + -0.09624061060316187, + 0.5651388034331285, + -290.4617574111427 + ], + [ + -0.0, + -0.9858076712635727, + -0.1678786338709548, + 5.02043052019252 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65595.37642632665, + 29046.175741114268, + 502.04305201925206 + ], + "rotation_deg": [ + 0.0, + -9.664501190185547, + -145.02108764648438 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.1802357752358955, + -0.9836234367506274, + -0.0, + -161.88443297437277 + ], + [ + -0.1724193759186447, + 0.03159353338208917, + -0.9845168396001461, + 122.82276490896695 + ], + [ + 0.9683938368219194, + -0.17744515713447778, + -0.17529002542883704, + -658.631470976663 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.1802357752358955, + -0.1724193759186447, + 0.9683938368219194, + 629.8143156939451 + ], + [ + -0.9836234367506274, + 0.03159353338208917, + -0.17744515713447778, + -279.98469142613214 + ], + [ + -0.0, + -0.9845168396001461, + -0.17529002542883704, + 5.4695539382853395 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62981.43156939451, + 27998.469142613216, + 546.9553938285339 + ], + "rotation_deg": [ + 0.0, + -10.09553623199462, + 10.383493423461916 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 256.103006235773 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 114.41339590681727 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -637.813314581434 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 639.2839051886044 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -277.09955483019223 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 63928.39051886045, + 27709.955483019225, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 30, + "time": 454.2061098180711, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.09274190610420625, + 0.995690182161177, + 4.336808656434146e-19, + 341.30054163828663 + ], + [ + 0.05052117921993037, + 0.004705711217638688, + -0.9987119037701332, + -28.51835018593782 + ], + [ + -0.9944076395589705, + -0.09262242211834178, + -0.050739859161101644, + 627.2212305259151 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.09274190610420625, + 0.05052117921993037, + -0.9944076395589705, + 656.8072174419814 + ], + [ + 0.995690182161177, + 0.004705711217638688, + -0.09262242211834178, + -281.6006357932832 + ], + [ + 4.336808656434146e-19, + -0.9987119037701332, + -0.050739859161101644, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65680.72174419813, + 28160.063579328318, + 334.35004389556343 + ], + "rotation_deg": [ + -2.4880131452953266e-17, + -2.908428668975832, + 174.6786346435547 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5739058176274436, + 0.8189213103182594, + -2.0816681555159654e-17, + -138.5383763781629 + ], + [ + 0.13834433647837094, + -0.09695268463570642, + -0.9856272223849584, + -113.92425490218936 + ], + [ + -0.8071511473462718, + 0.565657180990389, + -0.16893483634704629, + 694.462655449094 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5739058176274436, + 0.13834433647837094, + -0.8071511473462718, + 655.8050751434058 + ], + [ + 0.8189213103182594, + -0.09695268463570642, + 0.565657180990389, + -290.4210312756561 + ], + [ + -2.0816681555159654e-17, + -0.9856272223849584, + -0.16893483634704629, + 5.032086799020548 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65580.50751434058, + 29042.10312756561, + 503.20867990205477 + ], + "rotation_deg": [ + 1.2101005113592432e-15, + -9.725893974304196, + -144.97695922851562 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.17980274656005354, + -0.9837026849254104, + -0.0, + -162.17109003691522 + ], + [ + -0.17283188366175328, + 0.03159048750373921, + -0.9844446053939278, + 123.06447284044602 + ], + [ + 0.9684008010020065, + -0.17700584519901885, + -0.17569524576394585, + -658.4024314011131 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.17980274656005354, + -0.17283188366175328, + 0.9684008010020065, + 629.7080994675067 + ], + [ + -0.9837026849254104, + 0.03159048750373921, + -0.17700584519901885, + -279.9568813550267 + ], + [ + -0.0, + -0.9844446053939278, + -0.17569524576394585, + 5.471980303276478 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62970.80994675067, + 27995.688135502674, + 547.1980303276478 + ], + "rotation_deg": [ + 0.0, + -10.119119644165032, + 10.358270645141605 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 256.04006127922617 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 114.39337732357252 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -637.6974915772045 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 639.1562828697807 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -277.06095012361135 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 63915.62828697808, + 27706.095012361136, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 31, + "time": 454.27277648821473, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.09582403859782342, + 0.9953982889410662, + -0.0, + 343.15485281813585 + ], + [ + 0.050506368599166476, + 0.004862098185070284, + -0.9987119037701333, + -28.458326799884635 + ], + [ + -0.9941161223958219, + -0.09570058455937812, + -0.050739859161101616, + 626.0397911248672 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.09582403859782342, + 0.050506368599166476, + -0.9941161223958219, + 656.6760507952853 + ], + [ + 0.9953982889410662, + 0.004862098185070284, + -0.09570058455937812, + -281.52499827840626 + ], + [ + -0.0, + -0.9987119037701333, + -0.050739859161101616, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65667.60507952853, + 28152.499827840624, + 334.35004389556343 + ], + "rotation_deg": [ + 0.0, + -2.90842866897583, + 174.50125122070312 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5745381130171348, + 0.8184778290770677, + -1.3877787703479863e-17, + -139.02964820319536 + ], + [ + 0.13913573693783543, + -0.09766762264489565, + -0.9854452202906356, + -114.61566121226211 + ], + [ + -0.8065650754878678, + 0.56617582141378, + -0.16999328883718232, + 694.0932829331471 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5745381130171348, + 0.13913573693783543, + -0.8065650754878678, + 655.6563577485259 + ], + [ + 0.8184778290770677, + -0.09766762264489565, + 0.56617582141378, + -290.38039873765626 + ], + [ + -1.3877787703479863e-17, + -0.9854452202906356, + -0.16999328883718232, + 5.043743077848574 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65565.63577485259, + 29038.039873765625, + 504.3743077848574 + ], + "rotation_deg": [ + 8.068826700614309e-16, + -9.78742885589599, + -144.93270874023438 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.17935823703675305, + -0.9837838293075709, + -0.0, + -162.4656653581992 + ], + [ + -0.17325162693397822, + 0.031586315453567534, + -0.9843709557076525, + 123.31041589601068 + ], + [ + 0.9684082277810045, + -0.17655504051539486, + -0.176107416183026, + -658.1709543314768 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.17935823703675305, + -0.17325162693397822, + 0.9684082277810045, + 629.6023425814291 + ], + [ + -0.9837838293075709, + 0.031586315453567534, + -0.17655504051539486, + -279.9294147288896 + ], + [ + -0.0, + -0.9843709557076525, + -0.176107416183026, + 5.474406668267618 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62960.234258142904, + 27992.94147288896, + 547.4406668267618 + ], + "rotation_deg": [ + 0.0, + -10.143109321594233, + 10.332381248474126 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 255.9770301458036 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 114.37336660705841 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -637.5817140881035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 639.0286322759378 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -277.02243901451726 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 63902.86322759378, + 27702.243901451726, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 32, + "time": 454.33944315835834, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.09890498763239472, + 0.9950968814248367, + -0.0, + 345.005016260323 + ], + [ + 0.05049107522436126, + 0.00501842510395704, + -0.9987119037701333, + -28.398023544496265 + ], + [ + -0.9938151031917086, + -0.09877756506598595, + -0.05073985916110162, + 624.8528430595705 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.09890498763239472, + 0.05049107522436126, + -0.9938151031917086, + 656.5447468124921 + ], + [ + 0.9950968814248367, + 0.00501842510395704, + -0.09877756506598595, + -281.4494462043738 + ], + [ + -0.0, + -0.9987119037701333, + -0.05073985916110162, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65654.47468124921, + 28144.94462043738, + 334.35004389556343 + ], + "rotation_deg": [ + 0.0, + -2.9084286689758305, + 174.32388305664062 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5751718085537509, + 0.8180326342176129, + -2.0816681555280473e-17, + -139.52203752434383 + ], + [ + 0.13992773053545754, + -0.098385421891972, + -0.9852616601625858, + -115.30800987110227 + ], + [ + -0.8059762021709873, + 0.5666947150552331, + -0.1710539723669116, + 693.7223397670035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5751718085537509, + 0.13992773053545754, + -0.8059762021709873, + 655.5076179381296 + ], + [ + 0.8180326342176129, + -0.098385421891972, + 0.5666947150552331, + -290.3398405774478 + ], + [ + -2.0816681555280473e-17, + -0.9852616601625858, + -0.1710539723669116, + 5.055399356676602 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65550.76179381296, + 29033.984057744776, + 505.53993566766013 + ], + "rotation_deg": [ + 1.2105494956819217e-15, + -9.849104881286616, + -144.8883361816406 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.17890334113149697, + -0.9838666548531804, + -0.0, + -162.76736769393005 + ], + [ + -0.1736779093174342, + 0.03158106650362985, + -0.9842960022542093, + 123.56015774811392 + ], + [ + 0.9684160146391027, + -0.17609384477158554, + -0.1765258633290835, + -657.9372279247149 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.17890334113149697, + -0.1736779093174342, + 0.9684160146391027, + 629.4969923813693 + ], + [ + -0.9838666548531804, + 0.03158106650362985, + -0.17609384477158554, + -279.90224234632757 + ], + [ + -0.0, + -0.9842960022542093, + -0.1765258633290835, + 5.476833033258756 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62949.69923813693, + 27990.224234632755, + 547.6833033258756 + ], + "rotation_deg": [ + 0.0, + -10.167466163635252, + 10.305889129638675 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 255.91393056917659 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 114.35336214831804 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -637.4659728050692 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 638.9009592665784 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -276.98400228321447 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 63890.095926657836, + 27698.400228321447, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 33, + "time": 454.40610982850194, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.10198525377874199, + 0.9947859106419256, + -0.0, + 346.8513312937422 + ], + [ + 0.05047529661075526, + 0.005174717373191753, + -0.9987119037701333, + -28.337432148279074 + ], + [ + -0.993504533039158, + -0.10185386356420773, + -0.05073985916110163, + 623.6602235223423 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.10198525377874199, + 0.05047529661075526, + -0.993504533039158, + 656.4133109089092 + ], + [ + 0.9947859106419256, + 0.005174717373191753, + -0.10185386356420773, + -281.37396217878853 + ], + [ + -0.0, + -0.9987119037701333, + -0.05073985916110163, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65641.33109089092, + 28137.396217878853, + 334.35004389556343 + ], + "rotation_deg": [ + 0.0, + -2.908428668975831, + 174.14649963378906 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5758071187479414, + 0.8175855686099126, + -0.0, + -140.01574736998344 + ], + [ + 0.14072026627455253, + -0.09910611706461425, + -0.9850765372396166, + -116.00127609829545 + ], + [ + -0.805384371742433, + 0.5672140667496418, + -0.17211686795424594, + 693.3497790282639 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5758071187479414, + 0.14072026627455253, + -0.805384371742433, + 655.3588610927237 + ], + [ + 0.8175855686099126, + -0.09910611706461425, + 0.5672140667496418, + -290.2993390469105 + ], + [ + -0.0, + -0.9850765372396166, + -0.17211686795424594, + 5.0670556355046275 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65535.886109272375, + 29029.93390469105, + 506.7055635504628 + ], + "rotation_deg": [ + 0.0, + -9.910921096801761, + -144.8438262939453 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.1784390553629483, + -0.9839509660146578, + -3.469446925937535e-18, + -163.07547712706662 + ], + [ + -0.17411018257383015, + 0.03157480157103875, + -0.9842198312520719, + 123.81335996663614 + ], + [ + 0.9684240532472773, + -0.17562325826040662, + -0.17695006145834866, + -657.701414721085 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.1784390553629483, + -0.17411018257383015, + 0.9684240532472773, + 629.3920027556504 + ], + [ + -0.9839509660146578, + 0.03157480157103875, + -0.17562325826040662, + -279.87532007532644 + ], + [ + -3.469446925937535e-18, + -0.9842198312520719, + -0.17695006145834866, + 5.479259398249897 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62939.20027556504, + 27987.53200753264, + 547.9259398249897 + ], + "rotation_deg": [ + 2.019718169952275e-16, + -10.192159652709957, + 10.278852462768556 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 255.85077890375413 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 114.33336245792997 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -637.3502591106457 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 638.7732692222096 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -276.9456221815829 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 63877.32692222096, + 27694.56221815829, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 34, + "time": 454.47277649864554, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.10506454242270727, + 0.9944654050923576, + -0.0, + 348.69359838010575 + ], + [ + 0.0504590342044357, + 0.005330960044093658, + -0.9987119037701333, + -28.27655825868273 + ], + [ + -0.9931844404014769, + -0.10492918581937373, + -0.05073985916110163, + 622.4620436718486 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.10506454242270727, + 0.0504590342044357, + -0.9931844404014769, + 656.2817480473608 + ], + [ + 0.9944654050923576, + 0.005330960044093658, + -0.10492918581937373, + -281.29853023409623 + ], + [ + -0.0, + -0.9987119037701333, + -0.05073985916110163, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65628.17480473607, + 28129.85302340962, + 334.35004389556343 + ], + "rotation_deg": [ + 0.0, + -2.908428668975831, + 173.9691162109375 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.576443604768287, + 0.8171369349880976, + -6.938893851801147e-18, + -140.51041761602986 + ], + [ + 0.14151341232087125, + -0.09982965893285949, + -0.9848898381700625, + -116.695488945568 + ], + [ + -0.8047898745868033, + 0.5677334327245958, + -0.17318200578958576, + 692.9756584820626 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.576443604768287, + 0.14151341232087125, + -0.8047898745868033, + 655.2100921392316 + ], + [ + 0.8171369349880976, + -0.09982965893285949, + 0.5677334327245958, + -290.2588778228769 + ], + [ + -6.938893851801147e-18, + -0.9848898381700625, + -0.17318200578958576, + 5.078711914332655 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65521.009213923164, + 29025.887782287693, + 507.8711914332655 + ], + "rotation_deg": [ + 4.0366883672582874e-16, + -9.972879409790037, + -144.79920959472656 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.17796626189938347, + -0.984036589576607, + -6.938893851883602e-18, + -163.38935581173934 + ], + [ + -0.17454790210645268, + 0.03156756363463111, + -0.9841425297163056, + 124.06968269991697 + ], + [ + 0.9684322581154702, + -0.17514416848843053, + -0.17737948496336253, + -657.4636664277344 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.17796626189938347, + -0.17454790210645268, + 0.9684322581154702, + 629.2873333180733 + ], + [ + -0.984036589576607, + 0.03156756363463111, + -0.17514416848843053, + -279.84860837489197 + ], + [ + -6.938893851883602e-18, + -0.9841425297163056, + -0.17737948496336253, + 5.4816857632410345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62928.73333180733, + 27984.860837489196, + 548.1685763241035 + ], + "rotation_deg": [ + 4.0397536258953143e-16, + -10.217159271240227, + 10.251322746276848 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 255.78759017561944 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 114.31336616345394 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -637.2345650642029 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 638.6455670697544 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -276.9072823864551 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 63864.55670697544, + 27690.728238645508, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 35, + "time": 454.53944316878915, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.10814282405010223, + 0.9941353678480955, + -0.0, + 350.5317863210648 + ], + [ + 0.050442288161273545, + 0.005487151619117008, + -0.9987119037701333, + -28.215402869445782 + ], + [ + -0.992854828346671, + -0.10800350235531202, + -0.05073985916110164, + 621.2583230678302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.10814282405010223, + 0.050442288161273545, + -0.992854828346671, + 656.1500627625156 + ], + [ + 0.9941353678480955, + 0.005487151619117008, + -0.10800350235531202, + -281.223135777213 + ], + [ + -0.0, + -0.9987119037701333, + -0.05073985916110164, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65615.00627625156, + 28122.313577721296, + 334.35004389556343 + ], + "rotation_deg": [ + 0.0, + -2.9084286689758314, + 173.79173278808594 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5770816987133621, + 0.8166864226923942, + 6.9388938518219106e-18, + -141.0064355925865 + ], + [ + 0.14230710436217253, + -0.10055612930794844, + -0.9847015552474042, + -117.39062869956739 + ], + [ + -0.8041924015027073, + 0.5682532303527905, + -0.17424938323829686, + 692.5998931720376 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5770816987133621, + 0.14230710436217253, + -0.8041924015027073, + 655.0613155753198 + ], + [ + 0.8166864226923942, + -0.10055612930794844, + 0.5682532303527905, + -290.2184419567627 + ], + [ + 6.9388938518219106e-18, + -0.9847015552474042, + -0.17424938323829686, + 5.090368193160682 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65506.13155753198, + 29021.84419567627, + 509.0368193160682 + ], + "rotation_deg": [ + -4.03746021482113e-16, + -10.03497982025147, + -144.75445556640625 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.17748572852282526, + -0.9841233744661904, + -3.469446925946129e-18, + -163.70844759114226 + ], + [ + -0.17499063979911225, + 0.031559397932467016, + -0.9840641647701828, + 124.32886107932956 + ], + [ + 0.9684405460411534, + -0.1746573464923098, + -0.17781372303559223, + -657.2241085566725 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.17748572852282526, + -0.17499063979911225, + 0.9684405460411534, + 629.1829486907574 + ], + [ + -0.9841233744661904, + 0.031559397932467016, + -0.1746573464923098, + -279.82207186475216 + ], + [ + -3.469446925946129e-18, + -0.9840641647701828, + -0.17781372303559223, + 5.484112128232175 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62918.29486907574, + 27982.207186475218, + 548.4112128232175 + ], + "rotation_deg": [ + 2.0200376637801205e-16, + -10.242441177368153, + 10.223344802856438 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 255.72437813534862 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 114.29337200629456 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -637.1188833837922 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 638.5178573068795 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -276.86896794924655 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 63851.78573068795, + 27686.896794924654, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 36, + "time": 454.60610983893275, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.1112198044925575, + 0.9937958316921222, + 4.336808656434146e-19, + 352.36570000968806 + ], + [ + 0.05042506014467268, + 0.005643277172200284, + -0.9987119037701332, + -28.153971719448435 + ], + [ + -0.9925157296154885, + -0.11107651938256671, + -0.05073985916110162, + 620.0491746685797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.1112198044925575, + 0.05042506014467268, + -0.9925157296154885, + 656.0182591840879 + ], + [ + 0.9937958316921222, + 0.005643277172200284, + -0.11107651938256671, + -281.1477655364578 + ], + [ + 4.336808656434146e-19, + -0.9987119037701332, + -0.05073985916110162, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65601.8259184088, + 28114.77655364578, + 334.35004389556343 + ], + "rotation_deg": [ + -2.4880131452953266e-17, + -2.9084286689758305, + 173.61436462402344 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5777209622018011, + 0.81623433512235, + -2.0816681555528573e-17, + -141.50343871915078 + ], + [ + 0.1431013843805645, + -0.10128545923562167, + -0.9845116807513229, + -118.086701584158 + ], + [ + -0.8035922480907527, + 0.5687730196422729, + -0.17531899764560932, + 692.2225459458514 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5777209622018011, + 0.1431013843805645, + -0.8035922480907527, + 654.9125354926005 + ], + [ + 0.81623433512235, + -0.10128545923562167, + 0.5687730196422729, + -290.1780178215026 + ], + [ + -2.0816681555528573e-17, + -0.9845116807513229, + -0.17531899764560932, + 5.102024471988709 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65491.25354926005, + 29017.801782150258, + 510.20244719887086 + ], + "rotation_deg": [ + 1.2114716657587645e-15, + -10.097222328186032, + -144.7095947265625 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.17699810858940598, + -0.9842111915416186, + -0.0, + -164.03227763821786 + ], + [ + -0.17543798730480406, + 0.03155033410973915, + -0.9839848012179879, + 124.59063930562913 + ], + [ + 0.9684488531819921, + -0.17416344998737296, + -0.1782523813557067, + -656.9828519155425 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.17699810858940598, + -0.17543798730480406, + 0.9684488531819921, + 629.078817874833 + ], + [ + -0.9842111915416186, + 0.03155033410973915, + -0.17416344998737296, + -279.7956789379569 + ], + [ + -0.0, + -0.9839848012179879, + -0.1782523813557067, + 5.486538493223314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62907.881787483304, + 27979.56789379569, + 548.6538493223314 + ], + "rotation_deg": [ + 0.0, + -10.26798248291015, + 10.194956779479984 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 255.66115531193861 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 114.2733788381052 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -637.0032074253387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 638.3901440251972 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -276.83066524289217 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 63839.014402519715, + 27683.066524289217, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 37, + "time": 454.67277650907636, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.11429598367610617, + 0.9934467414590029, + -0.0, + 354.1956430907791 + ], + [ + 0.0504073473555468, + 0.0057993620695198055, + -0.9987119037701333, + -28.092256245638744 + ], + [ + -0.9921670891135649, + -0.11414873618322308, + -0.05073985916110164, + 618.8344299276754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.11429598367610617, + 0.0504073473555468, + -0.9921670891135649, + 655.8863406811297 + ], + [ + 0.9934467414590029, + 0.0057993620695198055, + -0.11414873618322308, + -281.072408766294 + ], + [ + -0.0, + -0.9987119037701333, + -0.05073985916110164, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65588.63406811297, + 28107.2408766294, + 334.35004389556343 + ], + "rotation_deg": [ + 0.0, + -2.9084286689758314, + 173.43698120117188 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5783618268243257, + 0.8157803609259227, + -0.0, + -142.00181019840213 + ], + [ + 0.1438961871854759, + -0.1020177313403162, + -0.9843202069477479, + -118.78368773731185 + ], + [ + -0.8029891046274368, + 0.5692932172249291, + -0.17639084633652766, + 691.8435325291034 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5783618268243257, + 0.1438961871854759, + -0.8029891046274368, + 654.7637552209227 + ], + [ + 0.8157803609259227, + -0.1020177313403162, + 0.5692932172249291, + -290.13759431629535 + ], + [ + -0.0, + -0.9843202069477479, + -0.17639084633652766, + 5.1136807508167355 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65476.37552209227, + 29013.759431629533, + 511.36807508167357 + ], + "rotation_deg": [ + 0.0, + -10.15960693359375, + -144.66459655761722 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.1757513820224406, + -0.9844345847831647, + -6.9388938519345405e-18, + -164.88307379506688 + ], + [ + -0.17711885392158966, + 0.031621078576599106, + -0.9836813604898462, + 125.66852031242497 + ], + [ + 0.9683699511879565, + -0.17288335985674846, + -0.179919375056932, + -656.5787782133157 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.1757513820224406, + -0.17711885392158966, + 0.9683699511879565, + 629.0909958835456 + ], + [ + -0.9844345847831647, + 0.031621078576599106, + -0.17288335985674846, + -279.8019187838107 + ], + [ + -6.9388938519345405e-18, + -0.9836813604898462, + -0.179919375056932, + 5.486538493223314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62909.099588354555, + 27980.191878381072, + 548.6538493223314 + ], + "rotation_deg": [ + 4.0416475421152966e-16, + -10.365063667297358, + 10.12238693237304 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 255.59793190940016 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 114.25338572303644 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -636.8875317742292 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 638.2624305545563 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -276.79236316659063 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 63826.24305545563, + 27679.236316659062, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 38, + "time": 454.73944317921996, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.11737106736209849, + 0.9930881292948182, + -0.0, + 356.02144425585084 + ], + [ + 0.05038915142498343, + 0.005955391381448034, + -0.9987119037701333, + -28.03026165663165 + ], + [ + -0.9918089389455661, + -0.11721985889763543, + -0.05073985916110163, + 617.614191366207 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.11737106736209849, + 0.05038915142498343, + -0.9918089389455661, + 655.7543038984439 + ], + [ + 0.9930881292948182, + 0.005955391381448034, + -0.11721985889763543, + -280.9970771457661 + ], + [ + -0.0, + -0.9987119037701333, + -0.05073985916110163, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65575.43038984439, + 28099.707714576612, + 334.35004389556343 + ], + "rotation_deg": [ + 0.0, + -2.908428668975831, + 173.2595977783203 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5790040717872631, + 0.8153246499731073, + -0.0, + -142.50134987702071 + ], + [ + 0.14469152806656324, + -0.10275291432244135, + -0.9841271260889053, + -119.48158826663749 + ], + [ + -0.8023831155487873, + 0.5698135973311734, + -0.1774649266157377, + 691.4628870553939 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5790040717872631, + 0.14469152806656324, + -0.8023831155487873, + 654.6149713647877 + ], + [ + 0.8153246499731073, + -0.10275291432244135, + 0.5698135973311734, + -290.09718276504395 + ], + [ + -0.0, + -0.9841271260889053, + -0.1774649266157377, + 5.125337029644762 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65461.49713647877, + 29009.718276504398, + 512.5337029644762 + ], + "rotation_deg": [ + 0.0, + -10.222133636474611, + -144.61947631835938 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.17451269930132024, + -0.9846549232002889, + -3.469446925984325e-18, + -165.7275056660087 + ], + [ + -0.17881190867848576, + 0.03169125357062407, + -0.9833727501623578, + 126.75363799400047 + ], + [ + 0.9682828193022458, + -0.17161103432106578, + -0.18159855380302106, + -656.170071396581 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.17451269930132024, + -0.17881190867848576, + 0.9682828193022458, + 629.1017125312126 + ], + [ + -0.9846549232002889, + 0.03169125357062407, + -0.17161103432106578, + -279.8074098481621 + ], + [ + -3.469446925984325e-18, + -0.9833727501623578, + -0.18159855380302106, + 5.486538493223314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62910.171253121254, + 27980.74098481621, + 548.6538493223314 + ], + "rotation_deg": [ + 2.021457963021429e-16, + -10.462884902954098, + 10.05030155181884 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 255.5346975195444 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 114.23339361589947 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -636.7718619547854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 638.1347134994583 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -276.754073044245 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 63813.47134994582, + 27675.407304424498, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 39, + "time": 454.80610984936357, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.12044476169932002, + 0.9927200307131884, + -0.0, + 357.8429326866891 + ], + [ + 0.05037047415493869, + 0.0061113501980158535, + -0.9987119037701333, + -27.967993273389883 + ], + [ + -0.9914413145793618, + -0.1202895940530947, + -0.05073985916110163, + 616.3885637166035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.12044476169932002, + 0.05037047415493869, + -0.9914413145793618, + 655.6221457351243 + ], + [ + 0.9927200307131884, + 0.0061113501980158535, + -0.1202895940530947, + -280.9217815202893 + ], + [ + -0.0, + -0.9987119037701333, + -0.05073985916110163, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65562.21457351242, + 28092.17815202893, + 334.35004389556343 + ], + "rotation_deg": [ + 0.0, + -2.908428668975831, + 173.0822296142578 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5796476937796038, + 0.8148671984415539, + -0.0, + -143.00204550981098 + ], + [ + 0.1454874088266378, + -0.10349102425722395, + -0.9839324274415908, + -120.18040917931394 + ], + [ + -0.8017742715507935, + 0.5703341465857972, + -0.1785412521448316, + 691.0806044410151 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5796476937796038, + 0.1454874088266378, + -0.8017742715507935, + 654.4661807818876 + ], + [ + 0.8148671984415539, + -0.10349102425722395, + 0.5703341465857972, + -290.0567936581486 + ], + [ + -0.0, + -0.9839324274415908, + -0.1785412521448316, + 5.136993308472789 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65446.61807818876, + 29005.67936581486, + 513.6993308472789 + ], + "rotation_deg": [ + 0.0, + -10.284803390502931, + -144.57423400878906 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.17327954345988528, + -0.984872682034756, + -0.0, + -166.5673415537617 + ], + [ + -0.1805192936168297, + 0.031760755835972466, + -0.9830585125112383, + 127.84733584111788 + ], + [ + 0.9681874733264639, + -0.17034393150312785, + -0.18329201153835378, + -655.7562068636786 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.17327954345988528, + -0.1805192936168297, + 0.9681874733264639, + 629.1111431811595 + ], + [ + -0.984872682034756, + 0.031760755835972466, + -0.17034393150312785, + -279.8122419847913 + ], + [ + -0.0, + -0.9830585125112383, + -0.18329201153835378, + 5.486538493223314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62911.11431811595, + 27981.22419847913, + 548.6538493223314 + ], + "rotation_deg": [ + 0.0, + -10.561569213867182, + 9.978553771972653 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 255.47144250259095 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 114.21340340161896 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -636.6562030869821 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 638.006989717595 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -276.7158053662553 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 63800.698971759506, + 27671.580536625534, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 40, + "time": 454.87277651950717, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.12351756607990064, + 0.992342385908058, + -0.0, + 359.66043010640374 + ], + [ + 0.050351312510861765, + 0.006267263858309405, + -0.9987119037701333, + -27.905441948100158 + ], + [ + -0.9910641562859434, + -0.12335844039846985, + -0.05073985916110164, + 615.1573669225953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.12351756607990064, + 0.050351312510861765, + -0.9910641562859434, + 655.4898633298202 + ], + [ + 0.992342385908058, + 0.006267263858309405, + -0.12335844039846985, + -280.84653195865724 + ], + [ + -0.0, + -0.9987119037701333, + -0.05073985916110164, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65548.98633298202, + 28084.653195865725, + 334.35004389556343 + ], + "rotation_deg": [ + 0.0, + -2.9084286689758314, + 172.90484619140625 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5802926894761975, + 0.8144080025027266, + 6.938893851928493e-18, + -143.5038856274843 + ], + [ + 0.1462838178400641, + -0.10423206773557309, + -0.9837361031769148, + -120.88014490255289 + ], + [ + -0.801162565728122, + 0.5708548532466329, + -0.17961982017778083, + 690.6966813466134 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5802926894761975, + 0.1462838178400641, + -0.801162565728122, + 654.3173805683718 + ], + [ + 0.8144080025027266, + -0.10423206773557309, + 0.5708548532466329, + -290.01643670951785 + ], + [ + 6.938893851928493e-18, + -0.9837361031769148, + -0.17961982017778083, + 5.148649587300817 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65431.73805683718, + 29001.643670951784, + 514.8649587300816 + ], + "rotation_deg": [ + -4.0414226335759123e-16, + -10.347616195678713, + -144.52886962890625 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.17204967395362436, + -0.9850882750761228, + 3.46944692601942e-18, + -167.40415277305215 + ], + [ + -0.1822430123086665, + 0.03182948334818975, + -0.9827381993463215, + 128.95086764416314 + ], + [ + 0.9680838771563296, + -0.16907978803010273, + -0.18500170828850263, + -655.3366832978326 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.17204967395362436, + -0.1822430123086665, + 0.9680838771563296, + 629.1194421531128 + ], + [ + -0.9850882750761228, + 0.03182948334818975, + -0.16907978803010273, + -279.81649426502497 + ], + [ + 3.46944692601942e-18, + -0.9827381993463215, + -0.18500170828850263, + 5.486538493223314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62911.94421531128, + 27981.6494265025, + 548.6538493223314 + ], + "rotation_deg": [ + -2.0227632117855248e-16, + -10.661231994628904, + 9.90701293945312 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 255.40815793643685 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 114.19341590032454 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -636.5405599159043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 637.8792563051162 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -276.6775698465303 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 63787.92563051162, + 27667.756984653028, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 41, + "time": 454.9394431896508, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.1265891865764334, + 0.9919552297568256, + -0.0, + 361.4737639255559 + ], + [ + 0.05033166826242692, + 0.006423117448493568, + -0.9987119037701333, + -27.84261300287122 + ], + [ + -0.9906774988977772, + -0.12642610438495752, + -0.05073985916110164, + 613.9207057391686 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.1265891865764334, + 0.05033166826242692, + -0.9906774988977772, + 655.357454047063 + ], + [ + 0.9919552297568256, + 0.006423117448493568, + -0.12642610438495752, + -280.77133780444126 + ], + [ + -0.0, + -0.9987119037701333, + -0.05073985916110164, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65535.7454047063, + 28077.133780444125, + 334.35004389556343 + ], + "rotation_deg": [ + 0.0, + -2.9084286689758314, + 172.7274627685547 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5809392723049066, + 0.813946903608488, + -1.3877787703900733e-17, + -144.00704615146194 + ], + [ + 0.147080715471446, + -0.10497609050082003, + -0.9835381454522091, + -121.58078287698869 + ], + [ + -0.8005478390259547, + 0.5713759187173928, + -0.18070062794780004, + 690.3110765075762 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5809392723049066, + 0.147080715471446, + -0.8005478390259547, + 654.1685680451728 + ], + [ + 0.813946903608488, + -0.10497609050082003, + 0.5713759187173928, + -289.97612090797105 + ], + [ + -1.3877787703900733e-17, + -0.9835381454522091, + -0.18070062794780004, + 5.160305866128843 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65416.85680451728, + 28997.612090797105, + 516.0305866128842 + ], + "rotation_deg": [ + 8.084472109680199e-16, + -10.41057205200195, + -144.48336791992185 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.1708210614224392, + -0.9853020678829976, + -0.0, + -168.239359041365 + ], + [ + -0.18398498009409997, + 0.031897334441799395, + -0.9824113635108673, + 130.06542912322053 + ], + [ + 0.9679719474881556, + -0.1678165531091552, + -0.1867295193014478, + -654.9110096608354 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.1708210614224392, + -0.18398498009409997, + 0.9679719474881556, + 629.1267452484318 + ], + [ + -0.9853020678829976, + 0.031897334441799395, + -0.1678165531091552, + -279.8202362716306 + ], + [ + -0.0, + -0.9824113635108673, + -0.1867295193014478, + 5.486538493223314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62912.674524843176, + 27982.023627163064, + 548.6538493223314 + ], + "rotation_deg": [ + 0.0, + -10.761983871459957, + 9.835560798645023 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 255.34483557064002 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 114.1734318718944 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -636.4249368380355 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 637.7515105829541 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -276.6393754738892 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 63775.151058295414, + 27663.93754738892, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 42, + "time": 455.0061098597944, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.12965932968020558, + 0.9915586005006862, + -0.0, + 363.28276222386137 + ], + [ + 0.050311543349986984, + 0.006578896075977712, + -0.9987119037701333, + -27.779511870217473 + ], + [ + -0.9902813806067937, + -0.1294922928819086, + -0.05073985916110162, + 612.6786870944226 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.12965932968020558, + 0.050311543349986984, + -0.9902813806067937, + 655.2249154646054 + ], + [ + 0.9915586005006862, + 0.006578896075977712, + -0.1294922928819086, + -280.6962077222774 + ], + [ + -0.0, + -0.9987119037701333, + -0.05073985916110162, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65522.49154646054, + 28069.62077222774, + 334.35004389556343 + ], + "rotation_deg": [ + 0.0, + -2.9084286689758305, + 172.5500946044922 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5815872218985045, + 0.8134840522864475, + -0.0, + -144.51133021339254 + ], + [ + 0.14787811754814095, + -0.10572306036322847, + -0.9833385464110778, + -122.28232421651424 + ], + [ + -0.7999302364625125, + 0.5718971176222464, + -0.18178367266725423, + 689.9238236594076 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5815872218985045, + 0.14787811754814095, + -0.7999302364625125, + 654.0197407453466 + ], + [ + 0.8134840522864475, + -0.10572306036322847, + 0.5718971176222464, + -289.93585456352906 + ], + [ + -0.0, + -0.9833385464110778, + -0.18178367266725423, + 5.171962144956869 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65401.97407453466, + 28993.585456352906, + 517.196214495687 + ], + "rotation_deg": [ + 0.0, + -10.473670959472658, + -144.437744140625 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.16959187156171612, + -0.9855143819854657, + -0.0, + -169.07424038508765 + ], + [ + -0.18574699217894838, + 0.03196420125003501, + -0.9820775655389553, + 131.19213634355933 + ], + [ + 0.9678515645712233, + -0.16655237358923838, + -0.18847720235833865, + -654.4787103718389 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.16959187156171612, + -0.18574699217894838, + 0.9678515645712233, + 629.1331719723124 + ], + [ + -0.9855143819854657, + 0.03196420125003501, + -0.16655237358923838, + -279.8235292374436 + ], + [ + -0.0, + -0.9820775655389553, + -0.18847720235833865, + 5.486538493223314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62913.31719723124, + 27982.35292374436, + 548.6538493223314 + ], + "rotation_deg": [ + 0.0, + -10.863928794860838, + 9.764090538024899 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 255.28146778473553 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 114.15345202000546 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -636.3093379246917 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 637.6237500841648 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -276.60123055835294 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 63762.375008416486, + 27660.123055835295, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 43, + "time": 455.072776529938, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.13272849420636773, + 0.9911524336981219, + -0.0, + 365.0877428045946 + ], + [ + 0.05029093450378846, + 0.006734625050572132, + -0.9987119037701333, + -27.716129292024746 + ], + [ + -0.9898757370544929, + -0.13255750406195702, + -0.05073985916110162, + 611.4311287610365 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.13272849420636773, + 0.05029093450378846, + -0.9898757370544929, + 655.0922453617275 + ], + [ + 0.9911524336981219, + 0.006734625050572132, + -0.13255750406195702, + -280.62114973949355 + ], + [ + -0.0, + -0.9987119037701333, + -0.05073985916110162, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65509.22453617275, + 28062.114973949356, + 334.35004389556343 + ], + "rotation_deg": [ + 0.0, + -2.9084286689758305, + 172.37271118164062 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5822365348877886, + 0.8130194446886622, + -1.3877787703989372e-17, + -145.01672838595158 + ], + [ + 0.1486760122830523, + -0.1064729838605124, + -0.9831372981834473, + -122.98476318155835 + ], + [ + -0.7993097511846212, + 0.5724184380576753, + -0.18286895152756422, + 689.5349188869491 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5822365348877886, + 0.1486760122830523, + -0.7993097511846212, + 653.8708964023789 + ], + [ + 0.8130194446886622, + -0.1064729838605124, + 0.5724184380576753, + -289.89564534904474 + ], + [ + -1.3877787703989372e-17, + -0.9831372981834473, + -0.18286895152756422, + 5.183618423784896 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65387.08964023789, + 28989.564534904475, + 518.3618423784897 + ], + "rotation_deg": [ + 8.087768331501219e-16, + -10.536912918090819, + -144.3919982910156 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.1683604325524307, + -0.9857255017248759, + -0.0, + -169.90996006550512 + ], + [ + -0.18753074062663275, + 0.03202996833654994, + -0.9817363711548972, + 132.3320362646404 + ], + [ + 0.967722576523564, + -0.16528556132072525, + -0.19024641417248322, + -654.0393209213266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.1683604325524307, + -0.18753074062663275, + 0.967722576523564, + 629.1388274893274 + ], + [ + -0.9857255017248759, + 0.03202996833654994, + -0.16528556132072525, + -279.826427047359 + ], + [ + -0.0, + -0.9817363711548972, + -0.19024641417248322, + 5.486538493223314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62913.88274893274, + 27982.642704735903, + 548.6538493223314 + ], + "rotation_deg": [ + 0.0, + -10.96716499328613, + 9.692504882812502 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 255.21804755052966 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 114.13347699573859 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -636.1937669428801 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 637.4959725422342 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -276.5631427727743 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 63749.597254223416, + 27656.314277277434, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 44, + "time": 455.1394432000816, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.13579638656410903, + 0.9907367669548408, + -0.0, + 366.88853224901777 + ], + [ + 0.05026984363193967, + 0.006890289475520548, + -0.9987119037701333, + -27.65247069990876 + ], + [ + -0.9894606057981371, + -0.1356214447124614, + -0.05073985916110163, + 610.1781376494207 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.13579638656410903, + 0.05026984363193967, + -0.9894606057981371, + 654.9594417084569 + ], + [ + 0.9907367669548408, + 0.006890289475520548, + -0.1356214447124614, + -280.54617128348923 + ], + [ + -0.0, + -0.9987119037701333, + -0.05073985916110163, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65495.94417084569, + 28054.617128348924, + 334.35004389556343 + ], + "rotation_deg": [ + 0.0, + -2.908428668975831, + 172.19532775878906 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5828874242852103, + 0.8125529217288884, + -2.0816681556051393e-17, + -145.5234183000476 + ], + [ + 0.14947438586775688, + -0.107225926392202, + -0.9829343867617973, + -123.68810979154019 + ], + [ + -0.7986862187981059, + 0.5729400772004847, + -0.18395649442052198, + 689.1443158956308 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5828874242852103, + 0.14947438586775688, + -0.7986862187981059, + 653.722032939406 + ], + [ + 0.8125529217288884, + -0.107225926392202, + 0.5729400772004847, + -289.85550033758585 + ], + [ + -2.0816681556051393e-17, + -0.9829343867617973, + -0.18395649442052198, + 5.195274702612924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65372.2032939406, + 28985.550033758587, + 519.5274702612924 + ], + "rotation_deg": [ + 1.2134156887094035e-15, + -10.600299835205075, + -144.34611511230466 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.16712521885015824, + -0.9859356780359896, + -0.0, + -170.74757630174565 + ], + [ + -0.1893378630353919, + 0.032094519451253786, + -0.981387342206116, + 133.48613943548756 + ], + [ + 0.9675847941571682, + -0.16401457555348384, + -0.19203875942590595, + -653.5923812858729 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.16712521885015824, + -0.1893378630353919, + 0.9675847941571682, + 629.1438043443005 + ], + [ + -0.9859356780359896, + 0.032094519451253786, + -0.16401457555348384, + -279.8289771200846 + ], + [ + -0.0, + -0.981387342206116, + -0.19203875942590595, + 5.486538493223314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62914.38043443005, + 27982.89771200846, + 548.6538493223314 + ], + "rotation_deg": [ + 0.0, + -11.071787834167477, + 9.62071514129639 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 255.15456839804335 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 114.11350740078247 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -636.0782273738354 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 637.3681758802982 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -276.5251191902212 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 63736.817588029815, + 27652.51191902212, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 45, + "time": 455.2061098702252, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.1388629773484717, + 0.9903116042549021, + -0.0, + 368.6851202725163 + ], + [ + 0.05024827093659119, + 0.007045887858819555, + -0.9987119037701333, + -27.588536652285832 + ], + [ + -0.989035990816652, + -0.13868408546633956, + -0.05073985916110163, + 608.9197247508753 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.1388629773484717, + 0.05024827093659119, + -0.989035990816652, + 654.8265026556531 + ], + [ + 0.9903116042549021, + 0.007045887858819555, + -0.13868408546633956, + -280.4712792152365 + ], + [ + -0.0, + -0.9987119037701333, + -0.05073985916110163, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65482.65026556531, + 28047.12792152365, + 334.35004389556343 + ], + "rotation_deg": [ + 0.0, + -2.908428668975831, + 172.0179443359375 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5835396700476018, + 0.8120846344321112, + -6.93889385203977e-18, + -146.0312050987288 + ], + [ + 0.15027322793242398, + -0.10798183603855087, + -0.9827298103001216, + -124.39234222895452 + ], + [ + -0.7980597897143054, + 0.5734618135231913, + -0.1850462657603525, + 688.7520523580984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5835396700476018, + 0.15027322793242398, + -0.7980597897143054, + 653.5731484592989 + ], + [ + 0.8120846344321112, + -0.10798183603855087, + 0.5734618135231913, + -289.81542603593977 + ], + [ + -6.93889385203977e-18, + -0.9827298103001216, + -0.1850462657603525, + 5.206930981440951 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65357.31484592989, + 28981.542603593974, + 520.6930981440951 + ], + "rotation_deg": [ + 4.0455609580974745e-16, + -10.663829803466793, + -144.30010986328122 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.1658848677742549, + -0.9861451265627781, + -0.0, + -171.58803172141074 + ], + [ + -0.1911699579089495, + 0.03215774467260135, + -0.9810300335110349, + 134.65543185343978 + ], + [ + 0.9674379860596309, + -0.16273803859188857, + -0.1938558070426329, + -653.1374387642669 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.1658848677742549, + -0.1911699579089495, + 0.9674379860596309, + 629.1481839766769 + ], + [ + -0.9861451265627781, + 0.03215774467260135, + -0.16273803859188857, + -279.8312211840831 + ], + [ + -0.0, + -0.9810300335110349, + -0.1938558070426329, + 5.486538493223314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62914.81839766769, + 27983.12211840831, + 548.6538493223314 + ], + "rotation_deg": [ + 0.0, + -11.177890777587885, + 9.548642158508297 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 255.09102438481065 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 114.09354379027447 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -635.9627224294572 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 637.240358201228 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -276.4871663174808 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 63724.0358201228, + 27648.716631748077, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 46, + "time": 455.2727765403688, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.14192797354679249, + 0.9898769874711204, + -0.0, + 370.4772932247812 + ], + [ + 0.050226218542363726, + 0.0072014053330480025, + -0.9987119037701333, + -27.524333677635298 + ], + [ + -0.9886019339289107, + -0.1417451336883534, + -0.05073985916110162, + 607.656018565361 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.14192797354679249, + 0.050226218542363726, + -0.9886019339289107, + 654.693439311736 + ], + [ + 0.9898769874711204, + 0.0072014053330480025, + -0.1417451336883534, + -280.3964367309673 + ], + [ + -0.0, + -0.9987119037701333, + -0.05073985916110162, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65469.34393117361, + 28039.64367309673, + 334.35004389556343 + ], + "rotation_deg": [ + 0.0, + -2.9084286689758305, + 171.840576171875 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5841932687613463, + 0.8116145789313626, + -2.0816681556187798e-17, + -146.54012353088507 + ], + [ + 0.1510725530734329, + -0.1087407383887746, + -0.9825235546909491, + -125.09747475261514 + ], + [ + -0.7974304521059815, + 0.5739836313398597, + -0.18613829538264826, + 688.3581051577648 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5841932687613463, + 0.1510725530734329, + -0.7974304521059815, + 653.424254021393 + ], + [ + 0.8116145789313626, + -0.1087407383887746, + 0.5739836313398597, + -289.77538528630373 + ], + [ + -2.0816681556187798e-17, + -0.9825235546909491, + -0.18613829538264826, + 5.218587260268978 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65342.425402139306, + 28977.538528630375, + 521.8587260268978 + ], + "rotation_deg": [ + 1.2139230659479722e-15, + -10.727504730224606, + -144.25398254394528 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.16463489616938465, + -0.9863545766930347, + 3.469446926134403e-18, + -172.43437308654103 + ], + [ + -0.19302854679617815, + 0.03221887494663703, + -0.9806640220885686, + 135.8406652719309 + ], + [ + 0.9672824458838912, + -0.16145152064368168, + -0.19569894319264988, + -652.673507430382 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.16463489616938465, + -0.19302854679617815, + 0.9672824458838912, + 629.1520380531681 + ], + [ + -0.9863545766930347, + 0.03221887494663703, + -0.16145152064368168, + -279.8331959604018 + ], + [ + 3.469446926134403e-18, + -0.9806640220885686, + -0.19569894319264988, + 5.486538493223314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62915.20380531681, + 27983.31959604018, + 548.6538493223314 + ], + "rotation_deg": [ + -2.0270415063115636e-16, + -11.285556793212889, + 9.476025581359867 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 255.02744960549703 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 114.07358302119778 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -635.8472339249597 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 637.1125305643591 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -276.4492469967505 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 63711.25305643591, + 27644.924699675048, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 47, + "time": 455.3394432105124, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.14499187313798914, + 0.9894328459900332, + 4.336808656434146e-19, + 372.26523457902397 + ], + [ + 0.05020368286634018, + 0.007356867165585848, + -0.9987119037701332, + -27.45985543771028 + ], + [ + -0.9881583646124183, + -0.14480508671598033, + -0.05073985916110162, + 606.3868943372595 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.14499187313798914, + 0.05020368286634018, + -0.9881583646124183, + 654.5602908286294 + ], + [ + 0.9894328459900332, + 0.007356867165585848, + -0.14480508671598033, + -280.3215125251946 + ], + [ + 4.336808656434146e-19, + -0.9987119037701332, + -0.05073985916110162, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65456.02908286294, + 28032.15125251946, + 334.35004389556343 + ], + "rotation_deg": [ + -2.4880131452953266e-17, + -2.9084286689758305, + 171.66319274902344 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5848484330187724, + 0.8111425955992486, + -6.9388938520856274e-18, + -147.05048760170948 + ], + [ + 0.15187230679962563, + -0.10950267084061586, + -0.9823156150169516, + -125.80347368333413 + ], + [ + -0.7967980486419823, + 0.5745057324777406, + -0.1872325640227799, + 687.9623868466282 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5848484330187724, + 0.15187230679962563, + -0.7967980486419823, + 653.2753887274317 + ], + [ + 0.8111425955992486, + -0.10950267084061586, + 0.5745057324777406, + -289.73524642930994 + ], + [ + -6.9388938520856274e-18, + -0.9823156150169516, + -0.1872325640227799, + 5.230243539097005 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65327.53887274318, + 28973.524642930995, + 523.0243539097005 + ], + "rotation_deg": [ + 4.047266776744027e-16, + -10.791323661804196, + -144.2077178955078 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.16336378886750053, + -0.9865658987046199, + -3.46944692615524e-18, + -173.2943881447675 + ], + [ + -0.1949152191357687, + 0.03227568350757674, + -0.9802889051720282, + 137.04222500805542 + ], + [ + 0.9671196042173573, + -0.16014371091332985, + -0.19756938779418762, + -652.1983827899701 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.16336378886750053, + -0.1949152191357687, + 0.9671196042173573, + 629.1554296404803 + ], + [ + -0.9865658987046199, + 0.03227568350757674, + -0.16014371091332985, + -279.8349337635622 + ], + [ + -3.46944692615524e-18, + -0.9802889051720282, + -0.19756938779418762, + 5.486538493223314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62915.54296404803, + 27983.493376356222, + 548.6538493223314 + ], + "rotation_deg": [ + 2.0278171731251673e-16, + -11.394859313964837, + 9.40219688415527 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 254.96396480644256 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 114.0536139469144 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -635.73169736841 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 636.9847320714348 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -276.4112295686624 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 63698.47320714348, + 27641.122956866242, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 48, + "time": 455.406109880656, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.14805438301943746, + 0.9889792210500347, + 4.336808656434146e-19, + 374.04844553677367 + ], + [ + 0.050180666000950835, + 0.007512258484447335, + -0.9987119037701332, + -27.39511535838577 + ], + [ + -0.9877053240524434, + -0.14786365182413713, + -0.05073985916110162, + 605.1126163278625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.14805438301943746, + 0.050180666000950835, + -0.9877053240524434, + 654.4271591490668 + ], + [ + 0.9889792210500347, + 0.007512258484447335, + -0.14786365182413713, + -280.24616731939744 + ], + [ + 4.336808656434146e-19, + -0.9987119037701332, + -0.05073985916110162, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65442.71591490669, + 28024.616731939746, + 334.35004389556343 + ], + "rotation_deg": [ + -2.4880131452953266e-17, + -2.9084286689758305, + 171.48580932617188 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5855049431047434, + 0.8106688359619548, + -1.3877787704217697e-17, + -147.5624438873202 + ], + [ + 0.1526725057771356, + -0.11026759984257684, + -0.98210598328525, + -126.51031768227534 + ], + [ + -0.7961627252446711, + 0.5750278921867732, + -0.1883290687552386, + 687.5648146347394 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5855049431047434, + 0.1526725057771356, + -0.7961627252446711, + 653.1266544688732 + ], + [ + 0.8106688359619548, + -0.11026759984257684, + 0.5750278921867732, + -289.6946698327137 + ], + [ + -1.3877787704217697e-17, + -0.98210598328525, + -0.1883290687552386, + 5.241899817925032 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65312.665446887324, + 28969.46698327137, + 524.1899817925032 + ], + "rotation_deg": [ + 8.096261341671431e-16, + -10.855286598205563, + -144.16133117675778 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.1620440231384099, + -0.9867835297394856, + -3.4694469261766154e-18, + -174.18665210449856 + ], + [ + -0.19683160582211134, + 0.032322575648003664, + -0.9799043678099245, + 138.25957926985868 + ], + [ + 0.9669534903682271, + -0.15878764721968625, + -0.19946786847795725, + -651.7071100736121 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.1620440231384099, + -0.19683160582211134, + 0.9669534903682271, + 629.158414237315 + ], + [ + -0.9867835297394856, + 0.032322575648003664, + -0.15878764721968625, + -279.8364630303434 + ], + [ + -3.4694469261766154e-18, + -0.9799043678099245, + -0.19946786847795725, + 5.486538493223314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62915.8414237315, + 27983.64630303434, + 548.6538493223314 + ], + "rotation_deg": [ + 2.0286129359612614e-16, + -11.505843162536616, + 9.325558662414556 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 254.9008821920525 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 114.03360793649833 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -635.6159471077304 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 636.8570646139132 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -276.3727744009719 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 63685.70646139132, + 27637.277440097187, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 49, + "time": 455.4727765507996, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.15111521058, + 0.9885161572434523, + -4.336808656434146e-19, + 375.82622066757176 + ], + [ + 0.05015717020880408, + 0.007667564442584669, + -0.9987119037701332, + -27.33013253267885 + ], + [ + -0.9872428567838679, + -0.1509205367785938, + -0.05073985916110161, + 603.8335603447331 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.15111521058, + 0.05015717020880408, + -0.9872428567838679, + 654.2942190531609 + ], + [ + 0.9885161572434523, + 0.007667564442584669, + -0.1509205367785938, + -280.169838342732 + ], + [ + -4.336808656434146e-19, + -0.9987119037701332, + -0.05073985916110161, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65429.421905316085, + 28016.9838342732, + 334.35004389556343 + ], + "rotation_deg": [ + 2.4880131452953266e-17, + -2.9084286689758296, + 171.30844116210938 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5861630113283705, + 0.8101931400292502, + -1.3877787704264535e-17, + -148.07673484031977 + ], + [ + 0.15347313477289806, + -0.11103559187533849, + -0.9818946451834193, + -127.21797922907912 + ], + [ + -0.7955243167466642, + 0.5755503063637871, + -0.18942783931963203, + 687.1651529021225 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5861630113283705, + 0.15347313477289806, + -0.7955243167466642, + 652.9782259734593 + ], + [ + 0.8101931400292502, + -0.11103559187533849, + 0.5755503063637871, + -289.65309237210755 + ], + [ + -1.3877787704264535e-17, + -0.9818946451834193, + -0.18942783931963203, + 5.253556096753058 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65297.82259734593, + 28965.309237210757, + 525.3556096753058 + ], + "rotation_deg": [ + 8.098003940573566e-16, + -10.919395446777338, + -144.11480712890622 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.1606299965142344, + -0.9870146930111208, + -0.0, + -175.14189315921405 + ], + [ + -0.19877933628109387, + 0.03234999875890822, + -0.9795102107931017, + 139.4910873237111 + ], + [ + 0.9667909694983369, + -0.15733872290274806, + -0.20139450730295042, + -651.1915772295567 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.1606299965142344, + -0.19877933628109387, + 0.9667909694983369, + 629.1610406825296 + ], + [ + -0.9870146930111208, + 0.03234999875890822, + -0.15733872290274806, + -279.83780878511084 + ], + [ + -0.0, + -0.9795102107931017, + -0.20139450730295042, + 5.486538493223314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62916.10406825296, + 27983.780878511083, + 548.6538493223314 + ], + "rotation_deg": [ + 0.0, + -11.618517875671383, + 9.24346542358398 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 254.83872350258684 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 114.01351821566095 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -635.4997125174403 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 636.7297029195362 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -276.33331836927147 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 63672.970291953614, + 27633.331836927147, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 50, + "time": 455.5394432209432, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.15417485312130366, + 0.9880435793349523, + -0.0, + 377.5982771698135 + ], + [ + 0.05013319167246974, + 0.007822810273012175, + -0.9987119037701333, + -27.264913604162174 + ], + [ + -0.9867708876682794, + -0.1539762382404103, + -0.050739859161101616, + 602.5498571532075 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.15417485312130366, + 0.05013319167246974, + -0.9867708876682794, + 654.1616827347325 + ], + [ + 0.9880435793349523, + 0.007822810273012175, + -0.1539762382404103, + -280.09189230587964 + ], + [ + -0.0, + -0.9987119037701333, + -0.050739859161101616, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65416.16827347325, + 28009.189230587966, + 334.35004389556343 + ], + "rotation_deg": [ + 0.0, + -2.90842866897583, + 171.1310577392578 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5868226338352495, + 0.809715503382923, + -2.0816681556467653e-17, + -148.59399502307627 + ], + [ + 0.15427415444643758, + -0.11180663488192007, + -0.9816815989241204, + -127.92638895556678 + ], + [ + -0.7948828210262271, + 0.5760729658195274, + -0.19052884004601886, + 686.7632002838571 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5868226338352495, + 0.15427415444643758, + -0.7948828210262271, + 652.8303153815464 + ], + [ + 0.809715503382923, + -0.11180663488192007, + 0.5760729658195274, + -289.60988040477355 + ], + [ + -2.0816681556467653e-17, + -0.9816815989241204, + -0.19052884004601886, + 5.265212375581085 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65283.03153815463, + 28960.988040477354, + 526.5212375581085 + ], + "rotation_deg": [ + 1.214964207539111e-15, + -10.983648300170893, + -144.06814575195312 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.1590687817137407, + -0.9872675031034425, + 3.4694469262210192e-18, + -176.1956960444632 + ], + [ + -0.20075971430292927, + 0.03234645430035957, + -0.9791063496920039, + 140.73435866489487 + ], + [ + 0.9666398806219617, + -0.15574525535856418, + -0.20334885449506576, + -650.6423015388432 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.1590687817137407, + -0.20075971430292927, + 0.9666398806219617, + 629.1633519543184 + ], + [ + -0.9872675031034425, + 0.03234645430035957, + -0.15574525535856418, + -279.83899304930617 + ], + [ + 3.4694469262210192e-18, + -0.9791063496920039, + -0.20334885449506576, + 5.486538493223314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62916.335195431835, + 27983.899304930615, + 548.6538493223314 + ], + "rotation_deg": [ + -2.0302663517552617e-16, + -11.732859611511229, + 9.152849197387697 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 254.77808679699473 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 113.99329402322209 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -635.3826999048043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 636.6028591286602 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -276.29222783084316 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 63660.28591286601, + 27629.222783084315, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 51, + "time": 455.6061098910868, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.1572330179363617, + 0.9875615312833037, + -0.0, + 379.36391949734343 + ], + [ + 0.050108732622409516, + 0.007977981123818681, + -0.9987119037701333, + -27.199480452270684 + ], + [ + -0.9862894606078176, + -0.1570304638796308, + -0.05073985916110162, + 601.261937405872 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.1572330179363617, + 0.050108732622409516, + -0.9862894606078176, + 654.0297665835625 + ], + [ + 0.9875615312833037, + 0.007977981123818681, + -0.1570304638796308, + -280.0117630319759 + ], + [ + -0.0, + -0.9987119037701333, + -0.05073985916110162, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65402.97665835625, + 28001.17630319759, + 334.35004389556343 + ], + "rotation_deg": [ + 0.0, + -2.9084286689758305, + 170.95367431640625 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5874835912408454, + 0.8092360780530976, + -6.9388938521797e-18, + -149.11462051591928 + ], + [ + 0.15507560834518003, + -0.11258071380562869, + -0.9814668300943171, + -128.635537723105 + ], + [ + -0.7942383793203546, + 0.5765956423943005, + -0.19163210061594907, + 686.3588260719432 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5874835912408454, + 0.15507560834518003, + -0.7942383793203546, + 652.6831390283563 + ], + [ + 0.8092360780530976, + -0.11258071380562869, + 0.5765956423943005, + -289.56446740061466 + ], + [ + -6.9388938521797e-18, + -0.9814668300943171, + -0.19163210061594907, + 5.276868654409111 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65268.31390283563, + 28956.446740061467, + 527.6868654409111 + ], + "rotation_deg": [ + 4.050766904274113e-16, + -11.04804706573486, + -144.02136230468747 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.15731036577541269, + -0.987549213365899, + -0.0, + -177.38156964683338 + ], + [ + -0.2027735302906696, + 0.03230054541877117, + -0.9786927864141581, + 141.98670784298693 + ], + [ + 0.9665072908369537, + -0.1539585213435077, + -0.20533005251237194, + -650.0501393844352 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.15731036577541269, + -0.2027735302906696, + 0.9665072908369537, + 629.1653858734925 + ], + [ + -0.987549213365899, + 0.03230054541877117, + -0.1539585213435077, + -279.84003520179806 + ], + [ + -0.0, + -0.9786927864141581, + -0.20533005251237194, + 5.486538493223314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62916.53858734925, + 27984.003520179805, + 548.6538493223314 + ], + "rotation_deg": [ + 0.0, + -11.848820686340325, + 9.050814628601076 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 254.71952564465337 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 113.9728931855032 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -635.264665262433 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 636.476749576507 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -276.24893625558997 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 63647.674957650706, + 27624.893625558998, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 52, + "time": 455.6727765612304, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.16028967571345232, + 0.9870700177088128, + 8.673617312868292e-19, + 381.1227395145169 + ], + [ + 0.05008379329305709, + 0.008133075507731556, + -0.9987119037701332, + -27.13384858004156 + ], + [ + -0.9857985802168368, + -0.160083184422289, + -0.050739859161101616, + 599.9701062487727 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.16028967571345232, + 0.05008379329305709, + -0.9857985802168368, + 653.898674441118 + ], + [ + 0.9870700177088128, + 0.008133075507731556, + -0.160083184422289, + -279.92901018335414 + ], + [ + 8.673617312868292e-19, + -0.9987119037701332, + -0.050739859161101616, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65389.8674441118, + 27992.90101833541, + 334.35004389556343 + ], + "rotation_deg": [ + -4.976026290590653e-17, + -2.90842866897583, + 170.7762908935547 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5881458800401953, + 0.8087548601348519, + 1.3877787704407432e-17, + -149.6390838859469 + ], + [ + 0.1558774708827003, + -0.11335782547935373, + -0.9812503337445573, + -129.34538586368032 + ], + [ + -0.793590987424439, + 0.5771183254621389, + -0.19273760166215823, + 685.9519282424069 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5881458800401953, + 0.1558774708827003, + -0.793590987424439, + 652.5369006997045 + ], + [ + 0.8087548601348519, + -0.11335782547935373, + 0.5771183254621389, + -289.51641266890255 + ], + [ + 1.3877787704407432e-17, + -0.9812503337445573, + -0.19273760166215823, + 5.288524933237138 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65253.69006997044, + 28951.641266890256, + 528.8524933237138 + ], + "rotation_deg": [ + -8.103321275481188e-16, + -11.112590789794924, + -143.97445678710938 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.15531239392659485, + -0.9878654059601388, + -0.0, + -178.72773570267572 + ], + [ + -0.2048209031186932, + 0.032201982777859316, + -0.9782696100517574, + 143.24533654276726 + ], + [ + 0.9663987049573383, + -0.1519373961580838, + -0.20733685322556927, + -649.4070878237259 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.15531239392659485, + -0.2048209031186932, + 0.9663987049573383, + 629.1671757223658 + ], + [ + -0.9878654059601388, + 0.032201982777859316, + -0.1519373961580838, + -279.8409522959909 + ], + [ + -0.0, + -0.9782696100517574, + -0.20733685322556927, + 5.486538493223314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62916.71757223657, + 27984.095229599094, + 548.6538493223314 + ], + "rotation_deg": [ + 0.0, + -11.966330528259274, + 8.934914588928217 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 254.6634957592982 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 113.952287172242 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -635.1454435206655 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 636.3515780488922 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -276.2030029527836 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 63635.15780488922, + 27620.30029527836, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 53, + "time": 455.739443231374, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.16334453441606564, + 0.9865690868238264, + -0.0, + 382.8742793662146 + ], + [ + 0.05005837613070016, + 0.008288078606859543, + -0.9987119037701333, + -27.06803748533399 + ], + [ + -0.9852982946455748, + -0.1631341082080426, + -0.050739859161101616, + 598.6747474579798 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.16334453441606564, + 0.05005837613070016, + -0.9852982946455748, + 653.7685997019721 + ], + [ + 0.9865690868238264, + 0.008288078606859543, + -0.1631341082080426, + -279.84330293672963 + ], + [ + -0.0, + -0.9987119037701333, + -0.050739859161101616, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65376.859970197205, + 27984.330293672963, + 334.35004389556343 + ], + "rotation_deg": [ + 0.0, + -2.90842866897583, + 170.5989227294922 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.588809927225226, + 0.8082715320986035, + -6.938893852227935e-18, + -150.16813433999846 + ], + [ + 0.1566796820639906, + -0.11413806936171475, + -0.9810320985323094, + -130.05591112099995 + ], + [ + -0.7929403283221322, + 0.5776414229401706, + -0.19384535646758316, + 685.5423755366929 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.588809927225226, + 0.1566796820639906, + -0.7929403283221322, + 652.3917937334194 + ], + [ + 0.8082715320986035, + -0.11413806936171475, + 0.5776414229401706, + -289.4653850334649 + ], + [ + -6.938893852227935e-18, + -0.9810320985323094, + -0.19384535646758316, + 5.300181212065166 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65239.17937334193, + 28946.538503346488, + 530.0181212065165 + ], + "rotation_deg": [ + 4.0525619487521635e-16, + -11.177280426025385, + -143.9273986816406 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.15303944488042323, + -0.9882200809084439, + -3.469446926291775e-18, + -180.25760969851476 + ], + [ + -0.20690129973548801, + 0.03204150640963422, + -0.9778369976814986, + 144.5073241446924 + ], + [ + 0.966318156447912, + -0.14964763240645218, + -0.20936763511644382, + -648.7061405016419 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.15303944488042323, + -0.20690129973548801, + 0.966318156447912, + 629.1687507893741 + ], + [ + -0.9882200809084439, + 0.03204150640963422, + -0.14964763240645218, + -279.84175933888065 + ], + [ + -3.469446926291775e-18, + -0.9778369976814986, + -0.20936763511644382, + 5.486538493223314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62916.87507893742, + 27984.175933888066, + 548.6538493223314 + ], + "rotation_deg": [ + 2.0329018858188249e-16, + -12.085296630859368, + 8.803108215332028 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 254.61036802833664 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 113.93145938368113 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -635.0249386370497 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 636.227537883644 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -276.15409674625164 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 63622.7537883644, + 27615.409674625163, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 54, + "time": 455.80610990151763, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.16639809037605066, + 0.9860586572406346, + 8.673617312868292e-19, + 384.61861761180654 + ], + [ + 0.050032477005737805, + 0.008443015605010559, + -0.9987119037701332, + -27.00205122784486 + ], + [ + -0.984788522611169, + -0.16618373092942215, + -0.05073985916110162, + 597.3759409404496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.16639809037605066, + 0.050032477005737805, + -0.984788522611169, + 653.6397423419651 + ], + [ + 0.9860586572406346, + 0.008443015605010559, + -0.16618373092942215, + -279.75436417155373 + ], + [ + 8.673617312868292e-19, + -0.9987119037701332, + -0.05073985916110162, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65363.97423419651, + 27975.436417155375, + 334.35004389556343 + ], + "rotation_deg": [ + -4.976026290590653e-17, + -2.9084286689758305, + 170.42153930664062 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5894752982334688, + 0.8077864029386498, + -1.3877787704504716e-17, + -150.70173784972116 + ], + [ + 0.15748228936123645, + -0.11492136925057249, + -0.9808121162725904, + -130.76711723789322 + ], + [ + -0.7922867023698924, + 0.578164499164117, + -0.19495536195280205, + 685.1302302901806 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5894752982334688, + 0.15748228936123645, + -0.7922867023698924, + 652.2480180475045 + ], + [ + 0.8077864029386498, + -0.11492136925057249, + 0.578164499164117, + -289.4111070210424 + ], + [ + -1.3877787704504716e-17, + -0.9808121162725904, + -0.19495536195280205, + 5.3118374908931925 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65224.801804750445, + 28941.11070210424, + 531.1837490893192 + ], + "rotation_deg": [ + 8.106941761974679e-16, + -11.24211597442627, + -143.8802185058594 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.15045888454204923, + -0.9886162673466192, + -0.0, + -181.9925807009869 + ], + [ + -0.2090135045176733, + 0.03181005591619272, + -0.9773952502809953, + 145.76937650798178 + ], + [ + 0.9662688435381492, + -0.1470578001919716, + -0.21142025780455811, + -647.9405531088389 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.15045888454204923, + -0.2090135045176733, + 0.9662688435381492, + 629.1701368483416 + ], + [ + -0.9886162673466192, + 0.03181005591619272, + -0.1470578001919716, + -279.84246953662364 + ], + [ + -0.0, + -0.9773952502809953, + -0.21142025780455811, + 5.486538493223314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62917.013684834164, + 27984.24695366236, + 548.6538493223314 + ], + "rotation_deg": [ + 0.0, + -12.205595970153805, + 8.653520584106442 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 254.56048001836817 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 113.91040047990566 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -634.9030965729438 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 636.1048289987662 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -276.1019401627349 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 63610.48289987661, + 27610.194016273486, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 55, + "time": 455.87277657166123, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.16945005145321027, + 0.9855387765392615, + -0.0, + 386.355370489798 + ], + [ + 0.05000609833237371, + 0.008597871679032257, + -0.9987119037701333, + -26.935910621381616 + ], + [ + -0.9842693116323485, + -0.16923176082253166, + -0.05073985916110161, + 596.0740963740441 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.16945005145321027, + 0.05000609833237371, + -0.9842693116323485, + 653.5123266826428 + ], + [ + 0.9855387765392615, + 0.008597871679032257, + -0.16923176082253166, + -279.66192672393254 + ], + [ + -0.0, + -0.9987119037701333, + -0.05073985916110161, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65351.23266826428, + 27966.192672393256, + 334.35004389556343 + ], + "rotation_deg": [ + 0.0, + -2.9084286689758296, + 170.24415588378906 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5901419895130102, + 0.8072994687311679, + -6.938893852276983e-18, + -151.2402386094614 + ], + [ + 0.15828528022745394, + -0.11570773151983824, + -0.9805903787667147, + -131.47899742415532 + ], + [ + -0.7916301028325377, + 0.5786875414516609, + -0.19606761501578554, + 684.7155008000342 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5901419895130102, + 0.15828528022745394, + -0.7916301028325377, + 652.1057979045769 + ], + [ + 0.8072994687311679, + -0.11570773151983824, + 0.5786875414516609, + -289.35331111521157 + ], + [ + -6.938893852276983e-18, + -0.9805903787667147, + -0.19606761501578554, + 5.323493769721219 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65210.57979045769, + 28935.331111521155, + 532.349376972122 + ], + "rotation_deg": [ + 4.054387478332022e-16, + -11.307097434997551, + -143.8329162597656 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.1475374533513306, + -0.9890564694993931, + -0.0, + -183.95428339902648 + ], + [ + -0.21115543145077176, + 0.031498034316803425, + -0.9769448590391456, + 147.0275022242579 + ], + [ + 0.9662536326595916, + -0.1441359576231724, + -0.2134917869431849, + -647.1032303654853 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.1475374533513306, + -0.21115543145077176, + 0.9662536326595916, + 629.171356580233 + ], + [ + -0.9890564694993931, + 0.031498034316803425, + -0.1441359576231724, + -279.8430945106374 + ], + [ + -0.0, + -0.9769448590391456, + -0.2134917869431849, + 5.486538493223314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62917.135658023304, + 27984.309451063742, + 548.6538493223314 + ], + "rotation_deg": [ + 0.0, + -12.327058792114256, + 8.484245300292965 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 254.51417946968732 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 113.88910525189578 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -634.7798871901326 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 635.9836756568754 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -276.0462656858097 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 63598.36756568755, + 27604.626568580974, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 56, + "time": 455.93944324180484, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.17250012607139567, + 0.9850094956422261, + -0.0, + 388.08429750446834 + ], + [ + 0.04997924269440932, + 0.008752632034392036, + -0.9987119037701333, + -26.869633369463283 + ], + [ + -0.9837407125660333, + -0.1722779066867965, + -0.05073985916110161, + 594.769562216867 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.17250012607139567, + 0.04997924269440932, + -0.9837407125660333, + 653.3865360202185 + ], + [ + 0.9850094956422261, + 0.008752632034392036, + -0.1722779066867965, + -279.565871076282 + ], + [ + -0.0, + -0.9987119037701333, + -0.05073985916110161, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65338.65360202185, + 27956.5871076282, + 334.35004389556343 + ], + "rotation_deg": [ + 0.0, + -2.9084286689758296, + 170.06678771972656 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5908104272304562, + 0.8068104108622828, + -1.387778770460363e-17, + -151.78420870356467 + ], + [ + 0.159088580010341, + -0.11649724725656754, + -0.9803668778023539, + -132.1915394049182 + ], + [ + -0.7909702144905979, + 0.5792109583616273, + -0.19718211253179918, + 684.2981680037352 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5908104272304562, + 0.159088580010341, + -0.7909702144905979, + 651.9653165408304 + ], + [ + 0.8068104108622828, + -0.11649724725656754, + 0.5792109583616273, + -289.29187744604275 + ], + [ + -1.387778770460363e-17, + -0.9803668778023539, + -0.19718211253179918, + 5.335150048549247 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65196.53165408304, + 28929.187744604274, + 533.5150048549247 + ], + "rotation_deg": [ + 8.110623569761947e-16, + -11.372224807739252, + -143.78546142578122 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.14425299877314074, + -0.9895408391496309, + -5.204170389550846e-18, + -186.1567050322697 + ], + [ + -0.2133244160585618, + 0.031097945138294062, + -0.9764863600283668, + 148.27793352399775 + ], + [ + 0.9662731316036237, + -0.14086108672634687, + -0.2155791951631673, + -646.1887105243459 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.14425299877314074, + -0.2133244160585618, + 0.9662731316036237, + 629.1724299442975 + ], + [ + -0.9895408391496309, + 0.031097945138294062, + -0.14086108672634687, + -279.84364448776955 + ], + [ + -5.204170389550846e-18, + -0.9764863600283668, + -0.2155791951631673, + 5.486538493223314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62917.24299442975, + 27984.364448776956, + 548.6538493223314 + ], + "rotation_deg": [ + 3.0535705740871118e-16, + -12.449509620666495, + 8.294024467468258 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 254.47168071068933 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 113.86758133079854 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -634.6553546407098 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 635.864261094166 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -275.98695344554665 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 63586.42610941659, + 27598.695344554664, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 57, + "time": 456.00610991194844, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.17554880978517182, + 0.9844707285557095, + -0.0, + 389.80579160372037 + ], + [ + 0.049951905728530414, + 0.008907321815458526, + -0.9987119037701333, + -26.80321641565604 + ], + [ + -0.9832026395291839, + -0.17532266343846523, + -0.05073985916110161, + 593.462278309184 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.17554880978517182, + 0.049951905728530414, + -0.9832026395291839, + 653.2624818380574 + ], + [ + 0.9844707285557095, + 0.008907321815458526, + -0.17532266343846523, + -279.46624765915834 + ], + [ + -0.0, + -0.9987119037701333, + -0.05073985916110161, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65326.24818380574, + 27946.624765915833, + 334.35004389556343 + ], + "rotation_deg": [ + 0.0, + -2.9084286689758296, + 169.889404296875 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5914801775482645, + 0.806319539368527, + -0.0, + -152.3332982213282 + ], + [ + 0.15989225041288865, + -0.11728984855913617, + -0.9801416018529552, + -132.90478243609047 + ], + [ + -0.7903073359409101, + 0.5797343131467724, + -0.1982988676675219, + 683.8784096171063 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5914801775482645, + 0.15989225041288865, + -0.7903073359409101, + 651.8266853785201 + ], + [ + 0.806319539368527, + -0.11728984855913617, + 0.5797343131467724, + -289.2268560919342 + ], + [ + -0.0, + -0.9801416018529552, + -0.1982988676675219, + 5.346806327377274 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65182.668537852005, + 28922.68560919342, + 534.6806327377274 + ], + "rotation_deg": [ + 0.0, + -11.437499046325682, + -143.73788452148438 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.1405971328197617, + -0.9900668897821308, + -0.0, + -188.60443339386183 + ], + [ + -0.21551764249655728, + 0.030605167105182466, + -0.9760202198311212, + 149.51761121627507 + ], + [ + 0.9663253028963734, + -0.13722564548628519, + -0.21767988240327765, + -645.1936338030764 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.1405971328197617, + -0.21551764249655728, + 0.9663253028963734, + 629.1733745046741 + ], + [ + -0.9900668897821308, + 0.030605167105182466, + -0.13722564548628519, + -279.8441284676459 + ], + [ + -0.0, + -0.9760202198311212, + -0.21767988240327765, + 5.486538493223314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62917.337450467414, + 27984.412846764586, + 548.6538493223314 + ], + "rotation_deg": [ + 0.0, + -12.572797775268553, + 8.082401275634762 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 254.4330271180304 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 113.84584816600405 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -634.5296114544561 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 635.7466967328925 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -275.9240535203438 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 63574.66967328925, + 27592.405352034384, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 58, + "time": 456.07277658209205, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.17859581090883453, + 0.9839225255708987, + -1.7347234625736584e-18, + 391.5199039888717 + ], + [ + 0.049924089986504695, + 0.009061926222140295, + -0.9987119037701332, + -26.736666685104776 + ], + [ + -0.9826551427482008, + -0.17836573976754902, + -0.050739859161101596, + 592.1523809585236 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.17859581090883453, + 0.049924089986504695, + -0.9826551427482008, + 653.140189715128 + ], + [ + 0.9839225255708987, + 0.009061926222140295, + -0.17836573976754902, + -279.36325780331157 + ], + [ + -1.7347234625736584e-18, + -0.9987119037701332, + -0.050739859161101596, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65314.0189715128, + 27936.325780331157, + 334.35004389556343 + ], + "rotation_deg": [ + 9.952052581181306e-17, + -2.908428668975829, + 169.71202087402344 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5921514514718269, + 0.8058266926081614, + 6.938893852352098e-18, + -152.88754210316804 + ], + [ + 0.16069624723615158, + -0.11808558455537935, + -0.9799145426231982, + -133.61873503307365 + ], + [ + -0.7896413059433621, + 0.5802578032087864, + -0.19941787724117208, + 683.4563064158729 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5921514514718269, + 0.16069624723615158, + -0.7896413059433621, + 651.6899299344143 + ], + [ + 0.8058266926081614, + -0.11808558455537935, + 0.5802578032087864, + -289.1584480316688 + ], + [ + 6.938893852352098e-18, + -0.9799145426231982, + -0.19941787724117208, + 5.3584626062053005 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65168.992993441425, + 28915.84480316688, + 535.8462606205301 + ], + "rotation_deg": [ + -4.057183744252701e-16, + -11.502920150756836, + -143.6901702880859 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.1365746095313705, + -0.990629787575234, + -1.7347234632099132e-18, + -191.29312997645724 + ], + [ + -0.21773250048632514, + 0.030018006332108625, + -0.9755467582478136, + 150.74442349858407 + ], + [ + 0.9664056773775804, + -0.13323491856138156, + -0.21979199987333886, + -644.1166936087342 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.1365746095313705, + -0.21773250048632514, + 0.9664056773775804, + 629.1742057178056 + ], + [ + -0.990629787575234, + 0.030018006332108625, + -0.13323491856138156, + -279.844554369937 + ], + [ + -1.7347234632099132e-18, + -0.9755467582478136, + -0.21979199987333886, + 5.486538493223314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62917.42057178056, + 27984.4554369937, + 548.6538493223314 + ], + "rotation_deg": [ + 1.018837210967668e-16, + -12.696816444396973, + 7.849681854248046 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 254.39809462132948 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 113.8239330341841 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -634.4028154480396 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 635.6310080898237 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -275.85776688898414 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 63563.100808982366, + 27585.776688898415, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 59, + "time": 456.13944325223565, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.18164083835174694, + 0.9833649403160938, + -0.0, + 393.22679429387625 + ], + [ + 0.04989579818942458, + 0.009216430484539545, + -0.9987119037701333, + -26.6699852360236 + ], + [ + -0.9820982757822992, + -0.18140684495835996, + -0.050739859161101616, + 590.8398909937035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.18164083835174694, + 0.04989579818942458, + -0.9820982757822992, + 653.0195917120355 + ], + [ + 0.9833649403160938, + 0.009216430484539545, + -0.18140684495835996, + -279.25722886451 + ], + [ + -0.0, + -0.9987119037701333, + -0.050739859161101616, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65301.959171203554, + 27925.722886451, + 334.35004389556343 + ], + "rotation_deg": [ + 0.0, + -2.90842866897583, + 169.53465270996094 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5928242449917723, + 0.805331866096167, + 6.938893852377554e-18, + -153.4466331124638 + ], + [ + 0.16150054390309587, + -0.11888445252913987, + -0.9796856951419933, + -134.33340273874538 + ], + [ + -0.7889721200828258, + 0.5807814170437082, + -0.20053912174115596, + 683.0319806359676 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5928242449917723, + 0.16150054390309587, + -0.7889721200828258, + 651.5549822058289 + ], + [ + 0.805331866096167, + -0.11888445252913987, + 0.5807814170437082, + -289.08698026924185 + ], + [ + 6.938893852377554e-18, + -0.9796856951419933, + -0.20053912174115596, + 5.370118885033326 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65155.498220582886, + 28908.698026924187, + 537.0118885033327 + ], + "rotation_deg": [ + -4.0581314729986106e-16, + -11.568487167358398, + -143.64231872558594 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.1322021154383126, + -0.9912227805461468, + -0.0, + -194.21041113096095 + ], + [ + -0.219967041010621, + 0.029337610796522973, + -0.9750660518456089, + 151.95746825278604 + ], + [ + 0.9665076826128546, + -0.12890579568791027, + -0.22191483791850544, + -642.9584994597609 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.1322021154383126, + -0.219967041010621, + 0.9665076826128546, + 629.1749371853613 + ], + [ + -0.9912227805461468, + 0.029337610796522973, + -0.12890579568791027, + -279.8449291639532 + ], + [ + -0.0, + -0.9750660518456089, + -0.22191483791850544, + 5.486538493223314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62917.49371853613, + 27984.49291639532, + 548.6538493223314 + ], + "rotation_deg": [ + 0.0, + -12.821525573730469, + 7.596862792968747 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 254.3666039086836 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 113.80186712665204 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -634.2751470873611 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 635.5171271622752 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -275.7884205554629 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 63551.71271622752, + 27578.84205554629, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 60, + "time": 456.20610992237926, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.1846843868484445, + 0.9827978821987834, + -8.673617312868292e-19, + 394.9271724813074 + ], + [ + 0.04986702574063876, + 0.00937085970541672, + -0.9987119037701332, + -26.60315147183052 + ], + [ + -0.9815319481556715, + -0.18444647310817286, + -0.050739859161101596, + 589.5244030125158 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.1846843868484445, + 0.04986702574063876, + -0.9815319481556715, + 652.9005271807855 + ], + [ + 0.9827978821987834, + 0.00937085970541672, + -0.18444647310817286, + -279.1485858029228 + ], + [ + -8.673617312868292e-19, + -0.9987119037701332, + -0.050739859161101596, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65290.05271807855, + 27914.858580292283, + 334.35004389556343 + ], + "rotation_deg": [ + 4.976026290590653e-17, + -2.908428668975829, + 169.35726928710938 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5934985540807536, + 0.8048350553399464, + 6.938893852403219e-18, + -154.01013086861738 + ], + [ + 0.16230514006279465, + -0.11968646905726024, + -0.9794550477861667, + -135.04881121199222 + ], + [ + -0.7882997686180714, + 0.5813051391559557, + -0.20166261425353538, + 682.6055345552272 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5934985540807536, + 0.16230514006279465, + -0.7882997686180714, + 651.4216814803912 + ], + [ + 0.8048350553399464, + -0.11968646905726024, + 0.5813051391559557, + -289.0128774132472 + ], + [ + 6.938893852403219e-18, + -0.9794550477861667, + -0.20166261425353538, + 5.381775163861354 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65142.16814803911, + 28901.287741324722, + 538.1775163861354 + ], + "rotation_deg": [ + -4.0590871036941336e-16, + -11.63420104980469, + -143.59432983398435 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.12750638515897464, + -0.991837749706922, + -0.0, + -197.3371879876393 + ], + [ + -0.2222202721126112, + 0.028567680161896754, + -0.9745778769869367, + 153.15715767922825 + ], + [ + 0.9666231279128201, + -0.12426490305785724, + -0.22404901796717824, + -641.7213584107467 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.12750638515897464, + -0.2222202721126112, + 0.9666231279128201, + 629.1755808768103 + ], + [ + -0.991837749706922, + 0.028567680161896754, + -0.12426490305785724, + -279.8452589826874 + ], + [ + -0.0, + -0.9745778769869367, + -0.22404901796717824, + 5.486538493223314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62917.55808768103, + 27984.525898268745, + 548.6538493223314 + ], + "rotation_deg": [ + 0.0, + -12.946963310241696, + 7.325519561767576 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 254.3381410956672 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 113.77968222421111 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -634.1467902489782 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 635.4048932378744 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -275.716439128374 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 63540.48932378744, + 27571.6439128374, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 61, + "time": 456.27277659252286, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.18772616519287622, + 0.9822214042169806, + -0.0, + 396.62132108394695 + ], + [ + 0.04983777532925901, + 0.009525199109017935, + -0.9987119037701333, + -26.536155793803324 + ], + [ + -0.9809562127980567, + -0.1874843333860344, + -0.05073985916110161, + 588.2057280834566 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.18772616519287622, + 0.04983777532925901, + -0.9809562127980567, + 652.7827545898701 + ], + [ + 0.9822214042169806, + 0.009525199109017935, + -0.1874843333860344, + -279.0378184430223 + ], + [ + -0.0, + -0.9987119037701333, + -0.05073985916110161, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65278.27545898701, + 27903.78184430223, + 334.35004389556343 + ], + "rotation_deg": [ + 0.0, + -2.9084286689758296, + 169.1798858642578 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5941743746933921, + 0.8043362558393825, + -0.0, + -154.5774951426158 + ], + [ + 0.16311003525879803, + -0.12049165072756153, + -0.9792225888442427, + -135.76498146062215 + ], + [ + -0.7876242417780921, + 0.581828953935843, + -0.20278836782569196, + 682.1770457302534 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5941743746933921, + 0.16311003525879803, + -0.7876242417780921, + 651.2897861611272 + ], + [ + 0.8043362558393825, + -0.12049165072756153, + 0.581828953935843, + -288.93662893678294 + ], + [ + -0.0, + -0.9792225888442427, + -0.20278836782569196, + 5.393431442689381 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65128.97861611271, + 28893.662893678294, + 539.3431442689381 + ], + "rotation_deg": [ + 0.0, + -11.70006275177002, + -143.54620361328125 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.12252171810855508, + -0.99246583245557, + -0.0, + -200.64940340554784 + ], + [ + -0.22449241396873115, + 0.027713998167304427, + -0.9740816651472682, + 154.34524771427223 + ], + [ + 0.966742770169745, + -0.11934616006274616, + -0.22619661890224083, + -640.408946843766 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.12252171810855508, + -0.22449241396873115, + 0.966742770169745, + 629.1761473252855 + ], + [ + -0.99246583245557, + 0.027713998167304427, + -0.11934616006274616, + -279.8455492231736 + ], + [ + -0.0, + -0.9740816651472682, + -0.22619661890224083, + 5.486538493223314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62917.61473252854, + 27984.55492231736, + 548.6538493223314 + ], + "rotation_deg": [ + 0.0, + -13.073253631591793, + 7.037660598754882 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 254.31218923767372 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 113.7574081783774 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -634.0179176470283 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 635.2940647196474 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -275.64231208081543 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 63529.406471964736, + 27564.231208081543, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 62, + "time": 456.33944326266646, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.19076614423038027, + 0.9816355118960773, + -0.0, + 398.3096917056449 + ], + [ + 0.049808047235642895, + 0.009679447216039755, + -0.9987119037701333, + -26.46897998188191 + ], + [ + -0.9803710752277298, + -0.190520396674836, + -0.05073985916110161, + 586.8835075813591 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.19076614423038027, + 0.049808047235642895, + -0.9803710752277298, + 652.6659762184503 + ], + [ + 0.9816355118960773, + 0.009679447216039755, + -0.190520396674836, + -278.92544293067584 + ], + [ + -0.0, + -0.9987119037701333, + -0.05073985916110161, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65266.59762184503, + 27892.544293067585, + 334.35004389556343 + ], + "rotation_deg": [ + 0.0, + -2.9084286689758296, + 169.00250244140625 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5948514886918815, + 0.8038356215054493, + -6.938893852455186e-18, + -155.1479462658205 + ], + [ + 0.1639152350356161, + -0.12129995109896348, + -0.9789883133044069, + -136.48191489296036 + ], + [ + -0.7869456903090147, + 0.5823526401206923, + -0.2039163628758807, + 681.7466094277278 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5948514886918815, + 0.1639152350356161, + -0.7869456903090147, + 651.158998460644 + ], + [ + 0.8038356215054493, + -0.12129995109896348, + 0.5823526401206923, + -288.8587506345464 + ], + [ + -6.938893852455186e-18, + -0.9789883133044069, + -0.2039163628758807, + 5.405087721517407 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65115.89984606441, + 28885.87506345464, + 540.5087721517407 + ], + "rotation_deg": [ + 4.0610222809784674e-16, + -11.766071319580075, + -143.49795532226562 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.11728669165930031, + -0.9930980978531858, + -0.0, + -204.12028901984473 + ], + [ + -0.22678483581914624, + 0.02678370159929304, + -0.9735765360623289, + 155.52459398533892 + ], + [ + 0.9668570055692621, + -0.11418757182453111, + -0.228360962562469, + -639.0258494373273 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.11728669165930031, + -0.22678483581914624, + 0.9668570055692621, + 629.1766457999436 + ], + [ + -0.9930980978531858, + 0.02678370159929304, + -0.11418757182453111, + -279.84580463480137 + ], + [ + -0.0, + -0.9735765360623289, + -0.228360962562469, + 5.486538493223314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62917.66457999436, + 27984.58046348014, + 548.6538493223314 + ], + "rotation_deg": [ + 0.0, + -13.200593948364254, + 6.735535621643067 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 254.28817304528906 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 113.73507124358963 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -633.8886811837723 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 635.1843438202012 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -275.5665552074846 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 63518.434382020125, + 27556.65552074846, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 63, + "time": 456.40610993281007, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.19380403355672426, + 0.9810402624648715, + -0.0, + 399.99255393848455 + ], + [ + 0.049777844363571556, + 0.00983358929141245, + -0.9987119037701333, + -26.401610128537733 + ], + [ + -0.9797765925997661, + -0.19355437294440972, + -0.050739859161101616, + 585.5574677645477 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.19380403355672426, + 0.049777844363571556, + -0.9797765925997661, + 652.5498746245494 + ], + [ + 0.9810402624648715, + 0.00983358929141245, + -0.19355437294440972, + -278.8119576785529 + ], + [ + -0.0, + -0.9987119037701333, + -0.050739859161101616, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65254.98746245494, + 27881.195767855294, + 334.35004389556343 + ], + "rotation_deg": [ + 0.0, + -2.90842866897583, + 168.82513427734375 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5955303202772458, + 0.8033328311668091, + -0.0, + -155.7212628231795 + ], + [ + 0.1647206743998422, + -0.12211147381981287, + -0.978752209390515, + -137.1996056491013 + ], + [ + -0.7862637944214435, + 0.5828766012859983, + -0.2050466123964932, + 681.3141712120772 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5955303202772458, + 0.1647206743998422, + -0.7862637944214435, + 651.0290008693247 + ], + [ + 0.8033328311668091, + -0.12211147381981287, + 0.5828766012859983, + -288.77974056824485 + ], + [ + -0.0, + -0.978752209390515, + -0.2050466123964932, + 5.416744000345434 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65102.90008693247, + 28877.974056824485, + 541.6744000345434 + ], + "rotation_deg": [ + 0.0, + -11.832227706909174, + -143.44955444335935 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.1118400644714421, + -0.9937262198307052, + -1.734723463279679e-18, + -207.72313123765014 + ], + [ + -0.22909974301433159, + 0.0257842950279392, + -0.9730613947129335, + 156.6986797424849 + ], + [ + 0.966956620923935, + -0.10882724991238306, + -0.23054614056165335, + -637.576921053459 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.1118400644714421, + -0.22909974301433159, + 0.966956620923935, + 629.1770844576428 + ], + [ + -0.9937262198307052, + 0.0257842950279392, + -0.10882724991238306, + -279.8460293970339 + ], + [ + -1.734723463279679e-18, + -0.9730613947129335, + -0.23054614056165335, + 5.486538493223314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62917.70844576428, + 27984.602939703385, + 548.6538493223314 + ], + "rotation_deg": [ + 1.0214394937278816e-16, + -13.329227447509762, + 6.421398162841794 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 254.26551582249851 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 113.71269316358612 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -633.759206663576 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 635.0754130299188 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -275.4896665700888 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 63507.54130299188, + 27548.966657008878, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 64, + "time": 456.4727766029537, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.19684032674669297, + 0.980435559211443, + -1.7347234625736584e-18, + 401.6705831051132 + ], + [ + 0.049747161805895786, + 0.00998765037905088, + -0.9987119037701332, + -26.334017648899934 + ], + [ + -0.9791726683268305, + -0.19658675513377438, + -0.05073985916110159, + 584.2270459974388 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.19684032674669297, + 0.049747161805895786, + -0.9791726683268305, + 652.4341554445333 + ], + [ + 0.980435559211443, + 0.00998765037905088, + -0.19658675513377438, + -278.6977973202826 + ], + [ + -1.7347234625736584e-18, + -0.9987119037701332, + -0.05073985916110159, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65243.41554445333, + 27869.779732028255, + 334.35004389556343 + ], + "rotation_deg": [ + 9.952052581181306e-17, + -2.9084286689758287, + 168.6477508544922 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5962104373359458, + 0.8028281973197505, + -0.0, + -156.29654785738788 + ], + [ + 0.16552639131802277, + -0.12292612851396097, + -0.978514272101231, + -137.9180553859432 + ], + [ + -0.7855788601672298, + 0.5834004066805747, + -0.20617909676612828, + 680.8798258117885 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5962104373359458, + 0.16552639131802277, + -0.7855788601672298, + 650.8994989548079 + ], + [ + 0.8028281973197505, + -0.12292612851396097, + 0.5834004066805747, + -288.70003302075617 + ], + [ + -0.0, + -0.978514272101231, + -0.20617909676612828, + 5.428400279173461 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65089.94989548079, + 28870.003302075616, + 542.8400279173461 + ], + "rotation_deg": [ + 0.0, + -11.898530960083006, + -143.4010314941406 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.10621634533410362, + -0.9943430434130196, + -0.0, + -211.4342177490058 + ], + [ + -0.23143975041903098, + 0.02472253878316284, + -0.972535057466872, + 157.8710369701127 + ], + [ + 0.9670334683611588, + -0.1032991202656058, + -0.23275644528506592, + -636.0665133710572 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.10621634533410362, + -0.23143975041903098, + 0.9670334683611588, + 629.1774704764181 + ], + [ + -0.9943430434130196, + 0.02472253878316284, + -0.1032991202656058, + -279.84622718779843 + ], + [ + -0.0, + -0.972535057466872, + -0.23275644528506592, + 5.486538493223314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62917.74704764181, + 27984.622718779843, + 548.6538493223314 + ], + "rotation_deg": [ + 0.0, + -13.459409713745119, + 6.097249984741214 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 254.24370228981448 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 113.69029078044835 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -633.629591530925 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 634.966977916439 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -275.4120804515058 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 63496.6977916439, + 27541.20804515058, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 65, + "time": 456.5394432730973, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.19987473327284372, + 0.9798214587357789, + 8.673617312868292e-19, + 403.34388984268054 + ], + [ + 0.049716002434491, + 0.010141615737633653, + -0.9987119037701332, + -26.266194149293913 + ], + [ + -0.9785593589359975, + -0.19961725308971048, + -0.05073985916110161, + 582.89207706746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.19987473327284372, + 0.049716002434491, + -0.9785593589359975, + 652.3185882286161 + ], + [ + 0.9798214587357789, + 0.010141615737633653, + -0.19961725308971048, + -278.5832904330946 + ], + [ + 8.673617312868292e-19, + -0.9987119037701332, + -0.05073985916110161, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65231.85882286161, + 27858.32904330946, + 334.35004389556343 + ], + "rotation_deg": [ + -4.976026290590653e-17, + -2.9084286689758296, + 168.47036743164062 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5968922634970844, + 0.8023213980552475, + -6.938893852534743e-18, + -156.87376803956366 + ], + [ + 0.1663323328512368, + -0.1237440293739849, + -0.9782744861451491, + -138.63726366789518 + ], + [ + -0.7848905644538319, + 0.5839244569443428, + -0.20731384520479915, + 680.4434886674787 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5968922634970844, + 0.1663323328512368, + -0.7848905644538319, + 650.7702621974958 + ], + [ + 0.8023213980552475, + -0.1237440293739849, + 0.5839244569443428, + -288.61995621877344 + ], + [ + -6.938893852534743e-18, + -0.9782744861451491, + -0.20731384520479915, + 5.440056558001488 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65077.026219749576, + 28861.995621877344, + 544.0056558001488 + ], + "rotation_deg": [ + 4.0639855270665047e-16, + -11.964982986450192, + -143.35235595703122 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.10044141618227694, + -0.9949429742026918, + -0.0, + -215.23570048906424 + ], + [ + -0.23380722781063903, + 0.02360329152911696, + -0.9719964325307453, + 159.04451163078792 + ], + [ + 0.9670810209908254, + -0.0976286989178511, + -0.2349956084418404, + -634.4976466456268 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.10044141618227694, + -0.23380722781063903, + 0.9670810209908254, + 629.1778101729403 + ], + [ + -0.9949429742026918, + 0.02360329152911696, + -0.0976286989178511, + -279.84640124367127 + ], + [ + -0.0, + -0.9719964325307453, + -0.2349956084418404, + 5.486538493223314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62917.78101729404, + 27984.640124367124, + 548.6538493223314 + ], + "rotation_deg": [ + 0.0, + -13.59136390686035, + 5.76458978652954 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 254.22233735394497 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 113.66787586096058 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -633.4999038657796 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 634.8588079601637 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -275.3341250784288 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 63485.880796016376, + 27533.41250784288, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 66, + "time": 456.6061099432409, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.2029069632749741, + 0.9791980209613008, + -1.7347234625736584e-18, + 405.0124652941637 + ], + [ + 0.049684369289863105, + 0.01029547065969502, + -0.9987119037701332, + -26.19813735589536 + ], + [ + -0.977936724273496, + -0.20264557732537963, + -0.05073985916110161, + 581.5525162189616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.2029069632749741, + 0.049684369289863105, + -0.977936724273496, + 652.203038396246 + ], + [ + 0.9791980209613008, + 0.01029547065969502, + -0.20264557732537963, + -278.4686258523868 + ], + [ + -1.7347234625736584e-18, + -0.9987119037701332, + -0.05073985916110161, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65220.3038396246, + 27846.862585238683, + 334.35004389556343 + ], + "rotation_deg": [ + 9.952052581181306e-17, + -2.9084286689758296, + 168.29299926757812 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5975755806839091, + 0.801812587435673, + -0.0, + -157.45250423088282 + ], + [ + 0.1671384914728306, + -0.12456511990655454, + -0.9780328499446491, + -139.35720921187027 + ], + [ + -0.7841990610627726, + 0.5844485328374573, + -0.2084508217599775, + 680.0052011422598 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5975755806839091, + 0.1671384914728306, + -0.7841990610627726, + 650.6411559459391 + ], + [ + 0.801812587435673, + -0.12456511990655454, + 0.5844485328374573, + -288.53969864737564 + ], + [ + -0.0, + -0.9780328499446491, + -0.2084508217599775, + 5.451712836829516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65064.11559459391, + 28853.969864737566, + 545.1712836829515 + ], + "rotation_deg": [ + 0.0, + -12.03158187866211, + -143.30354309082034 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.09452894122343171, + -0.9955221139036423, + -0.0, + -219.11789292298084 + ], + [ + -0.23620367048781948, + 0.022428515220770957, + -0.9714446910416843, + 160.2205901579609 + ], + [ + 0.9670946718606345, + -0.09182963876889441, + -0.23726612295552518, + -632.8712352533629 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.09452894122343171, + -0.23620367048781948, + 0.9670946718606345, + 629.17810910588 + ], + [ + -0.9955221139036423, + 0.022428515220770957, + -0.09182963876889441, + -279.84655441283934 + ], + [ + -0.0, + -0.9714446910416843, + -0.23726612295552518, + 5.486538493223314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62917.810910588, + 27984.655441283932, + 548.6538493223314 + ], + "rotation_deg": [ + 0.0, + -13.725240707397463, + 5.424208164215084 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 254.20119252285966 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 113.6454548882621 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -633.3701811781217 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 634.750768509644 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -275.2559889359367 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 63475.076850964404, + 27525.598893593673, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 67, + "time": 456.6727766133845, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.20593750940838185, + 0.9785651445962463, + -1.7347234625736584e-18, + 406.67664208703167 + ], + [ + 0.049652257232482365, + 0.010449240142495216, + -0.9987119037701332, + -26.129835234802812 + ], + [ + -0.9773046631780469, + -0.2056722198614973, + -0.05073985916110158, + 580.2081265888424 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.20593750940838185, + 0.049652257232482365, + -0.9773046631780469, + 652.0874761225978 + ], + [ + 0.9785651445962463, + 0.010449240142495216, + -0.2056722198614973, + -278.3538457731729 + ], + [ + -1.7347234625736584e-18, + -0.9987119037701332, + -0.05073985916110158, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65208.74761225977, + 27835.38457731729, + 334.35004389556343 + ], + "rotation_deg": [ + 9.952052581181306e-17, + -2.9084286689758283, + 168.11561584472656 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5982603847418365, + 0.8013017609169154, + 1.3877787705177735e-17, + -158.0327025528659 + ], + [ + 0.16794487933133512, + -0.1253894263369824, + -0.9777893481058514, + -140.07790687854006 + ], + [ + -0.783504337498045, + 0.5849726162142941, + -0.2095900555874587, + 679.5649518453858 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5982603847418365, + 0.16794487933133512, + -0.783504337498045, + 650.5121503033313 + ], + [ + 0.8013017609169154, + -0.1253894263369824, + 0.5849726162142941, + -288.4593021514787 + ], + [ + 1.3877787705177735e-17, + -0.9777893481058514, + -0.2095900555874587, + 5.463369115657542 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65051.21503033313, + 28845.93021514787, + 546.3369115657542 + ], + "rotation_deg": [ + -8.1320038123240575e-16, + -12.098329544067385, + -143.25459289550784 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.08847917699804748, + -0.9960780266815185, + 1.7347234633411765e-18, + -223.07995339909712 + ], + [ + -0.23862924149148595, + 0.021196852384322104, + -0.9708793841431568, + 161.39899378765548 + ], + [ + 0.9670716205969352, + -0.08590260949732573, + -0.23956882584670278, + -631.1857052927829 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.08847917699804748, + -0.23862924149148595, + 0.9670716205969352, + 629.1783721668668 + ], + [ + -0.9960780266815185, + 0.021196852384322104, + -0.08590260949732573, + -279.84668920170725 + ], + [ + 1.7347234633411765e-18, + -0.9708793841431568, + -0.23956882584670278, + 5.486538493223314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62917.83721668668, + 27984.668920170723, + 548.6538493223314 + ], + "rotation_deg": [ + -1.0237351360531164e-16, + -13.861093521118162, + 5.076121330261228 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 254.18021706749994 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 113.62302930125377 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -633.2404317931076 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 634.6428296680732 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -275.1777138689455 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 63464.28296680732, + 27517.771386894547, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 68, + "time": 456.7394432835281, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.2089660816838197, + 0.9779228889363984, + -0.0, + 408.3362641509872 + ], + [ + 0.049619669271008505, + 0.010602909472020798, + -0.9987119037701333, + -26.061293359986788 + ], + [ + -0.9766632348690489, + -0.20869689108234643, + -0.05073985916110161, + 578.8590178894804 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.2089660816838197, + 0.049619669271008505, + -0.9766632348690489, + 651.9718910664551 + ], + [ + 0.9779228889363984, + 0.010602909472020798, + -0.20869689108234643, + -278.23896524477027 + ], + [ + -0.0, + -0.9987119037701333, + -0.05073985916110161, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65197.189106645514, + 27823.896524477026, + 334.35004389556343 + ], + "rotation_deg": [ + 0.0, + -2.9084286689758296, + 167.938232421875 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5989466714979074, + 0.8007889139477254, + 1.387778770523252e-17, + -158.61434252735845 + ], + [ + 0.16875148236162854, + -0.1262169554428087, + -0.9775439720848883, + -140.7993487200757 + ], + [ + -0.7828063868004455, + 0.5854966929593232, + -0.2107315432443068, + 679.122733510629 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5989466714979074, + 0.16875148236162854, + -0.7828063868004455, + 650.3832348553914 + ], + [ + 0.8007889139477254, + -0.1262169554428087, + 0.5854966929593232, + -288.3787814305267 + ], + [ + 1.387778770523252e-17, + -0.9775439720848883, + -0.2107315432443068, + 5.475025394485569 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65038.323485539135, + 28837.878143052672, + 547.502539448557 + ], + "rotation_deg": [ + -8.134045049164851e-16, + -12.165225982666017, + -143.20550537109372 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.0822898169080323, + -0.9966084416827112, + -0.0, + -227.12269894961935 + ], + [ + -0.24108384125484847, + 0.019906258392564005, + -0.9703001197375045, + 162.57908642948044 + ], + [ + 0.9670092897888994, + -0.0798458197784805, + -0.24190427554276708, + -629.4389353391573 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.0822898169080323, + -0.24108384125484847, + 0.9670092897888994, + 629.1786036605353 + ], + [ + -0.9966084416827112, + 0.019906258392564005, + -0.0798458197784805, + -279.846807815911 + ], + [ + -0.0, + -0.9703001197375045, + -0.24190427554276708, + 5.486538493223314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62917.86036605352, + 27984.680781591098, + 548.6538493223314 + ], + "rotation_deg": [ + 0.0, + -13.998959541320803, + 4.720196723937986 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 254.15939322978045 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 113.60059961599421 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -633.1106586965358 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 634.5349810211702 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -275.09931457689925 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 63453.49810211702, + 27509.931457689923, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 69, + "time": 456.8061099536717, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.21199239081011756, + 0.9772713165946346, + 8.673617312868292e-19, + 409.9911763382398 + ], + [ + 0.04958660858241002, + 0.01075646396967864, + -0.9987119037701332, + -25.992517407556292 + ], + [ + -0.9760125018787226, + -0.2117193020693877, + -0.05073985916110161, + 577.5053018436448 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.21199239081011756, + 0.04958660858241002, + -0.9760125018787226, + 651.8562731540857 + ], + [ + 0.9772713165946346, + 0.01075646396967864, + -0.2117193020693877, + -278.12399884491236 + ], + [ + 8.673617312868292e-19, + -0.9987119037701332, + -0.05073985916110161, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65185.62731540857, + 27812.39988449124, + 334.35004389556343 + ], + "rotation_deg": [ + -4.976026290590653e-17, + -2.9084286689758296, + 167.7608642578125 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5996344367607352, + 0.8002740419697716, + -0.0, + -159.19740420474355 + ], + [ + 0.1695582734184399, + -0.12704770422033682, + -0.9772967168509774, + -141.52151544747497 + ], + [ + -0.782105204859944, + 0.5860207510095504, + -0.2118752649961482, + 678.6785412249874 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5996344367607352, + 0.1695582734184399, + -0.782105204859944, + 650.254399454239 + ], + [ + 0.8002740419697716, + -0.12704770422033682, + 0.5860207510095504, + -288.298150712608 + ], + [ + -0.0, + -0.9772967168509774, + -0.2118752649961482, + 5.486681673313597 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65025.4399454239, + 28829.8150712608, + 548.6681673313597 + ], + "rotation_deg": [ + 0.0, + -12.232270240783691, + -143.15628051757812 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.07595851727487914, + -0.9971109786043886, + -3.469446926748657e-18, + -231.2469391706 + ], + [ + -0.24356729899384846, + 0.01855461556958778, + -0.9697065004948178, + 163.76016661272496 + ], + [ + 0.9669049971584471, + -0.07365746850340764, + -0.2442730107967175, + -627.6287348013353 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.07595851727487914, + -0.24356729899384846, + 0.9669049971584471, + 629.1788073749634 + ], + [ + -0.9971109786043886, + 0.01855461556958778, + -0.07365746850340764, + -279.84691219641024 + ], + [ + -3.469446926748657e-18, + -0.9697065004948178, + -0.2442730107967175, + 5.486538493223314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62917.88073749634, + 27984.691219641027, + 548.6538493223314 + ], + "rotation_deg": [ + 2.0499467373453313e-16, + -14.138875007629391, + 4.356298446655271 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 254.13870377328848 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 113.57816632385948 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -632.9808647313976 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 634.4272124210548 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -275.0208052878862 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 63442.72124210548, + 27502.08052878862, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 70, + "time": 456.8727766238153, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.2150169284805913, + 0.9766103217080865, + -2.602085193860488e-18, + 411.6416851964202 + ], + [ + 0.04955306979521994, + 0.01090992858391815, + -0.9987119037701332, + -25.92349646965465 + ], + [ + -0.9753523584805708, + -0.21473994388259454, + -0.050739859161101596, + 576.1467637521563 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.2150169284805913, + 0.04955306979521994, + -0.9753523584805708, + 651.740612604939 + ], + [ + 0.9766103217080865, + 0.01090992858391815, + -0.21473994388259454, + -278.0089606601576 + ], + [ + -2.602085193860488e-18, + -0.9987119037701332, + -0.050739859161101596, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65174.0612604939, + 27800.896066015757, + 334.35004389556343 + ], + "rotation_deg": [ + 1.4928078871771963e-16, + -2.908428668975829, + 167.58348083496094 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.6003236763204622, + 0.7997571404176926, + -0.0, + -159.78186819483543 + ], + [ + 0.17036525135356864, + -0.12788168912930079, + -0.9770475703447977, + -142.24441033602895 + ], + [ + -0.7814007819761801, + 0.586544774038171, + -0.2130212336259592, + 678.232365392984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.6003236763204622, + 0.17036525135356864, + -0.7814007819761801, + 650.1256342440942 + ], + [ + 0.7997571404176926, + -0.12788168912930079, + 0.586544774038171, + -288.21742373486666 + ], + [ + -0.0, + -0.9770475703447977, + -0.2130212336259592, + 5.498337952141623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65012.56342440941, + 28821.742373486668, + 549.8337952141623 + ], + "rotation_deg": [ + 0.0, + -12.299463272094727, + -143.10691833496094 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.06948280413025529, + -0.9975831493816425, + -0.0, + -235.4535353546289 + ], + [ + -0.2460793546880743, + 0.017139707715481713, + -0.9690981279600788, + 164.9414490538237 + ], + [ + 0.9667559620388753, + -0.06733565589572008, + -0.24667553447268026, + -625.7528232803587 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.06948280413025529, + -0.2460793546880743, + 0.9667559620388753, + 629.1789866436602 + ], + [ + -0.9975831493816425, + 0.017139707715481713, + -0.06733565589572008, + -279.84700405124966 + ], + [ + -0.0, + -0.9690981279600788, + -0.24667553447268026, + 5.486538493223314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62917.898664366025, + 27984.700405124964, + 548.6538493223314 + ], + "rotation_deg": [ + 0.0, + -14.280874252319336, + 3.98428177833557 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 254.11813201530722 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 113.55572989227903 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -632.8510526021341 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 634.3195140119468 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -274.9421997390506 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 63431.95140119468, + 27494.21997390506, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 71, + "time": 456.9394432939589, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.2180394052692025, + 0.9759399662632188, + -2.602085193860488e-18, + 413.28763416518484 + ], + [ + 0.049519056054622715, + 0.011063288629303015, + -0.9987119037701332, + -25.854236230017303 + ], + [ + -0.9746828665812081, + -0.217758527468733, + -0.05073985916110158, + 574.7835154878949 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.2180394052692025, + 0.049519056054622715, + -0.9746828665812081, + 651.6248999537395 + ], + [ + 0.9759399662632188, + 0.011063288629303015, + -0.217758527468733, + -277.8938642702547 + ], + [ + -2.602085193860488e-18, + -0.9987119037701332, + -0.05073985916110158, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65162.48999537395, + 27789.38642702547, + 334.35004389556343 + ], + "rotation_deg": [ + 1.4928078871771963e-16, + -2.9084286689758283, + 167.40609741210938 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.6010145987986905, + 0.7992380446593175, + -0.0, + -160.3679001634098 + ], + [ + 0.17117238062973233, + -0.1287189722224092, + -0.9767965204174085, + -142.96802744228503 + ], + [ + -0.780692952076916, + 0.5870689535117892, + -0.21416946187541014, + 677.7841546644777 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.6010145987986905, + 0.17117238062973233, + -0.780692952076916, + 649.99692968337 + ], + [ + 0.7992380446593175, + -0.1287189722224092, + 0.5870689535117892, + -288.13661372787203 + ], + [ + -0.0, + -0.9767965204174085, + -0.21416946187541014, + 5.5099942309696495 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64999.692968336996, + 28813.661372787203, + 550.999423096965 + ], + "rotation_deg": [ + 0.0, + -12.366806030273438, + -143.0574035644531 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.06286015021185937, + -0.998022345198414, + -0.0, + -239.74334842521827 + ], + [ + -0.24861970172913644, + 0.015659240368224598, + -0.9684745903239825, + 166.12209710300849 + ], + [ + 0.9665592813856795, + -0.06087845866455975, + -0.24911236187276398, + -623.8088363011558 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.06286015021185937, + -0.24861970172913644, + 0.9665592813856795, + 629.1791444001134 + ], + [ + -0.998022345198414, + 0.015659240368224598, + -0.06087845866455975, + -279.8470848835083 + ], + [ + -0.0, + -0.9684745903239825, + -0.24911236187276398, + 5.486538493223314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62917.914440011344, + 27984.70848835083, + 548.6538493223314 + ], + "rotation_deg": [ + 0.0, + -14.424992561340336, + 3.6039974689483647 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 254.09766185349082 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 113.53329076551395 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -632.7212248791402 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 634.2118762522596 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -274.8635111609617 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 63421.18762522596, + 27486.351116096168, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 72, + "time": 457.0061099641025, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.22105979220628988, + 0.9752602566852153, + -0.0, + 414.9290204666552 + ], + [ + 0.049484567686631314, + 0.011216542635916723, + -0.9987119037701333, + -25.784736871862442 + ], + [ + -0.9740040325975415, + -0.22077502389545658, + -0.05073985916110161, + 573.4155606571413 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.22105979220628988, + 0.049484567686631314, + -0.9740040325975415, + 651.5091260691744 + ], + [ + 0.9752602566852153, + 0.011216542635916723, + -0.22077502389545658, + -277.7787227361019 + ], + [ + -0.0, + -0.9987119037701333, + -0.05073985916110161, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65150.91260691744, + 27777.872273610188, + 334.35004389556343 + ], + "rotation_deg": [ + 0.0, + -2.9084286689758296, + 167.2287139892578 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.6017069868209445, + 0.7987169098065092, + 1.3877787705456124e-17, + -160.95529728530508 + ], + [ + 0.17197965476421836, + -0.12955949547600376, + -0.9765435655817837, + -143.69234505758843 + ], + [ + -0.7799818700646681, + 0.5875930710471619, + -0.21531991368145398, + 677.3339479840952 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.6017069868209445, + 0.17197965476421836, + -0.7799818700646681, + 649.8682765633619 + ], + [ + 0.7987169098065092, + -0.12955949547600376, + 0.5875930710471619, + -288.05573340358063 + ], + [ + 1.3877787705456124e-17, + -0.9765435655817837, + -0.21531991368145398, + 5.521650509797677 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64986.82765633619, + 28805.573340358063, + 552.1650509797677 + ], + "rotation_deg": [ + -8.142377858860851e-16, + -12.434296607971191, + -143.00775146484375 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.05608793606054272, + -0.9984258327129103, + -1.7347234634273536e-18, + -244.11726236932427 + ], + [ + -0.25118793505639164, + 0.014110825640740135, + -0.9678354745936123, + 167.30118594480956 + ], + [ + 0.9663119391317773, + -0.05428389460839427, + -0.25158397221907763, + -621.7943216112247 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.05608793606054272, + -0.25118793505639164, + 0.9663119391317773, + 629.1792832257922 + ], + [ + -0.9984258327129103, + 0.014110825640740135, + -0.05428389460839427, + -279.8471560158959 + ], + [ + -1.7347234634273536e-18, + -0.9678354745936123, + -0.25158397221907763, + 5.486538493223314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62917.928322579224, + 27984.71560158959, + 548.6538493223314 + ], + "rotation_deg": [ + 1.0269548539576711e-16, + -14.57126331329345, + 3.215289354324339 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 254.07727778759107 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 113.51084936545799 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -632.5913840033977 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 634.1042899332884 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -274.784752265576 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 63410.428993328846, + 27478.4752265576, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 73, + "time": 457.0727766342461, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.22407780079820697, + 0.9745712591644796, + -0.0, + 416.56568829761255 + ], + [ + 0.049449608049737415, + 0.011369675965632384, + -0.9987119037701333, + -25.71500422591515 + ], + [ + -0.9733159226347088, + -0.22378914504072264, + -0.05073985916110161, + 572.0430140259709 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.22407780079820697, + 0.049449608049737415, + -0.9733159226347088, + 651.3932821693766 + ], + [ + 0.9745712591644796, + 0.011369675965632384, + -0.22378914504072264, + -277.6635485909633 + ], + [ + -0.0, + -0.9987119037701333, + -0.05073985916110161, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65139.32821693766, + 27766.35485909633, + 334.35004389556343 + ], + "rotation_deg": [ + 0.0, + -2.9084286689758296, + 167.0513458251953 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.6024008361200105, + 0.7981937312719966, + -0.0, + -161.54404198235224 + ], + [ + 0.1727870853546145, + -0.13040328508028604, + -0.9762886900783636, + -144.41737757640473 + ], + [ + -0.7792675234072896, + 0.5881171079157275, + -0.21647261799015186, + 676.8817333650621 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.6024008361200105, + 0.1727870853546145, + -0.7792675234072896, + 649.7396660237312 + ], + [ + 0.7981937312719966, + -0.13040328508028604, + 0.5881171079157275, + -287.97479494655624 + ], + [ + -0.0, + -0.9762886900783636, + -0.21647261799015186, + 5.533306788625703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64973.96660237312, + 28797.479494655625, + 553.3306788625703 + ], + "rotation_deg": [ + 0.0, + -12.501936912536621, + -142.95796203613284 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.049163436192440846, + -0.9987907471246178, + -0.0, + -248.57619100801563 + ], + [ + -0.2537835788134415, + 0.012491978744900397, + -0.9671803583570538, + 168.4777189889348 + ], + [ + 0.9660107922045265, + -0.04754991017785079, + -0.2540908408157646, + -619.7067267715049 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.049163436192440846, + -0.2537835788134415, + 0.9660107922045265, + 629.1794053923896 + ], + [ + -0.9987907471246178, + 0.012491978744900397, + -0.04754991017785079, + -279.847218612397 + ], + [ + -0.0, + -0.9671803583570538, + -0.2540908408157646, + 5.486538493223314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62917.94053923896, + 27984.721861239697, + 548.6538493223314 + ], + "rotation_deg": [ + 0.0, + -14.71971988677979, + 2.81799340248108 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 254.05696493661475 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 113.48840609244476 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -632.4615322911468 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 633.9967461946948 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -274.70593523745737 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 63399.67461946948, + 27470.593523745734, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 74, + "time": 457.1394433043897, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.22709392138965742, + 0.9738728617575644, + 8.673617312868292e-19, + 418.19793918210326 + ], + [ + 0.049414171463946326, + 0.011522713498471011, + -0.9987119037701332, + -25.645027277591275 + ], + [ + -0.9726184248934672, + -0.22680138061762897, + -0.05073985916110161, + 570.6656587944891 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.22709392138965742, + 0.049414171463946326, + -0.9726184248934672, + 651.2773598344387 + ], + [ + 0.9738728617575644, + 0.011522713498471011, + -0.22680138061762897, + -277.5483538345945 + ], + [ + 8.673617312868292e-19, + -0.9987119037701332, + -0.05073985916110161, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65127.73598344387, + 27754.835383459445, + 334.35004389556343 + ], + "rotation_deg": [ + -4.976026290590653e-17, + -2.9084286689758296, + 166.87396240234375 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.6030963548419448, + 0.7976683438474659, + -0.0, + -162.1343015484703 + ], + [ + 0.17359461001027363, + -0.13125038410377882, + -0.976031888847896, + -145.1430961197331 + ], + [ + -0.778549751397806, + 0.588641259108171, + -0.21762755495102587, + 676.4274638533833 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.6030963548419448, + 0.17359461001027363, + -0.778549751397806, + 649.6110895650196 + ], + [ + 0.7976683438474659, + -0.13125038410377882, + 0.588641259108171, + -287.89381000809874 + ], + [ + -0.0, + -0.976031888847896, + -0.21762755495102587, + 5.54496306745373 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64961.10895650196, + 28789.381000809874, + 554.496306745373 + ], + "rotation_deg": [ + 0.0, + -12.569725990295408, + -142.90802001953122 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.042083842927897915, + -0.9991140826574413, + -0.0, + -253.12106034998905 + ], + [ + -0.25640603273076706, + 0.010800119220125864, + -0.9665088224140017, + 169.65059455548044 + ], + [ + 0.9656525749577285, + -0.040674405764077826, + -0.25663339064363466, + -617.5434093274871 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.042083842927897915, + -0.25640603273076706, + 0.9656525749577285, + 629.1795128989953 + ], + [ + -0.9991140826574413, + 0.010800119220125864, + -0.040674405764077826, + -279.8472736973179 + ], + [ + -0.0, + -0.9665088224140017, + -0.25663339064363466, + 5.486538493223314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62917.95128989953, + 27984.727369731794, + 548.6538493223314 + ], + "rotation_deg": [ + 0.0, + -14.870392799377445, + 2.4119389057159406 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 254.03670905182398 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 113.46596132604796 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -632.3316719385151 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 633.8892365370201 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -274.62707172790556 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 63388.92365370201, + 27462.707172790553, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 75, + "time": 457.2061099745333, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.23010786534437985, + 0.9731651300301778, + -1.7347234625736584e-18, + 419.8256159033789 + ], + [ + 0.04937826125605282, + 0.011675640589069466, + -0.9987119037701332, + -25.574811875599234 + ], + [ + -0.9719116048550642, + -0.22981144236170142, + -0.050739859161101596, + 569.2836100827366 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.23010786534437985, + 0.04937826125605282, + -0.9719116048550642, + 651.161351016169 + ], + [ + 0.9731651300301778, + 0.011675640589069466, + -0.22981144236170142, + -277.43314992997495 + ], + [ + -1.7347234625736584e-18, + -0.9987119037701332, + -0.050739859161101596, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65116.13510161689, + 27743.314992997493, + 334.35004389556343 + ], + "rotation_deg": [ + 9.952052581181306e-17, + -2.908428668975829, + 166.6965789794922 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.6037933259692849, + 0.7971409031751845, + -0.0, + -162.72587528784825 + ], + [ + 0.17440226167433834, + -0.1321007631316747, + -0.975773149611581, + -145.86951292788365 + ], + [ + -0.7778287008568227, + 0.5891653001465472, + -0.2187847371884446, + 675.9711717196943 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.6037933259692849, + 0.17440226167433834, + -0.7778287008568227, + 649.4825390584061 + ], + [ + 0.7971409031751845, + -0.1321007631316747, + 0.5891653001465472, + -287.81278970297984 + ], + [ + -0.0, + -0.975773149611581, + -0.2187847371884446, + 5.556619346281757 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64948.25390584062, + 28781.278970297983, + 555.6619346281757 + ], + "rotation_deg": [ + 0.0, + -12.637664794921871, + -142.8579406738281 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.034846253131927, + -0.9993926849055209, + -1.7347234634846527e-18, + -257.7528148005847 + ], + [ + -0.2590546473980292, + 0.009032569433993016, + -0.9658204296611782, + 170.81865270550207 + ], + [ + 0.9652338718004246, + -0.033655223414213585, + -0.25921207276302055, + -615.3016157441847 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.034846253131927, + -0.2590546473980292, + 0.9652338718004246, + 629.1796075048082 + ], + [ + -0.9993926849055209, + 0.009032569433993016, + -0.033655223414213585, + -279.8473221720484 + ], + [ + -1.7347234634846527e-18, + -0.9658204296611782, + -0.25921207276302055, + 5.486538493223314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62917.96075048083, + 27984.73221720484, + 548.6538493223314 + ], + "rotation_deg": [ + 1.0290974470770379e-16, + -15.023314476013182, + 1.9969475269317614 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 254.01649652594404 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 113.44351542586311 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -632.2018050260416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 633.7817528314437 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -274.5481728516923 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 63378.17528314437, + 27454.817285169232, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 76, + "time": 457.2727766446769, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.2331193447959052, + 0.9724481328492168, + -8.673617312868292e-19, + 421.4485622028043 + ], + [ + 0.04934188092035351, + 0.011828442631123771, + -0.9987119037701332, + -25.504363978006356 + ], + [ + -0.9711955312976834, + -0.23281904277726642, + -0.05073985916110159, + 567.8969851632636 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.2331193447959052, + 0.04934188092035351, + -0.9711955312976834, + 651.0452480453034 + ], + [ + 0.9724481328492168, + 0.011828442631123771, + -0.23281904277726642, + -277.3179478023744 + ], + [ + -8.673617312868292e-19, + -0.9987119037701332, + -0.05073985916110159, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65104.52480453034, + 27731.794780237444, + 334.35004389556343 + ], + "rotation_deg": [ + 4.976026290590653e-17, + -2.9084286689758287, + 166.5192108154297 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.6044917451769858, + 0.7966114046465077, + -0.0, + -163.31874754576347 + ], + [ + 0.1752100128057731, + -0.13295441892454726, + -0.9755124673221953, + -146.5966084554494 + ], + [ + -0.7771043679281893, + 0.5896892185811307, + -0.2199441448097789, + 675.5128522389745 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.6044917451769858, + 0.1752100128057731, + -0.7771043679281893, + 649.3540067529202 + ], + [ + 0.7966114046465077, + -0.13295441892454726, + 0.5896892185811307, + -287.73174460851266 + ], + [ + -0.0, + -0.9755124673221953, + -0.2199441448097789, + 5.568275625109784 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64935.40067529202, + 28773.174460851264, + 556.8275625109784 + ], + "rotation_deg": [ + 0.0, + -12.705752372741697, + -142.80772399902344 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.027447661486160787, + -0.9996232419661627, + -0.0, + -262.4724189209726 + ], + [ + -0.26172860610201326, + 0.00718654577038731, + -0.9651147549943413, + 171.98059859949308 + ], + [ + 0.9647511397140885, + -0.02649014328078679, + -0.2618272536030795, + -612.9784952292888 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.027447661486160787, + -0.26172860610201326, + 0.9647511397140885, + 629.1796907579237 + ], + [ + -0.9996232419661627, + 0.00718654577038731, + -0.02649014328078679, + -279.8473648298112 + ], + [ + -0.0, + -0.9651147549943413, + -0.2618272536030795, + 5.486538493223314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62917.969075792374, + 27984.736482981123, + 548.6538493223314 + ], + "rotation_deg": [ + 0.0, + -15.178512573242191, + 1.5728327035903922 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 253.99631439892084 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 113.42106873226433 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -632.0719335230539 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 633.6742873269945 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -274.46924918613087 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 63367.42873269946, + 27446.924918613087, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 77, + "time": 457.3394433148205, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.23612884902812856, + 0.9717217537220475, + -0.0, + 423.0670758582036 + ], + [ + 0.049305024546028656, + 0.011981144450829657, + -0.9987119037701333, + -25.43367250171306 + ], + [ + -0.9704700878787547, + -0.23582467051798053, + -0.05073985916110161, + 566.5055658875863 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.23612884902812856, + 0.049305024546028656, + -0.9704700878787547, + 650.9290436363704 + ], + [ + 0.9717217537220475, + 0.011981144450829657, + -0.23582467051798053, + -277.2027578405085 + ], + [ + -0.0, + -0.9987119037701333, + -0.05073985916110161, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65092.90436363703, + 27720.275784050853, + 334.35004389556343 + ], + "rotation_deg": [ + 0.0, + -2.9084286689758296, + 166.34182739257812 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.6051918201300328, + 0.7960796824738703, + -0.0, + -163.91308731991379 + ], + [ + 0.17601783898050927, + -0.1338114245259185, + -0.975249825955881, + -147.3243872063066 + ], + [ + -0.7763765828672157, + 0.590213202035999, + -0.2211058066126677, + 675.052450840116 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.6051918201300328, + 0.17601783898050927, + -0.7763765828672157, + 649.2254852803062 + ], + [ + 0.7960796824738703, + -0.1338114245259185, + 0.590213202035999, + -287.650684765711 + ], + [ + -0.0, + -0.975249825955881, + -0.2211058066126677, + 5.579931903937811 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64922.548528030624, + 28765.068476571098, + 557.9931903937811 + ], + "rotation_deg": [ + 0.0, + -12.773990631103514, + -142.7573547363281 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.019884974903976237, + -0.9998022743388156, + -0.0, + -267.28084553833787 + ], + [ + -0.2644270311230938, + 0.005259164749643064, + -0.9643913554141611, + 173.13507093054122 + ], + [ + 0.9642006699445482, + -0.01917689803764945, + -0.264479327472184, + -610.5710790747647 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.019884974903976237, + -0.2644270311230938, + 0.9642006699445482, + 629.1797640206653 + ], + [ + -0.9998022743388156, + 0.005259164749643064, + -0.01917689803764945, + -279.8474023686425 + ], + [ + -0.0, + -0.9643913554141611, + -0.264479327472184, + 5.486538493223314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62917.97640206653, + 27984.74023686425, + 548.6538493223314 + ], + "rotation_deg": [ + 0.0, + -15.336016654968263, + 1.1394002437591553 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 253.97615036054242 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 113.39862156712965 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -631.9420592918658 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 633.5668326554176 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -274.3903107722349 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 63356.68326554176, + 27439.03107722349, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 78, + "time": 457.40610998496413, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.23913609002617014, + 0.970986060892223, + -0.0, + 424.6809992430834 + ], + [ + 0.04926769559574644, + 0.012133731434352799, + -0.9987119037701333, + -25.36274342706556 + ], + [ + -0.9697353427539215, + -0.23882803793995053, + -0.05073985916110161, + 565.1094699667717 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.23913609002617014, + 0.04926769559574644, + -0.9697353427539215, + 650.8127308903993 + ], + [ + 0.970986060892223, + 0.012133731434352799, + -0.23882803793995053, + -277.08758989956596 + ], + [ + -0.0, + -0.9987119037701333, + -0.05073985916110161, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65081.27308903993, + 27708.758989956597, + 334.35004389556343 + ], + "rotation_deg": [ + 0.0, + -2.9084286689758296, + 166.16444396972656 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.6058935460391912, + 0.7955457314749758, + -4.163336311741559e-17, + -164.5088800172793 + ], + [ + 0.1768257118317422, + -0.13467177728928403, + -0.9749852204197472, + -148.05282929405524 + ], + [ + -0.7756453414467283, + 0.5907372373368657, + -0.22226970264882293, + 674.5899624267837 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.6058935460391912, + 0.1768257118317422, + -0.7756453414467283, + 649.0969676577341 + ], + [ + 0.7955457314749758, + -0.13467177728928403, + 0.5907372373368657, + -287.5696196823195 + ], + [ + -4.163336311741559e-17, + -0.9749852204197472, + -0.22226970264882293, + 5.591588182765838 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64909.69676577341, + 28756.961968231954, + 559.1588182765838 + ], + "rotation_deg": [ + 2.4466176123314807e-15, + -12.842378616333002, + -142.7068328857422 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.012155000297027561, + -0.9999261252551508, + -0.0, + -272.1790807427244 + ], + [ + -0.2671488649803474, + 0.0032474344365771156, + -0.9636498005547931, + 174.28056497358057 + ], + [ + 0.9635786106108646, + -0.011713163695900574, + -0.2671686040115295, + -608.076292953247 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.012155000297027561, + -0.2671488649803474, + 0.9635786106108646, + 629.179828491878 + ], + [ + -0.9999261252551508, + 0.0032474344365771156, + -0.011713163695900574, + -279.847435402814 + ], + [ + -0.0, + -0.9636498005547931, + -0.2671686040115295, + 5.486538493223314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62917.98284918779, + 27984.743540281404, + 548.6538493223314 + ], + "rotation_deg": [ + 0.0, + -15.495851516723635, + 0.6964473724365232 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 253.95599275021118 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 113.37617423453246 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -631.8121840917773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 633.4593818338824 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -274.3113671177492 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 63345.93818338824, + 27431.13671177492, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 79, + "time": 457.47277665510774, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.24214078057556895, + 0.9702411258971939, + -0.0, + 426.2901697954225 + ], + [ + 0.049229897699307024, + 0.012286189008472007, + -0.9987119037701333, + -25.291583207733403 + ], + [ + -0.9689913673684813, + -0.24182885819867125, + -0.05073985916110159, + 563.7088244283005 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.24214078057556895, + 0.049229897699307024, + -0.9689913673684813, + 650.6963088037421 + ], + [ + 0.9702411258971939, + 0.012286189008472007, + -0.24182885819867125, + -276.9724458088137 + ], + [ + -0.0, + -0.9987119037701333, + -0.05073985916110159, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65069.630880374214, + 27697.244580881368, + 334.35004389556343 + ], + "rotation_deg": [ + 0.0, + -2.9084286689758287, + 165.98707580566406 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.6065967063689868, + 0.7950097080050639, + -1.3877787705865005e-17, + -165.10593714536412 + ], + [ + 0.17763365196610126, + -0.1355354370367583, + -0.9747186419662038, + -148.78193583006572 + ], + [ + -0.7749107940302633, + 0.5912611026708178, + -0.223435829185643, + 674.1254222047708 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.6065967063689868, + 0.17763365196610126, + -0.7749107940302633, + 648.9684527966209 + ], + [ + 0.7950097080050639, + -0.1355354370367583, + 0.5912611026708178, + -287.48855084042265 + ], + [ + -1.3877787705865005e-17, + -0.9747186419662038, + -0.223435829185643, + 5.6032444615938655 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64896.84527966209, + 28748.855084042265, + 560.3244461593865 + ], + "rotation_deg": [ + 8.157622481499755e-16, + -12.910916328430172, + -142.6561737060547 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.004253689721457956, + -0.9999909530209529, + -2.1684043294604367e-19, + -277.1685966880013 + ], + [ + -0.26989281649957536, + 0.0011480506858300818, + -0.9628896871301246, + 175.41534171535488 + ], + [ + 0.9628809753158134, + -0.004095833994340543, + -0.26989526027472055, + -605.4907595596094 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.004253689721457956, + -0.26989281649957536, + 0.9628809753158134, + 629.179885226545 + ], + [ + -0.9999909530209529, + 0.0011480506858300818, + -0.004095833994340543, + -279.847464472885 + ], + [ + -2.1684043294604367e-19, + -0.9628896871301246, + -0.26989526027472055, + 5.486538493223314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62917.9885226545, + 27984.7464472885, + 548.6538493223314 + ], + "rotation_deg": [ + 1.2902871323576687e-17, + -15.658034324645993, + 0.24371920526027668 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 253.93583975019104 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 113.35372678186177 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -631.6823081969708 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 633.3519337738062 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -274.23241970475806 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 63335.193377380616, + 27423.241970475803, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 80, + "time": 457.53944332525134, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.24514340885720717, + 0.9694868277051878, + -0.0, + 427.89486816963455 + ], + [ + 0.0491916247155754, + 0.012438541943416308, + -0.9987119037701333, + -25.220181532108235 + ], + [ + -0.9682380408465723, + -0.24482761884620644, + -0.050739859161101616, + 562.3034263089398 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.24514340885720717, + 0.0491916247155754, + -0.9682380408465723, + 650.5797838301519 + ], + [ + 0.9694868277051878, + 0.012438541943416308, + -0.24482761884620644, + -276.85731725026295 + ], + [ + -0.0, + -0.9987119037701333, + -0.050739859161101616, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65057.978383015194, + 27685.731725026297, + 334.35004389556343 + ], + "rotation_deg": [ + 0.0, + -2.90842866897583, + 165.8096923828125 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.6073012967154191, + 0.7944716074270811, + 1.387778770592529e-17, + -165.70426687327202 + ], + [ + 0.17844164451894778, + -0.13640241021997146, + -0.9744500818346501, + -149.51169826308498 + ], + [ + -0.7741729339692128, + 0.5917847831170637, + -0.22460418246459887, + 673.6588227346706 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.6073012967154191, + 0.17844164451894778, + -0.7741729339692128, + 648.8399470647103 + ], + [ + 0.7944716074270811, + -0.13640241021997146, + 0.5917847831170637, + -287.40746957511357 + ], + [ + 1.387778770592529e-17, + -0.9744500818346501, + -0.22460418246459887, + 5.614900740421891 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64883.99470647102, + 28740.746957511357, + 561.4900740421891 + ], + "rotation_deg": [ + -8.159870736430591e-16, + -12.979603767395021, + -142.6053771972656 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.0038241006411148513, + -0.9999926881004114, + -0.0, + -282.2514912311955 + ], + [ + -0.2726571692323766, + -0.0010426760796088893, + -0.9621106905615281, + 176.53728711133047 + ], + [ + 0.9621036551213872, + 0.0036792081348696517, + -0.272659164946949, + -602.8107431738456 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.0038241006411148513, + -0.2726571692323766, + 0.9621036551213872, + 629.179935153052 + ], + [ + -0.9999926881004114, + -0.0010426760796088893, + 0.0036792081348696517, + -279.84749005454745 + ], + [ + -0.0, + -0.9621106905615281, + -0.272659164946949, + 5.486538493223314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62917.99351530521, + 27984.749005454745, + 548.6538493223314 + ], + "rotation_deg": [ + 0.0, + -15.822564125061039, + -0.21910536289215088 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 253.91570199017087 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 113.33127893247215 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -631.5524300068379 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 633.2444948429325 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -274.1534598683547 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 63324.44948429324, + 27415.345986835466, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 81, + "time": 457.60610999539495, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.2481436875024302, + 0.9687232372317165, + -0.0, + 429.49492382357846 + ], + [ + 0.049152880242794565, + 0.012590775658140737, + -0.9987119037701333, + -25.148545319306123 + ], + [ + -0.9674754340123547, + -0.24782403288405594, + -0.050739859161101596, + 560.893411797549 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.2481436875024302, + 0.049152880242794565, + -0.9674754340123547, + 650.4631622256219 + ], + [ + 0.9687232372317165, + 0.012590775658140737, + -0.24782403288405594, + -276.7421961823916 + ], + [ + -0.0, + -0.9987119037701333, + -0.050739859161101596, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65046.316222562185, + 27674.219618239156, + 334.35004389556343 + ], + "rotation_deg": [ + 0.0, + -2.908428668975829, + 165.63230895996094 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.6080075240921479, + 0.7939312631754313, + 1.3877787705986045e-17, + -166.30406070490196 + ], + [ + 0.17924965087784972, + -0.1372727608542874, + -0.9741795274935778, + -150.24210919583808 + ], + [ + -0.7734315939221396, + 0.5923084673838792, + -0.22577477491610828, + 673.1901109140211 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.6080075240921479, + 0.17924965087784972, + -0.7734315939221396, + 648.7114566309124 + ], + [ + 0.7939312631754313, + -0.1372727608542874, + 0.5923084673838792, + -287.32636749821984 + ], + [ + 1.3877787705986045e-17, + -0.9741795274935778, + -0.22577477491610828, + 5.626557019249918 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64871.145663091236, + 28732.636749821984, + 562.6557019249918 + ], + "rotation_deg": [ + -8.162136939345796e-16, + -13.048441886901859, + -142.55442810058597 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.012083551684844334, + -0.9999269912241991, + 2.168404329516962e-19, + -287.4298100384907 + ], + [ + -0.2754400864109031, + -0.0033285375326746057, + -0.9613124776241323, + 177.64418277161087 + ], + [ + 0.9612422927804549, + 0.0116160690914394, + -0.27546019950083156, + -600.0323546415202 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.012083551684844334, + -0.2754400864109031, + 0.9612422927804549, + 629.1799790883782 + ], + [ + -0.9999269912241991, + -0.0033285375326746057, + 0.0116160690914394, + -279.8475125664104 + ], + [ + 2.168404329516962e-19, + -0.9613124776241323, + -0.27546019950083156, + 5.486538493223314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62917.997908837824, + 27984.75125664104, + 548.6538493223314 + ], + "rotation_deg": [ + -1.2924040851803661e-17, + -15.989440917968746, + -0.6923533678054808 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 253.89558976356264 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 113.30883041909969 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -631.42254797505 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 633.1370712101715 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -274.07447922036664 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 63313.70712101715, + 27407.447922036667, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 82, + "time": 457.67277666553855, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.2511415877543402, + 0.9679503617955981, + -8.673617312868292e-19, + 431.09031721355507 + ], + [ + 0.04911366465232035, + 0.012742888693524369, + -0.9987119037701332, + -25.07667574373025 + ], + [ + -0.9667035541752188, + -0.2508180715923628, + -0.05073985916110159, + 559.4788040098882 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.2511415877543402, + 0.04911366465232035, + -0.9667035541752188, + 650.3464500668028 + ], + [ + 0.9679503617955981, + 0.012742888693524369, + -0.2508180715923628, + -276.62707481886616 + ], + [ + -8.673617312868292e-19, + -0.9987119037701332, + -0.05073985916110159, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65034.64500668028, + 27662.707481886617, + 334.35004389556343 + ], + "rotation_deg": [ + 4.976026290590653e-17, + -2.9084286689758287, + 165.45492553710938 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.6087153836236628, + 0.7933886700349941, + -1.3877787706047278e-17, + -166.9053258955378 + ], + [ + 0.1800576553160256, + -0.13814649599828224, + -0.973906970098013, + -150.97315968578445 + ], + [ + -0.7726867668462835, + 0.5928321397850853, + -0.22694760271585637, + 672.7192788056508 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.6087153836236628, + 0.1800576553160256, + -0.7726867668462835, + 648.5829874837226 + ], + [ + 0.7933886700349941, + -0.13814649599828224, + 0.5928321397850853, + -287.2452364770294 + ], + [ + -1.3877787706047278e-17, + -0.973906970098013, + -0.22694760271585637, + 5.638213298077946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64858.29874837226, + 28724.523647702936, + 563.8213298077945 + ], + "rotation_deg": [ + 8.164421193273348e-16, + -13.117430686950684, + -142.50332641601562 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.020529873278133156, + -0.9997892399416909, + -8.673617318185315e-19, + -292.7055377281796 + ], + [ + -0.27823942598766593, + -0.005713424318149728, + -0.9604947571999626, + 178.73359074313782 + ], + [ + 0.9602923226579396, + 0.019718835789872585, + -0.2782980822055956, + -597.1515799387669 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.020529873278133156, + -0.27823942598766593, + 0.9602923226579396, + 629.1800177514652 + ], + [ + -0.9997892399416909, + -0.005713424318149728, + 0.019718835789872585, + -279.8475323768498 + ], + [ + -8.673617318185315e-19, + -0.9604947571999626, + -0.2782980822055956, + 5.486538493223314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62918.00177514653, + 27984.75323768498, + 548.6538493223314 + ], + "rotation_deg": [ + 5.174017510954353e-17, + -16.158655166625973, + -1.1763577461242671 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 253.875513055568 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 113.28638098351819 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -631.2926606075685 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 633.0296688640187 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -273.9954696280819 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 63302.96688640187, + 27399.54696280819, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 83, + "time": 457.73944333568215, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.2541368233063545, + 0.967168276485408, + -8.673617312868292e-19, + 432.6808803627233 + ], + [ + 0.049073981754136485, + 0.012894866522411638, + -0.9987119037701332, + -25.004579821381146 + ], + [ + -0.9659224763270131, + -0.2538094490333303, + -0.05073985916110161, + 558.0597410417915 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.2541368233063545, + 0.049073981754136485, + -0.9659224763270131, + 650.2296532684916 + ], + [ + 0.967168276485408, + 0.012894866522411638, + -0.2538094490333303, + -276.5119456081657 + ], + [ + -8.673617312868292e-19, + -0.9987119037701332, + -0.05073985916110161, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65022.96532684915, + 27651.19456081657, + 334.35004389556343 + ], + "rotation_deg": [ + 4.976026290590653e-17, + -2.9084286689758296, + 165.27755737304688 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.609424870411835, + 0.7928438227819636, + 1.3877787706108993e-17, + -167.50806940256567 + ], + [ + 0.18086562918869314, + -0.13902361280121436, + -0.9736324045870065, + -151.70482954648554 + ], + [ + -0.7719384487424217, + 0.5933557868792255, + -0.2281226458072041, + 672.2463209858494 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.609424870411835, + 0.18086562918869314, + -0.7719384487424217, + 648.4545454487101 + ], + [ + 0.7928438227819636, + -0.13902361280121436, + 0.5933557868792255, + -287.16406861391675 + ], + [ + 1.3877787706108993e-17, + -0.9736324045870065, + -0.2281226458072041, + 5.649869576905972 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64845.454544871005, + 28716.406861391675, + 564.9869576905971 + ], + "rotation_deg": [ + -8.166723569921662e-16, + -13.186569213867186, + -142.45207214355466 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.029168301444198016, + -0.9995745145765074, + -1.7347234636611605e-18, + -298.080592169641 + ], + [ + -0.28105290752546913, + -0.008201325472913235, + -0.9596572312195472, + 179.8029584089806 + ], + [ + 0.9592489104292699, + 0.027991571601980476, + -0.2811725444624889, + -594.1642424124055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.029168301444198016, + -0.28105290752546913, + 0.9592489104292699, + 629.1800517749818 + ], + [ + -0.9995745145765074, + -0.008201325472913235, + 0.027991571601980476, + -279.8475498100365 + ], + [ + -1.7347234636611605e-18, + -0.9596572312195472, + -0.2811725444624889, + 5.486538493223314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62918.005177498184, + 27984.75498100365, + 548.6538493223314 + ], + "rotation_deg": [ + 1.0357066109294095e-16, + -16.330198287963864, + -1.6714576482772816 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 253.8554815699506 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 113.26393037619158 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -631.162766460634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 632.9222936300431 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -273.916423193875 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 63292.229363004306, + 27391.642319387498, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 84, + "time": 457.80611000582576, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.2571298808031743, + 0.9663768542334537, + -0.0, + 434.26689229039346 + ], + [ + 0.04903382510084616, + 0.013046733837085942, + -0.9987119037701333, + -24.93224704517046 + ], + [ + -0.9651320735637299, + -0.2567986512248207, + -0.05073985916110161, + 556.6360160823959 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.2571298808031743, + 0.04903382510084616, + -0.9651320735637299, + 650.1127776002842 + ], + [ + 0.9663768542334537, + 0.013046733837085942, + -0.2567986512248207, + -276.39680121403865 + ], + [ + -0.0, + -0.9987119037701333, + -0.05073985916110161, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65011.27776002842, + 27639.680121403864, + 334.35004389556343 + ], + "rotation_deg": [ + 0.0, + -2.9084286689758296, + 165.1001739501953 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.610135768534458, + 0.7922968786729292, + -0.0, + -168.11211446551224 + ], + [ + 0.18167360676291602, + -0.13990407973130134, + -0.9733558183317605, + -152.43713119778934 + ], + [ + -0.7711867878104641, + 0.593879185177315, + -0.22929991652791062, + 671.7712705741274 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.610135768534458, + 0.18167360676291602, + -0.7711867878104641, + 648.3261362051722 + ], + [ + 0.7922968786729292, + -0.13990407973130134, + 0.593879185177315, + -287.0828562268041 + ], + [ + -0.0, + -0.9733558183317605, + -0.22929991652791062, + 5.6615258557339985 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64832.61362051723, + 28708.285622680407, + 566.1525855733998 + ], + "rotation_deg": [ + 0.0, + -13.255858421325682, + -142.40068054199222 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.03800407450964115, + -0.9992775842180518, + -1.734723463685872e-18, + -303.55680555914046 + ], + [ + -0.28387787901493017, + -0.010796315494422363, + -0.9587996607100618, + 180.84947575794317 + ], + [ + 0.9581070080592805, + 0.03643829400348201, + -0.2840831072728724, + -591.0660448646339 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.03800407450964115, + -0.28387787901493017, + 0.9581070080592805, + 629.1800817156765 + ], + [ + -0.9992775842180518, + -0.010796315494422363, + 0.03643829400348201, + -279.8475651512408 + ], + [ + -1.734723463685872e-18, + -0.9587996607100618, + -0.2840831072728724, + 5.486538493223314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62918.00817156764, + 27984.75651512408, + 548.6538493223314 + ], + "rotation_deg": [ + 1.0366329686416273e-16, + -16.504049301147457, + -2.177997589111327 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 253.83550475462985 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 113.24147835592672 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -631.0328641387572 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 632.8149511875422 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -273.83733223566804 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 63281.495118754225, + 27383.733223566804, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 85, + "time": 457.87277667596936, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.26012047377633335, + 0.9655761695083285, + -0.0, + 435.8481852575717 + ], + [ + 0.0489931984709753, + 0.013198476102177772, + -0.9987119037701333, + -24.859684401906055 + ], + [ + -0.9643324202580347, + -0.25978539206736256, + -0.05073985916110161, + 555.2077666529372 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.26012047377633335, + 0.0489931984709753, + -0.9643324202580347, + 649.9958287024915 + ], + [ + 0.9655761695083285, + 0.013198476102177772, + -0.25978539206736256, + -276.2816344967161 + ], + [ + -0.0, + -0.9987119037701333, + -0.05073985916110161, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64999.582870249156, + 27628.16344967161, + 334.35004389556343 + ], + "rotation_deg": [ + 0.0, + -2.9084286689758296, + 164.92279052734375 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.6108482843419524, + 0.7917476703574777, + -0.0, + -168.71765112845657 + ], + [ + 0.18248154813975329, + -0.1407879615924896, + -0.9730771986122946, + -153.17005662192835 + ], + [ + -0.7704316161901125, + 0.5944025222235755, + -0.2304794271707203, + 671.2940737672449 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.6108482843419524, + 0.18248154813975329, + -0.7704316161901125, + 648.1977653020512 + ], + [ + 0.7917476703574777, + -0.1407879615924896, + 0.5944025222235755, + -287.00159183037727 + ], + [ + -0.0, + -0.9730771986122946, + -0.2304794271707203, + 5.673182134562025 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64819.77653020512, + 28700.159183037726, + 567.3182134562026 + ], + "rotation_deg": [ + 0.0, + -13.325299263000485, + -142.34913635253903 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.047042439905792564, + -0.9988928915793274, + -8.673617318556026e-19, + -309.1359244641674 + ], + [ + -0.2867114828725152, + -0.01350255649732977, + -0.9579218165158782, + 181.87017895520185 + ], + [ + 0.9568612925434617, + 0.045062979806262164, + -0.2870292575383854, + -587.8525285884941 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.047042439905792564, + -0.2867114828725152, + 0.9568612925434617, + 629.1801080634876 + ], + [ + -0.9988928915793274, + -0.01350255649732977, + 0.045062979806262164, + -279.8475786515006 + ], + [ + -8.673617318556026e-19, + -0.9579218165158782, + -0.2870292575383854, + 5.486538493223314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62918.010806348764, + 27984.75786515006, + 548.6538493223314 + ], + "rotation_deg": [ + 5.187914720660799e-17, + -16.680185317993164, + -2.6963284015655504 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 253.81559182621658 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 113.2190246895279 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -630.9029522927207 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 632.7076470854581 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -273.7581892681469 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 63270.76470854581, + 27375.818926814693, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 86, + "time": 457.93944334611297, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.2631083166289729, + 0.9647663000544062, + -0.0, + 437.42460444764606 + ], + [ + 0.04895210580926246, + 0.013350078826542844, + -0.9987119037701333, + -24.786898247319094 + ], + [ + -0.9635235940541532, + -0.262769386331969, + -0.05073985916110161, + 553.775117853177 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.2631083166289729, + 0.04895210580926246, + -0.9635235940541532, + 649.8788014490697 + ], + [ + 0.9647663000544062, + 0.013350078826542844, + -0.262769386331969, + -276.1664529228495 + ], + [ + -0.0, + -0.9987119037701333, + -0.05073985916110161, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64987.880144906965, + 27616.64529228495, + 334.35004389556343 + ], + "rotation_deg": [ + 0.0, + -2.9084286689758296, + 164.74542236328125 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.6115624128697734, + 0.7911961925874649, + -0.0, + -169.32466767525648 + ], + [ + 0.18328941165784354, + -0.14167524552964827, + -0.972796544184978, + -153.90357439808335 + ], + [ + -0.7696729330349783, + 0.5949257867291737, + -0.2316611414070304, + 670.8147280680956 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.6115624128697734, + 0.18328941165784354, + -0.7696729330349783, + 648.0694275208647 + ], + [ + 0.7911961925874649, + -0.14167524552964827, + 0.5949257867291737, + -286.92028254602707 + ], + [ + -0.0, + -0.972796544184978, + -0.2316611414070304, + 5.684838413390053 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64806.94275208646, + 28692.028254602705, + 568.4838413390053 + ], + "rotation_deg": [ + 0.0, + -13.394889831542965, + -142.29743957519534 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.05628710001632666, + -0.9984146244781033, + -0.0, + -314.818651987768 + ], + [ + -0.28955095684900545, + -0.01632386312099788, + -0.9570233930686504, + 182.86226095609868 + ], + [ + 0.9555061509239303, + 0.05386807182325344, + -0.29001073494714, + -584.5194802810188 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.05628710001632666, + -0.28955095684900545, + 0.9555061509239303, + 629.1801312495616 + ], + [ + -0.9984146244781033, + -0.01632386312099788, + 0.05386807182325344, + -279.84759053172917 + ], + [ + -0.0, + -0.9570233930686504, + -0.29001073494714, + 5.486538493223314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62918.01312495615, + 27984.75905317292, + 548.6538493223314 + ], + "rotation_deg": [ + 0.0, + -16.858598709106445, + -3.226718664169311 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 253.79573405910273 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 113.19656960616084 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -630.7730322484252 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 632.6003761053084 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -273.67900141270246 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 63260.037610530846, + 27367.900141270246, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 87, + "time": 458.00611001625657, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.2660938948046803, + 0.9639471142898224, + -8.673617312868292e-19, + 438.99649241163354 + ], + [ + 0.04891054043926239, + 0.013501566641520225, + -0.9987119037701332, + -24.713873723443772 + ], + [ + -0.9627054635397211, + -0.2657511188369352, + -0.050739859161101596, + 552.3377772339966 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.2660938948046803, + 0.04891054043926239, + -0.9627054635397211, + 649.7616386171322 + ], + [ + 0.9639471142898224, + 0.013501566641520225, + -0.2657511188369352, + -276.0513345105817 + ], + [ + -8.673617312868292e-19, + -0.9987119037701332, + -0.050739859161101596, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64976.16386171322, + 27605.13345105817, + 334.35004389556343 + ], + "rotation_deg": [ + 4.976026290590653e-17, + -2.908428668975829, + 164.5680389404297 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.6122779385696796, + 0.7906426031658449, + -0.0, + -169.9328814962257 + ], + [ + 0.18409724484832804, + -0.14256590919936554, + -0.972513838448283, + -154.6377087630576 + ], + [ + -0.7689108839618282, + 0.5954487531887247, + -0.23284508766781842, + 670.3332667860863 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.6122779385696796, + 0.18409724484832804, + -0.7689108839618282, + 647.9410655452198 + ], + [ + 0.7906426031658449, + -0.14256590919936554, + 0.5954487531887247, + -286.83900604692354 + ], + [ + -0.0, + -0.972513838448283, + -0.23284508766781842, + 5.69649469221808 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64794.10655452198, + 28683.900604692353, + 569.649469221808 + ], + "rotation_deg": [ + 0.0, + -13.464632034301752, + -142.24560546874997 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.0657342901874733, + -0.9978371626139954, + -0.0, + -320.60104680151034 + ], + [ + -0.29239505980366004, + -0.019262042375898798, + -0.9561036045983319, + 183.82443095109045 + ], + [ + 0.9540357072717918, + 0.06284879223572903, + -0.2930288357225664, + -581.0645332650622 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.0657342901874733, + -0.29239505980366004, + 0.9540357072717918, + 629.1801516533066 + ], + [ + -0.9978371626139954, + -0.019262042375898798, + 0.06284879223572903, + -279.84760098633035 + ], + [ + -0.0, + -0.9561036045983319, + -0.2930288357225664, + 5.486538493223314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62918.01516533065, + 27984.760098633036, + 548.6538493223314 + ], + "rotation_deg": [ + 0.0, + -17.03937530517579, + -3.7690150737762456 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 253.77583600125323 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 113.17411555737527 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -630.6431181899851 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 632.4930809307006 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -273.59984634250463 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 63249.30809307006, + 27359.984634250464, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 88, + "time": 458.0727766864002, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.26907692253896254, + 0.9631186893404995, + -0.0, + 440.56386130435794 + ], + [ + 0.04886850627433354, + 0.013652925047459895, + -0.9987119037701333, + -24.64060624102403 + ], + [ + -0.9618781057413092, + -0.268730304185856, + -0.05073985916110161, + 550.8956544651365 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.26907692253896254, + 0.04886850627433354, + -0.9618781057413092, + 649.6441735036168 + ], + [ + 0.9631186893404995, + 0.013652925047459895, + -0.268730304185856, + -275.9365063662269 + ], + [ + -0.0, + -0.9987119037701333, + -0.05073985916110161, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64964.417350361684, + 27593.65063662269, + 334.35004389556343 + ], + "rotation_deg": [ + 0.0, + -2.9084286689758296, + 164.39065551757812 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.6129952777010922, + 0.7900865708997721, + 1.3877787706424876e-17, + -170.5423747637298 + ], + [ + 0.18490494304964733, + -0.14346004740207377, + -0.9722290763164828, + -155.37242010738166 + ], + [ + -0.7681451481548641, + 0.5959718175959661, + -0.2340312457718051, + 669.8496041041428 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.6129952777010922, + 0.18490494304964733, + -0.7681451481548641, + 647.8125125774803 + ], + [ + 0.7900865708997721, + -0.14346004740207377, + 0.5959718175959661, + -286.7579890946991 + ], + [ + 1.3877787706424876e-17, + -0.9722290763164828, + -0.2340312457718051, + 5.7081509710461065 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64781.25125774803, + 28675.79890946991, + 570.8150971046107 + ], + "rotation_deg": [ + -8.178511526611492e-16, + -13.534524917602537, + -142.19360351562497 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.07536438454547346, + -0.9971560607758858, + -0.0, + -326.46951684176463 + ], + [ + -0.29524657039605356, + -0.022314537254827342, + -0.9551604703380847, + 184.7591420026839 + ], + [ + 0.9524440512816146, + 0.07198508149379959, + -0.29608863068445596, + -577.4895550333027 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.07536438454547346, + -0.29524657039605356, + 0.9524440512816146, + 629.1801696086021 + ], + [ + -0.9971560607758858, + -0.022314537254827342, + 0.07198508149379959, + -279.84761018637937 + ], + [ + -0.0, + -0.9551604703380847, + -0.29608863068445596, + 5.486538493223314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62918.016960860215, + 27984.76101863794, + 548.6538493223314 + ], + "rotation_deg": [ + 0.0, + -17.222827911376953, + -4.322159290313722 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 253.75561936423986 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 113.15166976458538 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -630.5132518988745 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 632.385594763998 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -273.52095081918594 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 63238.5594763998, + 27352.095081918593, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 89, + "time": 458.1394433565438, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.2720571149693189, + 0.9622811055999027, + 8.673617312868292e-19, + 442.1268800638561 + ], + [ + 0.04882600739362896, + 0.013804139590478801, + -0.9987119037701332, + -24.567081189418555 + ], + [ + -0.9610416009488234, + -0.27170665788315657, + -0.05073985916110161, + 549.4484619655616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.2720571149693189, + 0.04882600739362896, + -0.9610416009488234, + 649.5260927386435 + ], + [ + 0.9622811055999027, + 0.013804139590478801, + -0.27170665788315657, + -275.82240120013574 + ], + [ + 8.673617312868292e-19, + -0.9987119037701332, + -0.05073985916110161, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64952.60927386435, + 27582.240120013572, + 334.35004389556343 + ], + "rotation_deg": [ + -4.976026290590653e-17, + -2.9084286689758296, + 164.21328735351562 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.613714004258265, + 0.7895284168269603, + -0.0, + -171.15224451199336 + ], + [ + 0.18571257899919766, + -0.14435757861228007, + -0.9719422449398248, + -156.10773595759684 + ], + [ + -0.7673760330161109, + 0.5964945520372401, + -0.23521962788498285, + 669.3638361974539 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.613714004258265, + 0.18571257899919766, + -0.7673760330161109, + 647.6834551521251 + ], + [ + 0.7895284168269603, + -0.14435757861228007, + 0.5964945520372401, + -286.67766405531717 + ], + [ + -0.0, + -0.9719422449398248, + -0.23521962788498285, + 5.719807249874134 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64768.34551521252, + 28667.76640553172, + 571.9807249874134 + ], + "rotation_deg": [ + 0.0, + -13.60456943511963, + -142.14146423339844 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.08513569053617351, + -0.9963693663481071, + -0.0, + -332.3972836585795 + ], + [ + -0.2981145922899421, + -0.025472673619560907, + -0.9541901449724122, + 185.67452836671825 + ], + [ + 0.9507258293664378, + 0.0812356374628372, + -0.2992008833234047, + -573.8026767669604 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.08513569053617351, + -0.2981145922899421, + 0.9507258293664378, + 629.1801854092623 + ], + [ + -0.9963693663481071, + -0.025472673619560907, + 0.0812356374628372, + -279.8476182824225 + ], + [ + -0.0, + -0.9541901449724122, + -0.2992008833234047, + 5.486538493223314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62918.018540926234, + 27984.76182824225, + 548.6538493223314 + ], + "rotation_deg": [ + 0.0, + -17.409612655639656, + -4.883827686309814 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 253.73455676556188 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 113.12924654687252 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -630.3835162220697 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 632.2776041396799 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -273.44274720870976 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 63227.76041396798, + 27344.274720870973, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 90, + "time": 458.2061100266874, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.27503495629635044, + 0.9614342269833464, + 8.673617312868292e-19, + 443.68623202890774 + ], + [ + 0.04878303689223092, + 0.013955234838847056, + -0.9987119037701332, + -24.49326164204841 + ], + [ + -0.9601958132528773, + -0.2746806635057476, + -0.05073985916110161, + 547.9954729099674 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.27503495629635044, + 0.04878303689223092, + -0.9601958132528773, + 649.4070251367925 + ], + [ + 0.9614342269833464, + 0.013955234838847056, + -0.2746806635057476, + -275.709551222851 + ], + [ + 8.673617312868292e-19, + -0.9987119037701332, + -0.05073985916110161, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64940.70251367926, + 27570.955122285104, + 334.35004389556343 + ], + "rotation_deg": [ + -4.976026290590653e-17, + -2.9084286689758296, + 164.03590393066406 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.6144343237474875, + 0.7889679726078669, + -0.0, + -171.7620233315217 + ], + [ + 0.18652008565329714, + -0.14525854872776664, + -0.9716533392467654, + -156.84363400877925 + ], + [ + -0.7666033762672804, + 0.5970171474217599, + -0.23641021378102908, + 668.8759492023083 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.6144343237474875, + 0.18652008565329714, + -0.7666033762672804, + 647.5535219870285 + ], + [ + 0.7889679726078669, + -0.14525854872776664, + 0.5970171474217599, + -286.59856279523115 + ], + [ + -0.0, + -0.9716533392467654, + -0.23641021378102908, + 5.73146352870216 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64755.35219870284, + 28659.856279523112, + 573.146352870216 + ], + "rotation_deg": [ + 0.0, + -13.674764633178711, + -142.08917236328122 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.09499544061073509, + -0.9954777075671619, + -0.0, + -338.3513228655836 + ], + [ + -0.30101237669237324, + -0.028724704868639515, + -0.9531875158688443, + 186.58218671231148 + ], + [ + 0.9488769223957354, + 0.09054846868556388, + -0.3023798289626757, + -570.0157786401874 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.09499544061073509, + -0.30101237669237324, + 0.9488769223957354, + 629.1801993138433 + ], + [ + -0.9954777075671619, + -0.028724704868639515, + 0.09054846868556388, + -279.84762540694044 + ], + [ + -0.0, + -0.9531875158688443, + -0.3023798289626757, + 5.486538493223314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62918.01993138433, + 27984.762540694046, + 548.6538493223314 + ], + "rotation_deg": [ + 0.0, + -17.600597381591793, + -5.4510574340820295 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 253.71200958273377 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 113.10686524327376 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -630.2540230508782 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 632.16873777562 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -273.3657673775294 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 63216.873777562, + 27336.576737752937, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 91, + "time": 458.272776696831, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.27801016148418584, + 0.9605781332674281, + -8.673617312868292e-19, + 445.2421519562927 + ], + [ + 0.048739598817992724, + 0.014106196329884805, + -0.9987119037701332, + -24.419130185663157 + ], + [ + -0.9593408223273032, + -0.2776520363849068, + -0.05073985916110161, + 546.5363445536049 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.27801016148418584, + 0.048739598817992724, + -0.9593408223273032, + 649.2866345969464 + ], + [ + 0.9605781332674281, + 0.014106196329884805, + -0.2776520363849068, + -275.5984762238692 + ], + [ + -8.673617312868292e-19, + -0.9987119037701332, + -0.05073985916110161, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64928.663459694646, + 27559.847622386922, + 334.35004389556343 + ], + "rotation_deg": [ + 4.976026290590653e-17, + -2.9084286689758296, + 163.8585205078125 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.6137888555317284, + 0.7894702279535633, + -0.0, + -171.20202041297594 + ], + [ + 0.18529192918777657, + -0.14405878414216913, + -0.9720668535082101, + -155.69315835370165 + ], + [ + -0.7674178515507233, + 0.5966437865034867, + -0.2347041396057044, + 669.2004246824082 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.6137888555317284, + 0.18529192918777657, + -0.7674178515507233, + 647.4869203331543 + ], + [ + 0.7894702279535633, + -0.14405878414216913, + 0.5966437865034867, + -286.5443526305851 + ], + [ + -0.0, + -0.9720668535082101, + -0.2347041396057044, + 5.719949467859103 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64748.692033315434, + 28654.435263058505, + 571.9949467859103 + ], + "rotation_deg": [ + 0.0, + -13.574183464050291, + -142.13603210449216 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.10489149194115195, + -0.9944836725247725, + -0.0, + -344.29955158633766 + ], + [ + -0.30395419052168426, + -0.03205905678133738, + -0.9521470826204315, + 187.49430239987123 + ], + [ + 0.9468947266954708, + 0.09987212873713118, + -0.3056402042562852, + -566.1415390144099 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.10489149194115195, + -0.30395419052168426, + 0.9468947266954708, + 629.1802115498746 + ], + [ + -0.9944836725247725, + -0.03205905678133738, + 0.09987212873713118, + -279.84763167651624 + ], + [ + -0.0, + -0.9521470826204315, + -0.3056402042562852, + 5.486538493223314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62918.02115498746, + 27984.763167651625, + 548.6538493223314 + ], + "rotation_deg": [ + 0.0, + -17.79668426513672, + -6.020915031433105 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 253.68737278365828 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 113.08454792205134 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -630.1249000672884 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 632.0586594729298 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -273.2905307713527 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 63205.86594729298, + 27329.053077135268, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 92, + "time": 458.3394433669746, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.28098270201625003, + 0.9597128326575859, + -0.0, + 446.79496641266667 + ], + [ + 0.04869569358725714, + 0.014257022616665057, + -0.9987119037701333, + -24.344668440748713 + ], + [ + -0.9584766363669691, + -0.28062074804079035, + -0.050739859161101616, + 545.0707151327726 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.28098270201625003, + 0.04869569358725714, + -0.9584766363669691, + 649.1646702174289 + ], + [ + 0.9597128326575859, + 0.014257022616665057, + -0.28062074804079035, + -275.4896197327572 + ], + [ + -0.0, + -0.9987119037701333, + -0.050739859161101616, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64916.46702174289, + 27548.96197327572, + 334.35004389556343 + ], + "rotation_deg": [ + 0.0, + -2.90842866897583, + 163.68113708496094 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.6131478155393355, + 0.7899681995494127, + 1.3877787706369547e-17, + -170.64362790834002 + ], + [ + 0.18406949146774512, + -0.14286879733292954, + -0.9724746418593382, + -154.5495653364724 + ], + [ + -0.7682240530638847, + 0.5962706872955958, + -0.2330087375317415, + 669.5198305585619 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.6131478155393355, + 0.18406949146774512, + -0.7682240530638847, + 647.4188557401385 + ], + [ + 0.7899681995494127, + -0.14286879733292954, + 0.5962706872955958, + -286.49232887702556 + ], + [ + 1.3877787706369547e-17, + -0.9724746418593382, + -0.2330087375317415, + 5.7084354070160455 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64741.885574013846, + 28649.232887702554, + 570.8435407016045 + ], + "rotation_deg": [ + -8.176446320416867e-16, + -13.474273681640625, + -142.18254089355466 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.11477902757156519, + -0.9933910482935335, + -0.0, + -350.214831759234 + ], + [ + -0.3069532325930727, + -0.0354661878698255, + -0.9510635428396177, + 188.42182098566084 + ], + [ + 0.9447780089709922, + 0.10916214936147187, + -0.30899537037242447, + -562.191553161557 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.11477902757156519, + -0.3069532325930727, + 0.9447780089709922, + 629.1802223175821 + ], + [ + -0.9933910482935335, + -0.0354661878698255, + 0.10916214936147187, + -279.84763719374297 + ], + [ + -0.0, + -0.9510635428396177, + -0.30899537037242447, + 5.486538493223314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62918.02223175821, + 27984.763719374296, + 548.6538493223314 + ], + "rotation_deg": [ + 0.0, + -17.998697280883786, + -6.5908799171447745 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 253.66015550428625 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 113.06231772795415 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -629.9962811815967 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 631.9471182310978 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -273.2174805762625 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 63194.71182310978, + 27321.74805762625, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 93, + "time": 458.4061100371182, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.2839522940474054, + 0.9588384090686064, + -0.0, + 448.34480020598687 + ], + [ + 0.04865132545784857, + 0.014407699296925617, + -0.9987119037701333, + -24.269869155036183 + ], + [ + -0.9576033391785662, + -0.28358651499387627, + -0.050739859161101616, + 543.598441901171 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.2839522940474054, + 0.04865132545784857, + -0.9576033391785662, + 649.040966115883 + ], + [ + 0.9588384090686064, + 0.014407699296925617, + -0.28358651499387627, + -275.38334556615007 + ], + [ + -0.0, + -0.9987119037701333, + -0.050739859161101616, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64904.09661158829, + 27538.33455661501, + 334.35004389556343 + ], + "rotation_deg": [ + 0.0, + -2.90842866897583, + 163.50376892089844 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.6125112133433619, + 0.7904618988468974, + -0.0, + -170.08645773092925 + ], + [ + 0.1828527514790697, + -0.14168849989480653, + -0.9728767857617393, + -153.4128313843131 + ], + [ + -0.769022042545317, + 0.59589792543657, + -0.23132392989014583, + 669.8343122643014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.6125112133433619, + 0.1828527514790697, + -0.769022042545317, + 647.349162225726 + ], + [ + 0.7904618988468974, + -0.14168849989480653, + 0.59589792543657, + -286.44285500801107 + ], + [ + -0.0, + -0.9728767857617393, + -0.23132392989014583, + 5.696921346172988 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64734.916222572596, + 28644.285500801107, + 569.6921346172987 + ], + "rotation_deg": [ + 0.0, + -13.375029563903805, + -142.22869873046872 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.12462086212135018, + -0.9922044349448006, + -0.0, + -356.0750544655412 + ], + [ + -0.3100213733466619, + -0.03893867983431799, + -0.9499318540195449, + 189.37425948997418 + ], + [ + 0.9425265975757935, + 0.11838132742084385, + -0.3124571557514361, + -558.1760595801051 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.12462086212135018, + -0.3100213733466619, + 0.9425265975757935, + 629.1802317931647 + ], + [ + -0.9922044349448006, + -0.03893867983431799, + 0.11838132742084385, + -279.84764204890246 + ], + [ + -0.0, + -0.9499318540195449, + -0.3124571557514361, + 5.486538493223314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62918.02317931647, + 27984.764204890245, + 548.6538493223314 + ], + "rotation_deg": [ + 0.0, + -18.207372665405266, + -7.158861637115476 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 253.6299833628917 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 113.04019844468412 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -629.868304000937 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 631.8339480678692 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -273.1469802657174 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 63183.39480678691, + 27314.69802657174, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 94, + "time": 458.4727767072618, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.2869194200559751, + 0.9579547204303256, + -0.0, + 449.8921849996542 + ], + [ + 0.04860648722114698, + 0.01455825085154846, + -0.9987119037701333, + -24.194710114936605 + ], + [ + -0.9567207888749399, + -0.2865498191010152, + -0.05073985916110162, + 542.1190876290611 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.2869194200559751, + 0.04860648722114698, + -0.9567207888749399, + 648.9154129535087 + ], + [ + 0.9579547204303256, + 0.01455825085154846, + -0.2865498191010152, + -275.27997453907824 + ], + [ + -0.0, + -0.9987119037701333, + -0.05073985916110162, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64891.54129535087, + 27527.997453907825, + 334.35004389556343 + ], + "rotation_deg": [ + 0.0, + -2.9084286689758305, + 163.32638549804688 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.6118788477860192, + 0.7909515001768777, + 1.3877787706189739e-17, + -169.53000707864044 + ], + [ + 0.18164172474690193, + -0.14051775516342677, + -0.973273365665989, + -152.2829461946845 + ], + [ + -0.7698120397848757, + 0.5955253705046136, + -0.2296496385531498, + 670.1440754193957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.6118788477860192, + 0.18164172474690193, + -0.7698120397848757, + 647.2777303501571 + ], + [ + 0.7909515001768777, + -0.14051775516342677, + 0.5955253705046136, + -286.3962514957064 + ], + [ + 1.3877787706189739e-17, + -0.973273365665989, + -0.2296496385531498, + 5.685407285329929 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64727.77303501571, + 28639.62514957064, + 568.540728532993 + ], + "rotation_deg": [ + -8.169736260670731e-16, + -13.276445388793945, + -142.2745208740234 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.13438346103349258, + -0.9909294048521616, + 3.4694469279566765e-18, + -361.86067990136434 + ], + [ + -0.3131698482554132, + -0.04247007697402503, + -0.9487470362038036, + 190.36046638153417 + ], + [ + 0.9401413350275093, + 0.12749591124619103, + -0.3160364896466802, + -554.1049738867603 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.13438346103349258, + -0.3131698482554132, + 0.9401413350275093, + 629.1802401316775 + ], + [ + -0.9909294048521616, + -0.04247007697402503, + 0.12749591124619103, + -279.8476463214428 + ], + [ + 3.4694469279566765e-18, + -0.9487470362038036, + -0.3160364896466802, + 5.486538493223314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62918.02401316774, + 27984.76463214428, + 548.6538493223314 + ], + "rotation_deg": [ + -2.0952336099177428e-16, + -18.42339706420898, + -7.722970008850095 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 253.5965523658365 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 113.01821548669889 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -629.7411155676269 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 631.7190395434841 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -273.079350311882 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 63171.9039543484, + 27307.935031188204, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 95, + "time": 458.5394433774054, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.2898837960158254, + 0.9570618500428566, + 8.673617312868292e-19, + 451.437231847543 + ], + [ + 0.04856118310378832, + 0.014708662869087674, + -0.9987119037701332, + -24.119187984906688 + ], + [ + -0.9558290686488996, + -0.2895103767019221, + -0.050739859161101616, + 540.6325866629965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.2898837960158254, + 0.04856118310378832, + -0.9558290686488996, + 648.787923587618 + ], + [ + 0.9570618500428566, + 0.014708662869087674, + -0.2895103767019221, + -275.17983893825226 + ], + [ + 8.673617312868292e-19, + -0.9987119037701332, + -0.050739859161101616, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64878.7923587618, + 27517.983893825225, + 334.35004389556343 + ], + "rotation_deg": [ + -4.976026290590653e-17, + -2.90842866897583, + 163.1490020751953 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.6112511494222144, + 0.7914366887692418, + -0.0, + -168.97432630358742 + ], + [ + 0.18043631334878307, + -0.13935657203795385, + -0.973664461020803, + -151.15987248787857 + ], + [ + -0.7705937881328127, + 0.5951535058747699, + -0.2279857849430364, + 670.4492162087935 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.6112511494222144, + 0.18043631334878307, + -0.7705937881328127, + 647.2044728687225 + ], + [ + 0.7914366887692418, + -0.13935657203795385, + 0.5951535058747699, + -286.35285028427063 + ], + [ + -0.0, + -0.973664461020803, + -0.2279857849430364, + 5.673893224486872 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64720.44728687225, + 28635.28502842706, + 567.3893224486873 + ], + "rotation_deg": [ + 0.0, + -13.178515434265135, + -142.31997680664062 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.14403085526116752, + -0.9895731972586647, + -3.4694469280297513e-18, + -367.5511029927296 + ], + [ + -0.31641096350037834, + -0.04605312857423444, + -0.9475036736209982, + 191.3901838846543 + ], + [ + 0.9376242387689545, + 0.1364697654083978, + -0.31974488268354767, + -549.9896148185787 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.14403085526116752, + -0.31641096350037834, + 0.9376242387689545, + 629.1802474695686 + ], + [ + -0.9895731972586647, + -0.04605312857423444, + 0.1364697654083978, + -279.84765008127835 + ], + [ + -3.4694469280297513e-18, + -0.9475036736209982, + -0.31974488268354767, + 5.486538493223314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62918.02474695686, + 27984.765008127833, + 548.6538493223314 + ], + "rotation_deg": [ + 2.0979830822281992e-16, + -18.647497177124013, + -8.281162261962889 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 253.55956610182807 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 112.99639832295054 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -629.6148863823743 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 631.6023054132334 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -273.0149226589156 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 63160.23054132333, + 27301.492265891564, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 96, + "time": 458.606110047549, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.29284513887340896, + 0.9561598844535437, + -0.0, + 452.9799933854058 + ], + [ + 0.048515417497172635, + 0.014858920987446242, + -0.9987119037701333, + -24.043304134023963 + ], + [ + -0.9549282649363028, + -0.2924679051076451, + -0.050739859161101616, + 539.1389659505123 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.29284513887340896, + 0.048515417497172635, + -0.9549282649363028, + 648.6584843488988 + ], + [ + 0.9561598844535437, + 0.014858920987446242, + -0.2924679051076451, + -275.08318821089057 + ], + [ + -0.0, + -0.9987119037701333, + -0.050739859161101616, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64865.84843488988, + 27508.31882108906, + 334.35004389556343 + ], + "rotation_deg": [ + 0.0, + -2.90842866897583, + 162.9716339111328 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.6106277061495955, + 0.7919178015946372, + -0.0, + -168.41884373914576 + ], + [ + 0.17923656819477524, + -0.13820476604328719, + -0.9740501502821506, + -150.04361468441508 + ], + [ + -0.7713676647855612, + 0.5947819938499755, + -0.22633229004081099, + 670.7500126410932 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.6106277061495955, + 0.17923656819477524, + -0.7713676647855612, + 647.1293760090296 + ], + [ + 0.7919178015946372, + -0.13820476604328719, + 0.5947819938499755, + -286.31290047868833 + ], + [ + -0.0, + -0.9740501502821506, + -0.22633229004081099, + 5.6623791636438146 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64712.93760090295, + 28631.29004786883, + 566.2379163643815 + ], + "rotation_deg": [ + 0.0, + -13.081233978271484, + -142.36509704589844 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.15353476126848342, + -0.9881432472482061, + -0.0, + -373.1306090370318 + ], + [ + -0.3197552678121852, + -0.04968262328827341, + -0.9461967055795286, + 192.47147970238248 + ], + [ + 0.9349778841972347, + 0.14527408629377744, + -0.3235920207816793, + -545.8396103694647 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.15353476126848342, + -0.3197552678121852, + 0.9349778841972347, + 629.1802539269128 + ], + [ + -0.9881432472482061, + -0.04968262328827341, + 0.14527408629377744, + -279.8476533899336 + ], + [ + -0.0, + -0.9461967055795286, + -0.3235920207816793, + 5.486538493223314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62918.02539269128, + 27984.76533899336, + 548.6538493223314 + ], + "rotation_deg": [ + 0.0, + -18.880294799804688, + -8.831827163696287 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 253.51883868848947 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 112.97477529434823 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -629.4897804192842 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 631.4837319047242 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -272.9539464118027 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 63148.37319047242, + 27295.39464118027, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 97, + "time": 458.6727767176926, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.2958039297667812, + 0.955248677117393, + -0.0, + 454.52083539258433 + ], + [ + 0.04846918296562764, + 0.015009049619501152, + -0.9987119037701333, + -23.96704831238467 + ], + [ + -0.9540182313809287, + -0.2954228848364944, + -0.05073985916110163, + 537.6380237429076 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.2958039297667812, + 0.04846918296562764, + -0.9540182313809287, + 648.5271760459874 + ], + [ + 0.955248677117393, + 0.015009049619501152, + -0.2954228848364944, + -274.9901197982462 + ], + [ + -0.0, + -0.9987119037701333, + -0.05073985916110163, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64852.717604598736, + 27499.01197982462, + 334.35004389556343 + ], + "rotation_deg": [ + 0.0, + -2.908428668975831, + 162.79425048828125 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.6100083157837431, + 0.7923950117679194, + -0.0, + -167.86334830366383 + ], + [ + 0.178042500393637, + -0.13706220280303635, + -0.9744305109223342, + -148.93416085032027 + ], + [ + -0.7721338873014092, + 0.5944106997089293, + -0.22468907439472044, + 671.0466797592534 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.6100083157837431, + 0.178042500393637, + -0.7721338873014092, + 647.0525204755744 + ], + [ + 0.7923950117679194, + -0.13706220280303635, + 0.5944106997089293, + -286.27649917829933 + ], + [ + -0.0, + -0.9744305109223342, + -0.22468907439472044, + 5.650865102800758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64705.25204755744, + 28627.64991782993, + 565.0865102800758 + ], + "rotation_deg": [ + 0.0, + -12.984595298767085, + -142.4098968505859 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.16288261336107734, + -0.9866454551989106, + -6.938893856375819e-18, + -378.5929431983675 + ], + [ + -0.3232095179856737, + -0.05335777981368924, + -0.9448219699058771, + 193.60880091526394 + ], + [ + 0.9322043015490713, + 0.15389507266275515, + -0.32758425905945754, + -541.6600654094889 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.16288261336107734, + -0.3232095179856737, + 0.9322043015490713, + 629.1802596093756 + ], + [ + -0.9866454551989106, + -0.05335777981368924, + 0.15389507266275515, + -279.8476563015502 + ], + [ + -6.938893856375819e-18, + -0.9448219699058771, + -0.32758425905945754, + 5.486538493223314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62918.025960937564, + 27984.76563015502, + 548.6538493223314 + ], + "rotation_deg": [ + 4.2078756443281485e-16, + -19.122215270996083, + -9.374253273010247 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 253.47435853291483 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 112.95336781366089 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -629.3659215678051 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 631.363399722453 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -272.89651866988305 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 63136.339972245296, + 27289.651866988304, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 98, + "time": 458.7394433878362, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.29875988545569754, + 0.9543283139687823, + -0.0, + 456.05956651198636 + ], + [ + 0.048422483869451485, + 0.01515903439368238, + -0.9987119037701333, + -23.890434419188317 + ], + [ + -0.9530990538064583, + -0.2983750330130614, + -0.050739859161101616, + 536.1300336179224 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.29875988545569754, + 0.048422483869451485, + -0.9530990538064583, + 648.3941527437826 + ], + [ + 0.9543283139687823, + 0.01515903439368238, + -0.2983750330130614, + -274.9005765291499 + ], + [ + -0.0, + -0.9987119037701333, + -0.050739859161101616, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64839.41527437826, + 27490.057652914988, + 334.35004389556343 + ], + "rotation_deg": [ + 0.0, + -2.90842866897583, + 162.6168670654297 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.6093934090170818, + 0.7928680048069411, + -0.0, + -167.30834491159038 + ], + [ + 0.1768539975571514, + -0.13592888074212736, + -0.9748056231517377, + -147.83144841524205 + ], + [ + -0.7728922006358081, + 0.5940401066988712, + -0.22305604190322226, + 671.3392685606774 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.6093934090170818, + 0.1768539975571514, + -0.7728922006358081, + 646.9740602280583 + ], + [ + 0.7928680048069411, + -0.13592888074212736, + 0.5940401066988712, + -286.24358887034515 + ], + [ + -0.0, + -0.9748056231517377, + -0.22305604190322226, + 5.6393510419577 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64697.40602280583, + 28624.358887034516, + 563.93510419577 + ], + "rotation_deg": [ + 0.0, + -12.888592720031737, + -142.45434570312497 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.17207858100539292, + -0.9850832259048826, + 3.4694469282734885e-18, + -383.9416816861311 + ], + [ + -0.32677643602141376, + -0.057082715386724096, + -0.9433762369623379, + 194.80269025937142 + ], + [ + 0.9293041056754752, + 0.162334845306114, + -0.3317247008803315, + -537.4507563605403 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.17207858100539292, + -0.32677643602141376, + 0.9293041056754752, + 629.1802646099429 + ], + [ + -0.9850832259048826, + -0.057082715386724096, + 0.162334845306114, + -279.84765886377284 + ], + [ + 3.4694469282734885e-18, + -0.9433762369623379, + -0.3317247008803315, + 5.486538493223314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62918.0264609943, + 27984.76588637728, + 548.6538493223314 + ], + "rotation_deg": [ + -2.1071621266891575e-16, + -19.373491287231438, + -9.908694267272947 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 253.42627516871386 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 112.93218749591418 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -629.243377029853 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 631.2414628261206 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -272.8425819203983 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 63124.14628261206, + 27284.258192039826, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 99, + "time": 458.8061100579798, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.3017129776080842, + 0.9533988038291552, + -0.0, + 457.59601512717995 + ], + [ + 0.048375320656243025, + 0.015308873872424519, + -0.9987119037701333, + -23.813474952206555 + ], + [ + -0.9521707410229723, + -0.30132432134176595, + -0.050739859161101616, + 534.6152415690103 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.3017129776080842, + 0.048375320656243025, + -0.9521707410229723, + 648.2596184038974 + ], + [ + 0.9533988038291552, + 0.015308873872424519, + -0.30132432134176595, + -274.81435296871865 + ], + [ + -0.0, + -0.9987119037701333, + -0.050739859161101616, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64825.96184038975, + 27481.435296871863, + 334.35004389556343 + ], + "rotation_deg": [ + 0.0, + -2.90842866897583, + 162.43948364257812 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.6087825723545284, + 0.7933371159837431, + 1.3877787705762512e-17, + -166.75375400416132 + ], + [ + 0.17567113107619017, + -0.13480463841954432, + -0.9751755550499551, + -146.7354764923802 + ], + [ + -0.7736429735548179, + 0.5936698677626011, + -0.22143314471866046, + 671.6279474529738 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.6087825723545284, + 0.17567113107619017, + -0.7736429735548179, + 646.8941991218392 + ], + [ + 0.7933371159837431, + -0.13480463841954432, + 0.5936698677626011, + -286.21396377868115 + ], + [ + 1.3877787705762512e-17, + -0.9751755550499551, + -0.22143314471866046, + 5.627836981114642 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64689.41991218391, + 28621.396377868114, + 562.7836981114642 + ], + "rotation_deg": [ + -8.153800272787158e-16, + -12.793222427368166, + -142.49847412109375 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.18114374812343975, + -0.9834566297075797, + -0.0, + -389.1901098090428 + ], + [ + -0.33045470067400057, + -0.06086674415210003, + -0.9418571708379033, + 196.0496970978883 + ], + [ + 0.9262756777802257, + 0.17061153926791467, + -0.33601349886785287, + -533.205588903853 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.18114374812343975, + -0.33045470067400057, + 0.9262756777802257, + 629.1802690104422 + ], + [ + -0.9834566297075797, + -0.06086674415210003, + 0.17061153926791467, + -279.8476611185287 + ], + [ + -0.0, + -0.9418571708379033, + -0.33601349886785287, + 5.486538493223314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62918.02690104422, + 27984.76611185287, + 548.6538493223314 + ], + "rotation_deg": [ + 0.0, + -19.63418006896972, + -10.43638706207275 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 253.3748782491 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 112.91123410978966 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -629.12214546707 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 631.1181250710853 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -272.7919303872036 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 63111.81250710853, + 27279.193038720357, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 100, + "time": 458.8727767281234, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.3046629242638223, + 0.9524602367443045, + 8.673617312868292e-19, + 459.12975178692756 + ], + [ + 0.048327697894913035, + 0.015458553749110955, + -0.9987119037701332, + -23.736192125366014 + ], + [ + -0.95123338296027, + -0.3042704682256766, + -0.050739859161101616, + 533.0940848325587 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.3046629242638223, + 0.048327697894913035, + -0.95123338296027, + 648.1238049613672 + ], + [ + 0.9524602367443045, + 0.015458553749110955, + -0.3042704682256766, + -274.73111001131457 + ], + [ + 8.673617312868292e-19, + -0.9987119037701332, + -0.050739859161101616, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64812.38049613673, + 27473.111001131456, + 334.35004389556343 + ], + "rotation_deg": [ + -4.976026290590653e-17, + -2.90842866897583, + 162.26211547851562 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.6081760254314897, + 0.7938021933015527, + -1.3877787705680731e-17, + -166.2001682130517 + ], + [ + 0.17449383665663074, + -0.13368943665768743, + -0.9755403812733736, + -145.6461784907822 + ], + [ + -0.7743861054433412, + 0.5933002565775347, + -0.21982030215912, + 671.91270197825 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.6081760254314897, + 0.17449383665663074, + -0.7743861054433412, + 646.8131689846413 + ], + [ + 0.7938021933015527, + -0.13368943665768743, + 0.5933002565775347, + -286.187284456738 + ], + [ + -1.3877787705680731e-17, + -0.9755403812733736, + -0.21982030215912, + 5.6163229202715845 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64681.31689846413, + 28618.728445673798, + 561.6322920271584 + ], + "rotation_deg": [ + 8.150750967741472e-16, + -12.698478698730465, + -142.5422668457031 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.19011553785568863, + -0.9817617237730559, + -0.0, + -394.3606701088998 + ], + [ + -0.3342389971760739, + -0.06472448984491487, + -0.9402632786518081, + 197.3423768948156 + ], + [ + 0.923114496085384, + 0.17875866014046637, + -0.34044818774934477, + -528.912355162429 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.19011553785568863, + -0.3342389971760739, + 0.923114496085384, + 629.1802728828816 + ], + [ + -0.9817617237730559, + -0.06472448984491487, + 0.17875866014046637, + -279.8476631027139 + ], + [ + -0.0, + -0.9402632786518081, + -0.34044818774934477, + 5.486538493223314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62918.027288288155, + 27984.76631027139, + 548.6538493223314 + ], + "rotation_deg": [ + 0.0, + -19.90418243408203, + -10.959527015686032 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 253.32057172600065 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 112.89049469483929 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -629.0021518932264 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 630.9936182850713 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -272.7442246237298 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 63099.361828507135, + 27274.42246237298, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 101, + "time": 458.93944339826703, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.30761020470939315, + 0.9515124602224846, + -3.4694469251473167e-18, + 460.66067661057286 + ], + [ + 0.048279607848051895, + 0.015608098342670051, + -0.9987119037701332, + -23.658591859560072 + ], + [ + -0.9502868273230392, + -0.30721395233391363, + -0.05073985916110161, + 531.566679949422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.30761020470939315, + 0.048279607848051895, + -0.9502868273230392, + 647.9869532304272 + ], + [ + 0.9515124602224846, + 0.015608098342670051, + -0.30721395233391363, + -274.65039944641364 + ], + [ + -3.4694469251473167e-18, + -0.9987119037701332, + -0.05073985916110161, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64798.69532304272, + 27465.039944641365, + 334.35004389556343 + ], + "rotation_deg": [ + 1.9904105162362613e-16, + -2.9084286689758296, + 162.08473205566406 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.6075733537266591, + 0.7942635707630937, + -0.0, + -165.6477230409049 + ], + [ + 0.17332214342754224, + -0.13258308681612016, + -0.9759001791617787, + -144.56349310202654 + ], + [ + -0.7751219721442669, + 0.5929309295873911, + -0.21821741689841087, + 672.1935925508444 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.6075733537266591, + 0.17332214342754224, + -0.7751219721442669, + 646.7312105223342 + ], + [ + 0.7942635707630937, + -0.13258308681612016, + 0.5929309295873911, + -286.1631023533944 + ], + [ + -0.0, + -0.9759001791617787, + -0.21821741689841087, + 5.604808859428528 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64673.12105223342, + 28616.310235339435, + 560.4808859428528 + ], + "rotation_deg": [ + 0.0, + -12.604354858398438, + -142.58575439453125 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.19904582023679016, + -0.9799901843622023, + -6.938893857116325e-18, + -399.48366883958255 + ], + [ + -0.33812020893695, + -0.06867560042990757, + -0.9385938345280266, + 198.66949126863653 + ], + [ + 0.9198127437276994, + 0.18682318090320396, + -0.3450240796717393, + -524.5530174246408 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.19904582023679016, + -0.33812020893695, + 0.9198127437276994, + 629.1802762906282 + ], + [ + -0.9799901843622023, + -0.06867560042990757, + 0.18682318090320396, + -279.84766484879685 + ], + [ + -6.938893857116325e-18, + -0.9385938345280266, + -0.3450240796717393, + 5.486538493223314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62918.02762906282, + 27984.766484879685, + 548.6538493223314 + ], + "rotation_deg": [ + 4.235797433952403e-16, + -20.183265686035153, + -11.481166839599606 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 253.2638429777089 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 112.86994422043178 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -628.8832514867357 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 630.8681831739482 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -272.69901607885555 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 63086.81831739481, + 27269.901607885553, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 102, + "time": 459.00611006841063, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.31055453679040457, + 0.950555563698881, + -0.0, + 462.1881960735434 + ], + [ + 0.048231055053588295, + 0.015757493336627817, + -0.9987119037701333, + -23.580699668288375 + ], + [ + -0.9493311634312591, + -0.31015449187552246, + -0.05073985916110162, + 530.0335291014317 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.31055453679040457, + 0.048231055053588295, + -0.9493311634312591, + 647.8492968330802 + ], + [ + 0.950555563698881, + 0.015757493336627817, + -0.31015449187552246, + -274.571700753556 + ], + [ + -0.0, + -0.9987119037701333, + -0.05073985916110162, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64784.929683308015, + 27457.1700753556, + 334.35004389556343 + ], + "rotation_deg": [ + 0.0, + -2.9084286689758305, + 161.9073486328125 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.6069749882536422, + 0.7947209344383037, + 1.3877787705520689e-17, + -165.0973397062684 + ], + [ + 0.17215596310708092, + -0.13148560602416984, + -0.9762550177976707, + -143.48733225040024 + ], + [ + -0.7758503111296532, + 0.5925623627768878, + -0.2166244236929268, + 672.4704543753955 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.6069749882536422, + 0.17215596310708092, + -0.7758503111296532, + 646.6485572475011 + ], + [ + 0.7947209344383037, + -0.13148560602416984, + 0.5925623627768878, + -286.1408966079301 + ], + [ + 1.3877787705520689e-17, + -0.9762550177976707, + -0.2166244236929268, + 5.59329479858547 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64664.855724750116, + 28614.089660793008, + 559.329479858547 + ], + "rotation_deg": [ + -8.144784468898951e-16, + -12.510846138000487, + -142.62890624999997 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.2079974406105373, + -0.9781293701241497, + -6.938893857325297e-18, + -404.59510942704304 + ], + [ + -0.3420858301375576, + -0.07274393276700386, + -0.9368487631761527, + 200.016495119866 + ], + [ + 0.9163592893640184, + 0.19486214626577433, + -0.34973475198922893, + -520.1046435330062 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.2079974406105373, + -0.3420858301375576, + 0.9163592893640184, + 629.1802792894451 + ], + [ + -0.9781293701241497, + -0.07274393276700386, + 0.19486214626577433, + -279.84766638534984 + ], + [ + -6.938893857325297e-18, + -0.9368487631761527, + -0.34973475198922893, + 5.486538493223314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62918.02792894452, + 27984.766638534984, + 548.6538493223314 + ], + "rotation_deg": [ + 4.2436874682510056e-16, + -20.471092224121087, + -12.00502300262451 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 253.2052254267041 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 112.84954808146918 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -628.7652440303083 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 630.7420532502988 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -272.6557838918606 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 63074.205325029885, + 27265.57838918606, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 103, + "time": 459.07277673855424, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.31349563939518704, + 0.9495896398340722, + -0.0, + 463.7116944052567 + ], + [ + 0.04818204421310687, + 0.01590672446741782, + -0.9987119037701333, + -23.502540800454597 + ], + [ + -0.9483664838261479, + -0.3130918061009278, + -0.050739859161101616, + 528.4951292623808 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.31349563939518704, + 0.04818204421310687, + -0.9483664838261479, + 647.7110488475523 + ], + [ + 0.9495896398340722, + 0.01590672446741782, + -0.3130918061009278, + -274.49447010501535 + ], + [ + -0.0, + -0.9987119037701333, + -0.050739859161101616, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64771.10488475524, + 27449.447010501535, + 334.35004389556343 + ], + "rotation_deg": [ + 0.0, + -2.90842866897583, + 161.72998046875 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.6063805138553616, + 0.7951746175630279, + -0.0, + -164.54921348550576 + ], + [ + 0.17099533501605682, + -0.1303968170308047, + -0.9766049690181704, + -142.41762949664263 + ], + [ + -0.7765714938850238, + 0.5921942077485991, + -0.2150412406823213, + 672.7432684034465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.6063805138553616, + 0.17099533501605682, + -0.7765714938850238, + 646.5654221278955 + ], + [ + 0.7951746175630279, + -0.1303968170308047, + 0.5921942077485991, + -286.12012305269894 + ], + [ + -0.0, + -0.9766049690181704, + -0.2150412406823213, + 5.581780737742413 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64656.54221278956, + 28612.012305269895, + 558.1780737742413 + ], + "rotation_deg": [ + 0.0, + -12.417946815490723, + -142.67175292968747 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.21703886294910696, + -0.9761629638383946, + -0.0, + -409.7335017416558 + ], + [ + -0.3461207233913249, + -0.0769560524531558, + -0.9350284545562734, + 201.36643213549746 + ], + [ + 0.9127401461571456, + 0.2029375139327494, + -0.3545726879383524, + -515.5411358149765 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.21703886294910696, + -0.3461207233913249, + 0.9127401461571456, + 629.1802819284042 + ], + [ + -0.9761629638383946, + -0.0769560524531558, + 0.2029375139327494, + -279.8476677375165 + ], + [ + -0.0, + -0.9350284545562734, + -0.3545726879383524, + 5.486538493223314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62918.028192840415, + 27984.766773751646, + 548.6538493223314 + ], + "rotation_deg": [ + 0.0, + -20.767257690429684, + -12.535170555114744 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 253.1452544485635 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 112.82926639182301 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -628.6478987518033 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 630.6154414818772 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -272.61398389509884 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 63061.54414818771, + 27261.398389509883, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 104, + "time": 459.13944340869784, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.316433990373303, + 0.9486145316915761, + -3.4694469251473167e-18, + 465.2310051075129 + ], + [ + 0.04813256736367271, + 0.016055815981059377, + -0.9987119037701332, + -23.424119959348285 + ], + [ + -0.947392631773381, + -0.31602637224418284, + -0.05073985916110161, + 526.951573007043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.316433990373303, + 0.04813256736367271, + -0.947392631773381, + 647.5723907585258 + ], + [ + 0.9486145316915761, + 0.016055815981059377, + -0.31602637224418284, + -274.41819700992085 + ], + [ + -3.4694469251473167e-18, + -0.9987119037701332, + -0.05073985916110161, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64757.23907585258, + 27441.819700992084, + 334.35004389556343 + ], + "rotation_deg": [ + 1.9904105162362613e-16, + -2.9084286689758296, + 161.55259704589844 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.6057901500013081, + 0.7956244680509721, + 1.3877787705365213e-17, + -164.00404378715427 + ], + [ + 0.16984020502921401, + -0.12931669074097524, + -0.9769501001849775, + -141.35430080038535 + ], + [ + -0.7772854149082375, + 0.591826732521699, + -0.21346780188969708, + 673.0118801943398 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.6057901500013081, + 0.16984020502921401, + -0.7772854149082375, + 646.481986536675 + ], + [ + 0.7956244680509721, + -0.12931669074097524, + 0.591826732521699, + -286.1002708572539 + ], + [ + 1.3877787705365213e-17, + -0.9769501001849775, + -0.21346780188969708, + 5.5702666768993545 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64648.198653667496, + 28610.027085725393, + 557.0266676899355 + ], + "rotation_deg": [ + -8.138989601463294e-16, + -12.325652122497559, + -142.71427917480466 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.22623737735020524, + -0.9740721991154971, + 6.938893857772405e-18, + -414.9359316788129 + ], + [ + -0.35020830114579343, + -0.08133915293901202, + -0.9331334781304017, + 202.701258866425 + ], + [ + 0.9089393777398824, + 0.21110967218501905, + -0.35953012934074, + -510.83561050991113 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.22623737735020524, + -0.35020830114579343, + 0.9089393777398824, + 629.180284250688 + ], + [ + -0.9740721991154971, + -0.08133915293901202, + 0.21110967218501905, + -279.84766892742306 + ], + [ + 6.938893857772405e-18, + -0.9331334781304017, + -0.35953012934074, + 5.486538493223314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62918.028425068806, + 27984.766892742307, + 548.6538493223314 + ], + "rotation_deg": [ + -4.260583774315811e-16, + -21.07134246826171, + -13.07565116882324 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 253.08441950515092 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 112.80905947522479 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -628.5309860932834 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 630.4885292418404 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -272.5731052581231 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 63048.85292418404, + 27257.310525812314, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 105, + "time": 459.20611007884145, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.31936930841314737, + 0.9476303313231949, + -0.0, + 466.7456136742845 + ], + [ + 0.048082629175981266, + 0.016204753603841396, + -0.9987119037701333, + -23.345457477942546 + ], + [ + -0.946409699206184, + -0.318957909356034, + -0.05073985916110162, + 525.4032605490229 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.31936930841314737, + 0.048082629175981266, + -0.946409699206184, + 647.4334633341339 + ], + [ + 0.9476303313231949, + 0.016204753603841396, + -0.318957909356034, + -274.34245997880294 + ], + [ + -0.0, + -0.9987119037701333, + -0.05073985916110162, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64743.34633341339, + 27434.24599788029, + 334.35004389556343 + ], + "rotation_deg": [ + 0.0, + -2.9084286689758305, + 161.37521362304688 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.6052036925578731, + 0.7960706567348875, + -2.7755575410578283e-17, + -163.46206874984156 + ], + [ + 0.1686905748398285, + -0.1282450972524338, + -0.9772904813774265, + -140.29727533086822 + ], + [ + -0.7779922864674059, + 0.591459792803424, + -0.21190402472380843, + 673.2762449347825 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.6052036925578731, + 0.1686905748398285, + -0.7779922864674059, + 646.3983911293977 + ], + [ + 0.7960706567348875, + -0.1282450972524338, + 0.591459792803424, + -286.0809181928959 + ], + [ + -2.7755575410578283e-17, + -0.9772904813774265, + -0.21190402472380843, + 5.558752616056297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64639.83911293978, + 28608.09181928959, + 555.8752616056297 + ], + "rotation_deg": [ + 1.6272309733956512e-15, + -12.233956336975094, + -142.7565002441406 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.23565190444269932, + -0.9718375275386977, + -6.938893858010619e-18, + -420.2340003785774 + ], + [ + -0.35433215337435764, + -0.08591873063332095, + -0.9311641621172119, + 204.00351714741447 + ], + [ + 0.904940275615909, + 0.21943060957092683, + -0.3646001990558078, + -505.96304385498485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.23565190444269932, + -0.35433215337435764, + 0.904940275615909, + 629.180286294298 + ], + [ + -0.9718375275386977, + -0.08591873063332095, + 0.21943060957092683, + -279.8476699745409 + ], + [ + -6.938893858010619e-18, + -0.9311641621172119, + -0.3646001990558078, + 5.486538493223314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62918.02862942979, + 27984.76699745409, + 548.6538493223314 + ], + "rotation_deg": [ + 4.2695944690247937e-16, + -21.382980346679673, + -13.630053520202631 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 253.02311833290054 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 112.78889347022624 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -628.4143101400485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 630.3614571857471 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -272.5327261522345 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 63036.145718574706, + 27253.27261522345, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 106, + "time": 459.27277674898505, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.322301313275748, + 0.9466371339962997, + -0.0, + 468.25512279635694 + ], + [ + 0.04803223448388545, + 0.016353523116477982, + -0.9987119037701333, + -23.26656947447305 + ], + [ + -0.9454177812692097, + -0.3218861375584797, + -0.050739859161101616, + 523.8505091433127 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.322301313275748, + 0.04803223448388545, + -0.9454177812692097, + 647.2943591250128 + ], + [ + 0.9466371339962997, + 0.016353523116477982, + -0.3218861375584797, + -274.26697247585105 + ], + [ + -0.0, + -0.9987119037701333, + -0.050739859161101616, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64729.43591250128, + 27426.697247585107, + 334.35004389556343 + ], + "rotation_deg": [ + 0.0, + -2.90842866897583, + 161.19784545898438 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.6046211489731705, + 0.7965131927434492, + -0.0, + -162.9235733851215 + ], + [ + 0.16754643632735214, + -0.1271819723282756, + -0.9776261747665589, + -139.24650502780602 + ], + [ + -0.7786921569096361, + 0.5910934458111508, + -0.21034985877466023, + 673.5363128848117 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.6046211489731705, + 0.16754643632735214, + -0.7786921569096361, + 646.3147283430752 + ], + [ + 0.7965131927434492, + -0.1271819723282756, + 0.5910934458111508, + -286.06177818493535 + ], + [ + -0.0, + -0.9776261747665589, + -0.21034985877466023, + 5.547238555213239 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64631.47283430752, + 28606.177818493536, + 554.7238555213239 + ], + "rotation_deg": [ + 0.0, + -12.142855644226074, + -142.79841613769528 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.2453266957515429, + -0.969440463541537, + -0.0, + -425.6503769042219 + ], + [ + -0.35847767196386116, + -0.09071639370438912, + -0.929120172322526, + 205.257967021033 + ], + [ + 0.9007266890526979, + 0.22793798329520437, + -0.3697779163220537, + -500.9027632051972 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.2453266957515429, + -0.35847767196386116, + 0.9007266890526979, + 629.1802880926746 + ], + [ + -0.969440463541537, + -0.09071639370438912, + 0.22793798329520437, + -279.8476708960046 + ], + [ + -0.0, + -0.929120172322526, + -0.3697779163220537, + 5.486538493223314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62918.02880926746, + 27984.76708960046, + 548.6538493223314 + ], + "rotation_deg": [ + 0.0, + -21.70192146301269, + -14.201141357421871 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 252.96161914568884 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 112.76874496085883 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -628.2977354125879 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 630.2343177506083 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -272.4925597027433 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 63023.431775060824, + 27249.255970274327, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 107, + "time": 459.33944341912866, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.3252304813325306, + 0.9456347783432093, + -0.0, + 469.7596970496129 + ], + [ + 0.04798137509961196, + 0.01650214868998801, + -0.9987119037701333, + -23.187447896081746 + ], + [ + -0.9444167168026433, + -0.3248115326093394, + -0.05073985916110162, + 522.2931602856258 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.3252304813325306, + 0.04798137509961196, + -0.9444167168026433, + 647.155116342118 + ], + [ + 0.9456347783432093, + 0.01650214868998801, + -0.3248115326093394, + -274.1916149902335 + ], + [ + -0.0, + -0.9987119037701333, + -0.05073985916110162, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64715.511634211805, + 27419.161499023354, + 334.35004389556343 + ], + "rotation_deg": [ + 0.0, + -2.9084286689758305, + 161.0204620361328 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.6040425266302661, + 0.7969520851482378, + -1.3877787705140263e-17, + -162.38867703862894 + ], + [ + 0.16640772886262584, + -0.12612721249645512, + -0.9779572557339389, + -138.20190944576947 + ], + [ + -0.779385085279939, + 0.5907277564329907, + -0.20880518820859742, + 673.7921000300167 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.6040425266302661, + 0.16640772886262584, + -0.779385085279939, + 646.2310362739894 + ], + [ + 0.7969520851482378, + -0.12612721249645512, + 0.5907277564329907, + -286.0427309840145 + ], + [ + -1.3877787705140263e-17, + -0.9779572557339389, + -0.20880518820859742, + 5.535724494370181 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64623.10362739894, + 28604.273098401452, + 553.5724494370181 + ], + "rotation_deg": [ + 8.130607610715869e-16, + -12.052342414855955, + -142.84002685546872 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.2552864074193142, + -0.9668654767789261, + -6.9388938585171564e-18, + -431.19622830059416 + ], + [ + -0.36263401892202857, + -0.09574810366282184, + -0.926999929323315, + 206.45331398651737 + ], + [ + 0.8962842270859994, + 0.23665048314203038, + -0.3750615057633832, + -495.6404935250176 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.2552864074193142, + -0.36263401892202857, + 0.8962842270859994, + 629.1802896752461 + ], + [ + -0.9668654767789261, + -0.09574810366282184, + 0.23665048314203038, + -279.84767170689264 + ], + [ + -6.9388938585171564e-18, + -0.926999929323315, + -0.3750615057633832, + 5.486538493223314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62918.02896752461, + 27984.767170689265, + 548.6538493223314 + ], + "rotation_deg": [ + 4.2887741744728373e-16, + -22.02811431884765, + -14.790556907653801 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 252.90003362794928 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 112.7486041016674 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -628.1812049473194 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 630.1071490327063 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -272.4524860602918 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 63010.71490327063, + 27245.24860602918, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 108, + "time": 459.40611008927226, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.3281565321389418, + 0.9446233590244016, + -1.7347234625736584e-18, + 471.25917100497236 + ], + [ + 0.04793005582622002, + 0.016650616094654444, + -0.9987119037701332, + -23.10810032984838 + ], + [ + -0.943406600345025, + -0.32773381442529526, + -0.05073985916110161, + 520.7313633123406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.3281565321389418, + 0.04793005582622002, + -0.943406600345025, + 647.015739641693 + ], + [ + 0.9446233590244016, + 0.016650616094654444, + -0.32773381442529526, + -274.1163736542249 + ], + [ + -1.7347234625736584e-18, + -0.9987119037701332, + -0.05073985916110161, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64701.57396416931, + 27411.63736542249, + 334.35004389556343 + ], + "rotation_deg": [ + 9.952052581181306e-17, + -2.9084286689758296, + 160.84307861328125 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.6034676204902992, + 0.7973875036767106, + -0.0, + -161.85721148252964 + ], + [ + 0.16527448925418242, + -0.12508071959754244, + -0.9782837813164083, + -137.16348075646928 + ], + [ + -0.7800712734083334, + 0.5903625704039422, + -0.2072699782147708, + 674.0436888365973 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.6034676204902992, + 0.16527448925418242, + -0.7800712734083334, + 646.147319462663 + ], + [ + 0.7973875036767106, + -0.12508071959754244, + 0.5903625704039422, + -286.02376238423875 + ], + [ + -0.0, + -0.9782837813164083, + -0.2072699782147708, + 5.5242104335271245 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64614.73194626629, + 28602.376238423876, + 552.4210433527124 + ], + "rotation_deg": [ + 0.0, + -11.962413787841793, + -142.88134765624997 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.26554301457523843, + -0.9640990132814652, + -6.9388938587862e-18, + -436.8752960511923 + ], + [ + -0.36679279382836627, + -0.10102620462824073, + -0.9248009258072756, + 207.5808044418655 + ], + [ + 0.8915996584323828, + 0.24557442727168702, + -0.380451376332695, + -490.1661396095131 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.26554301457523843, + -0.36679279382836627, + 0.8915996584323828, + 629.180291067909 + ], + [ + -0.9640990132814652, + -0.10102620462824073, + 0.24557442727168702, + -279.8476724204741 + ], + [ + -6.9388938587862e-18, + -0.9248009258072756, + -0.380451376332695, + 5.486538493223314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62918.0291067909, + 27984.767242047412, + 548.6538493223314 + ], + "rotation_deg": [ + 4.298972076940423e-16, + -22.36164474487303, + -15.39922142028808 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 252.83837503540067 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 112.7284697286592 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -628.0647120096438 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 629.9799555725637 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -272.4124910189854 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62997.99555725637, + 27241.249101898542, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 109, + "time": 459.47277675941586, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.33107943764953873, + 0.9436028857340705, + -3.4694469251473167e-18, + 472.7535203069576 + ], + [ + 0.04787827715559171, + 0.01679892390745548, + -0.9987119037701332, + -23.0285280312877 + ], + [ + -0.9423874415780616, + -0.33065295499702846, + -0.050739859161101616, + 519.165142935735 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.33107943764953873, + 0.04787827715559171, + -0.9423874415780616, + 646.8762333297678 + ], + [ + 0.9436028857340705, + 0.01679892390745548, + -0.33065295499702846, + -274.04123562648994 + ], + [ + -3.4694469251473167e-18, + -0.9987119037701332, + -0.050739859161101616, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64687.623332976786, + 27404.123562648994, + 334.35004389556343 + ], + "rotation_deg": [ + 1.9904105162362613e-16, + -2.90842866897583, + 160.6656951904297 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.6028966499341141, + 0.7978192962684106, + -6.938893852497803e-18, + -161.3293737900872 + ], + [ + 0.1641466475929539, + -0.12404245471948724, + -0.9786058182491858, + -136.13115918646196 + ], + [ + -0.7807506163768064, + 0.5899981541428689, + -0.2057441448383031, + 674.2910839505565 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.6028966499341141, + 0.1641466475929539, + -0.7807506163768064, + 646.0635820983586 + ], + [ + 0.7978192962684106, + -0.12404245471948724, + 0.5899981541428689, + -286.0048592064636 + ], + [ + -6.938893852497803e-18, + -0.9786058182491858, + -0.2057441448383031, + 5.512696372684068 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64606.35820983586, + 28600.48592064636, + 551.2696372684068 + ], + "rotation_deg": [ + 4.0626095604908807e-16, + -11.873064041137694, + -142.92236328125 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.2761086156189368, + -0.9611264393309522, + -0.0, + -442.6910970319491 + ], + [ + -0.3709444751077656, + -0.10656346688870028, + -0.922520690235013, + 208.63086030993884 + ], + [ + 0.8866590245241736, + 0.2547159122549143, + -0.38594763669957594, + -484.46921231668125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.2761086156189368, + -0.3709444751077656, + 0.8866590245241736, + 629.1802922934523 + ], + [ + -0.9611264393309522, + -0.10656346688870028, + 0.2547159122549143, + -279.8476730484258 + ], + [ + -0.0, + -0.922520690235013, + -0.38594763669957594, + 5.486538493223314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62918.02922934523, + 27984.767304842582, + 548.6538493223314 + ], + "rotation_deg": [ + 0.0, + -22.702583312988274, + -16.02809143066406 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 252.7766556493617 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 112.70834075919024 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -627.948250335627 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 629.8527415594432 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -272.37256139967957 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62985.27415594432, + 27237.256139967958, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 110, + "time": 459.53944342955947, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.3339989188265429, + 0.9425734572025145, + -0.0, + 474.242583140169 + ], + [ + 0.047826044097288425, + 0.016947057970053653, + -0.9987119037701333, + -22.948738658138947 + ], + [ + -0.9413593391048729, + -0.3335686756461832, + -0.05073985916110163, + 517.594649882978 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.3339989188265429, + 0.047826044097288425, + -0.9413593391048729, + 646.7366015532256 + ], + [ + 0.9425734572025145, + 0.016947057970053653, + -0.3335686756461832, + -273.96618850509054 + ], + [ + -0.0, + -0.9987119037701333, + -0.05073985916110163, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64673.660155322556, + 27396.618850509054, + 334.35004389556343 + ], + "rotation_deg": [ + 0.0, + -2.908428668975831, + 160.48832702636722 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.6023294095677492, + 0.7982476322356157, + -0.0, + -160.8049942121808 + ], + [ + 0.16302419991543785, + -0.12301229106726214, + -0.9789234323931135, + -135.10490252930305 + ], + [ + -0.7814233231848088, + 0.5896343577456095, + -0.20422760378737517, + 674.53437392259 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.6023294095677492, + 0.16302419991543785, + -0.7814233231848088, + 645.9798282101469 + ], + [ + 0.7982476322356157, + -0.12301229106726214, + 0.5896343577456095, + -285.9860087113046 + ], + [ + -0.0, + -0.9789234323931135, + -0.20422760378737517, + 5.50118231184101 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64597.982821014695, + 28598.60087113046, + 550.118231184101 + ], + "rotation_deg": [ + 0.0, + -11.784287452697752, + -142.96308898925778 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.286995485012336, + -0.9579319347336397, + -0.0, + -448.6469268598173 + ], + [ + -0.37507836756370416, + -0.11237311766468278, + -0.9201567804521499, + 209.59303738319173 + ], + [ + 0.8814475631924084, + 0.26408084313060504, + -0.3915501265912124, + -478.53877196710687 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.286995485012336, + -0.37507836756370416, + 0.8814475631924084, + 629.1802933719304 + ], + [ + -0.9579319347336397, + -0.11237311766468278, + 0.26408084313060504, + -279.8476736010233 + ], + [ + -0.0, + -0.9201567804521499, + -0.3915501265912124, + 5.486538493223314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62918.02933719304, + 27984.76736010233, + 548.6538493223314 + ], + "rotation_deg": [ + 0.0, + -23.050987243652333, + -16.678165435791012 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 252.71488732692038 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 112.68821614428464 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -627.8318138561311 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 629.7255110224154 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -272.33268446298996 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62972.55110224154, + 27233.268446298996, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 111, + "time": 459.6061100997031, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.3369154500066211, + 0.941534906175462, + -0.0, + 475.7266125681502 + ], + [ + 0.047773348164852, + 0.01709504235022442, + -0.9987119037701333, + -22.868720656281262 + ], + [ + -0.9403221258866354, + -0.33648145009844216, + -0.050739859161101616, + 516.0196567344802 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.3369154500066211, + 0.047773348164852, + -0.9403221258866354, + 646.5968482991867 + ], + [ + 0.941534906175462, + 0.01709504235022442, + -0.33648145009844216, + -273.89122034580123 + ], + [ + -0.0, + -0.9987119037701333, + -0.050739859161101616, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64659.68482991867, + 27389.122034580123, + 334.35004389556343 + ], + "rotation_deg": [ + 0.0, + -2.90842866897583, + 160.31094360351562 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.6017659061799602, + 0.7986725199726175, + 6.938893852427527e-18, + -160.28408569736968 + ], + [ + 0.16190712102273305, + -0.12199015611877298, + -0.9792366853688884, + -134.08467048662058 + ], + [ + -0.7820894422901611, + 0.5892712360218333, + -0.2027202867390582, + 674.7736023589562 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.6017659061799602, + 0.16190712102273305, + -0.7820894422901611, + 645.896061666292 + ], + [ + 0.7986725199726175, + -0.12199015611877298, + 0.5892712360218333, + -285.96719861745646 + ], + [ + 6.938893852427527e-18, + -0.9792366853688884, + -0.2027202867390582, + 5.489668250997952 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64589.60616662919, + 28596.71986174565, + 548.9668250997952 + ], + "rotation_deg": [ + -4.0599922496093924e-16, + -11.696079254150389, + -143.0035247802734 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.2982160534135348, + -0.9544983947008271, + -0.0, + -454.745819935069 + ], + [ + -0.3791823439115215, + -0.11846878187870633, + -0.9177068692049438, + 210.45587974625 + ], + [ + 0.8759497316200988, + 0.27367492240466723, + -0.397258234051198, + -472.3634468672841 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.2982160534135348, + -0.3791823439115215, + 0.8759497316200988, + 629.180294320991 + ], + [ + -0.9544983947008271, + -0.11846878187870633, + 0.27367492240466723, + -279.8476740873091 + ], + [ + -0.0, + -0.9177068692049438, + -0.397258234051198, + 5.486538493223314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62918.02943209911, + 27984.76740873091, + 548.6538493223314 + ], + "rotation_deg": [ + 0.0, + -23.406888961791992, + -17.350486755371097 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 252.65308148754687 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 112.6680948707668 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -627.715396709151 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 629.5982678297443 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -272.2928479276112 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62959.82678297442, + 27229.28479276112, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 112, + "time": 459.6727767698467, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.33982875193891343, + 0.9404873307789109, + -0.0, + 477.2054474272263 + ], + [ + 0.04772019433718176, + 0.017242862878818613, + -0.9987119037701333, + -22.788481649091814 + ], + [ + -0.9392758999229459, + -0.3393909994626427, + -0.05073985916110162, + 514.4403135410607 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.33982875193891343, + 0.04772019433718176, + -0.9392758999229459, + 646.4569773949455 + ], + [ + 0.9404873307789109, + 0.017242862878818613, + -0.3393909994626427, + -273.81631967718386 + ], + [ + -0.0, + -0.9987119037701333, + -0.05073985916110162, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64645.69773949455, + 27381.631967718386, + 334.35004389556343 + ], + "rotation_deg": [ + 0.0, + -2.9084286689758305, + 160.13356018066406 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.6012061465012337, + 0.7990939678217681, + -0.0, + -159.76666070774144 + ], + [ + 0.1607953981337186, + -0.12097598728046763, + -0.9795456346901532, + -133.07043372388813 + ], + [ + -0.7827490190238575, + 0.5889088410263722, + -0.20122214137158004, + 675.0088103108704 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.6012061465012337, + 0.1607953981337186, + -0.7827490190238575, + 645.8122861741883 + ], + [ + 0.7990939678217681, + -0.12097598728046763, + 0.5889088410263722, + -285.9484171167707 + ], + [ + -0.0, + -0.9795456346901532, + -0.20122214137158004, + 5.478154190154894 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64581.228617418834, + 28594.84171167707, + 547.8154190154894 + ], + "rotation_deg": [ + 0.0, + -11.608435630798338, + -143.04367065429685 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.30978268892744903, + -0.9508073861939016, + 6.938893859977572e-18, + -460.9903995919202 + ], + [ + -0.3832428138793096, + -0.12486439537549303, + -0.9151687431164708, + 211.20692461438304 + ], + [ + 0.8701491986455892, + 0.2835034357867097, + -0.4030709292340124, + -465.93148824299846 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.30978268892744903, + -0.3832428138793096, + 0.8701491986455892, + 629.1802951561644 + ], + [ + -0.9508073861939016, + -0.12486439537549303, + 0.2835034357867097, + -279.84767451524056 + ], + [ + 6.938893859977572e-18, + -0.9151687431164708, + -0.4030709292340124, + 5.486538493223314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62918.02951561645, + 27984.767451524058, + 548.6538493223314 + ], + "rotation_deg": [ + -4.3442189075624503e-16, + -23.770298004150387, + -18.04613494873047 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 252.59124910238702 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 112.64797596306963 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -627.5989932502755 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 629.4710156888245 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -272.25303998539476 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62947.10156888245, + 27225.303998539475, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 113, + "time": 459.7394434399903, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.34273854651462193, + 0.9394308323304298, + -1.7347234625736584e-18, + 478.67892878422333 + ], + [ + 0.0476665877551168, + 0.017390505444635083, + -0.9987119037701332, + -22.708029332053226 + ], + [ + -0.938220762400862, + -0.3422970459882131, + -0.05073985916110161, + 512.8567717727914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.34273854651462193, + 0.0476665877551168, + -0.938220762400862, + 646.3169925083805 + ], + [ + 0.9394308323304298, + 0.017390505444635083, + -0.3422970459882131, + -273.7414755126398 + ], + [ + -1.7347234625736584e-18, + -0.9987119037701332, + -0.05073985916110161, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64631.69925083805, + 27374.14755126398, + 334.35004389556343 + ], + "rotation_deg": [ + 9.952052581181306e-17, + -2.9084286689758296, + 159.95619201660156 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.6006499242810487, + 0.7995121440360804, + 6.938893852359238e-18, + -159.25254798038435 + ], + [ + 0.15968902377807556, + -0.11996965994363573, + -0.9798503438677834, + -132.06214864802755 + ], + [ + -0.783402260396825, + 0.5885470195092795, + -0.19973308246730118, + 675.2400845189492 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.6006499242810487, + 0.15968902377807556, + -0.783402260396825, + 645.7285052807733 + ], + [ + 0.7995121440360804, + -0.11996965994363573, + 0.5885470195092795, + -285.9296528863112 + ], + [ + 6.938893852359238e-18, + -0.9798503438677834, + -0.19973308246730118, + 5.466640129311836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64572.85052807733, + 28592.96528863112, + 546.6640129311836 + ], + "rotation_deg": [ + -4.0574495666332225e-16, + -11.521350860595703, + -143.0835418701172 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.3217078669954432, + -0.9468389769719253, + 1.3877787720612752e-17, + -467.3829371492362 + ], + [ + -0.3872446100197048, + -0.13157425974724674, + -0.9125403148259534, + 211.8326152124694 + ], + [ + 0.8640287361266786, + 0.29357139999276877, + -0.4089867678221635, + -459.23066050702346 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.3217078669954432, + -0.3872446100197048, + 0.8640287361266786, + 629.1802958911171 + ], + [ + -0.9468389769719253, + -0.13157425974724674, + 0.29357139999276877, + -279.8476748918203 + ], + [ + 1.3877787720612752e-17, + -0.9125403148259534, + -0.4089867678221635, + 5.486538493223314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62918.02958911171, + 27984.767489182028, + 548.6538493223314 + ], + "rotation_deg": [ + -8.713463488795892e-16, + -24.141201019287102, + -18.7662410736084 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 252.52940068602902 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 112.62785848473602 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -627.4825980613751 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 629.3437581465932 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -272.2132493134046 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62934.375814659325, + 27221.324931340463, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 114, + "time": 459.8061101101339, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.34564530649660186, + 0.9383652391776189, + -1.7347234625736584e-18, + 480.14730882151565 + ], + [ + 0.04761251970903863, + 0.01753799403559436, + -0.9987119037701332, + -22.62735200710216 + ], + [ + -0.9371565418890972, + -0.345200061829051, + -0.05073985916110163, + 511.2688011768642 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.34564530649660186, + 0.04761251970903863, + -0.9371565418890972, + 646.1768971487802 + ], + [ + 0.9383652391776189, + 0.01753799403559436, + -0.345200061829051, + -273.6666773596181 + ], + [ + -1.7347234625736584e-18, + -0.9987119037701332, + -0.05073985916110163, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64617.68971487802, + 27366.66773596181, + 334.35004389556343 + ], + "rotation_deg": [ + 9.952052581181306e-17, + -2.908428668975831, + 159.77880859375 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.6000974588360369, + 0.7999268965965144, + 6.938893852325821e-18, + -158.74194218862058 + ], + [ + 0.15858792541413017, + -0.1189711352975066, + -0.9801508755690954, + -131.0597542671063 + ], + [ + -0.7840490592266807, + 0.5881860343495056, + -0.19825302449637336, + 675.4674279783363 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.6000974588360369, + 0.15858792541413017, + -0.7840490592266807, + 645.644722373353 + ], + [ + 0.7999268965965144, + -0.1189711352975066, + 0.5881860343495056, + -285.9108950975655 + ], + [ + 6.938893852325821e-18, + -0.9801508755690954, + -0.19825302449637336, + 5.455126068468779 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64564.47223733531, + 28591.08950975655, + 545.5126068468779 + ], + "rotation_deg": [ + -4.056205480369782e-16, + -11.43481922149658, + -143.1231231689453 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.33400382220006086, + -0.942571719688083, + 1.3877787721296815e-17, + -473.9251283824717 + ], + [ + -0.39117073226730154, + -0.13861281532328504, + -0.9098197324995845, + 212.3182041847663 + ], + [ + 0.8575703477698938, + 0.30388326997067217, + -0.41500368294480816, + -452.2484053901248 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.33400382220006086, + -0.39117073226730154, + 0.8575703477698938, + 629.1802965378755 + ], + [ + -0.942571719688083, + -0.13861281532328504, + 0.30388326997067217, + -279.84767522321044 + ], + [ + 1.3877787721296815e-17, + -0.9098197324995845, + -0.41500368294480816, + 5.486538493223314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62918.02965378755, + 27984.767522321043, + 548.6538493223314 + ], + "rotation_deg": [ + -8.73951886472832e-16, + -24.5195484161377, + -19.51197242736817 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 252.4675462905748 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 112.60774153962771 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -627.3662059575961 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 629.2164985903569 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -272.1734650831283 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62921.649859035686, + 27217.34650831283, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 115, + "time": 459.8727767802775, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.348548753557371, + 0.9372906520357509, + -0.0, + 481.61043574631566 + ], + [ + 0.047557995309225914, + 0.01768531452939928, + -0.9987119037701333, + -22.54645707887171 + ], + [ + -0.936083338973188, + -0.3480997690161823, + -0.05073985916110162, + 509.67654749856376 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.348548753557371, + 0.047557995309225914, + -0.936083338973188, + 646.0366922324215 + ], + [ + 0.9372906520357509, + 0.01768531452939928, + -0.3480997690161823, + -273.5919230170633 + ], + [ + -0.0, + -0.9987119037701333, + -0.05073985916110162, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64603.66922324215, + 27359.192301706335, + 334.35004389556343 + ], + "rotation_deg": [ + 0.0, + -2.9084286689758305, + 159.60142517089844 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5995485435828429, + 0.8003383933610154, + -3.46944692614644e-17, + -158.23466334520313 + ], + [ + 0.15749213295959377, + -0.11798031898125774, + -0.9804472817999539, + -130.06324053823047 + ], + [ + -0.784689613426964, + 0.5878257244938329, + -0.19678193058089063, + 675.6909225915065 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5995485435828429, + 0.15749213295959377, + -0.784689613426964, + 645.5609382451831 + ], + [ + 0.8003383933610154, + -0.11798031898125774, + 0.5878257244938329, + -285.89214121389597 + ], + [ + -3.46944692614644e-17, + -0.9804472817999539, + -0.19678193058089063, + 5.443612007625722 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64556.09382451831, + 28589.214121389596, + 544.3612007625723 + ], + "rotation_deg": [ + 2.027489609515239e-15, + -11.348837852478026, + -143.1624298095703 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.3466816026834633, + -0.9379828710380724, + -0.0, + -480.61755991065496 + ], + [ + -0.395002710707849, + -0.14599432147514252, + -0.9070052461978727, + 212.64807057487994 + ], + [ + 0.8507553826828853, + 0.31444203423575545, + -0.42111932506330957, + -444.9721646895847 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.3466816026834633, + -0.395002710707849, + 0.8507553826828853, + 629.1802971070229 + ], + [ + -0.9379828710380724, + -0.14599432147514252, + 0.31444203423575545, + -279.8476755148338 + ], + [ + -0.0, + -0.9070052461978727, + -0.42111932506330957, + 5.486538493223314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62918.029710702285, + 27984.767551483375, + 548.6538493223314 + ], + "rotation_deg": [ + 0.0, + -24.905275344848633, + -20.284481048583988 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 252.40568827061435 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 112.5876249177906 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -627.2498157241912 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 629.0892378133708 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -272.1336847579281 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62908.92378133708, + 27213.36847579281, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 116, + "time": 459.9394434504211, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.3514486105410997, + 0.9362071748009252, + 1.7347234625736584e-18, + 483.06816994807264 + ], + [ + 0.0475030198273521, + 0.017832452863202203, + -0.9987119037701332, + -22.465351622730857 + ], + [ + -0.9350012574154012, + -0.3509958907507757, + -0.05073985916110163, + 508.0801500022731 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.3514486105410997, + 0.0475030198273521, + -0.9350012574154012, + 645.8963747395292 + ], + [ + 0.9362071748009252, + 0.017832452863202203, + -0.3509958907507757, + -273.5172228804827 + ], + [ + 1.7347234625736584e-18, + -0.9987119037701332, + -0.05073985916110163, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64589.63747395292, + 27351.722288048266, + 334.35004389556343 + ], + "rotation_deg": [ + -9.952052581181306e-17, + -2.908428668975831, + 159.42405700683594 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5990029714458391, + 0.8007468015540586, + -6.938893852260408e-18, + -157.73051896525584 + ], + [ + 0.15640163557369338, + -0.11699708855010257, + -0.9807396237843523, + -129.07256389553973 + ], + [ + -0.7853241280382822, + 0.5874659334788475, + -0.19531971462895945, + 675.9106601676624 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5990029714458391, + 0.15640163557369338, + -0.7853241280382822, + 645.4771497524283 + ], + [ + 0.8007468015540586, + -0.11699708855010257, + 0.5874659334788475, + -285.87340129561 + ], + [ + -6.938893852260408e-18, + -0.9807396237843523, + -0.19531971462895945, + 5.432097946782664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64547.71497524283, + 28587.340129561, + 543.2097946782665 + ], + "rotation_deg": [ + 4.053770497916899e-16, + -11.26340103149414, + -143.20147705078125 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.3597502951808718, + -0.9330486188389517, + -0.0, + -487.4592851502746 + ], + [ + -0.3987207977929493, + -0.1537325299074523, + -0.9040951469041343, + 212.8059318577748 + ], + [ + 0.843564725826974, + 0.32524849784926174, + -0.42733121578848077, + -437.38969991126413 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.3597502951808718, + -0.3987207977929493, + 0.843564725826974, + 629.1802976078726 + ], + [ + -0.9330486188389517, + -0.1537325299074523, + 0.32524849784926174, + -279.84767577146226 + ], + [ + -0.0, + -0.9040951469041343, + -0.42733121578848077, + 5.486538493223314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62918.029760787256, + 27984.767577146227, + 548.6538493223314 + ], + "rotation_deg": [ + 0.0, + -25.29831123352051, + -21.0848617553711 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 252.34381728940883 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 112.56750945216973 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -627.1334321803926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 628.9619726717998 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -272.09391839811144 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62896.19726717998, + 27209.391839811145, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 117, + "time": 460.0061101205647, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.35434534859605304, + 0.9351146314374198, + 1.7347234625736584e-18, + 484.52077836056884 + ], + [ + 0.047447584331389486, + 0.017979432942999553, + -0.9987119037701332, + -22.384023154658944 + ], + [ + -0.933910121406774, + -0.3538888975742194, + -0.05073985916110162, + 506.47936296519885 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.35434534859605304, + 0.047447584331389486, + -0.933910121406774, + 645.755941722249 + ], + [ + 0.9351146314374198, + 0.017979432942999553, + -0.3538888975742194, + -273.442587129638 + ], + [ + 1.7347234625736584e-18, + -0.9987119037701332, + -0.05073985916110162, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64575.5941722249, + 27344.2587129638, + 334.35004389556343 + ], + "rotation_deg": [ + -9.952052581181306e-17, + -2.9084286689758305, + 159.2466735839844 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5984611749448271, + 0.8011518096363864, + -2.0816681556685187e-17, + -157.22986649884922 + ], + [ + 0.15531635424032467, + -0.11602146650458003, + -0.9810279554710052, + -128.0876782221847 + ], + [ + -0.7859523329646764, + 0.5871071274887819, + -0.1938663229115715, + 676.126603882141 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5984611749448271, + 0.15531635424032467, + -0.7859523329646764, + 645.3933538221374 + ], + [ + 0.8011518096363864, + -0.11602146650458003, + 0.5871071274887819, + -285.8546851876554 + ], + [ + -2.0816681556685187e-17, + -0.9810279554710052, + -0.1938663229115715, + 5.420583885939607 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64539.33538221374, + 28585.468518765538, + 542.0583885939607 + ], + "rotation_deg": [ + 1.2157737190398409e-15, + -11.178504943847651, + -143.24023437499997 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.3732185205151888, + -0.9277434645118517, + -0.0, + -494.4485924403326 + ], + [ + -0.40230315613893747, + -0.1618410632639354, + -0.9010880316607519, + 212.77422842154326 + ], + [ + 0.8359785299289388, + 0.3363027439448989, + -0.4336362091811315, + -429.4885175447161 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.3732185205151888, + -0.40230315613893747, + 0.8359785299289388, + 629.1802980486203 + ], + [ + -0.9277434645118517, + -0.1618410632639354, + 0.3363027439448989, + -279.84767599729537 + ], + [ + -0.0, + -0.9010880316607519, + -0.4336362091811315, + 5.486538493223314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62918.02980486203, + 27984.767599729537, + 548.6538493223314 + ], + "rotation_deg": [ + 0.0, + -25.698545455932624, + -21.914249420166023 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 252.28192421262432 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 112.54739595831104 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -627.017060044765 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 628.8347000926927 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -272.05417584862624 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62883.47000926927, + 27205.417584862622, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 118, + "time": 460.0727767907083, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.35723869034213446, + 0.9340131252410946, + -0.0, + 485.9681205688509 + ], + [ + 0.047391694062555445, + 0.018126240694564415, + -0.9987119037701333, + -22.302478737542252 + ], + [ + -0.9328100341101067, + -0.3567785124637039, + -0.05073985916110163, + 504.87432540602737 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.35723869034213446, + 0.047391694062555445, + -0.9328100341101067, + 645.6153902997526 + ], + [ + 0.9340131252410946, + 0.018126240694564415, + -0.3567785124637039, + -273.3680257518156 + ], + [ + -0.0, + -0.9987119037701333, + -0.05073985916110163, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64561.539029975254, + 27336.802575181562, + 334.35004389556343 + ], + "rotation_deg": [ + 0.0, + -2.908428668975831, + 159.0692901611328 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5979229470091596, + 0.8015535848836816, + -2.775557540878736e-17, + -156.73251381578888 + ], + [ + 0.1542362641486005, + -0.11505332061960308, + -0.9813123397959927, + -127.10852809671094 + ], + [ + -0.7865744349887795, + 0.5867491507377918, + -0.19242165244733372, + 676.3388465725395 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5979229470091596, + 0.1542362641486005, + -0.7865744349887795, + 645.309547447349 + ], + [ + 0.8015535848836816, + -0.11505332061960308, + 0.5867491507377918, + -285.8360025428932 + ], + [ + -2.775557540878736e-17, + -0.9813123397959927, + -0.19242165244733372, + 5.409069825096549 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64530.9547447349, + 28583.60025428932, + 540.9069825096549 + ], + "rotation_deg": [ + 1.6205618503993213e-15, + -11.094142913818354, + -143.2787170410156 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.3870943636363243, + -0.9220401041391795, + -0.0, + -501.5829277386747 + ], + [ + -0.4057257674111038, + -0.17033332611219443, + -0.8979828281622246, + 212.5340912848151 + ], + [ + 0.8279761778916075, + 0.34760409337196063, + -0.44003050248256936, + -421.2558566477027 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.3870943636363243, + -0.4057257674111038, + 0.8279761778916075, + 629.1802984364783 + ], + [ + -0.9220401041391795, + -0.17033332611219443, + 0.34760409337196063, + -279.8476761960285 + ], + [ + -0.0, + -0.8979828281622246, + -0.44003050248256936, + 5.486538493223314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62918.02984364783, + 27984.76761960285, + 548.6538493223314 + ], + "rotation_deg": [ + 0.0, + -26.105827331542976, + -22.773822784423835 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 252.22000008841437 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 112.52728523657467 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -626.9007039480119 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 628.7074170690881 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -272.01446676233337 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62870.74170690882, + 27201.446676233336, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 119, + "time": 460.1394434608519, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.3601286080474074, + 0.9329026667696029, + -0.0, + 487.41019186511585 + ], + [ + 0.047335349556543796, + 0.01827287471078223, + -0.9987119037701333, + -22.22071892920231 + ], + [ + -0.9317010060694529, + -0.35966470772301345, + -0.05073985916110163, + 503.2650483043525 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.3601286080474074, + 0.047335349556543796, + -0.9317010060694529, + 645.4747176533651 + ], + [ + 0.9329026667696029, + 0.01827287471078223, + -0.35966470772301345, + -273.2935485645709 + ], + [ + -0.0, + -0.9987119037701333, + -0.05073985916110163, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64547.47176533651, + 27329.354856457092, + 334.35004389556343 + ], + "rotation_deg": [ + 0.0, + -2.908428668975831, + 158.89190673828125 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5973878665139882, + 0.8019524530431122, + -1.3877787704331458e-17, + -156.2380856242801 + ], + [ + 0.15316143471866736, + -0.11409252801909868, + -0.9815928228981355, + -126.13512164854187 + ], + [ + -0.7871907833468352, + 0.5863916268338036, + -0.19098568164394383, + 676.5475102524829 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5973878665139882, + 0.15316143471866736, + -0.7871907833468352, + 645.2257276822207 + ], + [ + 0.8019524530431122, + -0.11409252801909868, + 0.5863916268338036, + -285.8173628448457 + ], + [ + -1.3877787704331458e-17, + -0.9815928228981355, + -0.19098568164394383, + 5.397555764253491 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64522.572768222075, + 28581.73628448457, + 539.7555764253491 + ], + "rotation_deg": [ + 8.100493932387798e-16, + -11.010313034057614, + -143.31695556640622 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.40138516548658854, + -0.9159093562833079, + -1.3877787725142413e-17, + -508.85874346808885 + ], + [ + -0.40896227942633623, + -0.17922231177048628, + -0.8947788648431841, + 212.06530034040043 + ], + [ + 0.8195363314990074, + 0.3591509647184673, + -0.4465095585706348, + -412.6787590882772 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.40138516548658854, + -0.40896227942633623, + 0.8195363314990074, + 629.1802987777934 + ], + [ + -0.9159093562833079, + -0.17922231177048628, + 0.3591509647184673, + -279.8476763709137 + ], + [ + -1.3877787725142413e-17, + -0.8947788648431841, + -0.4465095585706348, + 5.486538493223314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62918.029877779336, + 27984.76763709137, + 548.6538493223314 + ], + "rotation_deg": [ + 8.886426613662906e-16, + -26.519960403442397, + -23.664800643920913 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 252.15803612789105 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 112.5071780742881 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -626.7843684454319 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 628.5801206551438 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -271.97480062275525 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62858.01206551438, + 27197.480062275525, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 120, + "time": 460.2061101309955, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.36301482586385064, + 0.9317833633431313, + -1.7347234625736584e-18, + 488.84685367904456 + ], + [ + 0.047278556258765654, + 0.018419320995163375, + -0.9987119037701332, + -22.13875089551927 + ], + [ + -0.9305831444667557, + -0.362547207859441, + -0.05073985916110164, + 501.65167270608725 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.36301482586385064, + 0.047278556258765654, + -0.9305831444667557, + 645.3339210217173 + ], + [ + 0.9317833633431313, + 0.018419320995163375, + -0.362547207859441, + -273.2191652380467 + ], + [ + -1.7347234625736584e-18, + -0.9987119037701332, + -0.05073985916110164, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64533.392102171725, + 27321.916523804666, + 334.35004389556343 + ], + "rotation_deg": [ + 9.952052581181306e-17, + -2.9084286689758314, + 158.71453857421875 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5968563661529868, + 0.8023481028722207, + -1.3877787704270115e-17, + -155.74693982615383 + ], + [ + 0.15209174683316296, + -0.11313908141832862, + -0.9818694662739308, + -125.1673782843288 + ], + [ + -0.7878011146666137, + 0.5860350262408981, + -0.18955830698988343, + 676.7525631553222 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5968563661529868, + 0.15209174683316296, + -0.7878011146666137, + 645.1418916371821 + ], + [ + 0.8023481028722207, + -0.11313908141832862, + 0.5860350262408981, + -285.7987754300178 + ], + [ + -1.3877787704270115e-17, + -0.9818694662739308, + -0.18955830698988343, + 5.386041703410434 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64514.18916371821, + 28579.877543001785, + 538.6041703410434 + ], + "rotation_deg": [ + 8.098211604543635e-16, + -10.927008628845213, + -143.35491943359375 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.4160973020319035, + -0.9093200950390189, + 1.3877787726001658e-17, + -516.2713407520358 + ], + [ + -0.4119837545735464, + -0.18852033480209265, + -0.8914760060335837, + 211.34620166876618 + ], + [ + 0.8106370437977303, + 0.3709407629449293, + -0.45306791279973707, + -403.7441724783839 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.4160973020319035, + -0.4119837545735464, + 0.8106370437977303, + 629.1802990781506 + ], + [ + -0.9093200950390189, + -0.18852033480209265, + 0.3709407629449293, + -279.84767652481264 + ], + [ + 1.3877787726001658e-17, + -0.8914760060335837, + -0.45306791279973707, + 5.486538493223314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62918.02990781506, + 27984.767652481263, + 548.6538493223314 + ], + "rotation_deg": [ + -8.919350228791602e-16, + -26.940689086914073, + -24.58843803405763 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 252.0960236859133 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 112.48707524785019 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -626.6680580290943 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 628.452807961289 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -271.9351867663968 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62845.2807961289, + 27193.518676639676, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 121, + "time": 460.2727768011391, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.36589781272373423, + 0.930655033105171, + -1.7347234625736584e-18, + 490.27836892875075 + ], + [ + 0.04722130494184744, + 0.01856560334126499, + -0.9987119037701332, + -22.0565620064087 + ], + [ + -0.9294562676797637, + -0.36542648120123317, + -0.05073985916110163, + 500.0339500134674 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.36589781272373423, + 0.04722130494184744, + -0.9294562676797637, + 645.1929976959248 + ], + [ + 0.930655033105171, + 0.01856560334126499, + -0.36542648120123317, + -273.1448853169375 + ], + [ + -1.7347234625736584e-18, + -0.9987119037701332, + -0.05073985916110163, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64519.29976959247, + 27314.488531693754, + 334.35004389556343 + ], + "rotation_deg": [ + 9.952052581181306e-17, + -2.908428668975831, + 158.5371551513672 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5963284518493864, + 0.8027405418408327, + -2.0816681556314472e-17, + -155.25906790465675 + ], + [ + 0.15102719504585996, + -0.11219292998747092, + -0.9821423180055965, + -124.20527837848164 + ], + [ + -0.788405467653544, + 0.5856793925430351, + -0.18813949007164335, + 676.9540467338352 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5963284518493864, + 0.15102719504585996, + -0.788405467653544, + 645.0580364741153 + ], + [ + 0.8027405418408327, + -0.11219292998747092, + 0.5856793925430351, + -285.7802495098651 + ], + [ + -2.0816681556314472e-17, + -0.9821423180055965, + -0.18813949007164335, + 5.374527642567376 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64505.80364741153, + 28578.024950986506, + 537.4527642567376 + ], + "rotation_deg": [ + 1.214394272620069e-15, + -10.844226837158201, + -143.39260864257812 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.4312359797842286, + -0.9022391754626575, + -0.0, + -523.8147198929607 + ], + [ + -0.41475872441765066, + -0.19823888139925394, + -0.8880746288578542, + 210.35378363677313 + ], + [ + 0.8012557180326605, + 0.38296973473091467, + -0.45969931107202927, + -394.43896406050976 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.4312359797842286, + -0.41475872441765066, + 0.8012557180326605, + 629.1802993424649 + ], + [ + -0.9022391754626575, + -0.19823888139925394, + 0.38296973473091467, + -279.8476766602437 + ], + [ + -0.0, + -0.8880746288578542, + -0.45969931107202927, + 5.486538493223314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62918.02993424649, + 27984.76766602437, + 548.6538493223314 + ], + "rotation_deg": [ + 0.0, + -27.367706298828143, + -25.54602432250978 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 252.03395424214636 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 112.46697752479675 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -626.5517771397875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 628.325476149406 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -271.8956344047133 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62832.547614940595, + 27189.56344047133, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 122, + "time": 460.3394434712827, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.36877729254735275, + 0.9295177827784921, + 1.7347234625736584e-18, + 491.7045983971684 + ], + [ + 0.047163601020887444, + 0.01871170774084182, + -0.9987119037701332, + -21.974159411450024 + ], + [ + -0.9283204822937726, + -0.36830225202429717, + -0.05073985916110163, + 498.412020951559 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.36877729254735275, + 0.047163601020887444, + -0.9283204822937726, + 645.0519450147957 + ], + [ + 0.9295177827784921, + 0.01871170774084182, + -0.36830225202429717, + -273.07071824218724 + ], + [ + 1.7347234625736584e-18, + -0.9987119037701332, + -0.05073985916110163, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64505.19450147957, + 27307.071824218725, + 334.35004389556343 + ], + "rotation_deg": [ + -9.952052581181306e-17, + -2.908428668975831, + 158.35977172851562 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5958037017024507, + 0.8031300947154557, + 1.3877787704150031e-17, + -154.77409483800267 + ], + [ + 0.14996779332073754, + -0.11125391388589435, + -0.9824114349963453, + -123.24878360859383 + ], + [ + -0.7890041999703835, + 0.5853243541036414, + -0.18672914320547485, + 677.1520891845352 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5958037017024507, + 0.14996779332073754, + -0.7890041999703835, + 644.9741594015641 + ], + [ + 0.8031300947154557, + -0.11125391388589435, + 0.5853243541036414, + -285.7617941924933 + ], + [ + 1.3877787704150031e-17, + -0.9824114349963453, + -0.18672914320547485, + 5.36301358172432 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64497.4159401564, + 28576.17941924933, + 536.301358172432 + ], + "rotation_deg": [ + -8.093744049189928e-16, + -10.761961936950684, + -143.43005371093747 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.44680495603630915, + -0.894631394073219, + 1.387778772781442e-17, + -531.4813932958741 + ], + [ + -0.4172529157335897, + -0.20838825007197367, + -0.8845757975118683, + 209.06360603227918 + ], + [ + 0.7913692759050577, + 0.39523285237428735, + -0.4663964639205462, + -384.7500604121914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.44680495603630915, + -0.4172529157335897, + 0.7913692759050577, + 629.1802995750616 + ], + [ + -0.894631394073219, + -0.20838825007197367, + 0.39523285237428735, + -279.84767677942307 + ], + [ + 1.387778772781442e-17, + -0.8845757975118683, + -0.4663964639205462, + 5.486538493223314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62918.02995750616, + 27984.767677942305, + 548.6538493223314 + ], + "rotation_deg": [ + -8.988926377798417e-16, + -27.800636291503917, + -26.538877487182628 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 251.9718193823289 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 112.44688566583669 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -626.4355301788022 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 628.1981224280386 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -271.8561526458109 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62819.812242803855, + 27185.61526458109, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 123, + "time": 460.4061101414263, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.37165299049530387, + 0.9283717222405568, + -0.0, + 493.12540451521534 + ], + [ + 0.047105450071052594, + 0.01885762024858141, + -0.9987119037701333, + -21.891550338194442 + ], + [ + -0.9271758980447076, + -0.37117424584324527, + -0.050739859161101644, + 496.78602778014624 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.37165299049530387, + 0.047105450071052594, + -0.9271758980447076, + 644.9107603600586 + ], + [ + 0.9283717222405568, + 0.01885762024858141, + -0.37117424584324527, + -272.99667337253095 + ], + [ + -0.0, + -0.9987119037701333, + -0.050739859161101644, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64491.076036005856, + 27299.667337253097, + 334.35004389556343 + ], + "rotation_deg": [ + 0.0, + -2.908428668975832, + 158.18240356445315 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5952823349054783, + 0.803516609504422, + -0.0, + -154.29219551886885 + ], + [ + 0.1489134780748156, + -0.11032200439757572, + -0.9826768702851221, + -122.2978431184854 + ], + [ + -0.7895971981813918, + 0.5849701663260439, + -0.1853271948003744, + 677.3466940338358 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5952823349054783, + 0.1489134780748156, + -0.7895971981813918, + 644.8902576699624 + ], + [ + 0.803516609504422, + -0.11032200439757572, + 0.5849701663260439, + -285.74341850420495 + ], + [ + -0.0, + -0.9826768702851221, + -0.1853271948003744, + 5.351499520881261 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64489.02576699624, + 28574.341850420496, + 535.1499520881262 + ], + "rotation_deg": [ + 0.0, + -10.680209159851074, + -143.4672393798828 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.4628063341833054, + -0.8864594164651928, + 1.3877787728768323e-17, + -539.2622364314149 + ], + [ + -0.41942916856533696, + -0.2189772846311654, + -0.880981339968192, + 207.44982365339155 + ], + [ + 0.7809542014239066, + 0.4077237465093361, + -0.4731510137479776, + -374.664494044909 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.4628063341833054, + -0.41942916856533696, + 0.7809542014239066, + 629.1802997797466 + ], + [ + -0.8864594164651928, + -0.2189772846311654, + 0.4077237465093361, + -279.8476768843009 + ], + [ + 1.3877787728768323e-17, + -0.880981339968192, + -0.4731510137479776, + 5.486538493223314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62918.029977974664, + 27984.76768843009, + 548.6538493223314 + ], + "rotation_deg": [ + -9.02560174571931e-16, + -28.239030838012717, + -27.56834411621096 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 251.9096107796646 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 112.42680042687216 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -626.3193215196173 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 628.0707440476208 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -271.81675051599194 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62807.074404762076, + 27181.67505159919, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 124, + "time": 460.47277681156993, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.37452537379066486, + 0.9272166652875491, + -0.0, + 494.54104736991246 + ], + [ + 0.04704684264438752, + 0.019003364571316704, + -0.9987119037701333, + -21.80872204292019 + ], + [ + -0.9260223289686091, + -0.37404292927933386, + -0.05073985916110162, + 495.15571966474243 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.37452537379066486, + 0.04704684264438752, + -0.9260223289686091, + 644.7694411516055 + ], + [ + 0.9272166652875491, + 0.019003364571316704, + -0.37404292927933386, + -272.9227600059697 + ], + [ + -0.0, + -0.9987119037701333, + -0.05073985916110162, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64476.94411516056, + 27292.27600059697, + 334.35004389556343 + ], + "rotation_deg": [ + 0.0, + -2.9084286689758305, + 158.00502014160156 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5947641428362207, + 0.8039002515214778, + 6.938893852016657e-18, + -153.81317829815956 + ], + [ + 0.14786428394257473, + -0.10939712225335384, + -0.9829386670473567, + -121.35245499686219 + ], + [ + -0.7901846528002326, + 0.5846166582793029, + -0.18393362210677197, + 677.5379392415746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5947641428362207, + 0.14786428394257473, + -0.7901846528002326, + 644.8063285668798 + ], + [ + 0.8039002515214778, + -0.10939712225335384, + 0.5846166582793029, + -285.7251314109763 + ], + [ + 6.938893852016657e-18, + -0.9829386670473567, + -0.18393362210677197, + 5.3399854600382035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64480.632856687975, + 28572.513141097632, + 533.9985460038204 + ], + "rotation_deg": [ + -4.0447013493100516e-16, + -10.598966598510744, + -143.50418090820312 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.4792400772701258, + -0.877683854436279, + -0.0, + -547.146203353464 + ], + [ + -0.4212474651425156, + -0.23001296733936952, + -0.8772939119626574, + 205.4853187091406 + ], + [ + 0.7699866988636035, + 0.42043440424667966, + -0.4799535345206553, + -364.16958726453436 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.4792400772701258, + -0.4212474651425156, + 0.7699866988636035, + 629.1802999598696 + ], + [ + -0.877683854436279, + -0.23001296733936952, + 0.42043440424667966, + -279.8476769765934 + ], + [ + -0.0, + -0.8772939119626574, + -0.4799535345206553, + 5.486538493223314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62918.02999598695, + 27984.76769765934, + 548.6538493223314 + ], + "rotation_deg": [ + 0.0, + -28.682367324829112, + -28.635782241821303 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 251.84732017627275 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 112.4067225610125 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -626.2031555195535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 627.943338295722 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -271.77743698123265 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62794.3338295722, + 27177.743698123264, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 125, + "time": 460.53944348171353, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.3773941673568098, + 0.9260527212016927, + 1.7347234625736584e-18, + 495.95138885472494 + ], + [ + 0.04698778428585687, + 0.019148926751698565, + -0.9987119037701332, + -21.72568173374909 + ], + [ + -0.9248598842069304, + -0.3769080276102573, + -0.05073985916110163, + 493.52123848270287 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.3773941673568098, + 0.04698778428585687, + -0.9248598842069304, + 644.6279848427419 + ], + [ + 0.9260527212016927, + 0.019148926751698565, + -0.3769080276102573, + -272.84898740129995 + ], + [ + 1.7347234625736584e-18, + -0.9987119037701332, + -0.05073985916110163, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64462.798484274186, + 27284.898740129996, + 334.35004389556343 + ], + "rotation_deg": [ + -9.952052581181306e-17, + -2.908428668975831, + 157.82763671875003 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5942493448072396, + 0.8042808689731258, + -6.938893851988095e-18, + -153.33721815109158 + ], + [ + 0.14682012060828442, + -0.10847921894174535, + -0.9831968832550056, + -120.41254546080333 + ], + [ + -0.7907664547658373, + 0.5842640881904017, + -0.18254832036506863, + 677.725831736219 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5942493448072396, + 0.14682012060828442, + -0.7907664547658373, + 644.7223694122715 + ], + [ + 0.8042808689731258, + -0.10847921894174535, + 0.5842640881904017, + -285.70694183999046 + ], + [ + -6.938893851988095e-18, + -0.9831968832550056, + -0.18254832036506863, + 5.328471399195146 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64472.23694122715, + 28570.694183999047, + 532.8471399195146 + ], + "rotation_deg": [ + 4.043639092627139e-16, + -10.518227577209469, + -143.54086303710935 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.4961037785286341, + -0.8682632325105168, + -0.0, + -555.1201729572812 + ], + [ + -0.42266474765631207, + -0.24150000888193573, + -0.8735171760181082, + 203.14170189552144 + ], + [ + 0.7584428434957309, + 0.4333551737309664, + -0.4867933304295715, + -353.25304683803853 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.4961037785286341, + -0.42266474765631207, + 0.7584428434957309, + 629.1803001183777 + ], + [ + -0.8682632325105168, + -0.24150000888193573, + 0.4333551737309664, + -279.8476770578108 + ], + [ + -0.0, + -0.8735171760181082, + -0.4867933304295715, + 5.486538493223314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62918.03001183776, + 27984.76770578108, + 548.6538493223314 + ], + "rotation_deg": [ + 0.0, + -29.130033493042014, + -29.742561340332042 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 251.78493936460376 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 112.38665282059537 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -626.0870365314671 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 627.8159024922975 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -271.7382209687162 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62781.590249229754, + 27173.822096871616, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 126, + "time": 460.60611015185714, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.3802590973866652, + 0.9248800024082467, + -0.0, + 497.356292579923 + ], + [ + 0.04692828069990239, + 0.019294292896794747, + -0.9987119037701333, + -21.64243669416679 + ], + [ + -0.9236886760401112, + -0.37976926738162714, + -0.05073985916110163, + 491.8827275947686 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.3802590973866652, + 0.04692828069990239, + -0.9236886760401112, + 644.4863889154316 + ], + [ + 0.9248800024082467, + 0.019294292896794747, + -0.37976926738162714, + -272.77536479980034 + ], + [ + -0.0, + -0.9987119037701333, + -0.05073985916110163, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64448.63889154315, + 27277.536479980034, + 334.35004389556343 + ], + "rotation_deg": [ + 0.0, + -2.908428668975831, + 157.6502685546875 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5937377319056181, + 0.804658626817343, + -6.938893851959937e-18, + -152.86412344844268 + ], + [ + 0.14578099497646355, + -0.10756819653400405, + -0.9834515669813607, + -119.47808935417947 + ], + [ + -0.7913427985575269, + 0.5839122873055124, + -0.18117123365696308, + 677.9104524132323 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5937377319056181, + 0.14578099497646355, + -0.7913427985575269, + 644.6383775537253 + ], + [ + 0.804658626817343, + -0.10756819653400405, + 0.5839122873055124, + -285.6888587013269 + ], + [ + -6.938893851959937e-18, + -0.9834515669813607, + -0.18117123365696308, + 5.316957338352089 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64463.83775537253, + 28568.885870132694, + 531.6957338352089 + ], + "rotation_deg": [ + 4.042591914379775e-16, + -10.437988281249996, + -143.57730102539062 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.5133922136897259, + -0.8581540857694278, + -2.775557546363593e-17, + -563.1686946809288 + ], + [ + -0.4236350582780299, + -0.25344042983950804, + -0.869655843377445, + 200.3895178464427 + ], + [ + 0.7462987116487113, + 0.4464745406829306, + -0.4936585029283296, + -341.9031079908893 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5133922136897259, + -0.4236350582780299, + 0.7462987116487113, + 629.1803002578648 + ], + [ + -0.8581540857694278, + -0.25344042983950804, + 0.4464745406829306, + -279.84767712928215 + ], + [ + -2.775557546363593e-17, + -0.869655843377445, + -0.4936585029283296, + 5.486538493223314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62918.03002578648, + 27984.767712928213, + 548.6538493223314 + ], + "rotation_deg": [ + 1.8286283665570298e-15, + -29.58132934570314, + -30.89004898071291 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 251.72246016874146 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 112.36659195922654 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -625.9709689155504 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 627.6884339849352 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -271.69911138852194 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62768.84339849352, + 27169.911138852196, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 127, + "time": 460.67277682200074, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.38312062935381047, + 0.9236983183721512, + -0.0, + 498.7560159478643 + ], + [ + 0.046868322218802036, + 0.019439486624668927, + -0.9987119037701333, + -21.55897406284531 + ], + [ + -0.9225085141785279, + -0.3826271134674548, + -0.05073985916110162, + 490.23993385161174 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.38312062935381047, + 0.046868322218802036, + -0.9225085141785279, + 644.3446508755267 + ], + [ + 0.9236983183721512, + 0.019439486624668927, + -0.3826271134674548, + -272.7019014472048 + ], + [ + -0.0, + -0.9987119037701333, + -0.05073985916110162, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64434.46508755267, + 27270.19014472048, + 334.35004389556343 + ], + "rotation_deg": [ + 0.0, + -2.9084286689758305, + 157.47288513183594 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5932295235606112, + 0.8050333734548214, + -2.0816681555796523e-17, + -152.39406916691448 + ], + [ + 0.14474685572706847, + -0.10666403541925246, + -0.983702765730181, + -118.5490463608151 + ], + [ + -0.7919135671006118, + 0.5835615075138172, + -0.17980230585336307, + 678.0918014722346 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5932295235606112, + 0.14474685572706847, + -0.7919135671006118, + 644.5543503616927 + ], + [ + 0.8050333734548214, + -0.10666403541925246, + 0.5835615075138172, + -285.6708909099381 + ], + [ + -2.0816681555796523e-17, + -0.983702765730181, + -0.17980230585336307, + 5.305443277509031 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64455.43503616928, + 28567.089090993813, + 530.5443277509031 + ], + "rotation_deg": [ + 1.2124678789215334e-15, + -10.358244895935055, + -143.61347961425778 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.5310968894383274, + -0.8473110963683484, + -0.0, + -571.2737426058554 + ], + [ + -0.42410952448118044, + -0.265832998291343, + -0.8657158472985126, + 197.1983942348807 + ], + [ + 0.7335306400016105, + 0.45977899573964814, + -0.5005357881864875, + -330.1087355659836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5310968894383274, + -0.42410952448118044, + 0.7335306400016105, + 629.1803003806135 + ], + [ + -0.8473110963683484, + -0.265832998291343, + 0.45977899573964814, + -279.8476771921769 + ], + [ + -0.0, + -0.8657158472985126, + -0.5005357881864875, + 5.486538493223314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62918.03003806135, + 27984.76771921769, + 548.6538493223314 + ], + "rotation_deg": [ + 0.0, + -30.035453796386744, + -32.07959747314455 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 251.65987442549084 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 112.34654073385192 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -625.8549570513225 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 627.5609301440866 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -271.6601171556025 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62756.09301440865, + 27166.011715560253, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 128, + "time": 460.73944349214435, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.3859784892084301, + 0.9225077809256558, + -0.0, + 500.150397184268 + ], + [ + 0.04680791451690838, + 0.019584494030072182, + -0.9987119037701333, + -21.475302150093686 + ], + [ + -0.9213195103103741, + -0.3854812921709227, + -0.05073985916110163, + 488.59302082492195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.3859784892084301, + 0.04680791451690838, + -0.9213195103103741, + 644.2027777014883 + ], + [ + 0.9225077809256558, + 0.019584494030072182, + -0.3854812921709227, + -272.6285756102926 + ], + [ + -0.0, + -0.9987119037701333, + -0.05073985916110163, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64420.27777014883, + 27262.85756102926, + 334.35004389556343 + ], + "rotation_deg": [ + 0.0, + -2.908428668975831, + 157.2955017089844 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5927242960799207, + 0.8054054313428499, + -6.938893851904805e-18, + -151.92671086772697 + ], + [ + 0.14371773656546347, + -0.1057666001804025, + -0.9839505264406228, + -117.62539597129377 + ], + [ + -0.7924791092949574, + 0.5832113676239891, + -0.17844148061823242, + 678.2699880232268 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5927242960799207, + 0.14371773656546347, + -0.7924791092949574, + 644.4702946782106 + ], + [ + 0.8054054313428499, + -0.1057666001804025, + 0.5832113676239891, + -285.6530164022427 + ], + [ + -6.938893851904805e-18, + -0.9839505264406228, + -0.17844148061823242, + 5.293929216665974 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64447.02946782106, + 28565.301640224272, + 529.3929216665974 + ], + "rotation_deg": [ + 4.0405419235997503e-16, + -10.278993606567381, + -143.6494293212891 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.5492092633456426, + -0.8356848598935706, + -0.0, + -579.4161162950902 + ], + [ + -0.4240336291548197, + -0.2786734668515557, + -0.8617056227150474, + 193.535264868845 + ], + [ + 0.7201143387085922, + 0.47325671236662503, + -0.5074085369662402, + -317.8580478473897 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5492092633456426, + -0.4240336291548197, + 0.7201143387085922, + 629.1803004886324 + ], + [ + -0.8356848598935706, + -0.2786734668515557, + 0.47325671236662503, + -279.84767724752425 + ], + [ + -0.0, + -0.8617056227150474, + -0.5074085369662402, + 5.486538493223314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62918.030048863235, + 27984.767724752426, + 548.6538493223314 + ], + "rotation_deg": [ + 0.0, + -30.49136734008792, + -33.31278228759769 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 251.59720257421054 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 112.32649731135356 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -625.7389903327759 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 627.4333978117883 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -271.62121620637646 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62743.33978117882, + 27162.121620637645, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 129, + "time": 460.80611016228795, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.38883264955867447, + 0.9213084014797546, + -1.7347234625736584e-18, + 501.53930855871465 + ], + [ + 0.04674705817321364, + 0.019729313723145916, + -0.9987119037701332, + -21.39142671250629 + ], + [ + -0.9201216758319453, + -0.3883317761354636, + -0.05073985916110162, + 486.9421018216607 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.38883264955867447, + 0.04674705817321364, + -0.9201216758319453, + 644.0608134445858 + ], + [ + 0.9213084014797546, + 0.019729313723145916, + -0.3883317761354636, + -272.55524381067875 + ], + [ + -1.7347234625736584e-18, + -0.9987119037701332, + -0.05073985916110162, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64406.08134445859, + 27255.524381067873, + 334.35004389556343 + ], + "rotation_deg": [ + 9.952052581181306e-17, + -2.9084286689758305, + 157.11811828613284 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.592222268712073, + 0.8057746486714042, + 6.9388938518778234e-18, + -151.46237412095056 + ], + [ + 0.14269357187063117, + -0.10487586200830724, + -0.9841948984397427, + -116.70707668655375 + ], + [ + -0.793039309640469, + 0.5828621200584828, + -0.17708868503069042, + 678.4449612174466 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.592222268712073, + 0.14269357187063117, + -0.793039309640469, + 644.3862544171022 + ], + [ + 0.8057746486714042, + -0.10487586200830724, + 0.5828621200584828, + -285.6350913699188 + ], + [ + 6.9388938518778234e-18, + -0.9841948984397427, + -0.17708868503069042, + 5.282415155822917 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64438.625441710225, + 28563.50913699188, + 528.2415155822916 + ], + "rotation_deg": [ + -4.0395386717799904e-16, + -10.20022964477539, + -143.6851348876953 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.5677304348228269, + -0.8232145245170812, + -0.0, + -587.5794782349601 + ], + [ + -0.423338196049844, + -0.29195546356702085, + -0.8576402387123807, + 189.35847126905531 + ], + [ + 0.7060218972698593, + 0.48690846772612284, + -0.514250157639322, + -305.13341250886026 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5677304348228269, + -0.423338196049844, + 0.7060218972698593, + 629.1803005836889 + ], + [ + -0.8232145245170812, + -0.29195546356702085, + 0.48690846772612284, + -279.84767729622996 + ], + [ + -0.0, + -0.8576402387123807, + -0.514250157639322, + 5.486538493223314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62918.030058368895, + 27984.767729622996, + 548.6538493223314 + ], + "rotation_deg": [ + 0.0, + -30.947347640991232, + -34.59211349487306 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 251.53457735450274 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 112.30644966151972 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -625.62299915582 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 627.3058809018636 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -271.58226473252194 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62730.588090186364, + 27158.22647325219, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 130, + "time": 460.87277683243155, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.3916828380106372, + 0.9201002958416721, + 1.7347234625736584e-18, + 502.9222821763011 + ], + [ + 0.046685759063760046, + 0.019873931882661802, + -0.9987119037701332, + -21.307369478750427 + ], + [ + -0.9189151264012909, + -0.39117829331803544, + -0.05073985916110163, + 485.28760452686265 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.3916828380106372, + 0.046685759063760046, + -0.9189151264012909, + 643.9188841495296 + ], + [ + 0.9201002958416721, + 0.019873931882661802, + -0.39117829331803544, + -272.4814971987707 + ], + [ + 1.7347234625736584e-18, + -0.9987119037701332, + -0.05073985916110163, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64391.88841495296, + 27248.149719877067, + 334.35004389556343 + ], + "rotation_deg": [ + -9.952052581181306e-17, + -2.908428668975831, + 156.9407501220703 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5917232316834505, + 0.8061411893000465, + -0.0, + -151.00128039882736 + ], + [ + 0.14167436511298526, + -0.1039917253752362, + -0.9844359274850314, + -115.794036864813 + ], + [ + -0.7935943604974027, + 0.5825135928341189, + -0.17574386234006797, + 678.6166582389649 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5917232316834505, + 0.14167436511298526, + -0.7935943604974027, + 644.3023554846106 + ], + [ + 0.8061411893000465, + -0.1039917253752362, + 0.5825135928341189, + -285.6167066338642 + ], + [ + -0.0, + -0.9844359274850314, + -0.17574386234006797, + 5.270901094979859 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64430.23554846107, + 28561.670663386423, + 527.0901094979858 + ], + "rotation_deg": [ + 0.0, + -10.121949195861818, + -143.72061157226562 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.5866845958249557, + -0.8098155253029594, + -2.7755575472548595e-17, + -595.7553842272108 + ], + [ + -0.4219238211194319, + -0.30566987014699337, + -0.8535491899453115, + 184.60818392395348 + ], + [ + 0.6912173814042512, + 0.5007641635791282, + -0.5210122686842853, + -291.90411791856775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5866845958249557, + -0.4219238211194319, + 0.6912173814042512, + 629.1803006673388 + ], + [ + -0.8098155253029594, + -0.30566987014699337, + 0.5007641635791282, + -279.847677339091 + ], + [ + -2.7755575472548595e-17, + -0.8535491899453115, + -0.5210122686842853, + 5.486538493223314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62918.030066733874, + 27984.7677339091, + 548.6538493223314 + ], + "rotation_deg": [ + 1.8631349705277364e-15, + -31.40017700195313, + -35.92208862304688 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 251.47237712884507 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 112.28636367003472 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -625.5067861427214 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 627.1785053205559 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -271.5428535549367 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62717.85053205559, + 27154.28535549367, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 131, + "time": 460.93944350257516, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.39452951764279093, + 0.918883267726944, + -0.0, + 504.2990953937217 + ], + [ + 0.046624007229101566, + 0.02001837200515613, + -0.9987119037701333, + -21.22313876798734 + ], + [ + -0.9176996659867878, + -0.3940213062006289, + -0.050739859161101616, + 483.62969268645156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.39452951764279093, + 0.046624007229101566, + -0.9176996659867878, + 643.7771802500903 + ], + [ + 0.918883267726944, + 0.02001837200515613, + -0.3940213062006289, + -272.4067395627012 + ], + [ + -0.0, + -0.9987119037701333, + -0.050739859161101616, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64377.71802500903, + 27240.673956270122, + 334.35004389556343 + ], + "rotation_deg": [ + 0.0, + -2.90842866897583, + 156.76336669921875 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5912276191485869, + 0.8065047441620496, + 6.938893851824989e-18, + -150.54439067454456 + ], + [ + 0.1406600360280411, + -0.10311420833192717, + -0.9846736587848127, + -114.88619403035631 + ], + [ + -0.7941439883851705, + 0.5821662473468786, + -0.174406955600249, + 678.784839912733 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5912276191485869, + 0.1406600360280411, + -0.7941439883851705, + 644.2187881750203 + ], + [ + 0.8065047441620496, + -0.10311420833192717, + 0.5821662473468786, + -285.59726565313247 + ], + [ + 6.938893851824989e-18, + -0.9846736587848127, + -0.174406955600249, + 5.2593870341368 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64421.87881750204, + 28559.726565313245, + 525.9387034136801 + ], + "rotation_deg": [ + -4.0375745987681423e-16, + -10.044148445129391, + -143.75582885742188 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.6061039420253701, + -0.7953854483590371, + -2.775557547484809e-17, + -603.9354308663861 + ], + [ + -0.4196662061087158, + -0.31979632313125417, + -0.8494766548658337, + 179.21213787438666 + ], + [ + 0.6756613655970946, + 0.5148711512039205, + -0.5276262092593766, + -278.1324838855454 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.6061039420253701, + -0.4196662061087158, + 0.6756613655970946, + 629.1803007409505 + ], + [ + -0.7953854483590371, + -0.31979632313125417, + 0.5148711512039205, + -279.8476773768087 + ], + [ + -2.775557547484809e-17, + -0.8494766548658337, + -0.5276262092593766, + 5.486538493223314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62918.030074095055, + 27984.767737680868, + 548.6538493223314 + ], + "rotation_deg": [ + 1.8720671555543233e-15, + -31.84520721435546, + -37.30832290649415 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 251.41115827376663 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 112.26619041294958 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -625.3900682305498 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 627.0514613621494 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -271.50238613267425 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62705.14613621495, + 27150.238613267426, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 132, + "time": 461.00611017271876, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.397372415811164, + 0.9176574323528356, + 1.7347234625736584e-18, + 505.6691248899467 + ], + [ + 0.04656180851534603, + 0.0201626202567123, + -0.9987119037701332, + -21.138765376220135 + ], + [ + -0.9164754096572857, + -0.3968605424904591, + -0.05073985916110164, + 481.9689724576971 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.397372415811164, + 0.04656180851534603, + -0.9164754096572857, + 643.6359185482813 + ], + [ + 0.9176574323528356, + 0.0201626202567123, + -0.3968605424904591, + -272.330344879167 + ], + [ + 1.7347234625736584e-18, + -0.9987119037701332, + -0.05073985916110164, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64363.59185482813, + 27233.0344879167, + 334.35004389556343 + ], + "rotation_deg": [ + -9.952052581181306e-17, + -2.9084286689758314, + 156.58598327636722 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5907347915887069, + 0.8068657918183462, + -1.3877787703598254e-17, + -150.09178934316435 + ], + [ + 0.1396506287227997, + -0.10224313124972317, + -0.9849081398839072, + -113.98349131218852 + ], + [ + -0.7946886972784235, + 0.5818194891614507, + -0.1730778912797078, + 678.9494711432679 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5907347915887069, + 0.1396506287227997, + -0.7946886972784235, + 644.1357691498401 + ], + [ + 0.8068657918183462, + -0.10224313124972317, + 0.5818194891614507, + -285.57614207577393 + ], + [ + -1.3877787703598254e-17, + -0.9849081398839072, + -0.1730778912797078, + 5.2478729732937435 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64413.57691498401, + 28557.614207577393, + 524.7872973293744 + ], + "rotation_deg": [ + 8.07322671379171e-16, + -9.966822624206541, + -143.79083251953125 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.6260042584056107, + -0.7798196384152182, + -0.0, + -612.1002622185144 + ], + [ + -0.4164328142506881, + -0.33429360100567085, + -0.8454770839838968, + 173.09877808757773 + ], + [ + 0.6593196293301613, + 0.5292722569541731, + -0.534011708110014, + -263.7854350905209 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.6260042584056107, + -0.4164328142506881, + 0.6593196293301613, + 629.180300805729 + ], + [ + -0.7798196384152182, + -0.33429360100567085, + 0.5292722569541731, + -279.84767741000024 + ], + [ + -0.0, + -0.8454770839838968, + -0.534011708110014, + 5.486538493223314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62918.03008057289, + 27984.767741000025, + 548.6538493223314 + ], + "rotation_deg": [ + 0.0, + -32.276912689208984, + -38.75593566894533 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 251.35151688980218 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 112.24588055158407 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -625.272559956833 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 626.9249656881531 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -271.46023611378513 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62692.49656881531, + 27146.02361137851, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 133, + "time": 461.07277684286237, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.400211261209144, + 0.9164229080514008, + -0.0, + 507.0318238763035 + ], + [ + 0.04649916892664509, + 0.0203066628712711, + -0.9987119037701333, + -21.054279036376656 + ], + [ + -0.9152424755924111, + -0.39969573123037766, + -0.05073985916110164, + 480.3060290733776 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.400211261209144, + 0.04649916892664509, + -0.9152424755924111, + 643.4953174315956 + ], + [ + 0.9164229080514008, + 0.0203066628712711, + -0.39969573123037766, + -272.2517618370494 + ], + [ + -0.0, + -0.9987119037701333, + -0.05073985916110164, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64349.53174315956, + 27225.17618370494, + 334.35004389556343 + ], + "rotation_deg": [ + 0.0, + -2.9084286689758314, + 156.40861511230472 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5902451831797805, + 0.8072240232631007, + -1.3877787703547264e-17, + -149.644418549313 + ], + [ + 0.13864607556652295, + -0.10137852183723635, + -0.9851394119819279, + -113.08586817413726 + ], + [ + -0.795228210736564, + 0.5814737770839971, + -0.17175662843801304, + 679.1103610422192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5902451831797805, + 0.13864607556652295, + -0.795228210736564, + 644.0535166550416 + ], + [ + 0.8072240232631007, + -0.10137852183723635, + 0.5814737770839971, + -285.5527842624607 + ], + [ + -1.3877787703547264e-17, + -0.9851394119819279, + -0.17175662843801304, + 5.236358912450686 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64405.35166550416, + 28555.27842624607, + 523.6358912450686 + ], + "rotation_deg": [ + 8.071331436751323e-16, + -9.889968872070309, + -143.82559204101562 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.6463695830622089, + -0.7630244832847675, + -0.0, + -620.213638216095 + ], + [ + -0.41209748864549745, + -0.3490940169705707, + -0.8416109713920232, + 166.20800302447458 + ], + [ + 0.642169771790246, + 0.5439917346325406, + -0.540084231255036, + -248.8425538125335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.6463695830622089, + -0.41209748864549745, + 0.642169771790246, + 629.1803008627338 + ], + [ + -0.7630244832847675, + -0.3490940169705707, + 0.5439917346325406, + -279.84767743920884 + ], + [ + -0.0, + -0.8416109713920232, + -0.540084231255036, + 5.486538493223314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62918.030086273386, + 27984.767743920882, + 548.6538493223314 + ], + "rotation_deg": [ + 0.0, + -32.68937301635743, + -40.268440246582045 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 251.2939973680694 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 112.22539393565255 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -625.1540290210768 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 626.7992365445384 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -271.4158518589412 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62679.923654453836, + 27141.58518589412, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 134, + "time": 461.139443513006, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.4030465150722651, + 0.9151794942458568, + -0.0, + 508.38713368083984 + ], + [ + 0.0464360782857611, + 0.020450523251858387, + -0.9987119037701333, + -20.96968655416992 + ], + [ + -0.9140006634737516, + -0.4025273330618099, + -0.05073985916110162, + 478.6409964902404 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.4030465150722651, + 0.0464360782857611, + -0.9140006634737516, + 643.3555870463986 + ], + [ + 0.9151794942458568, + 0.020450523251858387, + -0.4025273330618099, + -272.1705500785649 + ], + [ + -0.0, + -0.9987119037701333, + -0.05073985916110162, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64335.55870463986, + 27217.05500785649, + 334.35004389556343 + ], + "rotation_deg": [ + 0.0, + -2.9084286689758305, + 156.23123168945312 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5897583685384429, + 0.8075797587476261, + -6.938893851748493e-18, + -149.20239294132188 + ], + [ + 0.13764637775567365, + -0.10052023010866595, + -0.9853675243428935, + -112.1932686360302 + ], + [ + -0.7957628787068092, + 0.5811287279564045, + -0.17044307676178533, + 679.2675406071849 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5897583685384429, + 0.13764637775567365, + -0.7957628787068092, + 643.9722406944534 + ], + [ + 0.8075797587476261, + -0.10052023010866595, + 0.5811287279564045, + -285.52675152763936 + ], + [ + -6.938893851748493e-18, + -0.9853675243428935, + -0.17044307676178533, + 5.224844851607628 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64397.224069445336, + 28552.675152763935, + 522.4844851607628 + ], + "rotation_deg": [ + 4.0347314626520377e-16, + -9.813581466674801, + -143.8601379394531 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.6671468357874144, + -0.744926237622787, + -0.0, + -628.2215243752257 + ], + [ + -0.4065505633141011, + -0.3641017166587403, + -0.8379418711313724, + 158.4979863253842 + ], + [ + 0.6242048804275794, + 0.5590302698024218, + -0.5457594934538684, + -233.29976139305626 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.6671468357874144, + -0.4065505633141011, + 0.6242048804275794, + 629.1803009128982 + ], + [ + -0.744926237622787, + -0.3641017166587403, + 0.5590302698024218, + -279.84767746491235 + ], + [ + -0.0, + -0.8379418711313724, + -0.5457594934538684, + 5.486538493223314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62918.030091289824, + 27984.767746491238, + 548.6538493223314 + ], + "rotation_deg": [ + 0.0, + -33.07658004760742, + -41.84723663330079 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 251.2390598154434 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 112.20470278434621 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -625.0343146897884 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 626.6744839351339 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -271.36879268258923 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62667.4483935134, + 27136.879268258923, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 135, + "time": 461.2061101831496, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.4058779058383792, + 0.9139273086806475, + -0.0, + 509.734698864721 + ], + [ + 0.046372542567030606, + 0.020594187619449155, + -0.9987119037701333, + -20.885013334750514 + ], + [ + -0.9127500908940804, + -0.4053550767724012, + -0.05073985916110165, + 476.97437475748944 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.4058779058383792, + 0.046372542567030606, + -0.9127500908940804, + 643.2169333256212 + ], + [ + 0.9139273086806475, + 0.020594187619449155, + -0.4053550767724012, + -272.0863624544837 + ], + [ + -0.0, + -0.9987119037701333, + -0.05073985916110165, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64321.69333256212, + 27208.63624544837, + 334.35004389556343 + ], + "rotation_deg": [ + 0.0, + -2.9084286689758323, + 156.0538482666016 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5892747821517381, + 0.807932689721131, + 1.3877787703447413e-17, + -148.7664829290973 + ], + [ + 0.13665148104640354, + -0.09966829260507606, + -0.9855925142659175, + -111.30566367012786 + ], + [ + -0.7962924221388311, + 0.5807847985117687, + -0.16913721134604864, + 679.4209276845293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5892747821517381, + 0.13665148104640354, + -0.7962924221388311, + 643.8921470574558 + ], + [ + 0.807932689721131, + -0.09966829260507606, + 0.5807847985117687, + -285.4976963947533 + ], + [ + 1.3877787703447413e-17, + -0.9855925142659175, + -0.16913721134604864, + 5.213330790764571 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64389.21470574557, + 28549.76963947533, + 521.3330790764571 + ], + "rotation_deg": [ + -8.067620837580667e-16, + -9.737658500671387, + -143.8944396972656 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.6882477843441479, + -0.7254756972810125, + 2.7755575483449907e-17, + -636.0546370444079 + ], + [ + -0.39970415340731985, + -0.3791932645114965, + -0.8345352346654106, + 149.948334831083 + ], + [ + 0.6054350260904713, + 0.5743670280615982, + -0.550954577309707, + -217.16967960065648 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.6882477843441479, + -0.39970415340731985, + 0.6054350260904713, + 629.180300957043 + ], + [ + -0.7254756972810125, + -0.3791932645114965, + 0.5743670280615982, + -279.8476774875315 + ], + [ + 2.7755575483449907e-17, + -0.8345352346654106, + -0.550954577309707, + 5.486538493223314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62918.03009570429, + 27984.76774875315, + 548.6538493223314 + ], + "rotation_deg": [ + -1.9055844252219248e-15, + -33.43252563476563, + -43.49156570434572 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 251.187095450021 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 112.183790034396 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -624.9133182387421 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 626.5509136493203 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -271.3187111081725 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62655.09136493202, + 27131.871110817254, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 136, + "time": 461.2727768532932, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.4087051633115692, + 0.9126664722024487, + 1.7347234625736584e-18, + 511.0742196811375 + ], + [ + 0.046308567902196736, + 0.020737642264340682, + -0.9987119037701332, + -20.800284421427236 + ], + [ + -0.9114908785444067, + -0.40817869251426764, + -0.05073985916110164, + 475.3066568022048 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.4087051633115692, + 0.046308567902196736, + -0.9114908785444067, + 643.0795721120708 + ], + [ + 0.9126664722024487, + 0.020737642264340682, + -0.40817869251426764, + -271.99890178903576 + ], + [ + 1.7347234625736584e-18, + -0.9987119037701332, + -0.05073985916110164, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64307.95721120708, + 27199.890178903577, + 334.35004389556343 + ], + "rotation_deg": [ + -9.952052581181306e-17, + -2.9084286689758314, + 155.8764801025391 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5887939981870294, + 0.808283135849643, + -0.0, + -148.33669103518076 + ], + [ + 0.1356613849151176, + -0.09882256066099628, + -0.9858144298737546, + -110.42301249255108 + ], + [ + -0.7968171898618281, + 0.5804416040014112, + -0.16783894150335885, + 679.5706416049817 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5887939981870294, + 0.1356613849151176, + -0.7968171898618281, + 643.8134514422926 + ], + [ + 0.808283135849643, + -0.09882256066099628, + 0.5804416040014112, + -285.4653213611515 + ], + [ + -0.0, + -0.9858144298737546, + -0.16783894150335885, + 5.2018167299215134 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64381.34514422926, + 28546.532136115147, + 520.1816729921513 + ], + "rotation_deg": [ + 0.0, + -9.662194252014162, + -143.92852783203125 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.7095544623146255, + -0.7046505978209363, + -0.0, + -643.6325234265088 + ], + [ + -0.3914945575762872, + -0.39421907986621046, + -0.8314585548646339, + 140.5611990112084 + ], + [ + 0.5858877623570667, + 0.589965129615262, + -0.5555867850824715, + -200.480419053742 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7095544623146255, + -0.3914945575762872, + 0.5858877623570667, + 629.1803009958903 + ], + [ + -0.7046505978209363, + -0.39421907986621046, + 0.589965129615262, + -279.84767750743634 + ], + [ + -0.0, + -0.8314585548646339, + -0.5555867850824715, + 5.486538493223314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62918.03009958903, + 27984.767750743635, + 548.6538493223314 + ], + "rotation_deg": [ + 0.0, + -33.75114059448242, + -45.19867706298829 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 251.13846715963518 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 112.16264583416519 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -624.7909826685888 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 626.4287413853409 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -271.26530963304003 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62642.87413853409, + 27126.530963304005, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 137, + "time": 461.3394435234368, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.41152874684464497, + 0.911396779959462, + -0.0, + 512.4058328929729 + ], + [ + 0.046244143897108285, + 0.0208809104940297, + -0.9987119037701333, + -20.71550344755364 + ], + [ + -0.9102228218368088, + -0.41099863904853606, + -0.050739859161101644, + 473.63791413963185 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.41152874684464497, + 0.046244143897108285, + -0.9102228218368088, + 642.9437258586273 + ], + [ + 0.911396779959462, + 0.0208809104940297, + -0.41099863904853606, + -271.9079247896483 + ], + [ + -0.0, + -0.9987119037701333, + -0.050739859161101644, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64294.37258586274, + 27190.79247896483, + 334.35004389556343 + ], + "rotation_deg": [ + 0.0, + -2.908428668975832, + 155.69909667968753 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5883162360858104, + 0.8086309457087483, + -1.3877787703350351e-17, + -147.9135300988165 + ], + [ + 0.13467606139421903, + -0.09798303410323134, + -0.9860333075080502, + -109.5453053588783 + ], + [ + -0.7973370570668512, + 0.5800993884822794, + -0.16654824199149798, + 679.7167138979542 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5883162360858104, + 0.13467606139421903, + -0.7973370570668512, + 643.7363761562692 + ], + [ + 0.8086309457087483, + -0.09798303410323134, + 0.5800993884822794, + -285.4293828078292 + ], + [ + -1.3877787703350351e-17, + -0.9860333075080502, + -0.16654824199149798, + 5.190302669078456 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64373.63761562692, + 28542.93828078292, + 519.0302669078455 + ], + "rotation_deg": [ + 8.06401431356791e-16, + -9.587186813354492, + -143.96238708496097 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.7309212777905219, + -0.6824617833059013, + -0.0, + -650.8666146472223 + ], + [ + -0.3818896210723758, + -0.4090064185821867, + -0.8287786597613203, + 130.365056432698 + ], + [ + 0.5656097565034194, + 0.6057719587080017, + -0.5595765697303756, + -183.27650271846204 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7309212777905219, + -0.3818896210723758, + 0.5656097565034194, + 629.180301030076 + ], + [ + -0.6824617833059013, + -0.4090064185821867, + 0.6057719587080017, + -279.8476775249526 + ], + [ + -0.0, + -0.8287786597613203, + -0.5595765697303756, + 5.486538493223314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62918.03010300759, + 27984.76775249526, + 548.6538493223314 + ], + "rotation_deg": [ + 0.0, + -34.026519775390625, + -46.96368408203126 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 251.0935044039394 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 112.14126761710381 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -624.6672931298477 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 626.3081894505013 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -271.20834463818716 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62630.81894505013, + 27120.834463818715, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 138, + "time": 461.4061101935804, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.4143483859807084, + 0.9101183522131513, + -0.0, + 513.7294343983599 + ], + [ + 0.04617927665381489, + 0.021023978585571382, + -0.9987119037701333, + -20.63068835768772 + ], + [ + -0.9089460408778376, + -0.4138146462666778, + -0.050739859161101644, + 471.96849997224507 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.4143483859807084, + 0.04617927665381489, + -0.9089460408778376, + 642.8095578113972 + ], + [ + 0.9101183522131513, + 0.021023978585571382, + -0.4138146462666778, + -271.81336473950944 + ], + [ + -0.0, + -0.9987119037701333, + -0.050739859161101644, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64280.955781139724, + 27181.33647395094, + 334.35004389556343 + ], + "rotation_deg": [ + 0.0, + -2.908428668975832, + 155.52171325683597 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5878412847397797, + 0.8089762814542123, + -2.0816681554954266e-17, + -147.49696848580857 + ], + [ + 0.13369548173380794, + -0.09714960196982447, + -0.9862491941700481, + -108.67250945341806 + ], + [ + -0.7978522168018011, + 0.5797579777167976, + -0.1652650217625643, + 679.8593168360225 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5878412847397797, + 0.13369548173380794, + -0.7978522168018011, + 643.6610842989071 + ], + [ + 0.8089762814542123, + -0.09714960196982447, + 0.5797579777167976, + -285.3898136919951 + ], + [ + -2.0816681554954266e-17, + -0.9862491941700481, + -0.1652650217625643, + 5.178788608235397 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64366.108429890715, + 28538.981369199508, + 517.8788608235398 + ], + "rotation_deg": [ + 1.2093373691519745e-15, + -9.51263046264648, + -143.99603271484375 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.7521742575903179, + -0.6589642526104539, + 2.775557548815687e-17, + -657.6628415155371 + ], + [ + -0.37090665735252126, + -0.42337112904721047, + -0.8265501428351878, + 119.42263431201636 + ], + [ + 0.5446669913006154, + 0.6217097416795717, + -0.5628630967546686, + -165.6215442040434 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7521742575903179, + -0.37090665735252126, + 0.5446669913006154, + 629.1803010601593 + ], + [ + -0.6589642526104539, + -0.42337112904721047, + 0.6217097416795717, + -279.8476775403669 + ], + [ + 2.775557548815687e-17, + -0.8265501428351878, + -0.5628630967546686, + 5.486538493223314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62918.03010601593, + 27984.76775403669, + 548.6538493223314 + ], + "rotation_deg": [ + -1.9239937946077125e-15, + -34.25403213500977, + -48.77907180786135 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 251.05236991812345 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 112.11966695124457 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -624.5423165525444 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 626.1894209443232 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -271.14774908082234 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62618.942094432314, + 27114.774908082236, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 139, + "time": 461.472776863724, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.41716405369424475, + 0.9088312012169173, + 1.7347234625736584e-18, + 515.0451686265957 + ], + [ + 0.04611396679405237, + 0.02116684516769493, + -0.9987119037701332, + -20.545843078320367 + ], + [ + -0.9076605479051105, + -0.4166266871779887, + -0.05073985916110164, + 470.2984915851116 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.41716405369424475, + 0.04611396679405237, + -0.9076605479051105, + 642.6771533513936 + ], + [ + 0.9088312012169173, + 0.02116684516769493, + -0.4166266871779887, + -271.7153215989894 + ], + [ + 1.7347234625736584e-18, + -0.9987119037701332, + -0.05073985916110164, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64267.715335139364, + 27171.53215989894, + 334.35004389556343 + ], + "rotation_deg": [ + -9.952052581181306e-17, + -2.9084286689758314, + 155.3443298339844 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5873691481754016, + 0.809319148279406, + -0.0, + -147.0869770243087 + ], + [ + 0.1327196433668546, + -0.09632222842652856, + -0.9864621252615442, + -107.80463555796048 + ], + [ + -0.7983626981400409, + 0.5794174025529558, + -0.16398925524966498, + 679.9986107622602 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5873691481754016, + 0.1327196433668546, + -0.7983626981400409, + 643.5876611036268 + ], + [ + 0.809319148279406, + -0.09632222842652856, + 0.5794174025529558, + -285.34671364849515 + ], + [ + -0.0, + -0.9864621252615442, + -0.16398925524966498, + 5.167274547392341 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64358.76611036268, + 28534.671364849513, + 516.7274547392341 + ], + "rotation_deg": [ + 0.0, + -9.438523292541504, + -144.0294647216797 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.7731250683993298, + -0.6342535996054982, + -0.0, + -663.9294601429336 + ], + [ + -0.35861252216228096, + -0.4371316629468384, + -0.8248108681375017, + 107.8270105842053 + ], + [ + 0.5231392560751058, + 0.6376819603918109, + -0.5654087336998268, + -147.59296223203697 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7731250683993298, + -0.35861252216228096, + 0.5231392560751058, + 629.1803010866327 + ], + [ + -0.6342535996054982, + -0.4371316629468384, + 0.6376819603918109, + -279.8476775539315 + ], + [ + -0.0, + -0.8248108681375017, + -0.5654087336998268, + 5.486538493223314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62918.03010866327, + 27984.767755393146, + 548.6538493223314 + ], + "rotation_deg": [ + 0.0, + -34.430679321289055, + -50.635353088378956 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 251.01505351884072 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 112.09786610011992 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -624.4161817484529 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 626.0725211002267 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -271.0836225957918 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62607.252110022666, + 27108.36225957918, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 140, + "time": 461.5394435338676, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.4199754813065117, + 0.9075354511540381, + -0.0, + 516.3531494785971 + ], + [ + 0.04604822061886275, + 0.0213094966076789, + -0.9987119037701333, + -20.46097118676051 + ], + [ + -0.9063664669419407, + -0.41943449344980555, + -0.05073985916110163, + 468.6279593903544 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.4199754813065117, + 0.04604822061886275, + -0.9063664669419407, + 642.5465077414009 + ], + [ + 0.9075354511540381, + 0.0213094966076789, + -0.41943449344980555, + -271.61404032716405 + ], + [ + -0.0, + -0.9987119037701333, + -0.05073985916110163, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64254.650774140086, + 27161.404032716408, + 334.35004389556343 + ], + "rotation_deg": [ + 0.0, + -2.908428668975831, + 155.16696166992188 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5869000460138536, + 0.8096593950476559, + -1.3877787703209814e-17, + -146.68353927155738 + ], + [ + 0.1317484781144368, + -0.09550088387854373, + -0.9866721439733394, + -106.94165521507698 + ], + [ + -0.7988683823118434, + 0.5790779110178929, + -0.162720867480516, + 680.1347345154747 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5869000460138536, + 0.1317484781144368, + -0.7988683823118434, + 643.5161016846124 + ], + [ + 0.8096593950476559, + -0.09550088387854373, + 0.5790779110178929, + -285.30032731133946 + ], + [ + -1.3877787703209814e-17, + -0.9866721439733394, + -0.162720867480516, + 5.1557604865492825 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64351.61016846124, + 28530.032731133946, + 515.5760486549283 + ], + "rotation_deg": [ + 8.058793140038173e-16, + -9.364860534667967, + -144.06266784667966 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.7935860865421468, + -0.6084579880704337, + 2.775557548992793e-17, + -669.58428774515 + ], + [ + -0.34511762976621657, + -0.4501223660016598, + -0.8235797940998894, + 95.69411771120494 + ], + [ + 0.501113698280098, + 0.6535814672103918, + -0.5672004294031826, + -129.2756448859681 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7935860865421468, + -0.34511762976621657, + 0.501113698280098, + 629.1803011099292 + ], + [ + -0.6084579880704337, + -0.4501223660016598, + 0.6535814672103918, + -279.8476775658683 + ], + [ + 2.775557548992793e-17, + -0.8235797940998894, + -0.5672004294031826, + 5.486538493223314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62918.03011099292, + 27984.76775658683, + 548.6538493223314 + ], + "rotation_deg": [ + -1.9309329311394132e-15, + -34.55523300170899, + -52.52191162109375 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 250.98137876892923 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 112.07589393640635 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -624.2890557683639 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 625.957485032396 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -271.01620981710545 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62595.7485032396, + 27101.620981710545, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 141, + "time": 461.6061102040112, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.4227831255983945, + 0.9062308915002026, + -0.0, + 517.6539320253519 + ], + [ + 0.045982027446272195, + 0.02145195608252091, + -0.9987119037701333, + -20.376048281742477 + ], + [ + -0.9050635877352012, + -0.42223852127464295, + -0.05073985916110163, + 466.95642309822637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.4227831255983945, + 0.045982027446272195, + -0.9050635877352012, + 642.4175210559903 + ], + [ + 0.9062308915002026, + 0.02145195608252091, + -0.42223852127464295, + -271.5098843373216 + ], + [ + -0.0, + -0.9987119037701333, + -0.05073985916110163, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64241.75210559903, + 27150.98843373216, + 334.35004389556343 + ], + "rotation_deg": [ + 0.0, + -2.908428668975831, + 154.9895782470703 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5864337667750003, + 0.8099971834433033, + -6.938893851582138e-18, + -146.28611995818957 + ], + [ + 0.13078198201911023, + -0.09468547781331332, + -0.9868792902226783, + -106.08356187009701 + ], + [ + -0.799369456589416, + 0.5787393238255212, + -0.1614597997333074, + 680.2678940871402 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5864337667750003, + 0.13078198201911023, + -0.799369456589416, + 643.4463059668292 + ], + [ + 0.8099971834433033, + -0.09468547781331332, + 0.5787393238255212, + -285.251017769212 + ], + [ + -6.938893851582138e-18, + -0.9868792902226783, + -0.1614597997333074, + 5.144246425706226 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64344.630596682924, + 28525.1017769212, + 514.4246425706226 + ], + "rotation_deg": [ + 4.0285507984967797e-16, + -9.291638374328612, + -144.09565734863278 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.813384223326665, + -0.5817268304309829, + -5.551115098072228e-17, + -674.5602330473871 + ], + [ + -0.33056618678007865, + -0.4622054665984184, + -0.82285606445126, + 83.15323802315089 + ], + [ + 0.47867744380140453, + 0.6692981422518152, + -0.568249858402114, + -110.75516279806918 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.813384223326665, + -0.33056618678007865, + 0.47867744380140453, + 629.1803011304302 + ], + [ + -0.5817268304309829, + -0.4622054665984184, + 0.6692981422518152, + -279.8476775763727 + ], + [ + -5.551115098072228e-17, + -0.82285606445126, + -0.568249858402114, + 5.486538493223314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62918.030113043016, + 27984.76775763727, + 548.6538493223314 + ], + "rotation_deg": [ + 3.865262503555411e-15, + -34.62827301025388, + -54.4279098510742 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 250.95101816218178 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 112.05378213461981 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -624.1611218738802 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 625.8442126657967 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -270.94587383344737 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62584.42126657967, + 27094.587383344737, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 142, + "time": 461.6727768741548, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.4255867176229441, + 0.904917645856753, + -1.7347234625736584e-18, + 518.947733970897 + ], + [ + 0.04591539354779536, + 0.021594209945890744, + -0.9987119037701332, + -20.291064600580253 + ], + [ + -0.9037520337270194, + -0.42503850205197663, + -0.05073985916110164, + 465.2836905499262 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.4255867176229441, + 0.04591539354779536, + -0.9037520337270194, + 642.290002602217 + ], + [ + 0.904917645856753, + 0.021594209945890744, + -0.42503850205197663, + -271.4033051801766 + ], + [ + -1.7347234625736584e-18, + -0.9987119037701332, + -0.05073985916110164, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64229.0002602217, + 27140.330518017658, + 334.35004389556343 + ], + "rotation_deg": [ + 9.952052581181306e-17, + -2.9084286689758314, + 154.81219482421875 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5859700985870647, + 0.8103326746231236, + -6.93889385155969e-18, + -145.89405887693152 + ], + [ + 0.12982016321825404, + -0.09387593049357015, + -0.9870836007633558, + -105.23035549439953 + ], + [ + -0.7998661053921821, + 0.578401459149695, + -0.16020600955721467, + 680.3982705941814 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5859700985870647, + 0.12982016321825404, + -0.7998661053921821, + 643.3780831067227 + ], + [ + 0.8103326746231236, + -0.09387593049357015, + 0.578401459149695, + -285.199236248688 + ], + [ + -6.93889385155969e-18, + -0.9870836007633558, + -0.16020600955721467, + 5.132732364863168 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64337.80831067226, + 28519.9236248688, + 513.2732364863168 + ], + "rotation_deg": [ + 4.0277169528083165e-16, + -9.218853950500483, + -144.1284484863281 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8323711238669624, + -0.5542186501304783, + 2.775557549050218e-17, + -678.8083164955565 + ], + [ + -0.3151234972065085, + -0.473278370305504, + -0.8226206693910052, + 70.33698405778455 + ], + [ + 0.4559117102670388, + 0.684725692352841, + -0.5685905720932296, + -92.11217831411065 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8323711238669624, + -0.3151234972065085, + 0.4559117102670388, + 629.180301148471 + ], + [ + -0.5542186501304783, + -0.473278370305504, + 0.684725692352841, + -279.84767758561657 + ], + [ + 2.775557549050218e-17, + -0.8226206693910052, + -0.5685905720932296, + 5.486538493223314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62918.0301148471, + 27984.76775856166, + 548.6538493223314 + ], + "rotation_deg": [ + -1.9331842792847584e-15, + -34.65200042724609, + -56.34308624267578 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 250.92351768645432 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 112.0315620524716 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -624.032561493645 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 625.732513156874 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -270.8730658713927 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62573.2513156874, + 27087.306587139272, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 143, + "time": 461.7394435442984, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.4283859898663417, + 0.9035958408969325, + -0.0, + 520.2347862958757 + ], + [ + 0.04584832535081471, + 0.021736244624175012, + -0.9987119037701333, + -20.2060056893772 + ], + [ + -0.9024319314274656, + -0.42783416861256596, + -0.05073985916110164, + 463.60947724962176 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.4283859898663417, + 0.04584832535081471, + -0.9024319314274656, + 642.1636874618584 + ], + [ + 0.9035958408969325, + 0.021736244624175012, + -0.42783416861256596, + -271.29480713741907 + ], + [ + -0.0, + -0.9987119037701333, + -0.05073985916110164, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64216.36874618584, + 27129.48071374191, + 334.35004389556343 + ], + "rotation_deg": [ + 0.0, + -2.9084286689758314, + 154.63482666015628 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5855094768731228, + 0.8106655614319396, + -2.0816681554612662e-17, + -145.50715939074175 + ], + [ + 0.12886292767962135, + -0.09307224700745931, + -0.987285117231501, + -104.38198908019365 + ], + [ + -0.8003580549612995, + 0.5780647768003546, + -0.15895942149278752, + 680.5259032112499 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5855094768731228, + 0.12886292767962135, + -0.8003580549612995, + 643.3111680344572 + ], + [ + 0.8106655614319396, + -0.09307224700745931, + 0.5780647768003546, + -285.1454867077859 + ], + [ + -2.0816681554612662e-17, + -0.987285117231501, + -0.15895942149278752, + 5.12121830402011 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64331.11680344572, + 28514.54867077859, + 512.121830402011 + ], + "rotation_deg": [ + 1.2080684545623705e-15, + -9.14650249481201, + -144.16101074218753 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8504294984731589, + -0.5260890306085951, + -0.0, + -682.2982813917499 + ], + [ + -0.2989623218961067, + -0.4832763328639593, + -0.8228399092047324, + 57.371987174993315 + ], + [ + 0.4328870432681279, + 0.699767332455646, + -0.5682732513487565, + -73.4178843417033 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8504294984731589, + -0.2989623218961067, + 0.4328870432681279, + 629.1803011643469 + ], + [ + -0.5260890306085951, + -0.4832763328639593, + 0.699767332455646, + -279.8476775937512 + ], + [ + -0.0, + -0.8228399092047324, + -0.5682732513487565, + 5.486538493223314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62918.03011643469, + 27984.76775937512, + 548.6538493223314 + ], + "rotation_deg": [ + 0.0, + -34.62990188598633, + -58.25841522216796 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 250.89833355693537 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 112.00926245906747 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -623.9035410792139 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 625.6221214357925 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -270.79828988895997 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62562.21214357924, + 27079.828988895995, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 144, + "time": 461.806110214442, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.43118139713455567, + 0.902265261863213, + -0.0, + 521.5156765132898 + ], + [ + 0.04578081195856361, + 0.02187808319416432, + -0.9987119037701333, + -20.120833524541816 + ], + [ + -0.9011030663556495, + -0.4306259751765535, + -0.05073985916110164, + 461.93303477952503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.43118139713455567, + 0.04578081195856361, + -0.9011030663556495, + 642.0382662739761 + ], + [ + 0.902265261863213, + 0.02187808319416432, + -0.4306259751765535, + -271.18490558104133 + ], + [ + -0.0, + -0.9987119037701333, + -0.05073985916110164, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64203.826627397604, + 27118.49055810413, + 334.35004389556343 + ], + "rotation_deg": [ + 0.0, + -2.9084286689758314, + 154.45744323730472 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5850514738087538, + 0.8109961608997941, + -2.081668155454719e-17, + -145.12445626416775 + ], + [ + 0.12791032099478133, + -0.09227432313652352, + -0.9874838728165175, + -103.53846903594768 + ], + [ + -0.8008456409104856, + 0.5777288794280747, + -0.15772000922348042, + 680.6509485134492 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5850514738087538, + 0.12791032099478133, + -0.8008456409104856, + 643.2452512364805 + ], + [ + 0.8109961608997941, + -0.09227432313652352, + 0.5777288794280747, + -285.09028419529716 + ], + [ + -2.081668155454719e-17, + -0.9874838728165175, + -0.15772000922348042, + 5.1097042431770525 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64324.52512364805, + 28509.028419529714, + 510.9704243177053 + ], + "rotation_deg": [ + 1.2078253008635735e-15, + -9.074582099914547, + -144.19337463378906 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8674738672700913, + -0.4974827530713722, + -0.0, + -685.0168621668464 + ], + [ + -0.28225117718633524, + -0.4921688615408922, + -0.8234707552223517, + 44.37257177690184 + ], + [ + 0.40966249125194626, + 0.7143393616488711, + -0.5673587222034507, + -54.7325227821713 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8674738672700913, + -0.28225117718633524, + 0.40966249125194626, + 629.1803011783177 + ], + [ + -0.4974827530713722, + -0.4921688615408922, + 0.7143393616488711, + -279.8476776009097 + ], + [ + -0.0, + -0.8234707552223517, + -0.5673587222034507, + 5.486538493223314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62918.03011783177, + 27984.76776009097, + 548.6538493223314 + ], + "rotation_deg": [ + 0.0, + -34.56624603271484, + -60.16640090942382 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 250.8748827199991 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 111.98690810684562 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -623.774203842612 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 625.5127279889995 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -270.72206093494054 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62551.27279889995, + 27072.206093494056, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 145, + "time": 461.8727768845856, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.4339726716401677, + 0.9009260348494181, + -0.0, + 522.7905807846323 + ], + [ + 0.045712859769024845, + 0.02201971206836288, + -0.9987119037701333, + -20.03553151788419 + ], + [ + -0.8997655644429684, + -0.4334136543014514, + -0.050739859161101644, + 460.2540366345392 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.4339726716401677, + 0.045712859769024845, + -0.8997655644429684, + 641.913425609189 + ], + [ + 0.9009260348494181, + 0.02201971206836288, + -0.4334136543014514, + -271.0740805177635 + ], + [ + -0.0, + -0.9987119037701333, + -0.050739859161101644, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64191.3425609189, + 27107.40805177635, + 334.35004389556343 + ], + "rotation_deg": [ + 0.0, + -2.908428668975832, + 154.28005981445315 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5845960929738104, + 0.8113244776781702, + 6.93889385149421e-18, + -144.74537714788923 + ], + [ + 0.12696229804790812, + -0.09148209555588584, + -0.9876799082026005, + -102.69975081682738 + ], + [ + -0.8013288967398962, + 0.5773937997073179, + -0.15648769698978465, + 680.7734660673761 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5845960929738104, + 0.12696229804790812, + -0.8013288967398962, + 643.1800191297975 + ], + [ + 0.8113244776781702, + -0.09148209555588584, + 0.5773937997073179, + -285.03410839521536 + ], + [ + 6.93889385149421e-18, + -0.9876799082026005, + -0.15648769698978465, + 5.098190182333996 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64318.00191297975, + 28503.410839521533, + 509.81901823339956 + ], + "rotation_deg": [ + -4.0252852362170373e-16, + -9.003087997436525, + -144.2255401611328 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8834480102643757, + -0.4685292020353854, + -2.775557548939784e-17, + -686.9648942651482 + ], + [ + -0.2651454380093938, + -0.49995220921658634, + -0.8244669097072732, + 31.43729131870969 + ], + [ + 0.38628681596270265, + 0.7283736518212639, + -0.5659101687953251, + -36.105492396110975 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8834480102643757, + -0.2651454380093938, + 0.38628681596270265, + 629.1803011906119 + ], + [ + -0.4685292020353854, + -0.49995220921658634, + 0.7283736518212639, + -279.84767760720916 + ], + [ + -2.775557548939784e-17, + -0.8244669097072732, + -0.5659101687953251, + 5.486538493223314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62918.03011906119, + 27984.767760720915, + 548.6538493223314 + ], + "rotation_deg": [ + 1.9288552725333144e-15, + -34.465518951415994, + -62.06113433837887 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 250.8526042511781 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 111.96451899921136 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -623.6446655190309 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 625.4040192335003 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -270.6448586933281 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62540.40192335004, + 27064.48586933281, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 146, + "time": 461.9394435547292, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.43675978662953063, + 0.8995781726916936, + -0.0, + 524.0597370623577 + ], + [ + 0.04564446943350264, + 0.022161129889294414, + -0.9987119037701333, + -19.950079517459727 + ], + [ + -0.8984194385090338, + -0.4361971792680731, + -0.05073985916110163, + 458.57208616423696 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.43675978662953063, + 0.04564446943350264, + -0.8984194385090338, + 641.7888919537439 + ], + [ + 0.8995781726916936, + 0.022161129889294414, + -0.4361971792680731, + -270.9627300338879 + ], + [ + -0.0, + -0.9987119037701333, + -0.05073985916110163, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64178.889195374395, + 27096.273003388793, + 334.35004389556343 + ], + "rotation_deg": [ + 0.0, + -2.908428668975831, + 154.1026763916016 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5841435540774113, + 0.8116503608265139, + -3.469446925736497e-17, + -144.36962277326884 + ], + [ + 0.12601880256107054, + -0.09069554424104763, + -0.9878732609276828, + -101.86579233515133 + ], + [ + -0.8018076997853559, + 0.5770597818687131, + -0.15526242531452958, + 680.8934588229694 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5841435540774113, + 0.12601880256107054, + -0.8018076997853559, + 643.1151980460429 + ], + [ + 0.8116503608265139, + -0.09069554424104763, + 0.5770597818687131, + -284.9773570715932 + ], + [ + -3.469446925736497e-17, + -0.9878732609276828, + -0.15526242531452958, + 5.086676121490938 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64311.519804604286, + 28497.735707159318, + 508.66761214909377 + ], + "rotation_deg": [ + 2.0122486911177825e-15, + -8.93201637268066, + -144.2574920654297 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8983190925334236, + -0.4393436103893239, + -0.0, + -688.1539662566298 + ], + [ + -0.24778336813371127, + -0.506638824699201, + -0.825784780547405, + 18.649415700138896 + ], + [ + 0.36280325932756086, + 0.7418182354738282, + -0.5639853726292859, + -17.57822611588921 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8983190925334236, + -0.24778336813371127, + 0.36280325932756086, + 629.1803012014309 + ], + [ + -0.4393436103893239, + -0.506638824699201, + 0.7418182354738282, + -279.84767761275265 + ], + [ + -0.0, + -0.825784780547405, + -0.5639853726292859, + 5.486538493223314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62918.030120143085, + 27984.767761275267, + 548.6538493223314 + ], + "rotation_deg": [ + 0.0, + -34.33186340332032, + -63.937992095947266 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 250.8310233760558 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 111.9421100809052 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -623.5150125753692 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 625.2957215009296 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -270.5670809281753 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62529.57215009296, + 27056.70809281753, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 147, + "time": 462.0061102248728, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.4395424761779471, + 0.8982218053662239, + -0.0, + 525.3231809924243 + ], + [ + 0.045575647546970244, + 0.02230232316397734, + -0.9987119037701333, + -19.864470653417396 + ], + [ + -0.8970648183626041, + -0.43897628449425274, + -0.05073985916110163, + 456.88704814944225 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.4395424761779471, + 0.045575647546970244, + -0.8970648183626041, + 641.6644707876986 + ], + [ + 0.8982218053662239, + 0.02230232316397734, + -0.43897628449425274, + -270.85112961357595 + ], + [ + -0.0, + -0.9987119037701333, + -0.05073985916110163, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64166.44707876987, + 27085.112961357594, + 334.35004389556343 + ], + "rotation_deg": [ + 0.0, + -2.908428668975831, + 153.92530822753906 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5836936446636676, + 0.8119739707522918, + -2.7755575405808303e-17, + -143.99667279915823 + ], + [ + 0.12507985336910596, + -0.0899146008576711, + -0.9880639629263727, + -101.03658471705408 + ], + [ + -0.8022822304354165, + 0.5767266399227986, + -0.15404416746807356, + 681.0109937692139 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5836936446636676, + 0.12507985336910596, + -0.8022822304354165, + 643.050593309665 + ], + [ + 0.8119739707522918, + -0.0899146008576711, + 0.5767266399227986, + -284.92030538682263 + ], + [ + -2.7755575405808303e-17, + -0.9880639629263727, + -0.15404416746807356, + 5.07516206064788 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64305.059330966506, + 28492.030538682262, + 507.51620606478804 + ], + "rotation_deg": [ + 1.6094882524799627e-15, + -8.861365318298338, + -144.28924560546878 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9120713839097119, + -0.4100314508095966, + -0.0, + -688.6036973134554 + ], + [ + -0.2302860748193336, + -0.5122468984778893, + -0.8273883240317615, + 6.079854902288081 + ], + [ + 0.3392552271091791, + 0.754637214381766, + -0.5616302747797945, + 0.8121720301714217 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9120713839097119, + -0.2302860748193336, + 0.3392552271091791, + 629.1803012109515 + ], + [ + -0.4100314508095966, + -0.5122468984778893, + 0.754637214381766, + -279.847677617631 + ], + [ + -0.0, + -0.8273883240317615, + -0.5616302747797945, + 5.486538493223314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62918.03012109515, + 27984.767761763098, + 548.6538493223314 + ], + "rotation_deg": [ + 0.0, + -34.168617248535156, + -65.79319000244139 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 250.80980786903584 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 111.91969104489039 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -623.3853010929263 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 625.1876401157356 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -270.4890028018741 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62518.76401157356, + 27048.900280187412, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 148, + "time": 462.07277689501643, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.44232119239714457, + 0.8968567125000336, + -0.0, + 526.5812202757411 + ], + [ + 0.04550638292773402, + 0.02244331483249686, + -0.9987119037701333, + -19.778685030033067 + ], + [ + -0.8957014839145742, + -0.4417514215093617, + -0.05073985916110164, + 455.19853098291094 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.44232119239714457, + 0.04550638292773402, + -0.8957014839145742, + 641.5400753818572 + ], + [ + 0.8968567125000336, + 0.02244331483249686, + -0.4417514215093617, + -270.73940104147334 + ], + [ + -0.0, + -0.9987119037701333, + -0.05073985916110164, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64154.00753818572, + 27073.940104147336, + 334.35004389556343 + ], + "rotation_deg": [ + 0.0, + -2.9084286689758314, + 153.74792480468753 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5832465845591976, + 0.8122951567010789, + 6.9388938514314475e-18, + -143.6265612763309 + ], + [ + 0.12414538065698984, + -0.08913923548560121, + -0.9882520534552778, + -100.21207255294618 + ], + [ + -0.8027523677207412, + 0.5763946190920626, + -0.15283284725627386, + 681.1260639005657 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5832465845591976, + 0.12414538065698984, + -0.8027523677207412, + 642.9861180348636 + ], + [ + 0.8122951567010789, + -0.08913923548560121, + 0.5763946190920626, + -284.8630748042635 + ], + [ + 6.9388938514314475e-18, + -0.9882520534552778, + -0.15283284725627386, + 5.063647999804823 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64298.61180348636, + 28486.307480426345, + 506.3647999804823 + ], + "rotation_deg": [ + -4.022954810627249e-16, + -8.791130065917972, + -144.32078552246094 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9247006072542846, + -0.38069513648529474, + -1.6653345291933273e-16, + -688.340056437319 + ], + [ + -0.21276096646860063, + -0.5167919840266277, + -0.8292519619471326, + -6.208304763244383 + ], + [ + 0.31569218084611367, + 0.7668097932915323, + -0.5588749304315073, + 19.028927211747874 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9247006072542846, + -0.21276096646860063, + 0.31569218084611367, + 629.1803012193297 + ], + [ + -0.38069513648529474, + -0.5167919840266277, + 0.7668097932915323, + -279.8476776219239 + ], + [ + -1.6653345291933273e-16, + -0.8292519619471326, + -0.5588749304315073, + 5.486538493223314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62918.03012193297, + 27984.76776219239, + 548.6538493223314 + ], + "rotation_deg": [ + 1.1506350918395421e-14, + -33.97802734375, + -67.62325286865233 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 250.7888104050141 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 111.89726605531365 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -623.2555551645165 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 625.0796881921179 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -270.4107457777843 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62507.9688192118, + 27041.07457777843, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 149, + "time": 462.13944356516004, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.44509566908167286, + 0.8954830234933198, + 1.7347234625736584e-18, + 527.8337331927444 + ], + [ + 0.045436682141541666, + 0.02258409138762601, + -0.9987119037701332, + -19.692729873079973 + ], + [ + -0.8943295643984553, + -0.444522324450843, + -0.05073985916110164, + 453.5066768894307 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.44509566908167286, + 0.045436682141541666, + -0.8943295643984553, + 641.4156957822117 + ], + [ + 0.8954830234933198, + 0.02258409138762601, + -0.444522324450843, + -270.6275591620771 + ], + [ + 1.7347234625736584e-18, + -0.9987119037701332, + -0.05073985916110164, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64141.56957822118, + 27062.75591620771, + 334.35004389556343 + ], + "rotation_deg": [ + -9.952052581181306e-17, + -2.9084286689758314, + 153.57054138183597 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5828019446675969, + 0.8126142339952379, + -0.0, + -143.25890385998414 + ], + [ + 0.12321541242874495, + -0.08836933808485734, + -0.9884375661752534, + -99.39224051412566 + ], + [ + -0.8032184467869906, + 0.576063319969352, + -0.151628421237519, + 681.2387717397647 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5828019446675969, + 0.12321541242874495, + -0.8032184467869906, + 642.9217621100323 + ], + [ + 0.8126142339952379, + -0.08836933808485734, + 0.576063319969352, + -284.8056798476128 + ], + [ + -0.0, + -0.9884375661752534, + -0.151628421237519, + 5.052133938961765 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64292.17621100323, + 28480.567984761277, + 505.2133938961765 + ], + "rotation_deg": [ + 0.0, + -8.721307754516603, + -144.35214233398438 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9362117184257465, + -0.3514365067580637, + 5.5511150970628186e-17, + -687.3946612602133 + ], + [ + -0.19530695536385917, + -0.520289317659238, + -0.8313568542546478, + -18.157196850422533 + ], + [ + 0.29216914053160875, + 0.7783260295142355, + -0.5557389540977193, + 37.0347471102086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9362117184257465, + -0.19530695536385917, + 0.29216914053160875, + 629.1803012267025 + ], + [ + -0.3514365067580637, + -0.520289317659238, + 0.7783260295142355, + -279.8476776257017 + ], + [ + 5.5511150970628186e-17, + -0.8313568542546478, + -0.5557389540977193, + 5.486538493223314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62918.03012267025, + 27984.76776257017, + 548.6538493223314 + ], + "rotation_deg": [ + -3.825739422115915e-15, + -33.76162719726563, + -69.42479705810545 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 250.76801356420063 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 111.87483564351943 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -623.1257778643791 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 624.9718556184705 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -270.332324379603 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62497.18556184705, + 27033.232437960298, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 150, + "time": 462.20611023530364, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.4478656415254402, + 0.8941008707864039, + -0.0, + 529.0805987040974 + ], + [ + 0.045366551908396405, + 0.022724639398215094, + -0.9987119037701333, + -19.606612560252323 + ], + [ + -0.8929491920839697, + -0.4472887289535665, + -0.05073985916110163, + 451.81163108404934 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.4478656415254402, + 0.045366551908396405, + -0.8929491920839697, + 641.291323153023 + ], + [ + 0.8941008707864039, + 0.022724639398215094, + -0.4472887289535665, + -270.5156171503735 + ], + [ + -0.0, + -0.9987119037701333, + -0.05073985916110163, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64129.1323153023, + 27051.56171503735, + 334.35004389556343 + ], + "rotation_deg": [ + 0.0, + -2.908428668975831, + 153.39317321777347 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5823599446778169, + 0.8129310517103219, + -0.0, + -142.8938682341603 + ], + [ + 0.12228989140575587, + -0.08760488880807256, + -0.9886205368678589, + -98.57704411942137 + ], + [ + -0.8036803438739983, + 0.5757329853669512, + -0.15043082939021943, + 681.3491074881011 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5823599446778169, + 0.12228989140575587, + -0.8036803438739983, + 642.8575165408407 + ], + [ + 0.8129310517103219, + -0.08760488880807256, + 0.5757329853669512, + -284.74813337154677 + ], + [ + -0.0, + -0.9886205368678589, + -0.15043082939021943, + 5.040619878118708 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64285.75165408407, + 28474.813337154676, + 504.0619878118708 + ], + "rotation_deg": [ + 0.0, + -8.65189456939697, + -144.38330078125 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9466200556171003, + -0.3223514701431931, + -5.551115096789747e-17, + -685.8040020464217 + ], + [ + -0.178016582710973, + -0.5227650035278916, + -0.8336827018514842, + -29.716012813574345 + ], + [ + 0.2687388361717303, + 0.7891807658112246, + -0.5522437476392765, + 54.79512922524602 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9466200556171003, + -0.178016582710973, + 0.2687388361717303, + 629.1803012331906 + ], + [ + -0.3223514701431931, + -0.5227650035278916, + 0.7891807658112246, + -279.8476776290261 + ], + [ + -5.551115096789747e-17, + -0.8336827018514842, + -0.5522437476392765, + 5.486538493223314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62918.030123319055, + 27984.767762902615, + 548.6538493223314 + ], + "rotation_deg": [ + 3.815066192387449e-15, + -33.521080017089844, + -71.19480895996092 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 250.74740189701464 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 111.85240027440595 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -622.9959718823101 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 624.8641334004628 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -270.2537514620063 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62486.41334004628, + 27025.37514620063, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 151, + "time": 462.27277690544724, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.45063155977398994, + 0.8927100298168833, + -0.0, + 530.3220573225295 + ], + [ + 0.04529598083403366, + 0.022864981699511434, + -0.9987119037701333, + -19.520319036073708 + ], + [ + -0.8915601426979808, + -0.45005108448338155, + -0.05073985916110165, + 450.11311691303155 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.45063155977398994, + 0.04529598083403366, + -0.8915601426979808, + 641.1669486529591 + ], + [ + 0.8927100298168833, + 0.022864981699511434, + -0.45005108448338155, + -270.4035880777908 + ], + [ + -0.0, + -0.9987119037701333, + -0.05073985916110165, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64116.69486529592, + 27040.35880777908, + 334.35004389556343 + ], + "rotation_deg": [ + 0.0, + -2.9084286689758323, + 153.2157897949219 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5819205880111544, + 0.8132456143433864, + 6.938893851371288e-18, + -142.53143880855183 + ], + [ + 0.1213687973359262, + -0.0868458441905684, + -0.988800998371289, + -97.76645598235864 + ], + [ + -0.8041380864775893, + 0.5754036425968652, + -0.14924002801668165, + 681.4570971812759 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5819205880111544, + 0.1213687973359262, + -0.8041380864775893, + 642.7933723263757 + ], + [ + 0.8132456143433864, + -0.0868458441905684, + 0.5754036425968652, + -284.6904481276757 + ], + [ + 6.938893851371288e-18, + -0.988800998371289, + -0.14924002801668165, + 5.02910581727565 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64279.33723263757, + 28469.044812767574, + 502.91058172756505 + ], + "rotation_deg": [ + -4.0207214182371285e-16, + -8.582887649536133, + -144.41426086425778 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9559501639468815, + -0.29352901738998577, + -0.0, + -683.608425955651 + ], + [ + -0.1609748634108709, + -0.5242546322583741, + -0.8362082120533668, + -40.84133972877609 + ], + [ + 0.24545136621166264, + 0.7993733774690382, + -0.548412098898785, + 72.27850280372395 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9559501639468815, + -0.1609748634108709, + 0.24545136621166264, + 629.1803012389 + ], + [ + -0.29352901738998577, + -0.5242546322583741, + 0.7993733774690382, + -279.8476776319517 + ], + [ + -0.0, + -0.8362082120533668, + -0.548412098898785, + 5.486538493223314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62918.03012389, + 27984.767763195166, + 548.6538493223314 + ], + "rotation_deg": [ + 0.0, + -33.25814437866213, + -72.93064880371095 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 250.72696002209904 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 111.82996039966656 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -622.8661398317053 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 624.7565125371816 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -270.17503977660465 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62475.65125371816, + 27017.503977660464, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 152, + "time": 462.33944357559085, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.45339315883514025, + 0.8913106324517243, + 1.7347234625736584e-18, + 531.5579871331687 + ], + [ + 0.045224975609364615, + 0.023005104845849108, + -0.9987119037701332, + -19.433856659982816 + ], + [ + -0.8901625479375926, + -0.45280912638943654, + -0.05073985916110163, + 448.41127923210144 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.45339315883514025, + 0.045224975609364615, + -0.8901625479375926, + 641.0425634649501 + ], + [ + 0.8913106324517243, + 0.023005104845849108, + -0.45280912638943654, + -270.2914848814704 + ], + [ + 1.7347234625736584e-18, + -0.9987119037701332, + -0.05073985916110163, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64104.256346495014, + 27029.148488147042, + 334.35004389556343 + ], + "rotation_deg": [ + -9.952052581181306e-17, + -2.908428668975831, + 153.0384063720703 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5814838780630521, + 0.8135579263658818, + -0.0, + -142.17160010555264 + ], + [ + 0.12045209630493635, + -0.08609215129042831, + -0.9889789856118947, + -96.96043722793699 + ], + [ + -0.8045917038457848, + 0.575075320064566, + -0.14805595683785788, + 681.5627681029274 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5814838780630521, + 0.12045209630493635, + -0.8045917038457848, + 642.729320488996 + ], + [ + 0.8135579263658818, + -0.08609215129042831, + 0.575075320064566, + -284.63263673381897 + ], + [ + -0.0, + -0.9889789856118947, + -0.14805595683785788, + 5.0175917564325925 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64272.932048899595, + 28463.263673381898, + 501.75917564325925 + ], + "rotation_deg": [ + 0.0, + -8.514283180236816, + -144.4450225830078 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9642345133115364, + -0.2650505675128143, + -0.0, + -680.8511473293155 + ], + [ + -0.1442585103354559, + -0.5248018738825397, + -0.8389114824373131, + -51.49725249361495 + ], + [ + 0.2223539557080614, + 0.8089074048832925, + -0.5442678832210797, + 89.4562765347021 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9642345133115364, + -0.1442585103354559, + 0.2223539557080614, + 629.1803012439243 + ], + [ + -0.2650505675128143, + -0.5248018738825397, + 0.8089074048832925, + -279.8476776345261 + ], + [ + -0.0, + -0.8389114824373131, + -0.5442678832210797, + 5.486538493223314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62918.03012439243, + 27984.76776345261, + 548.6538493223314 + ], + "rotation_deg": [ + 0.0, + -32.97464752197267, + -74.63004302978517 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 250.70667266915737 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 111.80751645768484 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -622.7362842489536 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 624.6489840509856 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -270.09620194121726 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62464.89840509857, + 27009.620194121726, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 153, + "time": 462.40611024573445, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.4561501752442379, + 0.8899028135839614, + -0.0, + 532.788267803978 + ], + [ + 0.04515354307884286, + 0.023144995469068858, + -0.9987119037701333, + -19.347232860850976 + ], + [ + -0.8887565425220799, + -0.4555625915464409, + -0.05073985916110164, + 446.7062642636237 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.4561501752442379, + 0.04515354307884286, + -0.8887565425220799, + 640.9181588246488 + ], + [ + 0.8899028135839614, + 0.023144995469068858, + -0.4555625915464409, + -270.17932033565313 + ], + [ + -0.0, + -0.9987119037701333, + -0.05073985916110164, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64091.815882464885, + 27017.932033565314, + 334.35004389556343 + ], + "rotation_deg": [ + 0.0, + -2.9084286689758314, + 152.86103820800784 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5810496014570011, + 0.813868146966485, + -0.0, + -141.8141534691942 + ], + [ + 0.11953980362936227, + -0.08534374458071699, + -0.9891545281750443, + -96.15897707357031 + ], + [ + -0.8050413739994026, + 0.5747478285531346, + -0.14687858837356235, + 681.6661812831852 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5810496014570011, + 0.11953980362936227, + -0.8050413739994026, + 642.6653521027954 + ], + [ + 0.813868146966485, + -0.08534374458071699, + 0.5747478285531346, + -284.5747116453937 + ], + [ + -0.0, + -0.9891545281750443, + -0.14687858837356235, + 5.006077695589536 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64266.53521027954, + 28457.47116453937, + 500.6077695589535 + ], + "rotation_deg": [ + 0.0, + -8.44607925415039, + -144.47560119628906 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.971512441103493, + -0.23698855833379887, + -0.0, + -677.5771880362165 + ], + [ + -0.1279348963305143, + -0.5244571481012895, + -0.84177037373999, + -61.65559274477245 + ], + [ + 0.19948993832049197, + 0.8177903903816963, + -0.5398357545663677, + 106.30343170094851 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.971512441103493, + -0.1279348963305143, + 0.19948993832049197, + 629.1803012483458 + ], + [ + -0.23698855833379887, + -0.5244571481012895, + 0.8177903903816963, + -279.8476776367916 + ], + [ + -0.0, + -0.84177037373999, + -0.5398357545663677, + 5.486538493223314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62918.03012483458, + 27984.767763679163, + 548.6538493223314 + ], + "rotation_deg": [ + 0.0, + -32.67245864868166, + -76.29113006591798 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 250.68652471931108 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 111.7850688735169 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -622.6064075933336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 624.541539015969 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -270.01725041126133 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62454.153901596896, + 27001.72504112613, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 154, + "time": 462.47277691587806, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.4589030569418224, + 0.8884863444811352, + -0.0, + 534.0131364376861 + ], + [ + 0.04508167163661567, + 0.023284676297610378, + -0.9987119037701333, + -19.260433490113044 + ], + [ + -0.8873418980136217, + -0.458311927317951, + -0.05073985916110164, + 444.9977935216002 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.4589030569418224, + 0.04508167163661567, + -0.8873418980136217, + 640.7937260473941 + ], + [ + 0.8884863444811352, + 0.023284676297610378, + -0.458311927317951, + -270.06710702517836 + ], + [ + -0.0, + -0.9987119037701333, + -0.05073985916110164, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64079.372604739416, + 27006.710702517837, + 334.35004389556343 + ], + "rotation_deg": [ + 0.0, + -2.9084286689758314, + 152.68365478515628 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5806177612909066, + 0.814176280220405, + -1.3877787702627246e-17, + -141.45908377345776 + ], + [ + 0.11863187084821658, + -0.08460056248629243, + -0.9893276626305637, + -95.36202484237965 + ], + [ + -0.8054871273678772, + 0.5744211968269674, + -0.14570784563818107, + 681.7673646011588 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5806177612909066, + 0.11863187084821658, + -0.8054871273678772, + 642.6014583205679 + ], + [ + 0.814176280220405, + -0.08460056248629243, + 0.5744211968269674, + -284.5166851289174 + ], + [ + -1.3877787702627246e-17, + -0.9893276626305637, + -0.14570784563818107, + 4.994563634746478 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64260.14583205678, + 28451.668512891738, + 499.4563634746478 + ], + "rotation_deg": [ + 8.037162009442906e-16, + -8.378271102905273, + -144.50599670410156 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9778285748888579, + -0.20940696772272296, + -1.1102230191013386e-16, + -673.832530920201 + ], + [ + -0.11206220460217815, + -0.5232759301980046, + -0.844762903526849, + -71.29539799175132 + ], + [ + 0.17689922888081275, + 0.8260333056491402, + -0.5351407672563623, + 122.79806253852777 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9778285748888579, + -0.11206220460217815, + 0.17689922888081275, + 629.1803012522366 + ], + [ + -0.20940696772272296, + -0.5232759301980046, + 0.8260333056491402, + -279.8476776387853 + ], + [ + -1.1102230191013386e-16, + -0.844762903526849, + -0.5351407672563623, + 5.486538493223314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62918.03012522367, + 27984.767763878528, + 548.6538493223314 + ], + "rotation_deg": [ + 7.530052934374857e-15, + -32.35345840454103, + -77.9123992919922 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 250.66650124290274 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 111.7626180589476 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -622.4765122473394 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 624.4341685849253 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -269.93819745325436 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62443.41685849253, + 26993.819745325436, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 155, + "time": 462.53944358602166, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.46165154017183774, + 0.8870613594656064, + 1.7347234625736584e-18, + 535.2324717583133 + ], + [ + 0.04500936809818067, + 0.023424133948528648, + -0.9987119037701332, + -19.173465970815712 + ], + [ + -0.8859187485615538, + -0.46105687028764913, + -0.050739859161101644, + 443.2860131137499 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.46165154017183774, + 0.04500936809818067, + -0.8859187485615538, + 640.6692565535649 + ], + [ + 0.8870613594656064, + 0.023424133948528648, + -0.46105687028764913, + -269.95485732111695 + ], + [ + 1.7347234625736584e-18, + -0.9987119037701332, + -0.050739859161101644, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64066.925655356485, + 26995.485732111694, + 334.35004389556343 + ], + "rotation_deg": [ + -9.952052581181306e-17, + -2.908428668975832, + 152.50627136230472 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5801885775502419, + 0.8144821756675996, + -1.3877787702589872e-17, + -141.1065594438244 + ], + [ + 0.11772825368387081, + -0.0838625940295531, + -0.9894984202145954, + -94.5695469820414 + ], + [ + -0.8059288372022936, + 0.5740956650694421, + -0.1445436844494907, + 681.8663051627075 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5801885775502419, + 0.11772825368387081, + -0.8059288372022936, + 642.5376303991624 + ], + [ + 0.8144821756675996, + -0.0838625940295531, + 0.5740956650694421, + -284.4585692376438 + ], + [ + -1.3877787702589872e-17, + -0.9894984202145954, + -0.1445436844494907, + 4.98304957390342 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64253.76303991624, + 28445.85692376438, + 498.304957390342 + ], + "rotation_deg": [ + 8.035775037659446e-16, + -8.310855865478516, + -144.53619384765625 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.983231674936057, + -0.18236083297253253, + -0.0, + -669.6632570403337 + ], + [ + -0.09668918903601686, + -0.5213173889067022, + -0.8478675490588464, + -80.40266956825778 + ], + [ + 0.15461782311862393, + 0.8336502297899997, + -0.530208094190516, + 138.92159936015827 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.983231674936057, + -0.09668918903601686, + 0.15461782311862393, + 629.1803012556607 + ], + [ + -0.18236083297253253, + -0.5213173889067022, + 0.8336502297899997, + -279.8476776405397 + ], + [ + -0.0, + -0.8478675490588464, + -0.530208094190516, + 5.486538493223314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62918.03012556607, + 27984.76776405397, + 548.6538493223314 + ], + "rotation_deg": [ + 0.0, + -32.01951599121095, + -79.49269866943361 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 250.6465875346537 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 111.7401644126098 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -622.3466005173714 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 624.3268640147037 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -269.8590551204501 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62432.68640147037, + 26985.90551204501, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 156, + "time": 462.60611025616527, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.4643955985907809, + 0.8856278721954892, + -1.7347234625736584e-18, + 536.4462717627242 + ], + [ + 0.04493663315654863, + 0.023563367085158028, + -0.9987119037701332, + -19.08633055124259 + ], + [ + -0.8844871078063969, + -0.46379739414596416, + -0.05073985916110163, + 441.5709279270357 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.4643955985907809, + 0.04493663315654863, + -0.8844871078063969, + 640.5447418923034 + ], + [ + 0.8856278721954892, + 0.023563367085158028, + -0.46379739414596416, + -269.8425833584418 + ], + [ + -1.7347234625736584e-18, + -0.9987119037701332, + -0.05073985916110163, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64054.474189230335, + 26984.25833584418, + 334.35004389556343 + ], + "rotation_deg": [ + 9.952052581181306e-17, + -2.908428668975831, + 152.32888793945312 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5797618365407466, + 0.8147859920806814, + -2.081668155382954e-17, + -140.75638250699782 + ], + [ + 0.1168289526676627, + -0.08312976513841329, + -0.9896668318007877, + -93.78152079205343 + ], + [ + -0.8063666824624608, + 0.5737710441149599, + -0.14338606051396166, + 681.9630642890561 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5797618365407466, + 0.1168289526676627, + -0.8063666824624608, + 642.4738597232084 + ], + [ + 0.8147859920806814, + -0.08312976513841329, + 0.5737710441149599, + -284.40037578923636 + ], + [ + -2.081668155382954e-17, + -0.9896668318007877, + -0.14338606051396166, + 4.9715355130603625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64247.385972320844, + 28440.03757892364, + 497.15355130603626 + ], + "rotation_deg": [ + 1.205161138492617e-15, + -8.243830680847166, + -144.5662078857422 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9877733891872509, + -0.1558965413777086, + -0.0, + -665.1148436411205 + ], + [ + -0.08185544973941644, + -0.5186429044416975, + -0.8510635834179712, + -88.96978269624057 + ], + [ + 0.13267785958713407, + 0.8406579594392706, + -0.5250626446499298, + 154.6586583862492 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9877733891872509, + -0.08185544973941644, + 0.13267785958713407, + 629.1803012586738 + ], + [ + -0.1558965413777086, + -0.5186429044416975, + 0.8406579594392706, + -279.84767764208357 + ], + [ + -0.0, + -0.8510635834179712, + -0.5250626446499298, + 5.486538493223314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62918.03012586738, + 27984.767764208358, + 548.6538493223314 + ], + "rotation_deg": [ + 0.0, + -31.672460556030284, + -81.03120422363281 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 250.62676914622685 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 111.71770832015301 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -622.2166746347103 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 624.2196166899336 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -269.77983523051205 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62421.961668993354, + 26977.983523051207, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 157, + "time": 462.67277692630887, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.46713497042459523, + 0.8841860208159888, + -0.0, + 537.6544169421865 + ], + [ + 0.044863473821187785, + 0.02370236242511988, + -0.9987119037701333, + -18.99903475465448 + ], + [ + -0.8830471137154078, + -0.46653323745602426, + -0.050739859161101644, + 439.8526860416896 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.46713497042459523, + 0.044863473821187785, + -0.8830471137154078, + 640.4201737635534 + ], + [ + 0.8841860208159888, + 0.02370236242511988, + -0.46653323745602426, + -269.7302970157093 + ], + [ + -0.0, + -0.9987119037701333, + -0.050739859161101644, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64042.01737635534, + 26973.029701570933, + 334.35004389556343 + ], + "rotation_deg": [ + 0.0, + -2.908428668975832, + 152.15151977539065 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5793375412923338, + 0.8150877334676025, + -0.0, + -140.40853860865667 + ], + [ + 0.1159339453560307, + -0.0824020336671552, + -0.9898329279033414, + -92.9979179025901 + ], + [ + -0.8068006887986747, + 0.5734473588782032, + -0.14223492942873472, + 682.0576656275604 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5793375412923338, + 0.1159339453560307, + -0.8068006887986747, + 642.4101378271552 + ], + [ + 0.8150877334676025, + -0.0824020336671552, + 0.5734473588782032, + -284.3421163454531 + ], + [ + -0.0, + -0.9898329279033414, + -0.14223492942873472, + 4.960021452217305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64241.01378271551, + 28434.21163454531, + 496.0021452217305 + ], + "rotation_deg": [ + 0.0, + -8.177192687988285, + -144.59603881835938 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9915071776765569, + -0.13005197659346834, + -5.5511150944218424e-17, + -660.2315283759239 + ], + [ + -0.06759178397122616, + -0.5153150356870454, + -0.8543311797742404, + -96.99497608616844 + ], + [ + 0.1111074488575186, + 0.8470754959170775, + -0.5197290053722333, + 169.99700537052982 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9915071776765569, + -0.06759178397122616, + 0.1111074488575186, + 629.1803012613253 + ], + [ + -0.13005197659346834, + -0.5153150356870454, + 0.8470754959170775, + -279.8476776434422 + ], + [ + -5.5511150944218424e-17, + -0.8543311797742404, + -0.5197290053722333, + 5.486538493223314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62918.03012613254, + 27984.76776434422, + 548.6538493223314 + ], + "rotation_deg": [ + 3.722859196705877e-15, + -31.314075469970717, + -82.52740478515626 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 250.60703191617645 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 111.69525015445085 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -622.086736756719 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 624.1124181450641 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -269.7005493451981 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62411.24181450641, + 26970.054934519812, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 158, + "time": 462.7394435964525, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.4698701007470546, + 0.8827355710652838, + -0.0, + 538.8571397208243 + ], + [ + 0.04478987820568635, + 0.023841142551394603, + -0.9987119037701333, + -18.911564336109628 + ], + [ + -0.8815985323285247, + -0.46926484471831365, + -0.05073985916110163, + 438.13100707473336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.4698701007470546, + 0.04478987820568635, + -0.8815985323285247, + 640.2955440384209 + ], + [ + 0.8827355710652838, + 0.023841142551394603, + -0.46926484471831365, + -269.61800989664624 + ], + [ + -0.0, + -0.9987119037701333, + -0.05073985916110163, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64029.554403842085, + 26961.80098966462, + 334.35004389556343 + ], + "rotation_deg": [ + 0.0, + -2.908428668975831, + 151.9741363525391 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5789156948129331, + 0.8153874038144435, + -6.9388938512404384e-18, + -140.0630137092332 + ], + [ + 0.11504319562548405, + -0.08167934802213775, + -0.9899967410284515, + -92.21869847078327 + ], + [ + -0.807230883532292, + 0.5731246353213999, + -0.14109023020531, + 682.1501340533167 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5789156948129331, + 0.11504319562548405, + -0.807230883532292, + 642.3464564156341 + ], + [ + 0.8153874038144435, + -0.08167934802213775, + 0.5731246353213999, + -284.2838021937359 + ], + [ + -6.9388938512404384e-18, + -0.9899967410284515, + -0.14109023020531, + 4.948507391374247 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64234.6456415634, + 28428.38021937359, + 494.85073913742474 + ], + "rotation_deg": [ + 4.0158650909503033e-16, + -8.110938072204592, + -144.62568664550787 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9944872933844567, + -0.10485715663156638, + 5.551115094050234e-17, + -655.0558466222769 + ], + [ + -0.053920803147647196, + -0.5113962203632448, + -0.857651708321099, + -104.48159834460195 + ], + [ + 0.08993090960488476, + 0.852923724956271, + -0.5142310287257635, + 184.9273151724237 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9944872933844567, + -0.053920803147647196, + 0.08993090960488476, + 629.1803012636587 + ], + [ + -0.10485715663156638, + -0.5113962203632448, + 0.852923724956271, + -279.84767764463777 + ], + [ + 5.551115094050234e-17, + -0.857651708321099, + -0.5142310287257635, + 5.486538493223314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62918.03012636588, + 27984.767764463777, + 548.6538493223314 + ], + "rotation_deg": [ + -3.7084455829608385e-15, + -30.946069717407237, + -83.98106384277345 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 250.58736199736438 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 111.67279027583626 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -621.9567889682024 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 624.0052600847268 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -269.6212087519503 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62400.52600847268, + 26962.12087519503, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 159, + "time": 462.8061102665961, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.4726007274856559, + 0.8812766605215575, + -3.4694469251473167e-18, + 540.0543196031367 + ], + [ + 0.044715853290741965, + 0.023979694166460418, + -0.9987119037701332, + -18.823926826482076 + ], + [ + -0.8801415010467127, + -0.4719919541978984, + -0.05073985916110163, + 436.4060392562497 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.4726007274856559, + 0.044715853290741965, + -0.8801415010467127, + 640.1708447778271 + ], + [ + 0.8812766605215575, + 0.023979694166460418, + -0.4719919541978984, + -269.5057333136067 + ], + [ + -3.4694469251473167e-18, + -0.9987119037701332, + -0.05073985916110163, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64017.084477782715, + 26950.57333136067, + 334.35004389556343 + ], + "rotation_deg": [ + 1.9904105162362613e-16, + -2.908428668975831, + 151.7967529296875 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5784963000885593, + 0.8156850070853621, + -2.081668155366833e-17, + -139.71979410834186 + ], + [ + 0.11415668052633277, + -0.08096166625747991, + -0.9901583009236558, + -91.44383388782964 + ], + [ + -0.8076572917828647, + 0.5728028977026367, + -0.13995191821990485, + 682.240492569208 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5784963000885593, + 0.11415668052633277, + -0.8076572917828647, + 642.2828073821137 + ], + [ + 0.8156850070853621, + -0.08096166625747991, + 0.5728028977026367, + -284.2254443306712 + ], + [ + -2.081668155366833e-17, + -0.9901583009236558, + -0.13995191821990485, + 4.93699333053119 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64228.28073821137, + 28422.544433067123, + 493.699333053119 + ], + "rotation_deg": [ + 1.2045629518225324e-15, + -8.045063972473141, + -144.6551513671875 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9967679349700976, + -0.08033482318052881, + -5.551115093677153e-17, + -649.628263317636 + ], + [ + -0.04085763239462181, + -0.5069479991041467, + -0.8610077700458966, + -111.43745050405167 + ], + [ + 0.06916889688663289, + 0.858224935645164, + -0.508591804436859, + 199.44295626895288 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9967679349700976, + -0.04085763239462181, + 0.06916889688663289, + 629.1803012657122 + ], + [ + -0.08033482318052881, + -0.5069479991041467, + 0.858224935645164, + -279.8476776456899 + ], + [ + -5.551115093677153e-17, + -0.8610077700458966, + -0.508591804436859, + 5.486538493223314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62918.03012657122, + 27984.767764568987, + 548.6538493223314 + ], + "rotation_deg": [ + 3.693990693090837e-15, + -30.570075988769553, + -85.39218902587893 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 250.56774588184652 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 111.65032903235615 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -621.8268332828819 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 623.8981344023904 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -269.541824447355 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62389.813440239035, + 26954.1824447355, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 160, + "time": 462.8727769367397, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.47532659016063944, + 0.8798094297552507, + -0.0, + 541.2458376657287 + ], + [ + 0.04464140620887893, + 0.024118004053611114, + -0.9987119037701333, + -18.736129835474948 + ], + [ + -0.87867616025934, + -0.4747143057505367, + -0.05073985916110164, + 434.67793236791414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.47532659016063944, + 0.04464140620887893, + -0.87867616025934, + 640.0460682494734 + ], + [ + 0.8798094297552507, + 0.024118004053611114, + -0.4747143057505367, + -269.3934782728079 + ], + [ + -0.0, + -0.9987119037701333, + -0.05073985916110164, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64004.60682494734, + 26939.34782728079, + 334.35004389556343 + ], + "rotation_deg": [ + 0.0, + -2.9084286689758314, + 151.619384765625 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5780793600833646, + 0.8159805472225471, + 6.938893851205366e-18, + -139.37886646674946 + ], + [ + 0.11327438359601705, + -0.08024895128432999, + -0.9903176358314069, + -90.6733011111418 + ], + [ + -0.80807993748613, + 0.5724821693070385, + -0.1388199569871701, + 682.328763133737 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5780793600833646, + 0.11327438359601705, + -0.80807993748613, + 642.2191828258657 + ], + [ + 0.8159805472225471, + -0.08024895128432999, + 0.5724821693070385, + -284.1670534472285 + ], + [ + 6.938893851205366e-18, + -0.9903176358314069, + -0.1388199569871701, + 4.925479269688132 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64221.918282586565, + 28416.70534472285, + 492.5479269688132 + ], + "rotation_deg": [ + -4.014563821326776e-16, + -7.979568004608156, + -144.68443298339844 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9984025598642149, + -0.05650069430177508, + 5.5511150933044104e-17, + -643.9868114874022 + ], + [ + -0.028410432393920274, + -0.502030086169191, + -0.8643833871102247, + -117.87419658414824 + ], + [ + 0.04883825127562606, + 0.8630025849188616, + -0.5028333358436989, + 213.54001799437484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9984025598642149, + -0.028410432393920274, + 0.04883825127562606, + 629.1803012675192 + ], + [ + -0.05650069430177508, + -0.502030086169191, + 0.8630025849188616, + -279.84767764661575 + ], + [ + 5.5511150933044104e-17, + -0.8643833871102247, + -0.5028333358436989, + 5.486538493223314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62918.03012675192, + 27984.767764661574, + 548.6538493223314 + ], + "rotation_deg": [ + -3.679564804742473e-15, + -30.18762969970705, + -86.76102447509766 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 250.5481704233071 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 111.62786676003694 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -621.69687164493 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 623.7910331973261 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -269.4624071223816 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62379.10331973261, + 26946.24071223816, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 161, + "time": 462.9394436068833, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.4780481316509046, + 0.8783336403810792, + 1.7347234625736584e-18, + 542.4319227786459 + ], + [ + 0.04456652486446158, + 0.024256094684459484, + -0.9987119037701332, + -18.64815906266266 + ], + [ + -0.8772022718881941, + -0.4774323416846648, + -0.050739859161101644, + 432.9464049346608 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.4780481316509046, + 0.04456652486446158, + -0.8772022718881941, + 639.9212069431284 + ], + [ + 0.8783336403810792, + 0.024256094684459484, + -0.4774323416846648, + -269.28125546127785 + ], + [ + 1.7347234625736584e-18, + -0.9987119037701332, + -0.050739859161101644, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 63992.120694312835, + 26928.125546127787, + 334.35004389556343 + ], + "rotation_deg": [ + -9.952052581181306e-17, + -2.908428668975832, + 151.4420013427735 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5776646603527673, + 0.8162741819875978, + -0.0, + -139.04003452205546 + ], + [ + 0.11239628914773943, + -0.07954112187812257, + -0.9904747771226621, + -89.90706505223578 + ], + [ + -0.8084989995493593, + 0.5721622598109779, + -0.137694285196154, + 682.4150063698254 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5776646603527673, + 0.11239628914773943, + -0.8084989995493593, + 642.1555750672538 + ], + [ + 0.8162741819875978, + -0.07954112187812257, + 0.5721622598109779, + -284.1086399157106 + ], + [ + -0.0, + -0.9904747771226621, + -0.137694285196154, + 4.913965208845075 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64215.55750672539, + 28410.863991571063, + 491.3965208845075 + ], + "rotation_deg": [ + 0.0, + -7.914446353912354, + -144.7135467529297 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9994432436842002, + -0.03336469172650267, + -2.7755575464668087e-17, + -638.1670326576852 + ], + [ + -0.016581471175169792, + -0.49669990876024983, + -0.8677639399348339, + -123.80656066528456 + ], + [ + 0.028952665951647603, + 0.867280805224273, + -0.49697660711931824, + 227.21675340939643 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9994432436842002, + -0.016581471175169792, + 0.028952665951647603, + 629.1803012691093 + ], + [ + -0.03336469172650267, + -0.49669990876024983, + 0.867280805224273, + -279.8476776474305 + ], + [ + -2.7755575464668087e-17, + -0.8677639399348339, + -0.49697660711931824, + 5.486538493223314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62918.03012691093, + 27984.76776474305, + 548.6538493223314 + ], + "rotation_deg": [ + 1.832615151674355e-15, + -29.800174713134773, + -88.0879898071289 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 250.5286228570978 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 111.60540378315423 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -621.5669059305327 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 623.6839487898982 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -269.38296714933307 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62368.39487898982, + 26938.29671493331, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 162, + "time": 463.0061102770269, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.4807650911729933, + 0.8768494324052579, + -1.7347234625736584e-18, + 543.6124550278429 + ], + [ + 0.04449121636138548, + 0.024393952826889692, + -0.9987119037701332, + -18.56002213302259 + ], + [ + -0.8757199757591434, + -0.4801458015527338, + -0.05073985916110163, + 431.21160703880753 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.4807650911729933, + 0.04449121636138548, + -0.8757199757591434, + 639.7962535842353 + ], + [ + 0.8768494324052579, + 0.024393952826889692, + -0.4801458015527338, + -269.1690752354796 + ], + [ + -1.7347234625736584e-18, + -0.9987119037701332, + -0.05073985916110163, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 63979.625358423524, + 26916.90752354796, + 334.35004389556343 + ], + "rotation_deg": [ + 9.952052581181306e-17, + -2.908428668975831, + 151.2646179199219 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5772524210490708, + 0.816565761217666, + -0.0, + -138.7034690259588 + ], + [ + 0.11152235195772778, + -0.07883816677873731, + -0.9906297534764359, + -89.14509156568 + ], + [ + -0.8089143498044746, + 0.5718434076441012, + -0.13657485791457435, + 682.4992075737173 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5772524210490708, + 0.11152235195772778, + -0.8089143498044746, + 642.0919766613433 + ], + [ + 0.816565761217666, + -0.07883816677873731, + 0.5718434076441012, + -284.0502137783818 + ], + [ + -0.0, + -0.9906297534764359, + -0.13657485791457435, + 4.902451148002017 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64209.19766613433, + 28405.02137783818, + 490.2451148002017 + ], + "rotation_deg": [ + 0.0, + -7.849696159362793, + -144.7424774169922 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9999402533202032, + -0.010931138546731833, + 2.7755575462830938e-17, + -632.2017635728672 + ], + [ + -0.005367640756452992, + -0.4910119869758842, + -0.8711362792805172, + -129.2518276952308 + ], + [ + 0.009522500814997448, + 0.8710842299429344, + -0.49104132852841753, + 240.473646004561 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9999402533202032, + -0.005367640756452992, + 0.009522500814997448, + 629.1803012705086 + ], + [ + -0.010931138546731833, + -0.4910119869758842, + 0.8710842299429344, + -279.84767764814745 + ], + [ + 2.7755575462830938e-17, + -0.8711362792805172, + -0.49104132852841753, + 5.486538493223314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62918.030127050864, + 27984.767764814747, + 548.6538493223314 + ], + "rotation_deg": [ + -1.8255207389702348e-15, + -29.409048080444354, + -89.37368011474612 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 250.50909081790135 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 111.58294041450222 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -621.4369379494466 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 623.5768737351715 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -269.3035145704736 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62357.68737351715, + 26930.35145704736, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 163, + "time": 463.0727769471705, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.4834772095639093, + 0.8753569488113379, + -3.4694469251473167e-18, + 544.7873160861245 + ], + [ + 0.044415487954615834, + 0.024531565331007917, + -0.9987119037701332, + -18.4717267526699 + ], + [ + -0.8742294146715581, + -0.4828544265255687, + -0.05073985916110163, + 429.4736903597056 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.4834772095639093, + 0.044415487954615834, + -0.8742294146715581, + 639.6712011458781 + ], + [ + 0.8753569488113379, + 0.024531565331007917, + -0.4828544265255687, + -269.05694761153046 + ], + [ + -3.4694469251473167e-18, + -0.9987119037701332, + -0.05073985916110163, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 63967.12011458781, + 26905.69476115305, + 334.35004389556343 + ], + "rotation_deg": [ + 1.9904105162362613e-16, + -2.908428668975831, + 151.0872497558594 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5768426450728663, + 0.8168552887907006, + 6.9388938511545836e-18, + -138.3691578313849 + ], + [ + 0.1106525481336105, + -0.0781400444183195, + -0.9907825932311495, + -88.38735160974201 + ], + [ + -0.809326012392639, + 0.5715256358484142, + -0.1354616301123515, + 682.58138861856 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5768426450728663, + 0.1106525481336105, + -0.809326012392639, + 642.0283804098679 + ], + [ + 0.8168552887907006, + -0.0781400444183195, + 0.5715256358484142, + -283.99178473768933 + ], + [ + 6.9388938511545836e-18, + -0.9907825932311495, + -0.1354616301123515, + 4.890937087158959 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64202.83804098679, + 28399.17847376893, + 489.09370871589596 + ], + "rotation_deg": [ + -4.0126798548569237e-16, + -7.785314559936523, + -144.77122497558594 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9999416744031872, + 0.01080036072318068, + -0.0, + -626.1211480890144 + ], + [ + 0.0052386719649602925, + -0.4850177276994452, + -0.8744886277895844, + -134.22923840210126 + ], + [ + -0.009444803321181984, + 0.8744376207000809, + -0.4850460217284602, + 253.31304526991266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9999416744031872, + 0.0052386719649602925, + -0.009444803321181984, + 629.1803012717401 + ], + [ + 0.01080036072318068, + -0.4850177276994452, + 0.8744376207000809, + -279.8476776487784 + ], + [ + -0.0, + -0.8744886277895844, + -0.4850460217284602, + 5.486538493223314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62918.030127174, + 27984.76776487784, + 548.6538493223314 + ], + "rotation_deg": [ + 0.0, + -29.01548767089845, + -90.61882781982423 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 250.48956235510877 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 111.56047695565738 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -621.306969446525 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 623.46980083488 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -269.22405908825044 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62346.98008348799, + 26922.405908825047, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 164, + "time": 463.1394436173141, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.48618492746947906, + 0.8738559471111341, + -0.0, + 545.9567246167856 + ], + [ + 0.044339327340336396, + 0.024668954555121175, + -0.9987119037701333, + -18.383259322803518 + ], + [ + -0.8727303464496098, + -0.4855586566814099, + -0.05073985916110164, + 427.7323872323546 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.48618492746947906, + 0.044339327340336396, + -0.8727303464496098, + 639.546052476353 + ], + [ + 0.8738559471111341, + 0.024668954555121175, + -0.4855586566814099, + -268.9448692969635 + ], + [ + -0.0, + -0.9987119037701333, + -0.05073985916110164, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 63954.6052476353, + 26894.486929696348, + 334.35004389556343 + ], + "rotation_deg": [ + 0.0, + -2.9084286689758314, + 150.90986633300784 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5764349000664855, + 0.8171430755904014, + -2.7755575404552517e-17, + -138.03673876877454 + ], + [ + 0.1097869015451095, + -0.0774466596012451, + -0.9909333232693976, + -87.63383165304299 + ], + [ + -0.8097343145492456, + 0.5712085352384281, + -0.13435456491029, + 682.6616436293483 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5764349000664855, + 0.1097869015451095, + -0.8097343145492456, + 641.9647889888033 + ], + [ + 0.8171430755904014, + -0.0774466596012451, + 0.5712085352384281, + -283.93334918802816 + ], + [ + -2.7755575404552517e-17, + -0.9909333232693976, + -0.13435456491029, + 4.879423026315902 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64196.478898880334, + 28393.334918802815, + 487.9423026315902 + ], + "rotation_deg": [ + 1.6048277957895518e-15, + -7.721299171447752, + -144.79981994628906 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.99949322390921, + 0.03183230056992725, + -0.0, + -619.9532523506128 + ], + [ + 0.015247894513713042, + -0.4787642417443231, + -0.877811085906234, + -138.75859174500448 + ], + [ + -0.027942757163322486, + 0.8773662300361956, + -0.4790069944313814, + 265.73802460746396 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.99949322390921, + 0.015247894513713042, + -0.027942757163322486, + 629.1803012728236 + ], + [ + 0.03183230056992725, + -0.4787642417443231, + 0.8773662300361956, + -279.84767764933366 + ], + [ + -0.0, + -0.877811085906234, + -0.4790069944313814, + 5.486538493223314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62918.03012728236, + 27984.767764933364, + 548.6538493223314 + ], + "rotation_deg": [ + 0.0, + -28.620567321777365, + -91.82416534423831 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 250.47004191046824 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 111.5380132946652 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -621.1769997740247 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 623.3627327649991 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -269.1445970970587 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62336.27327649992, + 26914.45970970587, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 165, + "time": 463.2061102874577, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.4888879854177795, + 0.8723465697268172, + -0.0, + 547.1205521288138 + ], + [ + 0.04426274174502796, + 0.024806107333660714, + -0.9987119037701333, + -18.29462862853893 + ], + [ + -0.8712229133320114, + -0.48825823288255404, + -0.050739859161101644, + 425.9878705740537 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.4888879854177795, + 0.04426274174502796, + -0.8712229133320114, + 639.4208146524596 + ], + [ + 0.8723465697268172, + 0.024806107333660714, + -0.48825823288255404, + -268.83283130535824 + ], + [ + -0.0, + -0.9987119037701333, + -0.050739859161101644, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 63942.08146524596, + 26883.283130535827, + 334.35004389556343 + ], + "rotation_deg": [ + 0.0, + -2.908428668975832, + 150.73248291015628 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5760296238197629, + 0.8174288179909383, + -0.0, + -137.70658993270436 + ], + [ + 0.1089253323889556, + -0.07675802083252256, + -0.9910819735026105, + -86.88448108121815 + ], + [ + -0.810138977198081, + 0.5708925604286845, + -0.13325360059535934, + 682.739922826692 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5760296238197629, + 0.1089253323889556, + -0.810138977198081, + 641.9012093016602 + ], + [ + 0.8174288179909383, + -0.07675802083252256, + 0.5708925604286845, + -283.874897830375 + ], + [ + -0.0, + -0.9910819735026105, + -0.13325360059535934, + 4.867908965472845 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64190.12093016601, + 28387.4897830375, + 486.7908965472845 + ], + "rotation_deg": [ + 0.0, + -7.65764617919922, + -144.82823181152344 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.998638239716466, + 0.05216959052933388, + -0.0, + -613.7239697747444 + ], + [ + 0.024673034911935676, + -0.4722949883814808, + -0.8810951624529391, + -142.8602806784464 + ], + [ + -0.045966384810677725, + 0.8798953196744974, + -0.47293902131495835, + 277.7526037748965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.998638239716466, + 0.024673034911935676, + -0.045966384810677725, + 629.1803012737772 + ], + [ + 0.05216959052933388, + -0.4722949883814808, + 0.8798953196744974, + -279.84767764982223 + ], + [ + -0.0, + -0.8810951624529391, + -0.47293902131495835, + 5.486538493223314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62918.03012737772, + 27984.767764982225, + 548.6538493223314 + ], + "rotation_deg": [ + 0.0, + -28.22524452209475, + -92.99045562744145 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 250.45054094090153 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 111.51554914303611 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -621.0470272628096 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 623.2556764290398 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -269.0651192978749 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62325.56764290398, + 26906.511929787488, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 166, + "time": 463.2727769576013, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.49158635750069674, + 0.8708288311253808, + -0.0, + 548.2787853061171 + ], + [ + 0.044185731902743754, + 0.024943022352052507, + -0.9987119037701333, + -18.205836108828663 + ], + [ + -0.8697071297671205, + -0.49095312925425816, + -0.05073985916110165, + 424.240168707684 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.49158635750069674, + 0.044185731902743754, + -0.8697071297671205, + 639.2954946959969 + ], + [ + 0.8708288311253808, + 0.024943022352052507, + -0.49095312925425816, + -268.7208247337112 + ], + [ + -0.0, + -0.9987119037701333, + -0.05073985916110165, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 63929.54946959969, + 26872.08247337112, + 334.35004389556343 + ], + "rotation_deg": [ + 0.0, + -2.9084286689758323, + 150.55509948730472 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5756266014018463, + 0.8177126731062444, + 6.938893851105911e-18, + -137.37853942775587 + ], + [ + 0.108067843100957, + -0.07607406279852214, + -0.9912285701375, + -86.13928115280468 + ], + [ + -0.8105401748099544, + 0.5705775170884967, + -0.1321587001002012, + 682.8162834658399 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5756266014018463, + 0.108067843100957, + -0.8105401748099544, + 641.8376481959815 + ], + [ + 0.8177126731062444, + -0.07607406279852214, + 0.5705775170884967, + -283.8164214496611 + ], + [ + 6.938893851105911e-18, + -0.9912285701375, + -0.1321587001002012, + 4.856394904629787 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64183.764819598146, + 28381.64214496611, + 485.6394904629787 + ], + "rotation_deg": [ + -4.0108744563548573e-16, + -7.594353199005128, + -144.85647583007812 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9974175796956868, + 0.07182041293391572, + -0.0, + -607.4567175220924 + ], + [ + 0.03352977646940808, + -0.46565018394737656, + -0.8843334553660658, + -146.55546789206772 + ], + [ + -0.06351320503340495, + 0.8820497321348706, + -0.466855805176703, + 289.36224893369155 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9974175796956868, + 0.03352977646940808, + -0.06351320503340495, + 629.1803012746163 + ], + [ + 0.07182041293391572, + -0.46565018394737656, + 0.8820497321348706, + -279.84767765025225 + ], + [ + -0.0, + -0.8843334553660658, + -0.466855805176703, + 5.486538493223314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62918.030127461636, + 27984.767765025223, + 548.6538493223314 + ], + "rotation_deg": [ + 0.0, + -27.830392837524425, + -94.11855316162114 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 250.43107080439037 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 111.49308421565094 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -620.9170502632448 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 623.148638674545 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -268.98561647563037 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62314.8638674545, + 26898.561647563034, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 167, + "time": 463.3394436277449, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.4942797863456889, + 0.8693028774886574, + 1.7347234625736584e-18, + 549.431305777794 + ], + [ + 0.04410830523072928, + 0.025079686551250112, + -0.9987119037701332, + -18.11688978220124 + ], + [ + -0.8681831417484703, + -0.4936430887554962, + -0.050739859161101644, + 422.48943946182624 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.4942797863456889, + 0.04410830523072928, + -0.8681831417484703, + 639.1700887311003 + ], + [ + 0.8693028774886574, + 0.025079686551250112, + -0.4936430887554962, + -268.60885535752453 + ], + [ + 1.7347234625736584e-18, + -0.9987119037701332, + -0.050739859161101644, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 63917.00887311003, + 26860.885535752455, + 334.35004389556343 + ], + "rotation_deg": [ + -9.952052581181306e-17, + -2.908428668975832, + 150.37773132324222 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5752258354053169, + 0.8179946444092742, + -1.3877787702180284e-17, + -137.05258037049816 + ], + [ + 0.10721440835903127, + -0.07539474498680637, + -0.9913731401791137, + -85.39820230131313 + ], + [ + -0.8109379303390604, + 0.5702634267962302, + -0.13106981802086348, + 682.890746345858 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5752258354053169, + 0.10721440835903127, + -0.8109379303390604, + 641.7741016206814 + ], + [ + 0.8179946444092742, + -0.07539474498680637, + 0.5702634267962302, + -283.75792550986466 + ], + [ + -1.3877787702180284e-17, + -0.9913731401791137, + -0.13106981802086348, + 4.844880843786729 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64177.41016206815, + 28375.792550986465, + 484.48808437867297 + ], + "rotation_deg": [ + 8.020579116449159e-16, + -7.531417369842527, + -144.88455200195312 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9958693536150248, + 0.0907977451834128, + 2.775557545407646e-17, + -601.1718418129024 + ], + [ + 0.04183695773696445, + -0.45886760705970925, + -0.8875191198834034, + -149.86661604343735 + ], + [ + -0.08058474611459865, + 0.8838530894998035, + -0.4607708919574868, + 300.5746065547177 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9958693536150248, + 0.04183695773696445, + -0.08058474611459865, + 629.1803012753549 + ], + [ + 0.0907977451834128, + -0.45886760705970925, + 0.8838530894998035, + -279.8476776506306 + ], + [ + 2.775557545407646e-17, + -0.8875191198834034, + -0.4607708919574868, + 5.486538493223314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62918.03012753548, + 27984.76776506306, + 548.6538493223314 + ], + "rotation_deg": [ + -1.791823193626833e-15, + -27.43686294555666, + -95.2095031738282 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 250.41162477276836 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 111.47061868266313 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -620.7870697597997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 623.0416154504288 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -268.9060940943032 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62304.16154504289, + 26890.609409430323, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 168, + "time": 463.4061102978885, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.49696870956203687, + 0.8677684608904864, + -0.0, + 550.5783678524003 + ], + [ + 0.04403044914924622, + 0.02521612213548665, + -0.9987119037701333, + -18.02777141460158 + ], + [ + -0.8666507016692603, + -0.4963285484318732, + -0.050739859161101644, + 420.7353239358417 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.49696870956203687, + 0.04403044914924622, + -0.8666507016692603, + 639.0445416586177 + ], + [ + 0.8677684608904864, + 0.02521612213548665, + -0.4963285484318732, + -268.4969979118172 + ], + [ + -0.0, + -0.9987119037701333, + -0.050739859161101644, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 63904.454165861775, + 26849.699791181716, + 334.35004389556343 + ], + "rotation_deg": [ + 0.0, + -2.908428668975832, + 150.20034790039065 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5748273284044978, + 0.8182747353544207, + 6.938893851074593e-18, + -136.7286199981335 + ], + [ + 0.10636499587884082, + -0.07472002223105076, + -0.9915157113881176, + -84.66120888870589 + ], + [ + -0.8113322673949848, + 0.5699503114771569, + -0.12998690061234847, + 682.9633304658527 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5748273284044978, + 0.10636499587884082, + -0.8113322673949848, + 641.7105143004233 + ], + [ + 0.8182747353544207, + -0.07472002223105076, + 0.5699503114771569, + -283.69948443502426 + ], + [ + 6.938893851074593e-18, + -0.9915157113881176, + -0.12998690061234847, + 4.8333667829436715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64171.05143004233, + 28369.948443502428, + 483.3366782943672 + ], + "rotation_deg": [ + -4.009712913968606e-16, + -7.46883535385132, + -144.91246032714844 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9940278199896061, + 0.10912695856987231, + -2.775557545243782e-17, + -594.8837973328987 + ], + [ + 0.04962012145530853, + -0.45198530046320845, + -0.8906442228589052, + -152.82048582112247 + ], + [ + -0.09719330654947732, + 0.8853251323170908, + -0.4547008590817757, + 311.40302990803497 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9940278199896061, + 0.04962012145530853, + -0.09719330654947732, + 629.1803012760046 + ], + [ + 0.10912695856987231, + -0.45198530046320845, + 0.8853251323170908, + -279.8476776509636 + ], + [ + -2.775557545243782e-17, + -0.8906442228589052, + -0.4547008590817757, + 5.486538493223314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62918.03012760046, + 27984.76776509636, + 548.6538493223314 + ], + "rotation_deg": [ + 1.7855360231224433e-15, + -27.045688629150398, + -96.26499176025392 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 250.39211113472763 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 111.44815485013493 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -620.6570990948305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 622.9345514813544 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -268.82662657793225 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62293.45514813545, + 26882.662657793222, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 169, + "time": 463.4727769680321, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.4996528694613424, + 0.8662257269551894, + -1.7347234625736584e-18, + 551.7199426238913 + ], + [ + 0.04395217104725204, + 0.02535231602968919, + -0.9987119037701332, + -17.938478421572185 + ], + [ + -0.8651099549662299, + -0.49900925092691384, + -0.050739859161101644, + 418.977771259892 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.4996528694613424, + 0.04395217104725204, + -0.8651099549662299, + 638.9187144735785 + ], + [ + 0.8662257269551894, + 0.02535231602968919, + -0.49900925092691384, + -268.38544082706767 + ], + [ + -1.7347234625736584e-18, + -0.9987119037701332, + -0.050739859161101644, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 63891.871447357844, + 26838.544082706765, + 334.35004389556343 + ], + "rotation_deg": [ + 9.952052581181306e-17, + -2.908428668975832, + 150.0229644775391 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5744310829555029, + 0.8185529493774778, + 6.938893851059265e-18, + -136.40642428150855 + ], + [ + 0.1055195934217563, + -0.07404986368735404, + -0.9916563079474616, + -83.92828179153653 + ], + [ + -0.8117232066960601, + 0.5696381909133525, + -0.1289099187961401, + 683.03404894889 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5744310829555029, + 0.1055195934217563, + -0.8117232066960601, + 641.6467470530894 + ], + [ + 0.8185529493774778, + -0.07404986368735404, + 0.5696381909133525, + -283.64128634518545 + ], + [ + 6.938893851059265e-18, + -0.9916563079474616, + -0.1289099187961401, + 4.821852722100615 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64164.67470530894, + 28364.128634518544, + 482.18527221006144 + ], + "rotation_deg": [ + -4.009144418771302e-16, + -7.406605243682863, + -144.94020080566406 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9919215033631971, + 0.1268531874479093, + 2.7755575450845515e-17, + -588.597900418814 + ], + [ + 0.05691485654526161, + -0.44504258193164553, + -0.8936989422462388, + -155.45052594976397 + ], + [ + -0.11336857089773013, + 0.8864791952518084, + -0.44866714111723416, + 321.87004521048635 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9919215033631971, + 0.05691485654526161, + -0.11336857089773013, + 629.1803012765764 + ], + [ + 0.1268531874479093, + -0.44504258193164553, + 0.8864791952518084, + -279.8476776512566 + ], + [ + 2.7755575450845515e-17, + -0.8936989422462388, + -0.44866714111723416, + 5.486538493223314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62918.03012765764, + 27984.767765125664, + 548.6538493223314 + ], + "rotation_deg": [ + -1.77943294820536e-15, + -26.658201217651385, + -97.28778839111331 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 250.372298452689 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 111.42569861162028 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -620.5271723671116 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 622.8273075852045 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -268.74740204656274 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62282.73075852045, + 26874.740204656275, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 170, + "time": 463.5394436381757, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.5023320100398095, + 0.8646748242486098, + 3.4694469251473167e-18, + 552.8561048753706 + ], + [ + 0.04387347846295668, + 0.02548825524426128, + -0.9987119037701332, + -17.84899634143375 + ], + [ + -0.8635610500138508, + -0.5016849405665738, + -0.050739859161101644, + 417.21649678495595 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.5023320100398095, + 0.04387347846295668, + -0.8635610500138508, + 638.7923181411966 + ], + [ + 0.8646748242486098, + 0.02548825524426128, + -0.5016849405665738, + -268.2745804552513 + ], + [ + 3.4694469251473167e-18, + -0.9987119037701332, + -0.050739859161101644, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 63879.23181411966, + 26827.458045525127, + 334.35004389556343 + ], + "rotation_deg": [ + -1.9904105162362613e-16, + -2.908428668975832, + 149.8455963134766 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5740371015962876, + 0.8188292898956004, + -0.0, + -136.0855028208297 + ], + [ + 0.10467817505239593, + -0.07338422910485709, + -0.9917949559190071, + -83.19938995483541 + ], + [ + -0.8121107705318286, + 0.5693270858836598, + -0.12783882690880702, + 683.1029122057649 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5740371015962876, + 0.10467817505239593, + -0.8121107705318286, + 641.5825106657871 + ], + [ + 0.8188292898956004, + -0.07338422910485709, + 0.5693270858836598, + -283.5837272824401 + ], + [ + -0.0, + -0.9917949559190071, + -0.12783882690880702, + 4.810338661257557 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64158.25106657872, + 28358.372728244012, + 481.0338661257557 + ], + "rotation_deg": [ + 0.0, + -7.3447241783142125, + -144.9677734375 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.989569813667949, + 0.1440541005219234, + -0.0, + -582.3046280110657 + ], + [ + 0.06377277219936503, + -0.43808270693974416, + -0.8966697136662718, + -157.80138728230995 + ], + [ + -0.1291689606313457, + 0.8873172782017523, + -0.44270015519994105, + 332.01313665296095 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.989569813667949, + 0.06377277219936503, + -0.1291689606313457, + 629.1803012770796 + ], + [ + 0.1440541005219234, + -0.43808270693974416, + 0.8873172782017523, + -279.8476776515145 + ], + [ + -0.0, + -0.8966697136662718, + -0.44270015519994105, + 5.486538493223314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62918.03012770796, + 27984.76776515145, + 548.6538493223314 + ], + "rotation_deg": [ + 0.0, + -26.276288986206062, + -98.2825088500977 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 250.35170217820547 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 111.40326283247077 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -620.3973640126666 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 622.7195945490861 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -268.6688165422868 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62271.95945490861, + 26866.881654228677, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 171, + "time": 463.60611030831933, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.5050065665852623, + 0.8631155007910382, + 1.7347234625736584e-18, + 553.9873219264924 + ], + [ + 0.043794358610945244, + 0.025623961865645615, + -0.9987119037701332, + -17.759282037653968 + ], + [ + -0.862003735156996, + -0.5043560520779928, + -0.05073985916110163, + 415.4506514553025 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.5050065665852623, + 0.043794358610945244, + -0.862003735156996, + 638.664991194588 + ], + [ + 0.8631155007910382, + 0.025623961865645615, + -0.5043560520779928, + -268.16492962179234 + ], + [ + 1.7347234625736584e-18, + -0.9987119037701332, + -0.05073985916110163, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 63866.4991194588, + 26816.492962179233, + 334.35004389556343 + ], + "rotation_deg": [ + -9.952052581181306e-17, + -2.908428668975831, + 149.66821289062503 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5736451687061518, + 0.8191039130782435, + -0.0, + -135.76504501786968 + ], + [ + 0.10384072047573036, + -0.07272304119755632, + -0.9919316831566877, + -82.47449632270272 + ], + [ + -0.8124951342322845, + 0.5690168017302061, + -0.1267735626918709, + 683.1699741487857 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5736451687061518, + 0.10384072047573036, + -0.8124951342322845, + 641.5174434925669 + ], + [ + 0.8191039130782435, + -0.07272304119755632, + 0.5690168017302061, + -283.5273197628821 + ], + [ + -0.0, + -0.9919316831566877, + -0.1267735626918709, + 4.798824600414499 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64151.744349256696, + 28352.731976288207, + 479.8824600414499 + ], + "rotation_deg": [ + 0.0, + -7.283188343048099, + -144.9951934814453 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9869832446757281, + 0.160823116278014, + -0.0, + -575.984439637823 + ], + [ + 0.07025272596213047, + -0.4311461251475418, + -0.8995429802211508, + -159.92149595021493 + ], + [ + -0.1446673169731711, + 0.8878338458927826, + -0.4368322669938822, + 341.8767630398438 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9869832446757281, + 0.07025272596213047, + -0.1446673169731711, + 629.1803012775224 + ], + [ + 0.160823116278014, + -0.4311461251475418, + 0.8878338458927826, + -279.8476776517414 + ], + [ + -0.0, + -0.8995429802211508, + -0.4368322669938822, + 5.486538493223314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62918.030127752245, + 27984.76776517414, + 548.6538493223314 + ], + "rotation_deg": [ + 0.0, + -25.90194129943849, + -99.25467681884771 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 250.32970418536763 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 111.38086568185246 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -620.2677791541931 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 622.6110507270497 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -268.5913825811981 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62261.105072704966, + 26859.13825811981, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 172, + "time": 463.67277697846293, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.5076762827728842, + 0.8615479045937644, + -1.7347234625736584e-18, + 555.1137336037606 + ], + [ + 0.04371481900128972, + 0.025759422887957236, + -0.9987119037701332, + -17.669315468546763 + ], + [ + -0.8604381582162981, + -0.5070223294665201, + -0.05073985916110164, + 413.67984079071886 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.5076762827728842, + 0.04371481900128972, + -0.8604381582162981, + 638.5363941535932 + ], + [ + 0.8615479045937644, + 0.025759422887957236, + -0.5070223294665201, + -268.0570045766143 + ], + [ + -1.7347234625736584e-18, + -0.9987119037701332, + -0.05073985916110164, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 63853.639415359314, + 26805.70045766143, + 334.35004389556343 + ], + "rotation_deg": [ + 9.952052581181306e-17, + -2.9084286689758314, + 149.49082946777347 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5732555047821856, + 0.819376669326703, + 6.9388938510145615e-18, + -135.44461659331125 + ], + [ + 0.103007203911353, + -0.07206630220863648, + -0.9920665118974322, + -81.75358529272172 + ], + [ + -0.8128761653191374, + 0.5687075730468539, + -0.12571410507660316, + 683.235231772036 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5732555047821856, + 0.103007203911353, + -0.8128761653191374, + 641.451205873247 + ], + [ + 0.819376669326703, + -0.07206630220863648, + 0.5687075730468539, + -283.4725797276603 + ], + [ + 6.9388938510145615e-18, + -0.9920665118974322, + -0.12571410507660316, + 4.7873105395714415 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64145.120587324694, + 28347.257972766027, + 478.7310539571442 + ], + "rotation_deg": [ + -4.007486700379972e-16, + -7.221996307373048, + -145.02244567871094 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9841659892410758, + 0.17724927537548496, + -2.7755575446407338e-17, + -569.6150555388556 + ], + [ + 0.07641061968581614, + -0.42426539094340227, + -0.9023083149605079, + -161.85519177557146 + ], + [ + -0.15993350675938475, + 0.8880211517619244, + -0.4310912982641508, + 351.50286799569903 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9841659892410758, + 0.07641061968581614, + -0.15993350675938475, + 629.1803012779121 + ], + [ + 0.17724927537548496, + -0.42426539094340227, + 0.8880211517619244, + -279.84767765194107 + ], + [ + -2.7755575446407338e-17, + -0.9023083149605079, + -0.4310912982641508, + 5.486538493223314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62918.030127791215, + 27984.76776519411, + 548.6538493223314 + ], + "rotation_deg": [ + 1.7624544925362354e-15, + -25.536836624145508, + -100.20957946777347 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 250.3056994726719 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 111.35852838913576 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -620.1385406200411 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 622.5013364589136 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -268.5156161044456 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62250.13364589135, + 26851.56161044456, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 173, + "time": 463.73944364860654, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.5103409039897066, + 0.8599721865938273, + -1.7347234625736584e-18, + 556.2354559628756 + ], + [ + 0.043634867292514104, + 0.025894625392170058, + -0.9987119037701332, + -17.579081760484428 + ], + [ + -0.8588644699343706, + -0.5096835184471479, + -0.05073985916110164, + 411.90377203381104 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.5103409039897066, + 0.043634867292514104, + -0.8588644699343706, + 638.4062673020712 + ], + [ + 0.8599721865938273, + 0.025894625392170058, + -0.5096835184471479, + -267.95125236309156 + ], + [ + -1.7347234625736584e-18, + -0.9987119037701332, + -0.05073985916110164, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 63840.62673020712, + 26795.125236309155, + 334.35004389556343 + ], + "rotation_deg": [ + 9.952052581181306e-17, + -2.9084286689758314, + 149.31346130371097 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5728678940242811, + 0.8196477145677801, + -0.0, + -135.12351913792904 + ], + [ + 0.10217761108479881, + -0.07141394020655235, + -0.9921994683213544, + -81.03663060783808 + ], + [ + -0.813254037652711, + 0.568399203851691, + -0.12466039989638598, + 683.2987807479527 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5728678940242811, + 0.10217761108479881, + -0.813254037652711, + 641.3835379107093 + ], + [ + 0.8196477145677801, + -0.07141394020655235, + 0.568399203851691, + -283.4199539119332 + ], + [ + -0.0, + -0.9921994683213544, + -0.12466039989638598, + 4.775796478728384 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64138.35379107093, + 28341.99539119332, + 477.5796478728384 + ], + "rotation_deg": [ + 0.0, + -7.161144733428957, + -145.04954528808594 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9811190016606498, + 0.1934050272883561, + 5.5511150890110084e-17, + -563.1768013217777 + ], + [ + 0.08229333143694759, + -0.4174635598399869, + -0.9049596586626024, + -163.63845479022922 + ], + [ + -0.17502375934056844, + 0.8878731130353479, + -0.4254973781531623, + 360.92523810945204 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9811190016606498, + 0.08229333143694759, + -0.17502375934056844, + 629.1803012782551 + ], + [ + 0.1934050272883561, + -0.4174635598399869, + 0.8878731130353479, + -279.8476776521168 + ], + [ + 5.5511150890110084e-17, + -0.9049596586626024, + -0.4254973781531623, + 5.486538493223314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62918.03012782551, + 27984.76776521168, + 548.6538493223314 + ], + "rotation_deg": [ + -3.514581734234791e-15, + -25.18214988708497, + -101.15156555175786 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 250.2791883756428 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 111.33627345507085 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -620.0097785944757 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 622.3901918475597 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -268.44196384718794 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62239.01918475597, + 26844.19638471879, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 174, + "time": 463.80611031875014, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.5130008631645503, + 0.8583880907797043, + -1.7347234625736584e-18, + 557.3529031195925 + ], + [ + 0.0435544904946299, + 0.02602959134503131, + -0.9987119037701332, + -17.48854929732918 + ], + [ + -0.8572824146294655, + -0.5123400513910504, + -0.05073985916110164, + 410.12182288460434 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.5130008631645503, + 0.0435544904946299, + -0.8572824146294655, + 638.2744380109938 + ], + [ + 0.8583880907797043, + 0.02602959134503131, + -0.5123400513910504, + -267.84803744800575 + ], + [ + -1.7347234625736584e-18, + -0.9987119037701332, + -0.05073985916110164, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 63827.443801099376, + 26784.803744800574, + 334.35004389556343 + ], + "rotation_deg": [ + 9.952052581181306e-17, + -2.9084286689758314, + 149.1360778808594 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5724825570417615, + 0.8199168993763489, + -6.9388938509858e-18, + -134.80153821987113 + ], + [ + 0.10135190267272438, + -0.07076594767989569, + -0.9923305762061271, + -80.32361093284557 + ], + [ + -0.8136286202446911, + 0.5680919296705318, + -0.12361240941722378, + 683.3606666343031 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5724825570417615, + 0.10135190267272438, + -0.8136286202446911, + 641.3142667939948 + ], + [ + 0.8199168993763489, + -0.07076594767989569, + 0.5680919296705318, + -283.3698064748285 + ], + [ + -6.9388938509858e-18, + -0.9923305762061271, + -0.12361240941722378, + 4.764282417885327 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64131.426679399476, + 28336.980647482855, + 476.42824178853266 + ], + "rotation_deg": [ + 4.006420287385156e-16, + -7.100631237030028, + -145.07647705078125 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9830700572107405, + 0.18323008108842692, + -0.0, + -567.0932995319894 + ], + [ + 0.07843968482700789, + -0.42084632060641264, + -0.9037342475951013, + -162.10994429307524 + ], + [ + -0.1655913112790506, + 0.8884340747931618, + -0.42809392938384794, + 355.05405871752293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9830700572107405, + 0.07843968482700789, + -0.1655913112790506, + 629.0021572554813 + ], + [ + 0.18323008108842692, + -0.42084632060641264, + 0.8884340747931618, + -279.7569421043794 + ], + [ + -0.0, + -0.9037342475951013, + -0.42809392938384794, + 5.492174762094212 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62900.21572554813, + 27975.69421043794, + 549.2174762094212 + ], + "rotation_deg": [ + 0.0, + -25.34665679931642, + -100.55796051025393 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 250.24979119909008 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 111.31412392355902 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -619.8816264043111 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 622.277444082029 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -268.3707899685526 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62227.7444082029, + 26837.07899685526, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 175, + "time": 463.87277698889375, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.5156559053582902, + 0.8567957675368862, + -0.0, + 558.4661412035388 + ], + [ + 0.043473696238175694, + 0.026164307810965792, + -0.9987119037701333, + -17.397712987942253 + ], + [ + -0.8556921424933597, + -0.5149916736874834, + -0.050739859161101644, + 408.33389313429115 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.5156559053582902, + 0.043473696238175694, + -0.8556921424933597, + 638.1407965788701 + ], + [ + 0.8567957675368862, + 0.026164307810965792, + -0.5149916736874834, + -267.7476706696322 + ], + [ + -0.0, + -0.9987119037701333, + -0.050739859161101644, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 63814.079657887014, + 26774.76706696322, + 334.35004389556343 + ], + "rotation_deg": [ + 0.0, + -2.908428668975832, + 148.95869445800784 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5720992778571923, + 0.8201843794387205, + -0.0, + -134.47817277748737 + ], + [ + 0.10053006366313885, + -0.07012225332062223, + -0.9924598610972251, + -79.61450467016994 + ], + [ + -0.8140000863349374, + 0.5677855538002503, + -0.1225700793116229, + 683.4210276360302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5720992778571923, + 0.10053006366313885, + -0.8140000863349374, + 641.2432826387308 + ], + [ + 0.8201843794387205, + -0.07012225332062223, + 0.5677855538002503, + -283.3224479475322 + ], + [ + -0.0, + -0.9924598610972251, + -0.1225700793116229, + 4.752768357042269 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64124.32826387308, + 28332.244794753224, + 475.2768357042269 + ], + "rotation_deg": [ + 0.0, + -7.040452480316165, + -145.10325622558594 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.989055194280674, + 0.14754600186524244, + -0.0, + -580.51680434009 + ], + [ + 0.06467122142961118, + -0.4335150167867781, + -0.8988227652541748, + -156.90867774345833 + ], + [ + -0.13261771700834282, + 0.8889853214228752, + -0.4383122624683939, + 334.3178925704192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.989055194280674, + 0.06467122142961118, + -0.13261771700834282, + 628.6471074805467 + ], + [ + 0.14754600186524244, + -0.4335150167867781, + 0.8889853214228752, + -279.5730291678146 + ], + [ + -0.0, + -0.8988227652541748, + -0.4383122624683939, + 5.502536394833766 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62864.71074805467, + 27957.302916781457, + 550.2536394833766 + ], + "rotation_deg": [ + 0.0, + -25.996246337890632, + -98.48474121093751 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 250.21721066432036 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 111.29210395832975 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -619.7542238554341 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 622.1629832779489 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -268.30240499972564 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62216.29832779489, + 26830.240499972566, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 176, + "time": 463.93944365903735, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.5183060051230304, + 0.8551952321273808, + -1.7347234625736584e-18, + 559.5753568718644 + ], + [ + 0.04339248529754357, + 0.026298773498750844, + -0.9987119037701332, + -17.306561358012218 + ], + [ + -0.8540936687684012, + -0.5176383599213301, + -0.05073985916110163, + 406.5397569341704 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.5183060051230304, + 0.04339248529754357, + -0.8540936687684012, + 638.0052611733912 + ], + [ + 0.8551952321273808, + 0.026298773498750844, + -0.5176383599213301, + -267.6504616802106 + ], + [ + -1.7347234625736584e-18, + -0.9987119037701332, + -0.05073985916110163, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 63800.52611733912, + 26765.04616802106, + 334.35004389556343 + ], + "rotation_deg": [ + 9.952052581181306e-17, + -2.908428668975831, + 148.78131103515628 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.571718058691331, + 0.8204501577586635, + -0.0, + -134.15312174227577 + ], + [ + 0.09971208676405156, + -0.06948283223997363, + -0.9925873441551981, + -78.9093106501307 + ], + [ + -0.8143684541420917, + 0.5674800934372849, + -0.12153338821340424, + 683.4799848287838 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.571718058691331, + 0.09971208676405156, + -0.8143684541420917, + 641.1705034287761 + ], + [ + 0.8204501577586635, + -0.06948283223997363, + 0.5674800934372849, + -283.2781876757623 + ], + [ + -0.0, + -0.9925873441551981, + -0.12153338821340424, + 4.741254296199212 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64117.05034287761, + 28327.818767576227, + 474.1254296199212 + ], + "rotation_deg": [ + 0.0, + -6.98060703277588, + -145.1298828125 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9937661215142811, + 0.11148495741786246, + -0.0, + -593.0622255980301 + ], + [ + 0.04993750326668141, + -0.4451380714389138, + -0.8940684219471875, + -150.75876688677218 + ], + [ + -0.09967519134985305, + 0.8884949051462323, + -0.44793041843411086, + 313.2320117232458 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9937661215142811, + 0.04993750326668141, + -0.09967519134985305, + 628.1151206627399 + ], + [ + 0.11148495741786246, + -0.4451380714389138, + 0.8884949051462323, + -279.2959915726406 + ], + [ + -0.0, + -0.8940684219471875, + -0.44793041843411086, + 5.517489412830583 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62811.51206627399, + 27929.59915726406, + 551.7489412830583 + ], + "rotation_deg": [ + 0.0, + -26.610979080200206, + -96.4009246826172 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 250.18117003670795 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 111.2702409364956 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -619.6277293456412 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 622.046727419178 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -268.2371182864251 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62204.6727419178, + 26823.711828642507, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 177, + "time": 464.00611032918096, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.520950909734396, + 0.8535866386295564, + -1.7347234625736584e-18, + 560.680621815812 + ], + [ + 0.04331086549064821, + 0.026432975585187396, + -0.9987119037701332, + -17.21509318949519 + ], + [ + -0.8524871473344863, + -0.5202798576937426, + -0.05073985916110163, + 404.7393903095041 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.520950909734396, + 0.04331086549064821, + -0.8524871473344863, + 637.8677950410079 + ], + [ + 0.8535866386295564, + 0.026432975585187396, + -0.5202798576937426, + -267.5566877026064 + ], + [ + -1.7347234625736584e-18, + -0.9987119037701332, + -0.05073985916110163, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 63786.77950410079, + 26755.66877026064, + 334.35004389556343 + ], + "rotation_deg": [ + 9.952052581181306e-17, + -2.908428668975831, + 148.60394287109378 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5713389017499435, + 0.8207142373245199, + -0.0, + -133.8261362148183 + ], + [ + 0.09889793741486386, + -0.06884764072345505, + -0.9927130503533734, + -78.20800661711694 + ], + [ + -0.8147337450411922, + 0.5671755678880936, + -0.12050228164633182, + 683.537679629487 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5713389017499435, + 0.09889793741486386, + -0.8147337450411922, + 641.0958922258018 + ], + [ + 0.8207142373245199, + -0.06884764072345505, + 0.5671755678880936, + -283.23730257643297 + ], + [ + -0.0, + -0.9927130503533734, + -0.12050228164633182, + 4.729740235356154 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64109.58922258017, + 28323.7302576433, + 472.9740235356154 + ], + "rotation_deg": [ + 0.0, + -6.921091556549073, + -145.15635681152344 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9971852003751879, + 0.07497783774353617, + -2.7755575452931125e-17, + -604.7268107788624 + ], + [ + 0.03423059277850007, + -0.45525773409933756, + -0.8897014454640212, + -143.53354439384975 + ], + [ + -0.06670790180363223, + 0.8871971116466771, + -0.45654281389892687, + 291.84310453371506 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9971852003751879, + 0.03423059277850007, + -0.06670790180363223, + 627.4061017594612 + ], + [ + 0.07497783774353617, + -0.45525773409933756, + 0.8871971116466771, + -278.92600200469815 + ], + [ + -2.7755575452931125e-17, + -0.8897014454640212, + -0.45654281389892687, + 5.536866396458951 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62740.610175946116, + 27892.600200469813, + 553.6866396458951 + ], + "rotation_deg": [ + 1.7874280769537567e-15, + -27.164245605468754, + -94.29994964599611 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 250.1414473870814 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 111.24856375847892 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -619.5023100862547 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 621.9286395673876 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -268.1752067455651 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62192.86395673875, + 26817.520674556512, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 178, + "time": 464.07277699932456, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.5235910489177927, + 0.8519697256905115, + -0.0, + 561.7822558927703 + ], + [ + 0.043228823556480306, + 0.026566935874481848, + -0.9987119037701333, + -17.1232924311631 + ], + [ + -0.8508723171753692, + -0.5229165961766078, + -0.050739859161101644, + 402.9324773242079 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.5235910489177927, + 0.043228823556480306, + -0.8508723171753692, + 637.7284572641166 + ], + [ + 0.8519697256905115, + 0.026566935874481848, + -0.5229165961766078, + -267.46648050719995 + ], + [ + -0.0, + -0.9987119037701333, + -0.050739859161101644, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 63772.845726411666, + 26746.648050719996, + 334.35004389556343 + ], + "rotation_deg": [ + 0.0, + -2.908428668975832, + 148.42655944824222 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5709618092238424, + 0.8209766211091742, + -0.0, + -133.4971411955435 + ], + [ + 0.09808758764507622, + -0.0682166398704153, + -0.992837003336781, + -77.51057486442429 + ], + [ + -0.8150959793475169, + 0.5668719956270339, + -0.11947671331826959, + 683.5942478944567 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5709618092238424, + 0.09808758764507622, + -0.8150959793475169, + 641.0195079264778 + ], + [ + 0.8209766211091742, + -0.0682166398704153, + 0.5668719956270339, + -283.1999241145472 + ], + [ + -0.0, + -0.992837003336781, + -0.11947671331826959, + 4.718226174513097 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64101.950792647775, + 28319.992411454718, + 471.82261745130967 + ], + "rotation_deg": [ + 0.0, + -6.861903190612795, + -145.18267822265625 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9992779414050131, + 0.037994681487799914, + -0.0, + -615.4873495266444 + ], + [ + 0.01761934779809466, + -0.46339710999373607, + -0.8859755510354802, + -135.15159379100015 + ], + [ + -0.03366236983512757, + 0.8853358226234581, + -0.46373195494458647, + 270.20233099353067 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9992779414050131, + 0.01761934779809466, + -0.03366236983512757, + 626.5198621532728 + ], + [ + 0.037994681487799914, + -0.46339710999373607, + 0.8853358226234581, + -278.4634101651282 + ], + [ + -0.0, + -0.8859755510354802, + -0.46373195494458647, + 5.560443588376341 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62651.986215327284, + 27846.341016512823, + 556.044358837634 + ], + "rotation_deg": [ + 0.0, + -27.628187179565447, + -92.17745971679689 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 250.09799140187923 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 111.22709534937846 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -619.3780987167221 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 621.8087786192474 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -268.1168018421487 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62180.87786192474, + 26811.680184214867, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 179, + "time": 464.13944366946816, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.5262261696158833, + 0.8503446468411472, + 3.4694469251473167e-18, + 562.8801660319051 + ], + [ + 0.043146367285176054, + 0.026700641526540624, + -0.9987119037701332, + -17.031173012697025 + ], + [ + -0.8492493316241843, + -0.5255483226385451, + -0.05073985916110164, + 401.11929215599224 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.5262261696158833, + 0.043146367285176054, + -0.8492493316241843, + 637.5873839532597 + ], + [ + 0.8503446468411472, + 0.026700641526540624, + -0.5255483226385451, + -267.3798206684586 + ], + [ + 3.4694469251473167e-18, + -0.9987119037701332, + -0.05073985916110164, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 63758.73839532597, + 26737.98206684586, + 334.35004389556343 + ], + "rotation_deg": [ + -1.9904105162362613e-16, + -2.9084286689758314, + 148.24917602539065 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5705867832889249, + 0.8212373120700235, + -6.938893850917383e-18, + -133.16622958367628 + ], + [ + 0.09728102966460532, + -0.06758980501196317, + -0.9929592234960297, + -76.81701147819051 + ], + [ + -0.8154551747325333, + 0.5665693932003397, + -0.11845666165535897, + 683.6498004769223 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5705867832889249, + 0.09728102966460532, + -0.8154551747325333, + 640.9414864546757 + ], + [ + 0.8212373120700235, + -0.06758980501196317, + 0.5665693932003397, + -283.166032559771 + ], + [ + -6.938893850917383e-18, + -0.9929592234960297, + -0.11845666165535897, + 4.706712113670039 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64094.14864546756, + 28316.6032559771, + 470.6712113670039 + ], + "rotation_deg": [ + 4.003883803272336e-16, + -6.803040504455569, + -145.20884704589847 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9999998421258728, + 0.0005619147881189547, + -2.7755575456368626e-17, + -625.2997951422235 + ], + [ + 0.0002635582907540955, + -0.4690359725668776, + -0.8831790231743902, + -125.57899253668074 + ], + [ + -0.0004962821030148407, + 0.8831788819634466, + -0.4690360499555128, + 248.3745685963303 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9999998421258728, + 0.0002635582907540955, + -0.0004962821030148407, + 625.456054988468 + ], + [ + 0.0005619147881189547, + -0.4690359725668776, + 0.8831788819634466, + -277.9088684221783 + ], + [ + -2.7755575456368626e-17, + -0.8831790231743902, + -0.4690360499555128, + 5.587890844296192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62545.60549884681, + 27790.886842217828, + 558.7890844296192 + ], + "rotation_deg": [ + 1.8006285273961667e-15, + -27.971742630004886, + -90.03219604492189 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 250.05091214524526 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 111.20584970228595 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -619.2551761979137 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 621.6872804986291 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -268.06188384584186 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62168.728049862904, + 26806.188384584184, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + }, + { + "frame": 180, + "time": 464.20611033961177, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.5288560205461753, + 0.8487115585003323, + 1.7347234625736584e-18, + 563.9741665755338 + ], + [ + 0.0430635046134068, + 0.026834079791325557, + -0.9987119037701332, + -16.938755195686635 + ], + [ + -0.8476183468983138, + -0.5281747861207322, + -0.05073985916110164, + 399.30023361342984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.5288560205461753, + 0.0430635046134068, + -0.8476183468983138, + 637.4447657527923 + ], + [ + 0.8487115585003323, + 0.026834079791325557, + -0.5281747861207322, + -267.2965416452902 + ], + [ + 1.7347234625736584e-18, + -0.9987119037701332, + -0.05073985916110164, + 3.343500438955634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 63744.47657527922, + 26729.65416452902, + 334.35004389556343 + ], + "rotation_deg": [ + -9.952052581181306e-17, + -2.9084286689758314, + 148.07180786132818 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.570213826106214, + 0.8214963131489467, + -0.0, + -132.83364605415903 + ], + [ + 0.0964782215943669, + -0.06696708797191228, + -0.9930797359157773, + -76.12727909664406 + ], + [ + -0.8158113527488291, + 0.5662677797649962, + -0.11744206370013847, + 683.7044127076927 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.570213826106214, + 0.0964782215943669, + -0.8158113527488291, + 640.8620182671369 + ], + [ + 0.8214963131489467, + -0.06696708797191228, + 0.5662677797649962, + -283.13546106679047 + ], + [ + -0.0, + -0.9930797359157773, + -0.11744206370013847, + 4.695198052826981 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64086.20182671369, + 28313.54610667905, + 469.51980528269814 + ], + "rotation_deg": [ + 0.0, + -6.7444996833801305, + -145.23486328125003 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9993081853647581, + -0.03719073356354384, + -2.7755575457232448e-17, + -634.0937883354013 + ], + [ + -0.01755720248459153, + -0.47175880854787106, + -0.8815528181557858, + -114.88902840247268 + ], + [ + 0.032785585449925464, + 0.8809429456072215, + -0.4720854074969672, + 226.44075250942828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9993081853647581, + -0.01755720248459153, + 0.032785585449925464, + 624.2139882152821 + ], + [ + -0.03719073356354384, + -0.47175880854787106, + 0.8809429456072215, + -277.26370266590146 + ], + [ + -2.7755575457232448e-17, + -0.8815528181557858, + -0.4720854074969672, + 5.618624470302283 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62421.398821528215, + 27726.370266590147, + 561.8624470302283 + ], + "rotation_deg": [ + 1.803950156159731e-15, + -28.169750213623047, + -87.86863708496092 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7071067768845224, + -0.7071067854885725, + 6.938893851746006e-18, + 250.00046226788578 + ], + [ + -0.1204291736111822, + 0.12042917214580431, + -0.9853900895785402, + 111.18482966070636 + ], + [ + 0.6967760142953447, + -0.6967760142953447, + -0.17031257089653637, + -619.1335589817055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7071067768845224, + -0.1204291736111822, + 0.6967760142953447, + 621.5643356622742 + ], + [ + -0.7071067854885725, + 0.12042917214580431, + -0.6967760142953447, + -268.0102859113307 + ], + [ + 6.938893851746006e-18, + -0.9853900895785402, + -0.17031257089653637, + 4.114201629110451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62156.43356622742, + 26801.02859113307, + 411.42016291104517 + ], + "rotation_deg": [ + -4.0346390681083804e-16, + -9.805993080139153, + 45.00000000000001 + ] + } + } + ] + } + ] +} \ No newline at end of file diff --git a/clips/clip_00221/caption.txt b/clips/clip_00221/caption.txt new file mode 100644 index 0000000000000000000000000000000000000000..f07c107cfbfb81731c5c94921306cccf1562476c --- /dev/null +++ b/clips/clip_00221/caption.txt @@ -0,0 +1 @@ +A woman with dark hair, wearing a dark jacket, top, and pants with a backpack, jogs along the sidewalk past a bank building, moving further down the block past parked cars on a dim, overcast downtown city street lined with tall buildings. diff --git a/clips/clip_00221/depth.zip b/clips/clip_00221/depth.zip new file mode 100644 index 0000000000000000000000000000000000000000..1fe6a824d647c120e1544030faaea0b8d8455406 --- /dev/null +++ b/clips/clip_00221/depth.zip @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0232ca05ed3253a1d41a2afb73a584a3ac6504267ab50865cb2b4e95d926b131 +size 263345849 diff --git a/clips/clip_00221/meta.json b/clips/clip_00221/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..bc8cc1cf687f7084342502f4b90cc1f09580904f --- /dev/null +++ b/clips/clip_00221/meta.json @@ -0,0 +1,291 @@ +{ + "mode": "pie", + "clip": "clip_00217", + "num_cams": 4, + "resolution": 1280, + "focal_mm": 35.0, + "sensor_mm": 23.76, + "fov_deg": 37.4973605549133, + "fps": 15, + "frames": 181, + "radius_cm": 600.0, + "target_z_cm": 150.0, + "exposure_method": "manual", + "exposure_bias": 0.0, + "exposure_compensation": 2.0, + "capture_depth": true, + "fixed_timestep": true, + "center_cm": [ + 65499.74616432445, + 27720.882959435578, + 66.63768435749944 + ], + "intrinsics_mode": "per_camera", + "clip_index": 4, + "target": { + "tracked": true, + "kind": "pedestrian", + "aim_z_cm": 110.0, + "moving_at_acquire": true, + "motion_kinds": [ + "arc", + "random_polyline", + "random_polyline", + "static" + ], + "model_id": "arch_a037facd", + "identity": { + "model_id": "arch_a037facd", + "primary_mesh": "/Game/Crowd/Character/Female/NormalWeight/Meshes/f_tal_nrw_base.f_tal_nrw_base", + "meshes": [ + "/Game/Crowd/Character/Accessories/f_nrw_backpackA.f_nrw_backpackA", + "/Game/Crowd/Character/Female/NormalWeight/Meshes/f_tal_nrw_base.f_tal_nrw_base", + "/Game/Crowd/Character/Female/NormalWeight/Meshes/f_tal_nrw_body.f_tal_nrw_body", + "/Game/Crowd/Character/Female/NormalWeight/Meshes/f_tal_nrw_dressFlats.f_tal_nrw_dressFlats", + "/Game/Crowd/Character/Female/NormalWeight/Meshes/f_tal_nrw_scoopneck_blazer.f_tal_nrw_scoopneck_blazer", + "/Game/Crowd/Character/Female/NormalWeight/Meshes/f_tal_nrw_slacks.f_tal_nrw_slacks", + "/Game/Crowd/Character/Female/f_001/Face/f_001_nrw_FaceMesh.f_001_nrw_FaceMesh" + ], + "mesh_count": 7, + "actor_class": "BP_CrowdCharacter_C", + "source": "mesh_set" + }, + "model_cap_override": false, + "model_skipped_candidates": 0 + }, + "frame_count": 181, + "frame_bucket": 181, + "spec_gen": "gen3", + "bucket_retired": false, + "target_class": "pedestrian", + "target_class_requested": "pedestrian", + "target_class_fallback": false, + "hfov_deg_per_cam": [ + 44.655, + 41.102, + 36.21, + 65.419 + ], + "hfov_range_deg": [ + 25.0, + 90.0 + ], + "bench": { + "mode": true, + "clip_id": 221, + "bg_ratio": 0.0, + "placement_fallbacks": [], + "target_reacquires": 0, + "motion_gate": { + "enabled": true, + "required_travel_m": 2.23, + "travel_m": 24.0, + "retries": 0, + "probe_rejects": 0, + "rejects": [], + "acquire_min_cm_s": 300.0 + }, + "view_block_guard": { + "enabled": true, + "abort_sec": 3.0, + "abort_frames": 45, + "aborts": 0, + "max_streak_frames": 0 + } + }, + "continuity": { + "target_lost_frame": null, + "target_survived": true, + "enclosed_retries_budget": 6, + "min_usable_dirs_used": 5 + }, + "oos": { + "prob": 0.3, + "max_cams": 2, + "force_min": 0, + "enabled": true, + "aim_mode": "departure_return_scheduler", + "scheduler": { + "enabled": true, + "out_run_target_frames": [ + 12, + 24 + ], + "gate_min_out_frames": 8, + "reentry_visible_frames": 8, + "slew_half_fov_frac": 0.08, + "window_lead_frac": 0.12, + "two_window_frames": 181, + "aim_offset_frac": 1.15, + "aim_size_aware": true, + "aim_size_margin": 0.05, + "aim_offset_frac_max": 2.5, + "open_slew": true, + "min_clip_frames": 100, + "skipped_short_bucket": false, + "return_frames_est": [ + 30, + 29, + 33, + 29 + ], + "open_frames_est": [ + 15, + 15, + 18, + 15 + ], + "per_cam": [ + null, + null, + null, + null + ] + }, + "pan_tilt_scale_half_fov": 1.5, + "allowed": [ + false, + false, + false, + false + ], + "reasons": [ + "none", + "none", + "none", + "none" + ], + "effective": [ + false, + false, + false, + false + ], + "departed": [ + false, + false, + true, + false + ], + "cycles": [ + 0, + 0, + 0, + 0 + ], + "segments": [], + "num_allowed": 0, + "num_effective": 0, + "num_departed": 1 + }, + "visibility": { + "frames": 181, + "states": [ + "visible", + "occluded", + "out_of_frustum", + "target_absent" + ], + "per_cam_ratio": [ + { + "visible": 1.0, + "occluded": 0.0, + "out_of_frustum": 0.0, + "target_absent": 0.0 + }, + { + "visible": 1.0, + "occluded": 0.0, + "out_of_frustum": 0.0, + "target_absent": 0.0 + }, + { + "visible": 0.9945, + "occluded": 0.0, + "out_of_frustum": 0.0055, + "target_absent": 0.0 + }, + { + "visible": 1.0, + "occluded": 0.0, + "out_of_frustum": 0.0, + "target_absent": 0.0 + } + ], + "visible_ratio": [ + 1.0, + 1.0, + 0.9945, + 1.0 + ], + "non_oos_cams": [ + 1, + 2, + 3, + 4 + ], + "min_visible_ratio_non_oos": 0.9945, + "gate1_cams": [ + 1, + 2, + 3, + 4 + ], + "min_visible_ratio_gate1": 0.9945, + "target_absent_frames": 0, + "bbox_sources": { + "colliding": 181 + } + }, + "smoothing": { + "rot_cap_frac_hfov": 0.06, + "rot_cap_deg_per_cam": [ + 2.6793, + 2.4661199999999996, + 2.1726, + 3.92514 + ], + "max_step_cm": 150.0, + "max_accel_cm": 20.0, + "accel_metric": "vector_jolt", + "lag_closure_frac": 0.12, + "oos_slew_half_fov_frac": 0.08 + }, + "pins": { + "resample": { + "attempts": 2, + "used": 3, + "pinned": 0, + "pinned_per_attempt": [ + 1, + 1, + 0 + ] + }, + "live_rotation": true, + "forced_cams": null, + "force_pin_cams": 0, + "pinned_cams": [] + }, + "motion_persistence": { + "enabled": true, + "min_moving_frac": 0.4, + "moving_speed_cm_s": 40.0, + "moving_frames": 180, + "still_frames": 0, + "moving_frac": 1.0 + }, + "points": { + "enabled": true, + "num_points": 256, + "frames": 181, + "valid_frames": 181, + "track_complete_ratio": 1.0, + "track_breaks": 0, + "in_frustum_ratio": 0.9976, + "render_lod_natural": 3, + "render_lod_forced": 3, + "sample_log": "ok=1 n=256 comps=7 skinned=6 static=1 tris=167657 area_m2=3.005 half_cm=84.9 centre_off_cm=4.7", + "npz_written": true + } +} \ No newline at end of file diff --git a/clips/clip_00221/points_target.npz b/clips/clip_00221/points_target.npz new file mode 100644 index 0000000000000000000000000000000000000000..cf62cba9ed5489e7372876d89ab5d380bf9f7518 --- /dev/null +++ b/clips/clip_00221/points_target.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d9092fe718006fcdf41cb0bcd2cc7d33b5d3ec67541f692e742715816de68140 +size 517352 diff --git a/clips/clip_00221/videos/cam01.mp4 b/clips/clip_00221/videos/cam01.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..f775a83581e6a3ff2ed29de812098478751ccdd5 --- /dev/null +++ b/clips/clip_00221/videos/cam01.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8051487c56c7ea391fdd7c8f71f3380076da484b36f7b185dca0a418fdf12a63 +size 24552750 diff --git a/clips/clip_00221/videos/cam02.mp4 b/clips/clip_00221/videos/cam02.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..d438dd9b491de7ad9920cb8da3e1dbcd5a928060 --- /dev/null +++ b/clips/clip_00221/videos/cam02.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8fee93c47b40d8d9a0cdac530223636fa08188781ed2d9704f12251a07c1bc06 +size 43080060 diff --git a/clips/clip_00221/videos/cam03.mp4 b/clips/clip_00221/videos/cam03.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..b15a35e54ab46de513518ae3077110d9a042c33e --- /dev/null +++ b/clips/clip_00221/videos/cam03.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dce7d4b2f23369607f156d463f4d648628d24f3720c7852479aa6e43289825b3 +size 39461213 diff --git a/clips/clip_00221/videos/cam04.mp4 b/clips/clip_00221/videos/cam04.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..91611bb91c579998eae80cb1a7204c395aabb40e --- /dev/null +++ b/clips/clip_00221/videos/cam04.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:eb7abc33fb2e92de65ce7610f216027dafbaf204548c9a82aa6db8978d53d9a1 +size 29876155 diff --git a/clips/clip_00221/videos_depth/cam01.mp4 b/clips/clip_00221/videos_depth/cam01.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..e1cb03baba96539ce029ace3077dce61a2167e69 --- /dev/null +++ b/clips/clip_00221/videos_depth/cam01.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1e9ff777946157f521f867a8b655b4af5a8c87dc86aedfd5065db00b21ac8a78 +size 917556 diff --git a/clips/clip_00221/videos_depth/cam02.mp4 b/clips/clip_00221/videos_depth/cam02.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..f28bc0e140454864bd0ffa253feeed0f016fad26 --- /dev/null +++ b/clips/clip_00221/videos_depth/cam02.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:eb67ac15ad1ca765f16d39143764b685e1b96071d4a59efd7afe8e2844e84adc +size 2699309 diff --git a/clips/clip_00221/videos_depth/cam03.mp4 b/clips/clip_00221/videos_depth/cam03.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..78676513a329fb794c4aadacfb8c0c5ef927b8fb --- /dev/null +++ b/clips/clip_00221/videos_depth/cam03.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ead2a6998cab1489dc7db2426c116898c42a3ad7011bbba835854b9d6f126bb4 +size 1802653 diff --git a/clips/clip_00221/videos_depth/cam04.mp4 b/clips/clip_00221/videos_depth/cam04.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..69c3242cbbf3094fe45fd4e671264033594e7f74 --- /dev/null +++ b/clips/clip_00221/videos_depth/cam04.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e05392656ab4cf0d1464d4e243952d97915b43da924169e981f7c92482d01709 +size 1810770 diff --git a/clips/clip_00221/views/cam01/frame_0000.png b/clips/clip_00221/views/cam01/frame_0000.png new file mode 100644 index 0000000000000000000000000000000000000000..82165d2824140d2e0487d9195c492810e21c7ee4 --- /dev/null +++ b/clips/clip_00221/views/cam01/frame_0000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:19346f5e82a9b5547371c135c97e98bf835b9ce5e3362460e6434f380946d608 +size 3173689 diff --git a/clips/clip_00221/views/cam01/frame_0090.png b/clips/clip_00221/views/cam01/frame_0090.png new file mode 100644 index 0000000000000000000000000000000000000000..436007d0f661ae31bf77acc3d1121add9ba45f0e --- /dev/null +++ b/clips/clip_00221/views/cam01/frame_0090.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:11c163cc41a844c459fd0b752837388292b51f3b7d249c36454cdc58087d3ce4 +size 3036923 diff --git a/clips/clip_00221/views/cam01/frame_0180.png b/clips/clip_00221/views/cam01/frame_0180.png new file mode 100644 index 0000000000000000000000000000000000000000..dcfacbadfe9dffbe8241aa1d7fb5ed0de2b2bb90 --- /dev/null +++ b/clips/clip_00221/views/cam01/frame_0180.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c0623cd619b3e8ceedee94195e91a3ef1ceede098fb3bb5da09dc04bb9bcdbe5 +size 3034577 diff --git a/clips/clip_00221/views/cam02/frame_0000.png b/clips/clip_00221/views/cam02/frame_0000.png new file mode 100644 index 0000000000000000000000000000000000000000..2bb135ac8b6aebf2f2e719f92b638c80e0fab9c3 --- /dev/null +++ b/clips/clip_00221/views/cam02/frame_0000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:38053e8ef575c616febeda9397ffad5da608d192e1e22ed3d1a8ad1271670361 +size 3640198 diff --git a/clips/clip_00221/views/cam02/frame_0090.png b/clips/clip_00221/views/cam02/frame_0090.png new file mode 100644 index 0000000000000000000000000000000000000000..13d71d6012d5d7813747dde373a430aed56cb335 --- /dev/null +++ b/clips/clip_00221/views/cam02/frame_0090.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:606eef8c178a2b1fdd19b37443325ee783f334dc39afaa53079d694bcb3f9b1f +size 3664088 diff --git a/clips/clip_00221/views/cam03/frame_0000.png b/clips/clip_00221/views/cam03/frame_0000.png new file mode 100644 index 0000000000000000000000000000000000000000..c747bc314919652a065aa608088b4bc3d90ea120 --- /dev/null +++ b/clips/clip_00221/views/cam03/frame_0000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0b3f31b733d89b26a3a1ad85ccdd6567c515286710ddd2dd270ca5e0437bf08f +size 3626093 diff --git a/clips/clip_00221/views/cam03/frame_0090.png b/clips/clip_00221/views/cam03/frame_0090.png new file mode 100644 index 0000000000000000000000000000000000000000..ca4701701e284ae97bb4e2675a4b361e050098e2 --- /dev/null +++ b/clips/clip_00221/views/cam03/frame_0090.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:742e3edec49ae2bfaf68ed8788e7adf6e83a846c71ad8176461d04e37402334b +size 3479193 diff --git a/clips/clip_00221/views/cam04/frame_0000.png b/clips/clip_00221/views/cam04/frame_0000.png new file mode 100644 index 0000000000000000000000000000000000000000..e93b53c3f3e39b2b329caf6554c8f1c6faa94086 --- /dev/null +++ b/clips/clip_00221/views/cam04/frame_0000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:286932e1dfb9e4787a0c951699e43a406257510ec8697c3ca4943c76e2b33c04 +size 3394526 diff --git a/clips/clip_00221/views/cam04/frame_0090.png b/clips/clip_00221/views/cam04/frame_0090.png new file mode 100644 index 0000000000000000000000000000000000000000..59a39f5e7d2cfd6496037db74eecda03e29a0c09 --- /dev/null +++ b/clips/clip_00221/views/cam04/frame_0090.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ae36d6119f798312351a40019ef92f4d2f0cfdd5308cfda5fb28252eef18514f +size 3263730 diff --git a/clips/clip_00221/visibility.json b/clips/clip_00221/visibility.json new file mode 100644 index 0000000000000000000000000000000000000000..0b2e7fa002013fffc95364b552c355acdf00196e --- /dev/null +++ b/clips/clip_00221/visibility.json @@ -0,0 +1,12136 @@ +{ + "version": 1, + "convention": "visibility[t][k] = state of the target in camera k at capture frame t (index-aligned with rgb_%04d.png)", + "states": [ + "visible", + "occluded", + "out_of_frustum", + "target_absent" + ], + "state_note": "visible = in-frustum and at least one bbox sample ray unblocked; occluded = in-frustum but every sample ray blocked; out_of_frustum = target bbox does not overlap the image rect; target_absent = target actor despawned (Mass LOD) -- BM-M2", + "num_cams": 4, + "frames": 181, + "fps": 15, + "clip_id": 221, + "target_class": "pedestrian", + "target_lost_frame": null, + "target_bbox_extent_cm": [ + 55.3, + 55.3, + 88.0 + ], + "bbox_sources": { + "colliding": 181 + }, + "target_world_units": "cm, Unreal left-handed world (same frame as cameras.json ue_pose.location_cm)", + "cameras": [ + { + "oos_allowed": false, + "oos_reason": "none", + "pinned": false, + "oos_effective": false, + "oos_cycles": 0, + "oos_departed": false, + "oos_schedule": null, + "name": "cam01", + "hfov_deg": 44.655, + "motion_kind": "arc", + "ratio": { + "visible": 1.0, + "occluded": 0.0, + "out_of_frustum": 0.0, + "target_absent": 0.0 + } + }, + { + "oos_allowed": false, + "oos_reason": "none", + "pinned": false, + "oos_effective": false, + "oos_cycles": 0, + "oos_departed": false, + "oos_schedule": null, + "name": "cam02", + "hfov_deg": 41.102, + "motion_kind": "random_polyline", + "ratio": { + "visible": 1.0, + "occluded": 0.0, + "out_of_frustum": 0.0, + "target_absent": 0.0 + } + }, + { + "oos_allowed": false, + "oos_reason": "none", + "pinned": false, + "oos_effective": false, + "oos_cycles": 0, + "oos_departed": true, + "oos_schedule": null, + "name": "cam03", + "hfov_deg": 36.21, + "motion_kind": "random_polyline", + "ratio": { + "visible": 0.9945, + "occluded": 0.0, + "out_of_frustum": 0.0055, + "target_absent": 0.0 + } + }, + { + "oos_allowed": false, + "oos_reason": "none", + "pinned": false, + "oos_effective": false, + "oos_cycles": 0, + "oos_departed": false, + "oos_schedule": null, + "name": "cam04", + "hfov_deg": 65.419, + "motion_kind": "static", + "ratio": { + "visible": 1.0, + "occluded": 0.0, + "out_of_frustum": 0.0, + "target_absent": 0.0 + } + } + ], + "summary": { + "frames": 181, + "states": [ + "visible", + "occluded", + "out_of_frustum", + "target_absent" + ], + "per_cam_ratio": [ + { + "visible": 1.0, + "occluded": 0.0, + "out_of_frustum": 0.0, + "target_absent": 0.0 + }, + { + "visible": 1.0, + "occluded": 0.0, + "out_of_frustum": 0.0, + "target_absent": 0.0 + }, + { + "visible": 0.9945, + "occluded": 0.0, + "out_of_frustum": 0.0055, + "target_absent": 0.0 + }, + { + "visible": 1.0, + "occluded": 0.0, + "out_of_frustum": 0.0, + "target_absent": 0.0 + } + ], + "visible_ratio": [ + 1.0, + 1.0, + 0.9945, + 1.0 + ], + "non_oos_cams": [ + 1, + 2, + 3, + 4 + ], + "min_visible_ratio_non_oos": 0.9945, + "gate1_cams": [ + 1, + 2, + 3, + 4 + ], + "min_visible_ratio_gate1": 0.9945, + "target_absent_frames": 0, + "bbox_sources": { + "colliding": 181 + } + }, + "oos_segments": [], + "oos_segment_note": "derived from `visibility` (frame-level is authoritative); maximal runs only, no merging/smoothing; min length 8f applies to this list only; start/end inclusive", + "oos_cycles_per_cam": [ + 0, + 0, + 0, + 0 + ], + "oos_params": { + "segment_min_len": 8, + "min_out": 8, + "min_visible": 8 + }, + "visibility": [ + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "out_of_frustum", + "visible" + ] + ], + "visible_frac": [ + [ + 1.0, + 1.0, + 1.0, + 0.444 + ], + [ + 1.0, + 1.0, + 1.0, + 0.444 + ], + [ + 1.0, + 1.0, + 1.0, + 0.778 + ], + [ + 1.0, + 1.0, + 1.0, + 0.889 + ], + [ + 1.0, + 1.0, + 1.0, + 0.889 + ], + [ + 1.0, + 1.0, + 1.0, + 0.778 + ], + [ + 1.0, + 1.0, + 1.0, + 0.778 + ], + [ + 1.0, + 1.0, + 1.0, + 0.778 + ], + [ + 1.0, + 1.0, + 1.0, + 0.778 + ], + [ + 1.0, + 1.0, + 1.0, + 0.778 + ], + [ + 1.0, + 1.0, + 1.0, + 0.778 + ], + [ + 1.0, + 1.0, + 1.0, + 0.778 + ], + [ + 1.0, + 1.0, + 1.0, + 0.778 + ], + [ + 1.0, + 1.0, + 1.0, + 0.778 + ], + [ + 1.0, + 1.0, + 1.0, + 0.778 + ], + [ + 1.0, + 1.0, + 1.0, + 0.778 + ], + [ + 1.0, + 1.0, + 1.0, + 0.778 + ], + [ + 1.0, + 1.0, + 1.0, + 0.778 + ], + [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + [ + 0.556, + 1.0, + 1.0, + 1.0 + ], + [ + 0.556, + 1.0, + 1.0, + 1.0 + ], + [ + 0.556, + 1.0, + 1.0, + 1.0 + ], + [ + 0.556, + 1.0, + 1.0, + 1.0 + ], + [ + 0.556, + 1.0, + 1.0, + 1.0 + ], + [ + 0.444, + 1.0, + 1.0, + 1.0 + ], + [ + 0.778, + 1.0, + 1.0, + 1.0 + ], + [ + 0.889, + 1.0, + 1.0, + 1.0 + ], + [ + 0.889, + 1.0, + 1.0, + 1.0 + ], + [ + 0.667, + 1.0, + 1.0, + 1.0 + ], + [ + 0.333, + 1.0, + 1.0, + 1.0 + ], + [ + 0.333, + 1.0, + 1.0, + 1.0 + ], + [ + 0.333, + 1.0, + 1.0, + 1.0 + ], + [ + 0.333, + 1.0, + 1.0, + 1.0 + ], + [ + 0.667, + 1.0, + 1.0, + 1.0 + ], + [ + 0.889, + 1.0, + 1.0, + 1.0 + ], + [ + 0.889, + 1.0, + 1.0, + 1.0 + ], + [ + 0.889, + 1.0, + 1.0, + 1.0 + ], + [ + 0.889, + 1.0, + 1.0, + 1.0 + ], + [ + 0.778, + 1.0, + 1.0, + 1.0 + ], + [ + 0.778, + 1.0, + 1.0, + 1.0 + ], + [ + 0.889, + 1.0, + 1.0, + 1.0 + ], + [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + [ + 0.889, + 1.0, + 1.0, + 1.0 + ], + [ + 0.778, + 1.0, + 1.0, + 1.0 + ], + [ + 0.778, + 1.0, + 1.0, + 1.0 + ], + [ + 0.778, + 1.0, + 1.0, + 1.0 + ], + [ + 0.778, + 1.0, + 1.0, + 1.0 + ], + [ + 0.778, + 1.0, + 1.0, + 1.0 + ], + [ + 0.556, + 1.0, + 1.0, + 1.0 + ], + [ + 0.444, + 1.0, + 1.0, + 1.0 + ], + [ + 0.444, + 1.0, + 1.0, + 1.0 + ], + [ + 0.444, + 1.0, + 1.0, + 1.0 + ], + [ + 0.444, + 1.0, + 1.0, + 1.0 + ], + [ + 0.444, + 1.0, + 1.0, + 1.0 + ], + [ + 0.444, + 1.0, + 1.0, + 1.0 + ], + [ + 0.444, + 1.0, + 1.0, + 1.0 + ], + [ + 0.444, + 1.0, + 1.0, + 1.0 + ], + [ + 0.444, + 1.0, + 1.0, + 1.0 + ], + [ + 0.444, + 1.0, + 1.0, + 1.0 + ], + [ + 0.444, + 1.0, + 1.0, + 1.0 + ], + [ + 0.444, + 1.0, + 1.0, + 1.0 + ], + [ + 0.444, + 1.0, + 1.0, + 1.0 + ], + [ + 0.444, + 1.0, + 1.0, + 1.0 + ], + [ + 0.444, + 1.0, + 1.0, + 1.0 + ], + [ + 0.444, + 1.0, + 1.0, + 1.0 + ], + [ + 0.444, + 1.0, + 1.0, + 1.0 + ], + [ + 0.444, + 1.0, + 1.0, + 1.0 + ], + [ + 0.444, + 1.0, + 1.0, + 1.0 + ], + [ + 0.444, + 1.0, + 1.0, + 1.0 + ], + [ + 0.444, + 1.0, + 1.0, + 1.0 + ], + [ + 0.444, + 1.0, + 1.0, + 1.0 + ], + [ + 0.444, + 1.0, + 1.0, + 1.0 + ], + [ + 0.444, + 1.0, + 1.0, + 1.0 + ], + [ + 0.444, + 1.0, + 1.0, + 1.0 + ], + [ + 0.444, + 1.0, + 1.0, + 1.0 + ], + [ + 0.444, + 1.0, + 1.0, + 1.0 + ], + [ + 0.667, + 1.0, + 1.0, + 1.0 + ], + [ + 0.778, + 1.0, + 1.0, + 1.0 + ], + [ + 0.778, + 1.0, + 1.0, + 1.0 + ], + [ + 0.889, + 1.0, + 1.0, + 1.0 + ], + [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + [ + 0.889, + 1.0, + 1.0, + 1.0 + ], + [ + 0.778, + 1.0, + 1.0, + 1.0 + ], + [ + 0.778, + 1.0, + 1.0, + 1.0 + ], + [ + 0.778, + 1.0, + 1.0, + 1.0 + ], + [ + 0.778, + 1.0, + 1.0, + 1.0 + ], + [ + 0.778, + 1.0, + 1.0, + 1.0 + ], + [ + 0.778, + 1.0, + 1.0, + 1.0 + ], + [ + 0.778, + 1.0, + 1.0, + 1.0 + ], + [ + 0.778, + 1.0, + 1.0, + 1.0 + ], + [ + 0.778, + 1.0, + 1.0, + 1.0 + ], + [ + 0.778, + 1.0, + 1.0, + 1.0 + ], + [ + 0.667, + 1.0, + 1.0, + 0.778 + ], + [ + 0.556, + 1.0, + 1.0, + 0.778 + ], + [ + 0.556, + 1.0, + 1.0, + 0.778 + ], + [ + 0.556, + 1.0, + 1.0, + 0.667 + ], + [ + 0.444, + 1.0, + 1.0, + 0.222 + ], + [ + 0.444, + 1.0, + 1.0, + 0.444 + ], + [ + 0.444, + 1.0, + 1.0, + 0.444 + ], + [ + 0.444, + 1.0, + 1.0, + 0.222 + ], + [ + 0.444, + 1.0, + 1.0, + 0.778 + ], + [ + 0.444, + 1.0, + 1.0, + 0.778 + ], + [ + 0.444, + 1.0, + 1.0, + 0.778 + ], + [ + 0.444, + 1.0, + 1.0, + 0.778 + ], + [ + 0.444, + 1.0, + 1.0, + 1.0 + ], + [ + 0.444, + 1.0, + 1.0, + 1.0 + ], + [ + 0.444, + 1.0, + 1.0, + 1.0 + ], + [ + 0.444, + 1.0, + 1.0, + 1.0 + ], + [ + 0.444, + 1.0, + 1.0, + 1.0 + ], + [ + 0.444, + 1.0, + 1.0, + 1.0 + ], + [ + 0.444, + 1.0, + 1.0, + 1.0 + ], + [ + 0.444, + 1.0, + 1.0, + 1.0 + ], + [ + 0.444, + 1.0, + 1.0, + 1.0 + ], + [ + 0.444, + 1.0, + 1.0, + 1.0 + ], + [ + 0.444, + 1.0, + 1.0, + 1.0 + ], + [ + 0.444, + 1.0, + 1.0, + 1.0 + ], + [ + 0.444, + 1.0, + 1.0, + 1.0 + ], + [ + 0.444, + 1.0, + 1.0, + 1.0 + ], + [ + 0.444, + 1.0, + 1.0, + 1.0 + ], + [ + 0.444, + 1.0, + 1.0, + 1.0 + ], + [ + 0.444, + 1.0, + 1.0, + 1.0 + ], + [ + 0.444, + 1.0, + 1.0, + 1.0 + ], + [ + 0.667, + 1.0, + 1.0, + 1.0 + ], + [ + 0.778, + 1.0, + 1.0, + 1.0 + ], + [ + 0.889, + 1.0, + 1.0, + 1.0 + ], + [ + 0.889, + 1.0, + 1.0, + 1.0 + ], + [ + 0.778, + 1.0, + 1.0, + 1.0 + ], + [ + 0.778, + 1.0, + 1.0, + 1.0 + ], + [ + 0.556, + 1.0, + 1.0, + 1.0 + ], + [ + 0.667, + 1.0, + 1.0, + 1.0 + ], + [ + 0.667, + 1.0, + 1.0, + 1.0 + ], + [ + 0.778, + 1.0, + 1.0, + 1.0 + ], + [ + 0.778, + 1.0, + 1.0, + 1.0 + ], + [ + 0.778, + 1.0, + 1.0, + 1.0 + ], + [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + [ + 0.889, + 1.0, + 1.0, + 1.0 + ], + [ + 0.778, + 1.0, + 1.0, + 1.0 + ], + [ + 0.778, + 1.0, + 1.0, + 1.0 + ], + [ + 0.778, + 1.0, + 1.0, + 1.0 + ], + [ + 0.778, + 1.0, + 1.0, + 1.0 + ], + [ + 0.778, + 1.0, + 1.0, + 1.0 + ], + [ + 0.778, + 1.0, + 1.0, + 1.0 + ], + [ + 0.556, + 1.0, + 1.0, + 1.0 + ], + [ + 0.556, + 1.0, + 1.0, + 1.0 + ], + [ + 0.556, + 1.0, + 1.0, + 1.0 + ], + [ + 0.556, + 1.0, + 1.0, + 0.889 + ], + [ + 0.444, + 1.0, + 1.0, + 0.889 + ], + [ + 0.444, + 1.0, + 1.0, + 0.889 + ], + [ + 0.444, + 1.0, + 1.0, + 0.889 + ], + [ + 0.444, + 1.0, + 1.0, + 0.889 + ], + [ + 0.444, + 1.0, + 1.0, + 0.889 + ], + [ + 0.444, + 1.0, + 1.0, + 0.889 + ], + [ + 0.444, + 1.0, + 1.0, + 0.889 + ], + [ + 0.444, + 1.0, + 1.0, + 1.0 + ], + [ + 0.444, + 1.0, + 1.0, + 1.0 + ], + [ + 0.444, + 1.0, + 1.0, + 1.0 + ], + [ + 0.444, + 1.0, + 1.0, + 1.0 + ], + [ + 0.444, + 1.0, + 1.0, + 1.0 + ], + [ + 0.556, + 1.0, + 0.0, + 1.0 + ] + ], + "target_world_cm": [ + [ + 64831.9, + 28455.0, + 163.1 + ], + [ + 64821.4, + 28446.9, + 163.1 + ], + [ + 64810.8, + 28438.8, + 163.1 + ], + [ + 64800.2, + 28430.7, + 163.1 + ], + [ + 64789.6, + 28422.5, + 163.1 + ], + [ + 64779.1, + 28414.4, + 163.1 + ], + [ + 64768.5, + 28406.3, + 163.1 + ], + [ + 64757.9, + 28398.2, + 163.1 + ], + [ + 64747.3, + 28390.1, + 163.1 + ], + [ + 64736.6, + 28382.2, + 163.1 + ], + [ + 64725.8, + 28374.4, + 163.1 + ], + [ + 64714.8, + 28366.7, + 163.1 + ], + [ + 64703.7, + 28359.4, + 163.1 + ], + [ + 64692.5, + 28352.2, + 163.1 + ], + [ + 64681.0, + 28345.4, + 163.1 + ], + [ + 64669.3, + 28338.9, + 163.1 + ], + [ + 64657.5, + 28332.8, + 163.1 + ], + [ + 64645.5, + 28327.1, + 163.1 + ], + [ + 64633.3, + 28321.7, + 163.1 + ], + [ + 64620.9, + 28316.7, + 163.1 + ], + [ + 64608.4, + 28312.0, + 163.1 + ], + [ + 64595.9, + 28307.5, + 163.1 + ], + [ + 64583.2, + 28303.3, + 163.1 + ], + [ + 64570.5, + 28299.2, + 163.1 + ], + [ + 64557.8, + 28295.2, + 163.1 + ], + [ + 64545.1, + 28291.2, + 163.1 + ], + [ + 64532.3, + 28287.3, + 163.1 + ], + [ + 64519.6, + 28283.4, + 163.1 + ], + [ + 64506.8, + 28279.5, + 163.1 + ], + [ + 64494.1, + 28275.6, + 163.1 + ], + [ + 64481.3, + 28271.8, + 163.1 + ], + [ + 64468.5, + 28267.9, + 163.1 + ], + [ + 64455.8, + 28264.1, + 163.1 + ], + [ + 64443.0, + 28260.2, + 163.1 + ], + [ + 64430.2, + 28256.4, + 163.1 + ], + [ + 64417.5, + 28252.6, + 163.1 + ], + [ + 64404.7, + 28248.8, + 163.1 + ], + [ + 64391.9, + 28244.9, + 163.1 + ], + [ + 64379.2, + 28241.1, + 163.1 + ], + [ + 64366.4, + 28237.3, + 163.1 + ], + [ + 64353.6, + 28233.4, + 163.1 + ], + [ + 64340.8, + 28229.6, + 163.1 + ], + [ + 64328.1, + 28225.8, + 163.1 + ], + [ + 64315.3, + 28222.0, + 163.1 + ], + [ + 64302.5, + 28218.2, + 163.1 + ], + [ + 64289.7, + 28214.4, + 163.1 + ], + [ + 64276.9, + 28210.6, + 163.1 + ], + [ + 64264.2, + 28206.8, + 163.1 + ], + [ + 64251.4, + 28203.0, + 163.1 + ], + [ + 64238.7, + 28199.0, + 163.1 + ], + [ + 64226.0, + 28194.9, + 163.1 + ], + [ + 64213.4, + 28190.6, + 163.1 + ], + [ + 64200.8, + 28186.0, + 163.1 + ], + [ + 64188.4, + 28181.1, + 163.1 + ], + [ + 64176.2, + 28175.9, + 163.1 + ], + [ + 64164.1, + 28170.3, + 163.1 + ], + [ + 64152.1, + 28164.4, + 163.1 + ], + [ + 64140.4, + 28158.1, + 163.1 + ], + [ + 64128.8, + 28151.5, + 163.1 + ], + [ + 64117.4, + 28144.5, + 163.1 + ], + [ + 64106.2, + 28137.3, + 163.1 + ], + [ + 64095.1, + 28129.9, + 163.1 + ], + [ + 64084.1, + 28122.3, + 163.1 + ], + [ + 64073.2, + 28114.7, + 163.1 + ], + [ + 64062.4, + 28106.9, + 163.1 + ], + [ + 64051.6, + 28099.1, + 163.1 + ], + [ + 64040.8, + 28091.3, + 163.1 + ], + [ + 64030.0, + 28083.5, + 163.1 + ], + [ + 64019.2, + 28075.6, + 163.1 + ], + [ + 64008.4, + 28067.8, + 163.1 + ], + [ + 63997.6, + 28059.9, + 163.1 + ], + [ + 63986.9, + 28052.0, + 163.1 + ], + [ + 63976.1, + 28044.2, + 163.1 + ], + [ + 63965.4, + 28036.3, + 163.1 + ], + [ + 63954.6, + 28028.4, + 163.1 + ], + [ + 63943.9, + 28020.5, + 163.1 + ], + [ + 63933.1, + 28012.6, + 163.1 + ], + [ + 63922.4, + 28004.7, + 163.1 + ], + [ + 63911.6, + 27996.8, + 163.1 + ], + [ + 63900.9, + 27988.9, + 163.1 + ], + [ + 63890.1, + 27981.0, + 163.1 + ], + [ + 63879.4, + 27973.1, + 163.1 + ], + [ + 63868.7, + 27965.2, + 163.1 + ], + [ + 63857.9, + 27957.3, + 163.1 + ], + [ + 63847.2, + 27949.4, + 163.1 + ], + [ + 63836.5, + 27941.5, + 163.1 + ], + [ + 63825.7, + 27933.6, + 163.1 + ], + [ + 63815.0, + 27925.7, + 163.1 + ], + [ + 63804.2, + 27917.8, + 163.1 + ], + [ + 63793.4, + 27910.0, + 163.1 + ], + [ + 63782.6, + 27902.3, + 163.1 + ], + [ + 63771.6, + 27894.7, + 163.1 + ], + [ + 63760.4, + 27887.4, + 163.1 + ], + [ + 63749.1, + 27880.4, + 163.1 + ], + [ + 63737.6, + 27873.6, + 163.1 + ], + [ + 63725.9, + 27867.2, + 163.1 + ], + [ + 63714.1, + 27861.1, + 163.1 + ], + [ + 63702.0, + 27855.3, + 163.1 + ], + [ + 63689.8, + 27849.9, + 163.1 + ], + [ + 63677.5, + 27844.9, + 163.1 + ], + [ + 63665.0, + 27840.1, + 163.1 + ], + [ + 63652.5, + 27835.6, + 163.1 + ], + [ + 63639.9, + 27831.3, + 163.1 + ], + [ + 63627.2, + 27827.1, + 163.1 + ], + [ + 63614.5, + 27823.0, + 163.1 + ], + [ + 63601.8, + 27819.0, + 163.1 + ], + [ + 63589.1, + 27814.9, + 163.1 + ], + [ + 63576.4, + 27810.9, + 163.1 + ], + [ + 63563.7, + 27806.9, + 163.1 + ], + [ + 63551.0, + 27802.9, + 163.1 + ], + [ + 63538.2, + 27799.0, + 163.1 + ], + [ + 63525.5, + 27795.0, + 163.1 + ], + [ + 63512.8, + 27791.0, + 163.1 + ], + [ + 63500.1, + 27787.0, + 163.1 + ], + [ + 63487.3, + 27783.0, + 163.1 + ], + [ + 63474.6, + 27779.1, + 163.1 + ], + [ + 63461.9, + 27775.1, + 163.1 + ], + [ + 63449.2, + 27771.1, + 163.1 + ], + [ + 63436.4, + 27767.1, + 163.1 + ], + [ + 63423.7, + 27763.2, + 163.1 + ], + [ + 63411.0, + 27759.2, + 163.1 + ], + [ + 63398.2, + 27755.2, + 163.1 + ], + [ + 63385.5, + 27751.3, + 163.1 + ], + [ + 63372.8, + 27747.4, + 163.1 + ], + [ + 63360.0, + 27743.4, + 163.1 + ], + [ + 63347.3, + 27739.5, + 163.1 + ], + [ + 63334.5, + 27735.6, + 163.1 + ], + [ + 63321.8, + 27731.7, + 163.1 + ], + [ + 63309.0, + 27727.8, + 163.1 + ], + [ + 63296.3, + 27723.9, + 163.1 + ], + [ + 63283.5, + 27720.0, + 163.1 + ], + [ + 63270.8, + 27715.9, + 163.1 + ], + [ + 63258.2, + 27711.7, + 163.1 + ], + [ + 63245.6, + 27707.3, + 163.1 + ], + [ + 63233.1, + 27702.6, + 163.1 + ], + [ + 63220.8, + 27697.6, + 163.1 + ], + [ + 63208.6, + 27692.2, + 163.1 + ], + [ + 63196.5, + 27686.5, + 163.1 + ], + [ + 63184.6, + 27680.5, + 163.1 + ], + [ + 63172.9, + 27674.0, + 163.1 + ], + [ + 63161.4, + 27667.3, + 163.1 + ], + [ + 63150.1, + 27660.3, + 163.1 + ], + [ + 63138.9, + 27653.0, + 163.1 + ], + [ + 63127.9, + 27645.5, + 163.1 + ], + [ + 63117.0, + 27637.9, + 163.1 + ], + [ + 63106.1, + 27630.2, + 163.1 + ], + [ + 63095.3, + 27622.4, + 163.1 + ], + [ + 63084.4, + 27614.6, + 163.1 + ], + [ + 63073.7, + 27606.8, + 163.1 + ], + [ + 63062.9, + 27598.9, + 163.1 + ], + [ + 63052.1, + 27591.1, + 163.1 + ], + [ + 63041.3, + 27583.2, + 163.1 + ], + [ + 63030.6, + 27575.3, + 163.1 + ], + [ + 63019.8, + 27567.4, + 163.1 + ], + [ + 63009.1, + 27559.5, + 163.1 + ], + [ + 62998.4, + 27551.6, + 163.1 + ], + [ + 62987.6, + 27543.7, + 163.1 + ], + [ + 62976.9, + 27535.7, + 163.1 + ], + [ + 62966.2, + 27527.8, + 163.1 + ], + [ + 62955.5, + 27519.9, + 163.1 + ], + [ + 62944.8, + 27511.9, + 163.1 + ], + [ + 62934.1, + 27504.0, + 163.1 + ], + [ + 62923.4, + 27496.0, + 163.1 + ], + [ + 62912.7, + 27488.1, + 163.1 + ], + [ + 62902.0, + 27480.1, + 163.1 + ], + [ + 62891.3, + 27472.2, + 163.1 + ], + [ + 62880.5, + 27464.2, + 163.1 + ], + [ + 62869.8, + 27456.3, + 163.1 + ], + [ + 62859.1, + 27448.3, + 163.1 + ], + [ + 62848.4, + 27440.4, + 163.1 + ], + [ + 62837.6, + 27432.6, + 163.1 + ], + [ + 62826.8, + 27424.8, + 163.1 + ], + [ + 62815.8, + 27417.2, + 163.1 + ], + [ + 62804.7, + 27409.9, + 163.1 + ], + [ + 62793.4, + 27402.8, + 163.1 + ], + [ + 62782.0, + 27395.9, + 163.1 + ], + [ + 62770.4, + 27389.4, + 163.1 + ], + [ + 62758.5, + 27383.2, + 163.1 + ], + [ + 62746.6, + 27377.4, + 163.1 + ], + [ + 62734.4, + 27371.9, + 163.1 + ], + [ + 62722.1, + 27366.7, + 163.1 + ] + ], + "target_bbox_cm": [ + [ + 64831.9, + 28455.0, + 163.1, + 55.3, + 55.3, + 88.0 + ], + [ + 64821.4, + 28446.9, + 163.1, + 55.3, + 55.3, + 88.0 + ], + [ + 64810.8, + 28438.8, + 163.1, + 55.3, + 55.3, + 88.0 + ], + [ + 64800.2, + 28430.7, + 163.1, + 55.3, + 55.3, + 88.0 + ], + [ + 64789.6, + 28422.5, + 163.1, + 55.3, + 55.3, + 88.0 + ], + [ + 64779.1, + 28414.4, + 163.1, + 55.3, + 55.3, + 88.0 + ], + [ + 64768.5, + 28406.3, + 163.1, + 55.3, + 55.3, + 88.0 + ], + [ + 64757.9, + 28398.2, + 163.1, + 55.3, + 55.3, + 88.0 + ], + [ + 64747.3, + 28390.1, + 163.1, + 55.3, + 55.3, + 88.0 + ], + [ + 64736.6, + 28382.2, + 163.1, + 55.3, + 55.3, + 88.0 + ], + [ + 64725.8, + 28374.4, + 163.1, + 55.3, + 55.3, + 88.0 + ], + [ + 64714.8, + 28366.7, + 163.1, + 55.3, + 55.3, + 88.0 + ], + [ + 64703.7, + 28359.4, + 163.1, + 55.2, + 55.2, + 88.0 + ], + [ + 64692.5, + 28352.2, + 163.1, + 55.2, + 55.2, + 88.0 + ], + [ + 64681.0, + 28345.4, + 163.1, + 55.1, + 55.1, + 88.0 + ], + [ + 64669.3, + 28338.9, + 163.1, + 54.9, + 54.9, + 88.0 + ], + [ + 64657.5, + 28332.8, + 163.1, + 54.8, + 54.8, + 88.0 + ], + [ + 64645.5, + 28327.1, + 163.1, + 54.6, + 54.6, + 88.0 + ], + [ + 64633.3, + 28321.7, + 163.1, + 54.4, + 54.4, + 88.0 + ], + [ + 64620.9, + 28316.7, + 163.1, + 54.2, + 54.2, + 88.0 + ], + [ + 64608.4, + 28312.0, + 163.1, + 53.9, + 53.9, + 88.0 + ], + [ + 64595.9, + 28307.5, + 163.1, + 53.7, + 53.7, + 88.0 + ], + [ + 64583.2, + 28303.3, + 163.1, + 53.4, + 53.4, + 88.0 + ], + [ + 64570.5, + 28299.2, + 163.1, + 53.1, + 53.1, + 88.0 + ], + [ + 64557.8, + 28295.2, + 163.1, + 52.9, + 52.9, + 88.0 + ], + [ + 64545.1, + 28291.2, + 163.1, + 52.7, + 52.7, + 88.0 + ], + [ + 64532.3, + 28287.3, + 163.1, + 52.5, + 52.5, + 88.0 + ], + [ + 64519.6, + 28283.4, + 163.1, + 52.3, + 52.3, + 88.0 + ], + [ + 64506.8, + 28279.5, + 163.1, + 52.2, + 52.2, + 88.0 + ], + [ + 64494.1, + 28275.6, + 163.1, + 52.1, + 52.1, + 88.0 + ], + [ + 64481.3, + 28271.8, + 163.1, + 52.0, + 52.0, + 88.0 + ], + [ + 64468.5, + 28267.9, + 163.1, + 51.9, + 51.9, + 88.0 + ], + [ + 64455.8, + 28264.1, + 163.1, + 51.8, + 51.8, + 88.0 + ], + [ + 64443.0, + 28260.2, + 163.1, + 51.8, + 51.8, + 88.0 + ], + [ + 64430.2, + 28256.4, + 163.1, + 51.7, + 51.7, + 88.0 + ], + [ + 64417.5, + 28252.6, + 163.1, + 51.7, + 51.7, + 88.0 + ], + [ + 64404.7, + 28248.8, + 163.1, + 51.7, + 51.7, + 88.0 + ], + [ + 64391.9, + 28244.9, + 163.1, + 51.6, + 51.6, + 88.0 + ], + [ + 64379.2, + 28241.1, + 163.1, + 51.6, + 51.6, + 88.0 + ], + [ + 64366.4, + 28237.3, + 163.1, + 51.6, + 51.6, + 88.0 + ], + [ + 64353.6, + 28233.4, + 163.1, + 51.6, + 51.6, + 88.0 + ], + [ + 64340.8, + 28229.6, + 163.1, + 51.6, + 51.6, + 88.0 + ], + [ + 64328.1, + 28225.8, + 163.1, + 51.6, + 51.6, + 88.0 + ], + [ + 64315.3, + 28222.0, + 163.1, + 51.6, + 51.6, + 88.0 + ], + [ + 64302.5, + 28218.2, + 163.1, + 51.5, + 51.5, + 88.0 + ], + [ + 64289.7, + 28214.4, + 163.1, + 51.5, + 51.5, + 88.0 + ], + [ + 64276.9, + 28210.6, + 163.1, + 51.5, + 51.5, + 88.0 + ], + [ + 64264.2, + 28206.8, + 163.1, + 51.5, + 51.5, + 88.0 + ], + [ + 64251.4, + 28203.0, + 163.1, + 51.5, + 51.5, + 88.0 + ], + [ + 64238.7, + 28199.0, + 163.1, + 51.5, + 51.5, + 88.0 + ], + [ + 64226.0, + 28194.9, + 163.1, + 51.6, + 51.6, + 88.0 + ], + [ + 64213.4, + 28190.6, + 163.1, + 51.6, + 51.6, + 88.0 + ], + [ + 64200.8, + 28186.0, + 163.1, + 51.7, + 51.7, + 88.0 + ], + [ + 64188.4, + 28181.1, + 163.1, + 51.8, + 51.8, + 88.0 + ], + [ + 64176.2, + 28175.9, + 163.1, + 52.0, + 52.0, + 88.0 + ], + [ + 64164.1, + 28170.3, + 163.1, + 52.2, + 52.2, + 88.0 + ], + [ + 64152.1, + 28164.4, + 163.1, + 52.4, + 52.4, + 88.0 + ], + [ + 64140.4, + 28158.1, + 163.1, + 52.7, + 52.7, + 88.0 + ], + [ + 64128.8, + 28151.5, + 163.1, + 53.0, + 53.0, + 88.0 + ], + [ + 64117.4, + 28144.5, + 163.1, + 53.2, + 53.2, + 88.0 + ], + [ + 64106.2, + 28137.3, + 163.1, + 53.5, + 53.5, + 88.0 + ], + [ + 64095.1, + 28129.9, + 163.1, + 53.8, + 53.8, + 88.0 + ], + [ + 64084.1, + 28122.3, + 163.1, + 54.0, + 54.0, + 88.0 + ], + [ + 64073.2, + 28114.7, + 163.1, + 54.2, + 54.2, + 88.0 + ], + [ + 64062.4, + 28106.9, + 163.1, + 54.4, + 54.4, + 88.0 + ], + [ + 64051.6, + 28099.1, + 163.1, + 54.6, + 54.6, + 88.0 + ], + [ + 64040.8, + 28091.3, + 163.1, + 54.7, + 54.7, + 88.0 + ], + [ + 64030.0, + 28083.5, + 163.1, + 54.8, + 54.8, + 88.0 + ], + [ + 64019.2, + 28075.6, + 163.1, + 54.9, + 54.9, + 88.0 + ], + [ + 64008.4, + 28067.8, + 163.1, + 54.9, + 54.9, + 88.0 + ], + [ + 63997.6, + 28059.9, + 163.1, + 55.0, + 55.0, + 88.0 + ], + [ + 63986.9, + 28052.0, + 163.1, + 55.0, + 55.0, + 88.0 + ], + [ + 63976.1, + 28044.2, + 163.1, + 55.1, + 55.1, + 88.0 + ], + [ + 63965.4, + 28036.3, + 163.1, + 55.1, + 55.1, + 88.0 + ], + [ + 63954.6, + 28028.4, + 163.1, + 55.1, + 55.1, + 88.0 + ], + [ + 63943.9, + 28020.5, + 163.1, + 55.1, + 55.1, + 88.0 + ], + [ + 63933.1, + 28012.6, + 163.1, + 55.1, + 55.1, + 88.0 + ], + [ + 63922.4, + 28004.7, + 163.1, + 55.2, + 55.2, + 88.0 + ], + [ + 63911.6, + 27996.8, + 163.1, + 55.2, + 55.2, + 88.0 + ], + [ + 63900.9, + 27988.9, + 163.1, + 55.2, + 55.2, + 88.0 + ], + [ + 63890.1, + 27981.0, + 163.1, + 55.2, + 55.2, + 88.0 + ], + [ + 63879.4, + 27973.1, + 163.1, + 55.2, + 55.2, + 88.0 + ], + [ + 63868.7, + 27965.2, + 163.1, + 55.2, + 55.2, + 88.0 + ], + [ + 63857.9, + 27957.3, + 163.1, + 55.2, + 55.2, + 88.0 + ], + [ + 63847.2, + 27949.4, + 163.1, + 55.2, + 55.2, + 88.0 + ], + [ + 63836.5, + 27941.5, + 163.1, + 55.2, + 55.2, + 88.0 + ], + [ + 63825.7, + 27933.6, + 163.1, + 55.2, + 55.2, + 88.0 + ], + [ + 63815.0, + 27925.7, + 163.1, + 55.2, + 55.2, + 88.0 + ], + [ + 63804.2, + 27917.8, + 163.1, + 55.2, + 55.2, + 88.0 + ], + [ + 63793.4, + 27910.0, + 163.1, + 55.2, + 55.2, + 88.0 + ], + [ + 63782.6, + 27902.3, + 163.1, + 55.2, + 55.2, + 88.0 + ], + [ + 63771.6, + 27894.7, + 163.1, + 55.2, + 55.2, + 88.0 + ], + [ + 63760.4, + 27887.4, + 163.1, + 55.1, + 55.1, + 88.0 + ], + [ + 63749.1, + 27880.4, + 163.1, + 55.1, + 55.1, + 88.0 + ], + [ + 63737.6, + 27873.6, + 163.1, + 55.0, + 55.0, + 88.0 + ], + [ + 63725.9, + 27867.2, + 163.1, + 54.9, + 54.9, + 88.0 + ], + [ + 63714.1, + 27861.1, + 163.1, + 54.7, + 54.7, + 88.0 + ], + [ + 63702.0, + 27855.3, + 163.1, + 54.5, + 54.5, + 88.0 + ], + [ + 63689.8, + 27849.9, + 163.1, + 54.3, + 54.3, + 88.0 + ], + [ + 63677.5, + 27844.9, + 163.1, + 54.1, + 54.1, + 88.0 + ], + [ + 63665.0, + 27840.1, + 163.1, + 53.9, + 53.9, + 88.0 + ], + [ + 63652.5, + 27835.6, + 163.1, + 53.6, + 53.6, + 88.0 + ], + [ + 63639.9, + 27831.3, + 163.1, + 53.4, + 53.4, + 88.0 + ], + [ + 63627.2, + 27827.1, + 163.1, + 53.1, + 53.1, + 88.0 + ], + [ + 63614.5, + 27823.0, + 163.1, + 52.9, + 52.9, + 88.0 + ], + [ + 63601.8, + 27819.0, + 163.1, + 52.7, + 52.7, + 88.0 + ], + [ + 63589.1, + 27814.9, + 163.1, + 52.5, + 52.5, + 88.0 + ], + [ + 63576.4, + 27810.9, + 163.1, + 52.4, + 52.4, + 88.0 + ], + [ + 63563.7, + 27806.9, + 163.1, + 52.2, + 52.2, + 88.0 + ], + [ + 63551.0, + 27802.9, + 163.1, + 52.1, + 52.1, + 88.0 + ], + [ + 63538.2, + 27799.0, + 163.1, + 52.1, + 52.1, + 88.0 + ], + [ + 63525.5, + 27795.0, + 163.1, + 52.0, + 52.0, + 88.0 + ], + [ + 63512.8, + 27791.0, + 163.1, + 51.9, + 51.9, + 88.0 + ], + [ + 63500.1, + 27787.0, + 163.1, + 51.9, + 51.9, + 88.0 + ], + [ + 63487.3, + 27783.0, + 163.1, + 51.8, + 51.8, + 88.0 + ], + [ + 63474.6, + 27779.1, + 163.1, + 51.8, + 51.8, + 88.0 + ], + [ + 63461.9, + 27775.1, + 163.1, + 51.8, + 51.8, + 88.0 + ], + [ + 63449.2, + 27771.1, + 163.1, + 51.8, + 51.8, + 88.0 + ], + [ + 63436.4, + 27767.1, + 163.1, + 51.8, + 51.8, + 88.0 + ], + [ + 63423.7, + 27763.2, + 163.1, + 51.7, + 51.7, + 88.0 + ], + [ + 63411.0, + 27759.2, + 163.1, + 51.7, + 51.7, + 88.0 + ], + [ + 63398.2, + 27755.2, + 163.1, + 51.7, + 51.7, + 88.0 + ], + [ + 63385.5, + 27751.3, + 163.1, + 51.7, + 51.7, + 88.0 + ], + [ + 63372.8, + 27747.4, + 163.1, + 51.7, + 51.7, + 88.0 + ], + [ + 63360.0, + 27743.4, + 163.1, + 51.7, + 51.7, + 88.0 + ], + [ + 63347.3, + 27739.5, + 163.1, + 51.7, + 51.7, + 88.0 + ], + [ + 63334.5, + 27735.6, + 163.1, + 51.7, + 51.7, + 88.0 + ], + [ + 63321.8, + 27731.7, + 163.1, + 51.7, + 51.7, + 88.0 + ], + [ + 63309.0, + 27727.8, + 163.1, + 51.7, + 51.7, + 88.0 + ], + [ + 63296.3, + 27723.9, + 163.1, + 51.6, + 51.6, + 88.0 + ], + [ + 63283.5, + 27720.0, + 163.1, + 51.6, + 51.6, + 88.0 + ], + [ + 63270.8, + 27715.9, + 163.1, + 51.6, + 51.6, + 88.0 + ], + [ + 63258.2, + 27711.7, + 163.1, + 51.7, + 51.7, + 88.0 + ], + [ + 63245.6, + 27707.3, + 163.1, + 51.7, + 51.7, + 88.0 + ], + [ + 63233.1, + 27702.6, + 163.1, + 51.8, + 51.8, + 88.0 + ], + [ + 63220.8, + 27697.6, + 163.1, + 51.9, + 51.9, + 88.0 + ], + [ + 63208.6, + 27692.2, + 163.1, + 52.1, + 52.1, + 88.0 + ], + [ + 63196.5, + 27686.5, + 163.1, + 52.3, + 52.3, + 88.0 + ], + [ + 63184.6, + 27680.5, + 163.1, + 52.6, + 52.6, + 88.0 + ], + [ + 63172.9, + 27674.0, + 163.1, + 52.8, + 52.8, + 88.0 + ], + [ + 63161.4, + 27667.3, + 163.1, + 53.1, + 53.1, + 88.0 + ], + [ + 63150.1, + 27660.3, + 163.1, + 53.3, + 53.3, + 88.0 + ], + [ + 63138.9, + 27653.0, + 163.1, + 53.6, + 53.6, + 88.0 + ], + [ + 63127.9, + 27645.5, + 163.1, + 53.9, + 53.9, + 88.0 + ], + [ + 63117.0, + 27637.9, + 163.1, + 54.1, + 54.1, + 88.0 + ], + [ + 63106.1, + 27630.2, + 163.1, + 54.3, + 54.3, + 88.0 + ], + [ + 63095.3, + 27622.4, + 163.1, + 54.5, + 54.5, + 88.0 + ], + [ + 63084.4, + 27614.6, + 163.1, + 54.6, + 54.6, + 88.0 + ], + [ + 63073.7, + 27606.8, + 163.1, + 54.7, + 54.7, + 88.0 + ], + [ + 63062.9, + 27598.9, + 163.1, + 54.8, + 54.8, + 88.0 + ], + [ + 63052.1, + 27591.1, + 163.1, + 54.9, + 54.9, + 88.0 + ], + [ + 63041.3, + 27583.2, + 163.1, + 54.9, + 54.9, + 88.0 + ], + [ + 63030.6, + 27575.3, + 163.1, + 55.0, + 55.0, + 88.0 + ], + [ + 63019.8, + 27567.4, + 163.1, + 55.0, + 55.0, + 88.0 + ], + [ + 63009.1, + 27559.5, + 163.1, + 55.1, + 55.1, + 88.0 + ], + [ + 62998.4, + 27551.6, + 163.1, + 55.1, + 55.1, + 88.0 + ], + [ + 62987.6, + 27543.7, + 163.1, + 55.1, + 55.1, + 88.0 + ], + [ + 62976.9, + 27535.7, + 163.1, + 55.1, + 55.1, + 88.0 + ], + [ + 62966.2, + 27527.8, + 163.1, + 55.2, + 55.2, + 88.0 + ], + [ + 62955.5, + 27519.9, + 163.1, + 55.2, + 55.2, + 88.0 + ], + [ + 62944.8, + 27511.9, + 163.1, + 55.2, + 55.2, + 88.0 + ], + [ + 62934.1, + 27504.0, + 163.1, + 55.2, + 55.2, + 88.0 + ], + [ + 62923.4, + 27496.0, + 163.1, + 55.2, + 55.2, + 88.0 + ], + [ + 62912.7, + 27488.1, + 163.1, + 55.2, + 55.2, + 88.0 + ], + [ + 62902.0, + 27480.1, + 163.1, + 55.2, + 55.2, + 88.0 + ], + [ + 62891.3, + 27472.2, + 163.1, + 55.2, + 55.2, + 88.0 + ], + [ + 62880.5, + 27464.2, + 163.1, + 55.2, + 55.2, + 88.0 + ], + [ + 62869.8, + 27456.3, + 163.1, + 55.2, + 55.2, + 88.0 + ], + [ + 62859.1, + 27448.3, + 163.1, + 55.2, + 55.2, + 88.0 + ], + [ + 62848.4, + 27440.4, + 163.1, + 55.2, + 55.2, + 88.0 + ], + [ + 62837.6, + 27432.6, + 163.1, + 55.2, + 55.2, + 88.0 + ], + [ + 62826.8, + 27424.8, + 163.1, + 55.2, + 55.2, + 88.0 + ], + [ + 62815.8, + 27417.2, + 163.1, + 55.2, + 55.2, + 88.0 + ], + [ + 62804.7, + 27409.9, + 163.1, + 55.2, + 55.2, + 88.0 + ], + [ + 62793.4, + 27402.8, + 163.1, + 55.1, + 55.1, + 88.0 + ], + [ + 62782.0, + 27395.9, + 163.1, + 55.0, + 55.0, + 88.0 + ], + [ + 62770.4, + 27389.4, + 163.1, + 54.9, + 54.9, + 88.0 + ], + [ + 62758.5, + 27383.2, + 163.1, + 54.8, + 54.8, + 88.0 + ], + [ + 62746.6, + 27377.4, + 163.1, + 54.6, + 54.6, + 88.0 + ], + [ + 62734.4, + 27371.9, + 163.1, + 54.4, + 54.4, + 88.0 + ], + [ + 62722.1, + 27366.7, + 163.1, + 54.2, + 54.2, + 88.0 + ] + ], + "target_bbox_format": "[cx,cy,cz,ex,ey,ez] (\uc911\uc2ec + \ubc18\ud06c\uae30, cm, UE)", + "target_world_cam01_m": [ + [ + 0.0001457688580330796, + 1.099065462942285, + 12.117705745324201 + ], + [ + -3.392004140323479e-05, + 1.0991046254919397, + 12.116934909423321 + ], + [ + -0.00023812000802081457, + 1.0990920955363634, + 12.117181536352064 + ], + [ + -0.000460293445314619, + 1.0990786002709498, + 12.117447163460156 + ], + [ + 0.0002979151246336187, + 1.0990648160415049, + 12.11771847826651 + ], + [ + 3.026074358558617e-05, + 1.0991007280266771, + 12.117011623176836 + ], + [ + -0.0001586834716249541, + 1.0990885665281027, + 12.11725099777243 + ], + [ + -0.00011704342261964484, + 1.099085526307718, + 12.117310838387198 + ], + [ + 0.000382062868027333, + 1.0991010672497765, + 12.117004946262227 + ], + [ + -0.00021977494930069952, + 1.0990985437144545, + 12.117054616956807 + ], + [ + -0.0003926036097823271, + 1.099098905948864, + 12.11704748709792 + ], + [ + 0.0003943668364172481, + 1.099069256868198, + 12.117631069541517 + ], + [ + -0.0004722738814280092, + 1.0990678336834705, + 12.117659082044952 + ], + [ + 0.00034760152516355447, + 1.099108149206998, + 12.116865552200125 + ], + [ + 0.000236360337851238, + 1.099088369587399, + 12.117254874162882 + ], + [ + 0.00048435697664217514, + 1.0990657530860162, + 12.117700034437348 + ], + [ + 0.0003098154732015246, + 1.0990899938934504, + 12.117222902972344 + ], + [ + -0.0001244725760898291, + 1.0991060039166882, + 12.11690777790659 + ], + [ + 0.00013067536076505348, + 1.099107853176445, + 12.116871378960013 + ], + [ + -0.000125280007694073, + 1.099081125566002, + 12.117397458122241 + ], + [ + -0.0002860423033439474, + 1.099065694563393, + 12.117701186318754 + ], + [ + 0.00011939451303533133, + 1.099101038578997, + 12.117005510582317 + ], + [ + -0.0003185793091802225, + 1.0990683308585538, + 12.117649296158788 + ], + [ + -0.00028702329706220553, + 1.099062281928294, + 12.117768357166028 + ], + [ + -0.0003106412048623497, + 1.0990717135341512, + 12.117582715004232 + ], + [ + 0.00018992491095559672, + 1.099091785581571, + 12.117187637198185 + ], + [ + 3.074237974942662e-05, + 1.0990626738766025, + 12.117760642460894 + ], + [ + -2.4664144063990534e-05, + 1.0990877476776504, + 12.11726711519725 + ], + [ + 0.00015906882612171103, + 1.099065435571685, + 12.117706284059409 + ], + [ + 0.000384992513090765, + 1.0990964372518235, + 12.11709607844466 + ], + [ + -0.00018198272857716802, + 1.09907457132568, + 12.117526465138212 + ], + [ + 0.0003395751263610691, + 1.0990592725624317, + 12.11782759048549 + ], + [ + -0.00016242083535189522, + 1.0990911151109728, + 12.117200834052824 + ], + [ + 0.0004862818780111411, + 1.0990786524421132, + 12.117446136598232 + ], + [ + 0.00018084355372138816, + 1.0990618883552337, + 12.117776103870028 + ], + [ + -0.0002062980607888676, + 1.0990959934508595, + 12.117104813758601 + ], + [ + -0.0004783173743021507, + 1.0990797946779658, + 12.117423653963897 + ], + [ + 0.00024889969051855587, + 1.0990693239747102, + 12.117629748681225 + ], + [ + -0.00012162560818751444, + 1.0991037670860706, + 12.116951805411531 + ], + [ + -0.000357640317190544, + 1.0990881985611551, + 12.117258240455953 + ], + [ + 0.00043451864314647537, + 1.099079510668762, + 12.117429244134314 + ], + [ + 0.00027502935319034805, + 1.0990655322313287, + 12.117704381511771 + ], + [ + 3.15077263621788e-05, + 1.0991028838430985, + 12.116969190273721 + ], + [ + -2.6267997384366026e-05, + 1.099091110068759, + 12.117200933301888 + ], + [ + -2.159421933356498e-05, + 1.0990807216888179, + 12.117405407633669 + ], + [ + 5.145322080579717e-05, + 1.0990718889479645, + 12.11757926234543 + ], + [ + 0.00015416855501371174, + 1.0990638206873662, + 12.117738069803863 + ], + [ + 2.323916368140999e-05, + 1.0991038041687489, + 12.116951075517136 + ], + [ + -0.0003780273184474936, + 1.0990837011313843, + 12.117346763300475 + ], + [ + 0.00010270763618791534, + 1.0991059540306374, + 12.116908759818443 + ], + [ + 3.6854214556569787e-05, + 1.0990974306836456, + 12.11707652473217 + ], + [ + -0.000268280155296452, + 1.0991005997473096, + 12.11701414809113 + ], + [ + -6.980233121112178e-05, + 1.0990596067891367, + 12.117821011896353 + ], + [ + 1.5310183357541973e-05, + 1.0990623836175715, + 12.117766355624667 + ], + [ + -0.0002548695724726713, + 1.0990965314101864, + 12.117094225111941 + ], + [ + 4.0057869227894116e-05, + 1.0991069580534685, + 12.116888997650335 + ], + [ + -0.00017026363860850324, + 1.099074971353481, + 12.117518591397129 + ], + [ + -0.00016940517315333636, + 1.0991040270785675, + 12.116946687982022 + ], + [ + -0.00039618332448299043, + 1.0990858586859389, + 12.117304296185353 + ], + [ + 0.000265777270271883, + 1.0990858795121952, + 12.117303886277568 + ], + [ + 0.00024157155161219634, + 1.0990977605735388, + 12.117070031519006 + ], + [ + 0.00014899257530487375, + 1.0990880420438458, + 12.11726132119577 + ], + [ + 0.0004415089532017191, + 1.0990765171692871, + 12.117488165141253 + ], + [ + -0.000418761593778072, + 1.099064402660371, + 12.117726614824619 + ], + [ + -9.656866131990682e-05, + 1.0990901164017117, + 12.117220491634498 + ], + [ + -8.632593340962558e-05, + 1.0990990032540182, + 12.117045571849758 + ], + [ + -0.00023090513781198752, + 1.0990995478112993, + 12.117034853333166 + ], + [ + -0.0004875698420505614, + 1.09909360068891, + 12.117151910450957 + ], + [ + 0.0001317794317969856, + 1.0990923831829313, + 12.117175874617601 + ], + [ + -0.00031974021237601846, + 1.0990754511764962, + 12.117509147044302 + ], + [ + 0.00013171415798751696, + 1.0990647598430847, + 12.117719584415 + ], + [ + 0.00029861882734394385, + 1.0990998072569091, + 12.117029746681055 + ], + [ + -0.00035016034826185205, + 1.0990708709536463, + 12.117599299503468 + ], + [ + -0.0002952272947140955, + 1.0990997837299084, + 12.117030209749373 + ], + [ + -5.10518237888391e-05, + 1.099077080235201, + 12.117477082311552 + ], + [ + -6.266467198656755e-05, + 1.0991021374006245, + 12.116983882487943 + ], + [ + 0.00013271257370206513, + 1.0990766571489132, + 12.117485409917094 + ], + [ + 8.650244888031011e-05, + 1.0990998336269833, + 12.117029227634362 + ], + [ + 0.000272434043836256, + 1.0990734740435464, + 12.117548062936748 + ], + [ + 0.00021325436904362505, + 1.0990962207617692, + 12.117100339610829 + ], + [ + 0.0003898471674688153, + 1.0990691540611977, + 12.117633093089353 + ], + [ + 0.0003052350857615238, + 1.099090281833135, + 12.117217235458952 + ], + [ + 0.00019537863619234486, + 1.0991099680957142, + 12.11682975103588 + ], + [ + 0.0003053107197956706, + 1.0990787398743045, + 12.11744441566725 + ], + [ + 0.00013053710426902398, + 1.0990943925054033, + 12.117136325152615 + ], + [ + -8.638782696834824e-05, + 1.099107424879005, + 12.116879809127227 + ], + [ + -7.959100992138701e-05, + 1.0990692160430733, + 12.117631873090545 + ], + [ + -0.0003058532061004371, + 1.0990815472114228, + 12.117389158877927 + ], + [ + -6.595894876681996e-05, + 1.0990578153154402, + 12.117856273447387 + ], + [ + -0.0002600899141498303, + 1.09905453647702, + 12.117920810772148 + ], + [ + -0.0004763213424894275, + 1.09909704128696, + 12.117084189210118 + ], + [ + 0.0002352746943188322, + 1.0991115514704255, + 12.116798585495303 + ], + [ + 0.00031518174591838033, + 1.0990885330118516, + 12.11725165748328 + ], + [ + -0.0002154805514464897, + 1.09908965258402, + 12.117229620948706 + ], + [ + 0.00016576818984503916, + 1.0990905597228746, + 12.117211765756224 + ], + [ + -0.00016599284884932786, + 1.0990713845268658, + 12.117589190853664 + ], + [ + -0.00031280902311436876, + 1.0990995352596329, + 12.117035100385806 + ], + [ + 0.00043129546816089714, + 1.0990757066694563, + 12.117504118196734 + ], + [ + 0.0005118730315984976, + 1.0990736776423589, + 12.117544055509597 + ], + [ + -0.00020971663229829574, + 1.0990801227207712, + 12.117417197108807 + ], + [ + 0.00021868451398177058, + 1.0990608020750408, + 12.117797485107644 + ], + [ + -0.00011131976350498007, + 1.0990785885998058, + 12.117447393191583 + ], + [ + -0.00037118505991884376, + 1.0990811787141794, + 12.117396412002336 + ], + [ + -6.17302648038276e-05, + 1.0990655957854258, + 12.11770313056968 + ], + [ + 8.314894085970082e-05, + 1.0990633107560548, + 12.117748106772865 + ], + [ + -0.0002969948282043333, + 1.0990606452049825, + 12.117800572767464 + ], + [ + 0.00044621219149121316, + 1.0990809273450317, + 12.11740135971553 + ], + [ + 0.00032274546629196266, + 1.099087877674986, + 12.117264556469195 + ], + [ + 0.0002645652154456002, + 1.0990972834890762, + 12.117079421965741 + ], + [ + 0.00026016854138788403, + 1.0991087537473625, + 12.11685365303822 + ], + [ + -0.0003132694045007156, + 1.0990571323400609, + 12.11786971643653 + ], + [ + -0.00023879727558551167, + 1.0990714958878307, + 12.117586998935963 + ], + [ + -0.00014223099907439973, + 1.099086802192197, + 12.117285725171257 + ], + [ + -3.637076463292033e-05, + 1.0991026960838575, + 12.116972885934615 + ], + [ + 0.00042174938067773837, + 1.0990712201760573, + 12.117592425780856 + ], + [ + -0.0003988988746073119, + 1.0990698881927585, + 12.11761864317117 + ], + [ + -0.0002748330413169242, + 1.0990865868271413, + 12.117289964195606 + ], + [ + -0.00012997195534580896, + 1.0991041058505964, + 12.116945137514392 + ], + [ + 0.00039750983313524557, + 1.0990753798071893, + 12.117510551820999 + ], + [ + -0.0003292976260809155, + 1.0990773007383758, + 12.117472742144798 + ], + [ + -8.4946628248872e-05, + 1.0990991449881413, + 12.117042782098963 + ], + [ + 0.0005760741258882263, + 1.0990758896097539, + 12.117500517388464 + ], + [ + -8.22641482045583e-07, + 1.0990836483112645, + 12.11734780296672 + ], + [ + -0.0005171023689172216, + 1.099093888529616, + 12.11714624488667 + ], + [ + 0.0003422187612613925, + 1.0990788950359764, + 12.117441361622582 + ], + [ + -2.112103896934059e-05, + 1.099095289829009, + 12.117118663141582 + ], + [ + 7.659762377443258e-05, + 1.0990682299803964, + 12.117651281751193 + ], + [ + -0.00010928630672424333, + 1.0990919685576834, + 12.117184035674995 + ], + [ + 0.00016297179899993353, + 1.099072000696399, + 12.117577062804514 + ], + [ + 8.278261645955354e-06, + 1.0990971476451996, + 12.117082095773185 + ], + [ + -0.00012862347199416035, + 1.099059825441227, + 12.117816708169414 + ], + [ + 0.0003457450546875407, + 1.0990725162969035, + 12.11756691425137 + ], + [ + 1.2669968214140681e-05, + 1.0990926253060564, + 12.117171108908849 + ], + [ + -0.00023394551260480512, + 1.0990722295128066, + 12.117572559006305 + ], + [ + -0.0001868142733201239, + 1.099059494925278, + 12.117823213708789 + ], + [ + -0.0004904786800921102, + 1.0990842313331406, + 12.117336327345413 + ], + [ + -1.699106559271968e-05, + 1.0991045434258524, + 12.116936524729226 + ], + [ + 0.0001989098203694084, + 1.0990845514037773, + 12.117330027414141 + ], + [ + -0.0002463743680891639, + 1.0990613714904285, + 12.117786277302912 + ], + [ + 0.0005915256144817249, + 1.0990752037625633, + 12.117514016908785 + ], + [ + 0.0001999515247916861, + 1.099068161216433, + 12.11765263523381 + ], + [ + -0.00021785479043501255, + 1.0990735092632384, + 12.117547369697434 + ], + [ + 8.530889613211912e-05, + 1.0990638247824585, + 12.117737989198417 + ], + [ + 0.00011880387990004238, + 1.0990866671343724, + 12.117288383517973 + ], + [ + -0.00025672462072634517, + 1.0990996891757483, + 12.11703207085867 + ], + [ + -0.0003126342475070487, + 1.099081881854513, + 12.11738257210294 + ], + [ + -0.00024176449483093165, + 1.099100347427516, + 12.1170191144991 + ], + [ + 8.848576226228033e-05, + 1.099056700214728, + 12.117878221961803 + ], + [ + -0.0005605597159501485, + 1.0990942644302741, + 12.117138846038984 + ], + [ + 3.2324540256922774e-05, + 1.0990996361297043, + 12.11703311496916 + ], + [ + -0.0003588157121612312, + 1.099074019531674, + 12.117537326088382 + ], + [ + 7.088627864959562e-05, + 1.0990633822632319, + 12.117746699297697 + ], + [ + -2.2070033537602285e-05, + 1.0990910248468424, + 12.117202610723723 + ], + [ + 0.00027143346483171626, + 1.0990670843604597, + 12.117673830975832 + ], + [ + 5.6278877764270874e-05, + 1.0990825937847362, + 12.117368559198326 + ], + [ + -0.00020963982774446777, + 1.099092977136639, + 12.117164183828152 + ], + [ + -5.452915149817272e-05, + 1.0990539399878756, + 12.117932551463866 + ], + [ + 0.00048361903122895455, + 1.0990797648983062, + 12.117424240137723 + ], + [ + 0.00010981252319197665, + 1.099078800327355, + 12.117443225766124 + ], + [ + -0.0002870879675356264, + 1.099075222006153, + 12.117513657802249 + ], + [ + 0.00017563745973347977, + 1.0990937476169513, + 12.11714901848319 + ], + [ + -0.00025089307814596395, + 1.0990868649996308, + 12.117284488931318 + ], + [ + 0.00019371454584415915, + 1.0991035185867624, + 12.116956696626573 + ], + [ + -0.00024378139846703561, + 1.0990956129518246, + 12.117112303115391 + ], + [ + 0.00019341784707194165, + 1.0991118650639393, + 12.116792413037444 + ], + [ + -0.0002517727289159666, + 1.0991025365848124, + 12.116976025347697 + ], + [ + 0.0006539399547591529, + 1.0990723804146256, + 12.117569588826086 + ], + [ + 0.00018670991380531632, + 1.0990604061278226, + 12.11780527853 + ], + [ + 0.0006192894866217102, + 1.0990766794083804, + 12.117484971793772 + ], + [ + 0.00030423393718592706, + 1.0990818040290478, + 12.117384103953043 + ], + [ + -6.010222887198324e-05, + 1.0990543380188065, + 12.11792471702671 + ], + [ + 0.00015649016211227718, + 1.0990926493487159, + 12.117170635680566 + ], + [ + 0.0005030714295344296, + 1.0990861985792861, + 12.11729760608847 + ], + [ + -0.00013413832914466184, + 1.0990756975596696, + 12.117504297492474 + ], + [ + -0.0001526309571318052, + 1.0990601647804255, + 12.117810028960605 + ], + [ + 0.00013902285911626677, + 1.0990962656757475, + 12.11709945556754 + ], + [ + -0.00023867617915129813, + 1.0990998494811208, + 12.11702891557087 + ], + [ + 0.0003087009423552445, + 1.099062643961144, + 12.117761231291752 + ], + [ + -0.00048488867560081417, + 1.0990891533778893, + 12.117239446810572 + ], + [ + -0.00015050831359531003, + 1.0990696124022037, + 12.117624071558168 + ], + [ + 0.0002184324306426788, + 1.0990780021372117, + 12.11745893653324 + ] + ], + "target_bbox_centre_cam01_m": [ + [ + 0.0001457688580330796, + 1.099065462942285, + 12.117705745324201 + ], + [ + -3.392004140323479e-05, + 1.0991046254919397, + 12.116934909423321 + ], + [ + -0.00023812000802081457, + 1.0990920955363634, + 12.117181536352064 + ], + [ + -0.000460293445314619, + 1.0990786002709498, + 12.117447163460156 + ], + [ + 0.0002979151246336187, + 1.0990648160415049, + 12.11771847826651 + ], + [ + 3.026074358558617e-05, + 1.0991007280266771, + 12.117011623176836 + ], + [ + -0.0001586834716249541, + 1.0990885665281027, + 12.11725099777243 + ], + [ + -0.00011704342261964484, + 1.099085526307718, + 12.117310838387198 + ], + [ + 0.000382062868027333, + 1.0991010672497765, + 12.117004946262227 + ], + [ + -0.00021977494930069952, + 1.0990985437144545, + 12.117054616956807 + ], + [ + -0.0003926036097823271, + 1.099098905948864, + 12.11704748709792 + ], + [ + 0.0003943668364172481, + 1.099069256868198, + 12.117631069541517 + ], + [ + -0.0004722738814280092, + 1.0990678336834705, + 12.117659082044952 + ], + [ + 0.00034760152516355447, + 1.099108149206998, + 12.116865552200125 + ], + [ + 0.000236360337851238, + 1.099088369587399, + 12.117254874162882 + ], + [ + 0.00048435697664217514, + 1.0990657530860162, + 12.117700034437348 + ], + [ + 0.0003098154732015246, + 1.0990899938934504, + 12.117222902972344 + ], + [ + -0.0001244725760898291, + 1.0991060039166882, + 12.11690777790659 + ], + [ + 0.00013067536076505348, + 1.099107853176445, + 12.116871378960013 + ], + [ + -0.000125280007694073, + 1.099081125566002, + 12.117397458122241 + ], + [ + -0.0002860423033439474, + 1.099065694563393, + 12.117701186318754 + ], + [ + 0.00011939451303533133, + 1.099101038578997, + 12.117005510582317 + ], + [ + -0.0003185793091802225, + 1.0990683308585538, + 12.117649296158788 + ], + [ + -0.00028702329706220553, + 1.099062281928294, + 12.117768357166028 + ], + [ + -0.0003106412048623497, + 1.0990717135341512, + 12.117582715004232 + ], + [ + 0.00018992491095559672, + 1.099091785581571, + 12.117187637198185 + ], + [ + 3.074237974942662e-05, + 1.0990626738766025, + 12.117760642460894 + ], + [ + -2.4664144063990534e-05, + 1.0990877476776504, + 12.11726711519725 + ], + [ + 0.00015906882612171103, + 1.099065435571685, + 12.117706284059409 + ], + [ + 0.000384992513090765, + 1.0990964372518235, + 12.11709607844466 + ], + [ + -0.00018198272857716802, + 1.09907457132568, + 12.117526465138212 + ], + [ + 0.0003395751263610691, + 1.0990592725624317, + 12.11782759048549 + ], + [ + -0.00016242083535189522, + 1.0990911151109728, + 12.117200834052824 + ], + [ + 0.0004862818780111411, + 1.0990786524421132, + 12.117446136598232 + ], + [ + 0.00018084355372138816, + 1.0990618883552337, + 12.117776103870028 + ], + [ + -0.0002062980607888676, + 1.0990959934508595, + 12.117104813758601 + ], + [ + -0.0004783173743021507, + 1.0990797946779658, + 12.117423653963897 + ], + [ + 0.00024889969051855587, + 1.0990693239747102, + 12.117629748681225 + ], + [ + -0.00012162560818751444, + 1.0991037670860706, + 12.116951805411531 + ], + [ + -0.000357640317190544, + 1.0990881985611551, + 12.117258240455953 + ], + [ + 0.00043451864314647537, + 1.099079510668762, + 12.117429244134314 + ], + [ + 0.00027502935319034805, + 1.0990655322313287, + 12.117704381511771 + ], + [ + 3.15077263621788e-05, + 1.0991028838430985, + 12.116969190273721 + ], + [ + -2.6267997384366026e-05, + 1.099091110068759, + 12.117200933301888 + ], + [ + -2.159421933356498e-05, + 1.0990807216888179, + 12.117405407633669 + ], + [ + 5.145322080579717e-05, + 1.0990718889479645, + 12.11757926234543 + ], + [ + 0.00015416855501371174, + 1.0990638206873662, + 12.117738069803863 + ], + [ + 2.323916368140999e-05, + 1.0991038041687489, + 12.116951075517136 + ], + [ + -0.0003780273184474936, + 1.0990837011313843, + 12.117346763300475 + ], + [ + 0.00010270763618791534, + 1.0991059540306374, + 12.116908759818443 + ], + [ + 3.6854214556569787e-05, + 1.0990974306836456, + 12.11707652473217 + ], + [ + -0.000268280155296452, + 1.0991005997473096, + 12.11701414809113 + ], + [ + -6.980233121112178e-05, + 1.0990596067891367, + 12.117821011896353 + ], + [ + 1.5310183357541973e-05, + 1.0990623836175715, + 12.117766355624667 + ], + [ + -0.0002548695724726713, + 1.0990965314101864, + 12.117094225111941 + ], + [ + 4.0057869227894116e-05, + 1.0991069580534685, + 12.116888997650335 + ], + [ + -0.00017026363860850324, + 1.099074971353481, + 12.117518591397129 + ], + [ + -0.00016940517315333636, + 1.0991040270785675, + 12.116946687982022 + ], + [ + -0.00039618332448299043, + 1.0990858586859389, + 12.117304296185353 + ], + [ + 0.000265777270271883, + 1.0990858795121952, + 12.117303886277568 + ], + [ + 0.00024157155161219634, + 1.0990977605735388, + 12.117070031519006 + ], + [ + 0.00014899257530487375, + 1.0990880420438458, + 12.11726132119577 + ], + [ + 0.0004415089532017191, + 1.0990765171692871, + 12.117488165141253 + ], + [ + -0.000418761593778072, + 1.099064402660371, + 12.117726614824619 + ], + [ + -9.656866131990682e-05, + 1.0990901164017117, + 12.117220491634498 + ], + [ + -8.632593340962558e-05, + 1.0990990032540182, + 12.117045571849758 + ], + [ + -0.00023090513781198752, + 1.0990995478112993, + 12.117034853333166 + ], + [ + -0.0004875698420505614, + 1.09909360068891, + 12.117151910450957 + ], + [ + 0.0001317794317969856, + 1.0990923831829313, + 12.117175874617601 + ], + [ + -0.00031974021237601846, + 1.0990754511764962, + 12.117509147044302 + ], + [ + 0.00013171415798751696, + 1.0990647598430847, + 12.117719584415 + ], + [ + 0.00029861882734394385, + 1.0990998072569091, + 12.117029746681055 + ], + [ + -0.00035016034826185205, + 1.0990708709536463, + 12.117599299503468 + ], + [ + -0.0002952272947140955, + 1.0990997837299084, + 12.117030209749373 + ], + [ + -5.10518237888391e-05, + 1.099077080235201, + 12.117477082311552 + ], + [ + -6.266467198656755e-05, + 1.0991021374006245, + 12.116983882487943 + ], + [ + 0.00013271257370206513, + 1.0990766571489132, + 12.117485409917094 + ], + [ + 8.650244888031011e-05, + 1.0990998336269833, + 12.117029227634362 + ], + [ + 0.000272434043836256, + 1.0990734740435464, + 12.117548062936748 + ], + [ + 0.00021325436904362505, + 1.0990962207617692, + 12.117100339610829 + ], + [ + 0.0003898471674688153, + 1.0990691540611977, + 12.117633093089353 + ], + [ + 0.0003052350857615238, + 1.099090281833135, + 12.117217235458952 + ], + [ + 0.00019537863619234486, + 1.0991099680957142, + 12.11682975103588 + ], + [ + 0.0003053107197956706, + 1.0990787398743045, + 12.11744441566725 + ], + [ + 0.00013053710426902398, + 1.0990943925054033, + 12.117136325152615 + ], + [ + -8.638782696834824e-05, + 1.099107424879005, + 12.116879809127227 + ], + [ + -7.959100992138701e-05, + 1.0990692160430733, + 12.117631873090545 + ], + [ + -0.0003058532061004371, + 1.0990815472114228, + 12.117389158877927 + ], + [ + -6.595894876681996e-05, + 1.0990578153154402, + 12.117856273447387 + ], + [ + -0.0002600899141498303, + 1.09905453647702, + 12.117920810772148 + ], + [ + -0.0004763213424894275, + 1.09909704128696, + 12.117084189210118 + ], + [ + 0.0002352746943188322, + 1.0991115514704255, + 12.116798585495303 + ], + [ + 0.00031518174591838033, + 1.0990885330118516, + 12.11725165748328 + ], + [ + -0.0002154805514464897, + 1.09908965258402, + 12.117229620948706 + ], + [ + 0.00016576818984503916, + 1.0990905597228746, + 12.117211765756224 + ], + [ + -0.00016599284884932786, + 1.0990713845268658, + 12.117589190853664 + ], + [ + -0.00031280902311436876, + 1.0990995352596329, + 12.117035100385806 + ], + [ + 0.00043129546816089714, + 1.0990757066694563, + 12.117504118196734 + ], + [ + 0.0005118730315984976, + 1.0990736776423589, + 12.117544055509597 + ], + [ + -0.00020971663229829574, + 1.0990801227207712, + 12.117417197108807 + ], + [ + 0.00021868451398177058, + 1.0990608020750408, + 12.117797485107644 + ], + [ + -0.00011131976350498007, + 1.0990785885998058, + 12.117447393191583 + ], + [ + -0.00037118505991884376, + 1.0990811787141794, + 12.117396412002336 + ], + [ + -6.17302648038276e-05, + 1.0990655957854258, + 12.11770313056968 + ], + [ + 8.314894085970082e-05, + 1.0990633107560548, + 12.117748106772865 + ], + [ + -0.0002969948282043333, + 1.0990606452049825, + 12.117800572767464 + ], + [ + 0.00044621219149121316, + 1.0990809273450317, + 12.11740135971553 + ], + [ + 0.00032274546629196266, + 1.099087877674986, + 12.117264556469195 + ], + [ + 0.0002645652154456002, + 1.0990972834890762, + 12.117079421965741 + ], + [ + 0.00026016854138788403, + 1.0991087537473625, + 12.11685365303822 + ], + [ + -0.0003132694045007156, + 1.0990571323400609, + 12.11786971643653 + ], + [ + -0.00023879727558551167, + 1.0990714958878307, + 12.117586998935963 + ], + [ + -0.00014223099907439973, + 1.099086802192197, + 12.117285725171257 + ], + [ + -3.637076463292033e-05, + 1.0991026960838575, + 12.116972885934615 + ], + [ + 0.00042174938067773837, + 1.0990712201760573, + 12.117592425780856 + ], + [ + -0.0003988988746073119, + 1.0990698881927585, + 12.11761864317117 + ], + [ + -0.0002748330413169242, + 1.0990865868271413, + 12.117289964195606 + ], + [ + -0.00012997195534580896, + 1.0991041058505964, + 12.116945137514392 + ], + [ + 0.00039750983313524557, + 1.0990753798071893, + 12.117510551820999 + ], + [ + -0.0003292976260809155, + 1.0990773007383758, + 12.117472742144798 + ], + [ + -8.4946628248872e-05, + 1.0990991449881413, + 12.117042782098963 + ], + [ + 0.0005760741258882263, + 1.0990758896097539, + 12.117500517388464 + ], + [ + -8.22641482045583e-07, + 1.0990836483112645, + 12.11734780296672 + ], + [ + -0.0005171023689172216, + 1.099093888529616, + 12.11714624488667 + ], + [ + 0.0003422187612613925, + 1.0990788950359764, + 12.117441361622582 + ], + [ + -2.112103896934059e-05, + 1.099095289829009, + 12.117118663141582 + ], + [ + 7.659762377443258e-05, + 1.0990682299803964, + 12.117651281751193 + ], + [ + -0.00010928630672424333, + 1.0990919685576834, + 12.117184035674995 + ], + [ + 0.00016297179899993353, + 1.099072000696399, + 12.117577062804514 + ], + [ + 8.278261645955354e-06, + 1.0990971476451996, + 12.117082095773185 + ], + [ + -0.00012862347199416035, + 1.099059825441227, + 12.117816708169414 + ], + [ + 0.0003457450546875407, + 1.0990725162969035, + 12.11756691425137 + ], + [ + 1.2669968214140681e-05, + 1.0990926253060564, + 12.117171108908849 + ], + [ + -0.00023394551260480512, + 1.0990722295128066, + 12.117572559006305 + ], + [ + -0.0001868142733201239, + 1.099059494925278, + 12.117823213708789 + ], + [ + -0.0004904786800921102, + 1.0990842313331406, + 12.117336327345413 + ], + [ + -1.699106559271968e-05, + 1.0991045434258524, + 12.116936524729226 + ], + [ + 0.0001989098203694084, + 1.0990845514037773, + 12.117330027414141 + ], + [ + -0.0002463743680891639, + 1.0990613714904285, + 12.117786277302912 + ], + [ + 0.0005915256144817249, + 1.0990752037625633, + 12.117514016908785 + ], + [ + 0.0001999515247916861, + 1.099068161216433, + 12.11765263523381 + ], + [ + -0.00021785479043501255, + 1.0990735092632384, + 12.117547369697434 + ], + [ + 8.530889613211912e-05, + 1.0990638247824585, + 12.117737989198417 + ], + [ + 0.00011880387990004238, + 1.0990866671343724, + 12.117288383517973 + ], + [ + -0.00025672462072634517, + 1.0990996891757483, + 12.11703207085867 + ], + [ + -0.0003126342475070487, + 1.099081881854513, + 12.11738257210294 + ], + [ + -0.00024176449483093165, + 1.099100347427516, + 12.1170191144991 + ], + [ + 8.848576226228033e-05, + 1.099056700214728, + 12.117878221961803 + ], + [ + -0.0005605597159501485, + 1.0990942644302741, + 12.117138846038984 + ], + [ + 3.2324540256922774e-05, + 1.0990996361297043, + 12.11703311496916 + ], + [ + -0.0003588157121612312, + 1.099074019531674, + 12.117537326088382 + ], + [ + 7.088627864959562e-05, + 1.0990633822632319, + 12.117746699297697 + ], + [ + -2.2070033537602285e-05, + 1.0990910248468424, + 12.117202610723723 + ], + [ + 0.00027143346483171626, + 1.0990670843604597, + 12.117673830975832 + ], + [ + 5.6278877764270874e-05, + 1.0990825937847362, + 12.117368559198326 + ], + [ + -0.00020963982774446777, + 1.099092977136639, + 12.117164183828152 + ], + [ + -5.452915149817272e-05, + 1.0990539399878756, + 12.117932551463866 + ], + [ + 0.00048361903122895455, + 1.0990797648983062, + 12.117424240137723 + ], + [ + 0.00010981252319197665, + 1.099078800327355, + 12.117443225766124 + ], + [ + -0.0002870879675356264, + 1.099075222006153, + 12.117513657802249 + ], + [ + 0.00017563745973347977, + 1.0990937476169513, + 12.11714901848319 + ], + [ + -0.00025089307814596395, + 1.0990868649996308, + 12.117284488931318 + ], + [ + 0.00019371454584415915, + 1.0991035185867624, + 12.116956696626573 + ], + [ + -0.00024378139846703561, + 1.0990956129518246, + 12.117112303115391 + ], + [ + 0.00019341784707194165, + 1.0991118650639393, + 12.116792413037444 + ], + [ + -0.0002517727289159666, + 1.0991025365848124, + 12.116976025347697 + ], + [ + 0.0006539399547591529, + 1.0990723804146256, + 12.117569588826086 + ], + [ + 0.00018670991380531632, + 1.0990604061278226, + 12.11780527853 + ], + [ + 0.0006192894866217102, + 1.0990766794083804, + 12.117484971793772 + ], + [ + 0.00030423393718592706, + 1.0990818040290478, + 12.117384103953043 + ], + [ + -6.010222887198324e-05, + 1.0990543380188065, + 12.11792471702671 + ], + [ + 0.00015649016211227718, + 1.0990926493487159, + 12.117170635680566 + ], + [ + 0.0005030714295344296, + 1.0990861985792861, + 12.11729760608847 + ], + [ + -0.00013413832914466184, + 1.0990756975596696, + 12.117504297492474 + ], + [ + -0.0001526309571318052, + 1.0990601647804255, + 12.117810028960605 + ], + [ + 0.00013902285911626677, + 1.0990962656757475, + 12.11709945556754 + ], + [ + -0.00023867617915129813, + 1.0990998494811208, + 12.11702891557087 + ], + [ + 0.0003087009423552445, + 1.099062643961144, + 12.117761231291752 + ], + [ + -0.00048488867560081417, + 1.0990891533778893, + 12.117239446810572 + ], + [ + -0.00015050831359531003, + 1.0990696124022037, + 12.117624071558168 + ], + [ + 0.0002184324306426788, + 1.0990780021372117, + 12.11745893653324 + ] + ], + "target_bbox_half_world_m": [ + [ + 0.5529999999999999, + 0.5529999999999999, + 0.88 + ], + [ + 0.5529999999999999, + 0.5529999999999999, + 0.88 + ], + [ + 0.5529999999999999, + 0.5529999999999999, + 0.88 + ], + [ + 0.5529999999999999, + 0.5529999999999999, + 0.88 + ], + [ + 0.5529999999999999, + 0.5529999999999999, + 0.88 + ], + [ + 0.5529999999999999, + 0.5529999999999999, + 0.88 + ], + [ + 0.5529999999999999, + 0.5529999999999999, + 0.88 + ], + [ + 0.5529999999999999, + 0.5529999999999999, + 0.88 + ], + [ + 0.5529999999999999, + 0.5529999999999999, + 0.88 + ], + [ + 0.5529999999999999, + 0.5529999999999999, + 0.88 + ], + [ + 0.5529999999999999, + 0.5529999999999999, + 0.88 + ], + [ + 0.5529999999999999, + 0.5529999999999999, + 0.88 + ], + [ + 0.552, + 0.552, + 0.88 + ], + [ + 0.552, + 0.552, + 0.88 + ], + [ + 0.551, + 0.551, + 0.88 + ], + [ + 0.5489999999999999, + 0.5489999999999999, + 0.88 + ], + [ + 0.5479999999999999, + 0.5479999999999999, + 0.88 + ], + [ + 0.546, + 0.546, + 0.88 + ], + [ + 0.544, + 0.544, + 0.88 + ], + [ + 0.542, + 0.542, + 0.88 + ], + [ + 0.539, + 0.539, + 0.88 + ], + [ + 0.537, + 0.537, + 0.88 + ], + [ + 0.534, + 0.534, + 0.88 + ], + [ + 0.531, + 0.531, + 0.88 + ], + [ + 0.529, + 0.529, + 0.88 + ], + [ + 0.527, + 0.527, + 0.88 + ], + [ + 0.525, + 0.525, + 0.88 + ], + [ + 0.523, + 0.523, + 0.88 + ], + [ + 0.522, + 0.522, + 0.88 + ], + [ + 0.521, + 0.521, + 0.88 + ], + [ + 0.52, + 0.52, + 0.88 + ], + [ + 0.519, + 0.519, + 0.88 + ], + [ + 0.518, + 0.518, + 0.88 + ], + [ + 0.518, + 0.518, + 0.88 + ], + [ + 0.517, + 0.517, + 0.88 + ], + [ + 0.517, + 0.517, + 0.88 + ], + [ + 0.517, + 0.517, + 0.88 + ], + [ + 0.516, + 0.516, + 0.88 + ], + [ + 0.516, + 0.516, + 0.88 + ], + [ + 0.516, + 0.516, + 0.88 + ], + [ + 0.516, + 0.516, + 0.88 + ], + [ + 0.516, + 0.516, + 0.88 + ], + [ + 0.516, + 0.516, + 0.88 + ], + [ + 0.516, + 0.516, + 0.88 + ], + [ + 0.515, + 0.515, + 0.88 + ], + [ + 0.515, + 0.515, + 0.88 + ], + [ + 0.515, + 0.515, + 0.88 + ], + [ + 0.515, + 0.515, + 0.88 + ], + [ + 0.515, + 0.515, + 0.88 + ], + [ + 0.515, + 0.515, + 0.88 + ], + [ + 0.516, + 0.516, + 0.88 + ], + [ + 0.516, + 0.516, + 0.88 + ], + [ + 0.517, + 0.517, + 0.88 + ], + [ + 0.518, + 0.518, + 0.88 + ], + [ + 0.52, + 0.52, + 0.88 + ], + [ + 0.522, + 0.522, + 0.88 + ], + [ + 0.524, + 0.524, + 0.88 + ], + [ + 0.527, + 0.527, + 0.88 + ], + [ + 0.53, + 0.53, + 0.88 + ], + [ + 0.532, + 0.532, + 0.88 + ], + [ + 0.535, + 0.535, + 0.88 + ], + [ + 0.5379999999999999, + 0.5379999999999999, + 0.88 + ], + [ + 0.54, + 0.54, + 0.88 + ], + [ + 0.542, + 0.542, + 0.88 + ], + [ + 0.544, + 0.544, + 0.88 + ], + [ + 0.546, + 0.546, + 0.88 + ], + [ + 0.547, + 0.547, + 0.88 + ], + [ + 0.5479999999999999, + 0.5479999999999999, + 0.88 + ], + [ + 0.5489999999999999, + 0.5489999999999999, + 0.88 + ], + [ + 0.5489999999999999, + 0.5489999999999999, + 0.88 + ], + [ + 0.55, + 0.55, + 0.88 + ], + [ + 0.55, + 0.55, + 0.88 + ], + [ + 0.551, + 0.551, + 0.88 + ], + [ + 0.551, + 0.551, + 0.88 + ], + [ + 0.551, + 0.551, + 0.88 + ], + [ + 0.551, + 0.551, + 0.88 + ], + [ + 0.551, + 0.551, + 0.88 + ], + [ + 0.552, + 0.552, + 0.88 + ], + [ + 0.552, + 0.552, + 0.88 + ], + [ + 0.552, + 0.552, + 0.88 + ], + [ + 0.552, + 0.552, + 0.88 + ], + [ + 0.552, + 0.552, + 0.88 + ], + [ + 0.552, + 0.552, + 0.88 + ], + [ + 0.552, + 0.552, + 0.88 + ], + [ + 0.552, + 0.552, + 0.88 + ], + [ + 0.552, + 0.552, + 0.88 + ], + [ + 0.552, + 0.552, + 0.88 + ], + [ + 0.552, + 0.552, + 0.88 + ], + [ + 0.552, + 0.552, + 0.88 + ], + [ + 0.552, + 0.552, + 0.88 + ], + [ + 0.552, + 0.552, + 0.88 + ], + [ + 0.552, + 0.552, + 0.88 + ], + [ + 0.551, + 0.551, + 0.88 + ], + [ + 0.551, + 0.551, + 0.88 + ], + [ + 0.55, + 0.55, + 0.88 + ], + [ + 0.5489999999999999, + 0.5489999999999999, + 0.88 + ], + [ + 0.547, + 0.547, + 0.88 + ], + [ + 0.545, + 0.545, + 0.88 + ], + [ + 0.5429999999999999, + 0.5429999999999999, + 0.88 + ], + [ + 0.541, + 0.541, + 0.88 + ], + [ + 0.539, + 0.539, + 0.88 + ], + [ + 0.536, + 0.536, + 0.88 + ], + [ + 0.534, + 0.534, + 0.88 + ], + [ + 0.531, + 0.531, + 0.88 + ], + [ + 0.529, + 0.529, + 0.88 + ], + [ + 0.527, + 0.527, + 0.88 + ], + [ + 0.525, + 0.525, + 0.88 + ], + [ + 0.524, + 0.524, + 0.88 + ], + [ + 0.522, + 0.522, + 0.88 + ], + [ + 0.521, + 0.521, + 0.88 + ], + [ + 0.521, + 0.521, + 0.88 + ], + [ + 0.52, + 0.52, + 0.88 + ], + [ + 0.519, + 0.519, + 0.88 + ], + [ + 0.519, + 0.519, + 0.88 + ], + [ + 0.518, + 0.518, + 0.88 + ], + [ + 0.518, + 0.518, + 0.88 + ], + [ + 0.518, + 0.518, + 0.88 + ], + [ + 0.518, + 0.518, + 0.88 + ], + [ + 0.518, + 0.518, + 0.88 + ], + [ + 0.517, + 0.517, + 0.88 + ], + [ + 0.517, + 0.517, + 0.88 + ], + [ + 0.517, + 0.517, + 0.88 + ], + [ + 0.517, + 0.517, + 0.88 + ], + [ + 0.517, + 0.517, + 0.88 + ], + [ + 0.517, + 0.517, + 0.88 + ], + [ + 0.517, + 0.517, + 0.88 + ], + [ + 0.517, + 0.517, + 0.88 + ], + [ + 0.517, + 0.517, + 0.88 + ], + [ + 0.517, + 0.517, + 0.88 + ], + [ + 0.516, + 0.516, + 0.88 + ], + [ + 0.516, + 0.516, + 0.88 + ], + [ + 0.516, + 0.516, + 0.88 + ], + [ + 0.517, + 0.517, + 0.88 + ], + [ + 0.517, + 0.517, + 0.88 + ], + [ + 0.518, + 0.518, + 0.88 + ], + [ + 0.519, + 0.519, + 0.88 + ], + [ + 0.521, + 0.521, + 0.88 + ], + [ + 0.523, + 0.523, + 0.88 + ], + [ + 0.526, + 0.526, + 0.88 + ], + [ + 0.528, + 0.528, + 0.88 + ], + [ + 0.531, + 0.531, + 0.88 + ], + [ + 0.5329999999999999, + 0.5329999999999999, + 0.88 + ], + [ + 0.536, + 0.536, + 0.88 + ], + [ + 0.539, + 0.539, + 0.88 + ], + [ + 0.541, + 0.541, + 0.88 + ], + [ + 0.5429999999999999, + 0.5429999999999999, + 0.88 + ], + [ + 0.545, + 0.545, + 0.88 + ], + [ + 0.546, + 0.546, + 0.88 + ], + [ + 0.547, + 0.547, + 0.88 + ], + [ + 0.5479999999999999, + 0.5479999999999999, + 0.88 + ], + [ + 0.5489999999999999, + 0.5489999999999999, + 0.88 + ], + [ + 0.5489999999999999, + 0.5489999999999999, + 0.88 + ], + [ + 0.55, + 0.55, + 0.88 + ], + [ + 0.55, + 0.55, + 0.88 + ], + [ + 0.551, + 0.551, + 0.88 + ], + [ + 0.551, + 0.551, + 0.88 + ], + [ + 0.551, + 0.551, + 0.88 + ], + [ + 0.551, + 0.551, + 0.88 + ], + [ + 0.552, + 0.552, + 0.88 + ], + [ + 0.552, + 0.552, + 0.88 + ], + [ + 0.552, + 0.552, + 0.88 + ], + [ + 0.552, + 0.552, + 0.88 + ], + [ + 0.552, + 0.552, + 0.88 + ], + [ + 0.552, + 0.552, + 0.88 + ], + [ + 0.552, + 0.552, + 0.88 + ], + [ + 0.552, + 0.552, + 0.88 + ], + [ + 0.552, + 0.552, + 0.88 + ], + [ + 0.552, + 0.552, + 0.88 + ], + [ + 0.552, + 0.552, + 0.88 + ], + [ + 0.552, + 0.552, + 0.88 + ], + [ + 0.552, + 0.552, + 0.88 + ], + [ + 0.552, + 0.552, + 0.88 + ], + [ + 0.552, + 0.552, + 0.88 + ], + [ + 0.552, + 0.552, + 0.88 + ], + [ + 0.551, + 0.551, + 0.88 + ], + [ + 0.55, + 0.55, + 0.88 + ], + [ + 0.5489999999999999, + 0.5489999999999999, + 0.88 + ], + [ + 0.5479999999999999, + 0.5479999999999999, + 0.88 + ], + [ + 0.546, + 0.546, + 0.88 + ], + [ + 0.544, + 0.544, + 0.88 + ], + [ + 0.542, + 0.542, + 0.88 + ] + ], + "w2c_cam01": [ + [ + [ + -2.4335928950132557e-08, + 0.9999999999999996, + 3.851859859013503e-34, + 284.55016154630306 + ], + [ + 0.050739858768389684, + 1.2348015979272924e-09, + -0.9987119037701332, + -30.167649567509464 + ], + [ + -0.9987119037501815, + -1.2230693361980193e-16, + -0.05073985916110161, + 659.6843651830299 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.0030959441334388496, + 0.9999952075534776, + -0.0, + 286.4744371080018 + ], + [ + 0.05073961560033002, + 0.00015708776808551192, + -0.9987119037701333, + -30.117438845911778 + ], + [ + -0.9987071175519625, + -0.0030919319788967315, + -0.05073985916110162, + 658.6960683184382 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.006191567946119874, + 0.9999808320594793, + -2.7105054102713412e-20, + 288.39511546614705 + ], + [ + 0.05073888618979482, + 0.0003141592831410112, + -0.9987119037701332, + -30.066943709896194 + ], + [ + -0.9986927606499997, + -0.00618356835445142, + -0.05073985916110163, + 657.7021733288082 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.009287398729048081, + 0.9999568711823765, + -0.0, + 290.31253083302323 + ], + [ + 0.05073767041827468, + 0.000471241299837622, + -0.9987119037701333, + -30.016156990829856 + ], + [ + -0.998668830711685, + -0.0092754114338895, + -0.050739859161101644, + 656.7025391140503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.01238314049465227, + 0.999923325976292, + 5.4210108205426824e-20, + 292.22649243465946 + ], + [ + 0.050735968339255574, + 0.0006283187998077839, + -0.9987119037701332, + -29.965083101164367 + ], + [ + -0.9986353287897762, + -0.012367165610897322, + -0.05073985916110163, + 655.6972525243817 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.01547876357104521, + 0.999880196762748, + 5.4210108205426824e-20, + 294.1369926221488 + ], + [ + 0.05073377996905156, + 0.0007853902775041299, + -0.9987119037701332, + -29.913722281844976 + ], + [ + -0.9985922552053812, + -0.015458801251807201, + -0.05073985916110163, + 654.6863183023241 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.018573972017313464, + 0.9998274889017107, + -0.0, + 296.0439203624487 + ], + [ + 0.05073110557962655, + 0.000942440716926508, + -0.9987119037701333, + -29.862075898390927 + ], + [ + -0.9985396153115541, + -0.018550022796903494, + -0.05073985916110163, + 653.6697633253712 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.021669268721047293, + 0.999765193829579, + -0.0, + 297.947765599796 + ], + [ + 0.05072794473646461, + 0.0010994956345202246, + -0.9987119037701333, + -29.81013011385589 + ], + [ + -0.9984774005557372, + -0.0216413324860119, + -0.05073985916110162, + 652.64731524112 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.024764357730423292, + 0.9996933162656435, + -1.0842021641085365e-19, + 299.84856723679087 + ], + [ + 0.050724297679021924, + 0.0012565400137315582, + -0.9987119037701332, + -29.757880042392102 + ], + [ + -0.9984056156511352, + -0.02473243474852089, + -0.05073985916110164, + 651.6188778815017 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.027858943167071562, + 0.9996118643181532, + -1.0842021641085365e-19, + 301.746551381852 + ], + [ + 0.05072016481870985, + 0.001413558841733807, + -0.9987119037701332, + -29.705313461686806 + ], + [ + -0.9983242686955457, + -0.027823034087177262, + -0.05073985916110164, + 650.5842106749184 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.030953527817360153, + 0.9995208247533716, + -1.0842021641085365e-19, + 303.6425628032198 + ], + [ + 0.05071554548405048, + 0.0015705776298362763, + -0.9987119037701332, + -29.652402538917336 + ], + [ + -0.9982333464722901, + -0.030913632640715904, + -0.05073985916110162, + 649.542765788344 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.03404781578605948, + 0.9994202050390009, + -1.0842021641085365e-19, + 305.5369015599515 + ], + [ + 0.05071044005395399, + 0.0017275813643568075, + -0.9987119037701332, + -29.599133665235932 + ], + [ + -0.9981328564394449, + -0.03400393489504568, + -0.050739859161101616, + 648.4942753590342 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.03714151128286478, + 0.9993100160308737, + -1.0842021641085365e-19, + 307.42978444830914 + ], + [ + 0.05070484907924381, + 0.0018845550369371127, + -0.9987119037701332, + -29.54549798380897 + ], + [ + -0.9980228094388522, + -0.0370936454408655, + -0.05073985916110164, + 647.4385650580664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.04023511694955299, + 0.9991902398262585, + -0.0, + 309.3218658101352 + ], + [ + 0.050698771651537834, + 0.002041524151549963, + -0.9987119037701333, + -29.49147857591928 + ], + [ + -0.997903187590853, + -0.04018326627250458, + -0.050739859161101644, + 646.3753018745914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.0433283369730114, + 0.9990608866406256, + -2.168404328217073e-19, + 311.21324255968324 + ], + [ + 0.050692208289167574, + 0.0021984736986797974, + -0.9987119037701332, + -29.437073595094404 + ], + [ + -0.997774001097752, + -0.04327250195788328, + -0.050739859161101644, + 645.3044494645218 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.04642114170552304, + 0.9989219577137926, + -0.0, + 313.1042064245004 + ], + [ + 0.050685159055041215, + 0.0023554021740056458, + -0.9987119037701333, + -29.38227762995738 + ], + [ + -0.9976352511977689, + -0.046361322887473, + -0.05073985916110164, + 644.2259013158097 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.049513235513891515, + 0.9987734675635641, + -2.168404328217073e-19, + 314.9948190857171 + ], + [ + 0.050677624685790124, + 0.0025122945771408737, + -0.9987119037701332, + -29.32709267432005 + ], + [ + -0.9974869523900017, + -0.049449433808878146, + -0.05073985916110164, + 643.1396966726277 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.05260512077966274, + 0.9986153920643107, + -2.168404328217073e-19, + 316.8854996064901 + ], + [ + 0.05066960395728326, + 0.002669176398854171, + -0.9987119037701332, + -29.271513439559953 + ], + [ + -0.9973290805799081, + -0.05253733645653314, + -0.05073985916110163, + 642.0457314391043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.05569650183890447, + 0.9984477450938074, + 2.168404328217073e-19, + 318.77599282063824 + ], + [ + 0.050661097573676976, + 0.002826032637199372, + -0.9987119037701332, + -29.21555172445214 + ], + [ + -0.997161649627381, + -0.0556247355473461, + -0.05073985916110164, + 640.9442378503531 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.058787083206002864, + 0.99827054391489, + -0.0, + 320.66589208020787 + ], + [ + 0.05065210641088512, + 0.002982848299278161, + -0.9987119037701333, + -29.159222586694874 + ], + [ + -0.9969846767730125, + -0.05871133597631425, + -0.05073985916110164, + 639.8355122868207 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.06187736701677305, + 0.9980837597371631, + 2.168404328217073e-19, + 322.55516480614705 + ], + [ + 0.050642629008087095, + 0.003139648863390882, + -0.9987119037701332, + -29.10253012424524 + ], + [ + -0.9967981332635043, + -0.06179763923245699, + -0.050739859161101644, + 638.7196354085353 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.06496705774892246, + 0.9978874091837455, + 2.168404328217073e-19, + 324.443153405638 + ], + [ + 0.05063266620873759, + 0.0032964193347781463, + -0.9987119037701332, + -29.045492374709518 + ], + [ + -0.9966020357005558, + -0.06488335017414004, + -0.050739859161101644, + 637.5969622494248 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.06805586008990755, + 0.9976815122610134, + 2.168404328217073e-19, + 326.32912511404743 + ], + [ + 0.0506222190279573, + 0.0034531447293232004, + -0.9987119037701332, + -28.988127601181546 + ], + [ + -0.9963964040647664, + -0.06796817386920746, + -0.05073985916110163, + 636.4678522816833 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.07114427588649987, + 0.9974660355162904, + -0.0, + 328.21283596082145 + ], + [ + 0.05061128576836219, + 0.0036098505106603586, + -0.9987119037701333, + -28.93044006437013 + ], + [ + -0.9961812049465613, + -0.07105261151800842, + -0.05073985916110164, + 635.332389368773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.07423200978353742, + 0.9972409983166038, + -0.0, + 330.09357672651134 + ], + [ + 0.05059986741263247, + 0.003766521692510414, + -0.9987119037701333, + -28.872445529989996 + ], + [ + -0.9959564576880149, + -0.07413636814582339, + -0.050739859161101644, + 634.1908838270122 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.07731903218588629, + 0.9970064028188773, + -4.336808656434146e-19, + 331.97091200261775 + ], + [ + 0.05058796407021011, + 0.00392315677322045, + -0.9987119037701332, + -28.814152967425187 + ], + [ + -0.9957221644432718, + -0.07721941419563917, + -0.05073985916110163, + 633.0435122006475 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.080405048051387, + 0.9967622726848433, + -0.0, + 333.84439192722465 + ], + [ + 0.05057557694168811, + 0.004079740782392966, + -0.9987119037701333, + -28.755572735477465 + ], + [ + -0.9954783488435786, + -0.08030145500533588, + -0.05073985916110163, + 631.8904783818128 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.0834905587740842, + 0.9965085682499629, + -0.0, + 335.71425428707 + ], + [ + 0.05056270401449337, + 0.004236299160690974, + -0.9987119037701333, + -28.696698079793457 + ], + [ + -0.9952249712755002, + -0.08338299132311822, + -0.05073985916110163, + 630.7316494246738 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.08657526926128603, + 0.9962453125371961, + 4.336808656434146e-19, + 337.5802880196218 + ], + [ + 0.050549346456807615, + 0.004392816935152966, + -0.9987119037701332, + -28.637534604402617 + ], + [ + -0.9949620547323341, + -0.08646372843639914, + -0.05073985916110164, + 629.567135633257 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.0896588847033131, + 0.9959725319474214, + -4.336808656434146e-19, + 339.44228499527765 + ], + [ + 0.05053550560820769, + 0.0045492791471774445, + -0.9987119037701332, + -28.57808799562286 + ], + [ + -0.9946896255809451, + -0.08954337191523892, + -0.05073985916110163, + 628.3970489312715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.09274190610420625, + 0.995690182161177, + 4.336808656434146e-19, + 341.30054163828663 + ], + [ + 0.05052117921993037, + 0.004705711217638688, + -0.9987119037701332, + -28.51835018593782 + ], + [ + -0.9944076395589705, + -0.09262242211834178, + -0.050739859161101644, + 627.2212305259151 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.09582403859782342, + 0.9953982889410662, + -0.0, + 343.15485281813585 + ], + [ + 0.050506368599166476, + 0.004862098185070284, + -0.9987119037701333, + -28.458326799884635 + ], + [ + -0.9941161223958219, + -0.09570058455937812, + -0.050739859161101616, + 626.0397911248672 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.09890498763239472, + 0.9950968814248367, + -0.0, + 345.005016260323 + ], + [ + 0.05049107522436126, + 0.00501842510395704, + -0.9987119037701333, + -28.398023544496265 + ], + [ + -0.9938151031917086, + -0.09877756506598595, + -0.05073985916110162, + 624.8528430595705 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.10198525377874199, + 0.9947859106419256, + -0.0, + 346.8513312937422 + ], + [ + 0.05047529661075526, + 0.005174717373191753, + -0.9987119037701333, + -28.337432148279074 + ], + [ + -0.993504533039158, + -0.10185386356420773, + -0.05073985916110163, + 623.6602235223423 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.10506454242270727, + 0.9944654050923576, + -0.0, + 348.69359838010575 + ], + [ + 0.0504590342044357, + 0.005330960044093658, + -0.9987119037701333, + -28.27655825868273 + ], + [ + -0.9931844404014769, + -0.10492918581937373, + -0.05073985916110163, + 622.4620436718486 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.10814282405010223, + 0.9941353678480955, + -0.0, + 350.5317863210648 + ], + [ + 0.050442288161273545, + 0.005487151619117008, + -0.9987119037701333, + -28.215402869445782 + ], + [ + -0.992854828346671, + -0.10800350235531202, + -0.05073985916110164, + 621.2583230678302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.1112198044925575, + 0.9937958316921222, + 4.336808656434146e-19, + 352.36570000968806 + ], + [ + 0.05042506014467268, + 0.005643277172200284, + -0.9987119037701332, + -28.153971719448435 + ], + [ + -0.9925157296154885, + -0.11107651938256671, + -0.05073985916110162, + 620.0491746685797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.11429598367610617, + 0.9934467414590029, + -0.0, + 354.1956430907791 + ], + [ + 0.0504073473555468, + 0.0057993620695198055, + -0.9987119037701333, + -28.092256245638744 + ], + [ + -0.9921670891135649, + -0.11414873618322308, + -0.05073985916110164, + 618.8344299276754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.11737106736209849, + 0.9930881292948182, + -0.0, + 356.02144425585084 + ], + [ + 0.05038915142498343, + 0.005955391381448034, + -0.9987119037701333, + -28.03026165663165 + ], + [ + -0.9918089389455661, + -0.11721985889763543, + -0.05073985916110163, + 617.614191366207 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.12044476169932002, + 0.9927200307131884, + -0.0, + 357.8429326866891 + ], + [ + 0.05037047415493869, + 0.0061113501980158535, + -0.9987119037701333, + -27.967993273389883 + ], + [ + -0.9914413145793618, + -0.1202895940530947, + -0.05073985916110163, + 616.3885637166035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.12351756607990064, + 0.992342385908058, + -0.0, + 359.66043010640374 + ], + [ + 0.050351312510861765, + 0.006267263858309405, + -0.9987119037701333, + -27.905441948100158 + ], + [ + -0.9910641562859434, + -0.12335844039846985, + -0.05073985916110164, + 615.1573669225953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.1265891865764334, + 0.9919552297568256, + -0.0, + 361.4737639255559 + ], + [ + 0.05033166826242692, + 0.006423117448493568, + -0.9987119037701333, + -27.84261300287122 + ], + [ + -0.9906774988977772, + -0.12642610438495752, + -0.05073985916110164, + 613.9207057391686 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.12965932968020558, + 0.9915586005006862, + -0.0, + 363.28276222386137 + ], + [ + 0.050311543349986984, + 0.006578896075977712, + -0.9987119037701333, + -27.779511870217473 + ], + [ + -0.9902813806067937, + -0.1294922928819086, + -0.05073985916110162, + 612.6786870944226 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.13272849420636773, + 0.9911524336981219, + -0.0, + 365.0877428045946 + ], + [ + 0.05029093450378846, + 0.006734625050572132, + -0.9987119037701333, + -27.716129292024746 + ], + [ + -0.9898757370544929, + -0.13255750406195702, + -0.05073985916110162, + 611.4311287610365 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.13579638656410903, + 0.9907367669548408, + -0.0, + 366.88853224901777 + ], + [ + 0.05026984363193967, + 0.006890289475520548, + -0.9987119037701333, + -27.65247069990876 + ], + [ + -0.9894606057981371, + -0.1356214447124614, + -0.05073985916110163, + 610.1781376494207 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.1388629773484717, + 0.9903116042549021, + -0.0, + 368.6851202725163 + ], + [ + 0.05024827093659119, + 0.007045887858819555, + -0.9987119037701333, + -27.588536652285832 + ], + [ + -0.989035990816652, + -0.13868408546633956, + -0.05073985916110163, + 608.9197247508753 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.14192797354679249, + 0.9898769874711204, + -0.0, + 370.4772932247812 + ], + [ + 0.050226218542363726, + 0.0072014053330480025, + -0.9987119037701333, + -27.524333677635298 + ], + [ + -0.9886019339289107, + -0.1417451336883534, + -0.05073985916110162, + 607.656018565361 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.14499187313798914, + 0.9894328459900332, + 4.336808656434146e-19, + 372.26523457902397 + ], + [ + 0.05020368286634018, + 0.007356867165585848, + -0.9987119037701332, + -27.45985543771028 + ], + [ + -0.9881583646124183, + -0.14480508671598033, + -0.05073985916110162, + 606.3868943372595 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.14805438301943746, + 0.9889792210500347, + 4.336808656434146e-19, + 374.04844553677367 + ], + [ + 0.050180666000950835, + 0.007512258484447335, + -0.9987119037701332, + -27.39511535838577 + ], + [ + -0.9877053240524434, + -0.14786365182413713, + -0.05073985916110162, + 605.1126163278625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.15111521058, + 0.9885161572434523, + -4.336808656434146e-19, + 375.82622066757176 + ], + [ + 0.05015717020880408, + 0.007667564442584669, + -0.9987119037701332, + -27.33013253267885 + ], + [ + -0.9872428567838679, + -0.1509205367785938, + -0.05073985916110161, + 603.8335603447331 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.15417485312130366, + 0.9880435793349523, + -0.0, + 377.5982771698135 + ], + [ + 0.05013319167246974, + 0.007822810273012175, + -0.9987119037701333, + -27.264913604162174 + ], + [ + -0.9867708876682794, + -0.1539762382404103, + -0.050739859161101616, + 602.5498571532075 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.1572330179363617, + 0.9875615312833037, + -0.0, + 379.36391949734343 + ], + [ + 0.050108732622409516, + 0.007977981123818681, + -0.9987119037701333, + -27.199480452270684 + ], + [ + -0.9862894606078176, + -0.1570304638796308, + -0.05073985916110162, + 601.261937405872 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.16028967571345232, + 0.9870700177088128, + 8.673617312868292e-19, + 381.1227395145169 + ], + [ + 0.05008379329305709, + 0.008133075507731556, + -0.9987119037701332, + -27.13384858004156 + ], + [ + -0.9857985802168368, + -0.160083184422289, + -0.050739859161101616, + 599.9701062487727 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.16334453441606564, + 0.9865690868238264, + -0.0, + 382.8742793662146 + ], + [ + 0.05005837613070016, + 0.008288078606859543, + -0.9987119037701333, + -27.06803748533399 + ], + [ + -0.9852982946455748, + -0.1631341082080426, + -0.050739859161101616, + 598.6747474579798 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.16639809037605066, + 0.9860586572406346, + 8.673617312868292e-19, + 384.61861761180654 + ], + [ + 0.050032477005737805, + 0.008443015605010559, + -0.9987119037701332, + -27.00205122784486 + ], + [ + -0.984788522611169, + -0.16618373092942215, + -0.05073985916110162, + 597.3759409404496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.16945005145321027, + 0.9855387765392615, + -0.0, + 386.355370489798 + ], + [ + 0.05000609833237371, + 0.008597871679032257, + -0.9987119037701333, + -26.935910621381616 + ], + [ + -0.9842693116323485, + -0.16923176082253166, + -0.05073985916110161, + 596.0740963740441 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.17250012607139567, + 0.9850094956422261, + -0.0, + 388.08429750446834 + ], + [ + 0.04997924269440932, + 0.008752632034392036, + -0.9987119037701333, + -26.869633369463283 + ], + [ + -0.9837407125660333, + -0.1722779066867965, + -0.05073985916110161, + 594.769562216867 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.17554880978517182, + 0.9844707285557095, + -0.0, + 389.80579160372037 + ], + [ + 0.049951905728530414, + 0.008907321815458526, + -0.9987119037701333, + -26.80321641565604 + ], + [ + -0.9832026395291839, + -0.17532266343846523, + -0.05073985916110161, + 593.462278309184 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.17859581090883453, + 0.9839225255708987, + -1.7347234625736584e-18, + 391.5199039888717 + ], + [ + 0.049924089986504695, + 0.009061926222140295, + -0.9987119037701332, + -26.736666685104776 + ], + [ + -0.9826551427482008, + -0.17836573976754902, + -0.050739859161101596, + 592.1523809585236 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.18164083835174694, + 0.9833649403160938, + -0.0, + 393.22679429387625 + ], + [ + 0.04989579818942458, + 0.009216430484539545, + -0.9987119037701333, + -26.6699852360236 + ], + [ + -0.9820982757822992, + -0.18140684495835996, + -0.050739859161101616, + 590.8398909937035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.1846843868484445, + 0.9827978821987834, + -8.673617312868292e-19, + 394.9271724813074 + ], + [ + 0.04986702574063876, + 0.00937085970541672, + -0.9987119037701332, + -26.60315147183052 + ], + [ + -0.9815319481556715, + -0.18444647310817286, + -0.050739859161101596, + 589.5244030125158 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.18772616519287622, + 0.9822214042169806, + -0.0, + 396.62132108394695 + ], + [ + 0.04983777532925901, + 0.009525199109017935, + -0.9987119037701333, + -26.536155793803324 + ], + [ + -0.9809562127980567, + -0.1874843333860344, + -0.05073985916110161, + 588.2057280834566 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.19076614423038027, + 0.9816355118960773, + -0.0, + 398.3096917056449 + ], + [ + 0.049808047235642895, + 0.009679447216039755, + -0.9987119037701333, + -26.46897998188191 + ], + [ + -0.9803710752277298, + -0.190520396674836, + -0.05073985916110161, + 586.8835075813591 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.19380403355672426, + 0.9810402624648715, + -0.0, + 399.99255393848455 + ], + [ + 0.049777844363571556, + 0.00983358929141245, + -0.9987119037701333, + -26.401610128537733 + ], + [ + -0.9797765925997661, + -0.19355437294440972, + -0.050739859161101616, + 585.5574677645477 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.19684032674669297, + 0.980435559211443, + -1.7347234625736584e-18, + 401.6705831051132 + ], + [ + 0.049747161805895786, + 0.00998765037905088, + -0.9987119037701332, + -26.334017648899934 + ], + [ + -0.9791726683268305, + -0.19658675513377438, + -0.05073985916110159, + 584.2270459974388 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.19987473327284372, + 0.9798214587357789, + 8.673617312868292e-19, + 403.34388984268054 + ], + [ + 0.049716002434491, + 0.010141615737633653, + -0.9987119037701332, + -26.266194149293913 + ], + [ + -0.9785593589359975, + -0.19961725308971048, + -0.05073985916110161, + 582.89207706746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.2029069632749741, + 0.9791980209613008, + -1.7347234625736584e-18, + 405.0124652941637 + ], + [ + 0.049684369289863105, + 0.01029547065969502, + -0.9987119037701332, + -26.19813735589536 + ], + [ + -0.977936724273496, + -0.20264557732537963, + -0.05073985916110161, + 581.5525162189616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.20593750940838185, + 0.9785651445962463, + -1.7347234625736584e-18, + 406.67664208703167 + ], + [ + 0.049652257232482365, + 0.010449240142495216, + -0.9987119037701332, + -26.129835234802812 + ], + [ + -0.9773046631780469, + -0.2056722198614973, + -0.05073985916110158, + 580.2081265888424 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.2089660816838197, + 0.9779228889363984, + -0.0, + 408.3362641509872 + ], + [ + 0.049619669271008505, + 0.010602909472020798, + -0.9987119037701333, + -26.061293359986788 + ], + [ + -0.9766632348690489, + -0.20869689108234643, + -0.05073985916110161, + 578.8590178894804 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.21199239081011756, + 0.9772713165946346, + 8.673617312868292e-19, + 409.9911763382398 + ], + [ + 0.04958660858241002, + 0.01075646396967864, + -0.9987119037701332, + -25.992517407556292 + ], + [ + -0.9760125018787226, + -0.2117193020693877, + -0.05073985916110161, + 577.5053018436448 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.2150169284805913, + 0.9766103217080865, + -2.602085193860488e-18, + 411.6416851964202 + ], + [ + 0.04955306979521994, + 0.01090992858391815, + -0.9987119037701332, + -25.92349646965465 + ], + [ + -0.9753523584805708, + -0.21473994388259454, + -0.050739859161101596, + 576.1467637521563 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.2180394052692025, + 0.9759399662632188, + -2.602085193860488e-18, + 413.28763416518484 + ], + [ + 0.049519056054622715, + 0.011063288629303015, + -0.9987119037701332, + -25.854236230017303 + ], + [ + -0.9746828665812081, + -0.217758527468733, + -0.05073985916110158, + 574.7835154878949 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.22105979220628988, + 0.9752602566852153, + -0.0, + 414.9290204666552 + ], + [ + 0.049484567686631314, + 0.011216542635916723, + -0.9987119037701333, + -25.784736871862442 + ], + [ + -0.9740040325975415, + -0.22077502389545658, + -0.05073985916110161, + 573.4155606571413 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.22407780079820697, + 0.9745712591644796, + -0.0, + 416.56568829761255 + ], + [ + 0.049449608049737415, + 0.011369675965632384, + -0.9987119037701333, + -25.71500422591515 + ], + [ + -0.9733159226347088, + -0.22378914504072264, + -0.05073985916110161, + 572.0430140259709 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.22709392138965742, + 0.9738728617575644, + 8.673617312868292e-19, + 418.19793918210326 + ], + [ + 0.049414171463946326, + 0.011522713498471011, + -0.9987119037701332, + -25.645027277591275 + ], + [ + -0.9726184248934672, + -0.22680138061762897, + -0.05073985916110161, + 570.6656587944891 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.23010786534437985, + 0.9731651300301778, + -1.7347234625736584e-18, + 419.8256159033789 + ], + [ + 0.04937826125605282, + 0.011675640589069466, + -0.9987119037701332, + -25.574811875599234 + ], + [ + -0.9719116048550642, + -0.22981144236170142, + -0.050739859161101596, + 569.2836100827366 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.2331193447959052, + 0.9724481328492168, + -8.673617312868292e-19, + 421.4485622028043 + ], + [ + 0.04934188092035351, + 0.011828442631123771, + -0.9987119037701332, + -25.504363978006356 + ], + [ + -0.9711955312976834, + -0.23281904277726642, + -0.05073985916110159, + 567.8969851632636 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.23612884902812856, + 0.9717217537220475, + -0.0, + 423.0670758582036 + ], + [ + 0.049305024546028656, + 0.011981144450829657, + -0.9987119037701333, + -25.43367250171306 + ], + [ + -0.9704700878787547, + -0.23582467051798053, + -0.05073985916110161, + 566.5055658875863 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.23913609002617014, + 0.970986060892223, + -0.0, + 424.6809992430834 + ], + [ + 0.04926769559574644, + 0.012133731434352799, + -0.9987119037701333, + -25.36274342706556 + ], + [ + -0.9697353427539215, + -0.23882803793995053, + -0.05073985916110161, + 565.1094699667717 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.24214078057556895, + 0.9702411258971939, + -0.0, + 426.2901697954225 + ], + [ + 0.049229897699307024, + 0.012286189008472007, + -0.9987119037701333, + -25.291583207733403 + ], + [ + -0.9689913673684813, + -0.24182885819867125, + -0.05073985916110159, + 563.7088244283005 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.24514340885720717, + 0.9694868277051878, + -0.0, + 427.89486816963455 + ], + [ + 0.0491916247155754, + 0.012438541943416308, + -0.9987119037701333, + -25.220181532108235 + ], + [ + -0.9682380408465723, + -0.24482761884620644, + -0.050739859161101616, + 562.3034263089398 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.2481436875024302, + 0.9687232372317165, + -0.0, + 429.49492382357846 + ], + [ + 0.049152880242794565, + 0.012590775658140737, + -0.9987119037701333, + -25.148545319306123 + ], + [ + -0.9674754340123547, + -0.24782403288405594, + -0.050739859161101596, + 560.893411797549 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.2511415877543402, + 0.9679503617955981, + -8.673617312868292e-19, + 431.09031721355507 + ], + [ + 0.04911366465232035, + 0.012742888693524369, + -0.9987119037701332, + -25.07667574373025 + ], + [ + -0.9667035541752188, + -0.2508180715923628, + -0.05073985916110159, + 559.4788040098882 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.2541368233063545, + 0.967168276485408, + -8.673617312868292e-19, + 432.6808803627233 + ], + [ + 0.049073981754136485, + 0.012894866522411638, + -0.9987119037701332, + -25.004579821381146 + ], + [ + -0.9659224763270131, + -0.2538094490333303, + -0.05073985916110161, + 558.0597410417915 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.2571298808031743, + 0.9663768542334537, + -0.0, + 434.26689229039346 + ], + [ + 0.04903382510084616, + 0.013046733837085942, + -0.9987119037701333, + -24.93224704517046 + ], + [ + -0.9651320735637299, + -0.2567986512248207, + -0.05073985916110161, + 556.6360160823959 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.26012047377633335, + 0.9655761695083285, + -0.0, + 435.8481852575717 + ], + [ + 0.0489931984709753, + 0.013198476102177772, + -0.9987119037701333, + -24.859684401906055 + ], + [ + -0.9643324202580347, + -0.25978539206736256, + -0.05073985916110161, + 555.2077666529372 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.2631083166289729, + 0.9647663000544062, + -0.0, + 437.42460444764606 + ], + [ + 0.04895210580926246, + 0.013350078826542844, + -0.9987119037701333, + -24.786898247319094 + ], + [ + -0.9635235940541532, + -0.262769386331969, + -0.05073985916110161, + 553.775117853177 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.2660938948046803, + 0.9639471142898224, + -8.673617312868292e-19, + 438.99649241163354 + ], + [ + 0.04891054043926239, + 0.013501566641520225, + -0.9987119037701332, + -24.713873723443772 + ], + [ + -0.9627054635397211, + -0.2657511188369352, + -0.050739859161101596, + 552.3377772339966 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.26907692253896254, + 0.9631186893404995, + -0.0, + 440.56386130435794 + ], + [ + 0.04886850627433354, + 0.013652925047459895, + -0.9987119037701333, + -24.64060624102403 + ], + [ + -0.9618781057413092, + -0.268730304185856, + -0.05073985916110161, + 550.8956544651365 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.2720571149693189, + 0.9622811055999027, + 8.673617312868292e-19, + 442.1268800638561 + ], + [ + 0.04882600739362896, + 0.013804139590478801, + -0.9987119037701332, + -24.567081189418555 + ], + [ + -0.9610416009488234, + -0.27170665788315657, + -0.05073985916110161, + 549.4484619655616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.27503495629635044, + 0.9614342269833464, + 8.673617312868292e-19, + 443.68623202890774 + ], + [ + 0.04878303689223092, + 0.013955234838847056, + -0.9987119037701332, + -24.49326164204841 + ], + [ + -0.9601958132528773, + -0.2746806635057476, + -0.05073985916110161, + 547.9954729099674 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.27801016148418584, + 0.9605781332674281, + -8.673617312868292e-19, + 445.2421519562927 + ], + [ + 0.048739598817992724, + 0.014106196329884805, + -0.9987119037701332, + -24.419130185663157 + ], + [ + -0.9593408223273032, + -0.2776520363849068, + -0.05073985916110161, + 546.5363445536049 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.28098270201625003, + 0.9597128326575859, + -0.0, + 446.79496641266667 + ], + [ + 0.04869569358725714, + 0.014257022616665057, + -0.9987119037701333, + -24.344668440748713 + ], + [ + -0.9584766363669691, + -0.28062074804079035, + -0.050739859161101616, + 545.0707151327726 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.2839522940474054, + 0.9588384090686064, + -0.0, + 448.34480020598687 + ], + [ + 0.04865132545784857, + 0.014407699296925617, + -0.9987119037701333, + -24.269869155036183 + ], + [ + -0.9576033391785662, + -0.28358651499387627, + -0.050739859161101616, + 543.598441901171 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.2869194200559751, + 0.9579547204303256, + -0.0, + 449.8921849996542 + ], + [ + 0.04860648722114698, + 0.01455825085154846, + -0.9987119037701333, + -24.194710114936605 + ], + [ + -0.9567207888749399, + -0.2865498191010152, + -0.05073985916110162, + 542.1190876290611 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.2898837960158254, + 0.9570618500428566, + 8.673617312868292e-19, + 451.437231847543 + ], + [ + 0.04856118310378832, + 0.014708662869087674, + -0.9987119037701332, + -24.119187984906688 + ], + [ + -0.9558290686488996, + -0.2895103767019221, + -0.050739859161101616, + 540.6325866629965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.29284513887340896, + 0.9561598844535437, + -0.0, + 452.9799933854058 + ], + [ + 0.048515417497172635, + 0.014858920987446242, + -0.9987119037701333, + -24.043304134023963 + ], + [ + -0.9549282649363028, + -0.2924679051076451, + -0.050739859161101616, + 539.1389659505123 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.2958039297667812, + 0.955248677117393, + -0.0, + 454.52083539258433 + ], + [ + 0.04846918296562764, + 0.015009049619501152, + -0.9987119037701333, + -23.96704831238467 + ], + [ + -0.9540182313809287, + -0.2954228848364944, + -0.05073985916110163, + 537.6380237429076 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.29875988545569754, + 0.9543283139687823, + -0.0, + 456.05956651198636 + ], + [ + 0.048422483869451485, + 0.01515903439368238, + -0.9987119037701333, + -23.890434419188317 + ], + [ + -0.9530990538064583, + -0.2983750330130614, + -0.050739859161101616, + 536.1300336179224 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.3017129776080842, + 0.9533988038291552, + -0.0, + 457.59601512717995 + ], + [ + 0.048375320656243025, + 0.015308873872424519, + -0.9987119037701333, + -23.813474952206555 + ], + [ + -0.9521707410229723, + -0.30132432134176595, + -0.050739859161101616, + 534.6152415690103 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.3046629242638223, + 0.9524602367443045, + 8.673617312868292e-19, + 459.12975178692756 + ], + [ + 0.048327697894913035, + 0.015458553749110955, + -0.9987119037701332, + -23.736192125366014 + ], + [ + -0.95123338296027, + -0.3042704682256766, + -0.050739859161101616, + 533.0940848325587 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.30761020470939315, + 0.9515124602224846, + -3.4694469251473167e-18, + 460.66067661057286 + ], + [ + 0.048279607848051895, + 0.015608098342670051, + -0.9987119037701332, + -23.658591859560072 + ], + [ + -0.9502868273230392, + -0.30721395233391363, + -0.05073985916110161, + 531.566679949422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.31055453679040457, + 0.950555563698881, + -0.0, + 462.1881960735434 + ], + [ + 0.048231055053588295, + 0.015757493336627817, + -0.9987119037701333, + -23.580699668288375 + ], + [ + -0.9493311634312591, + -0.31015449187552246, + -0.05073985916110162, + 530.0335291014317 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.31349563939518704, + 0.9495896398340722, + -0.0, + 463.7116944052567 + ], + [ + 0.04818204421310687, + 0.01590672446741782, + -0.9987119037701333, + -23.502540800454597 + ], + [ + -0.9483664838261479, + -0.3130918061009278, + -0.050739859161101616, + 528.4951292623808 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.316433990373303, + 0.9486145316915761, + -3.4694469251473167e-18, + 465.2310051075129 + ], + [ + 0.04813256736367271, + 0.016055815981059377, + -0.9987119037701332, + -23.424119959348285 + ], + [ + -0.947392631773381, + -0.31602637224418284, + -0.05073985916110161, + 526.951573007043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.31936930841314737, + 0.9476303313231949, + -0.0, + 466.7456136742845 + ], + [ + 0.048082629175981266, + 0.016204753603841396, + -0.9987119037701333, + -23.345457477942546 + ], + [ + -0.946409699206184, + -0.318957909356034, + -0.05073985916110162, + 525.4032605490229 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.322301313275748, + 0.9466371339962997, + -0.0, + 468.25512279635694 + ], + [ + 0.04803223448388545, + 0.016353523116477982, + -0.9987119037701333, + -23.26656947447305 + ], + [ + -0.9454177812692097, + -0.3218861375584797, + -0.050739859161101616, + 523.8505091433127 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.3252304813325306, + 0.9456347783432093, + -0.0, + 469.7596970496129 + ], + [ + 0.04798137509961196, + 0.01650214868998801, + -0.9987119037701333, + -23.187447896081746 + ], + [ + -0.9444167168026433, + -0.3248115326093394, + -0.05073985916110162, + 522.2931602856258 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.3281565321389418, + 0.9446233590244016, + -1.7347234625736584e-18, + 471.25917100497236 + ], + [ + 0.04793005582622002, + 0.016650616094654444, + -0.9987119037701332, + -23.10810032984838 + ], + [ + -0.943406600345025, + -0.32773381442529526, + -0.05073985916110161, + 520.7313633123406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.33107943764953873, + 0.9436028857340705, + -3.4694469251473167e-18, + 472.7535203069576 + ], + [ + 0.04787827715559171, + 0.01679892390745548, + -0.9987119037701332, + -23.0285280312877 + ], + [ + -0.9423874415780616, + -0.33065295499702846, + -0.050739859161101616, + 519.165142935735 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.3339989188265429, + 0.9425734572025145, + -0.0, + 474.242583140169 + ], + [ + 0.047826044097288425, + 0.016947057970053653, + -0.9987119037701333, + -22.948738658138947 + ], + [ + -0.9413593391048729, + -0.3335686756461832, + -0.05073985916110163, + 517.594649882978 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.3369154500066211, + 0.941534906175462, + -0.0, + 475.7266125681502 + ], + [ + 0.047773348164852, + 0.01709504235022442, + -0.9987119037701333, + -22.868720656281262 + ], + [ + -0.9403221258866354, + -0.33648145009844216, + -0.050739859161101616, + 516.0196567344802 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.33982875193891343, + 0.9404873307789109, + -0.0, + 477.2054474272263 + ], + [ + 0.04772019433718176, + 0.017242862878818613, + -0.9987119037701333, + -22.788481649091814 + ], + [ + -0.9392758999229459, + -0.3393909994626427, + -0.05073985916110162, + 514.4403135410607 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.34273854651462193, + 0.9394308323304298, + -1.7347234625736584e-18, + 478.67892878422333 + ], + [ + 0.0476665877551168, + 0.017390505444635083, + -0.9987119037701332, + -22.708029332053226 + ], + [ + -0.938220762400862, + -0.3422970459882131, + -0.05073985916110161, + 512.8567717727914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.34564530649660186, + 0.9383652391776189, + -1.7347234625736584e-18, + 480.14730882151565 + ], + [ + 0.04761251970903863, + 0.01753799403559436, + -0.9987119037701332, + -22.62735200710216 + ], + [ + -0.9371565418890972, + -0.345200061829051, + -0.05073985916110163, + 511.2688011768642 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.348548753557371, + 0.9372906520357509, + -0.0, + 481.61043574631566 + ], + [ + 0.047557995309225914, + 0.01768531452939928, + -0.9987119037701333, + -22.54645707887171 + ], + [ + -0.936083338973188, + -0.3480997690161823, + -0.05073985916110162, + 509.67654749856376 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.3514486105410997, + 0.9362071748009252, + 1.7347234625736584e-18, + 483.06816994807264 + ], + [ + 0.0475030198273521, + 0.017832452863202203, + -0.9987119037701332, + -22.465351622730857 + ], + [ + -0.9350012574154012, + -0.3509958907507757, + -0.05073985916110163, + 508.0801500022731 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.35434534859605304, + 0.9351146314374198, + 1.7347234625736584e-18, + 484.52077836056884 + ], + [ + 0.047447584331389486, + 0.017979432942999553, + -0.9987119037701332, + -22.384023154658944 + ], + [ + -0.933910121406774, + -0.3538888975742194, + -0.05073985916110162, + 506.47936296519885 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.35723869034213446, + 0.9340131252410946, + -0.0, + 485.9681205688509 + ], + [ + 0.047391694062555445, + 0.018126240694564415, + -0.9987119037701333, + -22.302478737542252 + ], + [ + -0.9328100341101067, + -0.3567785124637039, + -0.05073985916110163, + 504.87432540602737 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.3601286080474074, + 0.9329026667696029, + -0.0, + 487.41019186511585 + ], + [ + 0.047335349556543796, + 0.01827287471078223, + -0.9987119037701333, + -22.22071892920231 + ], + [ + -0.9317010060694529, + -0.35966470772301345, + -0.05073985916110163, + 503.2650483043525 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.36301482586385064, + 0.9317833633431313, + -1.7347234625736584e-18, + 488.84685367904456 + ], + [ + 0.047278556258765654, + 0.018419320995163375, + -0.9987119037701332, + -22.13875089551927 + ], + [ + -0.9305831444667557, + -0.362547207859441, + -0.05073985916110164, + 501.65167270608725 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.36589781272373423, + 0.930655033105171, + -1.7347234625736584e-18, + 490.27836892875075 + ], + [ + 0.04722130494184744, + 0.01856560334126499, + -0.9987119037701332, + -22.0565620064087 + ], + [ + -0.9294562676797637, + -0.36542648120123317, + -0.05073985916110163, + 500.0339500134674 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.36877729254735275, + 0.9295177827784921, + 1.7347234625736584e-18, + 491.7045983971684 + ], + [ + 0.047163601020887444, + 0.01871170774084182, + -0.9987119037701332, + -21.974159411450024 + ], + [ + -0.9283204822937726, + -0.36830225202429717, + -0.05073985916110163, + 498.412020951559 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.37165299049530387, + 0.9283717222405568, + -0.0, + 493.12540451521534 + ], + [ + 0.047105450071052594, + 0.01885762024858141, + -0.9987119037701333, + -21.891550338194442 + ], + [ + -0.9271758980447076, + -0.37117424584324527, + -0.050739859161101644, + 496.78602778014624 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.37452537379066486, + 0.9272166652875491, + -0.0, + 494.54104736991246 + ], + [ + 0.04704684264438752, + 0.019003364571316704, + -0.9987119037701333, + -21.80872204292019 + ], + [ + -0.9260223289686091, + -0.37404292927933386, + -0.05073985916110162, + 495.15571966474243 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.3773941673568098, + 0.9260527212016927, + 1.7347234625736584e-18, + 495.95138885472494 + ], + [ + 0.04698778428585687, + 0.019148926751698565, + -0.9987119037701332, + -21.72568173374909 + ], + [ + -0.9248598842069304, + -0.3769080276102573, + -0.05073985916110163, + 493.52123848270287 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.3802590973866652, + 0.9248800024082467, + -0.0, + 497.356292579923 + ], + [ + 0.04692828069990239, + 0.019294292896794747, + -0.9987119037701333, + -21.64243669416679 + ], + [ + -0.9236886760401112, + -0.37976926738162714, + -0.05073985916110163, + 491.8827275947686 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.38312062935381047, + 0.9236983183721512, + -0.0, + 498.7560159478643 + ], + [ + 0.046868322218802036, + 0.019439486624668927, + -0.9987119037701333, + -21.55897406284531 + ], + [ + -0.9225085141785279, + -0.3826271134674548, + -0.05073985916110162, + 490.23993385161174 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.3859784892084301, + 0.9225077809256558, + -0.0, + 500.150397184268 + ], + [ + 0.04680791451690838, + 0.019584494030072182, + -0.9987119037701333, + -21.475302150093686 + ], + [ + -0.9213195103103741, + -0.3854812921709227, + -0.05073985916110163, + 488.59302082492195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.38883264955867447, + 0.9213084014797546, + -1.7347234625736584e-18, + 501.53930855871465 + ], + [ + 0.04674705817321364, + 0.019729313723145916, + -0.9987119037701332, + -21.39142671250629 + ], + [ + -0.9201216758319453, + -0.3883317761354636, + -0.05073985916110162, + 486.9421018216607 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.3916828380106372, + 0.9201002958416721, + 1.7347234625736584e-18, + 502.9222821763011 + ], + [ + 0.046685759063760046, + 0.019873931882661802, + -0.9987119037701332, + -21.307369478750427 + ], + [ + -0.9189151264012909, + -0.39117829331803544, + -0.05073985916110163, + 485.28760452686265 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.39452951764279093, + 0.918883267726944, + -0.0, + 504.2990953937217 + ], + [ + 0.046624007229101566, + 0.02001837200515613, + -0.9987119037701333, + -21.22313876798734 + ], + [ + -0.9176996659867878, + -0.3940213062006289, + -0.050739859161101616, + 483.62969268645156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.397372415811164, + 0.9176574323528356, + 1.7347234625736584e-18, + 505.6691248899467 + ], + [ + 0.04656180851534603, + 0.0201626202567123, + -0.9987119037701332, + -21.138765376220135 + ], + [ + -0.9164754096572857, + -0.3968605424904591, + -0.05073985916110164, + 481.9689724576971 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.400211261209144, + 0.9164229080514008, + -0.0, + 507.0318238763035 + ], + [ + 0.04649916892664509, + 0.0203066628712711, + -0.9987119037701333, + -21.054279036376656 + ], + [ + -0.9152424755924111, + -0.39969573123037766, + -0.05073985916110164, + 480.3060290733776 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.4030465150722651, + 0.9151794942458568, + -0.0, + 508.38713368083984 + ], + [ + 0.0464360782857611, + 0.020450523251858387, + -0.9987119037701333, + -20.96968655416992 + ], + [ + -0.9140006634737516, + -0.4025273330618099, + -0.05073985916110162, + 478.6409964902404 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.4058779058383792, + 0.9139273086806475, + -0.0, + 509.734698864721 + ], + [ + 0.046372542567030606, + 0.020594187619449155, + -0.9987119037701333, + -20.885013334750514 + ], + [ + -0.9127500908940804, + -0.4053550767724012, + -0.05073985916110165, + 476.97437475748944 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.4087051633115692, + 0.9126664722024487, + 1.7347234625736584e-18, + 511.0742196811375 + ], + [ + 0.046308567902196736, + 0.020737642264340682, + -0.9987119037701332, + -20.800284421427236 + ], + [ + -0.9114908785444067, + -0.40817869251426764, + -0.05073985916110164, + 475.3066568022048 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.41152874684464497, + 0.911396779959462, + -0.0, + 512.4058328929729 + ], + [ + 0.046244143897108285, + 0.0208809104940297, + -0.9987119037701333, + -20.71550344755364 + ], + [ + -0.9102228218368088, + -0.41099863904853606, + -0.050739859161101644, + 473.63791413963185 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.4143483859807084, + 0.9101183522131513, + -0.0, + 513.7294343983599 + ], + [ + 0.04617927665381489, + 0.021023978585571382, + -0.9987119037701333, + -20.63068835768772 + ], + [ + -0.9089460408778376, + -0.4138146462666778, + -0.050739859161101644, + 471.96849997224507 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.41716405369424475, + 0.9088312012169173, + 1.7347234625736584e-18, + 515.0451686265957 + ], + [ + 0.04611396679405237, + 0.02116684516769493, + -0.9987119037701332, + -20.545843078320367 + ], + [ + -0.9076605479051105, + -0.4166266871779887, + -0.05073985916110164, + 470.2984915851116 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.4199754813065117, + 0.9075354511540381, + -0.0, + 516.3531494785971 + ], + [ + 0.04604822061886275, + 0.0213094966076789, + -0.9987119037701333, + -20.46097118676051 + ], + [ + -0.9063664669419407, + -0.41943449344980555, + -0.05073985916110163, + 468.6279593903544 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.4227831255983945, + 0.9062308915002026, + -0.0, + 517.6539320253519 + ], + [ + 0.045982027446272195, + 0.02145195608252091, + -0.9987119037701333, + -20.376048281742477 + ], + [ + -0.9050635877352012, + -0.42223852127464295, + -0.05073985916110163, + 466.95642309822637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.4255867176229441, + 0.904917645856753, + -1.7347234625736584e-18, + 518.947733970897 + ], + [ + 0.04591539354779536, + 0.021594209945890744, + -0.9987119037701332, + -20.291064600580253 + ], + [ + -0.9037520337270194, + -0.42503850205197663, + -0.05073985916110164, + 465.2836905499262 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.4283859898663417, + 0.9035958408969325, + -0.0, + 520.2347862958757 + ], + [ + 0.04584832535081471, + 0.021736244624175012, + -0.9987119037701333, + -20.2060056893772 + ], + [ + -0.9024319314274656, + -0.42783416861256596, + -0.05073985916110164, + 463.60947724962176 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.43118139713455567, + 0.902265261863213, + -0.0, + 521.5156765132898 + ], + [ + 0.04578081195856361, + 0.02187808319416432, + -0.9987119037701333, + -20.120833524541816 + ], + [ + -0.9011030663556495, + -0.4306259751765535, + -0.05073985916110164, + 461.93303477952503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.4339726716401677, + 0.9009260348494181, + -0.0, + 522.7905807846323 + ], + [ + 0.045712859769024845, + 0.02201971206836288, + -0.9987119037701333, + -20.03553151788419 + ], + [ + -0.8997655644429684, + -0.4334136543014514, + -0.050739859161101644, + 460.2540366345392 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.43675978662953063, + 0.8995781726916936, + -0.0, + 524.0597370623577 + ], + [ + 0.04564446943350264, + 0.022161129889294414, + -0.9987119037701333, + -19.950079517459727 + ], + [ + -0.8984194385090338, + -0.4361971792680731, + -0.05073985916110163, + 458.57208616423696 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.4395424761779471, + 0.8982218053662239, + -0.0, + 525.3231809924243 + ], + [ + 0.045575647546970244, + 0.02230232316397734, + -0.9987119037701333, + -19.864470653417396 + ], + [ + -0.8970648183626041, + -0.43897628449425274, + -0.05073985916110163, + 456.88704814944225 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.44232119239714457, + 0.8968567125000336, + -0.0, + 526.5812202757411 + ], + [ + 0.04550638292773402, + 0.02244331483249686, + -0.9987119037701333, + -19.778685030033067 + ], + [ + -0.8957014839145742, + -0.4417514215093617, + -0.05073985916110164, + 455.19853098291094 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.44509566908167286, + 0.8954830234933198, + 1.7347234625736584e-18, + 527.8337331927444 + ], + [ + 0.045436682141541666, + 0.02258409138762601, + -0.9987119037701332, + -19.692729873079973 + ], + [ + -0.8943295643984553, + -0.444522324450843, + -0.05073985916110164, + 453.5066768894307 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.4478656415254402, + 0.8941008707864039, + -0.0, + 529.0805987040974 + ], + [ + 0.045366551908396405, + 0.022724639398215094, + -0.9987119037701333, + -19.606612560252323 + ], + [ + -0.8929491920839697, + -0.4472887289535665, + -0.05073985916110163, + 451.81163108404934 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.45063155977398994, + 0.8927100298168833, + -0.0, + 530.3220573225295 + ], + [ + 0.04529598083403366, + 0.022864981699511434, + -0.9987119037701333, + -19.520319036073708 + ], + [ + -0.8915601426979808, + -0.45005108448338155, + -0.05073985916110165, + 450.11311691303155 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.45339315883514025, + 0.8913106324517243, + 1.7347234625736584e-18, + 531.5579871331687 + ], + [ + 0.045224975609364615, + 0.023005104845849108, + -0.9987119037701332, + -19.433856659982816 + ], + [ + -0.8901625479375926, + -0.45280912638943654, + -0.05073985916110163, + 448.41127923210144 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.4561501752442379, + 0.8899028135839614, + -0.0, + 532.788267803978 + ], + [ + 0.04515354307884286, + 0.023144995469068858, + -0.9987119037701333, + -19.347232860850976 + ], + [ + -0.8887565425220799, + -0.4555625915464409, + -0.05073985916110164, + 446.7062642636237 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.4589030569418224, + 0.8884863444811352, + -0.0, + 534.0131364376861 + ], + [ + 0.04508167163661567, + 0.023284676297610378, + -0.9987119037701333, + -19.260433490113044 + ], + [ + -0.8873418980136217, + -0.458311927317951, + -0.05073985916110164, + 444.9977935216002 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.46165154017183774, + 0.8870613594656064, + 1.7347234625736584e-18, + 535.2324717583133 + ], + [ + 0.04500936809818067, + 0.023424133948528648, + -0.9987119037701332, + -19.173465970815712 + ], + [ + -0.8859187485615538, + -0.46105687028764913, + -0.050739859161101644, + 443.2860131137499 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.4643955985907809, + 0.8856278721954892, + -1.7347234625736584e-18, + 536.4462717627242 + ], + [ + 0.04493663315654863, + 0.023563367085158028, + -0.9987119037701332, + -19.08633055124259 + ], + [ + -0.8844871078063969, + -0.46379739414596416, + -0.05073985916110163, + 441.5709279270357 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.46713497042459523, + 0.8841860208159888, + -0.0, + 537.6544169421865 + ], + [ + 0.044863473821187785, + 0.02370236242511988, + -0.9987119037701333, + -18.99903475465448 + ], + [ + -0.8830471137154078, + -0.46653323745602426, + -0.050739859161101644, + 439.8526860416896 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.4698701007470546, + 0.8827355710652838, + -0.0, + 538.8571397208243 + ], + [ + 0.04478987820568635, + 0.023841142551394603, + -0.9987119037701333, + -18.911564336109628 + ], + [ + -0.8815985323285247, + -0.46926484471831365, + -0.05073985916110163, + 438.13100707473336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.4726007274856559, + 0.8812766605215575, + -3.4694469251473167e-18, + 540.0543196031367 + ], + [ + 0.044715853290741965, + 0.023979694166460418, + -0.9987119037701332, + -18.823926826482076 + ], + [ + -0.8801415010467127, + -0.4719919541978984, + -0.05073985916110163, + 436.4060392562497 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.47532659016063944, + 0.8798094297552507, + -0.0, + 541.2458376657287 + ], + [ + 0.04464140620887893, + 0.024118004053611114, + -0.9987119037701333, + -18.736129835474948 + ], + [ + -0.87867616025934, + -0.4747143057505367, + -0.05073985916110164, + 434.67793236791414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.4780481316509046, + 0.8783336403810792, + 1.7347234625736584e-18, + 542.4319227786459 + ], + [ + 0.04456652486446158, + 0.024256094684459484, + -0.9987119037701332, + -18.64815906266266 + ], + [ + -0.8772022718881941, + -0.4774323416846648, + -0.050739859161101644, + 432.9464049346608 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.4807650911729933, + 0.8768494324052579, + -1.7347234625736584e-18, + 543.6124550278429 + ], + [ + 0.04449121636138548, + 0.024393952826889692, + -0.9987119037701332, + -18.56002213302259 + ], + [ + -0.8757199757591434, + -0.4801458015527338, + -0.05073985916110163, + 431.21160703880753 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.4834772095639093, + 0.8753569488113379, + -3.4694469251473167e-18, + 544.7873160861245 + ], + [ + 0.044415487954615834, + 0.024531565331007917, + -0.9987119037701332, + -18.4717267526699 + ], + [ + -0.8742294146715581, + -0.4828544265255687, + -0.05073985916110163, + 429.4736903597056 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.48618492746947906, + 0.8738559471111341, + -0.0, + 545.9567246167856 + ], + [ + 0.044339327340336396, + 0.024668954555121175, + -0.9987119037701333, + -18.383259322803518 + ], + [ + -0.8727303464496098, + -0.4855586566814099, + -0.05073985916110164, + 427.7323872323546 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.4888879854177795, + 0.8723465697268172, + -0.0, + 547.1205521288138 + ], + [ + 0.04426274174502796, + 0.024806107333660714, + -0.9987119037701333, + -18.29462862853893 + ], + [ + -0.8712229133320114, + -0.48825823288255404, + -0.050739859161101644, + 425.9878705740537 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.49158635750069674, + 0.8708288311253808, + -0.0, + 548.2787853061171 + ], + [ + 0.044185731902743754, + 0.024943022352052507, + -0.9987119037701333, + -18.205836108828663 + ], + [ + -0.8697071297671205, + -0.49095312925425816, + -0.05073985916110165, + 424.240168707684 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.4942797863456889, + 0.8693028774886574, + 1.7347234625736584e-18, + 549.431305777794 + ], + [ + 0.04410830523072928, + 0.025079686551250112, + -0.9987119037701332, + -18.11688978220124 + ], + [ + -0.8681831417484703, + -0.4936430887554962, + -0.050739859161101644, + 422.48943946182624 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.49696870956203687, + 0.8677684608904864, + -0.0, + 550.5783678524003 + ], + [ + 0.04403044914924622, + 0.02521612213548665, + -0.9987119037701333, + -18.02777141460158 + ], + [ + -0.8666507016692603, + -0.4963285484318732, + -0.050739859161101644, + 420.7353239358417 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.4996528694613424, + 0.8662257269551894, + -1.7347234625736584e-18, + 551.7199426238913 + ], + [ + 0.04395217104725204, + 0.02535231602968919, + -0.9987119037701332, + -17.938478421572185 + ], + [ + -0.8651099549662299, + -0.49900925092691384, + -0.050739859161101644, + 418.977771259892 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.5023320100398095, + 0.8646748242486098, + 3.4694469251473167e-18, + 552.8561048753706 + ], + [ + 0.04387347846295668, + 0.02548825524426128, + -0.9987119037701332, + -17.84899634143375 + ], + [ + -0.8635610500138508, + -0.5016849405665738, + -0.050739859161101644, + 417.21649678495595 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.5050065665852623, + 0.8631155007910382, + 1.7347234625736584e-18, + 553.9873219264924 + ], + [ + 0.043794358610945244, + 0.025623961865645615, + -0.9987119037701332, + -17.759282037653968 + ], + [ + -0.862003735156996, + -0.5043560520779928, + -0.05073985916110163, + 415.4506514553025 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.5076762827728842, + 0.8615479045937644, + -1.7347234625736584e-18, + 555.1137336037606 + ], + [ + 0.04371481900128972, + 0.025759422887957236, + -0.9987119037701332, + -17.669315468546763 + ], + [ + -0.8604381582162981, + -0.5070223294665201, + -0.05073985916110164, + 413.67984079071886 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.5103409039897066, + 0.8599721865938273, + -1.7347234625736584e-18, + 556.2354559628756 + ], + [ + 0.043634867292514104, + 0.025894625392170058, + -0.9987119037701332, + -17.579081760484428 + ], + [ + -0.8588644699343706, + -0.5096835184471479, + -0.05073985916110164, + 411.90377203381104 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.5130008631645503, + 0.8583880907797043, + -1.7347234625736584e-18, + 557.3529031195925 + ], + [ + 0.0435544904946299, + 0.02602959134503131, + -0.9987119037701332, + -17.48854929732918 + ], + [ + -0.8572824146294655, + -0.5123400513910504, + -0.05073985916110164, + 410.12182288460434 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.5156559053582902, + 0.8567957675368862, + -0.0, + 558.4661412035388 + ], + [ + 0.043473696238175694, + 0.026164307810965792, + -0.9987119037701333, + -17.397712987942253 + ], + [ + -0.8556921424933597, + -0.5149916736874834, + -0.050739859161101644, + 408.33389313429115 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.5183060051230304, + 0.8551952321273808, + -1.7347234625736584e-18, + 559.5753568718644 + ], + [ + 0.04339248529754357, + 0.026298773498750844, + -0.9987119037701332, + -17.306561358012218 + ], + [ + -0.8540936687684012, + -0.5176383599213301, + -0.05073985916110163, + 406.5397569341704 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.520950909734396, + 0.8535866386295564, + -1.7347234625736584e-18, + 560.680621815812 + ], + [ + 0.04331086549064821, + 0.026432975585187396, + -0.9987119037701332, + -17.21509318949519 + ], + [ + -0.8524871473344863, + -0.5202798576937426, + -0.05073985916110163, + 404.7393903095041 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.5235910489177927, + 0.8519697256905115, + -0.0, + 561.7822558927703 + ], + [ + 0.043228823556480306, + 0.026566935874481848, + -0.9987119037701333, + -17.1232924311631 + ], + [ + -0.8508723171753692, + -0.5229165961766078, + -0.050739859161101644, + 402.9324773242079 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.5262261696158833, + 0.8503446468411472, + 3.4694469251473167e-18, + 562.8801660319051 + ], + [ + 0.043146367285176054, + 0.026700641526540624, + -0.9987119037701332, + -17.031173012697025 + ], + [ + -0.8492493316241843, + -0.5255483226385451, + -0.05073985916110164, + 401.11929215599224 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.5288560205461753, + 0.8487115585003323, + 1.7347234625736584e-18, + 563.9741665755338 + ], + [ + 0.0430635046134068, + 0.026834079791325557, + -0.9987119037701332, + -16.938755195686635 + ], + [ + -0.8476183468983138, + -0.5281747861207322, + -0.05073985916110164, + 399.30023361342984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ] + ], + "cv_convention": "opencv_rh camera space of cam01 at the same frame t (X right, Y down, Z forward), metres -- same frame as points_target.npz xyz. Back to world: X_world = inv(w2c_cam01[t]) @ X" +} \ No newline at end of file diff --git a/clips/clip_00222/.capture_done b/clips/clip_00222/.capture_done new file mode 100644 index 0000000000000000000000000000000000000000..a82a8b1acf809444a9cdf8e505255361fdf27a10 --- /dev/null +++ b/clips/clip_00222/.capture_done @@ -0,0 +1,73 @@ +{ + "clip": "clip_00222", + "frames": 144, + "frame_count": 144, + "frame_bucket": 144, + "spec_gen": "gen3", + "bucket_retired": false, + "target_class": "pedestrian", + "target_model": "arch_6e4b810b", + "target_class_fallback": false, + "target_lost_frame": null, + "hfov_deg_per_cam": [ + 70.185, + 39.814, + 34.145, + 36.114 + ], + "oos_allowed": [ + true, + true, + false, + false + ], + "oos_effective": [ + true, + true, + false, + false + ], + "oos_departed": [ + true, + true, + false, + false + ], + "oos_cycles": [ + 1, + 1, + 0, + 0 + ], + "oos_forced_returns": 0, + "visible_ratio": [ + 0.6528, + 0.6181, + 0.7778, + 1.0 + ], + "min_visible_ratio_non_oos": 0.7778, + "points_ok": true, + "points_n": 256, + "points_track_complete_ratio": 1.0, + "points_track_breaks": 0, + "points_in_frustum_ratio": 0.9062, + "num_cams": 4, + "save_errors": 0, + "flush_ok": true, + "quality_ok": true, + "view_blocked": false, + "view_block_ratios": [ + 0.0, + 0.0, + 0.278, + 0.0 + ], + "depth_qc": { + "frames": 576, + "sky": 0, + "near": 0, + "const": 32 + }, + "capture_wall_sec": 25.4 +} \ No newline at end of file diff --git a/clips/clip_00222/cameras.json b/clips/clip_00222/cameras.json new file mode 100644 index 0000000000000000000000000000000000000000..eab8c63da53bad695fe9f53de78952ec7a9b96cc --- /dev/null +++ b/clips/clip_00222/cameras.json @@ -0,0 +1,39643 @@ +{ + "convention": "opencv_w2c_rh_meters (X right, Y down, Z forward)", + "resolution": [ + 1280, + 1280 + ], + "num_cams": 4, + "frames": 144, + "fps": 15, + "intrinsics_mode": "per_camera", + "hfov_deg_per_cam": [ + 70.185, + 39.814, + 34.145, + 36.114 + ], + "hfov_range_deg": [ + 34.145, + 70.185 + ], + "oos_allowed_per_cam": [ + true, + true, + false, + false + ], + "num_oos_allowed": 2, + "depth": { + "present": true, + "format": "png16_gray", + "unit": "cm", + "clamp_cm": 65535, + "note": "16-bit grayscale PNG; pixel value = SCS_SceneDepth linear depth in cm (metres = value/100), clamped to 65535cm. Pixel-aligned with RGB." + }, + "cameras": [ + { + "name": "cam01", + "intrinsics": { + "fx": 910.8813183054798, + "fy": 910.8813183054798, + "cx": 640.0, + "cy": 640.0, + "width": 1280, + "height": 1280, + "fov_deg": 70.185, + "hfov_deg": 70.185 + }, + "oos_allowed": true, + "oos_reason": "sampled", + "pinned": false, + "oos_effective": true, + "oos_cycles": 1, + "oos_departed": true, + "oos_schedule": { + "windows": [ + 21 + ], + "target_out_frames": [ + 12 + ], + "opened_at": 21, + "left_at": 35, + "out_run_max": 12, + "returned_at": 64, + "cycles_live": 1, + "forced_returns": 0, + "aim_offset": { + "applied": true, + "reason": null, + "deg": 38.94, + "cm": 567.2, + "frac": 1.15, + "need_frac": 1.142, + "radius_cm": 63.6, + "dist_cm": 701.9, + "clamped": false + }, + "events": [ + { + "window": 0, + "opened_at": 21, + "left_at": 35, + "out_run": 12, + "return_at": 46, + "forced": false + } + ] + } + }, + { + "name": "cam02", + "intrinsics": { + "fx": 1767.3058268462964, + "fy": 1767.3058268462964, + "cx": 640.0, + "cy": 640.0, + "width": 1280, + "height": 1280, + "fov_deg": 39.814, + "hfov_deg": 39.814 + }, + "oos_allowed": true, + "oos_reason": "sampled", + "pinned": false, + "oos_effective": true, + "oos_cycles": 1, + "oos_departed": true, + "oos_schedule": { + "windows": [ + 19 + ], + "target_out_frames": [ + 22 + ], + "opened_at": 19, + "left_at": 34, + "out_run_max": 22, + "returned_at": 82, + "cycles_live": 1, + "forced_returns": 0, + "aim_offset": { + "applied": true, + "reason": null, + "deg": 22.61, + "cm": 607.0, + "frac": 1.15, + "need_frac": 1.126, + "radius_cm": 63.6, + "dist_cm": 1457.5, + "clamped": false + }, + "events": [ + { + "window": 0, + "opened_at": 19, + "left_at": 34, + "out_run": 22, + "return_at": 55, + "forced": false + } + ] + } + }, + { + "name": "cam03", + "intrinsics": { + "fx": 2083.910909628475, + "fy": 2083.910909628475, + "cx": 640.0, + "cy": 640.0, + "width": 1280, + "height": 1280, + "fov_deg": 34.145, + "hfov_deg": 34.145 + }, + "oos_allowed": false, + "oos_reason": "none", + "pinned": false, + "oos_effective": false, + "oos_cycles": 0, + "oos_departed": false, + "oos_schedule": null + }, + { + "name": "cam04", + "intrinsics": { + "fx": 1963.0702457838804, + "fy": 1963.0702457838804, + "cx": 640.0, + "cy": 640.0, + "width": 1280, + "height": 1280, + "fov_deg": 36.114, + "hfov_deg": 36.114 + }, + "oos_allowed": false, + "oos_reason": "none", + "pinned": false, + "oos_effective": false, + "oos_cycles": 0, + "oos_departed": false, + "oos_schedule": null + } + ], + "per_frame": [ + { + "frame": 0, + "time": 495.45149478688836, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -2.4335928950132557e-08, + 0.9999999999999996, + 1.540743943812645e-33, + 298.74723650935056 + ], + [ + 0.14028808736573917, + 3.414040926682619e-09, + -0.9901107274155059, + -99.9063106332885 + ], + [ + -0.9901107272625472, + -1.2125359329435364e-16, + -0.14028808844527627, + 730.4291032706426 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -2.4335928950132557e-08, + 0.14028808736573917, + -0.9901107272625472, + 737.2213562502006 + ], + [ + 0.9999999999999996, + 3.414040926682619e-09, + -1.2125359329435364e-16, + -298.74721856838414 + ], + [ + 1.540743943812645e-33, + -0.9901107274155059, + -0.14028808844527627, + 3.5521909650183785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73722.13562502006, + 29874.721856838416, + 355.21909650183784 + ], + "rotation_deg": [ + -8.915985205520806e-32, + -8.064517021179197, + 180.0 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.9238795383318846, + 0.38268341831292263, + -2.7755575406595685e-17, + -560.7729026637624 + ], + [ + 0.06319225466335346, + -0.15255960480835506, + -0.98627192291542, + -89.1575984745996 + ], + [ + -0.37742992462538527, + 0.9111964428760615, + -0.16512932655130771, + 562.8005909262391 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9238795383318846, + 0.06319225466335346, + -0.37742992462538527, + 736.1384538163359 + ], + [ + 0.38268341831292263, + -0.15255960480835506, + 0.9111964428760615, + -311.8252489812459 + ], + [ + -2.7755575406595685e-17, + -0.98627192291542, + -0.16512932655130771, + 5.001244388783386 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73613.84538163358, + 31182.52489812459, + 500.12443887833854 + ], + "rotation_deg": [ + 1.612412666451102e-15, + -9.504747390747067, + -112.49999999999997 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9807852783261097, + -0.19509033245851912, + -0.0, + -774.9634431367671 + ], + [ + -0.02072412466138961, + -0.1041872045525771, + -0.99434176069626, + -13.365754597629062 + ], + [ + 0.19398645427123187, + 0.9752357624952271, + -0.1062283536049954, + 166.55193205194377 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9807852783261097, + -0.02072412466138961, + 0.19398645427123187, + 727.4869238113852 + ], + [ + -0.19509033245851912, + -0.1041872045525771, + 0.9752357624952271, + -315.0078085026538 + ], + [ + -0.0, + -0.99434176069626, + -0.1062283536049954, + 4.402408565071986 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72748.69238113852, + 31500.78085026538, + 440.2408565071986 + ], + "rotation_deg": [ + 0.0, + -6.097941875457763, + -78.74999999999997 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.724275449736236, + -0.6895107489440416, + -0.0, + -734.8340683350639 + ], + [ + -0.05950045634083508, + -0.06250043214230883, + -0.9962697384128741, + 27.02683571369093 + ], + [ + 0.6869386889160616, + 0.721573717115901, + -0.08629373347945994, + -269.9178309225249 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.724275449736236, + -0.05950045634083508, + 0.6869386889160616, + 719.2473896729306 + ], + [ + -0.6895107489440416, + -0.06250043214230883, + 0.721573717115901, + -310.22118514565426 + ], + [ + -0.0, + -0.9962697384128741, + -0.08629373347945994, + 3.6338009656571604 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 71924.73896729306, + 31022.118514565424, + 363.38009656571603 + ], + "rotation_deg": [ + 0.0, + -4.950423717498778, + -46.40860748291017 + ] + } + } + ] + }, + { + "frame": 1, + "time": 495.51816145703197, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.0030386864398077125, + 0.9999953831817027, + -0.0, + 296.40983029041564 + ], + [ + 0.14018700937609302, + -0.0004259863311298185, + -0.9901249521842344, + -99.97089743778596 + ], + [ + -0.9901203808776482, + 0.0030086551932602006, + -0.14018765767580563, + 731.4100630781201 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.0030386864398077125, + 0.14018700937609302, + -0.9901203808776482, + 737.2979420680042 + ], + [ + 0.9999953831817027, + -0.0004259863311298185, + 0.0030086551932602006, + -298.65162636936896 + ], + [ + -0.0, + -0.9901249521842344, + -0.14018765767580563, + 3.5509837245514233 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73729.79420680042, + 29865.162636936893, + 355.09837245514234 + ], + "rotation_deg": [ + 0.0, + -8.05870532989502, + -179.82589721679688 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.9238795383318846, + 0.38268341831292263, + -2.7755575406595685e-17, + -560.8788017163697 + ], + [ + 0.06319225466335346, + -0.15255960480835506, + -0.98627192291542, + -89.14611388535312 + ], + [ + -0.37742992462538527, + 0.9111964428760615, + -0.16512932655130771, + 562.7203727330158 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9238795383318846, + 0.06319225466335346, + -0.37742992462538527, + 736.2052893009584 + ], + [ + 0.38268341831292263, + -0.15255960480835506, + 0.9111964428760615, + -311.70987655114493 + ], + [ + -2.7755575406595685e-17, + -0.98627192291542, + -0.16512932655130771, + 4.9993249403162014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73620.52893009584, + 31170.98765511449, + 499.93249403162014 + ], + "rotation_deg": [ + 1.612412666451102e-15, + -9.504747390747067, + -112.49999999999997 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9808439957293166, + -0.1947949076381324, + -0.0, + -774.9611725593654 + ], + [ + -0.02085330476953776, + -0.10500191725910732, + -0.9942533565706982, + -13.503385954954858 + ], + [ + 0.1936754803594876, + 0.9752074370013557, + -0.10705261848628018, + 166.6275856614247 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9808439957293166, + -0.02085330476953776, + 0.1936754803594876, + 727.562744964992 + ], + [ + -0.1947949076381324, + -0.10500191725910732, + 0.9752074370013557, + -314.8728238730718 + ], + [ + -0.0, + -0.9942533565706982, + -0.10705261848628018, + 4.412131531464954 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72756.2744964992, + 31487.28238730718, + 441.2131531464955 + ], + "rotation_deg": [ + 0.0, + -6.145439624786376, + -78.76725769042964 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.7256572138678044, + -0.6880563988232475, + -0.0, + -735.3458452745285 + ], + [ + -0.06075604247068989, + -0.06407623064085544, + -0.9960938409458013, + 27.449968845129817 + ], + [ + 0.6853687365030431, + 0.7228226856386696, + -0.08830096347335746, + -268.5232666284902 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7256572138678044, + -0.06075604247068989, + 0.6853687365030431, + 719.3142251575532 + ], + [ + -0.6880563988232475, + -0.06407623064085544, + 0.7228226856386696, + -310.10581271555327 + ], + [ + -0.0, + -0.9960938409458013, + -0.08830096347335746, + 3.631881517189977 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 71931.42251575532, + 31010.581271555326, + 363.1881517189977 + ], + "rotation_deg": [ + 0.0, + -5.065870285034178, + -46.5235481262207 + ] + } + } + ] + }, + { + "frame": 2, + "time": 495.58482812717557, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.00606799959413549, + 0.9999815895209898, + 5.421010821269416e-20, + 294.0761558560342 + ], + [ + 0.14008367297400096, + -0.0008500433204559555, + -0.9901393043367513, + -100.03314616509104 + ], + [ + -0.9901210753912888, + 0.006008140846952217, + -0.14008625310700826, + 732.3811135160956 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.00606799959413549, + 0.14008367297400096, + -0.9901210753912888, + 737.374539365547 + ], + [ + 0.9999815895209898, + -0.0008500433204559555, + 0.006008140846952217, + -298.55604082135306 + ], + [ + 5.421010821269416e-20, + -0.9901393043367513, + -0.14008625310700826, + 3.549776500775509 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73737.4539365547, + 29855.60408213531, + 354.9776500775509 + ], + "rotation_deg": [ + -3.136942870554691e-18, + -8.052837371826172, + -179.65232849121094 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.9238795383318846, + 0.38268341831292263, + -2.7755575406595685e-17, + -560.9847088296463 + ], + [ + 0.06319225466335346, + -0.15255960480835506, + -0.98627192291542, + -89.13463101974915 + ], + [ + -0.37742992462538527, + 0.9111964428760615, + -0.16512932655130771, + 562.6401649357126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9238795383318846, + 0.06319225466335346, + -0.37742992462538527, + 736.2721362653203 + ], + [ + 0.38268341831292263, + -0.15255960480835506, + 0.9111964428760615, + -311.5945107720433 + ], + [ + -2.7755575406595685e-17, + -0.98627192291542, + -0.16512932655130771, + 4.997405508540059 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73627.21362653203, + 31159.45107720433, + 499.7405508540059 + ], + "rotation_deg": [ + 1.612412666451102e-15, + -9.504747390747067, + -112.49999999999997 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9809027536424999, + -0.19449881206979425, + -0.0, + -774.958821562606 + ], + [ + -0.020982289366568724, + -0.10581856618232445, + -0.9941640581835849, + -13.641535557540024 + ], + [ + 0.19336371791437645, + 0.9751782642157202, + -0.10787875414345689, + 166.70362973607274 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9809027536424999, + -0.020982289366568724, + 0.19336371791437645, + 727.6385775983382 + ], + [ + -0.19449881206979425, + -0.10581856618232445, + 0.9751782642157202, + -314.73784589448917 + ], + [ + -0.0, + -0.9941640581835849, + -0.10787875414345689, + 4.421854514548965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72763.85775983382, + 31473.784589448915, + 442.1854514548965 + ], + "rotation_deg": [ + 0.0, + -6.19304943084717, + -78.78455352783203 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.7270272349692453, + -0.6866086218603535, + -0.0, + -735.8517453149193 + ], + [ + -0.0619973281664671, + -0.06564692699346099, + -0.9959150627822306, + 27.864918084571762 + ], + [ + 0.6838038641379754, + 0.7240573786244684, + -0.09029500456523695, + -267.1369190541765 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7270272349692453, + -0.0619973281664671, + 0.6838038641379754, + 719.381072121915 + ], + [ + -0.6866086218603535, + -0.06564692699346099, + 0.7240573786244684, + -309.99044693645163 + ], + [ + -0.0, + -0.9959150627822306, + -0.09029500456523695, + 3.6299620854138346 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 71938.1072121915, + 30999.044693645163, + 362.99620854138345 + ], + "rotation_deg": [ + 0.0, + -5.180578708648682, + -46.637752532958984 + ] + } + } + ] + }, + { + "frame": 3, + "time": 495.6514947973192, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.00908820268954981, + 0.9999587014331511, + -0.0, + 291.7460275628893 + ], + [ + 0.13997812544745114, + -0.001272202116293811, + -0.9901537789141607, + -100.09310136197072 + ], + [ + -0.9901128870482023, + 0.008998694209600151, + -0.13998390765940252, + 733.342377370261 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.00908820268954981, + 0.13997812544745114, + -0.9901128870482023, + 737.4511431190963 + ], + [ + 0.9999587014331511, + -0.001272202116293811, + 0.008998694209600151, + -298.46045901441425 + ], + [ + -0.0, + -0.9901537789141607, + -0.13998390765940252, + 3.5485692862392786 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73745.11431190962, + 29846.045901441423, + 354.85692862392784 + ], + "rotation_deg": [ + 0.0, + -8.046915054321289, + -179.47927856445312 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.9238795383318846, + 0.38268341831292263, + -2.7755575406595685e-17, + -561.0906204758469 + ], + [ + 0.06319225466335346, + -0.15255960480835506, + -0.98627192291542, + -89.12314912373917 + ], + [ + -0.37742992462538527, + 0.9111964428760615, + -0.16512932655130771, + 562.5599629854814 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9238795383318846, + 0.06319225466335346, + -0.37742992462538527, + 736.3389896856886 + ], + [ + 0.38268341831292263, + -0.15255960480835506, + 0.9111964428760615, + -311.4791487340187 + ], + [ + -2.7755575406595685e-17, + -0.98627192291542, + -0.16512932655130771, + 4.9954860860036 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73633.89896856886, + 31147.914873401867, + 499.54860860036 + ], + "rotation_deg": [ + 1.612412666451102e-15, + -9.504747390747067, + -112.49999999999997 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9809616031879905, + -0.19420178441725816, + 6.93889385079625e-18, + -774.9563399155504 + ], + [ + -0.021111044900123124, + -0.10663714812065381, + -0.9940738616541117, + -13.780225933431634 + ], + [ + 0.19305090736875466, + 0.9751482909822813, + -0.10870675120909813, + 166.7802665810462 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9809616031879905, + -0.021111044900123124, + 0.19305090736875466, + 727.7144166876908 + ], + [ + -0.19420178441725816, + -0.10663714812065381, + 0.9751482909822813, + -314.6028716569835 + ], + [ + 6.93889385079625e-18, + -0.9940738616541117, + -0.10870675120909813, + 4.431577506872659 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72771.44166876908, + 31460.28716569835, + 443.1577506872659 + ], + "rotation_deg": [ + -3.9993943162138674e-16, + -6.24077081680298, + -78.80190277099611 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.7283849247584666, + -0.6851681555535131, + -0.0, + -736.3515634855944 + ], + [ + -0.06322381303006137, + -0.06721163545559425, + -0.9957335715568316, + 28.27159376485389 + ], + [ + 0.6822449300167611, + 0.7252773268620836, + -0.09227488610784323, + -265.7595491524953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7283849247584666, + -0.06322381303006137, + 0.6822449300167611, + 719.4479255422833 + ], + [ + -0.6851681555535131, + -0.06721163545559425, + 0.7252773268620836, + -309.875084898427 + ], + [ + -0.0, + -0.9957335715568316, + -0.09227488610784323, + 3.628042662877375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 71944.79255422833, + 30987.5084898427, + 362.8042662877375 + ], + "rotation_deg": [ + 0.0, + -5.294493198394775, + -46.7511672973633 + ] + } + } + ] + }, + { + "frame": 4, + "time": 495.7181614674628, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.012099002500054086, + 0.9999268043904532, + -3.2526064927601605e-19, + 289.41968985830067 + ], + [ + 0.13987038156917972, + -0.0016924159737078273, + -0.9901683756250063, + -100.15075953519518 + ], + [ + -0.9900958997855637, + 0.011980025648215428, + -0.1398806212928837, + 734.2938272421927 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.012099002500054086, + 0.13987038156917972, + -0.9900958997855637, + 737.5277498743978 + ], + [ + 0.9999268043904532, + -0.0016924159737078273, + 0.011980025648215428, + -298.36487894707216 + ], + [ + -3.2526064927601605e-19, + -0.9901683756250063, + -0.1398806212928837, + 3.5473620761738625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73752.77498743979, + 29836.487894707217, + 354.73620761738624 + ], + "rotation_deg": [ + 1.882110462051374e-17, + -8.04093837738037, + -179.3067626953125 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.9238795383318846, + 0.38268341831292263, + -2.7755575406595685e-17, + -561.1965342295902 + ], + [ + 0.06319225466335346, + -0.15255960480835506, + -0.98627192291542, + -89.11166767839947 + ], + [ + -0.37742992462538527, + 0.9111964428760615, + -0.16512932655130771, + 562.4797637540541 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9238795383318846, + 0.06319225466335346, + -0.37742992462538527, + 736.4058461078093 + ], + [ + 0.38268341831292263, + -0.15255960480835506, + 0.9111964428760615, + -311.36378843559083 + ], + [ + -2.7755575406595685e-17, + -0.98627192291542, + -0.16512932655130771, + 4.993566667937956 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73640.58461078093, + 31136.378843559083, + 499.35666679379557 + ], + "rotation_deg": [ + 1.612412666451102e-15, + -9.504747390747067, + -112.49999999999997 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9810204918900621, + -0.1939040858047619, + 6.93889385080614e-18, + -774.9537681613544 + ], + [ + -0.021239597389381987, + -0.10745766491717061, + -0.9939827612958312, + -13.91943791628703 + ], + [ + 0.19273730822552274, + 0.9751174593791905, + -0.10953661685415036, + 166.8572884861309 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9810204918900621, + -0.021239597389381987, + 0.19273730822552274, + 727.7902587787959 + ], + [ + -0.1939040858047619, + -0.10745766491717061, + 0.9751174593791905, + -314.46789915907465 + ], + [ + 6.93889385080614e-18, + -0.9939827612958312, + -0.10953661685415036, + 4.4413005036671676 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72779.02587787958, + 31446.789915907466, + 444.1300503667167 + ], + "rotation_deg": [ + -3.999760868104872e-16, + -6.288604259490968, + -78.8192901611328 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.7297297001579972, + -0.68373574186766, + -1.3877787701272453e-17, + -736.8451012022338 + ], + [ + -0.0644350142655356, + -0.06876946861257767, + -0.9955495412702189, + 28.669918914781366 + ], + [ + 0.680692799516333, + 0.7264820725061132, + -0.09423964671962641, + -264.391919948851 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7297297001579972, + -0.0644350142655356, + 0.680692799516333, + 719.514781964404 + ], + [ + -0.68373574186766, + -0.06876946861257767, + 0.7264820725061132, + -309.7597245999992 + ], + [ + -1.3877787701272453e-17, + -0.9955495412702189, + -0.09423964671962641, + 3.626123244811731 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 71951.47819644041, + 30975.972459999917, + 362.6123244811731 + ], + "rotation_deg": [ + 7.986932216415795e-16, + -5.407558441162107, + -46.86373901367187 + ] + } + } + ] + }, + { + "frame": 5, + "time": 495.7848281376064, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.015100638907229052, + 0.9998859788518857, + -2.1684043285062708e-19, + 287.0969932387839 + ], + [ + 0.1397604554265811, + -0.0021107128368076755, + -0.9901830941751503, + -100.20613914951186 + ], + [ + -0.9900701925722163, + 0.014952373376428824, + -0.1397763939670299, + 735.235590804363 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.015100638907229052, + 0.1397604554265811, + -0.9900701925722163, + 737.6043573611606 + ], + [ + 0.9998859788518857, + -0.0021107128368076755, + 0.014952373376428824, + -298.26929930364736 + ], + [ + -2.1684043285062708e-19, + -0.9901830941751503, + -0.1397763939670299, + 3.5461548671516367 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73760.43573611607, + 29826.92993036474, + 354.6154867151637 + ], + "rotation_deg": [ + 1.2547216569801783e-17, + -8.034907341003416, + -179.134765625 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.9238795383318846, + 0.38268341831292263, + -2.7755575406595685e-17, + -561.3024484968895 + ], + [ + 0.06319225466335346, + -0.15255960480835506, + -0.98627192291542, + -89.10018634292621 + ], + [ + -0.37742992462538527, + 0.9111964428760615, + -0.16512932655130771, + 562.3995651851462 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9238795383318846, + 0.06319225466335346, + -0.37742992462538527, + 736.4727032613912 + ], + [ + 0.38268341831292263, + -0.15255960480835506, + 0.9111964428760615, + -311.2484285610803 + ], + [ + -2.7755575406595685e-17, + -0.98627192291542, + -0.16512932655130771, + 4.991647250915502 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73647.27032613911, + 31124.84285610803, + 499.16472509155017 + ], + "rotation_deg": [ + 1.612412666451102e-15, + -9.504747390747067, + -112.49999999999997 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.981079419148677, + -0.1936057161420975, + 1.3877787701632264e-17, + -774.9511036324253 + ], + [ + -0.021367944871099127, + -0.10828012395642575, + -0.993890751384661, + -14.059174483457742 + ], + [ + 0.19242292027738953, + 0.975085763023919, + -0.11036835823723624, + 166.9346933655834 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.981079419148677, + -0.021367944871099127, + 0.19242292027738953, + 727.8661016013618 + ], + [ + -0.1936057161420975, + -0.10828012395642575, + 0.975085763023919, + -314.33292708508304 + ], + [ + 1.3877787701632264e-17, + -0.993890751384661, + -0.11036835823723624, + 4.451023501504866 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72786.61016013619, + 31433.292708508307, + 445.1023501504866 + ], + "rotation_deg": [ + -8.000262295768003e-16, + -6.336550235748293, + -78.83671569824219 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.7310609377907874, + -0.6823121757937889, + -6.938893850656416e-18, + -737.3321481287604 + ], + [ + -0.06563048245716686, + -0.07031954544410608, + -0.9953631504636754, + 29.05983810575784 + ], + [ + 0.6791483922273728, + 0.7276711224812006, + -0.09618835086393944, + -263.0348446441532 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7310609377907874, + -0.06563048245716686, + 0.6791483922273728, + 719.5816391179859 + ], + [ + -0.6823121757937889, + -0.07031954544410608, + 0.7276711224812006, + -309.64436472548863 + ], + [ + -6.938893850656416e-18, + -0.9953631504636754, + -0.09618835086393944, + 3.6242038277892767 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 71958.16391179859, + 30964.436472548863, + 362.42038277892766 + ], + "rotation_deg": [ + 3.9942139210840667e-16, + -5.519720554351804, + -46.97541046142577 + ] + } + } + ] + }, + { + "frame": 6, + "time": 495.85149480775, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.01809281969797364, + 0.9998363115407325, + -2.168404328505765e-19, + 284.7781837243288 + ], + [ + 0.1396483949565083, + -0.0025270468794697134, + -0.9901979296181848, + -100.2592619548252 + ], + [ + -0.9900358459266069, + 0.017915448648468273, + -0.13967125860431098, + 736.1676419494655 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.01809281969797364, + 0.1396483949565083, + -0.9900358459266069, + 737.6809654758388 + ], + [ + 0.9998363115407325, + -0.0025270468794697134, + 0.017915448648468273, + -298.1737200241351 + ], + [ + -2.168404328505765e-19, + -0.9901979296181848, + -0.13967125860431098, + 3.5449476590235736 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73768.09654758387, + 29817.37200241351, + 354.49476590235736 + ], + "rotation_deg": [ + 1.2547028583628519e-17, + -8.028823852539062, + -178.9633026123047 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.9238795383318846, + 0.38268341831292263, + -2.7755575406595685e-17, + -561.4083632050435 + ], + [ + 0.06319225466335346, + -0.15255960480835506, + -0.98627192291542, + -89.08870510176881 + ], + [ + -0.37742992462538527, + 0.9111964428760615, + -0.16512932655130771, + 562.3193671849758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9238795383318846, + 0.06319225466335346, + -0.37742992462538527, + 736.5395610428884 + ], + [ + 0.38268341831292263, + -0.15255960480835506, + 0.9111964428760615, + -311.1330690504822 + ], + [ + -2.7755575406595685e-17, + -0.98627192291542, + -0.16512932655130771, + 4.98972783478721 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73653.95610428884, + 31113.306905048223, + 498.97278347872106 + ], + "rotation_deg": [ + 1.612412666451102e-15, + -9.504747390747067, + -112.49999999999997 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9811384358430761, + -0.19330641404620302, + -0.0, + -774.9483014069231 + ], + [ + -0.021496054708162068, + -0.10910453022072182, + -0.9937978270842107, + -14.199460263192037 + ], + [ + 0.19210748382690476, + 0.9750532475635405, + -0.11120197423377133, + 167.0126851476321 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9811384358430761, + -0.021496054708162068, + 0.19210748382690476, + 727.9419450518434 + ], + [ + -0.19330641404620302, + -0.10910453022072182, + 0.9750532475635405, + -314.19795537500397 + ], + [ + -0.0, + -0.9937978270842107, + -0.11120197423377133, + 4.460746500236727 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72794.19450518434, + 31419.7955375004, + 446.07465002367275 + ], + "rotation_deg": [ + 0.0, + -6.384608745574952, + -78.85419464111328 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.7323780650339874, + -0.6808982081464692, + -6.938893850676849e-18, + -737.8125186840391 + ], + [ + -0.06680976396318185, + -0.07186096992372629, + -0.9951745859098315, + 29.44129706946726 + ], + [ + 0.6776125876482065, + 0.728844041858634, + -0.09812004743104849, + -261.6890902296171 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7323780650339874, + -0.06680976396318185, + 0.6776125876482065, + 719.6484968994831 + ], + [ + -0.6808982081464692, + -0.07186096992372629, + 0.728844041858634, + -309.52900521489056 + ], + [ + -6.938893850676849e-18, + -0.9951745859098315, + -0.09812004743104849, + 3.6222844116609862 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 71964.84968994831, + 30952.900521489057, + 362.2284411660986 + ], + "rotation_deg": [ + 3.9949707402275183e-16, + -5.63092470169067, + -47.08612823486327 + ] + } + } + ] + }, + { + "frame": 7, + "time": 495.9181614778936, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.02107578572089173, + 0.9997778809596897, + -0.0, + 282.4631120927712 + ], + [ + 0.1395342304778968, + -0.002941446893642813, + -0.990212879342171, + -100.31015907457919 + ], + [ + -0.989992934560832, + 0.02086949052913337, + -0.13956523164702095, + 737.0901084465526 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.02107578572089173, + 0.1395342304778968, + -0.989992934560832, + 737.7575748686583 + ], + [ + 0.9997778809596897, + -0.002941446893642813, + 0.02086949052913337, + -298.07814148539205 + ], + [ + -0.0, + -0.990212879342171, + -0.13956523164702095, + 3.543740452683837 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73775.75748686583, + 29807.814148539204, + 354.3740452683837 + ], + "rotation_deg": [ + 0.0, + -8.022688865661621, + -178.7923583984375 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.9238795383318846, + 0.38268341831292263, + -2.7755575406595685e-17, + -561.5142788105661 + ], + [ + 0.06319225466335346, + -0.15255960480835506, + -0.98627192291542, + -89.07722405262774 + ], + [ + -0.37742992462538527, + 0.9111964428760615, + -0.16512932655130771, + 562.2391703424959 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9238795383318846, + 0.06319225466335346, + -0.37742992462538527, + 736.606420102527 + ], + [ + 0.38268341831292263, + -0.15255960480835506, + 0.9111964428760615, + -311.01771028065343 + ], + [ + -2.7755575406595685e-17, + -0.98627192291542, + -0.16512932655130771, + 4.987808420447245 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73660.64201025269, + 31101.77102806534, + 498.7808420447245 + ], + "rotation_deg": [ + 1.612412666451102e-15, + -9.504747390747067, + -112.49999999999997 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9811975154304868, + -0.1930063100342569, + -0.0, + -774.9453842602773 + ], + [ + -0.021623938885567313, + -0.10993088829361822, + -0.993703982615572, + -14.340287314980534 + ], + [ + 0.19179112853511884, + 0.9750198807653213, + -0.11203747197970784, + 167.09116021382948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9811975154304868, + -0.021623938885567313, + 0.19179112853511884, + 728.0177897804663 + ], + [ + -0.1930063100342569, + -0.10993088829361822, + 0.9750198807653213, + -314.0629844056941 + ], + [ + -0.0, + -0.993703982615572, + -0.11203747197970784, + 4.470469500756915 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72801.77897804663, + 31406.298440569415, + 447.0469500756915 + ], + "rotation_deg": [ + 0.0, + -6.432780265808105, + -78.87171936035153 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.7336805142131582, + -0.6794945938445103, + -0.0, + -738.2860324683306 + ], + [ + -0.06797243899401724, + -0.07339286352713047, + -0.9949840376209521, + 29.81425998171062 + ], + [ + 0.6760862698142304, + 0.7300004046126684, + -0.10003381945132521, + -260.35542430235745 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7336805142131582, + -0.06797243899401724, + 0.6760862698142304, + 719.7153559591217 + ], + [ + -0.6794945938445103, + -0.07339286352713047, + 0.7300004046126684, + -309.4136464450618 + ], + [ + -0.0, + -0.9949840376209521, + -0.10003381945132521, + 3.6203649973210204 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 71971.53559591217, + 30941.364644506175, + 362.036499732102 + ], + "rotation_deg": [ + 0.0, + -5.74111795425415, + -47.19583892822266 + ] + } + } + ] + }, + { + "frame": 8, + "time": 495.9848281480372, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.02404924577088009, + 0.9997107750633941, + -0.0, + 280.15202407718004 + ], + [ + 0.13941797716138535, + -0.003353867219667096, + -0.9902279430610408, + -100.35882818037281 + ], + [ + -0.9899415448709831, + 0.023814211261523888, + -0.1394583130560645, + 738.0029690059522 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.02404924577088009, + 0.13941797716138535, + -0.9899415448709831, + 737.8341856189069 + ], + [ + 0.9997107750633941, + -0.003353867219667096, + 0.023814211261523888, + -297.98256373339177 + ], + [ + -0.0, + -0.9902279430610408, + -0.1394583130560645, + 3.542533248281453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73783.41856189069, + 29798.25637333918, + 354.2533248281453 + ], + "rotation_deg": [ + 0.0, + -8.016502380371096, + -178.6219482421875 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.9238795383318846, + 0.38268341831292263, + -2.7755575406595685e-17, + -561.6201953691162 + ], + [ + 0.06319225466335346, + -0.15255960480835506, + -0.98627192291542, + -89.06574320738007 + ], + [ + -0.37742992462538527, + 0.9111964428760615, + -0.16512932655130771, + 562.1589747295475 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9238795383318846, + 0.06319225466335346, + -0.37742992462538527, + 736.6732805195945 + ], + [ + 0.38268341831292263, + -0.15255960480835506, + 0.9111964428760615, + -310.9023522975674 + ], + [ + -2.7755575406595685e-17, + -0.98627192291542, + -0.16512932655130771, + 4.985889008044634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73667.32805195946, + 31090.23522975674, + 498.5889008044633 + ], + "rotation_deg": [ + 1.612412666451102e-15, + -9.504747390747067, + -112.49999999999997 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9799599156693274, + -0.19919478828866136, + -2.0816681552410893e-17, + -775.9268008757542 + ], + [ + -0.021777296462975198, + -0.10713572271999985, + -0.9940058783910819, + -13.38266577660723 + ], + [ + 0.19800078014584488, + 0.9740859187737142, + -0.1093266386037992, + 162.45247825491657 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9799599156693274, + -0.021777296462975198, + 0.19800078014584488, + 727.9200065766505 + ], + [ + -0.19919478828866136, + -0.10713572271999985, + 0.9740859187737142, + -314.2369996456709 + ], + [ + -2.0816681552410893e-17, + -0.9940058783910819, + -0.1093266386037992, + 4.457933899161575 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72792.00065766505, + 31423.699964567088, + 445.79338991615754 + ], + "rotation_deg": [ + 1.1999003543024087e-15, + -6.276500701904297, + -78.51012420654295 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.7349677225026121, + -0.6781020917821469, + -6.938893850718357e-18, + -738.7525126585938 + ], + [ + -0.06911809308998883, + -0.07491433528624616, + -0.9947917026072458, + 30.17869819491806 + ], + [ + 0.6745703296947883, + 0.731139796284737, + -0.10192874267927557, + -259.03461578310055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7349677225026121, + -0.06911809308998883, + 0.6745703296947883, + 719.7822163761894 + ], + [ + -0.6781020917821469, + -0.07491433528624616, + 0.731139796284737, + -309.29828846197574 + ], + [ + -6.938893850718357e-18, + -0.9947917026072458, + -0.10192874267927557, + 3.6184455849184087 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 71978.22163761893, + 30929.828846197575, + 361.84455849184087 + ], + "rotation_deg": [ + 3.99650835620333e-16, + -5.850246906280516, + -47.30448913574219 + ] + } + } + ] + }, + { + "frame": 9, + "time": 496.0514948181808, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.02701344163982989, + 0.9996350703985788, + -6.505212985512664e-19, + 277.84476850397 + ], + [ + 0.139299648596601, + -0.0037643366456848186, + -0.9902431204863182, + -100.4052879106082 + ], + [ + -0.9898817519535745, + 0.026749850857895108, + -0.13935050279206945, + 738.9063508811705 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.02701344163982989, + 0.139299648596601, + -0.9898817519535745, + 737.9107973372719 + ], + [ + 0.9996350703985788, + -0.0037643366456848186, + 0.026749850857895108, + -297.8869865425083 + ], + [ + -6.505212985512664e-19, + -0.9902431204863182, + -0.13935050279206945, + 3.541326045369341 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73791.0797337272, + 29788.698654250828, + 354.1326045369341 + ], + "rotation_deg": [ + 3.763936795721054e-17, + -8.010264396667479, + -178.45205688476562 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.9238795383318846, + 0.38268341831292263, + -2.7755575406595685e-17, + -561.7261126073595 + ], + [ + 0.06319225466335346, + -0.15255960480835506, + -0.98627192291542, + -89.05426250744382 + ], + [ + -0.37742992462538527, + 0.9111964428760615, + -0.16512932655130771, + 562.0787799935287 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9238795383318846, + 0.06319225466335346, + -0.37742992462538527, + 736.7401419047787 + ], + [ + 0.38268341831292263, + -0.15255960480835506, + 0.9111964428760615, + -310.7869948755981 + ], + [ + -2.7755575406595685e-17, + -0.98627192291542, + -0.16512932655130771, + 4.983969597132292 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73674.01419047787, + 31078.69948755981, + 498.39695971322925 + ], + "rotation_deg": [ + 1.612412666451102e-15, + -9.504747390747067, + -112.49999999999997 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9793392014498055, + -0.20222445080567675, + -0.0, + -776.4173578069892 + ], + [ + -0.021905103387211355, + -0.10608275296799467, + -0.9941159972399229, + -12.96352425568175 + ], + [ + 0.20103455124982073, + 0.9735767689253079, + -0.10832074691738816, + 160.10954730766142 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9793392014498055, + -0.021905103387211355, + 0.20103455124982073, + 727.9044368409079 + ], + [ + -0.20222445080567675, + -0.10608275296799467, + 0.9735767689253079, + -314.26470758727936 + ], + [ + -0.0, + -0.9941159972399229, + -0.10832074691738816, + 4.455937891702246 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72790.44368409079, + 31426.470758727934, + 445.5937891702246 + ], + "rotation_deg": [ + 0.0, + -6.218523025512695, + -78.33293151855466 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.7362391318181005, + -0.6767214646955788, + 6.93889385073939e-18, + -739.2117860033592 + ], + [ + -0.0702463281715849, + -0.07642449421893581, + -0.9945977830569447, + 30.534594339611424 + ], + [ + 0.6730656637828223, + 0.7322618125588982, + -0.1038039021643504, + -257.72743432214196 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7362391318181005, + -0.0702463281715849, + 0.6730656637828223, + 719.8490777613735 + ], + [ + -0.6767214646955788, + -0.07642449421893581, + 0.7322618125588982, + -309.18293104000645 + ], + [ + 6.93889385073939e-18, + -0.9945977830569447, + -0.1038039021643504, + 3.616526174006068 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 71984.90777613735, + 30918.293104000644, + 361.6526174006068 + ], + "rotation_deg": [ + -3.997287566783187e-16, + -5.958258628845213, + -47.41202545166016 + ] + } + } + ] + }, + { + "frame": 10, + "time": 496.1181614883244, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.029967816929076706, + 0.9995508641127302, + -0.0, + 275.5417890756996 + ], + [ + 0.1391792942049381, + -0.0041727737514929445, + -0.990258406691826, + -100.44955048280138 + ], + [ + -0.9898136466683993, + 0.029675858781480907, + -0.13924183378060973, + 739.800157192125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.029967816929076706, + 0.1391792942049381, + -0.9898136466683993, + 737.9874092439936 + ], + [ + 0.9995508641127302, + -0.0041727737514929445, + 0.029675858781480907, + -297.79140946079673 + ], + [ + -0.0, + -0.990258406691826, + -0.13924183378060973, + 3.540118842755283 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73798.74092439936, + 29779.140946079675, + 354.0118842755283 + ], + "rotation_deg": [ + 0.0, + -8.003976821899414, + -178.28271484375 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.9238795383318846, + 0.38268341831292263, + -2.7755575406595685e-17, + -561.8320299778431 + ], + [ + 0.06319225466335346, + -0.15255960480835506, + -0.98627192291542, + -89.04278183577149 + ], + [ + -0.37742992462538527, + 0.9111964428760615, + -0.16512932655130771, + 561.9985854281277 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9238795383318846, + 0.06319225466335346, + -0.37742992462538527, + 736.8070034783194 + ], + [ + 0.38268341831292263, + -0.15255960480835506, + 0.9111964428760615, + -310.6716375628008 + ], + [ + -2.7755575406595685e-17, + -0.98627192291542, + -0.16512932655130771, + 4.9820501865180065 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73680.70034783194, + 31067.163756280082, + 498.20501865180063 + ], + "rotation_deg": [ + 1.612412666451102e-15, + -9.504747390747067, + -112.49999999999997 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9787345583141991, + -0.20513084692827108, + -0.0, + -776.8822048147582 + ], + [ + -0.022024579779704866, + -0.10508520627462203, + -0.9942193004099987, + -12.567213218172562 + ], + [ + 0.20394503682411075, + 0.973076789921869, + -0.10736844448050333, + 157.8559550438962 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9787345583141991, + -0.022024579779704866, + 0.20394503682411075, + 727.8907354734544 + ], + [ + -0.20513084692827108, + -0.10508520627462203, + 0.973076789921869, + -314.28909057589476 + ], + [ + -0.0, + -0.9942193004099987, + -0.10736844448050333, + 4.454181405138037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72789.07354734544, + 31428.909057589477, + 445.4181405138037 + ], + "rotation_deg": [ + 0.0, + -6.163640022277833, + -78.16284179687501 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.737494278630538, + -0.6753533808216424, + -6.938893850760579e-18, + -739.6637171734416 + ], + [ + -0.07135675186624896, + -0.07792245917092051, + -0.9944024860788785, + 30.8819316045794 + ], + [ + 0.6715730761008163, + 0.7333661483897604, + -0.10565839224810711, + -256.43455223743615 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.737494278630538, + -0.07135675186624896, + 0.6715730761008163, + 719.9159393349141 + ], + [ + -0.6753533808216424, + -0.07792245917092051, + 0.7333661483897604, + -309.06757372720915 + ], + [ + -6.938893850760579e-18, + -0.9944024860788785, + -0.10565839224810711, + 3.614606763391781 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 71991.59393349141, + 30906.757372720916, + 361.4606763391781 + ], + "rotation_deg": [ + 3.998072619320086e-16, + -6.065100669860837, + -47.51840209960936 + ] + } + } + ] + }, + { + "frame": 11, + "time": 496.184828158468, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.03291314676791175, + 0.9994582156197598, + -0.0, + 273.2425354714981 + ], + [ + 0.13905694167688903, + -0.00457928251424732, + -0.9902737990793884, + -100.49166725904445 + ], + [ + -0.9897372848373968, + 0.032593003050775976, + -0.13913232246616875, + 740.6846575690206 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.03291314676791175, + 0.13905694167688903, + -0.9897372848373968, + 738.0640202295602 + ], + [ + 0.9994582156197598, + -0.00457928251424732, + 0.032593003050775976, + -297.69583184518496 + ], + [ + -0.0, + -0.9902737990793884, + -0.13913232246616875, + 3.538911638799981 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73806.40202295603, + 29769.583184518495, + 353.8911638799981 + ], + "rotation_deg": [ + 0.0, + -7.997640609741213, + -178.11387634277344 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.9238795383318846, + 0.38268341831292263, + -2.7755575406595685e-17, + -561.9379467016053 + ], + [ + 0.06319225466335346, + -0.15255960480835506, + -0.98627192291542, + -89.03130102576053 + ], + [ + -0.37742992462538527, + 0.9111964428760615, + -0.16512932655130771, + 561.9183900283458 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9238795383318846, + 0.06319225466335346, + -0.37742992462538527, + 736.8738641307052 + ], + [ + 0.38268341831292263, + -0.15255960480835506, + 0.9111964428760615, + -310.55627971610323 + ], + [ + -2.7755575406595685e-17, + -0.98627192291542, + -0.16512932655130771, + 4.980130774562475 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73687.38641307052, + 31055.627971610324, + 498.0130774562476 + ], + "rotation_deg": [ + 1.612412666451102e-15, + -9.504747390747067, + -112.49999999999997 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9781443869509504, + -0.20792680990278595, + 6.9388938507698975e-18, + -777.3240330136581 + ], + [ + -0.022136622892907274, + -0.10413670771398223, + -0.9943166075417775, + -12.191160193979755 + ], + [ + 0.2067450699648829, + 0.9725852106132756, + -0.10646353432770217, + 155.6825052097101 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9781443869509504, + -0.022136622892907274, + 0.2067450699648829, + 727.8786782700954 + ], + [ + -0.20792680990278595, + -0.10413670771398223, + 0.9725852106132756, + -314.31054760587637 + ], + [ + 6.9388938507698975e-18, + -0.9943166075417775, + -0.10646353432770217, + 4.452635696961533 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72787.86782700954, + 31431.054760587635, + 445.26356969615324 + ], + "rotation_deg": [ + -3.998417930492107e-16, + -6.111493587493897, + -77.99911499023438 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.7387325685704077, + -0.6739986588513126, + -0.0, + -740.1081223137382 + ], + [ + -0.07244901936978478, + -0.07940735410462471, + -0.9942060207554866, + 31.220725330264646 + ], + [ + 0.6700935198217469, + 0.734452371649139, + -0.10749134138086244, + -255.1567883655125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7387325685704077, + -0.07244901936978478, + 0.6700935198217469, + 719.9827999872999 + ], + [ + -0.6739986588513126, + -0.07940735410462471, + 0.734452371649139, + -308.9522158805116 + ], + [ + -0.0, + -0.9942060207554866, + -0.10749134138086244, + 3.6126873514362514 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 71998.27999873, + 30895.221588051158, + 361.2687351436251 + ], + "rotation_deg": [ + 0.0, + -6.17072248458862, + -47.62356185913085 + ] + } + } + ] + }, + { + "frame": 12, + "time": 496.2514948286116, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.03584860958799689, + 0.9993572320199656, + -8.673617314010576e-19, + 270.94764974926795 + ], + [ + 0.13893260063531368, + -0.004983743950252363, + -0.9902892985269235, + -100.53160982816188 + ], + [ + -0.989652772978832, + 0.03550047062744065, + -0.13902196056932453, + 741.5596878841162 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.03584860958799689, + 0.13893260063531368, + -0.989652772978832, + 738.1406289025347 + ], + [ + 0.9993572320199656, + -0.004983743950252363, + 0.03550047062744065, + -297.6002528892407 + ], + [ + -8.673617314010576e-19, + -0.9902892985269235, + -0.13902196056932453, + 3.5377044314170543 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73814.06289025347, + 29760.025288924073, + 353.7704431417054 + ], + "rotation_deg": [ + 5.018348373483301e-17, + -7.991255283355712, + -177.94558715820312 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.9238795383318846, + 0.38268341831292263, + -2.7755575406595685e-17, + -562.0438618017337 + ], + [ + 0.06319225466335346, + -0.15255960480835506, + -0.98627192291542, + -89.01981986851163 + ], + [ + -0.37742992462538527, + 0.9111964428760615, + -0.16512932655130771, + 561.8381925338502 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9238795383318846, + 0.06319225466335346, + -0.37742992462538527, + 736.9407224704986 + ], + [ + 0.38268341831292263, + -0.15255960480835506, + 0.9111964428760615, + -310.44092052907325 + ], + [ + -2.7755575406595685e-17, + -0.98627192291542, + -0.16512932655130771, + 4.978211359179321 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73694.07224704986, + 31044.092052907326, + 497.82113591793205 + ], + "rotation_deg": [ + 1.612412666451102e-15, + -9.504747390747067, + -112.49999999999997 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9775672398281227, + -0.21062357801259068, + -0.0, + -777.7451673039758 + ], + [ + -0.022241990449074687, + -0.10323175314344746, + -0.9944086177240186, + -11.833156795947659 + ], + [ + 0.2094458908228811, + 0.9721012898093907, + -0.10560066840853115, + 153.58112590203973 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9775672398281227, + -0.022241990449074687, + 0.2094458908228811, + 727.8680679311395 + ], + [ + -0.21062357801259068, + -0.10323175314344746, + 0.9721012898093907, + -314.3294297922601 + ], + [ + -0.0, + -0.9944086177240186, + -0.10560066840853115, + 4.451275473766208 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72786.80679311395, + 31432.942979226013, + 445.12754737662084 + ], + "rotation_deg": [ + 0.0, + -6.061774730682372, + -77.84110260009764 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.7399535015794321, + -0.6726580226982632, + -6.9388938508033355e-18, + -740.5448553499906 + ], + [ + -0.07352277410770673, + -0.0808782952273434, + -0.9940086031059415, + 31.550984295030005 + ], + [ + 0.6686278567018145, + 0.7355201507141826, + -0.10930186245313323, + -253.89486472453757 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7399535015794321, + -0.07352277410770673, + 0.6686278567018145, + 720.0496583270933 + ], + [ + -0.6726580226982632, + -0.0808782952273434, + 0.7355201507141826, + -308.8368566934816 + ], + [ + -6.9388938508033355e-18, + -0.9940086031059415, + -0.10930186245313323, + 3.610767936053096 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72004.96583270933, + 30883.68566934816, + 361.0767936053096 + ], + "rotation_deg": [ + 3.9996568840325767e-16, + -6.275072574615475, + -47.72745513916021 + ] + } + } + ] + }, + { + "frame": 13, + "time": 496.3181614987552, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.03877471520044397, + 0.9992479779619894, + -8.673617314008446e-19, + 268.6567785859539 + ], + [ + 0.1388063077459461, + -0.005386225611235587, + -0.9903049012822275, + -100.56942526745469 + ], + [ + -0.9895601709451993, + 0.038398766718443424, + -0.1389107727766658, + 742.4254419490924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.03877471520044397, + 0.1388063077459461, + -0.9895601709451993, + 738.2172336277882 + ], + [ + 0.9992479779619894, + -0.005386225611235587, + 0.038398766718443424, + -297.5046716454194 + ], + [ + -8.673617314008446e-19, + -0.9903049012822275, + -0.1389107727766658, + 3.5364972183710948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73821.72336277882, + 29750.46716454194, + 353.6497218371095 + ], + "rotation_deg": [ + 5.0182693068616775e-17, + -7.984822273254393, + -177.77781677246094 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.9238795383318846, + 0.38268341831292263, + -2.7755575406595685e-17, + -562.1497741301763 + ], + [ + 0.06319225466335346, + -0.15255960480835506, + -0.98627192291542, + -89.00833811834502 + ], + [ + -0.37742992462538527, + 0.9111964428760615, + -0.16512932655130771, + 561.7579914637262 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9238795383318846, + 0.06319225466335346, + -0.37742992462538527, + 737.0075768625713 + ], + [ + 0.38268341831292263, + -0.15255960480835506, + 0.9111964428760615, + -310.32555905416615 + ], + [ + -2.7755575406595685e-17, + -0.98627192291542, + -0.16512932655130771, + 4.976291938133133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73700.75768625713, + 31032.555905416615, + 497.6291938133133 + ], + "rotation_deg": [ + 1.612412666451102e-15, + -9.504747390747067, + -112.49999999999997 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9770019123462987, + -0.2132305401945869, + -0.0, + -778.147549163059 + ], + [ + -0.02234127571609213, + -0.10236558552522043, + -0.9944959297550976, + -11.491339547509314 + ], + [ + 0.21205689409944944, + 0.9716244273354286, + -0.1047752159148116, + 151.54509317260428 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9770019123462987, + -0.02234127571609213, + 0.21205689409944944, + 727.8587308328583 + ], + [ + -0.2132305401945869, + -0.10236558552522043, + 0.9716244273354286, + -314.3460461162779 + ], + [ + -0.0, + -0.9944959297550976, + -0.1047752159148116, + 4.450078477354324 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72785.87308328583, + 31434.604611627787, + 445.00784773543234 + ], + "rotation_deg": [ + 0.0, + -6.014215946197508, + -77.6882629394531 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.7411565367906816, + -0.6713322485717805, + -2.081668155247456e-17, + -740.9737562202477 + ], + [ + -0.07457767969573353, + -0.08233439540967406, + -0.9938104532674846, + 31.87273234885938 + ], + [ + 0.6671770014187932, + 0.7365691180134758, + -0.11108907762097067, + -252.64955253037866 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7411565367906816, + -0.07457767969573353, + 0.6671770014187932, + 720.116512719166 + ], + [ + -0.6713322485717805, + -0.08233439540967406, + 0.7365691180134758, + -308.7214952185745 + ], + [ + -2.081668155247456e-17, + -0.9938104532674846, + -0.11108907762097067, + 3.6088485150069083 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72011.6512719166, + 30872.14952185745, + 360.88485150069084 + ], + "rotation_deg": [ + 1.200136305411517e-15, + -6.378099918365475, + -47.83002853393554 + ] + } + } + ] + }, + { + "frame": 14, + "time": 496.3848281688988, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.0416909093150555, + 0.9991305560738716, + 8.673617314006302e-19, + 266.3703652977848 + ], + [ + 0.138678088479986, + -0.005786646775696118, + -0.9903206059123631, + -100.60510823848884 + ], + [ + -0.9894595785184739, + 0.04128734280790485, + -0.1387987672924616, + 743.2818292095659 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.0416909093150555, + 0.138678088479986, + -0.9894595785184739, + 738.2938325574161 + ], + [ + 0.9991305560738716, + -0.005786646775696118, + 0.04128734280790485, + -297.40908704310584 + ], + [ + 8.673617314006302e-19, + -0.9903206059123631, + -0.1387987672924616, + 3.5352899968305875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73829.3832557416, + 29740.908704310586, + 353.52899968305877 + ], + "rotation_deg": [ + -5.018189726507453e-17, + -7.978342056274415, + -177.610595703125 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.9238795383318846, + 0.38268341831292263, + -2.7755575406595685e-17, + -562.2556823893981 + ], + [ + 0.06319225466335346, + -0.15255960480835506, + -0.98627192291542, + -88.99685549794745 + ], + [ + -0.37742992462538527, + 0.9111964428760615, + -0.16512932655130771, + 561.6777851445105 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9238795383318846, + 0.06319225466335346, + -0.37742992462538527, + 737.0744254590181 + ], + [ + 0.38268341831292263, + -0.15255960480835506, + 0.9111964428760615, + -310.2101942207669 + ], + [ + -2.7755575406595685e-17, + -0.98627192291542, + -0.16512932655130771, + 4.974372508592398 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73707.44254590181, + 31021.019422076686, + 497.4372508592398 + ], + "rotation_deg": [ + 1.612412666451102e-15, + -9.504747390747067, + -112.49999999999997 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9764473046784952, + -0.21575602236346036, + 1.3877787701482843e-17, + -778.5328802052067 + ], + [ + -0.02243499737314615, + -0.10153409613092548, + -0.9945790557898061, + -11.164094756015713 + ], + [ + 0.21458641080412164, + 0.9711540404833001, + -0.10398318109755021, + 149.56842770838196 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9764473046784952, + -0.02243499737314615, + 0.21458641080412164, + 727.8505141863707 + ], + [ + -0.21575602236346036, + -0.10153409613092548, + 0.9711540404833001, + -314.3606684814135 + ], + [ + 1.3877787701482843e-17, + -0.9945790557898061, + -0.10398318109755021, + 4.449025120511865 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72785.05141863707, + 31436.06684814135, + 444.9025120511865 + ], + "rotation_deg": [ + -7.99472566614158e-16, + -5.968586444854738, + -77.54011535644531 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.7423412712670573, + -0.6700219675306245, + 6.9388938508464355e-18, + -741.394718657102 + ], + [ + -0.07561341991645892, + -0.08377480886560393, + -0.9936117914598579, + 32.18599459851131 + ], + [ + 0.665741722629469, + 0.7375990446590535, + -0.11285215136805628, + -251.42147491617797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7423412712670573, + -0.07561341991645892, + 0.665741722629469, + 720.1833613156128 + ], + [ + -0.6700219675306245, + -0.08377480886560393, + 0.7375990446590535, + -308.6061303851752 + ], + [ + 6.9388938508464355e-18, + -0.9936117914598579, + -0.11285215136805628, + 3.6069290854661733 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72018.33613156129, + 30860.61303851752, + 360.69290854661733 + ], + "rotation_deg": [ + -4.0012541984669055e-16, + -6.479755878448482, + -47.931240081787095 + ] + } + } + ] + }, + { + "frame": 15, + "time": 496.4514948390424, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.04459770257091883, + 0.9990050274775377, + -0.0, + 264.088054601096 + ], + [ + 0.13854797077691486, + -0.006185075172359064, + -0.990336409831887, + -100.6386993770123 + ], + [ + -0.98935105322636, + 0.044166704909295425, + -0.1386859605632356, + 744.1290415055795 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.04459770257091883, + 0.13854797077691486, + -0.98935105322636, + 738.3704236560407 + ], + [ + 0.9990050274775377, + -0.006185075172359064, + 0.044166704909295425, + -297.31349790344257 + ], + [ + -0.0, + -0.990336409831887, + -0.1386859605632356, + 3.5340827639640167 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73837.04236560407, + 29731.349790344255, + 353.4082763964017 + ], + "rotation_deg": [ + 0.0, + -7.9718155860900906, + -177.4438934326172 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.9238795383318846, + 0.38268341831292263, + -2.7755575406595685e-17, + -562.3615851500847 + ], + [ + 0.06319225466335346, + -0.15255960480835506, + -0.98627192291542, + -88.98537170164539 + ], + [ + -0.37742992462538527, + 0.9111964428760615, + -0.16512932655130771, + 561.5975717333528 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9238795383318846, + 0.06319225466335346, + -0.37742992462538527, + 737.1412662244617 + ], + [ + 0.38268341831292263, + -0.15255960480835506, + 0.9111964428760615, + -310.09482485001774 + ], + [ + -2.7755575406595685e-17, + -0.98627192291542, + -0.16512932655130771, + 4.972453067725598 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73714.12662244617, + 31009.482485001776, + 497.24530677255984 + ], + "rotation_deg": [ + 1.612412666451102e-15, + -9.504747390747067, + -112.49999999999997 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9759024719877386, + -0.21820716112955774, + -2.081668155219843e-17, + -778.9026164842118 + ], + [ + -0.022523574956181604, + -0.10073368978338845, + -0.9946584400254274, + -10.850035131452817 + ], + [ + 0.21704158431622148, + 0.9706896325947044, + -0.1032210630184683, + 147.64601034356528 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9759024719877386, + -0.022523574956181604, + 0.21704158431622148, + 727.8432835374617 + ], + [ + -0.21820716112955774, + -0.10073368978338845, + 0.9706896325947044, + -314.3735361627328 + ], + [ + -2.081668155219843e-17, + -0.9946584400254274, + -0.1032210630184683, + 4.448098166490501 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72784.32835374617, + 31437.35361627328, + 444.8098166490501 + ], + "rotation_deg": [ + 1.1991131404037277e-15, + -5.9246840476989755, + -77.39624786376952 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.7435071714163819, + -0.6687279611713653, + -0.0, + -741.8075881147438 + ], + [ + -0.07662969201368836, + -0.08519865904187285, + -0.9934128440881733, + 32.49081487703895 + ], + [ + 0.664322940963995, + 0.7386095779948725, + -0.11459023258194724, + -250.21140277458204 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7435071714163819, + -0.07662969201368836, + 0.664322940963995, + 720.2502020810565 + ], + [ + -0.6687279611713653, + -0.08519865904187285, + 0.7386095779948725, + -308.4907610144261 + ], + [ + -0.0, + -0.9934128440881733, + -0.11459023258194724, + 3.6050096445993733 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72025.02020810565, + 30849.07610144261, + 360.50096445993734 + ], + "rotation_deg": [ + 0.0, + -6.579990863800047, + -48.03103637695312 + ] + } + } + ] + }, + { + "frame": 16, + "time": 496.51816150918603, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.04749507377095644, + 0.9988714721962437, + 4.336808657000985e-19, + 261.8098893192017 + ], + [ + 0.13841598519975618, + -0.006581504839343791, + -0.9903523104608936, + -100.67021931250852 + ], + [ + -0.9892346713213379, + 0.04703683232763521, + -0.13857236903635076, + 744.9671275999032 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.04749507377095644, + 0.13841598519975618, + -0.9892346713213379, + 738.4470047217462 + ], + [ + 0.9988714721962437, + -0.006581504839343791, + 0.04703683232763521, + -297.21790295165795 + ], + [ + 4.336808657000985e-19, + -0.9903523104608936, + -0.13857236903635076, + 3.5328755166418118 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73844.70047217462, + 29721.790295165796, + 353.2875516641812 + ], + "rotation_deg": [ + -2.5090145385851618e-17, + -7.965243816375734, + -177.27770996093753 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.9238795383318846, + 0.38268341831292263, + -2.7755575406595685e-17, + -562.4674808657653 + ], + [ + 0.06319225466335346, + -0.15255960480835506, + -0.98627192291542, + -88.97388639890285 + ], + [ + -0.37742992462538527, + 0.9111964428760615, + -0.16512932655130771, + 561.5173492370998 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9238795383318846, + 0.06319225466335346, + -0.37742992462538527, + 737.2080969569864 + ], + [ + 0.38268341831292263, + -0.15255960480835506, + 0.9111964428760615, + -309.97944966714743 + ], + [ + -2.7755575406595685e-17, + -0.98627192291542, + -0.16512932655130771, + 4.970533612403165 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73720.80969569864, + 30997.944966714742, + 497.0533612403165 + ], + "rotation_deg": [ + 1.612412666451102e-15, + -9.504747390747067, + -112.49999999999997 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9753665571229693, + -0.22059029726188276, + -0.0, + -779.258041020631 + ], + [ + -0.022607385245975227, + -0.0999612756618272, + -0.9947344618039529, + -10.54795685575706 + ], + [ + 0.21942876047391388, + 0.9702307294737313, + -0.10248585591072178, + 145.77328202487 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9753665571229693, + -0.022607385245975227, + 0.21942876047391388, + 727.8369205664218 + ], + [ + -0.22059029726188276, + -0.0999612756618272, + 0.9702307294737313, + -314.38485972229387 + ], + [ + -0.0, + -0.9947344618039529, + -0.10248585591072178, + 4.447282446951701 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72783.69205664218, + 31438.485972229384, + 444.7282446951701 + ], + "rotation_deg": [ + 0.0, + -5.882335186004639, + -77.25629425048828 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.7446537518926779, + -0.667450964335327, + -6.938893850889692e-18, + -742.2122296873848 + ], + [ + -0.07762621243626268, + -0.0866050892494329, + -0.993213838837789, + 32.78724423694578 + ], + [ + 0.6629215296407481, + 0.7396004157577658, + -0.11630249588771052, + -249.02005726666266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7446537518926779, + -0.07762621243626268, + 0.6629215296407481, + 720.3170328135811 + ], + [ + -0.667450964335327, + -0.0866050892494329, + 0.7396004157577658, + -308.3753858315558 + ], + [ + -6.938893850889692e-18, + -0.993213838837789, + -0.11630249588771052, + 3.6030901892769407 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72031.70328135812, + 30837.538583155576, + 360.30901892769407 + ], + "rotation_deg": [ + 4.0028573875913054e-16, + -6.678756713867187, + -48.12936782836914 + ] + } + } + ] + }, + { + "frame": 17, + "time": 496.58482817932963, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.05038247021255318, + 0.9987299968936956, + 4.3368086569998927e-19, + 259.5363126441592 + ], + [ + 0.13828214129875846, + -0.0069758552227147455, + -0.9903683086820484, + -100.69965097086798 + ], + [ + -0.9891105388996574, + 0.04989717811939489, + -0.13845798443336751, + 745.7960017147216 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.05038247021255318, + 0.13828214129875846, + -0.9891105388996574, + 738.5235734035736 + ], + [ + 0.9987299968936956, + -0.0069758552227147455, + 0.04989717811939489, + -297.1223008274362 + ], + [ + 4.3368086569998927e-19, + -0.9903683086820484, + -0.13845798443336751, + 3.531668251436348 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73852.35734035735, + 29712.23008274362, + 353.1668251436348 + ], + "rotation_deg": [ + -2.5089740084412313e-17, + -7.95862627029419, + -177.11207580566406 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.9238795383318846, + 0.38268341831292263, + -2.7755575406595685e-17, + -562.5733678850069 + ], + [ + 0.06319225466335346, + -0.15255960480835506, + -0.98627192291542, + -88.96239923700868 + ], + [ + -0.37742992462538527, + 0.9111964428760615, + -0.16512932655130771, + 561.4371155283482 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9238795383318846, + 0.06319225466335346, + -0.37742992462538527, + 737.2749153056327 + ], + [ + 0.38268341831292263, + -0.15255960480835506, + 0.9111964428760615, + -309.8640673118399 + ], + [ + -2.7755575406595685e-17, + -0.98627192291542, + -0.16512932655130771, + 4.968614139197473 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73727.49153056327, + 30986.40673118399, + 496.8614139197473 + ], + "rotation_deg": [ + 1.612412666451102e-15, + -9.504747390747067, + -112.49999999999997 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9748388940630752, + -0.22291058885095755, + -0.0, + -779.6002156270839 + ], + [ + -0.022686702818916143, + -0.09921413065180579, + -0.9948074536281943, + -10.25684068362309 + ], + [ + 0.22175310515220084, + 0.9697770001343868, + -0.10177490047013935, + 143.94656289599865 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9748388940630752, + -0.022686702818916143, + 0.22175310515220084, + 727.8313211519066 + ], + [ + -0.22291058885095755, + -0.09921413065180579, + 0.9697770001343868, + -314.39482445470753 + ], + [ + -0.0, + -0.9948074536281943, + -0.10177490047013935, + 4.446564613757556 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72783.13211519066, + 31439.482445470752, + 444.65646137575567 + ], + "rotation_deg": [ + 0.0, + -5.841386318206786, + -77.11995697021484 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.7457806193639713, + -0.6661916149135259, + -0.0, + -742.6085442286599 + ], + [ + -0.0786026934756123, + -0.08799325015750561, + -0.9930150071902726, + 33.07532800275951 + ], + [ + 0.6615382663727998, + 0.7405713513328049, + -0.11798811681509858, + -247.8480613334418 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7457806193639713, + -0.0786026934756123, + 0.6615382663727998, + 720.3838511622275 + ], + [ + -0.6661916149135259, + -0.08799325015750561, + 0.7405713513328049, + -308.26000347624824 + ], + [ + -0.0, + -0.9930150071902726, + -0.11798811681509858, + 3.601170716071248 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72038.38511622275, + 30826.000347624824, + 360.1170716071248 + ], + "rotation_deg": [ + 0.0, + -6.77600526809692, + -48.22619247436522 + ] + } + } + ] + }, + { + "frame": 18, + "time": 496.65149484947324, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.053260137772365296, + 0.9985806716157032, + -0.0, + 257.2671671473645 + ], + [ + 0.13814648470449625, + -0.007368158644834041, + -0.9903843996156112, + -100.72703748877075 + ], + [ + -0.9889787200392492, + 0.052747985903709854, + -0.13834283968688157, + 746.6157820925283 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.053260137772365296, + 0.13814648470449625, + -0.9889787200392492, + 738.6001272162857 + ], + [ + 0.9985806716157032, + -0.007368158644834041, + 0.052747985903709854, + -297.0266900937342 + ], + [ + -0.0, + -0.9903843996156112, + -0.13834283968688157, + 3.5304609646219465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73860.01272162858, + 29702.669009373418, + 353.04609646219467 + ], + "rotation_deg": [ + 0.0, + -7.951964855194092, + -176.9469757080078 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.9238795383318846, + 0.38268341831292263, + -2.7755575406595685e-17, + -562.6792444616827 + ], + [ + 0.06319225466335346, + -0.15255960480835506, + -0.98627192291542, + -88.95090984335499 + ], + [ + -0.37742992462538527, + 0.9111964428760615, + -0.16512932655130771, + 561.3568683590518 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9238795383318846, + 0.06319225466335346, + -0.37742992462538527, + 737.3417187851642 + ], + [ + 0.38268341831292263, + -0.15255960480835506, + 0.9111964428760615, + -309.7486763470521 + ], + [ + -2.7755575406595685e-17, + -0.98627192291542, + -0.16512932655130771, + 4.9666946443828435 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73734.17187851641, + 30974.86763470521, + 496.6694644382843 + ], + "rotation_deg": [ + 1.612412666451102e-15, + -9.504747390747067, + -112.49999999999997 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9743188157661263, + -0.22517292298163447, + -6.938893850709032e-18, + -779.9301260872296 + ], + [ + -0.02276181127264034, + -0.09848991037727843, + -0.9948776997709134, + -9.975775208927395 + ], + [ + 0.2240195095594539, + 0.969328064527401, + -0.10108591720068905, + 142.1623361428726 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9743188157661263, + -0.02276181127264034, + 0.2240195095594539, + 727.8263936671333 + ], + [ + -0.22517292298163447, + -0.09848991037727843, + 0.969328064527401, + -314.4035934192316 + ], + [ + -6.938893850709032e-18, + -0.9948776997709134, + -0.10108591720068905, + 4.44593292054671 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72782.63936671332, + 31440.35934192316, + 444.593292054671 + ], + "rotation_deg": [ + 3.996162898275557e-16, + -5.801705837249755, + -76.98695373535155 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.7468872501642537, + -0.6649507015877788, + -6.9388938509329e-18, + -742.9963846044096 + ], + [ + -0.07955889372633215, + -0.08936229891852547, + -0.9928165802206556, + 33.3551423831708 + ], + [ + 0.6601740766473959, + 0.741522049748407, + -0.11964630483086174, + -246.69618390092705 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7468872501642537, + -0.07955889372633215, + 0.6601740766473959, + 720.4506546417589 + ], + [ + -0.6649507015877788, + -0.08936229891852547, + 0.741522049748407, + -308.1446125114604 + ], + [ + -6.9388938509329e-18, + -0.9928165802206556, + -0.11964630483086174, + 3.599251221256618 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72045.06546417589, + 30814.461251146044, + 359.9251221256618 + ], + "rotation_deg": [ + 4.004459062711174e-16, + -6.8716902732849094, + -48.32145690917968 + ] + } + } + ] + }, + { + "frame": 19, + "time": 496.71816151961684, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.056128322627849565, + 0.9984235631228783, + -1.301042597099307e-18, + 255.00229406727794 + ], + [ + 0.13800903589140695, + -0.007758446393074576, + -0.990400581846502, + -100.75240308455372 + ], + [ + -0.9888392790265476, + 0.055589499746198014, + -0.13822694300397742, + 747.4265869633192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.056128322627849565, + 0.13800903589140695, + -0.9888392790265476, + 738.6766635529492 + ], + [ + 0.9984235631228783, + -0.007758446393074576, + 0.055589499746198014, + -296.93106924436137 + ], + [ + -1.301042597099307e-18, + -0.990400581846502, + -0.13822694300397742, + 3.5292536526219553 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73867.66635529492, + 29693.10692443614, + 352.92536526219556 + ], + "rotation_deg": [ + 7.526676753258438e-17, + -7.945260047912596, + -176.7823944091797 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.9238795383318846, + 0.38268341831292263, + -2.7755575406595685e-17, + -562.7851087636939 + ], + [ + 0.06319225466335346, + -0.15255960480835506, + -0.98627192291542, + -88.93941782694748 + ], + [ + -0.37742992462538527, + 0.9111964428760615, + -0.16512932655130771, + 561.2766053722493 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9238795383318846, + 0.06319225466335346, + -0.37742992462538527, + 737.4085047886465 + ], + [ + 0.38268341831292263, + -0.15255960480835506, + 0.9111964428760615, + -309.63327526659356 + ], + [ + -2.7755575406595685e-17, + -0.98627192291542, + -0.16512932655130771, + 4.964775124382624 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73740.85047886465, + 30963.327526659355, + 496.47751243826235 + ], + "rotation_deg": [ + 1.612412666451102e-15, + -9.504747390747067, + -112.49999999999997 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9738057813734099, + -0.2273813980160269, + -2.0816681552105058e-17, + -780.2486106300435 + ], + [ + -0.022832934698873757, + -0.09778655602213146, + -0.9949454490344518, + -9.703978033256673 + ], + [ + 0.2262320770656355, + 0.9688836326955066, + -0.10041689898282595, + 140.41766747621404 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9738057813734099, + -0.022832934698873757, + 0.2262320770656355, + 727.8220574805326 + ], + [ + -0.2273813980160269, + -0.09778655602213146, + 0.9688836326955066, + -314.41131010801274 + ], + [ + -2.0816681552105058e-17, + -0.9949454490344518, + -0.10041689898282595, + 4.445377030521165 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72782.20574805327, + 31441.131010801277, + 444.53770305211646 + ], + "rotation_deg": [ + 1.1987672357314473e-15, + -5.763177871704102, + -76.85704803466795 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.7479733007021722, + -0.663728816186775, + 6.9388938509544224e-18, + -743.3756721469473 + ], + [ + -0.08049454917520818, + -0.09071140527093093, + -0.9926187931461162, + 33.626742976058026 + ], + [ + 0.6588296915639356, + 0.7424523592755835, + -0.12127626198019699, + -245.56499749216445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7479733007021722, + -0.08049454917520818, + 0.6588296915639356, + 720.5174406452413 + ], + [ + -0.663728816186775, + -0.09071140527093093, + 0.7424523592755835, + -308.0292114310019 + ], + [ + 6.9388938509544224e-18, + -0.9926187931461162, + -0.12127626198019699, + 3.5973317012563983 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72051.74406452413, + 30802.92114310019, + 359.73317012563984 + ], + "rotation_deg": [ + -4.0052569825782234e-16, + -6.965764999389648, + -48.41512298583985 + ] + } + } + ] + }, + { + "frame": 20, + "time": 496.78482818976045, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.05898673952811503, + 0.9982587663325788, + -0.0, + 252.741935468201 + ], + [ + 0.1378698109939901, + -0.008146675896241047, + -0.9904168551111814, + -100.77479624380727 + ], + [ + -0.9886923091853371, + 0.058421437439237174, + -0.13811029434947614, + 748.2285321162494 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.05898673952811503, + 0.1378698109939901, + -0.9886923091853371, + 738.7531796957519 + ], + [ + 0.9982587663325788, + -0.008146675896241047, + 0.058421437439237174, + -296.8354367105652 + ], + [ + -0.0, + -0.9904168551111814, + -0.13811029434947614, + 3.529006086091926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73875.31796957519, + 29683.54367105652, + 352.9006086091926 + ], + "rotation_deg": [ + 0.0, + -7.938511848449708, + -176.61834716796875 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.9129718679824558, + 0.4080225095170915, + -2.7755575406844595e-17, + -547.0039203906535 + ], + [ + 0.06874010721240341, + -0.1538096125169619, + -0.985706549008278, + -93.40808636747043 + ], + [ + -0.4021904735637494, + 0.8999223429256885, + -0.1684713615950989, + 575.9838290540595 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9129718679824558, + 0.06874010721240341, + -0.4021904735637494, + 737.4752705982683 + ], + [ + 0.4080225095170915, + -0.1538096125169619, + 0.8999223429256885, + -309.5178625017116 + ], + [ + -2.7755575406844595e-17, + -0.985706549008278, + -0.1684713615950989, + 4.963815349852366 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73747.52705982683, + 30951.786250171157, + 496.3815349852366 + ], + "rotation_deg": [ + 1.613337501600402e-15, + -9.698952674865719, + -114.08067321777345 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9732993570238332, + -0.22953945546897395, + 6.938893850694033e-18, + -780.5563862607272 + ], + [ + -0.022888502292590113, + -0.09705244145979797, + -0.9950160501567269, + -9.433640079733458 + ], + [ + 0.2283954322715954, + 0.9684484841401906, + -0.09971489399301385, + 138.71059270714616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9732993570238332, + -0.022888502292590113, + 0.2283954322715954, + 727.8182416363243 + ], + [ + -0.22953945546897395, + -0.09705244145979797, + 0.9684484841401906, + -314.4181007941402 + ], + [ + 6.938893850694033e-18, + -0.9950160501567269, + -0.09971489399301385, + 4.444887847298685 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72781.82416363242, + 31441.81007941402, + 444.4887847298685 + ], + "rotation_deg": [ + -3.9956072583064765e-16, + -5.722753047943117, + -76.73004150390626 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.7490382527881934, + -0.662526751052371, + -6.9388938509758596e-18, + -743.7462636241758 + ], + [ + -0.08140944200695678, + -0.09203973440241124, + -0.9924218810784297, + 33.89117211102814 + ], + [ + 0.6575060395914128, + 0.7433619560559499, + -0.12287721590875918, + -244.45515193546456 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7490382527881934, + -0.08140944200695678, + 0.6575060395914128, + 720.584206454863 + ], + [ + -0.662526751052371, + -0.09203973440241124, + 0.7433619560559499, + -307.91379866611993 + ], + [ + -6.9388938509758596e-18, + -0.9924218810784297, + -0.12287721590875918, + 3.596371926726141 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72058.4206454863, + 30791.37986661199, + 359.6371926726141 + ], + "rotation_deg": [ + 4.0060516883997846e-16, + -7.058184146881097, + -48.507137298583956 + ] + } + } + ] + }, + { + "frame": 21, + "time": 496.85149485990405, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.06183510384208509, + 0.9980863789937415, + -0.0, + 250.4863338288342 + ], + [ + 0.13772885120883246, + -0.008532806374068997, + -0.9904332156991089, + -100.79423501565473 + ], + [ + -0.9885379032056193, + 0.06124351714907534, + -0.1379929184163029, + 749.0216002002417 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.06183510384208509, + 0.13772885120883246, + -0.9885379032056193, + 738.8296728253737 + ], + [ + 0.9980863789937415, + -0.008532806374068997, + 0.06124351714907534, + -296.7397908668004 + ], + [ + -0.0, + -0.9904332156991089, + -0.1379929184163029, + 3.5297182940921545 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73882.96728253737, + 29673.97908668004, + 352.97182940921545 + ], + "rotation_deg": [ + 0.0, + -7.931721687316896, + -176.45484924316406 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.9013671343828014, + 0.4330557574430072, + -0.0, + -530.8076246389645 + ], + [ + 0.0743856924144952, + -0.15482721857025086, + -0.98513719915239, + -97.8764528511129 + ], + [ + -0.42661934975030485, + 0.8879702872956302, + -0.1717693200159533, + 590.2424957192381 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9013671343828014, + 0.0743856924144952, + -0.42661934975030485, + 737.5420133947092 + ], + [ + 0.4330557574430072, + -0.15482721857025086, + 0.8879702872956302, + -309.402436426861 + ], + [ + -0.0, + -0.98513719915239, + -0.1717693200159533, + 4.963815349852366 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73754.20133947092, + 30940.243642686102, + 496.3815349852366 + ], + "rotation_deg": [ + 0.0, + -9.890707015991207, + -115.66164398193361 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9727991016532037, + -0.23165040000552578, + -0.0, + -780.8541281420698 + ], + [ + -0.02292862671137724, + -0.09628710965505506, + -0.9950894786859146, + -9.164556994946349 + ], + [ + 0.23051286573540353, + 0.9680221532437023, + -0.0989794400867063, + 137.03868699652554 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9727991016532037, + -0.02292862671137724, + 0.23051286573540353, + 727.8148836934208 + ], + [ + -0.23165040000552578, + -0.09628710965505506, + 0.9680221532437023, + -314.4240765979323 + ], + [ + -0.0, + -0.9950894786859146, + -0.0989794400867063, + 4.4444573660629025 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72781.48836934209, + 31442.407659793233, + 444.44573660629027 + ], + "rotation_deg": [ + 0.0, + -5.6804051399230975, + -76.60574340820311 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.7500817232876138, + -0.6613451507268227, + -0.0, + -744.1080670181165 + ], + [ + -0.08230335286287514, + -0.09334647827974185, + -0.9922260796311988, + 34.14850928331636 + ], + [ + 0.6562039012192384, + 0.7442506519219548, + -0.12444841155433478, + -243.36726208084437 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7500817232876138, + -0.08230335286287514, + 0.6562039012192384, + 720.6509492513039 + ], + [ + -0.6613451507268227, + -0.09334647827974185, + 0.7442506519219548, + -307.79837259126936 + ], + [ + -0.0, + -0.9922260796311988, + -0.12444841155433478, + 3.596371926726141 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72065.0949251304, + 30779.837259126936, + 359.6371926726141 + ], + "rotation_deg": [ + 0.0, + -7.148903369903564, + -48.59745788574219 + ] + } + } + ] + }, + { + "frame": 22, + "time": 496.91816153004766, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.01371380868676637, + 0.9999059613040132, + 1.0842021642283198e-19, + 286.48301656688 + ], + [ + 0.1290375938924002, + -0.0017697633022741796, + -0.9916381231579963, + -92.37075083983265 + ], + [ + -0.9915448710021512, + 0.013599111480890535, + -0.1290497305547653, + 737.1482909975425 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.01371380868676637, + 0.1290375938924002, + -0.9915448710021512, + 738.9061400292453 + ], + [ + 0.9999059613040132, + -0.0017697633022741796, + 0.013599111480890535, + -296.6441300358788 + ], + [ + 1.0842021642283198e-19, + -0.9916381231579963, + -0.1290497305547653, + 3.5304305020923827 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73890.61400292453, + 29664.41300358788, + 353.0430502092383 + ], + "rotation_deg": [ + -6.264403029666586e-18, + -7.414683341979981, + -179.2142333984375 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.8890736607877695, + 0.45776415946798815, + -2.7755575407348018e-17, + -514.2079925785056 + ], + [ + 0.08011823951970895, + -0.15560636417766616, + -0.984564739935201, + -102.33574019037749 + ], + [ + -0.4506984643844261, + 0.8753505702605779, + -0.1750207797548661, + 604.0424406470578 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8890736607877695, + 0.08011823951970895, + -0.4506984643844261, + 737.6087302653998 + ], + [ + 0.45776415946798815, + -0.15560636417766616, + 0.8753505702605779, + -309.2869953648536 + ], + [ + -2.7755575407348018e-17, + -0.984564739935201, + -0.1750207797548661, + 4.963815349852366 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73760.87302653998, + 30928.699536485365, + 496.3815349852366 + ], + "rotation_deg": [ + 1.61520850444195e-15, + -10.079867362976069, + -117.24292755126952 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9723046945549157, + -0.233716882031384, + -6.938893850678353e-18, + -781.1423988983901 + ], + [ + -0.022965185043801163, + -0.09553934245285625, + -0.9951607077852195, + -8.90346397530614 + ], + [ + 0.23258584772063318, + 0.9675994303484026, + -0.0982607033840171, + 135.39956959096168 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9723046945549157, + -0.022965185043801163, + 0.23258584772063318, + 727.8119287036659 + ], + [ + -0.233716882031384, + -0.09553934245285625, + 0.9675994303484026, + -314.42933530526943 + ], + [ + -6.938893850678353e-18, + -0.9951607077852195, + -0.0982607033840171, + 4.444078542575414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72781.19287036659, + 31442.93353052694, + 444.40785425754143 + ], + "rotation_deg": [ + 3.995026452538286e-16, + -5.639022827148437, + -76.48400115966795 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.7511033308953434, + -0.6601846607714542, + -6.938893851018362e-18, + -744.4609914361605 + ], + [ + -0.08317607248240466, + -0.09463083407500457, + -0.9920316256091184, + 34.39788708422109 + ], + [ + 0.6549240572413005, + 0.7451182625668583, + -0.12598910284599957, + -242.30206298698758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7511033308953434, + -0.08317607248240466, + 0.6549240572413005, + 720.7176661219945 + ], + [ + -0.6601846607714542, + -0.09463083407500457, + 0.7451182625668583, + -307.68293152926196 + ], + [ + -6.938893851018362e-18, + -0.9920316256091184, + -0.12598910284599957, + 3.596371926726141 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72071.76661219946, + 30768.2931529262, + 359.6371926726141 + ], + "rotation_deg": [ + 4.007627629696146e-16, + -7.237878799438473, + -48.686042785644524 + ] + } + } + ] + }, + { + "frame": 23, + "time": 496.98482820019126, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.03444785408023748, + 0.9994064965514617, + -0.0, + 321.8288139897584 + ], + [ + 0.12007000507560436, + 0.004138610293739283, + -0.9927568009265817, + -83.99677750975128 + ], + [ + -0.9921675970527779, + -0.03419831753110889, + -0.12014131028317454, + 723.4773469547582 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.03444785408023748, + 0.12007000507560436, + -0.9921675970527779, + 738.9825783087958 + ], + [ + 0.9994064965514617, + 0.004138610293739283, + -0.03419831753110889, + -296.54845249355293 + ], + [ + -0.0, + -0.9927568009265817, + -0.12014131028317454, + 3.531142710092611 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73898.25783087958, + 29654.845249355294, + 353.1142710092611 + ], + "rotation_deg": [ + 0.0, + -6.900258064270021, + 178.0258941650391 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.8761002773520222, + 0.48212892883927766, + -2.7755575407601745e-17, + -497.2170962445457 + ], + [ + 0.08592653391905652, + -0.15614134663028859, + -0.9839900968206626, + -106.77600691681134 + ], + [ + -0.4744101050985827, + 0.8620739888980896, + -0.1782231462119561, + 617.3740801365624 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8761002773520222, + 0.08592653391905652, + -0.4744101050985827, + 737.6754182117694 + ], + [ + 0.48212892883927766, + -0.15614134663028859, + 0.8620739888980896, + -309.171537591442 + ], + [ + -2.7755575407601745e-17, + -0.9839900968206626, + -0.1782231462119561, + 4.963815349852366 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73767.54182117694, + 30917.153759144203, + 496.3815349852366 + ], + "rotation_deg": [ + 1.616151774565458e-15, + -10.266280174255364, + -118.82453918457028 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9718158494742131, + -0.23574128766661565, + -0.0, + -781.4217079655737 + ], + [ + -0.022998319589077672, + -0.09480787904894461, + -0.995229894731021, + -8.6498775518582 + ], + [ + 0.23461676690516656, + 0.9671801879206915, + -0.09755745374220519, + 133.79154832426653 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9718158494742131, + -0.022998319589077672, + 0.23461676690516656, + 727.8093283126815 + ], + [ + -0.23574128766661565, + -0.09480787904894461, + 0.9671801879206915, + -314.433962967726 + ], + [ + -0.0, + -0.995229894731021, + -0.09755745374220519, + 4.4437451779064245 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72780.93283126815, + 31443.396296772604, + 444.37451779064247 + ], + "rotation_deg": [ + 0.0, + -5.598535060882568, + -76.36467742919919 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.7521026959687817, + -0.6590459276230228, + -0.0, + -744.8049469550277 + ], + [ + -0.0840274067045089, + -0.0958920106610165, + -0.9918387556522996, + 34.63939764983819 + ], + [ + 0.6536672877691756, + 0.7459646063077779, + -0.12749856091961148, + -241.26017207177478 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7521026959687817, + -0.0840274067045089, + 0.6536672877691756, + 720.7843540683642 + ], + [ + -0.6590459276230228, + -0.0958920106610165, + 0.7459646063077779, + -307.56747375585036 + ], + [ + -0.0, + -0.9918387556522996, + -0.12749856091961148, + 3.596371926726141 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72078.43540683642, + 30756.747375585037, + 359.6371926726141 + ], + "rotation_deg": [ + 0.0, + -7.325067520141598, + -48.77285003662108 + ] + } + } + ] + }, + { + "frame": 24, + "time": 497.05149487033486, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.08253406830236591, + 0.9965882437443561, + -0.0, + 356.438876639569 + ], + [ + 0.11086865504690757, + 0.009181767099572748, + -0.9937926526600098, + -75.7092187830551 + ], + [ + -0.9904020762083184, + -0.08202172719667106, + -0.1112482076706256, + 708.0426032384901 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.08253406830236591, + 0.11086865504690757, + -0.9904020762083184, + 739.0589845859319 + ], + [ + 0.9965882437443561, + 0.009181767099572748, + -0.08202172719667106, + -296.45275647267505 + ], + [ + -0.0, + -0.9937926526600098, + -0.1112482076706256, + 3.529203665346257 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73905.89845859319, + 29645.275647267503, + 352.9203665346257 + ], + "rotation_deg": [ + 0.0, + -6.387274265289308, + 175.26576232910156 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.8624555071996243, + 0.5061328858126479, + -0.0, + -479.84627854483733 + ], + [ + 0.09179240921400417, + -0.15641518475652685, + -0.9834167191929728, + -111.18129158007574 + ], + [ + -0.4977395557188902, + 0.8481531570165343, + -0.1813602958633666, + 630.230044534055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8624555071996243, + 0.09179240921400417, + -0.4977395557188902, + 737.7420741557246 + ], + [ + 0.5061328858126479, + -0.15641518475652685, + 0.8481531570165343, + -309.05606133947833 + ], + [ + -0.0, + -0.9834167191929728, + -0.1813602958633666, + 4.961164097105784 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73774.20741557245, + 30905.606133947833, + 496.1164097105784 + ], + "rotation_deg": [ + 0.0, + -10.44900321960449, + -120.40658569335935 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9713323184100845, + -0.23772573948163506, + -6.9388938506650176e-18, + -781.6925139532818 + ], + [ + -0.023060862959470955, + -0.09422522580770266, + -0.9952837803466162, + -8.42164094781599 + ], + [ + 0.23660456269371774, + 0.9667513042081899, + -0.09700616848571379, + 132.21195654770287 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9713323184100845, + -0.023060862959470955, + 0.23660456269371774, + 727.8070399686152 + ], + [ + -0.23772573948163506, + -0.09422522580770266, + 0.9667513042081899, + -314.4380353106879 + ], + [ + -6.9388938506650176e-18, + -0.9952837803466162, + -0.09700616848571379, + 4.4434518169977135 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72780.70399686151, + 31443.80353106879, + 444.3451816997714 + ], + "rotation_deg": [ + 3.9945324445420624e-16, + -5.566798210144042, + -76.24765014648436 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.7530794403555952, + -0.6579295984478154, + -1.3877787702120404e-17, + -745.1398444595538 + ], + [ + -0.08485717053785895, + -0.09712922271558017, + -0.9916477069519071, + 34.87050841487573 + ], + [ + 0.652434372618585, + 0.7467895043936337, + -0.12897606581573318, + -240.24254767393003 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7530794403555952, + -0.08485717053785895, + 0.652434372618585, + 720.8510100123193 + ], + [ + -0.6579295984478154, + -0.09712922271558017, + 0.7467895043936337, + -307.4519975038867 + ], + [ + -1.3877787702120404e-17, + -0.9916477069519071, + -0.12897606581573318, + 3.593720673979559 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72085.10100123193, + 30745.199750388667, + 359.3720673979559 + ], + "rotation_deg": [ + 8.018358383680045e-16, + -7.410427093505853, + -48.85783767700194 + ] + } + } + ] + }, + { + "frame": 25, + "time": 497.11816154047847, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.13043802622275025, + 0.9914564646594991, + -8.673617313404456e-19, + 390.236459249852 + ], + [ + 0.10152150372679457, + 0.013356375229079297, + -0.9947436813178507, + -67.56851529729026 + ], + [ + -0.9862450564672696, + -0.12975237937622078, + -0.10239633118467109, + 690.8770086830236 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.13043802622275025, + 0.10152150372679457, + -0.9862450564672696, + 739.1353543118082 + ], + [ + 0.9914564646594991, + 0.013356375229079297, + -0.12975237937622078, + -296.35703936115476 + ], + [ + -8.673617313404456e-19, + -0.9947436813178507, + -0.10239633118467109, + 3.5299158733464857 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73913.53543118082, + 29635.703936115475, + 352.99158733464856 + ], + "rotation_deg": [ + 4.9958766097507704e-17, + -5.877178668975828, + 172.50509643554688 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.8481499822144909, + 0.529756177566207, + -0.0, + -462.109258032658 + ], + [ + 0.09770973467740937, + -0.15643519271367115, + -0.982843241941413, + -115.54422175022033 + ], + [ + -0.5206672926056787, + 0.8335984693601526, + -0.18444284288386864, + 642.6002874119273 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8481499822144909, + 0.09770973467740937, + -0.5206672926056787, + 737.80869354842 + ], + [ + 0.529756177566207, + -0.15643519271367115, + 0.8335984693601526, + -308.9405639968723 + ], + [ + -0.0, + -0.982843241941413, + -0.18444284288386864, + 4.961164097105784 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73780.869354842, + 30894.05639968723, + 496.1164097105784 + ], + "rotation_deg": [ + 0.0, + -10.6286506652832, + -121.98898315429685 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9708538951963956, + -0.239672097211975, + -0.0, + -781.9552269247349 + ], + [ + -0.02308758182206186, + -0.0935222289259224, + -0.9953494643904405, + -8.181492550821538 + ], + [ + 0.23855748362536963, + 0.9663389069707122, + -0.09632987013891715, + 130.6618470258614 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9708538951963956, + -0.02308758182206186, + 0.23855748362536963, + 727.8050262258367 + ], + [ + -0.239672097211975, + -0.0935222289259224, + 0.9663389069707122, + -314.44161897249427 + ], + [ + -0.0, + -0.9953494643904405, + -0.09632987013891715, + 4.443193659398048 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72780.50262258368, + 31444.16189724943, + 444.3193659398048 + ], + "rotation_deg": [ + 0.0, + -5.52786684036255, + -76.1328125 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.7540331434849018, + -0.656836371196265, + -0.0, + -745.4655777960427 + ], + [ + -0.08566520509146452, + -0.09834169774239675, + -0.9914587147843222, + 35.09658905368389 + ], + [ + 0.6512261393763826, + 0.7475927355537181, + -0.13042092293892354, + -239.24917334763887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7540331434849018, + -0.08566520509146452, + 0.6512261393763826, + 720.9176294050147 + ], + [ + -0.656836371196265, + -0.09834169774239675, + 0.7475927355537181, + -307.33650016128064 + ], + [ + -0.0, + -0.9914587147843222, + -0.13042092293892354, + 3.593720673979559 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72091.76294050147, + 30733.650016128064, + 359.3720673979559 + ], + "rotation_deg": [ + 0.0, + -7.493916511535639, + -48.94095993041991 + ] + } + } + ] + }, + { + "frame": 26, + "time": 497.1848282106221, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.17804891752414945, + 0.984021637449339, + -1.7347234626573959e-18, + 423.143355261878 + ], + [ + 0.09209402798220066, + 0.016663497395415502, + -0.9956108767307467, + -59.62509889744917 + ], + [ + -0.9797026491842616, + -0.17726741638158683, + -0.09358943461062452, + 672.020583498839 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.17804891752414945, + 0.09209402798220066, + -0.9797026491842616, + 739.211665729855 + ], + [ + 0.984021637449339, + 0.016663497395415502, + -0.17726741638158683, + -296.2612886370223 + ], + [ + -1.7347234626573959e-18, + -0.9956108767307467, + -0.09358943461062452, + 3.530628081346714 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73921.1665729855, + 29626.12886370223, + 353.0628081346714 + ], + "rotation_deg": [ + 9.983050218262935e-17, + -5.370138645172119, + 169.74386596679688 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.8331940320807417, + 0.5529807455102175, + -0.0, + -444.01896157692 + ], + [ + 0.10366590676278536, + -0.1561967854148286, + -0.982270809909937, + -119.8567780903551 + ], + [ + -0.5431768582787405, + 0.8184221674011237, + -0.18746748127844498, + 654.4760724405014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8331940320807417, + 0.10366590676278536, + -0.5431768582787405, + 737.8752546332857 + ], + [ + 0.5529807455102175, + -0.1561967854148286, + 0.8184221674011237, + -308.8250330416541 + ], + [ + -0.0, + -0.982270809909937, + -0.18746748127844498, + 4.961164097105784 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73787.52546332858, + 30882.50330416541, + 496.1164097105784 + ], + "rotation_deg": [ + 0.0, + -10.80502605438232, + -123.57174682617189 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9703806440618469, + -0.24158105395522053, + 1.3877787701301937e-17, + -782.210090069286 + ], + [ + -0.02311113376261397, + -0.09283259799719992, + -0.9954134740123305, + -7.947778108022774 + ], + [ + 0.24047302622825045, + 0.9659299704225813, + -0.09566616902572592, + 129.13962045449426 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9703806440618469, + -0.02311113376261397, + 0.24047302622825045, + 727.8032541321918 + ], + [ + -0.24158105395522053, + -0.09283259799719992, + 0.9659299704225813, + -314.44477259488394 + ], + [ + 1.3877787701301937e-17, + -0.9954134740123305, + -0.09566616902572592, + 4.442966480710342 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72780.32541321918, + 31444.477259488394, + 444.2966480710342 + ], + "rotation_deg": [ + -7.988023983817877e-16, + -5.4896631240844735, + -76.02012634277344 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.7549635171822284, + -0.6557667937032485, + -6.938893851101174e-18, + -745.782070219686 + ], + [ + -0.08645134548974376, + -0.09952869294813395, + -0.9912720131946874, + 35.31510656070068 + ], + [ + 0.6500432647318414, + 0.7483742097721757, + -0.13183245474707914, + -238.28089793293086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7549635171822284, + -0.08645134548974376, + 0.6500432647318414, + 720.9841904898806 + ], + [ + -0.6557667937032485, + -0.09952869294813395, + 0.7483742097721757, + -307.2209692060624 + ], + [ + -6.938893851101174e-18, + -0.9912720131946874, + -0.13183245474707914, + 3.593720673979559 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72098.41904898806, + 30722.096920606244, + 359.3720673979559 + ], + "rotation_deg": [ + 4.0106986775083105e-16, + -7.575495719909664, + -49.0221824645996 + ] + } + } + ] + }, + { + "frame": 27, + "time": 497.2514948807657, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.22525648553649325, + 0.9742995000120589, + -0.0, + 455.08326768615973 + ], + [ + 0.08265176166386201, + 0.019108955054961012, + -0.9963952700261917, + -51.925421740183225 + ], + [ + -0.9707874184135574, + -0.2244444748023073, + -0.08483198677773067, + 651.5182338334076 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.22525648553649325, + 0.08265176166386201, + -0.9707874184135574, + 739.2878761893974 + ], + [ + 0.9742995000120589, + 0.019108955054961012, + -0.2244444748023073, + -296.1654798061854 + ], + [ + -0.0, + -0.9963952700261917, + -0.08483198677773067, + 3.5313402893469426 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73928.78761893974, + 29616.547980618536, + 353.13402893469424 + ], + "rotation_deg": [ + 0.0, + -4.866363525390623, + 166.98204040527344 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.8175984705475265, + 0.5757887989170555, + -0.0, + -425.58857737726504 + ], + [ + 0.10964783608610477, + -0.15569580938610664, + -0.9817006503925929, + -124.10810090579096 + ], + [ + -0.5652522518042358, + 0.8026369405008388, + -0.1904306529256625, + 665.8495773060595 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8175984705475265, + 0.10964783608610477, + -0.5652522518042358, + 737.9417147596472 + ], + [ + 0.5757887989170555, + -0.15569580938610664, + 0.8026369405008388, + -308.70944397973136 + ], + [ + -0.0, + -0.9817006503925929, + -0.1904306529256625, + 4.961164097105784 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73794.17147596471, + 30870.944397973137, + 496.1164097105784 + ], + "rotation_deg": [ + 0.0, + -10.97791767120361, + -125.15489196777341 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9699129763907656, + -0.24345188072554813, + -0.0, + -782.4571548160194 + ], + [ + -0.023131401151604017, + -0.09215556713785794, + -0.9954759111732755, + -7.720352049430701 + ], + [ + 0.24235047286592398, + 0.9655250063506824, + -0.09501426426162636, + 127.6460119053624 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9699129763907656, + -0.023131401151604017, + 0.24235047286592398, + 727.8016946897843 + ], + [ + -0.24345188072554813, + -0.09215556713785794, + 0.9655250063506824, + -314.44754778258687 + ], + [ + -0.0, + -0.9954759111732755, + -0.09501426426162636, + 4.442766563465161 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72780.16946897843, + 31444.754778258684, + 444.2766563465161 + ], + "rotation_deg": [ + 0.0, + -5.45214080810547, + -75.90963745117188 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.7558701864684426, + -0.6547215142395749, + -0.0, + -746.089189253582 + ], + [ + -0.08721545269650136, + -0.10068946729083877, + -0.9910878346481865, + 35.526174622843236 + ], + [ + 0.6488865227818937, + 0.7491337505855514, + -0.13321000069682395, + -237.3383246421294 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7558701864684426, + -0.08721545269650136, + 0.6488865227818937, + 721.0506506162419 + ], + [ + -0.6547215142395749, + -0.10068946729083877, + 0.7491337505855514, + -307.1053801441397 + ], + [ + -0.0, + -0.9910878346481865, + -0.13321000069682395, + 3.593720673979559 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72105.06506162419, + 30710.53801441397, + 359.3720673979559 + ], + "rotation_deg": [ + 0.0, + -7.655125617980954, + -49.10146331787109 + ] + } + } + ] + }, + { + "frame": 28, + "time": 497.3181615509093, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.27194640411528337, + 0.9623123990102005, + -0.0, + 485.97878553481553 + ], + [ + 0.07323101031939191, + 0.02069484914313854, + -0.9971002669473836, + -44.49806760374158 + ], + [ + -0.9595219559170087, + -0.2711578108227683, + -0.07609899961892973, + 629.4229247802535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.27194640411528337, + 0.07323101031939191, + -0.9595219559170087, + 739.3639234744238 + ], + [ + 0.9623123990102005, + 0.02069484914313854, + -0.2711578108227683, + -296.069577308188 + ], + [ + -0.0, + -0.9971002669473836, + -0.07609899961892973, + 3.52941863962012 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73936.39234744238, + 29606.957730818798, + 352.941863962012 + ], + "rotation_deg": [ + 0.0, + -4.364370822906494, + 164.21987915039062 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.8013733942169252, + 0.5981644280975296, + -0.0, + -406.8301745915637 + ], + [ + 0.11563200262692135, + -0.1549146122245297, + -0.9811374536158587, + -128.2780274752243 + ], + [ + -0.5868815371254681, + 0.7862574411078274, + -0.19331140081179762, + 676.7159578134678 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8013733942169252, + 0.11563200262692135, + -0.5868815371254681, + 738.0080117114927 + ], + [ + 0.5981644280975296, + -0.1549146122245297, + 0.7862574411078274, + -308.59376125064824 + ], + [ + -0.0, + -0.9811374536158587, + -0.19331140081179762, + 4.958530239378733 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73800.80117114927, + 30859.376125064824, + 495.85302393787333 + ], + "rotation_deg": [ + 0.0, + -11.146097183227536, + -126.73854827880858 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.96945159908137, + -0.2452826880123719, + 6.938893850638966e-18, + -782.6963251235303 + ], + [ + -0.02318079538436064, + -0.09161942628504204, + -0.995524249555252, + -7.516030611305016 + ], + [ + 0.2441848540046263, + 0.9651125780909335, + -0.09450644785098673, + 126.18167847445378 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.96945159908137, + -0.02318079538436064, + 0.2441848540046263, + 727.8003223804657 + ], + [ + -0.2452826880123719, + -0.09161942628504204, + 0.9651125780909335, + -314.4499899477654 + ], + [ + 6.938893850638966e-18, + -0.995524249555252, + -0.09450644785098673, + 4.442590636289402 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72780.03223804657, + 31444.99899477654, + 444.25906362894017 + ], + "rotation_deg": [ + -3.9935675639063934e-16, + -5.422913551330568, + -75.80146026611328 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.7567528206478332, + -0.6537011308247436, + -0.0, + -746.3867964408743 + ], + [ + -0.08795737727135754, + -0.10182328010188285, + -0.9909064130445605, + 35.727288421754835 + ], + [ + 0.6477566376709074, + 0.7498712272699465, + -0.13455289244733917, + -236.42235704619816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7567528206478332, + -0.08795737727135754, + 0.6477566376709074, + 721.1169475680875 + ], + [ + -0.6537011308247436, + -0.10182328010188285, + 0.7498712272699465, + -306.9896974150566 + ], + [ + -0.0, + -0.9909064130445605, + -0.13455289244733917, + 3.591086816252508 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72111.69475680875, + 30698.969741505658, + 359.1086816252508 + ], + "rotation_deg": [ + 0.0, + -7.732766628265381, + -49.17876434326172 + ] + } + } + ] + }, + { + "frame": 29, + "time": 497.3848282210529, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.31801603198187506, + 0.9480853355065161, + -0.0, + 515.7618572640985 + ], + [ + 0.06392776695274849, + 0.021443275218378688, + -0.9977241234731893, + -37.401991903525605 + ], + [ + -0.9459276172387557, + -0.3172922460997464, + -0.06742828419875416, + 605.7843825203556 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.31801603198187506, + 0.06392776695274849, + -0.9459276172387557, + 739.4397278521092 + ], + [ + 0.9480853355065161, + 0.021443275218378688, + -0.3172922460997464, + -295.9735359400932 + ], + [ + -0.0, + -0.9977241234731893, + -0.06742828419875416, + 3.5301308476203483 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73943.97278521092, + 29597.35359400932, + 353.01308476203485 + ], + "rotation_deg": [ + 0.0, + -3.866289615631104, + 161.45701599121094 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.7845316724644112, + 0.6200887476000461, + -1.3877787704556444e-17, + -387.75878194943914 + ], + [ + 0.1216138734505362, + -0.15386496836508204, + -0.9805792356022889, + -132.3617626639305 + ], + [ + -0.6080461632879031, + 0.7692954569065602, + -0.19612333694333298, + 687.0662649318891 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7845316724644112, + 0.1216138734505362, + -0.6080461632879031, + 738.0740657559971 + ], + [ + 0.6200887476000461, + -0.15386496836508204, + 0.7692954569065602, + -308.4779396514677 + ], + [ + -1.3877787704556444e-17, + -0.9805792356022889, + -0.19612333694333298, + 4.958530239378733 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73807.40657559971, + 30847.793965146768, + 495.85302393787333 + ], + "rotation_deg": [ + 8.108867103642863e-16, + -11.310353279113764, + -128.3226165771484 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9689974591734436, + -0.24707068647537025, + -0.0, + -782.9273988392541 + ], + [ + -0.023193777531466845, + -0.09096470251992406, + -0.9955839851962678, + -7.300816572623979 + ], + [ + 0.24597960877647213, + 0.9647183545000731, + -0.09387506887797809, + 124.75104261133914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9689974591734436, + -0.023193777531466845, + 0.24597960877647213, + 727.7991147482653 + ], + [ + -0.24707068647537025, + -0.09096470251992406, + 0.9647183545000731, + -314.4521390531225 + ], + [ + -0.0, + -0.9955839851962678, + -0.09387506887797809, + 4.442435820374733 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72779.91147482653, + 31445.213905312252, + 444.24358203747335 + ], + "rotation_deg": [ + 0.0, + -5.386576652526857, + -75.69576263427734 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.7576110893234286, + -0.6527062412250767, + -0.0, + -746.674733467207 + ], + [ + -0.08867700851837283, + -0.10292943559946806, + -0.9907279744952229, + 35.923786507058466 + ], + [ + 0.646654327217444, + 0.750586504178012, + -0.13586051978697175, + -235.5328321147954 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7576110893234286, + -0.08867700851837283, + 0.646654327217444, + 721.1830016125919 + ], + [ + -0.6527062412250767, + -0.10292943559946806, + 0.750586504178012, + -306.87387581587603 + ], + [ + -0.0, + -0.9907279744952229, + -0.13586051978697175, + 3.591086816252508 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72118.30016125919, + 30687.3875815876, + 359.1086816252508 + ], + "rotation_deg": [ + 0.0, + -7.8083825111389125, + -49.25404739379882 + ] + } + } + ] + }, + { + "frame": 30, + "time": 497.4514948911965, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.3633589836398524, + 0.9316492092028058, + -0.0, + 544.3633449458559 + ], + [ + 0.05480766010909434, + 0.021375916467486468, + -0.9982680955477546, + -30.681720970825264 + ], + [ + -0.9300356895469333, + -0.36272966063439893, + -0.058828644936072004, + 580.6597653880085 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.3633589836398524, + 0.05480766010909434, + -0.9300356895469333, + 739.5151950446912 + ], + [ + 0.9316492092028058, + 0.021375916467486468, + -0.36272966063439893, + -295.8773029218383 + ], + [ + -0.0, + -0.9982680955477546, + -0.058828644936072004, + 3.530843055620577 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73951.51950446912, + 29587.730292183827, + 353.0843055620577 + ], + "rotation_deg": [ + 0.0, + -3.372580289840699, + 158.69337463378906 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.7670856194964701, + 0.641544739173907, + 1.3877787704679078e-17, + -368.38844077770653 + ], + [ + 0.12757890145139225, + -0.15254421816401464, + -0.9800274921700846, + -136.350395602856 + ], + [ + -0.6287314948532077, + 0.7517649846756408, + -0.19886205066649829, + 696.893491302342 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7670856194964701, + 0.12757890145139225, + -0.6287314948532077, + 738.1397826153983 + ], + [ + 0.641544739173907, + -0.15254421816401464, + 0.7517649846756408, + -308.361926402127 + ], + [ + 1.3877787704679078e-17, + -0.9800274921700846, + -0.19886205066649829, + 4.958530239378733 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73813.97826153983, + 30836.1926402127, + 495.85302393787333 + ], + "rotation_deg": [ + -8.113432296224768e-16, + -11.470422744750973, + -129.9071044921875 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9685517511640309, + -0.24881218884349116, + -2.081668155187851e-17, + -783.1500733503955 + ], + [ + -0.02320258361280817, + -0.0903207479270687, + -0.9956424069953956, + -7.091986197996399 + ], + [ + 0.2477279567175685, + 0.9643311992950288, + -0.0932534049070081, + 123.35616735818624 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9685517511640309, + -0.02320258361280817, + 0.2477279567175685, + 727.7980520319289 + ], + [ + -0.24881218884349116, + -0.0903207479270687, + 0.9643311992950288, + -314.45403026583676 + ], + [ + -2.081668155187851e-17, + -0.9956424069953956, + -0.0932534049070081, + 4.4422995823698255 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72779.8052031929, + 31445.403026583677, + 444.22995823698255 + ], + "rotation_deg": [ + 1.197928088688923e-15, + -5.3508009910583505, + -75.59276580810547 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.7584447056045408, + -0.6517373923141446, + -6.938893851179681e-18, + -746.9528413701175 + ], + [ + -0.08937421309087533, + -0.1040072267384547, + -0.9905527481262985, + 36.11316300507434 + ], + [ + 0.6455802599078992, + 0.7512794916329789, + -0.13713224809993504, + -234.67059027774786 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7584447056045408, + -0.08937421309087533, + 0.6455802599078992, + 721.248718471993 + ], + [ + -0.6517373923141446, + -0.1040072267384547, + 0.7512794916329789, + -306.7578625665353 + ], + [ + -6.938893851179681e-18, + -0.9905527481262985, + -0.13713224809993504, + 3.591086816252508 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72124.8718471993, + 30675.786256653533, + 359.1086816252508 + ], + "rotation_deg": [ + 4.013610945945306e-16, + -7.88193559646606, + -49.32727813720702 + ] + } + } + ] + }, + { + "frame": 31, + "time": 497.5181615613401, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.4078710615635182, + 0.9130395375552192, + -0.0, + 571.7170319356001 + ], + [ + 0.045936654616391806, + 0.020520723706262588, + -0.9987335598953435, + -24.377581246086308 + ], + [ + -0.9118832362374627, + -0.40735449806174306, + -0.0503117916393136, + 554.1099546591422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.4078710615635182, + 0.045936654616391806, + -0.9118832362374627, + 739.5902202289612 + ], + [ + 0.9130395375552192, + 0.020520723706262588, + -0.40735449806174306, + -295.7808206333941 + ], + [ + -0.0, + -0.9987335598953435, + -0.0503117916393136, + 3.531555263620805 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73959.02202289613, + 29578.082063339414, + 353.15552636208054 + ], + "rotation_deg": [ + 0.0, + -2.8838708400726327, + 155.9288330078125 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.7490476643480956, + 0.6625161103963155, + -0.0, + -348.73305582319574 + ], + [ + 0.13351206783299285, + -0.15095014446179114, + -0.9794838342871834, + -140.23221098862717 + ], + [ + -0.64892383292128, + 0.7336800665659079, + -0.20152275055338092, + 706.1918112216047 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7490476643480956, + 0.13351206783299285, + -0.64892383292128, + 738.2050574664873 + ], + [ + 0.6625161103963155, + -0.15095014446179114, + 0.7336800665659079, + -308.24566388259706 + ], + [ + -0.0, + -0.9794838342871834, + -0.20152275055338092, + 4.958530239378733 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73820.50574664873, + 30824.566388259707, + 495.85302393787333 + ], + "rotation_deg": [ + 0.0, + -11.626019477844233, + -131.49205017089838 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9681158568972659, + -0.2505028694926926, + -0.0, + -783.3639832272601 + ], + [ + -0.02320680347520976, + -0.089687094114922, + -0.9956995879388942, + -6.889696320393956 + ], + [ + 0.24942559407604134, + 0.9639525622710468, + -0.09264086954955654, + 122.00067162024487 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9681158568972659, + -0.02320680347520976, + 0.24942559407604134, + 727.7971168415529 + ], + [ + -0.2505028694926926, + -0.089687094114922, + 0.9639525622710468, + -314.4556945330253 + ], + [ + -0.0, + -0.9956995879388942, + -0.09264086954955654, + 4.442179692925507 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72779.71168415529, + 31445.56945330253, + 444.21796929255066 + ], + "rotation_deg": [ + 0.0, + -5.315552711486818, + -75.4927291870117 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.759253382275204, + -0.6507951302089336, + 6.9388938511984485e-18, + -747.2209491430506 + ], + [ + -0.09004889498487598, + -0.10505599214527314, + -0.9903809544949734, + 36.29553449867403 + ], + [ + 0.6445350971181659, + 0.75195009363291, + -0.13836750076638094, + -233.83611516429377 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.759253382275204, + -0.09004889498487598, + 0.6445350971181659, + 721.3139933230821 + ], + [ + -0.6507951302089336, + -0.10505599214527314, + 0.75195009363291, + -306.6416000470054 + ], + [ + 6.9388938511984485e-18, + -0.9903809544949734, + -0.13836750076638094, + 3.591086816252508 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72131.39933230821, + 30664.16000470054, + 359.1086816252508 + ], + "rotation_deg": [ + -4.014307155627806e-16, + -7.953391551971433, + -49.39842224121092 + ] + } + } + ] + }, + { + "frame": 32, + "time": 497.5848282314837, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.4514416024071868, + 0.8923006666006873, + -1.7347234625625571e-18, + 597.7544712850988 + ], + [ + 0.03733601897022814, + 0.018889408987708058, + -0.9991242224646292, + -18.504284602167104 + ], + [ + -0.8915192190500998, + -0.4510462215258448, + -0.04184242000122358, + 526.205813915223 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.4514416024071868, + 0.03733601897022814, + -0.8915192190500998, + 739.6646930364975 + ], + [ + 0.8923006666006873, + 0.018889408987708058, + -0.4510462215258448, + -295.68402993780666 + ], + [ + -1.7347234625625571e-18, + -0.9991242224646292, + -0.04184242000122358, + 3.5296450198388065 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73966.46930364975, + 29568.402993780666, + 352.96450198388067 + ], + "rotation_deg": [ + 9.94794556695908e-17, + -2.3980941772460938, + 153.16378784179688 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.7304294695176548, + 0.6829881331766736, + -0.0, + -328.80548974771733 + ], + [ + 0.13938159819732895, + -0.14906324412735053, + -0.9789550139481324, + -143.98033325764078 + ], + [ + -0.6686146700838225, + 0.7150575792527291, + -0.20407616544302457, + 714.9594313119867 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7304294695176548, + 0.13938159819732895, + -0.6686146700838225, + 738.2697799408427 + ], + [ + 0.6829881331766736, + -0.14906324412735053, + 0.7150575792527291, + -308.12909295592385 + ], + [ + -0.0, + -0.9789550139481324, + -0.20407616544302457, + 4.955907787596507 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73826.97799408427, + 30812.909295592384, + 495.5907787596507 + ], + "rotation_deg": [ + 0.0, + -11.77542400360107, + -133.07759094238278 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9676911812868555, + -0.25213840972697943, + -2.0816681551845627e-17, + -783.5687833748982 + ], + [ + -0.02323860003569305, + -0.08918826903184954, + -0.9957436518178177, + -6.7097555471371555 + ], + [ + 0.25106521102629226, + 0.9635723531819376, + -0.09216604578556484, + 120.68730306504018 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9676911812868555, + -0.02323860003569305, + 0.25106521102629226, + 727.7962938740221 + ], + [ + -0.25213840972697943, + -0.08918826903184954, + 0.9635723531819376, + -314.45715908815123 + ], + [ + -2.0816681551845627e-17, + -0.9957436518178177, + -0.09216604578556484, + 4.442074190214505 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72779.62938740221, + 31445.715908815124, + 444.20741902145056 + ], + "rotation_deg": [ + 1.1978062862367794e-15, + -5.2882304191589355, + -75.39591217041014 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.7600367883512421, + -0.6498800507422345, + -0.0, + -747.4788638181142 + ], + [ + -0.09070095904096387, + -0.1060750603609684, + -0.9902128142972428, + 36.468423785827135 + ], + [ + 0.6435195488693625, + 0.7525981713515102, + -0.13956569313887762, + -233.03030284816518 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7600367883512421, + -0.09070095904096387, + 0.6435195488693625, + 721.3787157974375 + ], + [ + -0.6498800507422345, + -0.1060750603609684, + 0.7525981713515102, + -306.5250291203322 + ], + [ + -0.0, + -0.9902128142972428, + -0.13956569313887762, + 3.5884643644702816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72137.87157974375, + 30652.50291203322, + 358.84643644702817 + ], + "rotation_deg": [ + 0.0, + -8.022715568542477, + -49.467441558837876 + ] + } + } + ] + }, + { + "frame": 33, + "time": 497.6514949016273, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.49398041544706534, + 0.8694730295729387, + 1.7347234625540925e-18, + 622.421147953952 + ], + [ + 0.02912530943301524, + 0.01654718658819338, + -0.9994387960082631, + -13.125605677886032 + ], + [ + -0.8689850878692772, + -0.4937031739921199, + -0.033497657394676986, + 497.00780922627024 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.49398041544706534, + 0.02912530943301524, + -0.8689850878692772, + 739.7385033739596 + ], + [ + 0.8694730295729387, + 0.01654718658819338, + -0.4937031739921199, + -295.5868738807537 + ], + [ + 1.7347234625540925e-18, + -0.9994387960082631, + -0.033497657394676986, + 3.530357227839035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73973.85033739595, + 29558.687388075374, + 353.0357227839035 + ], + "rotation_deg": [ + -9.944814449225935e-17, + -1.9196335077285775, + 150.39746093750003 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.7112463388437841, + 0.7029428465254577, + -0.0, + -308.62229833294356 + ], + [ + 0.1451870318265269, + -0.14690204949752403, + -0.9784377924236318, + -147.59506832821356 + ], + [ + -0.6877858593904426, + 0.6959102848888147, + -0.20654173188128241, + 723.1880040970932 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7112463388437841, + 0.1451870318265269, + -0.6877858593904426, + 738.3338399451237 + ], + [ + 0.7029428465254577, + -0.14690204949752403, + 0.6959102848888147, + -308.0121566677852 + ], + [ + -0.0, + -0.9784377924236318, + -0.20654173188128241, + 4.955907787596507 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73833.38399451238, + 30801.215666778517, + 495.5907787596507 + ], + "rotation_deg": [ + 0.0, + -11.919765472412108, + -134.66358947753903 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9672791499336865, + -0.2537144972278194, + -0.0, + -783.76414695588 + ], + [ + -0.023232492927370018, + -0.08857320435043235, + -0.9957986938852028, + -6.520767716082984 + ], + [ + 0.25264855513632273, + 0.9632153166356228, + -0.0915694347807466, + 119.42144407098557 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9672791499336865, + -0.023232492927370018, + 0.25264855513632273, + 727.795569662595 + ], + [ + -0.2537144972278194, + -0.08857320435043235, + 0.9632153166356228, + -314.45844789666205 + ], + [ + -0.0, + -0.9957986938852028, + -0.0915694347807466, + 4.4419813478288255 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72779.5569662595, + 31445.844789666204, + 444.1981347828825 + ], + "rotation_deg": [ + 0.0, + -5.253901958465575, + -75.30257415771483 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.7607946788257525, + -0.6489926476243165, + -0.0, + -747.7264243279104 + ], + [ + -0.09133030021417883, + -0.10706378057263884, + -0.9900485458563543, + 36.63713041055589 + ], + [ + 0.6425342219076748, + 0.7532236696526512, + -0.14072624898181846, + -232.2528533767185 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7607946788257525, + -0.09133030021417883, + 0.6425342219076748, + 721.4427758017185 + ], + [ + -0.6489926476243165, + -0.10706378057263884, + 0.7532236696526512, + -306.4080928321935 + ], + [ + -0.0, + -0.9900485458563543, + -0.14072624898181846, + 3.5884643644702816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72144.27758017185, + 30640.80928321935, + 358.84643644702817 + ], + "rotation_deg": [ + 0.0, + -8.089873313903803, + -49.534305572509744 + ] + } + } + ] + }, + { + "frame": 34, + "time": 497.7181615717709, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.5353920001231397, + 0.8446036977210933, + -0.0, + 645.6605408970984 + ], + [ + 0.021382804612751022, + 0.01355450202355556, + -0.9996794742025, + -8.284097803859051 + ], + [ + -0.8443329911258204, + -0.5352203763202441, + -0.02531696798871433, + 466.58479781260473 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.5353920001231397, + 0.021382804612751022, + -0.8443329911258204, + 739.811547728656 + ], + [ + 0.8446036977210933, + 0.01355450202355556, + -0.5352203763202441, + -295.4893014532734 + ], + [ + -0.0, + -0.9996794742025, + -0.02531696798871433, + 3.5310694358392634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73981.1547728656, + 29548.930145327344, + 353.10694358392635 + ], + "rotation_deg": [ + 0.0, + -1.4507104158401494, + 147.62950134277347 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.69151210720251, + 0.7223648701261326, + -0.0, + -288.19816795093413 + ], + [ + 0.15091134871014564, + -0.14446580815745338, + -0.9779342488653819, + -151.0662270995749 + ], + [ + -0.7064253588847379, + 0.6762533598898474, + -0.20891291382358887, + 730.8727092022532 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.69151210720251, + 0.15091134871014564, + -0.7064253588847379, + 738.3971339666392 + ], + [ + 0.7223648701261326, + -0.14446580815745338, + 0.6762533598898474, + -307.89480400921906 + ], + [ + -0.0, + -0.9779342488653819, + -0.20891291382358887, + 4.955907787596507 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73839.71339666392, + 30789.480400921908, + 495.5907787596507 + ], + "rotation_deg": [ + 0.0, + -12.058653831481934, + -136.2500762939453 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9668811045942394, + -0.2552272116734889, + -0.0, + -783.9498104251406 + ], + [ + -0.023220711491790325, + -0.08796737240294229, + -0.9958526698012797, + -6.338789388279395 + ], + [ + 0.2541686903433857, + 0.9628711319130822, + -0.09098054834715147, + 118.20549537754815 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9668811045942394, + -0.023220711491790325, + 0.2541686903433857, + 727.7949323565391 + ], + [ + -0.2552272116734889, + -0.08796737240294229, + 0.9628711319130822, + -314.45958204815156 + ], + [ + -0.0, + -0.9958526698012797, + -0.09098054834715147, + 4.441899646529426 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72779.4932356539, + 31445.958204815157, + 444.1899646529426 + ], + "rotation_deg": [ + 0.0, + -5.220019817352297, + -75.21295166015625 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.7615268075930258, + -0.6481334132084032, + -0.0, + -747.9634768743396 + ], + [ + -0.09193684887624966, + -0.10802154864739372, + -0.9898883577689578, + 36.7991735113817 + ], + [ + 0.6415797148597103, + 0.753826525148482, + -0.14184864984587522, + -231.5045553713785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7615268075930258, + -0.09193684887624966, + 0.6415797148597103, + 721.506069823234 + ], + [ + -0.6481334132084032, + -0.10802154864739372, + 0.753826525148482, + -306.2907401736274 + ], + [ + -0.0, + -0.9898883577689578, + -0.14184864984587522, + 3.5884643644702816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72150.6069823234, + 30629.074017362742, + 358.84643644702817 + ], + "rotation_deg": [ + 0.0, + -8.154833793640135, + -49.59898376464843 + ] + } + } + ] + }, + { + "frame": 35, + "time": 497.7848282419145, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.5755871843530308, + 0.8177404192092685, + -0.0, + 667.4209778825762 + ], + [ + 0.01420869836634369, + 0.010001150113031588, + -0.9998490335481408, + -4.02728391675 + ], + [ + -0.8176169791088485, + -0.5755002739837708, + -0.017375560926947704, + 435.00511397747897 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.5755871843530308, + 0.01420869836634369, + -0.8176169791088485, + 739.8837354996634 + ], + [ + 0.8177404192092685, + 0.010001150113031588, + -0.5755002739837708, + -295.3912710482104 + ], + [ + -0.0, + -0.9998490335481408, + -0.017375560926947704, + 3.531781643839492 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73988.37354996635, + 29539.12710482104, + 353.1781643839492 + ], + "rotation_deg": [ + 0.0, + -0.9955964088439941, + 144.85923767089847 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.6712410127103028, + 0.7412391671084625, + -0.0, + -267.54798833214835 + ], + [ + 0.15653642833680384, + -0.14175407256572417, + -0.977446739988726, + -154.3803301207777 + ], + [ + -0.7245218194109131, + 0.6561023258849228, + -0.21118208059846194, + 738.0098723591453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.6712410127103028, + 0.15653642833680384, + -0.7245218194109131, + 738.4595714044658 + ], + [ + 0.7412391671084625, + -0.14175407256572417, + 0.6561023258849228, + -307.7769933730703 + ], + [ + -0.0, + -0.977446739988726, + -0.21118208059846194, + 4.955907787596507 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73845.95714044658, + 30777.69933730703, + 495.5907787596507 + ], + "rotation_deg": [ + 0.0, + -12.191634178161621, + -137.8370819091797 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.966498194992737, + -0.25667340936641925, + 6.938893850597674e-18, + -784.1256156129061 + ], + [ + -0.02320303383558317, + -0.08737052418403146, + -0.9959056234024547, + -6.163907056987994 + ], + [ + 0.2556224819729319, + 0.9625409899367248, + -0.09039905642000967, + 117.04213148854747 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.966498194992737, + -0.02320303383558317, + 0.2556224819729319, + 727.7943715272099 + ], + [ + -0.25667340936641925, + -0.08737052418403146, + 0.9625409899367248, + -314.4605801014623 + ], + [ + 6.938893850597674e-18, + -0.9959056234024547, + -0.09039905642000967, + 4.441827749385955 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72779.43715272099, + 31446.058010146233, + 444.1827749385955 + ], + "rotation_deg": [ + -3.9920382601111538e-16, + -5.186564922332766, + -75.12723541259767 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.7622328410894619, + -0.6473029398702645, + -0.0, + -748.1898507285815 + ], + [ + -0.0925205313314331, + -0.10894773237087292, + -0.9897324602605462, + 36.954674961371495 + ], + [ + 0.6406567260436482, + 0.7544065892833186, + -0.14293235260410447, + -230.78593432097267 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7622328410894619, + -0.0925205313314331, + 0.6406567260436482, + 721.5685072610606 + ], + [ + -0.6473029398702645, + -0.10894773237087292, + 0.7544065892833186, + -306.17292953747864 + ], + [ + -0.0, + -0.9897324602605462, + -0.14293235260410447, + 3.5884643644702816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72156.85072610606, + 30617.292953747863, + 358.84643644702817 + ], + "rotation_deg": [ + 0.0, + -8.217564582824702, + -49.66143798828123 + ] + } + } + ] + }, + { + "frame": 36, + "time": 497.8514949120581, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.614492944102576, + 0.7889223166118119, + 8.673617312701569e-19, + 687.6601662476767 + ], + [ + 0.007791467050537397, + 0.006068787035110292, + -0.9999512302433168, + -0.44094455559809953 + ], + [ + -0.788883852865519, + -0.6144629602764244, + -0.009876089124152358, + 402.326975178394 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.614492944102576, + 0.007791467050537397, + -0.788883852865519, + 739.9549948258343 + ], + [ + 0.7889223166118119, + 0.006068787035110292, + -0.6144629602764244, + -295.29275325136024 + ], + [ + 8.673617312701569e-19, + -0.9999512302433168, + -0.009876089124152358, + 3.5324938518397198 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73995.49948258343, + 29529.275325136023, + 353.249385183972 + ], + "rotation_deg": [ + -4.969859068608026e-17, + -0.5658674240112304, + 142.0849151611328 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.6504480938938084, + 0.7595507074250613, + -1.3877787705358968e-17, + -246.68724935005287 + ], + [ + 0.16204250039726034, + -0.13876655565301238, + -0.9769780299971965, + -157.5227269062598 + ], + [ + -0.7420643655320186, + 0.635473483168676, + -0.2133399390574444, + 744.596412780642 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.6504480938938084, + 0.16204250039726034, + -0.7420643655320186, + 738.5210803974556 + ], + [ + 0.7595507074250613, + -0.13876655565301238, + 0.635473483168676, + -307.65869534513433 + ], + [ + -1.3877787705358968e-17, + -0.9769780299971965, + -0.2133399390574444, + 4.955907787596507 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73852.10803974557, + 30765.869534513433, + 495.5907787596507 + ], + "rotation_deg": [ + 8.138756924322336e-16, + -12.318153381347654, + -139.42460632324216 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.966131301929646, + -0.25805097835839996, + -0.0, + -784.2915338791838 + ], + [ + -0.02317934386649197, + -0.08678242496917034, + -0.9959575938434271, + -5.9961342924355545 + ], + [ + 0.2570078217157566, + 0.9622258093538364, + -0.08982467027646775, + 115.93319209602042 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.966131301929646, + -0.02317934386649197, + 0.2570078217157566, + 727.7938779974002 + ], + [ + -0.25805097835839996, + -0.08678242496917034, + 0.9622258093538364, + -314.4614583883758 + ], + [ + -0.0, + -0.9959575938434271, + -0.08982467027646775, + 4.4417644798997005 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72779.38779974001, + 31446.14583883758, + 444.1764479899701 + ], + "rotation_deg": [ + 0.0, + -5.153520584106446, + -75.0455551147461 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.7629126169198047, + -0.6465016155776991, + -6.938893851285897e-18, + -748.4054578742156 + ], + [ + -0.09308127417102101, + -0.10984176489735137, + -0.9895810543269984, + 37.1037368621723 + ], + [ + 0.6397657451881834, + 0.7549638759886638, + -0.14397686354405062, + -230.0973183860709 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7629126169198047, + -0.09308127417102101, + 0.6397657451881834, + 721.6300162540505 + ], + [ + -0.6465016155776991, + -0.10984176489735137, + 0.7549638759886638, + -306.0546315095427 + ], + [ + -6.938893851285897e-18, + -0.9895810543269984, + -0.14397686354405062, + 3.5884643644702816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72163.00162540504, + 30605.463150954267, + 358.84643644702817 + ], + "rotation_deg": [ + 4.0175520085927583e-16, + -8.278036117553706, + -49.72164535522459 + ] + } + } + ] + }, + { + "frame": 37, + "time": 497.9181615822017, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.6194782941743849, + 0.7850137852590832, + 4.336808656350448e-19, + 690.1607459639176 + ], + [ + 0.007343112402890632, + 0.005794673712350357, + -0.9999562492713399, + -0.19048595048506956 + ], + [ + -0.7849794522025884, + -0.6194511765064094, + -0.009354119122058371, + 398.07958187985815 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.6194782941743849, + 0.007343112402890632, + -0.7849794522025884, + 740.025277387924 + ], + [ + 0.7850137852590832, + 0.005794673712350357, + -0.6194511765064094, + -295.19373268743396 + ], + [ + 4.336808656350448e-19, + -0.9999562492713399, + -0.009354119122058371, + 3.5332060598399484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74002.5277387924, + 29519.3732687434, + 353.3206059839948 + ], + "rotation_deg": [ + -2.4849170618271717e-17, + -0.5359593629837036, + 141.72195434570312 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.6291484013067783, + 0.7772852044990467, + -1.3877787705458824e-17, + -225.63123099145236 + ], + [ + 0.16740749585210218, + -0.1355025900049155, + -0.9765315040665549, + -160.47695040773047 + ], + [ + -0.75904350126976, + 0.6143832199102662, + -0.21537460916467752, + 750.6303005887589 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.6291484013067783, + 0.16740749585210218, + -0.75904350126976, + 738.5816126263645 + ], + [ + 0.7772852044990467, + -0.1355025900049155, + 0.6143832199102662, + -307.5398945501223 + ], + [ + -1.3877787705458824e-17, + -0.9765315040665549, + -0.21537460916467752, + 4.955907787596507 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73858.16126263645, + 30753.989455012234, + 495.5907787596507 + ], + "rotation_deg": [ + 8.14247842849499e-16, + -12.437505722045895, + -141.0126800537109 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9657809244784634, + -0.2593592217630307, + -0.0, + -784.4477044562904 + ], + [ + -0.023149667149452442, + -0.08620286099329186, + -0.9960086142536321, + -5.835387806193073 + ], + [ + 0.2583240092963343, + 0.9619261228209832, + -0.08925715912832169, + 114.8793689051532 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9657809244784634, + -0.023149667149452442, + 0.2583240092963343, + 727.7934436911677 + ], + [ + -0.2593592217630307, + -0.08620286099329186, + 0.9619261228209832, + -314.46223128085967 + ], + [ + -0.0, + -0.9960086142536321, + -0.08925715912832169, + 4.441708802751797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72779.34436911676, + 31446.223128085967, + 444.1708802751797 + ], + "rotation_deg": [ + 0.0, + -5.120873451232909, + -74.96795654296872 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.7635658416752172, + -0.6457299787270351, + -0.0, + -748.6101885405717 + ], + [ + -0.09361901151821622, + -0.11070305186640045, + -0.9894343409190005, + 37.24647550900392 + ], + [ + 0.6389074107232727, + 0.7554982694813732, + -0.1449816724056324, + -229.43918743260284 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7635658416752172, + -0.09361901151821622, + 0.6389074107232727, + 721.6905484829592 + ], + [ + -0.6457299787270351, + -0.11070305186640045, + 0.7554982694813732, + -305.93583071453065 + ], + [ + -0.0, + -0.9894343409190005, + -0.1449816724056324, + 3.5884643644702816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72169.05484829593, + 30593.583071453068, + 358.84643644702817 + ], + "rotation_deg": [ + 0.0, + -8.336217880249023, + -49.779571533203125 + ] + } + } + ] + }, + { + "frame": 38, + "time": 497.9848282523453, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.6220003423038614, + 0.7830169692758129, + -0.0, + 691.4028437382854 + ], + [ + 0.007297691137797725, + 0.0057970217298562105, + -0.9999565681783991, + -0.1565492004161162 + ], + [ + -0.7829829733239436, + -0.6219733127125086, + -0.0093199655699366, + 395.9736538977665 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.6220003423038614, + 0.007297691137797725, + -0.7829829733239436, + 740.0945617380958 + ], + [ + 0.7830169692758129, + 0.0057970217298562105, + -0.6219733127125086, + -295.0942087674894 + ], + [ + -0.0, + -0.9999565681783991, + -0.0093199655699366, + 3.5339182678401766 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74009.45617380958, + 29509.42087674894, + 353.39182678401767 + ], + "rotation_deg": [ + 0.0, + -0.5340024232864381, + 141.5376434326172 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.6073571524889761, + 0.7944289076566149, + -2.77555754111056e-17, + -204.39517971459827 + ], + [ + 0.17260545326871357, + -0.131960400220819, + -0.9761115767551695, + -163.22331509967927 + ], + [ + -0.7754512648096521, + 0.5928483325952372, + -0.21726985627131584, + 756.1107652012918 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.6073571524889761, + 0.17260545326871357, + -0.7754512648096521, + 738.6411466433553 + ], + [ + 0.7944289076566149, + -0.131960400220819, + 0.5928483325952372, + -307.42059039909196 + ], + [ + -2.77555754111056e-17, + -0.9761115767551695, + -0.21726985627131584, + 4.955907787596507 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73864.11466433553, + 30742.059039909196, + 495.5907787596507 + ], + "rotation_deg": [ + 1.6291962714127136e-15, + -12.548728942871088, + -142.6013488769531 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9654472734788829, + -0.260598469167014, + -2.0816681551743313e-17, + -784.5943802111307 + ], + [ + -0.023114135048816535, + -0.08563165675160164, + -0.9960587111826894, + -5.681519038485465 + ], + [ + 0.25957136558147925, + 0.9616421695056463, + -0.08869635842942167, + 113.88051658853017 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9654472734788829, + -0.023114135048816535, + 0.25957136558147925, + 727.7930615016829 + ], + [ + -0.260598469167014, + -0.08563165675160164, + 0.9616421695056463, + -314.46291142624546 + ], + [ + -2.0816681551743313e-17, + -0.9960587111826894, + -0.08869635842942167, + 4.441659806861641 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72779.3061501683, + 31446.29114262455, + 444.1659806861641 + ], + "rotation_deg": [ + 1.1974274128938665e-15, + -5.088613986968994, + -74.89442443847655 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.7641923491967377, + -0.6449884134069165, + -0.0, + -748.8040073403823 + ], + [ + -0.09413369412202263, + -0.11153107149584063, + -0.9892925086757359, + 37.38299752325179 + ], + [ + 0.6380822003655404, + 0.7560097704203064, + -0.14594633467718862, + -228.81187549645688 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7641923491967377, + -0.09413369412202263, + 0.6380822003655404, + 721.75008249995 + ], + [ + -0.6449884134069165, + -0.11153107149584063, + 0.7560097704203064, + -305.8165265635003 + ], + [ + -0.0, + -0.9892925086757359, + -0.14594633467718862, + 3.5884643644702816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72175.00824999501, + 30581.65265635003, + 358.84643644702817 + ], + "rotation_deg": [ + 0.0, + -8.392083168029782, + -49.83519363403319 + ] + } + } + ] + }, + { + "frame": 39, + "time": 498.0514949224889, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.62453404946537, + 0.7809975806994455, + -0.0, + 692.6466578688267 + ], + [ + 0.007252991217149496, + 0.005799941110606763, + -0.9999568764709394, + -0.122967674455706 + ], + [ + -0.7809639132618463, + -0.6245071024279268, + -0.009286829373833119, + 393.84733492124695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.62453404946537, + 0.007252991217149496, + -0.7809639132618463, + 740.1628548413457 + ], + [ + 0.7809975806994455, + 0.005799941110606763, + -0.6245071024279268, + -294.9941953271864 + ], + [ + -0.0, + -0.9999568764709394, + -0.009286829373833119, + 3.5346304758404052 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74016.28548413457, + 29499.41953271864, + 353.4630475840405 + ], + "rotation_deg": [ + 0.0, + -0.5321037769317627, + 141.3520050048828 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5850899178299629, + 0.810968426052289, + 1.387778770563946e-17, + -182.9944971330397 + ], + [ + 0.17760305598320394, + -0.12813539232027146, + -0.9757245901074528, + -165.73582934804108 + ], + [ + -0.7912818459253577, + 0.570886604605831, + -0.21900119860536013, + 761.0389120057492 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5850899178299629, + 0.17760305598320394, + -0.7912818459253577, + 738.6996894134244 + ], + [ + 0.810968426052289, + -0.12813539232027146, + 0.570886604605831, + -307.3007967277032 + ], + [ + 1.387778770563946e-17, + -0.9757245901074528, + -0.21900119860536013, + 4.955907787596507 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73869.96894134243, + 30730.07967277032, + 495.5907787596507 + ], + "rotation_deg": [ + -8.149212172499959e-16, + -12.650375366210938, + -144.1906585693359 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9651300556348925, + -0.2617708457987433, + -1.387778770115156e-17, + -784.7320123123051 + ], + [ + -0.023073039335199587, + -0.08506861667233888, + -0.9961079084684, + -5.534256098126688 + ], + [ + 0.2607519999652826, + 0.9613736836981474, + -0.08814212844468818, + 112.93502785259008 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9651300556348925, + -0.023073039335199587, + 0.2607519999652826, + 727.7927251749365 + ], + [ + -0.2617708457987433, + -0.08506861667233888, + 0.9613736836981474, + -314.463509954185 + ], + [ + -1.387778770115156e-17, + -0.9961079084684, + -0.08814212844468818, + 4.4416166904783045 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72779.27251749365, + 31446.3509954185, + 444.16166904783046 + ], + "rotation_deg": [ + 7.982455150231404e-16, + -5.056734085083009, + -74.82483673095705 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.7647918851929152, + -0.6442774032534953, + -0.0, + -748.9868765195714 + ], + [ + -0.09462528283474937, + -0.11232529354692708, + -0.9891557431860971, + 37.51342019562862 + ], + [ + 0.6372906884226655, + 0.7564982897509005, + -0.14687040564296186, + -228.21582087558292 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7647918851929152, + -0.09462528283474937, + 0.6372906884226655, + 721.8086252700191 + ], + [ + -0.6442774032534953, + -0.11232529354692708, + 0.7564982897509005, + -305.6967328921115 + ], + [ + -0.0, + -0.9891557431860971, + -0.14687040564296186, + 3.5884643644702816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72180.86252700191, + 30569.673289211154, + 358.84643644702817 + ], + "rotation_deg": [ + 0.0, + -8.445605278015135, + -49.8884811401367 + ] + } + } + ] + }, + { + "frame": 40, + "time": 498.11816159263253, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.6270757220658305, + 0.7789583036309564, + -0.0, + 693.8902932559507 + ], + [ + 0.0072089954781479676, + 0.005803373587208901, + -0.9999571747025988, + -0.08974640138985768 + ], + [ + -0.7789249564769595, + -0.6270488524949575, + -0.009254661642846123, + 391.70371995751754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.6270757220658305, + 0.0072089954781479676, + -0.7789249564769595, + 740.230191676553 + ], + [ + 0.7789583036309564, + 0.005803373587208901, + -0.6270488524949575, + -294.89371927188137 + ], + [ + -0.0, + -0.9999571747025988, + -0.009254661642846123, + 3.5353426838406334 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74023.0191676553, + 29489.371927188135, + 353.53426838406335 + ], + "rotation_deg": [ + 0.0, + -0.5302606225013733, + 141.16529846191406 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5623619532784876, + 0.8268911860122853, + 6.938893852858204e-18, + -161.4441032770958 + ], + [ + 0.18235061252735818, + -0.12401516472433441, + -0.9753812039553015, + -167.97398779060705 + ], + [ + -0.8065341310496017, + 0.5485172629374403, + -0.22052552621336957, + 765.4196910302758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5623619532784876, + 0.18235061252735818, + -0.8065341310496017, + 738.7572759154506 + ], + [ + 0.8268911860122853, + -0.12401516472433441, + 0.5485172629374403, + -307.1805404413124 + ], + [ + 6.938893852858204e-18, + -0.9753812039553015, + -0.22052552621336957, + 4.955907787596507 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73875.72759154506, + 30718.05404413124, + 495.5907787596507 + ], + "rotation_deg": [ + -4.076040564710155e-16, + -12.739901542663572, + -145.78070068359372 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9648286734417103, + -0.2628794988292354, + -0.0, + -784.8611523697714 + ], + [ + -0.02302676412845319, + -0.08451355996437965, + -0.9961562258581329, + -5.393264294449126 + ], + [ + 0.26186903967914954, + 0.9611200925247962, + -0.08759437083881295, + 112.04045678286995 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9648286734417103, + -0.02302676412845319, + 0.26186903967914954, + 727.7924292073996 + ], + [ + -0.2628794988292354, + -0.08451355996437965, + 0.9611200925247962, + -314.46403665877176 + ], + [ + -0.0, + -0.9961562258581329, + -0.08759437083881295, + 4.441578748060968 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72779.24292073995, + 31446.403665877177, + 444.1578748060968 + ], + "rotation_deg": [ + 0.0, + -5.025228023529052, + -74.75901031494139 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.7653642361063553, + -0.6435973788707775, + -6.938893851346839e-18, + -749.1588011319094 + ], + [ + -0.09509372618813183, + -0.11308519812523908, + -0.9890242268036872, + 37.637849680827266 + ], + [ + 0.636533394790452, + 0.7569637760061142, + -0.14775344033594626, + -227.65141881829956 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7653642361063553, + -0.09509372618813183, + 0.636533394790452, + 721.8662117720454 + ], + [ + -0.6435973788707775, + -0.11308519812523908, + 0.7569637760061142, + -305.57647660572076 + ], + [ + -6.938893851346839e-18, + -0.9890242268036872, + -0.14775344033594626, + 3.5884643644702816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72186.62117720454, + 30557.647660572075, + 358.84643644702817 + ], + "rotation_deg": [ + 4.0198139183711123e-16, + -8.496757507324215, + -49.9394073486328 + ] + } + } + ] + }, + { + "frame": 41, + "time": 498.18482826277614, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.6296204603371311, + 0.7769028741901132, + 4.3368086563503665e-19, + 695.1312947340327 + ], + [ + 0.007165690734367782, + 0.005807245215187767, + -0.9999574634849775, + -0.05689805847030005 + ], + [ + -0.7768698394489738, + -0.6295936636692889, + -0.00922340620421078, + 389.5470502487238 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.6296204603371311, + 0.007165690734367782, + -0.7768698394489738, + 740.2966329166543 + ], + [ + 0.7769028741901132, + 0.005807245215187767, + -0.6295936636692889, + -294.7928184327668 + ], + [ + 4.3368086563503665e-19, + -0.9999574634849775, + -0.00922340620421078, + 3.536054891840862 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74029.66329166543, + 29479.281843276684, + 353.6054891840862 + ], + "rotation_deg": [ + -2.4849140444785928e-17, + -0.5284697413444519, + 140.97787475585938 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5460926967425449, + 0.837724755850306, + -0.0, + -146.2292658099915 + ], + [ + 0.1854531545217775, + -0.12089246803911598, + -0.9751882580555066, + -169.30366190460418 + ], + [ + -0.8169393556437408, + 0.5325431692389928, + -0.22137719416705776, + 768.185961612604 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5460926967425449, + 0.1854531545217775, + -0.8169393556437408, + 738.813966822371 + ], + [ + 0.837724755850306, + -0.12089246803911598, + 0.5325431692389928, + -307.0598593711121 + ], + [ + -0.0, + -0.9751882580555066, + -0.22137719416705776, + 4.955907787596507 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73881.3966822371, + 30705.98593711121, + 495.5907787596507 + ], + "rotation_deg": [ + 0.0, + -12.789935111999513, + -146.900634765625 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9645421155990126, + -0.2639289814245135, + -0.0, + -784.9824933893572 + ], + [ + -0.022975812637591343, + -0.0839662958173739, + -0.9962036805796048, + -5.258118902121958 + ], + [ + 0.2629270129873192, + 0.9608804082323709, + -0.08705301210617822, + 111.1932061824986 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9645421155990126, + -0.022975812637591343, + 0.2629270129873192, + 727.7921687559672 + ], + [ + -0.2639289814245135, + -0.0839662958173739, + 0.9608804082323709, + -314.4645001588081 + ], + [ + -0.0, + -0.9962036805796048, + -0.08705301210617822, + 4.441545358733712 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72779.21687559671, + 31446.45001588081, + 444.1545358733712 + ], + "rotation_deg": [ + 0.0, + -4.994091510772704, + -74.69667816162108 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.7659092715253162, + -0.6429486665291089, + -6.938893851360648e-18, + -749.3198409114394 + ], + [ + -0.09553897334877733, + -0.11381030755513007, + -0.9888981335130872, + 37.756380636726064 + ], + [ + 0.6358107310461658, + 0.7574062532172955, + -0.14859502641030206, + -227.11897093420552 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7659092715253162, + -0.09553897334877733, + 0.6358107310461658, + 721.9229026789658 + ], + [ + -0.6429486665291089, + -0.11381030755513007, + 0.7574062532172955, + -305.45579553552045 + ], + [ + -6.938893851360648e-18, + -0.9888981335130872, + -0.14859502641030206, + 3.5884643644702816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72192.29026789658, + 30545.579553552045, + 358.84643644702817 + ], + "rotation_deg": [ + 4.020326480338115e-16, + -8.545515060424801, + -49.98795318603514 + ] + } + } + ] + }, + { + "frame": 42, + "time": 498.25149493291974, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.6321621756966395, + 0.7748361011326789, + -4.3368086563503463e-19, + 696.3666606634619 + ], + [ + 0.007123069527206114, + 0.005811467900597976, + -0.9999577434678681, + -0.02444379241168182 + ], + [ + -0.7748033712781245, + -0.6321354479667272, + -0.009193001683800935, + 387.382721255619 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.6321621756966395, + 0.007123069527206114, + -0.7748033712781245, + 740.3622608754642 + ], + [ + 0.7748361011326789, + 0.005811467900597976, + -0.6321354479667272, + -294.6915388828096 + ], + [ + -4.3368086563503463e-19, + -0.9999577434678681, + -0.009193001683800935, + 3.5367670998410903 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74036.22608754643, + 29469.15388828096, + 353.67670998410904 + ], + "rotation_deg": [ + 2.484913348715764e-17, + -0.5267276167869567, + 140.79017639160156 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5385119562467298, + 0.8426178688939133, + -0.0, + -139.25812815396944 + ], + [ + 0.1867632891363232, + -0.11935928242288137, + -0.9751270868612343, + -169.79711733589136 + ], + [ + -0.8216595179744083, + 0.5251175785518348, + -0.22164648704168824, + 769.376858990537 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5385119562467298, + 0.1867632891363232, + -0.8216595179744083, + 738.8698444480001 + ], + [ + 0.8426178688939133, + -0.11935928242288137, + 0.5251175785518348, + -306.9387995900691 + ], + [ + -0.0, + -0.9751270868612343, + -0.22164648704168824, + 4.955907787596507 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73886.98444480001, + 30693.87995900691, + 495.5907787596507 + ], + "rotation_deg": [ + 0.0, + -12.80575752258301, + -147.4176025390625 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9642691634004827, + -0.2649244807769437, + -0.0, + -785.0967771726478 + ], + [ + -0.022920734802087197, + -0.08342663428957246, + -0.9962502881340842, + -5.128361271171171 + ], + [ + 0.26393108059850184, + 0.9606534344838804, + -0.0865179952867159, + 110.3891519318487 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9642691634004827, + -0.022920734802087197, + 0.26393108059850184, + 727.7919395587066 + ], + [ + -0.2649244807769437, + -0.08342663428957246, + 0.9606534344838804, + -314.4649080388401 + ], + [ + -0.0, + -0.9962502881340842, + -0.0865179952867159, + 4.441515976125726 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72779.19395587067, + 31446.49080388401, + 444.15159761257263 + ], + "rotation_deg": [ + 0.0, + -4.963321208953857, + -74.63753509521483 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.7664267297834932, + -0.642331742850515, + 6.938893851373846e-18, + -749.4700285319007 + ], + [ + -0.09596100071744676, + -0.11450014231001537, + -0.9887776310942172, + 37.869128852278884 + ], + [ + 0.635123253834504, + 0.7578256104459532, + -0.14939476761550596, + -226.61893183320353 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7664267297834932, + -0.09596100071744676, + 0.635123253834504, + 721.9787803045948 + ], + [ + -0.642331742850515, + -0.11450014231001537, + 0.7578256104459532, + -305.33473575447744 + ], + [ + 6.938893851373846e-18, + -0.9887776310942172, + -0.14939476761550596, + 3.5884643644702816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72197.87803045948, + 30533.473575447744, + 358.84643644702817 + ], + "rotation_deg": [ + -4.020816437895664e-16, + -8.59185409545898, + -50.03408813476563 + ] + } + } + ] + }, + { + "frame": 43, + "time": 498.31816160306334, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.6346940197895935, + 0.7727635480813825, + -0.0, + 697.5930605181698 + ], + [ + 0.007081127150246994, + 0.00581594339793856, + -0.9999580153389811, + 0.007590192891068881 + ], + [ + -0.7727311159299312, + -0.6346673576867308, + -0.009163381506127576, + 385.2169180245998 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.6346940197895935, + 0.007081127150246994, + -0.7727311159299312, + 740.4271740567607 + ], + [ + 0.7727635480813825, + 0.00581594339793856, + -0.6346673576867308, + -294.58993196539967 + ], + [ + -0.0, + -0.9999580153389811, + -0.009163381506127576, + 3.537479307841319 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74042.71740567607, + 29458.993196539966, + 353.7479307841319 + ], + "rotation_deg": [ + 0.0, + -0.5250304341316225, + 140.6027069091797 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5308740597633211, + 0.847450725806763, + -2.0816681558680266e-17, + -132.2634796201662 + ], + [ + 0.18805814796550727, + -0.11780648649156364, + -0.9750670565270353, + -170.27360729281 + ], + [ + -0.8263212947912932, + 0.5176377901086688, + -0.2219104234276847, + 770.5095237213222 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5308740597633211, + 0.18805814796550727, + -0.8263212947912932, + 738.9250072961155 + ], + [ + 0.847450725806763, + -0.11780648649156364, + 0.5176377901086688, + -306.8174124415734 + ], + [ + -2.0816681558680266e-17, + -0.9750670565270353, + -0.2219104234276847, + 4.955907787596507 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73892.50072961155, + 30681.74124415734, + 495.5907787596507 + ], + "rotation_deg": [ + 1.2232061354503111e-15, + -12.821266174316406, + -147.9354705810547 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9640082840413368, + -0.2658722029465985, + 6.938893850555427e-18, + -785.2048376391872 + ], + [ + -0.022862154709951555, + -0.08289436160370119, + -0.996296063776392, + -5.00347112129917 + ], + [ + 0.2648874195635768, + 0.9604376614538865, + -0.08598926338758459, + 109.62333066120895 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9640082840413368, + -0.022862154709951555, + 0.2648874195635768, + 727.7917378651173 + ], + [ + -0.2658722029465985, + -0.08289436160370119, + 0.9604376614538865, + -314.4652669732683 + ], + [ + 6.938893850555427e-18, + -0.996296063776392, + -0.08598926338758459, + 4.441490119430699 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72779.17378651173, + 31446.526697326826, + 444.1490119430699 + ], + "rotation_deg": [ + -3.9904738125619505e-16, + -4.932913780212404, + -74.58121490478516 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.7669165175131352, + -0.6417468777995923, + -6.938893851386419e-18, + -749.609470739601 + ], + [ + -0.09635977966550877, + -0.11515429089860381, + -0.9886628758836117, + 37.9761864402865 + ], + [ + 0.6344713085486291, + 0.7582218939284193, + -0.1501523166527625, + -226.1515612588131 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7669165175131352, + -0.09635977966550877, + 0.6344713085486291, + 722.0339431527103 + ], + [ + -0.6417468777995923, + -0.11515429089860381, + 0.7582218939284193, + -305.21334860598176 + ], + [ + -6.938893851386419e-18, + -0.9886628758836117, + -0.1501523166527625, + 3.5884643644702816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72203.39431527103, + 30521.334860598174, + 358.84643644702817 + ], + "rotation_deg": [ + 4.0212831385836296e-16, + -8.635753631591792, + -50.07779693603514 + ] + } + } + ] + }, + { + "frame": 44, + "time": 498.38482827320695, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.6372088067144088, + 0.7706912070638923, + -0.0, + 698.8070445319172 + ], + [ + 0.0070398634672758685, + 0.005820571142241314, + -0.9999582797666813, + 0.039173631370608586 + ], + [ + -0.7706590657428055, + -0.6371822075835715, + -0.009134480135860813, + 383.0562456802315 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.6372088067144088, + 0.0070398634672758685, + -0.7706590657428055, + 740.4914807588997 + ], + [ + 0.7706912070638923, + 0.005820571142241314, + -0.6371822075835715, + -294.4880512650479 + ], + [ + -0.0, + -0.9999582797666813, + -0.009134480135860813, + 3.538191515841547 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74049.14807588997, + 29448.80512650479, + 353.8191515841547 + ], + "rotation_deg": [ + 0.0, + -0.5233744382858276, + 140.41600036621097 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5231791764998389, + 0.8522227110778909, + -0.0, + -125.24563474046437 + ], + [ + 0.18933596218502488, + -0.11623327035309722, + -0.9750085744681914, + -170.73160433584025 + ], + [ + -0.8309244605671635, + 0.5101041661913823, + -0.22216723535517804, + 771.584016238922 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5231791764998389, + 0.18933596218502488, + -0.8309244605671635, + 738.9795636650737 + ], + [ + 0.8522227110778909, + -0.11623327035309722, + 0.5101041661913823, + -306.6957515101359 + ], + [ + -0.0, + -0.9750085744681914, + -0.22216723535517804, + 4.955907787596507 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73897.95636650737, + 30669.57515101359, + 495.5907787596507 + ], + "rotation_deg": [ + 0.0, + -12.836357116699219, + -148.45425415039062 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9637579482595151, + -0.2667782171891289, + -0.0, + -785.3074685435809 + ], + [ + -0.022800671733305588, + -0.08236927602320283, + -0.996341021807254, + -4.882949800700108 + ], + [ + 0.26580207181966015, + 0.9602315815673886, + -0.08546676767590962, + 108.89087721370183 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9637579482595151, + -0.022800671733305588, + 0.26580207181966015, + 727.7915603747587 + ], + [ + -0.2667782171891289, + -0.08236927602320283, + 0.9602315815673886, + -314.46558283556504 + ], + [ + -0.0, + -0.996341021807254, + -0.08546676767590962, + 4.441467365539076 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72779.15603747587, + 31446.558283556504, + 444.14673655390754 + ], + "rotation_deg": [ + 0.0, + -4.9028663635253915, + -74.52735900878906 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.7673784098942563, + -0.6411944915765906, + 1.3877787702796697e-17, + -749.7382341285908 + ], + [ + -0.09673528692933037, + -0.11577231501469805, + -0.9885540224685938, + 38.07765809775732 + ], + [ + 0.6338553885789608, + 0.7585950180157546, + -0.15086730928564857, + -225.71727018164302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7673784098942563, + -0.09673528692933037, + 0.6338553885789608, + 722.0884995216684 + ], + [ + -0.6411944915765906, + -0.11577231501469805, + 0.7585950180157546, + -305.09168767454423 + ], + [ + 1.3877787702796697e-17, + -0.9885540224685938, + -0.15086730928564857, + 3.5884643644702816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72208.84995216684, + 30509.168767454423, + 358.84643644702817 + ], + "rotation_deg": [ + -8.043451874513027e-16, + -8.677191734313961, + -50.11905288696286 + ] + } + } + ] + }, + { + "frame": 45, + "time": 498.45149494335055, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.6397000422661254, + 0.7686246521708219, + 4.336808656350294e-19, + 700.0055499545064 + ], + [ + 0.006999275177821221, + 0.005825257639653999, + -0.9999585374006348, + 0.07028071935127356 + ], + [ + -0.7685927951219567, + -0.6396735040673098, + -0.009106233077836713, + 380.9067961010945 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.6397000422661254, + 0.006999275177821221, + -0.7685927951219567, + 740.5552922553528 + ], + [ + 0.7686246521708219, + 0.005825257639653999, + -0.6396735040673098, + -294.38594970808555 + ], + [ + 4.336808656350294e-19, + -0.9999585374006348, + -0.009106233077836713, + 3.5389037238417753 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74055.52922553528, + 29438.594970808557, + 353.8903723841775 + ], + "rotation_deg": [ + -2.484911375779801e-17, + -0.5217559337615967, + 140.23054504394534 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5154270239160739, + 0.856933476424523, + -1.3877787705812632e-17, + -118.20448985731508 + ], + [ + 0.1905948794979309, + -0.11463871375774624, + -0.9749520794465433, + -171.16948616269013 + ], + [ + -0.8354690845775983, + 0.5025166317433702, + -0.2224150254285168, + 772.6004827572763 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5154270239160739, + 0.1905948794979309, + -0.8354690845775983, + 739.0336248283458 + ], + [ + 0.856933476424523, + -0.11463871375774624, + 0.5025166317433702, + -306.57386972208775 + ], + [ + -1.3877787705812632e-17, + -0.9749520794465433, + -0.2224150254285168, + 4.955907787596507 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73903.36248283458, + 30657.386972208777, + 495.5907787596507 + ], + "rotation_deg": [ + 8.155669262559262e-16, + -12.85091876983642, + -148.9739990234375 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9635165268601833, + -0.267648841707357, + -0.0, + -785.4054694354588 + ], + [ + -0.022736889662879664, + -0.08185116296350048, + -0.9963851770123742, + -4.766291267668266 + ], + [ + 0.26668132884011536, + 0.9600335878012373, + -0.08495045109682635, + 108.18671274867373 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9635165268601833, + -0.022736889662879664, + 0.26668132884011536, + 727.7914041832431 + ], + [ + -0.267648841707357, + -0.08185116296350048, + 0.9600335878012373, + -314.46586079438623 + ], + [ + -0.0, + -0.9963851770123742, + -0.08495045109682635, + 4.441447342114446 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72779.14041832431, + 31446.58607943862, + 444.14473421144464 + ], + "rotation_deg": [ + 0.0, + -4.873175621032715, + -74.47559356689453 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.7678122643520646, + -0.6406748993916923, + 6.938893851409615e-18, + -749.8564144083373 + ], + [ + -0.0970874978568837, + -0.11635381944969128, + -0.988451216024017, + 38.173634545858405 + ], + [ + 0.6332758781187248, + 0.7589449705342851, + -0.1515394136641394, + -225.31637011654033 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7678122643520646, + -0.0970874978568837, + 0.6332758781187248, + 722.1425606849406 + ], + [ + -0.6406748993916923, + -0.11635381944969128, + 0.7589449705342851, + -304.9698058864961 + ], + [ + 6.938893851409615e-18, + -0.988451216024017, + -0.1515394136641394, + 3.5884643644702816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72214.25606849405, + 30496.98058864961, + 358.84643644702817 + ], + "rotation_deg": [ + -4.022144227349565e-16, + -8.71614837646484, + -50.15783691406247 + ] + } + } + ] + }, + { + "frame": 46, + "time": 498.51816161349416, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.6421613029590524, + 0.7665695408649706, + 4.3368086563502775e-19, + 701.1855828215893 + ], + [ + 0.00695936364415899, + 0.005829913383274128, + -0.9999587888346259, + 0.10088343993098325 + ], + [ + -0.7665379617987202, + -0.6421348242291482, + -0.009078581038081145, + 378.77469862022514 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.6421613029590524, + 0.00695936364415899, + -0.7665379617987202, + 740.6187160759669 + ], + [ + 0.7665695408649706, + 0.005829913383274128, + -0.6421348242291482, + -294.28367693274004 + ], + [ + 4.3368086563502775e-19, + -0.9999587888346259, + -0.009078581038081145, + 3.5396159318420035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74061.87160759668, + 29428.367693274, + 353.96159318420035 + ], + "rotation_deg": [ + -2.484910750962857e-17, + -0.5201715230941772, + 140.0468292236328 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.507617773360872, + 0.8615823792117326, + -2.081668155873715e-17, + -111.14036333072517 + ], + [ + 0.19183304725301323, + -0.11302211680872255, + -0.9748979859932518, + -171.58569712609872 + ], + [ + -0.8399549359293729, + 0.4948755277304556, + -0.22265201023432574, + 773.558971655605 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.507617773360872, + 0.19183304725301323, + -0.8399549359293729, + 739.0872983157789 + ], + [ + 0.8615823792117326, + -0.11302211680872255, + 0.4948755277304556, + -306.45181671565643 + ], + [ + -2.081668155873715e-17, + -0.9748979859932518, + -0.22265201023432574, + 4.955907787596507 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73908.72983157789, + 30645.181671565646, + 495.5907787596507 + ], + "rotation_deg": [ + 1.2234182685354937e-15, + -12.864846229553223, + -149.49472045898438 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9632825065316575, + -0.26848987431575083, + -0.0, + -785.4995607669738 + ], + [ + -0.022671351470641796, + -0.08133981337939357, + -0.9964285446442709, + -4.653035368289099 + ], + [ + 0.26753096504309176, + 0.9598421887033359, + -0.08444024827238635, + 107.5061703672699 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9632825065316575, + -0.022671351470641796, + 0.26753096504309176, + 727.7912667347096 + ], + [ + -0.26848987431575083, + -0.08133981337939357, + 0.9598421887033359, + -314.46610539814884 + ], + [ + -0.0, + -0.9964285446442709, + -0.08444024827238635, + 4.441429721500773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72779.12667347095, + 31446.610539814883, + 444.1429721500773 + ], + "rotation_deg": [ + 0.0, + -4.84383773803711, + -74.42557525634766 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.768217977444722, + -0.6401883622268845, + -0.0, + -749.9641139789304 + ], + [ + -0.09741638285514068, + -0.11689843337144955, + -0.9883545945796586, + 38.26419535829999 + ], + [ + 0.6327331039355001, + 0.7592717718017226, + -0.15216831381473933, + -224.94912086786914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.768217977444722, + -0.09741638285514068, + 0.6327331039355001, + 722.1962341723737 + ], + [ + -0.6401883622268845, + -0.11689843337144955, + 0.7592717718017226, + -304.8477528800648 + ], + [ + -0.0, + -0.9883545945796586, + -0.15216831381473933, + 3.5884643644702816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72219.62341723737, + 30484.77528800648, + 358.84643644702817 + ], + "rotation_deg": [ + 0.0, + -8.752604484558102, + -50.19413375854491 + ] + } + } + ] + }, + { + "frame": 47, + "time": 498.58482828363776, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.6042874244181607, + 0.7967664078574508, + -0.0, + 681.9787333219736 + ], + [ + 0.013093959342326303, + 0.00993078383875102, + -0.9998649547619368, + -3.2371595820081445 + ], + [ + -0.7966588200134871, + -0.6042058028946965, + -0.01643387486548055, + 412.3830127226198 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.6042874244181607, + 0.013093959342326303, + -0.7966588200134871, + 740.6821085124886 + ], + [ + 0.7967664078574508, + 0.00993078383875102, + -0.6042058028946965, + -294.1813903608804 + ], + [ + -0.0, + -0.9998649547619368, + -0.01643387486548055, + 3.540328139842232 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74068.21085124886, + 29418.13903608804, + 354.0328139842232 + ], + "rotation_deg": [ + 0.0, + -0.941634058952332, + 142.82241821289065 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.4997497560781537, + 0.8661698339816652, + -6.938893852918034e-18, + -104.05191605629426 + ], + [ + 0.19304537534170646, + -0.11138044232682844, + -0.9748476189262913, + -171.9756284104186 + ], + [ + -0.8443836097877703, + 0.48717984245192214, + -0.22287243129264508, + 774.4607099317187 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.4997497560781537, + 0.19304537534170646, + -0.8443836097877703, + 739.1409404191197 + ], + [ + 0.8661698339816652, + -0.11138044232682844, + 0.48717984245192214, + -306.32974991271107 + ], + [ + -6.938893852918034e-18, + -0.9748476189262913, + -0.22287243129264508, + 4.955907787596507 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73914.09404191197, + 30632.974991271105, + 495.5907787596507 + ], + "rotation_deg": [ + 4.0782715946834786e-16, + -12.877800941467289, + -150.01655578613284 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9630510873207176, + -0.26931877619353584, + -0.0, + -785.5917389172163 + ], + [ + -0.022605608320049084, + -0.08083489751388549, + -0.996471126433877, + -4.541950194825381 + ], + [ + 0.26836837461872776, + 0.9596526044418411, + -0.08393625136074191, + 106.83509242559495 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9630510873207176, + -0.022605608320049084, + 0.26836837461872776, + 727.7911457799997 + ], + [ + -0.26931877619353584, + -0.08083489751388549, + 0.9596526044418411, + -314.46632064945993 + ], + [ + -0.0, + -0.996471126433877, + -0.08393625136074191, + 4.44141421536074 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72779.11457799998, + 31446.632064945992, + 444.141421536074 + ], + "rotation_deg": [ + 0.0, + -4.814857959747315, + -74.37626647949219 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.7685953994046048, + -0.6397351889759355, + 6.938893851430107e-18, + -750.0616764944267 + ], + [ + -0.09772193304516501, + -0.11740581017540987, + -0.9882642862812414, + 38.34943917015116 + ], + [ + 0.6322274346680896, + 0.7595753879854941, + -0.15275372604192858, + -224.6159039335248 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7685953994046048, + -0.09772193304516501, + 0.6322274346680896, + 722.2498762757145 + ], + [ + -0.6397351889759355, + -0.11740581017540987, + 0.7595753879854941, + -304.7256860771194 + ], + [ + 6.938893851430107e-18, + -0.9882642862812414, + -0.15275372604192858, + 3.5884643644702816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72224.98762757145, + 30472.56860771194, + 358.84643644702817 + ], + "rotation_deg": [ + -4.0229050141229037e-16, + -8.786542892456051, + -50.2279243469238 + ] + } + } + ] + }, + { + "frame": 48, + "time": 498.65149495378137, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.5649917622512424, + 0.8250965450104828, + -0.0, + 661.1588413189219 + ], + [ + 0.01960124724379228, + 0.013422118041291528, + -0.9997177791025694, + -7.032331495139272 + ], + [ + -0.8248636966381035, + -0.564832293529287, + -0.023756307688033197, + 444.992871023526 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.5649917622512424, + 0.01960124724379228, + -0.8248636966381035, + 740.7455902457291 + ], + [ + 0.8250965450104828, + 0.013422118041291528, + -0.564832293529287, + -294.0791430693337 + ], + [ + -0.0, + -0.9997177791025694, + -0.023756307688033197, + 3.54104034784246 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74074.55902457291, + 29407.914306933373, + 354.104034784246 + ], + "rotation_deg": [ + 0.0, + -1.361264228820801, + 145.5982818603516 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.4918235890601701, + 0.8706948703443548, + -0.0, + -96.93988336339356 + ], + [ + 0.19422957263132076, + -0.10971315987583447, + -0.9748014647432134, + -172.33745583010506 + ], + [ + -0.8487546443753878, + 0.4794303375453227, + -0.2230742143152966, + 775.305717744466 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.4918235890601701, + 0.19422957263132076, + -0.8487546443753878, + 739.1946718191792 + ], + [ + 0.8706948703443548, + -0.10971315987583447, + 0.4794303375453227, + -306.20772239007863 + ], + [ + -0.0, + -0.9748014647432134, + -0.2230742143152966, + 4.955907787596507 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73919.46718191792, + 30620.772239007863, + 495.5907787596507 + ], + "rotation_deg": [ + 0.0, + -12.889660835266117, + -150.53948974609375 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9633383296770361, + -0.26828951260729145, + -2.0816681551633245e-17, + -785.519684607044 + ], + [ + -0.02275134731427601, + -0.08169251457740764, + -0.9963978669474381, + -4.675513867496915 + ], + [ + 0.2673230884112729, + 0.9598682594754966, + -0.08480147907754727, + 107.47445964256796 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9633383296770361, + -0.02275134731427601, + 0.2673230884112729, + 727.884443245974 + ], + [ + -0.26828951260729145, + -0.08169251457740764, + 0.9598682594754966, + -314.2899624853858 + ], + [ + -2.0816681551633245e-17, + -0.9963978669474381, + -0.08480147907754727, + 4.4553203581476195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72788.4443245974, + 31428.99624853858, + 445.53203581476197 + ], + "rotation_deg": [ + 1.1970198303109152e-15, + -4.864609241485597, + -74.43749237060547 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.7689444193080123, + -0.6393156341081169, + 1.3877787702878608e-17, + -750.1492092887445 + ], + [ + -0.09800413386915534, + -0.11787562791723942, + -0.9881804117101657, + 38.42944213592136 + ], + [ + 0.6317591812456282, + 0.7598558170063151, + -0.15329538242725674, + -224.31697894490006 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7689444193080123, + -0.09800413386915534, + 0.6317591812456282, + 722.303607675774 + ], + [ + -0.6393156341081169, + -0.11787562791723942, + 0.7598558170063151, + -304.60365855448697 + ], + [ + 1.3877787702878608e-17, + -0.9881804117101657, + -0.15329538242725674, + 3.5884643644702816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72230.3607675774, + 30460.365855448697, + 358.84643644702817 + ], + "rotation_deg": [ + -8.046492938843526e-16, + -8.81794738769531, + -50.25919342041014 + ] + } + } + ] + }, + { + "frame": 49, + "time": 498.71816162392497, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.5243658995220225, + 0.8514930436700348, + -1.7347234625519614e-18, + 638.7744582767573 + ], + [ + 0.026433474844547375, + 0.01627824550933747, + -0.9995180289173279, + -11.256687797983142 + ], + [ + -0.8510826591533286, + -0.5241131532449401, + -0.031043677039701456, + 476.52265706065185 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.5243658995220225, + 0.026433474844547375, + -0.8510826591533286, + 740.8092509925366 + ], + [ + 0.8514930436700348, + 0.01627824550933747, + -0.5241131532449401, + -293.97697475826027 + ], + [ + -1.7347234625519614e-18, + -0.9995180289173279, + -0.031043677039701456, + 3.541752555842688 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74080.92509925365, + 29397.697475826026, + 354.1752555842688 + ], + "rotation_deg": [ + 9.944026112679384e-17, + -1.7789574861526494, + 148.3744354248047 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.4838410706786555, + 0.8751558823001375, + -0.0, + -89.80606005380258 + ], + [ + 0.19538362896771053, + -0.10802032660096693, + -0.9747598917540815, + -172.66973582626176 + ], + [ + -0.8530668623904711, + 0.4716288520697095, + -0.22325580437400766, + 776.09378590623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.4838410706786555, + 0.19538362896771053, + -0.8530668623904711, + 739.2485822328058 + ], + [ + 0.8751558823001375, + -0.10802032660096693, + 0.4716288520697095, + -306.0857738479194 + ], + [ + -0.0, + -0.9747598917540815, + -0.22325580437400766, + 4.955907787596507 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73924.85822328058, + 30608.57738479194, + 495.5907787596507 + ], + "rotation_deg": [ + 0.0, + -12.900334358215334, + -151.0634307861328 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9641145929540369, + -0.26548644344499417, + -0.0, + -785.2872262206931 + ], + [ + -0.023118794454689225, + -0.08395595201036626, + -0.9962012444606735, + -5.058393979156705 + ], + [ + 0.2644779156441739, + 0.9604521599144455, + -0.0870808856879044, + 109.35283688128331 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9641145929540369, + -0.023118794454689225, + 0.2644779156441739, + 728.0685211458898 + ], + [ + -0.26548644344499417, + -0.08395595201036626, + 0.9604521599144455, + -313.93595556883605 + ], + [ + -0.0, + -0.9962012444606735, + -0.0870808856879044, + 4.4833627506915885 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72806.85211458898, + 31393.595556883607, + 448.3362750691589 + ], + "rotation_deg": [ + 0.0, + -4.995694637298584, + -74.60414123535155 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.7692648797455665, + -0.6389299999139492, + -6.938893851447785e-18, + -750.2267682383242 + ], + [ + -0.09826296988389722, + -0.11830756377280591, + -0.9881030862737649, + 38.50427843400554 + ], + [ + 0.6313286995424011, + 0.7601130059894504, + -0.1537930143399957, + -224.0526438823156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7692648797455665, + -0.09826296988389722, + 0.6313286995424011, + 722.3575180894005 + ], + [ + -0.6389299999139492, + -0.11830756377280591, + 0.7601130059894504, + -304.48171001232777 + ], + [ + -6.938893851447785e-18, + -0.9881030862737649, + -0.1537930143399957, + 3.5884643644702816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72235.75180894005, + 30448.171001232775, + 358.84643644702817 + ], + "rotation_deg": [ + 4.0235613143991506e-16, + -8.846801757812498, + -50.28792190551757 + ] + } + } + ] + }, + { + "frame": 50, + "time": 498.7848282940686, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.48250456106372913, + 0.8758934573067078, + -1.7347234625587274e-18, + 614.8777865513975 + ], + [ + 0.03354107629547864, + 0.01847681605627976, + -0.9992665327475765, + -15.879943667241845 + ], + [ + -0.8752510279822191, + -0.48215064187733336, + -0.03829355759581626, + 506.8936620682002 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.48250456106372913, + 0.03354107629547864, + -0.8752510279822191, + 740.8731497377568 + ], + [ + 0.8758934573067078, + 0.01847681605627976, + -0.48215064187733336, + -293.8749119382279 + ], + [ + -1.7347234625587274e-18, + -0.9992665327475765, + -0.03829355759581626, + 3.5424647638429168 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74087.31497377568, + 29387.491193822792, + 354.24647638429167 + ], + "rotation_deg": [ + 9.946528832860691e-17, + -2.194595813751221, + 151.15089416503906 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.4758035701753313, + 0.879551569044367, + -6.938893852931994e-18, + -82.65182327787988 + ], + [ + 0.19650595198190138, + -0.10630216215210296, + -0.9747231715505047, + -172.97137611580294 + ], + [ + -0.8573193040831245, + 0.4637767472003279, + -0.22341606836284184, + 776.8246885618325 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.4758035701753313, + 0.19650595198190138, + -0.8573193040831245, + 739.302730644845 + ], + [ + 0.879551569044367, + -0.10630216215210296, + 0.4637767472003279, + -305.96393079680126 + ], + [ + -6.938893852931994e-18, + -0.9747231715505047, + -0.22341606836284184, + 4.955907787596507 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73930.2730644845, + 30596.39307968013, + 495.5907787596507 + ], + "rotation_deg": [ + 4.078792286322413e-16, + -12.90975475311279, + -151.58831787109372 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9653969740709704, + -0.2607847435234938, + -0.0, + -784.8711447572559 + ], + [ + -0.0237019435418866, + -0.08774203684532991, + -0.9958612116367269, + -5.728718013403817 + ], + [ + 0.2597054009115472, + 0.9614014028761968, + -0.09088700283898334, + 112.56385792930683 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9653969740709704, + -0.0237019435418866, + 0.2597054009115472, + 728.3430055382381 + ], + [ + -0.2607847435234938, + -0.08774203684532991, + 0.9614014028761968, + -313.4041126049298 + ], + [ + -0.0, + -0.9958612116367269, + -0.09088700283898334, + 4.525582815353755 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72834.3005538238, + 31340.41126049298, + 452.55828153537556 + ], + "rotation_deg": [ + 0.0, + -5.214637756347655, + -74.88336944580077 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.7695567043869133, + -0.6385784828297562, + -0.0, + -750.2944033618614 + ], + [ + -0.09849844294961396, + -0.11870136432980234, + -0.9880324098139418, + 38.574011957053926 + ], + [ + 0.630936231955233, + 0.7603469692733883, + -0.1542464181850127, + -223.8230845955073 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7695567043869133, + -0.09849844294961396, + 0.630936231955233, + 722.4116665014398 + ], + [ + -0.6385784828297562, + -0.11870136432980234, + 0.7603469692733883, + -304.3598669612096 + ], + [ + -0.0, + -0.9880324098139418, + -0.1542464181850127, + 3.5884643644702816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72241.16665014398, + 30435.986696120963, + 358.84643644702817 + ], + "rotation_deg": [ + 0.0, + -8.873093605041502, + -50.3140983581543 + ] + } + } + ] + }, + { + "frame": 51, + "time": 498.8514949642122, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.43950515889286645, + 0.898240065520658, + -0.0, + 589.524424110011 + ], + [ + 0.04087284417517623, + 0.01999891405779323, + -0.9989641905721851, + -20.869568234691883 + ], + [ + -0.89730966911499, + -0.43904989662478217, + -0.04550325248282256, + 536.030453347695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.43950515889286645, + 0.04087284417517623, + -0.89730966911499, + 740.9373171484204 + ], + [ + 0.898240065520658, + 0.01999891405779323, + -0.43904989662478217, + -293.7729688711725 + ], + [ + -0.0, + -0.9989641905721851, + -0.04550325248282256, + 3.543176971843145 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74093.73171484204, + 29377.296887117252, + 354.3176971843145 + ], + "rotation_deg": [ + 0.0, + -2.6080448627471933, + 153.92768859863284 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.46771366287988275, + 0.8838800425145277, + -0.0, + -75.47961637097978 + ], + [ + 0.19759527851144706, + -0.10455945041754972, + -0.9746914523265113, + -173.24169369508388 + ], + [ + -0.8615103313512489, + 0.4558764914451231, + -0.22355440841715946, + 777.4980088451234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.46771366287988275, + 0.19759527851144706, + -0.8615103313512489, + 739.3571477223278 + ], + [ + 0.8838800425145277, + -0.10455945041754972, + 0.4558764914451231, + -305.8422074986601 + ], + [ + -0.0, + -0.9746914523265113, + -0.22355440841715946, + 4.955907787596507 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73935.71477223278, + 30584.220749866014, + 495.5907787596507 + ], + "rotation_deg": [ + 0.0, + -12.91788673400879, + -152.114013671875 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.967215673096256, + -0.25395637758669637, + -0.0, + -784.2276489119538 + ], + [ + -0.024487880111429758, + -0.09326429077998358, + -0.9953402010332721, + -6.757983140888257 + ], + [ + 0.25277298210314986, + 0.9627086450053486, + -0.09642553785510666, + 117.27763072366302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.967215673096256, + -0.024487880111429758, + 0.25277298210314986, + 728.7071690258216 + ], + [ + -0.25395637758669637, + -0.09326429077998358, + 0.9627086450053486, + -312.6940724513491 + ], + [ + -0.0, + -0.9953402010332721, + -0.09642553785510666, + 4.582065469889988 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72870.71690258216, + 31269.40724513491, + 458.2065469889988 + ], + "rotation_deg": [ + 0.0, + -5.5333738327026385, + -75.28824615478517 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.7698197701621811, + -0.6382613269401857, + -6.938893851462548e-18, + -750.3521156909062 + ], + [ + -0.09871053241509914, + -0.11905675021964701, + -0.9879684817935559, + 38.63869677467991 + ], + [ + 0.6305820688698223, + 0.7605576737301011, + -0.1546553566809512, + -223.62852763090322 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7698197701621811, + -0.09871053241509914, + 0.6305820688698223, + 722.4660835789225 + ], + [ + -0.6382613269401857, + -0.11905675021964701, + 0.7605576737301011, + -304.23814366306846 + ], + [ + -6.938893851462548e-18, + -0.9879684817935559, + -0.1546553566809512, + 3.5884643644702816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72246.60835789226, + 30423.814366306848, + 358.84643644702817 + ], + "rotation_deg": [ + 4.024109499283338e-16, + -8.896808624267573, + -50.337707519531236 + ] + } + } + ] + }, + { + "frame": 52, + "time": 498.9181616343558, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.3954682768698278, + 0.9184796361322383, + -1.7347234625763497e-18, + 562.7736631134303 + ], + [ + 0.04837607434223717, + 0.02082920732180153, + -0.9986119864860323, + -26.19084893404956 + ], + [ + -0.9172047823321674, + -0.39491934211639046, + -0.05266973029510273, + 563.8605998479607 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.3954682768698278, + 0.04837607434223717, + -0.9172047823321674, + 741.0017644058964 + ], + [ + 0.9184796361322383, + 0.02082920732180153, + -0.39491934211639046, + -293.6711512975708 + ], + [ + -1.7347234625763497e-18, + -0.9986119864860323, + -0.05266973029510273, + 3.5438891798433736 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74100.17644058964, + 29367.115129757083, + 354.38891798433735 + ], + "rotation_deg": [ + 9.953048345396054e-17, + -3.0191502571105966, + 156.70481872558594 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.4595730291710454, + 0.8881399838193016, + -0.0, + -68.29104390236694 + ], + [ + 0.19865070029508264, + -0.10279292199970938, + -0.9746648215971658, + -173.48024655185682 + ], + [ + -0.8656388077793155, + 0.44792964644411914, + -0.22367048598966174, + 778.1134025720803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.4595730291710454, + 0.19865070029508264, + -0.8656388077793155, + 739.4118446466227 + ], + [ + 0.8881399838193016, + -0.10279292199970938, + 0.44792964644411914, + -305.7206096939727 + ], + [ + -0.0, + -0.9746648215971658, + -0.22367048598966174, + 4.955907787596507 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73941.18446466228, + 30572.060969397266, + 495.5907787596507 + ], + "rotation_deg": [ + 0.0, + -12.924710273742678, + -152.64044189453125 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9690534620244103, + -0.24685094234882904, + -3.4694469253608604e-17, + -783.5192470459804 + ], + [ + -0.02523580349216787, + -0.09906724482540322, + -0.9947606924405527, + -7.8960210619643805 + ], + [ + 0.24555760445344182, + 0.9639762953302041, + -0.10223093923339625, + 122.19991938997595 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9690534620244103, + -0.02523580349216787, + 0.24555760445344182, + 729.0656577562712 + ], + [ + -0.24685094234882904, + -0.09906724482540322, + 0.9639762953302041, + -311.992519134603 + ], + [ + -3.4694469253608604e-17, + -0.9947606924405527, + -0.10223093923339625, + 4.63796024297369 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72906.56577562712, + 31199.251913460303, + 463.796024297369 + ], + "rotation_deg": [ + 1.998316470667699e-15, + -5.867652416229248, + -75.70875549316403 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.7700540347069822, + -0.6379786702010483, + -0.0, + -750.3999116990067 + ], + [ + -0.09889923418877336, + -0.11937351180172812, + -0.9879113857816382, + 38.69837660424865 + ], + [ + 0.6302663868786819, + 0.7607451527013451, + -0.15501965750284416, + -223.46909113774706 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7700540347069822, + -0.09889923418877336, + 0.6302663868786819, + 722.5207805032176 + ], + [ + -0.6379786702010483, + -0.11937351180172812, + 0.7607451527013451, + -304.116545858381 + ], + [ + -0.0, + -0.9879113857816382, + -0.15501965750284416, + 3.5884643644702816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72252.07805032175, + 30411.6545858381, + 358.84643644702817 + ], + "rotation_deg": [ + 0.0, + -8.91793632507324, + -50.3587417602539 + ] + } + } + ] + }, + { + "frame": 53, + "time": 498.9848283044994, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.35049624892939607, + 0.9365641352766091, + 1.7347234625871551e-18, + 534.6876578201195 + ], + [ + 0.055996739959893564, + 0.020956009918552874, + -0.9982110051297558, + -31.807003282732474 + ], + [ + -0.934888634360856, + -0.34986919277028977, + -0.05978954167042592, + 590.3156652327468 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.35049624892939607, + 0.055996739959893564, + -0.934888634360856, + 741.0664978346633 + ], + [ + 0.9365641352766091, + 0.020956009918552874, + -0.34986919277028977, + -293.5694628543742 + ], + [ + 1.7347234625871551e-18, + -0.9982110051297558, + -0.05978954167042592, + 3.544601387843602 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74106.64978346633, + 29356.94628543742, + 354.4601387843602 + ], + "rotation_deg": [ + -9.95704648493371e-17, + -3.427732706069947, + 159.48233032226562 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.45138456931556165, + 0.8923295190588534, + -0.0, + -61.08878103266261 + ], + [ + 0.19967131755972511, + -0.10100366485289708, + -0.9746433320093291, + -173.6867065266491 + ], + [ + -0.8697030244670799, + 0.43993894246877885, + -0.22376410823066775, + 778.670453786611 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.45138456931556165, + 0.19967131755972511, + -0.8697030244670799, + 739.4668277422088 + ], + [ + 0.8923295190588534, + -0.10100366485289708, + 0.43993894246877885, + -305.5991410196903 + ], + [ + -0.0, + -0.9746433320093291, + -0.22376410823066775, + 4.955907787596507 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73946.68277422088, + 30559.91410196903, + 495.5907787596507 + ], + "rotation_deg": [ + 0.0, + -12.930213928222658, + -153.16744995117188 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9707292986346744, + -0.24017624522885922, + -6.938893850784651e-18, + -782.8202027827314 + ], + [ + -0.025873063475303586, + -0.10457212676041114, + -0.994180695291961, + -9.026613390664691 + ], + [ + 0.2387785765227961, + 0.965080331426283, + -0.10772532333617332, + 126.82840073298904 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9707292986346744, + -0.025873063475303586, + 0.2387785765227961, + 729.3890559215515 + ], + [ + -0.24017624522885922, + -0.10457212676041114, + 0.965080331426283, + -311.3583361457714 + ], + [ + -6.938893850784651e-18, + -0.994180695291961, + -0.10772532333617332, + 4.688544733070566 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72938.90559215515, + 31135.83361457714, + 468.8544733070566 + ], + "rotation_deg": [ + 3.998964545395883e-16, + -6.18420696258545, + -76.1030578613281 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.7702594511785634, + -0.6377306468016872, + -0.0, + -750.4377883016899 + ], + [ + -0.0990645447114237, + -0.11965145821885503, + -0.9878611969944056, + 38.75308946645139 + ], + [ + 0.6299893548073044, + 0.7609094275837888, + -0.15533916390784164, + -223.34488988647357 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7702594511785634, + -0.0990645447114237, + 0.6299893548073044, + 722.5757635988036 + ], + [ + -0.6377306468016872, + -0.11965145821885503, + 0.7609094275837888, + -303.99507718409865 + ], + [ + -0.0, + -0.9878611969944056, + -0.15533916390784164, + 3.5884643644702816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72257.57635988036, + 30399.507718409863, + 358.84643644702817 + ], + "rotation_deg": [ + 0.0, + -8.93646717071533, + -50.37719345092772 + ] + } + } + ] + }, + { + "frame": 54, + "time": 499.051494974643, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.3046941237271422, + 0.9524502564261029, + -0.0, + 505.33200144696184 + ], + [ + 0.06367958049632895, + 0.020371451262396038, + -0.997762454195023, + -37.67919639626653 + ], + [ + -0.9503191119866593, + -0.3040123358105923, + -0.06685869478141998, + 615.3306201265631 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.3046941237271422, + 0.06367958049632895, + -0.9503191119866593, + 741.131520712642 + ], + [ + 0.9524502564261029, + 0.020371451262396038, + -0.3040123358105923, + -293.46790584705514 + ], + [ + -0.0, + -0.997762454195023, + -0.06685869478141998, + 3.5453135958438304 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74113.1520712642, + 29346.79058470551, + 354.53135958438304 + ], + "rotation_deg": [ + 0.0, + -3.83358073234558, + 162.26023864746094 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.4431507588001838, + 0.8964471010465822, + -0.0, + -53.87508825788257 + ], + [ + 0.2006563524310584, + -0.09919270722621257, + -0.9746270235645007, + -173.8608158842442 + ], + [ + -0.8737015784999648, + 0.43190668671123766, + -0.22383513062249819, + 779.168838718357 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.4431507588001838, + 0.2006563524310584, + -0.8737015784999648, + 739.5221002870064 + ], + [ + 0.8964471010465822, + -0.09919270722621257, + 0.43190668671123766, + -305.4778037812854 + ], + [ + -0.0, + -0.9746270235645007, + -0.22383513062249819, + 4.955907787596507 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73952.21002870065, + 30547.78037812854, + 495.5907787596507 + ], + "rotation_deg": [ + 0.0, + -12.934389114379883, + -153.69491577148438 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9722514519521559, + -0.23393827001353354, + -0.0, + -782.1381509810523 + ], + [ + -0.026412738210669157, + -0.1097717918229868, + -0.9936058177064913, + -10.138184333589738 + ], + [ + 0.23244241605880803, + 0.9660347012402194, + -0.11290473513747905, + 131.15318955677796 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9722514519521559, + -0.026412738210669157, + 0.23244241605880803, + 729.6816120079583 + ], + [ + -0.23393827001353354, + -0.1097717918229868, + 0.9660347012402194, + -310.7834568466254 + ], + [ + -0.0, + -0.9936058177064913, + -0.11290473513747905, + 4.734456174139035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72968.16120079583, + 31078.34568466254, + 473.4456174139035 + ], + "rotation_deg": [ + 0.0, + -6.4827880859375, + -76.47095489501952 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.7704358833120658, + -0.6375174897249147, + -1.3877787702958118e-17, + -750.465704523509 + ], + [ + -0.09920645579132875, + -0.11989037889898806, + -0.9878179873725624, + 38.80287576734968 + ], + [ + 0.6297512383096703, + 0.7610504277983878, + -0.15561370182386883, + -223.25613584644847 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7704358833120658, + -0.09920645579132875, + 0.6297512383096703, + 722.6310361436012 + ], + [ + -0.6375174897249147, + -0.11989037889898806, + 0.7610504277983878, + -303.8737399456937 + ], + [ + -1.3877787702958118e-17, + -0.9878179873725624, + -0.15561370182386883, + 3.5884643644702816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72263.10361436012, + 30387.373994569374, + 358.84643644702817 + ], + "rotation_deg": [ + 8.049445147606906e-16, + -8.952390670776362, + -50.39304733276365 + ] + } + } + ] + }, + { + "frame": 55, + "time": 499.1181616447866, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.2581684439799083, + 0.9660999195388607, + 1.734723462612603e-18, + 474.775154276709 + ], + [ + 0.07136823210689949, + 0.019071552600304343, + -0.9972676929126648, + -43.76663307373131 + ], + [ + -0.9634602435855656, + -0.25746302700193724, + -0.07387251692640827, + 638.8448384174693 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.2581684439799083, + 0.07136823210689949, + -0.9634602435855656, + 741.1970998842313 + ], + [ + 0.9660999195388607, + 0.019071552600304343, + -0.25746302700193724, + -293.3666037902779 + ], + [ + 1.734723462612603e-18, + -0.9972676929126648, + -0.07387251692640827, + 3.5460258038440586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74119.70998842313, + 29336.66037902779, + 354.6025803844059 + ], + "rotation_deg": [ + -9.966464822465284e-17, + -4.236442565917969, + 165.03858947753906 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.43487387546108924, + 0.9004913727745828, + -1.3877787705887839e-17, + -46.65202692069795 + ], + [ + 0.20160124884970063, + -0.09735919636290755, + -0.9746169110711193, + -173.99900760247016 + ], + [ + -0.8776341286644702, + 0.4238354147377053, + -0.2238791580685294, + 779.6093485675198 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.43487387546108924, + 0.20160124884970063, + -0.8776341286644702, + 739.5779291254148 + ], + [ + 0.9004913727745828, + -0.09735919636290755, + 0.4238354147377053, + -305.35672149342247 + ], + [ + -1.3877787705887839e-17, + -0.9746169110711193, + -0.2238791580685294, + 4.955907787596507 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73957.79291254148, + 30535.672149342245, + 495.5907787596507 + ], + "rotation_deg": [ + 8.15847397734439e-16, + -12.936977386474608, + -154.2227325439453 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9736292729536554, + -0.228136009537592, + 6.938893850908507e-18, + -781.4797714540508 + ], + [ + -0.026867740688728964, + -0.11466501446087601, + -0.9930408143520435, + -11.221019026212865 + ], + [ + 0.22654835862885503, + 0.9668536083387483, + -0.11777071471683426, + 135.17100845199633 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9736292729536554, + -0.026867740688728964, + 0.22654835862885503, + 729.9473286432607 + ], + [ + -0.228136009537592, + -0.11466501446087601, + 0.9668536083387483, + -310.2609040813726 + ], + [ + 6.938893850908507e-18, + -0.9930408143520435, + -0.11777071471683426, + 4.776255332062506 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72994.73286432607, + 31026.090408137257, + 477.6255332062506 + ], + "rotation_deg": [ + -4.003554833599335e-16, + -6.763461589813233, + -76.81264495849601 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.7705833176538381, + -0.637339274290863, + 6.9388938514830286e-18, + -750.4839404382511 + ], + [ + -0.09932496703346623, + -0.12009013991436016, + -0.9877818125573835, + 38.84776971660355 + ], + [ + 0.6295521382653446, + 0.7611681903833644, + -0.15584316203814327, + -223.20296275873358 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7705833176538381, + -0.09932496703346623, + 0.6295521382653446, + 722.6868649820095 + ], + [ + -0.637339274290863, + -0.12009013991436016, + 0.7611681903833644, + -303.7526576578308 + ], + [ + 6.9388938514830286e-18, + -0.9877818125573835, + -0.15584316203814327, + 3.5884643644702816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72268.68649820096, + 30375.26576578308, + 358.84643644702817 + ], + "rotation_deg": [ + -4.0248699682945004e-16, + -8.96570014953613, + -50.40629959106443 + ] + } + } + ] + }, + { + "frame": 56, + "time": 499.1848283149302, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.21102775269463978, + 0.9774800701767019, + -0.0, + 443.08832175633125 + ], + [ + 0.07900522184479268, + 0.01705640342522192, + -0.9967282749192234, + -50.026473089539884 + ], + [ + -0.9742820288379376, + -0.2103373057873811, + -0.08082540490178784, + 660.8013844132036 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.21102775269463978, + 0.07900522184479268, + -0.9742820288379376, + 741.2631860021943 + ], + [ + 0.9774800701767019, + 0.01705640342522192, + -0.2103373057873811, + -293.265536766595 + ], + [ + -0.0, + -0.9967282749192234, + -0.08082540490178784, + 3.5467380118442873 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74126.31860021943, + 29326.553676659503, + 354.6738011844287 + ], + "rotation_deg": [ + 0.0, + -4.636011600494385, + 167.81741333007812 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.45964918884766615, + 0.8881005704263915, + -6.938893852886973e-18, + -68.89213588396518 + ], + [ + 0.19685422960871926, + -0.10188473014653875, + -0.975124563349793, + -171.8663806715744 + ], + [ + -0.8660086898563868, + 0.4482151965215785, + -0.22165758886252315, + 778.4395726559092 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.45964918884766615, + 0.19685422960871926, + -0.8660086898563868, + 739.634264910197 + ], + [ + 0.8881005704263915, + -0.10188473014653875, + 0.4482151965215785, + -305.23587423865376 + ], + [ + -6.938893852886973e-18, + -0.975124563349793, + -0.22165758886252315, + 4.955907787596507 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73963.4264910197, + 30523.587423865378, + 495.5907787596507 + ], + "rotation_deg": [ + 4.0771133276928593e-16, + -12.806409835815431, + -152.63552856445312 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9748729876619346, + -0.22276143725315956, + 6.93889385096849e-18, + -780.8499850656093 + ], + [ + -0.02725027976755564, + -0.1192556574387237, + -0.9924895517946005, + -12.267399657927541 + ], + [ + 0.22108838890121732, + 0.9675512567734252, + -0.12232943149230148, + 138.88483400808906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9748729876619346, + -0.02725027976755564, + 0.22108838890121732, + 730.1894439695877 + ], + [ + -0.22276143725315956, + -0.1192556574387237, + 0.9675512567734252, + -309.7844093425631 + ], + [ + 6.93889385096849e-18, + -0.9924895517946005, + -0.12232943149230148, + 4.814435680818379 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73018.94439695877, + 30978.44093425631, + 481.4435680818379 + ], + "rotation_deg": [ + -4.0057785445762523e-16, + -7.026559829711915, + -77.12872314453125 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.7707016512004775, + -0.6371961745309346, + 6.938893851486221e-18, + -750.4924062796177 + ], + [ + -0.09942008355930457, + -0.12025060040269527, + -0.9877527221363916, + 38.88779735412307 + ], + [ + 0.6293922506181366, + 0.7612626580725051, + -0.1560274344024817, + -223.1855117985318 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7707016512004775, + -0.09942008355930457, + 0.6293922506181366, + 722.7432007667917 + ], + [ + -0.6371961745309346, + -0.12025060040269527, + 0.7612626580725051, + -303.6318104030621 + ], + [ + 6.938893851486221e-18, + -0.9877527221363916, + -0.1560274344024817, + 3.5884643644702816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72274.32007667917, + 30363.18104030621, + 358.84643644702817 + ], + "rotation_deg": [ + -4.024988505212719e-16, + -8.976388931274412, + -50.416938781738274 + ] + } + } + ] + }, + { + "frame": 57, + "time": 499.2514949850738, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.16338184327111321, + 0.9865629089365427, + -0.0, + 410.3452243261188 + ], + [ + 0.0865319273419457, + 0.014330303382446027, + -0.9961460073480468, + -56.4137734588396 + ], + [ + -0.9827607064297592, + -0.16275214817093822, + -0.08771050201330384, + 681.1476998092701 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.16338184327111321, + 0.0865319273419457, + -0.9827607064297592, + 741.3297345769549 + ], + [ + 0.9865629089365427, + 0.014330303382446027, + -0.16275214817093822, + -293.1646864070928 + ], + [ + -0.0, + -0.9961460073480468, + -0.08771050201330384, + 3.547450219844515 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74132.9734576955, + 29316.46864070928, + 354.7450219844515 + ], + "rotation_deg": [ + 0.0, + -5.031907558441161, + 170.59675598144534 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.4840717912858589, + 0.8750282857606946, + -0.0, + -91.07910932919816 + ], + [ + 0.1920117154185805, + -0.10622222909027469, + -0.9756271517281114, + -169.60425302624603 + ], + [ + -0.8537013634337913, + 0.47227356534809656, + -0.21943486857079644, + 776.6606320662079 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.4840717912858589, + 0.1920117154185805, + -0.8537013634337913, + 739.6910631517766 + ], + [ + 0.8750282857606946, + -0.10622222909027469, + 0.47227356534809656, + -305.1152436480658 + ], + [ + -0.0, + -0.9756271517281114, + -0.21943486857079644, + 4.955907787596507 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73969.10631517766, + 30511.52436480658, + 495.5907787596507 + ], + "rotation_deg": [ + 0.0, + -12.675842285156252, + -151.04832458496094 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9759930716135449, + -0.21780157061499306, + 6.938893851026708e-18, + -780.2524660396302 + ], + [ + -0.027571667222135447, + -0.1235517085834369, + -0.9919550284527544, + -13.271468593740718 + ], + [ + 0.2160493530156496, + 0.9681412372620459, + -0.12659076496425162, + 142.30210751789514 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9759930716135449, + -0.027571667222135447, + 0.2160493530156496, + 730.410806488005 + ], + [ + -0.21780157061499306, + -0.1235517085834369, + 0.9681412372620459, + -309.3484555020815 + ], + [ + 6.938893851026708e-18, + -0.9919550284527544, + -0.12659076496425162, + 4.849431477506766 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73041.0806488005, + 30934.84555020815, + 484.94314775067653 + ], + "rotation_deg": [ + -4.007937092198152e-16, + -7.272629737854009, + -77.42005920410156 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.77079094594314, + -0.6370881553223852, + -0.0, + -750.4910726298132 + ], + [ + -0.09949178886379784, + -0.12037167762614556, + -0.9877307543931941, + 38.92295161360725 + ], + [ + 0.6292715589603507, + 0.7613339266596653, + -0.15616644069897162, + -223.20372617342474 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.77079094594314, + -0.09949178886379784, + 0.6292715589603507, + 722.7999990083714 + ], + [ + -0.6370881553223852, + -0.12037167762614556, + 0.7613339266596653, + -303.51117981247415 + ], + [ + -0.0, + -0.9877307543931941, + -0.15616644069897162, + 3.5884643644702816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72279.99990083714, + 30351.117981247415, + 358.84643644702817 + ], + "rotation_deg": [ + 0.0, + -8.984452247619625, + -50.4249687194824 + ] + } + } + ] + }, + { + "frame": 58, + "time": 499.3181616552174, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.11534123971347197, + 0.9933259275894085, + -8.673617313298873e-19, + 376.62172068731235 + ], + [ + 0.09388832057746606, + 0.010901955731993202, + -0.9955230437415098, + -62.861898168547256 + ], + [ + -0.9888788534838684, + -0.1148248388407048, + -0.09451914894684453, + 699.8376999416563 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.11534123971347197, + 0.09388832057746606, + -0.9888788534838684, + 741.3967060767391 + ], + [ + 0.9933259275894085, + 0.010901955731993202, + -0.1148248388407048, + -293.0640360867196 + ], + [ + -8.673617313298873e-19, + -0.9955230437415098, + -0.09451914894684453, + 3.56759426206563 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74139.6706076739, + 29306.403608671964, + 356.759426206563 + ], + "rotation_deg": [ + 4.9919655013260585e-17, + -5.423644542694092, + 173.37669372558594 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5081229421372044, + 0.8612845497707659, + -2.0816681558324798e-17, + -113.19575438847443 + ], + [ + 0.18708048443857797, + -0.11036989598232581, + -0.9761246735960921, + -167.19816142513463 + ], + [ + -0.8407211097235746, + 0.49599132386464245, + -0.21721100873611493, + 774.2774781659537 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5081229421372044, + 0.18708048443857797, + -0.8407211097235746, + 739.7482843183799 + ], + [ + 0.8612845497707659, + -0.11036989598232581, + 0.49599132386464245, + -304.9948130966069 + ], + [ + -2.0816681558324798e-17, + -0.9761246735960921, + -0.21721100873611493, + 4.975339621817393 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73974.82843183799, + 30499.48130966069, + 497.5339621817393 + ], + "rotation_deg": [ + 1.2218808091439612e-15, + -12.54527473449707, + -149.46112060546875 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9769999815575177, + -0.21323938669160145, + -0.0, + -779.689710727776 + ], + [ + -0.027842129357592713, + -0.1275644255544159, + -0.9914394248595355, + -14.20984982506129 + ], + [ + 0.21141392469675227, + 0.9686363018943261, + -0.13056748100809742, + 145.43639119301372 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9769999815575177, + -0.027842129357592713, + 0.21141392469675227, + 730.6139224985035 + ], + [ + -0.21323938669160145, + -0.1275644255544159, + 0.9686363018943261, + -308.9481870267784 + ], + [ + -0.0, + -0.9914394248595355, + -0.13056748100809742, + 4.90105670259665 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73061.39224985035, + 30894.81870267784, + 490.105670259665 + ], + "rotation_deg": [ + 0.0, + -7.502386093139651, + -77.687744140625 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.7708510894018186, + -0.6370153828346921, + -6.9388938514902554e-18, + -750.4798499428591 + ], + [ + -0.09954008776877304, + -0.12045326873310878, + -0.9877159414419178, + 38.972440279146944 + ], + [ + 0.6291902432573387, + 0.7613819136235673, + -0.15626010174284932, + -223.25471072709118 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7708510894018186, + -0.09954008776877304, + 0.6291902432573387, + 722.8572201749746 + ], + [ + -0.6370153828346921, + -0.12045326873310878, + 0.7613819136235673, + -303.39074926101523 + ], + [ + -6.9388938514902554e-18, + -0.9877159414419178, + -0.15626010174284932, + 3.6078961986911677 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72285.72201749746, + 30339.074926101523, + 360.7896198691168 + ], + "rotation_deg": [ + 4.0251383882596273e-16, + -8.989885330200194, + -50.43037796020506 + ] + } + } + ] + }, + { + "frame": 59, + "time": 499.384828325361, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.06701747306982447, + 0.9977518019544416, + 4.3368086566942067e-19, + 341.9959787498777 + ], + [ + 0.10101238549501831, + 0.006784848507785733, + -0.9948620325489016, + -69.33131448098084 + ], + [ + -0.9926253871802845, + -0.06667311582844576, + -0.1012399938310763, + 716.8273711022 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.06701747306982447, + 0.10101238549501831, + -0.9926253871802845, + 741.4640654720176 + ], + [ + 0.9977518019544416, + 0.006784848507785733, + -0.06667311582844576, + -292.96357083724024 + ], + [ + 4.3368086566942067e-19, + -0.9948620325489016, + -0.1012399938310763, + 3.596504809399885 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74146.40654720177, + 29296.357083724022, + 359.6504809399885 + ], + "rotation_deg": [ + -2.497641143994384e-17, + -5.8105792999267605, + 176.1573028564453 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5317841857959227, + 0.8468799086868027, + 6.938893852719836e-18, + -135.22492867476058 + ], + [ + 0.18206734036657715, + -0.11432616521391112, + -0.9766171263700645, + -164.66309071679115 + ], + [ + -0.8270774328797474, + 0.5193495266538248, + -0.214986020907162, + 771.28891222334 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5317841857959227, + 0.18206734036657715, + -0.8270774328797474, + 739.8058933804775 + ], + [ + 0.8468799086868027, + -0.11432616521391112, + 0.5193495266538248, + -304.8745676160417 + ], + [ + 6.938893852719836e-18, + -0.9766171263700645, + -0.214986020907162, + 5.0035379611514195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73980.58933804775, + 30487.456761604168, + 500.35379611514196 + ], + "rotation_deg": [ + -4.0708822791951223e-16, + -12.414707183837892, + -147.87391662597656 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9779039382826178, + -0.20905474759341397, + -2.7755575404547765e-17, + -779.1631474579402 + ], + [ + -0.028070711845935705, + -0.1313075162393577, + -0.9909441817355368, + -15.090606593160247 + ], + [ + 0.2071615755522073, + 0.9690482199831973, + -0.13427445387013875, + 148.30022977311688 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9779039382826178, + -0.028070711845935705, + 0.2071615755522073, + 730.8009973035072 + ], + [ + -0.20905474759341397, + -0.1313075162393577, + 0.9690482199831973, + -308.5793307092926 + ], + [ + -2.7755575404547765e-17, + -0.9909441817355368, + -0.13427445387013875, + 4.958982315678614 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73080.09973035072, + 30857.933070929263, + 495.89823156786133 + ], + "rotation_deg": [ + 1.6048102105724701e-15, + -7.716667175292967, + -77.93303680419919 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.7708820915615836, + -0.6369778653215808, + 6.938893851491094e-18, + -750.4586936962307 + ], + [ + -0.09956498172243264, + -0.12049533513653685, + -0.9877083013850521, + 39.025721529641245 + ], + [ + 0.6291483200639185, + 0.7614066453678248, + -0.15630838669266817, + -223.3401213702151 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7708820915615836, + -0.09956498172243264, + 0.6291483200639185, + 722.9148292370722 + ], + [ + -0.6369778653215808, + -0.12049533513653685, + 0.7614066453678248, + -303.27050378045004 + ], + [ + 6.938893851491094e-18, + -0.9877083013850521, + -0.15630838669266817, + 3.636094538025195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72291.48292370723, + 30327.050378045, + 363.6094538025195 + ], + "rotation_deg": [ + -4.0251695232481824e-16, + -8.992686271667475, + -50.43316650390622 + ] + } + } + ] + }, + { + "frame": 60, + "time": 499.4514949955046, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.018522315580641237, + 0.9998284471975838, + -0.0, + 306.5479198737079 + ], + [ + 0.10783894497949806, + 0.0019977696937832205, + -0.9941663698103849, + -75.77922966306812 + ], + [ + -0.9939958181387863, + -0.018414239192431802, + -0.10785744905925118, + 732.0773825216058 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.018522315580641237, + 0.10783894497949806, + -0.9939958181387863, + 741.5317787455831 + ], + [ + 0.9998284471975838, + 0.0019977696937832205, + -0.018414239192431802, + -292.86327577039117 + ], + [ + -0.0, + -0.9941663698103849, + -0.10785744905925118, + 3.6228359339462646 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74153.17787455831, + 29286.327577039116, + 362.28359339462645 + ], + "rotation_deg": [ + 0.0, + -6.1918215751647985, + 178.93869018554688 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5550373658507909, + 0.831825415883294, + -2.081668155799605e-17, + -157.1495535857279 + ], + [ + 0.17697910479122306, + -0.11808970278894836, + -0.9771045074926812, + -162.0147985264042 + ], + [ + -0.812780373738754, + 0.542329495728454, + -0.21275991663847868, + 767.6941747941867 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5550373658507909, + 0.17697910479122306, + -0.812780373738754, + 739.8638563208619 + ], + [ + 0.831825415883294, + -0.11808970278894836, + 0.542329495728454, + -304.7544923181069 + ], + [ + -2.081668155799605e-17, + -0.9771045074926812, + -0.21275991663847868, + 5.029156877697571 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73986.3856320862, + 30475.449231810686, + 502.9156877697571 + ], + "rotation_deg": [ + 1.2206555151820092e-15, + -12.284139633178711, + -146.2867126464844 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9787147778331706, + -0.2052252022802456, + -0.0, + -778.6732564955504 + ], + [ + -0.02826524109779577, + -0.134796354707226, + -0.9904700999542222, + -15.92382714489587 + ], + [ + 0.20326941634202472, + 0.9693877258307385, + -0.1377279252318923, + 150.90791669039646 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9787147778331706, + -0.02826524109779577, + 0.20326941634202472, + 730.9739683779269 + ], + [ + -0.2052252022802456, + -0.134796354707226, + 0.9693877258307385, + -308.23812441092997 + ], + [ + -0.0, + -0.9904700999542222, + -0.1377279252318923, + 5.012158322906167 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73097.3968377927, + 30823.812441093, + 501.21583229061673 + ], + "rotation_deg": [ + 0.0, + -7.91639232635498, + -78.15731811523435 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.7708839151611767, + -0.6369756583620569, + -0.0, + -750.4275403541554 + ], + [ + -0.09956646935301972, + -0.12049783803512955, + -0.9877078460807293, + 39.07158023301708 + ], + [ + 0.6291458502138743, + 0.7614080955654934, + -0.15631126372078832, + -223.46177453778202 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7708839151611767, + -0.09956646935301972, + 0.6291458502138743, + 722.9727921774568 + ], + [ + -0.6369756583620569, + -0.12049783803512955, + 0.7614080955654934, + -303.1504284825152 + ], + [ + -0.0, + -0.9877078460807293, + -0.15631126372078832, + 3.6617134545713466 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72297.27921774567, + 30315.04284825152, + 366.17134545713463 + ], + "rotation_deg": [ + 0.0, + -8.992853164672848, + -50.43333053588865 + ] + } + } + ] + }, + { + "frame": 61, + "time": 499.5181616656482, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.030033301202444823, + 0.9995488986632338, + -0.0, + 270.3583802651534 + ], + [ + 0.11429696828336075, + -0.0034342644762765133, + -0.9934406921747966, + -82.14621846999778 + ], + [ + -0.9929925503682456, + 0.02983627959745936, + -0.1143485519495094, + 745.5549376373696 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.030033301202444823, + 0.11429696828336075, + -0.9929925503682456, + 741.5998140644238 + ], + [ + 0.9995488986632338, + -0.0034342644762765133, + 0.02983627959745936, + -292.76313669494624 + ], + [ + -0.0, + -0.9934406921747966, + -0.1143485519495094, + 3.6457314723598735 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74159.98140644237, + 29276.313669494622, + 364.57314723598734 + ], + "rotation_deg": [ + 0.0, + -6.566051959991457, + -178.27896118164062 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5778646390174335, + 0.8161326233972338, + 6.938893852611478e-18, + -178.95262783766572 + ], + [ + 0.1718226095640877, + -0.12165940608706403, + -0.977586814432933, + -159.25889083704473 + ], + [ + -0.7978405022309315, + 0.564912835822178, + -0.2105327074904039, + 763.495305691698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5778646390174335, + 0.1718226095640877, + -0.7978405022309315, + 739.9221413065217 + ], + [ + 0.8161326233972338, + -0.12165940608706403, + 0.564912835822178, + -304.63457301157615 + ], + [ + 6.938893852611478e-18, + -0.977586814432933, + -0.2105327074904039, + 5.051340208110952 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73992.21413065217, + 30463.457301157614, + 505.1340208110952 + ], + "rotation_deg": [ + -4.0668442889570347e-16, + -12.153572082519535, + -144.6995086669922 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9794416703835652, + -0.20172757450644113, + -0.0, + -778.2198421436641 + ], + [ + -0.028432480648655563, + -0.1380473463174387, + -0.990017436320632, + -16.710266368531485 + ], + [ + 0.19971380584377987, + 0.9696643335033797, + -0.14094493991214857, + 153.2757783351292 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9794416703835652, + -0.028432480648655563, + 0.19971380584377987, + 731.1345388018158 + ], + [ + -0.20172757450644113, + -0.1380473463174387, + 0.9696643335033797, + -307.9212563600851 + ], + [ + -0.0, + -0.990017436320632, + -0.14094493991214857, + 5.059988982902402 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73113.45388018158, + 30792.12563600851, + 505.99889829024016 + ], + "rotation_deg": [ + 0.0, + -8.102529525756836, + -78.36199951171874 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.7708566453267099, + -0.63700865956096, + -0.0, + -750.3863690651865 + ], + [ + -0.09954454577736967, + -0.12046080295266537, + -0.9877145733246908, + 39.109140245784005 + ], + [ + 0.62918273107008, + 0.7613863466768699, + -0.15626874933026416, + -223.6196975216455 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7708566453267099, + -0.09954454577736967, + 0.62918273107008, + 723.0310771631164 + ], + [ + -0.63700865956096, + -0.12046080295266537, + 0.7613863466768699, + -303.0305091759845 + ], + [ + -0.0, + -0.9877145733246908, + -0.15626874933026416, + 3.683896784984727 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72303.10771631164, + 30303.050917598448, + 368.3896784984727 + ], + "rotation_deg": [ + 0.0, + -8.990386962890618, + -50.43087768554686 + ] + } + } + ] + }, + { + "frame": 62, + "time": 499.5848283357918, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.07853929866150225, + 0.9969110183791527, + -0.0, + 233.5090142477888 + ], + [ + 0.12030303473777658, + -0.009477792702619907, + -0.992691972002578, + -88.36591445936696 + ], + [ + -0.9896255664830413, + 0.07796530777835033, + -0.12067580099649694, + 757.2329490149303 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.07853929866150225, + 0.12030303473777658, + -0.9896255664830413, + 741.6681438046296 + ], + [ + 0.9969110183791527, + -0.009477792702619907, + 0.07796530777835033, + -292.6631411659436 + ], + [ + -0.0, + -0.992691972002578, + -0.12067580099649694, + 3.6595587501362696 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74166.81438046297, + 29266.31411659436, + 365.95587501362695 + ], + "rotation_deg": [ + 0.0, + -6.931106567382816, + -175.49539184570312 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.6002484888303294, + 0.7998135730636894, + -1.3877787705116433e-17, + -200.61724133140703 + ], + [ + 0.16660468919957927, + -0.1250344033810624, + -0.9780640446861614, + -156.4057223699836 + ], + [ + -0.7822689093540249, + 0.5870814494629967, + -0.20830440502901398, + 758.6938482323817 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.6002484888303294, + 0.16660468919957927, + -0.7822689093540249, + 739.9807207135466 + ], + [ + 0.7998135730636894, + -0.1250344033810624, + 0.5870814494629967, + -304.5147972514878 + ], + [ + -1.3877787705116433e-17, + -0.9780640446861614, + -0.20830440502901398, + 5.064455277887119 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73998.07207135466, + 30451.479725148776, + 506.4455277887119 + ], + "rotation_deg": [ + 8.129719878377632e-16, + -12.023004531860344, + -143.1123046875 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9800932721531453, + -0.1985375981524423, + -0.0, + -777.8020218659111 + ], + [ + -0.0285780675202001, + -0.1410774179215177, + -0.9895860024320311, + -17.456375903935484 + ], + [ + 0.19647001775621983, + 0.9698865851291646, + -0.14394285015018443, + 155.42041416265528 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9800932721531453, + -0.0285780675202001, + 0.19647001775621983, + 731.2842076747605 + ], + [ + -0.1985375981524423, + -0.1410774179215177, + 0.9698865851291646, + -307.62581224106253 + ], + [ + -0.0, + -0.9895860024320311, + -0.14394285015018443, + 5.097070792494697 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73128.42076747605, + 30762.581224106252, + 509.7070792494697 + ], + "rotation_deg": [ + 0.0, + -8.276066780090334, + -78.54854583740233 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.7708001927045852, + -0.6370769678198817, + -0.0, + -750.335098191653 + ], + [ + -0.09949921686680557, + -0.12038422264320887, + -0.9877284772555068, + 39.132825270358076 + ], + [ + 0.6292590580079338, + 0.7613413047521117, + -0.15618084259383416, + -223.8148607197742 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7708001927045852, + -0.09949921686680557, + 0.6292590580079338, + 723.0896565701414 + ], + [ + -0.6370769678198817, + -0.12038422264320887, + 0.7613413047521117, + -302.9107334158961 + ], + [ + -0.0, + -0.9877284772555068, + -0.15618084259383416, + 3.6970118547608943 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72308.96565701414, + 30291.07334158961, + 369.70118547608945 + ], + "rotation_deg": [ + 0.0, + -8.985287666320795, + -50.42580032348638 + ] + } + } + ] + }, + { + "frame": 63, + "time": 499.65149500593543, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.12688981037766955, + 0.9919168191044642, + -3.469446925514575e-18, + 196.0796019403048 + ], + [ + 0.12574157306661954, + -0.016085345117364015, + -0.991932617910706, + -94.32935620996537 + ], + [ + -0.9839146499391598, + 0.12586611880353799, + -0.12676624855391833, + 767.0951179430972 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.12688981037766955, + 0.12574157306661954, + -0.9839146499391598, + 741.7367449684779 + ], + [ + 0.9919168191044642, + -0.016085345117364015, + 0.12586611880353799, + -292.5632787651546 + ], + [ + -3.469446925514575e-18, + -0.991932617910706, + -0.12676624855391833, + 3.6734049727742057 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74173.67449684779, + 29256.327876515465, + 367.3404972774206 + ], + "rotation_deg": [ + 2.0040138213740843e-16, + -7.282765865325925, + -172.71009826660156 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.622171739084044, + 0.7828807872755189, + -0.0, + -222.12658892721848 + ], + [ + 0.1613321733103883, + -0.12821405311024356, + -0.9785361957740708, + -153.45132402380608 + ], + [ + -0.7660771987149969, + 0.6088175518170623, + -0.20607502082606358, + 753.2949190465303 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.622171739084044, + 0.1613321733103883, + -0.7660771987149969, + 740.039571544214 + ], + [ + 0.7828807872755189, + -0.12821405311024356, + 0.6088175518170623, + -304.39515461961304 + ], + [ + -0.0, + -0.9785361957740708, + -0.20607502082606358, + 5.077589292524827 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74003.9571544214, + 30439.515461961302, + 507.75892925248274 + ], + "rotation_deg": [ + 0.0, + -11.892436981201168, + -141.52510070800778 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9806775028554343, + -0.19563137630050464, + -0.0, + -777.4185041306087 + ], + [ + -0.02870673358945633, + -0.14390354115998535, + -0.9891752596422133, + -18.154707325315297 + ], + [ + 0.19351370708939292, + 0.9700619254076422, + -0.1467389043264896, + 157.36032268791496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9806775028554343, + -0.02870673358945633, + 0.19351370708939292, + 731.4242955157155 + ], + [ + -0.19563137630050464, + -0.14390354115998535, + 0.9700619254076422, + -307.34922798938794 + ], + [ + -0.0, + -0.9891752596422133, + -0.1467389043264896, + 5.132692627953818 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73142.42955157155, + 30734.922798938795, + 513.2692627953818 + ], + "rotation_deg": [ + 0.0, + -8.43798828125, + -78.718391418457 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.7707145903314219, + -0.6371805240669778, + 6.9388938514865684e-18, + -750.2736915387682 + ], + [ + -0.09943048499668021, + -0.12026815418265308, + -0.9877495379613306, + 39.15157609220902 + ], + [ + 0.629374762935208, + 0.7612729846440792, + -0.15604759091811138, + -224.0457836826708 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7707145903314219, + -0.09943048499668021, + 0.629374762935208, + 723.1485074008087 + ], + [ + -0.6371805240669778, + -0.12026815418265308, + 0.7612729846440792, + -302.7910907840214 + ], + [ + 6.9388938514865684e-18, + -0.9877495379613306, + -0.15604759091811138, + 3.7101458693986022 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72314.85074008087, + 30279.109078402136, + 371.01458693986024 + ], + "rotation_deg": [ + -4.025001480433386e-16, + -8.977558135986326, + -50.41810226440428 + ] + } + } + ] + }, + { + "frame": 64, + "time": 499.71816167607903, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.17495861016970984, + 0.9845757892247217, + -0.0, + 158.16724497758548 + ], + [ + 0.13036528003830128, + -0.023165843055968485, + -0.9911953578765595, + -99.82605537611464 + ], + [ + -0.975906955607131, + 0.17341813977680062, + -0.1324075632053353, + 775.1399486682855 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.17495861016970984, + 0.13036528003830128, + -0.975906955607131, + 741.8055984137935 + ], + [ + 0.9845757892247217, + -0.023165843055968485, + 0.17341813977680062, + -292.4635407893925 + ], + [ + -0.0, + -0.9911953578765595, + -0.1324075632053353, + 3.6872687624655724 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74180.55984137935, + 29246.354078939246, + 368.72687624655725 + ], + "rotation_deg": [ + 0.0, + -7.608738422393794, + -169.92375183105472 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.6436175670133532, + 0.765347259374339, + -1.3877787704907039e-17, + -243.46398390923372 + ], + [ + 0.15601187908618688, + -0.13119794291119363, + -0.9790032652447427, + -150.4006705793102 + ], + [ + -0.7492774776467802, + 0.6301036852903275, + -0.20384456645892426, + 747.3021878704362 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.6436175670133532, + 0.15601187908618688, + -0.7492774776467802, + 740.0986746563486 + ], + [ + 0.765347259374339, + -0.13119794291119363, + 0.6301036852903275, + -304.2756364127651 + ], + [ + -1.3877787704907039e-17, + -0.9790032652447427, + -0.20384456645892426, + 5.090740874215966 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74009.86746563486, + 30427.56364127651, + 509.0740874215966 + ], + "rotation_deg": [ + 8.121920517092209e-16, + -11.76186943054199, + -139.93789672851565 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9812016272629245, + -0.19298540529425795, + -0.0, + -777.0676466876868 + ], + [ + -0.02882235452611507, + -0.14654238293021052, + -0.988784406169872, + -18.80734547108806 + ], + [ + 0.1908209489940825, + 0.970196870210745, + -0.1493499195121059, + 159.1125190141571 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9812016272629245, + -0.02882235452611507, + 0.1908209489940825, + 731.5559654771812 + ], + [ + -0.19298540529425795, + -0.14654238293021052, + 0.970196870210745, + -307.08924769317844 + ], + [ + -0.0, + -0.988784406169872, + -0.1493499195121059, + 5.167030581751017 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73155.59654771812, + 30708.924769317844, + 516.7030581751017 + ], + "rotation_deg": [ + 0.0, + -8.589255332946777, + -78.87294006347653 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.7705999512953968, + -0.6373191626363763, + 6.938893851483477e-18, + -750.2021426264539 + ], + [ + -0.09933833623377808, + -0.12011268694142647, + -0.9877777267128548, + 39.165335229043905 + ], + [ + 0.6295296683515277, + 0.7611814722403003, + -0.15586905717076913, + -224.31230711266653 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7705999512953968, + -0.09933833623377808, + 0.6295296683515277, + 723.2076105129433 + ], + [ + -0.6373191626363763, + -0.12011268694142647, + 0.7611814722403003, + -302.67157257717344 + ], + [ + 6.938893851483477e-18, + -0.9877777267128548, + -0.15586905717076913, + 3.7232974510897408 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72320.76105129434, + 30267.157257717343, + 372.32974510897407 + ], + "rotation_deg": [ + -4.0248866167699123e-16, + -8.967202186584469, + -50.40779495239256 + ] + } + } + ] + }, + { + "frame": 65, + "time": 499.78482834622264, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.1773717102814372, + 0.9841439307295645, + -0.0, + 156.14059524880074 + ], + [ + 0.1301711984572923, + -0.023460682303490132, + -0.9912139302280041, + -99.76114391648932 + ], + [ + -0.9754971773904529, + 0.17581328764303703, + -0.13226845728066, + 775.5876718801106 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.1773717102814372, + 0.1301711984572923, + -0.9754971773904529, + 741.874688516617 + ], + [ + 0.9841439307295645, + -0.023460682303490132, + 0.17581328764303703, + -292.3639201353437 + ], + [ + -0.0, + -0.9912139302280041, + -0.13226845728066, + 3.701148993440326 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74187.4688516617, + 29236.39201353437, + 370.1148993440326 + ], + "rotation_deg": [ + 0.0, + -7.600697517395017, + -169.78329467773438 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.6645695162021673, + 0.7472264436801052, + -0.0, + -264.6128713637979 + ], + [ + 0.15065060382323692, + -0.1339858884079246, + -0.9794652506726481, + -147.2587938224662 + ], + [ + -0.7318823479069436, + 0.650922733875828, + -0.20161305351052533, + 740.7198084328636 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.6645695162021673, + 0.15065060382323692, + -0.7318823479069436, + 740.1580144259913 + ], + [ + 0.7472264436801052, + -0.1339858884079246, + 0.650922733875828, + -304.15623552763054 + ], + [ + -0.0, + -0.9794652506726481, + -0.20161305351052533, + 5.1039088971904905 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74015.80144259913, + 30415.623552763056, + 510.3908897190491 + ], + "rotation_deg": [ + 0.0, + -11.631301879882814, + -138.35069274902347 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.981672202003273, + -0.19057724894132824, + -2.775557540565546e-17, + -776.7476184572363 + ], + [ + -0.028928124336514722, + -0.149010103120932, + -0.9884124406290422, + -19.416720558934372 + ], + [ + 0.18836891335502745, + 0.9702970189161192, + -0.1517921195712681, + 160.6932517739277 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.981672202003273, + -0.028928124336514722, + 0.18836891335502745, + 731.6802423545133 + ], + [ + -0.19057724894132824, + -0.149010103120932, + 0.9702970189161192, + -306.843886705468 + ], + [ + -2.775557540565546e-17, + -0.9884124406290422, + -0.1517921195712681, + 5.200239701962093 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73168.02423545133, + 30684.3886705468, + 520.0239701962092 + ], + "rotation_deg": [ + 1.6089208063872182e-15, + -8.730796813964842, + -79.01352691650389 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.7704562142160962, + -0.6374929191573826, + -0.0, + -750.1203835117062 + ], + [ + -0.09922279892241068, + -0.11991791551619178, + -0.9878130034132241, + 39.174074592993215 + ], + [ + 0.6297237898219713, + 0.7610666711085502, + -0.1556453361331584, + -224.61446741394616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7704562142160962, + -0.09922279892241068, + 0.6297237898219713, + 723.2669502825861 + ], + [ + -0.6374929191573826, + -0.11991791551619178, + 0.7610666711085502, + -302.5521716920389 + ], + [ + -0.0, + -0.9878130034132241, + -0.1556453361331584, + 3.7364654740642664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72326.6950282586, + 30255.21716920389, + 373.64654740642663 + ], + "rotation_deg": [ + 0.0, + -8.95422554016113, + -50.39487457275389 + ] + } + } + ] + }, + { + "frame": 66, + "time": 499.85149501636624, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.17977483724993074, + 0.9837077858245104, + -5.204170388329109e-18, + 154.11991436372827 + ], + [ + 0.129976400305888, + -0.02375348304449769, + -0.9912325193448698, + -99.70014211296646 + ], + [ + -0.9750831507956831, + 0.17819864245345052, + -0.13212907652031095, + 776.0284017674556 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.17977483724993074, + 0.129976400305888, + -0.9750831507956831, + 741.9440026106379 + ], + [ + 0.9837077858245104, + -0.02375348304449769, + 0.17819864245345052, + -292.26441106252184 + ], + [ + -5.204170388329109e-18, + -0.9912325193448698, + -0.13212907652031095, + 3.709892720247719 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74194.40026106378, + 29226.441106252183, + 370.98927202477194 + ], + "rotation_deg": [ + 3.008143857357279e-16, + -7.592640876770012, + -169.6433563232422 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.6850115092113256, + 0.728532245166967, + 1.387778770470251e-17, + -285.5568413324363 + ], + [ + 0.1452551175124883, + -0.1365779317634651, + -0.979922149658659, + -144.0358249578822 + ], + [ + -0.713904895965615, + 0.6712579372345552, + -0.19938049356929324, + 733.5513877158571 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.6850115092113256, + 0.1452551175124883, + -0.713904895965615, + 740.2175781868311 + ], + [ + 0.728532245166967, + -0.1365779317634651, + 0.6712579372345552, + -304.0369462237229 + ], + [ + 1.387778770470251e-17, + -0.979922149658659, + -0.19938049356929324, + 5.111940415997656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74021.75781868311, + 30403.69462237229, + 511.19404159976557 + ], + "rotation_deg": [ + -8.114304497499213e-16, + -11.500734329223631, + -136.76348876953122 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9820952493499502, + -0.18838503444875712, + -0.0, + -776.4563667859704 + ], + [ + -0.02902653692223289, + -0.1513221265150976, + -0.9880582342054798, + -19.990645177436264 + ], + [ + 0.18613537407056802, + 0.9703672997045951, + -0.15408090791406323, + 162.11760329045447 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9820952493499502, + -0.02902653692223289, + 0.18613537407056802, + 731.798029050398 + ], + [ + -0.18838503444875712, + -0.1513221265150976, + 0.9703672997045951, + -306.61139904735586 + ], + [ + -0.0, + -0.9880582342054798, + -0.15408090791406323, + 5.227304476120642 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73179.8029050398, + 30661.139904735584, + 522.7304476120642 + ], + "rotation_deg": [ + 0.0, + -8.863495826721191, + -79.14144897460935 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.770283440243048, + -0.6377016713850882, + -0.0, + -750.0283902371025 + ], + [ + -0.09908385629225057, + -0.11968394803101226, + -0.9878553244306407, + 39.17264028296559 + ], + [ + 0.6299569861734465, + 0.7609286019110141, + -0.15537650518986912, + -224.9529535821765 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.770283440243048, + -0.09908385629225057, + 0.6299569861734465, + 723.3265140434258 + ], + [ + -0.6377016713850882, + -0.11968394803101226, + 0.7609286019110141, + -302.43288238813125 + ], + [ + -0.0, + -0.9878553244306407, + -0.15537650518986912, + 3.7444969928714307 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72332.65140434259, + 30243.288238813126, + 374.44969928714306 + ], + "rotation_deg": [ + 0.0, + -8.938632965087887, + -50.379348754882805 + ] + } + } + ] + }, + { + "frame": 67, + "time": 499.91816168650985, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.1821685123070632, + 0.983267325361639, + -3.4694469255517247e-18, + 152.10480597021956 + ], + [ + 0.12978087576492592, + -0.024044314759782127, + -0.9912511262104173, + -99.64280428982887 + ], + [ + -0.9746648476357547, + 0.18057472062353788, + -0.13198941266216138, + 776.462296502152 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.1821685123070632, + 0.12978087576492592, + -0.9746648476357547, + 742.0135304587243 + ], + [ + 0.983267325361639, + -0.024044314759782127, + 0.18057472062353788, + -292.16500896125973 + ], + [ + -3.4694469255517247e-18, + -0.9912511262104173, + -0.13198941266216138, + 3.713760178877767 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74201.35304587243, + 29216.500896125974, + 371.3760178877767 + ], + "rotation_deg": [ + 2.0053915941419567e-16, + -7.584568023681636, + -169.50390625 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.7049278599155905, + 0.7092790087933136, + 1.3877787704602056e-17, + -306.27964177124267 + ], + [ + 0.13983215549367192, + -0.1389743399952533, + -0.9803739598300626, + -140.73664236696538 + ], + [ + -0.6953586828903493, + 0.6910929044981196, + -0.1971468982290918, + 725.802122455395 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7049278599155905, + 0.13983215549367192, + -0.6953586828903493, + 740.2773557017365 + ], + [ + 0.7092790087933136, + -0.1389743399952533, + 0.6910929044981196, + -303.91776389137505 + ], + [ + 1.3877787704602056e-17, + -0.9803739598300626, + -0.1971468982290918, + 5.115095666627475 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74027.73557017365, + 30391.776389137507, + 511.5095666627475 + ], + "rotation_deg": [ + -8.110564980219475e-16, + -11.370166778564451, + -135.17628479003903 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9824760928768167, + -0.18638864484057063, + -2.7755575405958985e-17, + -776.1918592924424 + ], + [ + -0.02911964168785654, + -0.15349299747272388, + -0.9877205810323124, + -20.53164094904139 + ], + [ + 0.18409989014578734, + 0.970411859092869, + -0.15623077219367246, + 163.40015175137316 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9824760928768167, + -0.02911964168785654, + 0.18409989014578734, + 731.9101210284213 + ], + [ + -0.18638864484057063, + -0.15349299747272388, + 0.970411859092869, + -306.3902486993703 + ], + [ + -2.7755575405958985e-17, + -0.9877205810323124, + -0.15623077219367246, + 5.2486060812428965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73191.01210284213, + 30639.02486993703, + 524.8606081242897 + ], + "rotation_deg": [ + 1.6100477924387842e-15, + -8.988183975219727, + -79.25789642333983 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.7700817283327427, + -0.6379452419197558, + -6.9388938514695524e-18, + -749.9261521731963 + ], + [ + -0.09892151508642119, + -0.11941095614696465, + -0.987904629711327, + 39.161222975612894 + ], + [ + 0.6302290526956098, + 0.7607673088231182, + -0.15506270655584717, + -225.32755614989227 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7700817283327427, + -0.09892151508642119, + 0.6302290526956098, + 723.3862915583313 + ], + [ + -0.6379452419197558, + -0.11941095614696465, + 0.7607673088231182, + -302.3137000557834 + ], + [ + -6.9388938514695524e-18, + -0.987904629711327, + -0.15506270655584717, + 3.74765224350125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72338.62915583313, + 30231.37000557834, + 374.765224350125 + ], + "rotation_deg": [ + 4.024369592987661e-16, + -8.920433044433588, + -50.36122894287109 + ] + } + } + ] + }, + { + "frame": 68, + "time": 499.98482835665345, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.1845522090511271, + 0.9828227114461433, + -5.204170388326064e-18, + 150.0957075427909 + ], + [ + 0.12958467270139465, + -0.024333114536008737, + -0.9912697474138153, + -99.58153280522717 + ], + [ + -0.974242424984039, + 0.18294099931756852, + -0.13184949044235467, + 776.8903285323219 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.1845522090511271, + 0.12958467270139465, + -0.974242424984039, + 742.0832638227846 + ], + [ + 0.9828227114461433, + -0.024333114536008737, + 0.18294099931756852, + -292.0657101612836 + ], + [ + -5.204170388326064e-18, + -0.9912697474138153, + -0.13184949044235467, + 3.720432749459014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74208.32638227846, + 29206.57101612836, + 372.04327494590143 + ], + "rotation_deg": [ + 3.008030883679875e-16, + -7.576480388641352, + -169.36497497558594 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.724303285540369, + 0.6894815084941921, + -0.0, + -326.7651913362065 + ], + [ + 0.134388411182802, + -0.14117560305690707, + -0.9808206788405721, + -137.35888358368126 + ], + [ + -0.6762577338359602, + 0.7104116277816128, + -0.1949122790891615, + 717.4791258969891 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.724303285540369, + 0.134388411182802, + -0.6762577338359602, + 740.337338732616 + ], + [ + 0.6894815084941921, + -0.14117560305690707, + 0.7104116277816128, + -303.79868486031313 + ], + [ + -0.0, + -0.9808206788405721, + -0.1949122790891615, + 5.121056029208494 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74033.7338732616, + 30379.868486031315, + 512.1056029208494 + ], + "rotation_deg": [ + 0.0, + -11.239599227905268, + -133.58908081054685 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9828195679987601, + -0.18456894852257952, + -0.0, + -775.9519986694012 + ], + [ + -0.02920900574682544, + -0.15553635993248532, + -0.987398235122098, + -21.034988434906868 + ], + [ + 0.1822430435808363, + 0.9704343086494256, + -0.15825525477059152, + 164.55595308164058 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9828195679987601, + -0.02920900574682544, + 0.1822430435808363, + 732.0172190671224 + ], + [ + -0.18456894852257952, + -0.15553635993248532, + 0.9704343086494256, + -306.17908435060946 + ], + [ + -0.0, + -0.987398235122098, + -0.15825525477059152, + 5.271932325560479 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73201.72190671224, + 30617.90843506095, + 527.1932325560479 + ], + "rotation_deg": [ + 0.0, + -9.105639457702637, + -79.36399841308591 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.7698511304085363, + -0.6382235008276482, + -0.0, + -749.8136412440305 + ], + [ + -0.09873577974891562, + -0.11909911113097336, + -0.9879608532351802, + 39.14734358842754 + ], + [ + 0.6305398291370851, + 0.7605827838106483, + -0.15470408153187346, + -225.7369650671048 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7698511304085363, + -0.09873577974891562, + 0.6305398291370851, + 723.4462745892108 + ], + [ + -0.6382235008276482, + -0.11909911113097336, + 0.7605827838106483, + -302.19462102472147 + ], + [ + -0.0, + -0.9879608532351802, + -0.15470408153187346, + 3.7536126060822697 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72344.62745892108, + 30219.46210247215, + 375.361260608227 + ], + "rotation_deg": [ + 0.0, + -8.899634361267086, + -50.34052276611327 + ] + } + } + ] + }, + { + "frame": 69, + "time": 500.05149502679706, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.1869261871660197, + 0.9823739616620414, + -1.7347234627748468e-18, + 148.09243163732248 + ], + [ + 0.12938778740348372, + -0.024619917372668797, + -0.9912883839425303, + -99.52188599128847 + ], + [ + -0.9738159009902858, + 0.18529773568686367, + -0.13170930159938934, + 777.3118432849386 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.1869261871660197, + 0.12938778740348372, + -0.9738159009902858, + 742.1531962289373 + ], + [ + 0.9823739616620414, + -0.024619917372668797, + 0.18529773568686367, + -291.966511832431 + ], + [ + -1.7347234627748468e-18, + -0.9912883839425303, + -0.13170930159938934, + 3.7243101401176233 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74215.31962289373, + 29196.651183243102, + 372.43101401176233 + ], + "rotation_deg": [ + 1.0026581105888353e-16, + -7.568377494812007, + -169.22654724121094 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.7431229183889193, + 0.6691549358445585, + -1.3877787704404782e-17, + -346.99759204224716 + ], + [ + 0.12893052888041595, + -0.1431824316891806, + -0.9812623043703398, + -133.91323762749715 + ], + [ + -0.6566165271476883, + 0.7291984953952988, + -0.19267664775405965, + 708.5873515018956 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7431229183889193, + 0.12893052888041595, + -0.6566165271476883, + 740.3975208055876 + ], + [ + 0.6691549358445585, + -0.1431824316891806, + 0.7291984953952988, + -303.67970630037485 + ], + [ + -1.3877787704404782e-17, + -0.9812623043703398, + -0.19267664775405965, + 5.124221211866875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74039.75208055877, + 30367.970630037482, + 512.4221211866875 + ], + "rotation_deg": [ + 8.103222421354549e-16, + -11.109031677246085, + -132.00187683105463 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9831299230530995, + -0.18290859574554277, + 1.3877787703117982e-17, + -775.7347925770218 + ], + [ + -0.029295894728316948, + -0.1574648288814705, + -0.9870899544709165, + -21.50900321648909 + ], + [ + 0.1805472269848265, + 0.9704376727288974, + -0.16016685729766655, + 165.59667551738133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9831299230530995, + -0.029295894728316948, + 0.1805472269848265, + 732.1199406272551 + ], + [ + -0.18290859574554277, + -0.1574648288814705, + 0.9704376727288974, + -305.9767172471584 + ], + [ + 1.3877787703117982e-17, + -0.9870899544709165, + -0.16016685729766655, + 5.291776573930251 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73211.99406272551, + 30597.671724715838, + 529.1776573930251 + ], + "rotation_deg": [ + -8.055382054342206e-16, + -9.216581344604492, + -79.46077728271483 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.7695916513320775, + -0.6385363656049402, + 6.9388938514564685e-18, + -749.6908116093092 + ], + [ + -0.09852666296476686, + -0.1187485965336652, + -0.988023920513219, + 39.12540453801784 + ], + [ + 0.6308891980442848, + 0.7603749646927132, + -0.15430078697010807, + -226.1819784805037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7695916513320775, + -0.09852666296476686, + 0.6308891980442848, + 723.5064566621825 + ], + [ + -0.6385363656049402, + -0.1187485965336652, + 0.7603749646927132, + -302.0756424647832 + ], + [ + 6.9388938514564685e-18, + -0.988023920513219, + -0.15430078697010807, + 3.7567777887406497 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72350.64566621825, + 30207.564246478316, + 375.677778874065 + ], + "rotation_deg": [ + -4.023883703655038e-16, + -8.87624645233154, + -50.31723403930664 + ] + } + } + ] + }, + { + "frame": 70, + "time": 500.11816169694066, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.18929070612700943, + 0.981921090808186, + -5.204170388323014e-18, + 146.0947905588695 + ], + [ + 0.12919024820738478, + -0.02490476427975674, + -0.9913070323992882, + -99.46112114008388 + ], + [ + -0.9733852867369871, + 0.18764518587379378, + -0.13156887087127628, + 777.7272905433828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.18929070612700943, + 0.12919024820738478, + -0.9733852867369871, + 742.2233226575779 + ], + [ + 0.981921090808186, + -0.02490476427975674, + 0.18764518587379378, + -291.86741184342463 + ], + [ + -5.204170388323014e-18, + -0.9913070323992882, + -0.13156887087127628, + 3.7281922870219186 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74222.3322657578, + 29186.741184342463, + 372.8192287021919 + ], + "rotation_deg": [ + 3.007917745786284e-16, + -7.560260772705075, + -169.08860778808594 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.7613723172510499, + 0.648314888402053, + 1.3877787704307948e-17, + -366.96114170691607 + ], + [ + 0.12346509666777317, + -0.14499575504314402, + -0.9816988341259686, + -130.40218308351533 + ], + [ + -0.6364499830863872, + 0.7474383047440343, + -0.1904400158336001, + 699.1338656429366 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7613723172510499, + 0.12346509666777317, + -0.6364499830863872, + 740.4578969010475 + ], + [ + 0.648314888402053, + -0.14499575504314402, + 0.7474383047440343, + -303.56082608028265 + ], + [ + 1.3877787704307948e-17, + -0.9816988341259686, + -0.1904400158336001, + 5.127391150770942 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74045.78969010475, + 30356.082608028264, + 512.7391150770942 + ], + "rotation_deg": [ + -8.099619180079407e-16, + -10.978464126586912, + -130.41467285156247 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9834110594674005, + -0.1813909813557576, + -1.3877787703182917e-17, + -775.5382106264775 + ], + [ + -0.029381198539224086, + -0.15929014423937488, + -0.9867945050113512, + -21.953721748871832 + ], + [ + 0.17899561318651117, + 0.9704246313741726, + -0.16197717518924126, + 166.53478905957516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9834110594674005, + -0.029381198539224086, + 0.17899561318651117, + 732.2188297516949 + ], + [ + -0.1813909813557576, + -0.15929014423937488, + 0.9704246313741726, + -305.7821016448372 + ], + [ + -1.3877787703182917e-17, + -0.9867945050113512, + -0.16197717518924126, + 5.311021180443563 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73221.88297516949, + 30578.210164483724, + 531.1021180443563 + ], + "rotation_deg": [ + 8.057793861764791e-16, + -9.321677207946777, + -79.54920959472655 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.7693035040583359, + -0.6388834937948904, + -6.93889385144881e-18, + -749.5576910987273 + ], + [ + -0.09829414892095743, + -0.1183596601379737, + -0.9880937461293476, + 39.098067093159635 + ], + [ + 0.6312767794378806, + 0.7601439853860993, + -0.15385301174782148, + -226.6618439424372 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7693035040583359, + -0.09829414892095743, + 0.6312767794378806, + 723.5668327576423 + ], + [ + -0.6388834937948904, + -0.1183596601379737, + 0.7601439853860993, + -301.956762244691 + ], + [ + -6.93889385144881e-18, + -0.9880937461293476, + -0.15385301174782148, + 3.759947727644717 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72356.68327576423, + 30195.676224469098, + 375.9947727644717 + ], + "rotation_deg": [ + 4.0235993478797623e-16, + -8.850280761718748, + -50.29138565063476 + ] + } + } + ] + }, + { + "frame": 71, + "time": 500.18482836708426, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.19164524104776134, + 0.981464264038047, + 1.7347234627738291e-18, + 144.103224790394 + ], + [ + 0.1289920788732372, + -0.025187588539601756, + -0.9913256926820366, + -99.39923707094506 + ], + [ + -0.9729507455980893, + 0.18998282908089906, + -0.13142819824733146, + 778.1366440556676 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.19164524104776134, + 0.1289920788732372, + -0.9729507455980893, + 742.2936449878656 + ], + [ + 0.981464264038047, + -0.025187588539601756, + 0.18998282908089906, + -291.76841155086004 + ], + [ + 1.7347234627738291e-18, + -0.9913256926820366, + -0.13142819824733146, + 3.7320792316187164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74229.36449878656, + 29176.841155086004, + 373.20792316187163 + ], + "rotation_deg": [ + -1.0026203753509403e-16, + -7.552130222320554, + -168.9511871337891 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.7790374784845571, + 0.6269773577382387, + -0.0, + -386.6403488318793 + ], + [ + 0.11799863939812781, + -0.14661671807884422, + -0.9821302658405244, + -126.830964586939 + ], + [ + -0.6157734521847396, + 0.7651162749035507, + -0.18820239494279237, + 689.1256463327925 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7790374784845571, + 0.11799863939812781, + -0.6157734521847396, + 740.5184688981541 + ], + [ + 0.6269773577382387, + -0.14661671807884422, + 0.7651162749035507, + -303.4420455566323 + ], + [ + -0.0, + -0.9821302658405244, + -0.18820239494279237, + 5.130565887367511 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74051.84688981541, + 30344.20455566323, + 513.0565887367511 + ], + "rotation_deg": [ + 0.0, + -10.847896575927733, + -128.8274688720703 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.983666324396528, + -0.18000156179384758, + -0.0, + -775.3604410799184 + ], + [ + -0.029465667921251167, + -0.16102296541838393, + -0.9865107090254137, + -22.371727302886818 + ], + [ + 0.17757345786613382, + 0.9703973648314823, + -0.1636967360382602, + 167.38078898105027 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.983666324396528, + -0.029465667921251167, + 0.17757345786613382, + 732.3143714945819 + ], + [ + -0.18000156179384758, + -0.16102296541838393, + 0.9703973648314823, + -305.5943205208877 + ], + [ + -0.0, + -0.9865107090254137, + -0.1636967360382602, + 5.329738714319485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73231.43714945819, + 30559.43205208877, + 532.9738714319485 + ], + "rotation_deg": [ + 0.0, + -9.421533584594727, + -79.63014984130857 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.7689866421234599, + -0.639264846707283, + -0.0, + -749.4142192462049 + ], + [ + -0.098038280573905, + -0.11793254167877887, + -0.9881702338945932, + 39.06527178442097 + ], + [ + 0.6317024878105402, + 0.7598897141610557, + -0.15336097680375996, + -227.17653804155987 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7689866421234599, + -0.098038280573905, + 0.6317024878105402, + 723.6274047547489 + ], + [ + -0.639264846707283, + -0.11793254167877887, + 0.7598897141610557, + -301.83798172104065 + ], + [ + -0.0, + -0.9881702338945932, + -0.15336097680375996, + 3.763122464241286 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72362.74047547489, + 30183.798172104063, + 376.3122464241286 + ], + "rotation_deg": [ + 0.0, + -8.821750640869134, + -50.26297760009763 + ] + } + } + ] + }, + { + "frame": 72, + "time": 500.25149503722787, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.19399031330685843, + 0.9810034446132729, + -1.73472346277332e-18, + 142.1173569807399 + ], + [ + 0.12879327656826803, + -0.025468461105296655, + -0.9913443646885461, + -99.33625978336381 + ], + [ + -0.9725122408152964, + 0.1923111816786927, + -0.1312872837168766, + 778.5400932928745 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.19399031330685843, + 0.12879327656826803, + -0.9725122408152964, + 742.3642223760774 + ], + [ + 0.9810034446132729, + -0.025468461105296655, + 0.1923111816786927, + -291.66954167023744 + ], + [ + -1.73472346277332e-18, + -0.9913443646885461, + -0.1312872837168766, + 3.735972415899373 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74236.42223760774, + 29166.954167023745, + 373.5972415899373 + ], + "rotation_deg": [ + 1.002601490960073e-16, + -7.543985843658441, + -168.81425476074222 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.7961047661791286, + 0.6051588231752677, + -0.0, + -406.01987821293744 + ], + [ + 0.11253763150368845, + -0.14804666375763811, + -0.9825565972735478, + -123.20485979289064 + ], + [ + -0.5946028074024577, + 0.782217979686848, + -0.1859637967017821, + 678.5702331126525 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7961047661791286, + 0.11253763150368845, + -0.5946028074024577, + 740.579295953185 + ], + [ + 0.6051588231752677, + -0.14804666375763811, + 0.782217979686848, + -303.32339544492396 + ], + [ + -0.0, + -0.9825565972735478, + -0.1859637967017821, + 5.13374686364794 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74057.9295953185, + 30332.339544492395, + 513.374686364794 + ], + "rotation_deg": [ + 0.0, + -10.717329025268551, + -127.24027252197261 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9840083363200269, + -0.17812241311158022, + -1.3877787703266927e-17, + -775.1049368237278 + ], + [ + -0.029263330754530595, + -0.16166051710129367, + -0.9864124566750426, + -22.681760195386573 + ], + [ + 0.17570215660465302, + 0.9706380821056912, + -0.16428775283221658, + 168.65428310754234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9840083363200269, + -0.029263330754530595, + 0.17570215660465302, + 732.4130539160743 + ], + [ + -0.17812241311158022, + -0.16166051710129367, + 0.9706380821056912, + -305.43256848098724 + ], + [ + -1.3877787703266927e-17, + -0.9864124566750426, + -0.16428775283221658, + 5.334260819130751 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73241.30539160743, + 30543.256848098725, + 533.4260819130751 + ], + "rotation_deg": [ + 8.060914733532486e-16, + -9.455861091613768, + -79.7395858764648 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.7686412700317365, + -0.6396800747279838, + -6.938893851431315e-18, + -749.260486196026 + ], + [ + -0.0977590441597246, + -0.11746752607852042, + -0.9882532821103954, + 39.026908093671544 + ], + [ + 0.6321659280755736, + 0.7596122620280177, + -0.1528249022804431, + -227.72575376279755 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7686412700317365, + -0.0977590441597246, + 0.6321659280755736, + 723.6882318097798 + ], + [ + -0.6396800747279838, + -0.11746752607852042, + 0.7596122620280177, + -301.7193316093323 + ], + [ + -6.938893851431315e-18, + -0.9882532821103954, + -0.1528249022804431, + 3.766303440521715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72368.82318097798, + 30171.93316093323, + 376.6303440521715 + ], + "rotation_deg": [ + 4.0229498090510515e-16, + -8.790669441223137, + -50.232032775878906 + ] + } + } + ] + }, + { + "frame": 73, + "time": 500.3181617073715, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.19632566015784433, + 0.9805387474055203, + -0.0, + 140.13744473052463 + ], + [ + 0.12859387454914734, + -0.025747353054550223, + -0.9913630461335152, + -99.27289811819415 + ], + [ + -0.9720698837874324, + 0.19462998229379713, + -0.13114614377023656, + 778.9376515783451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.19632566015784433, + 0.12859387454914734, + -0.9720698837874324, + 742.4351425273743 + ], + [ + 0.9805387474055203, + -0.025747353054550223, + 0.19462998229379713, + -291.5708481363631 + ], + [ + -0.0, + -0.9913630461335152, + -0.13114614377023656, + 3.739186206998967 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74243.51425273743, + 29157.08481363631, + 373.9186206998967 + ], + "rotation_deg": [ + 0.0, + -7.535828590393066, + -168.67782592773438 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.8125611702375989, + 0.5828759255811682, + -1.387778770402465e-17, + -425.084834227474 + ], + [ + 0.10708843138747971, + -0.1492871764095564, + -0.982977826211065, + -119.52981399955985 + ], + [ + -0.5729541236942763, + 0.79872960283651, + -0.18372423273579042, + 667.4754090150482 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8125611702375989, + 0.10708843138747971, + -0.5729541236942763, + 740.6404657713009 + ], + [ + 0.5828759255811682, + -0.1492871764095564, + 0.79872960283651, + -303.20492167996383 + ], + [ + -1.387778770402465e-17, + -0.982977826211065, + -0.18372423273579042, + 5.136248446747305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74064.0465771301, + 30320.49216799638, + 513.6248446747305 + ], + "rotation_deg": [ + 8.089080438808035e-16, + -10.58676147460937, + -125.65307617187499 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9844362558940274, + -0.17574202138745543, + -0.0, + -774.7680254458093 + ], + [ + -0.028777493714900824, + -0.1611999676745101, + -0.9865021167119844, + -22.881682965719406 + ], + [ + 0.17336986556938622, + 0.971148451874386, + -0.1637485088006497, + 170.3636171861291 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9844362558940274, + -0.028777493714900824, + 0.17336986556938622, + 732.5153388920385 + ], + [ + -0.17574202138745543, + -0.1611999676745101, + 0.971148451874386, + -305.2961802669703 + ], + [ + -0.0, + -0.9865021167119844, + -0.1637485088006497, + 5.323958027519273 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73251.53388920384, + 30529.618026697026, + 532.3958027519274 + ], + "rotation_deg": [ + 0.0, + -9.424540519714359, + -79.87815856933594 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.7682674605897106, + -0.6401289784090683, + -0.0, + -749.0965639112027 + ], + [ + -0.09745645093514191, + -0.11696489708075762, + -0.9883427811351757, + 38.98220599045401 + ], + [ + 0.6326668495373386, + 0.7593116028102129, + -0.1522450240050047, + -228.309441192418 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7682674605897106, + -0.09745645093514191, + 0.6326668495373386, + 723.7494016278957 + ], + [ + -0.6401289784090683, + -0.11696489708075762, + 0.7593116028102129, + -301.6008578443722 + ], + [ + -0.0, + -0.9883427811351757, + -0.1522450240050047, + 3.76880502362108 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72374.94016278957, + 30160.085784437215, + 376.880502362108 + ], + "rotation_deg": [ + 0.0, + -8.757051467895506, + -50.1985626220703 + ] + } + } + ] + }, + { + "frame": 74, + "time": 500.3848283775151, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.19865128061138068, + 0.9800702366215692, + -0.0, + 138.16353074697145 + ], + [ + 0.12839389126013245, + -0.02602426843347969, + -0.9913817358311494, + -99.21098369410385 + ], + [ + -0.9716237367752804, + 0.19693922923091153, + -0.13100478664833248, + 779.3292033018658 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.19865128061138068, + 0.12839389126013245, + -0.9716237367752804, + 742.5064743610335 + ], + [ + 0.9800702366215692, + -0.02602426843347969, + 0.19693922923091153, + -291.47236806797775 + ], + [ + -0.0, + -0.9913817358311494, + -0.13100478664833248, + 3.739898414999195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74250.64743610335, + 29147.236806797777, + 373.9898414999195 + ], + "rotation_deg": [ + 0.0, + -7.527658939361567, + -168.54190063476562 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.8283940629903762, + 0.5601457635315081, + -1.387778770393261e-17, + -443.8204690495671 + ], + [ + 0.10165732397781521, + -0.1503400170551757, + -0.9833939534863526, + -115.81288616554282 + ], + [ + -0.5508439704486257, + 0.8146377031965291, + -0.18148369830670033, + 655.849223698659 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8283940629903762, + 0.10165732397781521, + -0.5508439704486257, + 740.7020472717792 + ], + [ + 0.5601457635315081, + -0.1503400170551757, + 0.8146377031965291, + -303.0866613804927 + ], + [ + -1.387778770393261e-17, + -0.9833939534863526, + -0.18148369830670033, + 5.136248446747305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74070.20472717792, + 30308.666138049273, + 513.6248446747305 + ], + "rotation_deg": [ + 8.085657510445109e-16, + -10.456192970275874, + -124.06587982177734 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9848419304419712, + -0.17345423616427247, + -1.3877787703224774e-17, + -774.4426741057762 + ], + [ + -0.02829608169572505, + -0.1606600584535136, + -0.9866041138057261, + -23.057961779909103 + ], + [ + 0.17113065240997502, + 0.9716491016696913, + -0.16313283860160793, + 172.00627994717473 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9848419304419712, + -0.02829608169572505, + 0.17113065240997502, + 732.6156209020763 + ], + [ + -0.17345423616427247, + -0.1606600584535136, + 0.9716491016696913, + -305.16459508375357 + ], + [ + -1.3877787703224774e-17, + -0.9866041138057261, + -0.16313283860160793, + 5.31079119807098 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73261.56209020763, + 30516.45950837536, + 531.079119807098 + ], + "rotation_deg": [ + 8.059348824987158e-16, + -9.388784408569336, + -80.01128387451169 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.7678653251744616, + -0.6406113036738567, + -6.938893851410998e-18, + -748.9225157729353 + ], + [ + -0.09713052702769912, + -0.1164249885894337, + -0.9884386084887979, + 38.92926667383166 + ], + [ + 0.6332049403236335, + 0.7589877376793425, + -0.1516216264328341, + -228.9276633697067 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7678653251744616, + -0.09713052702769912, + 0.6332049403236335, + 723.8109831283739 + ], + [ + -0.6406113036738567, + -0.1164249885894337, + 0.7589877376793425, + -301.48259754490107 + ], + [ + -6.938893851410998e-18, + -0.9884386084887979, + -0.1516216264328341, + 3.76880502362108 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72381.09831283739, + 30148.259754490107, + 376.880502362108 + ], + "rotation_deg": [ + 4.0221955298031106e-16, + -8.720913887023922, + -50.162582397460916 + ] + } + } + ] + }, + { + "frame": 75, + "time": 500.4514950476587, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.20096743481369067, + 0.9795979226929817, + -1.734723462771791e-18, + 136.19543229829046 + ], + [ + 0.12819332997973723, + -0.0262992438932796, + -0.9914004336893075, + -99.14805266295129 + ], + [ + -0.9711738098050172, + 0.19923917989282536, + -0.13086321234190632, + 779.7151818058119 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.20096743481369067, + 0.12819332997973723, + -0.9711738098050172, + 742.5782356948072 + ], + [ + 0.9795979226929817, + -0.0262992438932796, + 0.19923917989282536, + -291.37411264581584 + ], + [ + -1.734723462771791e-18, + -0.9914004336893075, + -0.13086321234190632, + 3.740610622999424 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74257.82356948072, + 29137.411264581584, + 374.06106229994236 + ], + "rotation_deg": [ + 1.0025447884786883e-16, + -7.519476890563964, + -168.40646362304688 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.843591295213508, + 0.5369857788061021, + -0.0, + -462.2122679256457 + ], + [ + 0.09625053191150704, + -0.15120719036683478, + -0.9838049708596313, + -112.0569025416802 + ], + [ + -0.5282892920788632, + 0.8299293006458963, + -0.1792422377795677, + 643.7008922750248 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.843591295213508, + 0.09625053191150704, + -0.5282892920788632, + 740.764058272372 + ], + [ + 0.5369857788061021, + -0.15120719036683478, + 0.8299293006458963, + -302.968625727245 + ], + [ + -0.0, + -0.9838049708596313, + -0.1792422377795677, + 5.136248446747305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74076.4058272372, + 30296.8625727245, + 513.6248446747305 + ], + "rotation_deg": [ + 0.0, + -10.325625419616696, + -122.47868347167964 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9852276977877614, + -0.17124947740599727, + -0.0, + -774.1278054659988 + ], + [ + -0.027819460201979063, + -0.16005013938532592, + -0.9867167934705521, + -23.210604177426223 + ], + [ + 0.16897472466140803, + 0.9721407164280242, + -0.16244989962572903, + 173.58951872596086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9852276977877614, + -0.027819460201979063, + 0.16897472466140803, + 732.7142075217353 + ], + [ + -0.17124947740599727, + -0.16005013938532592, + 0.9721407164280242, + -305.0372733642342 + ], + [ + -0.0, + -0.9867167934705521, + -0.16244989962572903, + 5.297305408453728 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73271.42075217352, + 30503.72733642342, + 529.7305408453728 + ], + "rotation_deg": [ + 0.0, + -9.34912586212158, + -80.13952636718749 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.767435013983191, + -0.6411267420039655, + 6.9388938513998145e-18, + -748.7383610924662 + ], + [ + -0.09678128232786212, + -0.11584814653720159, + -0.9885406366633944, + 38.87044760467718 + ], + [ + 0.6337798324677966, + 0.7586407014797116, + -0.15095499334392082, + -229.57976237515376 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.767435013983191, + -0.09678128232786212, + 0.6337798324677966, + 723.8729941289669 + ], + [ + -0.6411267420039655, + -0.11584814653720159, + 0.7586407014797116, + -301.36456189165335 + ], + [ + 6.9388938513998145e-18, + -0.9885406366633944, + -0.15095499334392082, + 3.76880502362108 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72387.29941289668, + 30136.456189165336, + 376.880502362108 + ], + "rotation_deg": [ + -4.0217803953524227e-16, + -8.682273864746088, + -50.12411117553709 + ] + } + } + ] + }, + { + "frame": 76, + "time": 500.5181617178023, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.20327386114204907, + 0.9791219216095629, + -0.0, + 134.2333524175525 + ], + [ + 0.1279922239416784, + -0.02657225109822184, + -0.9914191374398802, + -99.08410978499673 + ], + [ + -0.9707202154254992, + 0.20152957396641752, + -0.13072143734363773, + 780.0955064198497 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.20327386114204907, + 0.1279922239416784, + -0.9707202154254992, + 742.6503413344881 + ], + [ + 0.9791219216095629, + -0.02657225109822184, + 0.20152957396641752, + -291.27603874933925 + ], + [ + -0.0, + -0.9914191374398802, + -0.13072143734363773, + 3.741322830999652 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74265.0341334488, + 29127.603874933928, + 374.1322830999652 + ], + "rotation_deg": [ + 0.0, + -7.51128339767456, + -168.2715301513672 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.8581412054512725, + 0.5134137430052267, + -0.0, + -480.245923359702 + ], + [ + 0.09087415297204349, + -0.15189086041859, + -0.984210879254499, + -108.26708551016374 + ], + [ + -0.5053074051036761, + 0.8445919018733637, + -0.17699984643305078, + 631.0394970333106 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8581412054512725, + 0.09087415297204349, + -0.5053074051036761, + 740.8264135788719 + ], + [ + 0.5134137430052267, + -0.15189086041859, + 0.8445919018733637, + -302.85077159968273 + ], + [ + -0.0, + -0.984210879254499, + -0.17699984643305078, + 5.136248446747305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74082.64135788719, + 30285.07715996827, + 513.6248446747305 + ], + "rotation_deg": [ + 0.0, + -10.19505786895752, + -120.891487121582 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.985595606000413, + -0.16911919297548328, + -0.0, + -773.8223230326167 + ], + [ + -0.027347897963255104, + -0.15937852819484133, + -0.986838678420864, + -23.3418463357232 + ], + [ + 0.1668933503026164, + 0.9726238668933888, + -0.16170783275438366, + 175.1193915229192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.985595606000413, + -0.027347897963255104, + 0.1668933503026164, + 732.8112685436662 + ], + [ + -0.16911919297548328, + -0.15937852819484133, + 0.9726238668933888, + -304.9136873297772 + ], + [ + -0.0, + -0.986838678420864, + -0.16170783275438366, + 5.283538933887795 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73281.12685436662, + 30491.36873297772, + 528.3538933887795 + ], + "rotation_deg": [ + 0.0, + -9.30603885650635, + -80.26338958740233 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.7669766735939016, + -0.6416749817180298, + -0.0, + -748.5440019041928 + ], + [ + -0.09640872917249509, + -0.11523473489360442, + -0.9886487307498781, + 38.80562683840007 + ], + [ + 0.6343911509824289, + 0.7582705190243529, + -0.15024542433540958, + -230.26543640456623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7669766735939016, + -0.09640872917249509, + 0.6343911509824289, + 723.9353494354666 + ], + [ + -0.6416749817180298, + -0.11523473489360442, + 0.7582705190243529, + -301.24670776409107 + ], + [ + -0.0, + -0.9886487307498781, + -0.15024542433540958, + 3.76880502362108 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72393.53494354666, + 30124.670776409104, + 376.880502362108 + ], + "rotation_deg": [ + 0.0, + -8.641149520874016, + -50.08316802978514 + ] + } + } + ] + }, + { + "frame": 77, + "time": 500.5848283879459, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.20557081998241913, + 0.9786422420740665, + -5.2041703883123136e-18, + 132.27705248176585 + ], + [ + 0.1277905761290537, + -0.026843326796522172, + -0.9914378469975308, + -99.02236546031189 + ], + [ + -0.9702629619661546, + 0.2038106690855735, + -0.1305794616452186, + 780.4696676663067 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.20557081998241913, + 0.1277905761290537, + -0.9702629619661546, + 742.7226339381767 + ], + [ + 0.9786422420740665, + -0.026843326796522172, + 0.2038106690855735, + -291.1780639634115 + ], + [ + -5.2041703883123136e-18, + -0.9914378469975308, + -0.1305794616452186, + 3.7387878351729764 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74272.26339381767, + 29117.80639634115, + 373.8787835172976 + ], + "rotation_deg": [ + 3.0075208681012287e-16, + -7.503078460693355, + -168.1370849609375 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.8720326289644946, + 0.4894477439127408, + -0.0, + -497.9073519658082 + ], + [ + 0.0855341915804174, + -0.15239340027180073, + -0.9846116765630413, + -104.45183870141662 + ], + [ + -0.4819159774568782, + 0.8586135008417907, + -0.1747565359120684, + 617.8739060496463 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8720326289644946, + 0.0855341915804174, + -0.4819159774568782, + 740.8889558493797 + ], + [ + 0.4894477439127408, + -0.15239340027180073, + 0.8586135008417907, + -302.73301658266917 + ], + [ + -0.0, + -0.9846116765630413, + -0.1747565359120684, + 5.133001242920401 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74088.89558493797, + 30273.301658266915, + 513.3001242920401 + ], + "rotation_deg": [ + 0.0, + -10.064490318298338, + -119.3042907714844 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9859474987910183, + -0.16705546871543736, + -1.387778770314468e-17, + -773.5250886048296 + ], + [ + -0.02688154579077912, + -0.15865265016376984, + -0.9869684488837068, + -23.45694915787805 + ], + [ + 0.1648784662265198, + 0.973099075155784, + -0.1609138940730358, + 176.60096221598295 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9859474987910183, + -0.02688154579077912, + 0.1648784662265198, + 732.9068710144068 + ], + [ + -0.16705546871543736, + -0.15865265016376984, + 0.973099075155784, + -304.79332806612075 + ], + [ + -1.387778770314468e-17, + -0.9869684488837068, + -0.1609138940730358, + 5.266278252740117 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73290.68710144068, + 30479.332806612074, + 526.6278252740117 + ], + "rotation_deg": [ + 8.056373751638221e-16, + -9.2599458694458, + -80.38333892822264 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.7664904470873131, + -0.6422557080508441, + -0.0, + -748.3392564651679 + ], + [ + -0.096012903811195, + -0.11458516077924535, + -0.9887627436503341, + 38.7314737513377 + ], + [ + 0.6350385107785264, + 0.7578772016068933, + -0.14949326778385696, + -230.98484938147521 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7664904470873131, + -0.096012903811195, + 0.6350385107785264, + 723.9978917059744 + ], + [ + -0.6422557080508441, + -0.11458516077924535, + 0.7578772016068933, + -301.1289527470775 + ], + [ + -0.0, + -0.9887627436503341, + -0.14949326778385696, + 3.765557819794176 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72399.78917059745, + 30112.89527470775, + 376.5557819794176 + ], + "rotation_deg": [ + 0.0, + -8.597561836242672, + -50.039772033691385 + ] + } + } + ] + }, + { + "frame": 78, + "time": 500.6514950580895, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.20785831095086785, + 0.9781589454524516, + -3.469446925540522e-18, + 130.32651742334482 + ], + [ + 0.12758841253584188, + -0.027112477016028872, + -0.9914565601057056, + -98.95946467424403 + ], + [ + -0.9698021078465753, + 0.20608246390921364, + -0.13043730174090293, + 780.8380328722465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.20785831095086785, + 0.12758841253584188, + -0.9698021078465753, + 742.795000775184 + ], + [ + 0.9781589454524516, + -0.027112477016028872, + 0.20608246390921364, + -291.08012863443525 + ], + [ + -3.469446925540522e-18, + -0.9914565601057056, + -0.13043730174090293, + 3.7363952801421987 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74279.5000775184, + 29108.012863443528, + 373.6395280142199 + ], + "rotation_deg": [ + 2.0049760687122418e-16, + -7.494863033294673, + -168.0031280517578 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.8852549062977028, + 0.4651061716165946, + -1.387778770357637e-17, + -515.1827706234448 + ], + [ + 0.0802365354786923, + -0.15271736010287718, + -0.9850073635753107, + -100.61301121495083 + ], + [ + -0.45813301765677394, + 0.8719825938479737, + -0.17251230147110502, + 604.2146251515385 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8852549062977028, + 0.0802365354786923, + -0.45813301765677394, + 740.951572353206 + ], + [ + 0.4651061716165946, + -0.15271736010287718, + 0.8719825938479737, + -302.6153010226072 + ], + [ + -1.387778770357637e-17, + -0.9850073635753107, + -0.17251230147110502, + 5.129896479889395 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74095.1572353206, + 30261.530102260716, + 512.9896479889395 + ], + "rotation_deg": [ + 8.072413465689981e-16, + -9.933921813964844, + -117.71709442138675 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9862849623884095, + -0.16505142521800195, + -0.0, + -773.2351305303282 + ], + [ + -0.02642051673494973, + -0.15787902661121708, + -0.9871049433833025, + -23.55438745787617 + ], + [ + 0.16292306711639504, + 0.973566763534778, + -0.16007445499455658, + 178.03962845212837 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9862849623884095, + -0.02642051673494973, + 0.16292306711639504, + 733.0010996650911 + ], + [ + -0.16505142521800195, + -0.15787902661121708, + 0.973566763534778, + -304.6757606004374 + ], + [ + -0.0, + -0.9871049433833025, + -0.16007445499455658, + 5.248942649964078 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73300.10996650912, + 30467.57606004374, + 524.8942649964077 + ], + "rotation_deg": [ + 0.0, + -9.211217880249025, + -80.4997787475586 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.7659764741683468, + -0.6428686032313509, + -0.0, + -748.123988770442 + ], + [ + -0.09559382452926157, + -0.11389982384758114, + -0.9888825263090446, + 38.651210362523265 + ], + [ + 0.6357215232178636, + 0.7574607550341471, + -0.14869885507514516, + -231.73717772578075 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7659764741683468, + -0.09559382452926157, + 0.6357215232178636, + 724.0605082098008 + ], + [ + -0.6428686032313509, + -0.11389982384758114, + 0.7574607550341471, + -301.0112371870155 + ], + [ + -0.0, + -0.9888825263090446, + -0.14869885507514516, + 3.76245305676317 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72406.05082098008, + 30101.12371870155, + 376.245305676317 + ], + "rotation_deg": [ + 0.0, + -8.551530838012688, + -49.99394226074217 + ] + } + } + ] + }, + { + "frame": 79, + "time": 500.7181617282331, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.21013607352955765, + 0.9776721488318978, + -0.0, + 128.38196570954952 + ], + [ + 0.12738574215321677, + -0.027379668850859545, + -0.9914752777702986, + -98.89246252301695 + ], + [ + -0.9693377699310257, + 0.20834469984455847, + -0.13029494937190228, + 781.2009607643356 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.21013607352955765, + 0.12738574215321677, + -0.9693377699310257, + 742.8674040250351 + ], + [ + 0.9776721488318978, + -0.027379668850859545, + 0.20834469984455847, + -290.98221268179 + ], + [ + -0.0, + -0.9914752777702986, + -0.13029494937190228, + 3.7371074881424273 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74286.7404025035, + 29098.221268178997, + 373.7107488142427 + ], + "rotation_deg": [ + 0.0, + -7.486636638641354, + -167.8696746826172 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.8977978914585627, + 0.44040770439736715, + -0.0, + -532.0587332553039 + ], + [ + 0.07498698062722531, + -0.15286552079303145, + -0.9853979324562678, + -96.7528838721523 + ], + [ + -0.43397685514182643, + 0.8846881789905077, + -0.17026718754848078, + 590.0725313179188 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8977978914585627, + 0.07498698062722531, + -0.43397685514182643, + 741.0142252698762 + ], + [ + 0.44040770439736715, + -0.15286552079303145, + 0.8846881789905077, + -302.49760483887604 + ], + [ + -0.0, + -0.9853979324562678, + -0.17026718754848078, + 5.129896479889395 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74101.42252698762, + 30249.760483887607, + 512.9896479889395 + ], + "rotation_deg": [ + 0.0, + -9.803354263305662, + -116.12989807128906 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9866094061488894, + -0.16310082678679336, + 1.3877787703083453e-17, + -772.9516165271668 + ], + [ + -0.02596487111895224, + -0.1570634961212607, + -0.9872471239025934, + -23.632899130756012 + ], + [ + 0.16102081150345754, + 0.9740273001961637, + -0.1591952158054389, + 179.44027791171317 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9866094061488894, + -0.02596487111895224, + 0.16102081150345754, + 733.0940904416498 + ], + [ + -0.16310082678679336, + -0.1570634961212607, + 0.9740273001961637, + -304.5606345711839 + ], + [ + 1.3877787703083453e-17, + -0.9872471239025934, + -0.1591952158054389, + 5.234520531285694 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73309.40904416498, + 30456.06345711839, + 523.4520531285694 + ], + "rotation_deg": [ + -8.054099640032201e-16, + -9.160186767578127, + -80.61307525634764 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.765434934131633, + -0.6435132955976146, + -0.0, + -747.8981583350896 + ], + [ + -0.09515151612816175, + -0.11317916036598279, + -0.9890079204118454, + 38.567634187718255 + ], + [ + 0.6364397410150914, + 0.75702121658364, + -0.14786255002152868, + -232.52163675458542 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.765434934131633, + -0.09515151612816175, + 0.6364397410150914, + 724.1231611264709 + ], + [ + -0.6435132955976146, + -0.11317916036598279, + 0.75702121658364, + -300.8935410032844 + ], + [ + -0.0, + -0.9890079204118454, + -0.14786255002152868, + 3.76245305676317 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72412.3161126471, + 30089.35410032844, + 376.245305676317 + ], + "rotation_deg": [ + 0.0, + -8.503078460693356, + -49.94570159912107 + ] + } + } + ] + }, + { + "frame": 80, + "time": 500.7848283983767, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.2124046286740175, + 0.9771818017737809, + -3.46944692553848e-18, + 126.4430161350246 + ], + [ + 0.1271825843745126, + -0.02764497820040664, + -0.9914939966596461, + -98.82756021952376 + ], + [ + -0.9688698947510944, + 0.21059789219309047, + -0.1301524292851674, + 781.557816057938 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.2124046286740175, + 0.1271825843745126, + -0.9688698947510944, + 742.939900830736 + ], + [ + 0.9771818017737809, + -0.02764497820040664, + 0.21059789219309047, + -290.88434657923773 + ], + [ + -3.46944692553848e-18, + -0.9914939966596461, + -0.1301524292851674, + 3.7347153241181195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74293.9900830736, + 29088.434657923775, + 373.47153241181195 + ], + "rotation_deg": [ + 2.0049003653835595e-16, + -7.4784007072448695, + -167.7366943359375 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.9096519597033109, + 0.4153712943956594, + -4.163336311021613e-17, + -548.5221648728393 + ], + [ + 0.06979117839757144, + -0.152840803050009, + -0.9857833840864363, + -92.88272435177592 + ], + [ + -0.4094661340371644, + 0.8967197806362652, + -0.16802118941463123, + 575.457422410793 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9096519597033109, + 0.06979117839757144, + -0.4094661340371644, + 741.0769717423962 + ], + [ + 0.4153712943956594, + -0.152840803050009, + 0.8967197806362652, + -302.3799585052381 + ], + [ + -4.163336311021613e-17, + -0.9857833840864363, + -0.16802118941463123, + 5.126792107864859 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74107.69717423961, + 30237.99585052381, + 512.6792107864859 + ], + "rotation_deg": [ + 2.4198176294480794e-15, + -9.672786712646479, + -114.54270172119143 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9869220728415689, + -0.16119808354351123, + -0.0, + -772.6738837373631 + ], + [ + -0.02551462150695485, + -0.15621118186938626, + -0.9873940807744019, + -23.70010596356892 + ], + [ + 0.15916602285634085, + 0.9744810144541334, + -0.15828117271658595, + 180.80591076769664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9869220728415689, + -0.02551462150695485, + 0.15916602285634085, + 733.1860534015249 + ], + [ + -0.16119808354351123, + -0.15621118186938626, + 0.9744810144541334, + -304.4476898049107 + ], + [ + -0.0, + -0.9873940807744019, + -0.15828117271658595, + 5.216825715121429 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73318.60534015248, + 30444.76898049107, + 521.6825715121429 + ], + "rotation_deg": [ + 0.0, + -9.107143402099608, + -80.72355651855466 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.7648660462071214, + -0.644189359862056, + 6.9388938513343e-18, + -747.6618429133327 + ], + [ + -0.09468602119714278, + -0.11242365549106624, + -0.9891387562298223, + 38.474474117489166 + ], + [ + 0.6371926569786491, + 0.7565586537976342, + -0.1469847653888024, + -233.33876965900774 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7648660462071214, + -0.09468602119714278, + 0.6371926569786491, + 724.1859075989909 + ], + [ + -0.644189359862056, + -0.11242365549106624, + 0.7565586537976342, + -300.77589466964645 + ], + [ + 6.9388938513343e-18, + -0.9891387562298223, + -0.1469847653888024, + 3.759348684738634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72418.59075989909, + 30077.589466964644, + 375.9348684738634 + ], + "rotation_deg": [ + -4.0193484761007274e-16, + -8.452229499816893, + -49.89507675170898 + ] + } + } + ] + }, + { + "frame": 81, + "time": 500.8514950685203, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.21466345609289839, + 0.976688077442462, + -0.0, + 124.5101286776846 + ], + [ + 0.12697895541189588, + -0.027908338444306853, + -0.9915127177841854, + -98.76168177746172 + ], + [ + -0.9683986547871368, + 0.2128415247874927, + -0.130009733222552, + 781.9090564390325 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.21466345609289839, + 0.12697895541189588, + -0.9683986547871368, + 743.0125582025181 + ], + [ + 0.976688077442462, + -0.027908338444306853, + 0.2128415247874927, + -290.786566255176 + ], + [ + -0.0, + -0.9915127177841854, + -0.130009733222552, + 3.732323913496521 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74301.25582025181, + 29078.6566255176, + 373.2323913496521 + ], + "rotation_deg": [ + 0.0, + -7.470154762268064, + -167.60421752929688 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.9208080149222159, + 0.39001615306934156, + -0.0, + -564.5603228940131 + ], + [ + 0.06465465517191359, + -0.15264630507174248, + -0.9861637192234083, + -89.00458580925108 + ], + [ + -0.38461979385224476, + 0.9080674506157501, + -0.16577430231875065, + 560.3810884005698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9208080149222159, + 0.06465465517191359, + -0.38461979385224476, + 741.1398787809973 + ], + [ + 0.39001615306934156, + -0.15264630507174248, + 0.9080674506157501, + -302.2623979500906 + ], + [ + -0.0, + -0.9861637192234083, + -0.16577430231875065, + 5.123688489243033 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74113.98787809972, + 30226.23979500906, + 512.3688489243033 + ], + "rotation_deg": [ + 0.0, + -9.542218208312987, + -112.95550537109375 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9872240480432782, + -0.15933825330109128, + 1.3877787703018037e-17, + -772.4013551905412 + ], + [ + -0.02506976521484002, + -0.15532663742787142, + -0.9875450078742857, + -23.754280039604048 + ], + [ + 0.15735368592582494, + 0.9749281818281058, + -0.15733676557912524, + 182.14055447467217 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9872240480432782, + -0.02506976521484002, + 0.15735368592582494, + 733.2771901196518 + ], + [ + -0.15933825330109128, + -0.15532663742787142, + 0.9749281818281058, + -304.3367064604686 + ], + [ + 1.3877787703018037e-17, + -0.9875450078742857, + -0.15733676557912524, + 5.198983525953887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73327.71901196518, + 30433.670646046856, + 519.8983525953887 + ], + "rotation_deg": [ + -8.05167019407528e-16, + -9.05234622955322, + -80.83151245117186 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.7642699411264402, + -0.6448964700559213, + -0.0, + -747.4150972873007 + ], + [ + -0.09419737009749793, + -0.11163376114066423, + -0.9892748651615, + 38.37467181089969 + ], + [ + 0.6379798632558369, + 0.7560730471271923, + -0.14606588064248968, + -234.18783766406688 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7642699411264402, + -0.09419737009749793, + 0.6379798632558369, + 724.248814637592 + ], + [ + -0.6448964700559213, + -0.11163376114066423, + 0.7560730471271923, + -300.6583341144989 + ], + [ + -0.0, + -0.9892748651615, + -0.14606588064248968, + 3.756245066116808 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72424.8814637592, + 30065.833411449894, + 375.6245066116808 + ], + "rotation_deg": [ + 0.0, + -8.399006843566891, + -49.84208679199216 + ] + } + } + ] + }, + { + "frame": 82, + "time": 500.9181617386639, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.2169128167026537, + 0.9761909802646821, + 1.7347234627682193e-18, + 122.58312493058281 + ], + [ + 0.12677488170626855, + -0.02816979180712815, + -0.9915314378263071, + -98.69178853782559 + ], + [ + -0.9679240509968029, + 0.21507585508380775, + -0.12986688593289542, + 782.2552053547507 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.2169128167026537, + 0.12677488170626855, + -0.9679240509968029, + 743.085415239436 + ], + [ + 0.9761909802646821, + -0.02816979180712815, + 0.21507585508380775, + -290.68889299088767 + ], + [ + 1.7347234627682193e-18, + -0.9915314378263071, + -0.12986688593289542, + 3.73303612149675 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74308.5415239436, + 29068.889299088765, + 373.30361214967496 + ], + "rotation_deg": [ + -1.0024123292223763e-16, + -7.461900234222407, + -167.47222900390625 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.9238795383318846, + 0.38268341831292263, + -2.7755575406595685e-17, + -569.1564118699517 + ], + [ + 0.06319225466335346, + -0.15255960480835506, + -0.98627192291542, + -87.88005103813781 + ], + [ + -0.37742992462538527, + 0.9111964428760615, + -0.16512932655130771, + 555.911656793424 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9238795383318846, + 0.06319225466335346, + -0.37742992462538527, + 741.2029854847342 + ], + [ + 0.38268341831292263, + -0.15255960480835506, + 0.9111964428760615, + -302.14494445471644 + ], + [ + -2.7755575406595685e-17, + -0.98627192291542, + -0.16512932655130771, + 5.123688489243033 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74120.29854847342, + 30214.494445471646, + 512.3688489243033 + ], + "rotation_deg": [ + 1.612412666451102e-15, + -9.504747390747067, + -112.49999999999997 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9875163316959206, + -0.15751664875127386, + -0.0, + -772.1334327477279 + ], + [ + -0.02463023143203208, + -0.1544138729804279, + -0.9876991989116872, + -23.79358258276889 + ], + [ + 0.1555790570837782, + 0.9753690912429136, + -0.15636589412303173, + 183.44805139289656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9875163316959206, + -0.02463023143203208, + 0.1555790570837782, + 733.3676581120249 + ], + [ + -0.15751664875127386, + -0.1544138729804279, + 0.9753690912429136, + -304.22748074193953 + ], + [ + -0.0, + -0.9876991989116872, + -0.15636589412303173, + 5.184114604170908 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73336.76581120248, + 30422.748074193954, + 518.4114604170908 + ], + "rotation_deg": [ + 0.0, + -8.996022224426268, + -80.93721771240232 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.7636468757202691, + -0.6456341450099058, + -0.0, + -747.157990278304 + ], + [ + -0.09368560754564186, + -0.1108100029329877, + -0.9894160652570763, + 38.27115575398424 + ], + [ + 0.6388007901598193, + 0.7555644911958755, + -0.14510634078188436, + -235.06795514984424 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7636468757202691, + -0.09368560754564186, + 0.6388007901598193, + 724.311921341329 + ], + [ + -0.6456341450099058, + -0.1108100029329877, + 0.7555644911958755, + -300.5408806191248 + ], + [ + -0.0, + -0.9894160652570763, + -0.14510634078188436, + 3.756245066116808 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72431.1921341329, + 30054.08806191248, + 375.6245066116808 + ], + "rotation_deg": [ + 0.0, + -8.343437194824217, + -49.78676223754882 + ] + } + } + ] + }, + { + "frame": 83, + "time": 500.9848284088075, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.21915297111733445, + 0.9756905120223547, + -3.4694469255354186e-18, + 120.66180823893495 + ], + [ + 0.12657034905149683, + -0.028429371515050768, + -0.9915501588806493, + -98.62403074896481 + ], + [ + -0.9674460870028676, + 0.2173011414140247, + -0.12972387090663853, + 782.5955173181881 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.21915297111733445, + 0.12657034905149683, + -0.9674460870028676, + 743.1584541234802 + ], + [ + 0.9756905120223547, + -0.028429371515050768, + 0.2173011414140247, + -290.5913176129818 + ], + [ + -3.4694469255354186e-18, + -0.9915501588806493, + -0.12972387090663853, + 3.7306460841661675 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74315.84541234802, + 29059.131761298184, + 373.06460841661675 + ], + "rotation_deg": [ + 2.0047868061670581e-16, + -7.453636169433591, + -167.34071350097656 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.9238795383318846, + 0.38268341831292263, + -2.7755575406595685e-17, + -569.2597929127121 + ], + [ + 0.06319225466335346, + -0.15255960480835506, + -0.98627192291542, + -87.86920631649922 + ], + [ + -0.37742992462538527, + 0.9111964428760615, + -0.16512932655130771, + 555.828097501259 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9238795383318846, + 0.06319225466335346, + -0.37742992462538527, + 741.2662740355975 + ], + [ + 0.38268341831292263, + -0.15255960480835506, + 0.9111964428760615, + -302.0275888457249 + ], + [ + -2.7755575406595685e-17, + -0.98627192291542, + -0.16512932655130771, + 5.120586243912222 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74126.62740355975, + 30202.75888457249, + 512.0586243912222 + ], + "rotation_deg": [ + 1.612412666451102e-15, + -9.504747390747067, + -112.49999999999997 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.987799738840328, + -0.15572949607245035, + 1.3877787702949765e-17, + -771.8695942258842 + ], + [ + -0.024196000503658447, + -0.1534764035155861, + -0.9878560356264203, + -23.82518221432465 + ], + [ + 0.15383831189940317, + 0.9758039355037093, + -0.15537198347004094, + 184.7300887287914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.987799738840328, + -0.024196000503658447, + 0.15383831189940317, + 733.4575437675409 + ], + [ + -0.15572949607245035, + -0.1534764035155861, + 0.9758039355037093, + -304.1198054079961 + ], + [ + 1.3877787702949765e-17, + -0.9878560356264203, + -0.15537198347004094, + 5.16602872796832 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73345.75437675409, + 30411.98054079961, + 516.602872796832 + ], + "rotation_deg": [ + -8.049135115247805e-16, + -8.93837070465088, + -81.0408935546875 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.762997018619359, + -0.646402003073915, + -0.0, + -746.8904938465915 + ], + [ + -0.09315079871725078, + -0.10995291067368054, + -0.989562168907403, + 38.1576565126787 + ], + [ + 0.6396549629672083, + 0.7550329887923151, + -0.14410660701981529, + -235.97967338846593 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.762997018619359, + -0.09315079871725078, + 0.6396549629672083, + 724.3752098921922 + ], + [ + -0.646402003073915, + -0.10995291067368054, + 0.7550329887923151, + -300.42352501013323 + ], + [ + -0.0, + -0.989562168907403, + -0.14410660701981529, + 3.7531428207859974 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72437.52098921922, + 30042.352501013323, + 375.3142820785997 + ], + "rotation_deg": [ + 0.0, + -8.285548210144041, + -49.7291259765625 + ] + } + } + ] + }, + { + "frame": 84, + "time": 501.0514950789511, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.22138340051325098, + 0.9751868487511456, + -3.4694469255343986e-18, + 118.74659190142654 + ], + [ + 0.12636540609271138, + -0.028687018640446434, + -0.9915688776401498, + -98.55533937139379 + ], + [ + -0.9669649339409563, + 0.21951686808633547, + -0.12958071289404247, + 782.9302853892812 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.22138340051325098, + 0.12636540609271138, + -0.9669649339409563, + 743.2315917436836 + ], + [ + 0.9751868487511456, + -0.028687018640446434, + 0.21951686808633547, + -290.49379553600824 + ], + [ + -3.4694469255343986e-18, + -0.9915688776401498, + -0.12958071289404247, + 3.728256857458754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74323.15917436835, + 29049.379553600826, + 372.8256857458754 + ], + "rotation_deg": [ + 2.0047489599583832e-16, + -7.445363998413078, + -167.2097015380859 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.9238795383318846, + 0.38268341831292263, + -2.7755575406595685e-17, + -569.3632447784067 + ], + [ + 0.06319225466335346, + -0.15255960480835506, + -0.98627192291542, + -87.85837516629542 + ], + [ + -0.37742992462538527, + 0.9111964428760615, + -0.16512932655130771, + 555.7446241765526 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9238795383318846, + 0.06319225466335346, + -0.37742992462538527, + 741.3296613226199 + ], + [ + 0.38268341831292263, + -0.15255960480835506, + 0.9111964428760615, + -301.9102865376655 + ], + [ + -2.7755575406595685e-17, + -0.98627192291542, + -0.16512932655130771, + 5.117484809204581 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74132.966132262, + 30191.028653766552, + 511.74848092045806 + ], + "rotation_deg": [ + 1.612412666451102e-15, + -9.504747390747067, + -112.49999999999997 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9880750325351643, + -0.1539731472713138, + 1.3877787702914898e-17, + -771.6092427807305 + ], + [ + -0.023766997061691574, + -0.1525173500130773, + -0.9880149734673345, + -23.846975877157398 + ], + [ + 0.1521277642776842, + 0.9762329285397798, + -0.15435806610125108, + 185.9897198068093 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9880750325351643, + -0.023766997061691574, + 0.1521277642776842, + 733.5468556773114 + ], + [ + -0.1539731472713138, + -0.1525173500130773, + 0.9762329285397798, + -304.0134615734035 + ], + [ + 1.3877787702914898e-17, + -0.9880149734673345, + -0.15435806610125108, + 5.147842718390764 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73354.68556773114, + 30401.34615734035, + 514.7842718390764 + ], + "rotation_deg": [ + -8.0478402844904e-16, + -8.879568099975586, + -81.1427536010742 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.7623205791704001, + -0.647199609528085, + -6.938893851271464e-18, + -746.6125210466874 + ], + [ + -0.09259297534738853, + -0.10906299935100434, + -0.989712990259742, + 38.0370924714663 + ], + [ + 0.6405418556714917, + 0.7544785841273931, + -0.1430671074218184, + -236.92212207450186 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7623205791704001, + -0.09259297534738853, + 0.6405418556714917, + 724.4385971792148 + ], + [ + -0.647199609528085, + -0.10906299935100434, + 0.7544785841273931, + -300.30622270207385 + ], + [ + -6.938893851271464e-18, + -0.989712990259742, + -0.1430671074218184, + 3.7500413860783555 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72443.85971792147, + 30030.622270207386, + 375.00413860783556 + ], + "rotation_deg": [ + 4.017016439710582e-16, + -8.225365638732907, + -49.66920471191406 + ] + } + } + ] + }, + { + "frame": 85, + "time": 501.1181617490947, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.22360462565353095, + 0.9746799327914496, + -0.0, + 116.83705162354846 + ], + [ + 0.12616004695000002, + -0.028942803808317125, + -0.9915875940436563, + -98.48469581977295 + ], + [ + -0.9664805344009749, + 0.2217235509078511, + -0.12943741189014663, + 783.259670851842 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.22360462565353095, + 0.12616004695000002, + -0.9664805344009749, + 743.3047527187578 + ], + [ + 0.9746799327914496, + -0.028942803808317125, + 0.2217235509078511, + -290.3962860824374 + ], + [ + -0.0, + -0.9915875940436563, + -0.12943741189014663, + 3.726901625565206 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74330.47527187578, + 29039.628608243744, + 372.6901625565206 + ], + "rotation_deg": [ + 0.0, + -7.437083721160889, + -167.07916259765625 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.9238795383318846, + 0.38268341831292263, + -2.7755575406595685e-17, + -569.4667133904215 + ], + [ + 0.06319225466335346, + -0.15255960480835506, + -0.98627192291542, + -87.84652761770656 + ], + [ + -0.37742992462538527, + 0.9111964428760615, + -0.16512932655130771, + 555.6613419119404 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9238795383318846, + 0.06319225466335346, + -0.37742992462538527, + 741.3930719645132 + ], + [ + 0.38268341831292263, + -0.15255960480835506, + 0.9111964428760615, + -301.79299685300896 + ], + [ + -2.7755575406595685e-17, + -0.98627192291542, + -0.16512932655130771, + 5.115417369310804 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74139.30719645132, + 30179.299685300895, + 511.5417369310804 + ], + "rotation_deg": [ + 1.612412666451102e-15, + -9.504747390747067, + -112.49999999999997 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9883428654412785, + -0.1522444755362993, + -0.0, + -771.3518631819713 + ], + [ + -0.023343157778892978, + -0.15153944579183223, + -0.988175537722936, + -23.8587817530995 + ], + [ + 0.1504442557229834, + 0.9766562439838453, + -0.15332679807302085, + 187.22929208684795 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9883428654412785, + -0.023343157778892978, + 0.1504442557229834, + 733.635599157876 + ], + [ + -0.1522444755362993, + -0.15153944579183223, + 0.9766562439838453, + -303.9082551768221 + ], + [ + -0.0, + -0.988175537722936, + -0.15332679807302085, + 5.130601872908709 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73363.5599157876, + 30390.82551768221, + 513.0601872908709 + ], + "rotation_deg": [ + 0.0, + -8.819768905639647, + -81.24298095703124 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.7616178509921107, + -0.6480264261973882, + 6.938893851254475e-18, + -746.3240236834656 + ], + [ + -0.09201220376918912, + -0.10814086288263848, + -0.9898683286844443, + 37.91033683656294 + ], + [ + 0.6414608302855108, + 0.7539013934406346, + -0.14198835226064313, + -237.8946359382248 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7616178509921107, + -0.09201220376918912, + 0.6414608302855108, + 724.502007821108 + ], + [ + -0.6480264261973882, + -0.10814086288263848, + 0.7539013934406346, + -300.1889330174173 + ], + [ + 6.938893851254475e-18, + -0.9898683286844443, + -0.14198835226064313, + 3.747973946184579 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72450.2007821108, + 30018.89330174173, + 374.79739461845793 + ], + "rotation_deg": [ + -4.016386055853053e-16, + -8.162919998168942, + -49.607032775878885 + ] + } + } + ] + }, + { + "frame": 86, + "time": 501.18482841923833, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.22581638812584726, + 0.9741698819270675, + -3.469446925532358e-18, + 114.9334028796923 + ], + [ + 0.1259542965024275, + -0.029196698474034336, + -0.9916063069539213, + -98.42484657326203 + ], + [ + -0.9659930038911538, + 0.22392093284595385, + -0.12929397614252244, + 783.5819758723553 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.22581638812584726, + 0.1259542965024275, + -0.9659930038911538, + 743.3778917822733 + ], + [ + 0.9741698819270675, + -0.029196698474034336, + 0.22392093284595385, + -290.2987647854057 + ], + [ + -3.469446925532358e-18, + -0.9916063069539213, + -0.12929397614252244, + 3.713730236113871 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74337.78917822734, + 29029.87647854057, + 371.3730236113871 + ], + "rotation_deg": [ + 2.0046732884156567e-16, + -7.428795814514157, + -166.94911193847656 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.9238795383318846, + 0.38268341831292263, + -2.7755575406595685e-17, + -569.570166291092 + ], + [ + 0.06319225466335346, + -0.15255960480835506, + -0.98627192291542, + -87.84633082207915 + ], + [ + -0.37742992462538527, + 0.9111964428760615, + -0.16512932655130771, + 555.5760893913908 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9238795383318846, + 0.06319225466335346, + -0.37742992462538527, + 741.4564606948479 + ], + [ + 0.38268341831292263, + -0.15255960480835506, + 0.9111964428760615, + -301.6756953248914 + ], + [ + -2.7755575406595685e-17, + -0.98627192291542, + -0.16512932655130771, + 5.10153377185924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74145.64606948479, + 30167.569532489142, + 510.15337718592406 + ], + "rotation_deg": [ + 1.612412666451102e-15, + -9.504747390747067, + -112.49999999999997 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9886038255279191, + -0.1505406129639545, + 1.3877787702844203e-17, + -771.0969999296885 + ], + [ + -0.022924405811811308, + -0.15054512425120528, + -0.9883373094153453, + -23.874062943457027 + ], + [ + 0.14878489360213737, + 0.9770740464579446, + -0.152280541022479, + 188.44886636889788 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9886038255279191, + -0.022924405811811308, + 0.14878489360213737, + 733.7237999568948 + ], + [ + -0.1505406129639545, + -0.15054512425120528, + 0.9770740464579446, + -303.80402677363514 + ], + [ + 1.3877787702844203e-17, + -0.9883373094153453, + -0.152280541022479, + 5.101466698836708 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73372.37999568948, + 30380.402677363512, + 510.1466698836708 + ], + "rotation_deg": [ + -8.045215564930253e-16, + -8.759110450744629, + -81.34174346923828 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.76088903989109, + -0.6488820146787977, + -0.0, + -746.0249537090647 + ], + [ + -0.09140855068676422, + -0.10718707376150162, + -0.99002798348319, + 37.76452661647045 + ], + [ + 0.6424113473651561, + 0.753301446003444, + -0.14087083525558175, + -238.898614320933 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.76088903989109, + -0.09140855068676422, + 0.6424113473651561, + 724.5653965514426 + ], + [ + -0.6488820146787977, + -0.10718707376150162, + 0.753301446003444, + -300.07163148929976 + ], + [ + -0.0, + -0.99002798348319, + -0.14087083525558175, + 3.734090348733016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72456.53965514427, + 30007.163148929976, + 373.4090348733016 + ], + "rotation_deg": [ + 0.0, + -8.098240852355953, + -49.542636871337876 + ] + } + } + ] + }, + { + "frame": 87, + "time": 501.25149508938193, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.2280189488754416, + 0.9736566946073645, + 1.7347234627656692e-18, + 113.03545339362864 + ], + [ + 0.12574816413579915, + -0.029448741397319768, + -0.9916250152384164, + -98.35032600720835 + ], + [ + -0.9655023396005118, + 0.22610927184783602, + -0.12915041389937468, + 783.9005958526415 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.2280189488754416, + 0.12574816413579915, + -0.9655023396005118, + 743.45100561642 + ], + [ + 0.9736566946073645, + -0.029448741397319768, + 0.22610927184783602, + -290.20122985814635 + ], + [ + 1.7347234627656692e-18, + -0.9916250152384164, + -0.12915041389937468, + 3.714442444114099 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74345.100561642, + 29020.122985814636, + 371.4442444114099 + ], + "rotation_deg": [ + -1.0023177338343467e-16, + -7.420500755310057, + -166.8195343017578 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.9238795383318846, + 0.38268341831292263, + -2.7755575406595685e-17, + -569.6736010989267 + ], + [ + 0.06319225466335346, + -0.15255960480835506, + -0.98627192291542, + -87.83243735037338 + ], + [ + -0.37742992462538527, + 0.9111964428760615, + -0.16512932655130771, + 555.4931075178048 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9238795383318846, + 0.06319225466335346, + -0.37742992462538527, + 741.5198241958136 + ], + [ + 0.38268341831292263, + -0.15255960480835506, + 0.9111964428760615, + -301.5583801665463 + ], + [ + -2.7755575406595685e-17, + -0.98627192291542, + -0.16512932655130771, + 5.10153377185924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74151.98241958136, + 30155.838016654634, + 510.15337718592406 + ], + "rotation_deg": [ + 1.612412666451102e-15, + -9.504747390747067, + -112.49999999999997 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9888583994992447, + -0.14885921449407122, + -0.0, + -770.8443235441389 + ], + [ + -0.02251068808543974, + -0.14953648027399222, + -0.9884999291801623, + -23.868069657746958 + ], + [ + 0.1471473121960748, + 0.9774864593185403, + -0.1512213290590138, + 189.6540201137515 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9888583994992447, + -0.02251068808543974, + 0.1471473121960748, + 733.8115172489557 + ], + [ + -0.14885921449407122, + -0.14953648027399222, + 0.9774864593185403, + -303.70065579665334 + ], + [ + -0.0, + -0.9884999291801623, + -0.1512213290590138, + 5.086146331707971 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73381.15172489558, + 30370.065579665334, + 508.61463317079705 + ], + "rotation_deg": [ + 0.0, + -8.697710990905758, + -81.43917846679683 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.7601344365063161, + -0.6497658335409958, + 6.938893851219121e-18, + -745.7153405737103 + ], + [ + -0.09078208669880063, + -0.10620224510974768, + -0.9901917470208789, + 37.62495454076103 + ], + [ + 0.6433927607350857, + 0.7526788498433483, + -0.1397150830518274, + -239.92991987343385 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7601344365063161, + -0.09078208669880063, + 0.6433927607350857, + 724.6287600524083 + ], + [ + -0.6497658335409958, + -0.10620224510974768, + 0.7526788498433483, + -299.95431633095467 + ], + [ + 6.938893851219121e-18, + -0.9901917470208789, + -0.1397150830518274, + 3.734090348733016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72462.87600524083, + 29995.431633095468, + 373.4090348733016 + ], + "rotation_deg": [ + -4.0150742160797695e-16, + -8.031359672546385, + -49.4760513305664 + ] + } + } + ] + }, + { + "frame": 88, + "time": 501.31816175952554, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.2302120501841088, + 0.9731404893179758, + -0.0, + 111.14343194929847 + ], + [ + 0.12554167470841301, + -0.029698904356991265, + -0.9916437177693412, + -98.27491152520201 + ], + [ + -0.9650086577581609, + 0.2282883115422092, + -0.12900673340954025, + 784.2137464672271 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.2302120501841088, + 0.12554167470841301, + -0.9650086577581609, + 743.524093070988 + ], + [ + 0.9731404893179758, + -0.029698904356991265, + 0.2282883115422092, + -290.1036806867511 + ], + [ + -0.0, + -0.9916437177693412, + -0.12900673340954025, + 3.7151546521143275 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74352.4093070988, + 29010.36806867511, + 371.51546521143274 + ], + "rotation_deg": [ + 0.0, + -7.4121990203857395, + -166.69044494628906 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.9238795383318846, + 0.38268341831292263, + -2.7755575406595685e-17, + -569.7770169862031 + ], + [ + 0.06319225466335346, + -0.15255960480835506, + -0.98627192291542, + -87.8185400386028 + ], + [ + -0.37742992462538527, + 0.9111964428760615, + -0.16512932655130771, + 555.4101027085703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9238795383318846, + 0.06319225466335346, + -0.37742992462538527, + 741.5831613172006 + ], + [ + 0.38268341831292263, + -0.15255960480835506, + 0.9111964428760615, + -301.44105076406527 + ], + [ + -2.7755575406595685e-17, + -0.98627192291542, + -0.16512932655130771, + 5.10153377185924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74158.31613172006, + 30144.10507640653, + 510.15337718592406 + ], + "rotation_deg": [ + 1.612412666451102e-15, + -9.504747390747067, + -112.49999999999997 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.989107075904269, + -0.14719780024207707, + -0.0, + -770.5934641213827 + ], + [ + -0.022101894336726786, + -0.14851539930211446, + -0.9886630783218626, + -23.855151310355435 + ], + [ + 0.14552901950386612, + 0.9778936478843009, + -0.1501509837123221, + 190.84439892381022 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.989107075904269, + -0.022101894336726786, + 0.14552901950386612, + 733.8988048771598 + ], + [ + -0.14719780024207707, + -0.14851539930211446, + 0.9778936478843009, + -303.59803710519645 + ], + [ + -0.0, + -0.9886630783218626, + -0.1501509837123221, + 5.07076542893193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73389.88048771599, + 30359.803710519645, + 507.07654289319294 + ], + "rotation_deg": [ + 0.0, + -8.63567638397217, + -81.53543090820311 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.7593542437799814, + -0.6506774411744523, + -0.0, + -745.395182846813 + ], + [ + -0.09013291015813699, + -0.10518699973566628, + -0.9903594062728106, + 37.4777461228295 + ], + [ + 0.6444045191961437, + 0.7520336222119717, + -0.1385216470531883, + -240.99011474622912 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7593542437799814, + -0.09013291015813699, + 0.6444045191961437, + 724.6920971737953 + ], + [ + -0.6506774411744523, + -0.10518699973566628, + 0.7520336222119717, + -299.8369869284736 + ], + [ + -0.0, + -0.9903594062728106, + -0.1385216470531883, + 3.734090348733016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72469.20971737953, + 29983.698692847363, + 373.4090348733016 + ], + "rotation_deg": [ + 0.0, + -7.962309360504148, + -49.4073028564453 + ] + } + } + ] + }, + { + "frame": 89, + "time": 501.38482842966914, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.2323959531412518, + 0.9726212628580404, + -0.0, + 109.25714629223046 + ], + [ + 0.12533482126132778, + -0.02994722237844598, + -0.9916624155685273, + -98.19860841900034 + ], + [ + -0.9645119560233677, + 0.23045831051049218, + -0.1288629264165084, + 784.5215016714365 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.2323959531412518, + 0.12533482126132778, + -0.9645119560233677, + 743.5971529788045 + ], + [ + 0.9726212628580404, + -0.02994722237844598, + 0.23045831051049218, + -290.00611664915874 + ], + [ + -0.0, + -0.9916624155685273, + -0.1288629264165084, + 3.7158668601145557 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74359.71529788045, + 29000.611664915872, + 371.5866860114556 + ], + "rotation_deg": [ + 0.0, + -7.40389013290405, + -166.56182861328122 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.9238795383318846, + 0.38268341831292263, + -2.7755575406595685e-17, + -569.8804131126466 + ], + [ + 0.06319225466335346, + -0.15255960480835506, + -0.98627192291542, + -87.80463871810974 + ], + [ + -0.37742992462538527, + 0.9111964428760615, + -0.16512932655130771, + 555.3270739563417 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9238795383318846, + 0.06319225466335346, + -0.37742992462538527, + 741.6464708918362 + ], + [ + 0.38268341831292263, + -0.15255960480835506, + 0.9111964428760615, + -301.32370649538717 + ], + [ + -2.7755575406595685e-17, + -0.98627192291542, + -0.16512932655130771, + 5.10153377185924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74164.64708918362, + 30132.370649538716, + 510.15337718592406 + ], + "rotation_deg": [ + 1.612412666451102e-15, + -9.504747390747067, + -112.49999999999997 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9893501894960112, + -0.14555480941626928, + -0.0, + -770.3442151490887 + ], + [ + -0.021698014992056834, + -0.1474835172411642, + -0.9888264803733664, + -23.835790713337225 + ], + [ + 0.14392843907447045, + 0.978295667153574, + -0.1490710973130929, + 192.0210844214283 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9893501894960112, + -0.021698014992056834, + 0.14392843907447045, + 733.9857100684478 + ], + [ + -0.14555480941626928, + -0.1474835172411642, + 0.978295667153574, + -303.496078093644 + ], + [ + -0.0, + -0.9888264803733664, + -0.1490710973130929, + 5.05533125478626 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73398.57100684478, + 30349.607809364396, + 505.53312547862606 + ], + "rotation_deg": [ + 0.0, + -8.57309913635254, + -81.63059234619138 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.7585487500526057, + -0.6516162933764237, + 6.9388938511820835e-18, + -745.0645104849723 + ], + [ + -0.08946109779503136, + -0.10414196913206013, + -0.9905307477542553, + 37.32275185176307 + ], + [ + 0.6454459692197518, + 0.7513658647918527, + -0.13729107051649944, + -242.07869019243134 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7585487500526057, + -0.08946109779503136, + 0.6454459692197518, + 724.755406748431 + ], + [ + -0.6516162933764237, + -0.10414196913206013, + 0.7513658647918527, + -299.7196426597955 + ], + [ + 6.9388938511820835e-18, + -0.9905307477542553, + -0.13729107051649944, + 3.734090348733016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72475.5406748431, + 29971.96426597955, + 373.4090348733016 + ], + "rotation_deg": [ + -4.013700091017909e-16, + -7.891122341156002, + -49.336425781249986 + ] + } + } + ] + }, + { + "frame": 90, + "time": 501.45149509981275, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.23457065960176451, + 0.9720990719335109, + -5.20417038829242e-18, + 107.37661425183731 + ], + [ + 0.12512763665888177, + -0.030193704646897745, + -0.9916811053679798, + -98.12144410294995 + ], + [ + -0.9640122872914442, + 0.23261926927860277, + -0.1287190176757372, + 784.8239016869524 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.23457065960176451, + 0.12512763665888177, + -0.9640122872914442, + 743.6701841561018 + ], + [ + 0.9720990719335109, + -0.030193704646897745, + 0.23261926927860277, + -289.90853711541814 + ], + [ + -5.20417038829242e-18, + -0.9916811053679798, + -0.1287190176757372, + 3.716579068114784 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74367.01841561017, + 28990.853711541815, + 371.65790681147837 + ], + "rotation_deg": [ + 3.006783126267787e-16, + -7.395575523376458, + -166.43368530273435 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.9238795383318846, + 0.38268341831292263, + -2.7755575406595685e-17, + -569.9837886256701 + ], + [ + 0.06319225466335346, + -0.15255960480835506, + -0.98627192291542, + -87.79073321798414 + ], + [ + -0.37742992462538527, + 0.9111964428760615, + -0.16512932655130771, + 555.2440202403202 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9238795383318846, + 0.06319225466335346, + -0.37742992462538527, + 741.7097517359524 + ], + [ + 0.38268341831292263, + -0.15255960480835506, + 0.9111964428760615, + -301.2063467305608 + ], + [ + -2.7755575406595685e-17, + -0.98627192291542, + -0.16512932655130771, + 5.10153377185924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74170.97517359524, + 30120.634673056084, + 510.15337718592406 + ], + "rotation_deg": [ + 1.612412666451102e-15, + -9.504747390747067, + -112.49999999999997 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9895881401044762, + -0.14392815209181123, + -0.0, + -770.0962546739524 + ], + [ + -0.021298926658968508, + -0.1464422693707986, + -0.988989897554422, + -23.810495505137347 + ], + [ + 0.1423434775542414, + 0.9786926747072824, + -0.14798304927278058, + 193.18557979275838 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9895881401044762, + -0.021298926658968508, + 0.1423434775542414, + 734.0722742258714 + ], + [ + -0.14392815209181123, + -0.1464422693707986, + 0.9786926747072824, + -303.3946971865126 + ], + [ + -0.0, + -0.988989897554422, + -0.14798304927278058, + 5.0398502018353195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73407.22742258714, + 30339.46971865126, + 503.98502018353196 + ], + "rotation_deg": [ + 0.0, + -8.510059356689455, + -81.7247848510742 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.7577182864031359, + -0.6525817944520788, + 6.938893851162993e-18, + -744.7233693091331 + ], + [ + -0.08876673952478353, + -0.10306781821700302, + -0.990705552019431, + 37.15982205363726 + ], + [ + 0.6465164018168534, + 0.7506757174033548, + -0.13602392981658495, + -243.19508558055895 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7577182864031359, + -0.08876673952478353, + 0.6465164018168534, + 724.8186875925472 + ], + [ + -0.6525817944520788, + -0.10306781821700302, + 0.7506757174033548, + -299.60228289496916 + ], + [ + 6.938893851162993e-18, + -0.990705552019431, + -0.13602392981658495, + 3.734090348733016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72481.86875925472, + 29960.228289496918, + 373.4090348733016 + ], + "rotation_deg": [ + -4.0129918968379593e-16, + -7.817832946777341, + -49.26345825195312 + ] + } + } + ] + }, + { + "frame": 91, + "time": 501.51816176995635, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.23673591287495624, + 0.9715740360648083, + -3.469446925527261e-18, + 105.50206413746602 + ], + [ + 0.12492012968645773, + -0.030438319510432903, + -0.9916997881942391, + -98.04341623618814 + ], + [ + -0.9635097709344377, + 0.23477093296161877, + -0.12857499893135696, + 785.1209620297193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.23673591287495624, + 0.12492012968645773, + -0.9635097709344377, + 743.7431854029413 + ], + [ + 0.9715740360648083, + -0.030438319510432903, + 0.23477093296161877, + -289.8109414479835 + ], + [ + -3.469446925527261e-18, + -0.9916997881942391, + -0.12857499893135696, + 3.717291276115012 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74374.31854029413, + 28981.094144798353, + 371.7291276115012 + ], + "rotation_deg": [ + 2.0044843205943624e-16, + -7.387254714965817, + -166.30603027343753 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.9238795383318846, + 0.38268341831292263, + -2.7755575406595685e-17, + -570.0871426606535 + ], + [ + 0.06319225466335346, + -0.15255960480835506, + -0.98627192291542, + -87.77682336513546 + ], + [ + -0.37742992462538527, + 0.9111964428760615, + -0.16512932655130771, + 555.1609405266837 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9238795383318846, + 0.06319225466335346, + -0.37742992462538527, + 741.7730026496112 + ], + [ + 0.38268341831292263, + -0.15255960480835506, + 0.9111964428760615, + -301.08897083204045 + ], + [ + -2.7755575406595685e-17, + -0.98627192291542, + -0.16512932655130771, + 5.10153377185924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74177.30026496112, + 30108.897083204043, + 510.15337718592406 + ], + "rotation_deg": [ + 1.612412666451102e-15, + -9.504747390747067, + -112.49999999999997 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.989821218069332, + -0.1423163949084699, + -0.0, + -769.8493774278054 + ], + [ + -0.020904578325059636, + -0.1453929127016189, + -0.9891531223936921, + -23.77966806475332 + ], + [ + 0.14077269553724026, + 0.9790847498559674, + -0.14688805530286256, + 194.33889437275855 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.989821218069332, + -0.020904578325059636, + 0.14077269553724026, + 734.1585336258937 + ], + [ + -0.1423163949084699, + -0.1453929127016189, + 0.9790847498559674, + -303.29382251418815 + ], + [ + -0.0, + -0.9891531223936921, + -0.14688805530286256, + 5.024327895535738 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73415.85336258938, + 30329.382251418818, + 502.43278955357385 + ], + "rotation_deg": [ + 0.0, + -8.446627616882326, + -81.8180923461914 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.7568630966147567, + -0.6535734488048924, + -6.938893851143559e-18, + -744.3717721885961 + ], + [ + -0.08804995437647646, + -0.10196522096793777, + -0.9908835952054407, + 36.98882576492256 + ], + [ + 0.6476152036029942, + 0.7499632304520251, + -0.13472082627498544, + -244.33883613398189 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7568630966147567, + -0.08804995437647646, + 0.6476152036029942, + 724.8819385062059 + ], + [ + -0.6535734488048924, + -0.10196522096793777, + 0.7499632304520251, + -299.4849069964488 + ], + [ + -6.938893851143559e-18, + -0.9908835952054407, + -0.13472082627498544, + 3.734090348733016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72488.19385062059, + 29948.490699644877, + 373.4090348733016 + ], + "rotation_deg": [ + 4.0122708374952303e-16, + -7.742476940155027, + -49.188430786132805 + ] + } + } + ] + }, + { + "frame": 92, + "time": 501.58482844009995, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.2388919742407751, + 0.9710461495950359, + 1.7347234627631221e-18, + 103.63330275329957 + ], + [ + 0.12471231704601361, + -0.03068110783785962, + -0.991718461862466, + -97.96454940181985 + ], + [ + -0.9630043990722548, + 0.23691355957861826, + -0.12843088668725366, + 785.4127523663726 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.2388919742407751, + 0.12471231704601361, + -0.9630043990722548, + 743.8161555035907 + ], + [ + 0.9710461495950359, + -0.03068110783785962, + 0.23691355957861826, + -289.7133290019833 + ], + [ + 1.7347234627631221e-18, + -0.991718461862466, + -0.12843088668725366, + 3.7180034841152407 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74381.61555035907, + 28971.332900198333, + 371.80034841152406 + ], + "rotation_deg": [ + -1.0022232884715617e-16, + -7.378928661346435, + -166.17884826660156 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.9238795383318846, + 0.38268341831292263, + -2.7755575406595685e-17, + -570.1904743411878 + ], + [ + 0.06319225466335346, + -0.15255960480835506, + -0.98627192291542, + -87.76290898435745 + ], + [ + -0.37742992462538527, + 0.9111964428760615, + -0.16512932655130771, + 555.0778337689738 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9238795383318846, + 0.06319225466335346, + -0.37742992462538527, + 741.8362224170795 + ], + [ + 0.38268341831292263, + -0.15255960480835506, + 0.9111964428760615, + -300.9715781549545 + ], + [ + -2.7755575406595685e-17, + -0.98627192291542, + -0.16512932655130771, + 5.10153377185924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74183.62224170796, + 30097.157815495448, + 510.15337718592406 + ], + "rotation_deg": [ + 1.612412666451102e-15, + -9.504747390747067, + -112.49999999999997 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9900496848380466, + -0.14071823461116917, + -1.3877787702629805e-17, + -769.6033943435338 + ], + [ + -0.020514919602251602, + -0.14433658681697906, + -0.989315969637475, + -23.743676425965834 + ], + [ + 0.1392147858498253, + 0.9794719653229471, + -0.14578721667962008, + 195.48194722403326 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9900496848380466, + -0.020514919602251602, + 0.1392147858498253, + 734.2445200320158 + ], + [ + -0.14071823461116917, + -0.14433658681697906, + 0.9794719653229471, + -303.19339074757914 + ], + [ + -1.3877787702629805e-17, + -0.989315969637475, + -0.14578721667962008, + 5.008769286289355 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73424.45200320157, + 30319.339074757914, + 500.8769286289355 + ], + "rotation_deg": [ + 8.037257002836504e-16, + -8.382867813110353, + -81.91059112548825 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.7559835545999919, + -0.6545906088345301, + 6.938893851123797e-18, + -744.0097811053777 + ], + [ + -0.08731085133735886, + -0.10083488344980693, + -0.991064650524076, + 36.80961547321193 + ], + [ + 0.6487416079156965, + 0.7492285815446335, + -0.13338237797990127, + -245.50932766481776 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7559835545999919, + -0.08731085133735886, + 0.6487416079156965, + 724.9451582736743 + ], + [ + -0.6545906088345301, + -0.10083488344980693, + 0.7492285815446335, + -299.36751431936284 + ], + [ + 6.938893851123797e-18, + -0.991064650524076, + -0.13338237797990127, + 3.734090348733016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72494.51582736743, + 29936.75143193628, + 373.4090348733016 + ], + "rotation_deg": [ + -4.0115378449645493e-16, + -7.665091037750242, + -49.11138534545898 + ] + } + } + ] + }, + { + "frame": 93, + "time": 501.65149511024356, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.24103910461375935, + 0.9705154043326656, + -0.0, + 101.77013637452905 + ], + [ + 0.12450420707541013, + -0.03092210845920403, + -0.9917371252650373, + -97.8848613539394 + ], + [ + -0.9624961623609026, + 0.23904740704708066, + -0.12828668919495356, + 785.6993410933621 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.24103910461375935, + 0.12450420707541013, + -0.9624961623609026, + 743.8890932269584 + ], + [ + 0.9705154043326656, + -0.03092210845920403, + 0.23904740704708066, + -289.61569912552494 + ], + [ + -0.0, + -0.9917371252650373, + -0.12828668919495356, + 3.718715692115469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74388.90932269584, + 28961.56991255249, + 371.8715692115469 + ], + "rotation_deg": [ + 0.0, + -7.370597839355467, + -166.0521240234375 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.9238795383318846, + 0.38268341831292263, + -2.7755575406595685e-17, + -570.2937827793614 + ], + [ + 0.06319225466335346, + -0.15255960480835506, + -0.98627192291542, + -87.74898989840219 + ], + [ + -0.37742992462538527, + 0.9111964428760615, + -0.16512932655130771, + 554.9946989085373 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9238795383318846, + 0.06319225466335346, + -0.37742992462538527, + 741.8994098072662 + ], + [ + 0.38268341831292263, + -0.15255960480835506, + 0.9111964428760615, + -300.85416804741027 + ], + [ + -2.7755575406595685e-17, + -0.98627192291542, + -0.16512932655130771, + 5.10153377185924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74189.94098072662, + 30085.416804741028, + 510.15337718592406 + ], + "rotation_deg": [ + 1.612412666451102e-15, + -9.504747390747067, + -112.49999999999997 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9902737927547828, + -0.13913236641075694, + -0.0, + -769.358107410112 + ], + [ + -0.020129872953240546, + -0.14327425135734803, + -0.9894782853164983, + -23.702855457094536 + ], + [ + 0.1376684444621638, + 0.9798544158140139, + -0.14468145426814458, + 196.61566912760284 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9902737927547828, + -0.020129872953240546, + 0.1376684444621638, + 734.3302612348706 + ], + [ + -0.13913236641075694, + -0.14327425135734803, + 0.9798544158140139, + -303.09334607267897 + ], + [ + -0.0, + -0.9894782853164983, + -0.14468145426814458, + 4.9931787304497846 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73433.02612348706, + 30309.334607267898, + 499.31787304497846 + ], + "rotation_deg": [ + 0.0, + -8.318833351135254, + -82.00235748291014 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.7550799036881235, + -0.655632777586916, + -0.0, + -743.6374088345226 + ], + [ + -0.08654955458223972, + -0.09967748955251704, + -0.9912484918919793, + 36.622061676220454 + ], + [ + 0.6498949969674805, + 0.74847181999482, + -0.13200919509746245, + -246.7060922121961 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7550799036881235, + -0.08654955458223972, + 0.6498949969674805, + 725.008345663861 + ], + [ + -0.655632777586916, + -0.09967748955251704, + 0.74847181999482, + -299.2501042118186 + ], + [ + -0.0, + -0.9912484918919793, + -0.13200919509746245, + 3.734090348733016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72500.8345663861, + 29925.01042118186, + 373.4090348733016 + ], + "rotation_deg": [ + 0.0, + -7.585711479187009, + -49.03235244750975 + ] + } + } + ] + }, + { + "frame": 94, + "time": 501.71816178038716, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.25750174944240223, + 0.9662778322170608, + 3.4694469255289675e-18, + 88.29648702997673 + ], + [ + 0.12447209987866996, + -0.03317035991810578, + -0.9916685048818971, + -98.51236125824569 + ], + [ + -0.9582272987498326, + 0.2553563534546352, + -0.12881605754311318, + 787.2490754988215 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.25750174944240223, + 0.12447209987866996, + -0.9582272987498326, + 743.8890932269584 + ], + [ + 0.9662778322170608, + -0.03317035991810578, + 0.2553563534546352, + -289.61569912552494 + ], + [ + 3.4694469255289675e-18, + -0.9916685048818971, + -0.12881605754311318, + 3.718715692115469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74388.90932269584, + 28961.56991255249, + 371.8715692115469 + ], + "rotation_deg": [ + -2.0045475543360355e-16, + -7.401182174682615, + -165.078125 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.9238795383318846, + 0.38268341831292263, + -2.7755575406595685e-17, + -570.3970670760114 + ], + [ + 0.06319225466335346, + -0.15255960480835506, + -0.98627192291542, + -87.7350659280469 + ], + [ + -0.37742992462538527, + 0.9111964428760615, + -0.16512932655130771, + 554.9115348749259 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9238795383318846, + 0.06319225466335346, + -0.37742992462538527, + 741.9625635741083 + ], + [ + 0.38268341831292263, + -0.15255960480835506, + 0.9111964428760615, + -300.7367398507717 + ], + [ + -2.7755575406595685e-17, + -0.98627192291542, + -0.16512932655130771, + 5.10153377185924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74196.25635741084, + 30073.67398507717, + 510.15337718592406 + ], + "rotation_deg": [ + 1.612412666451102e-15, + -9.504747390747067, + -112.49999999999997 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9904937485977718, + -0.13755774783244099, + -2.7755575405117813e-17, + -769.1133631025882 + ], + [ + -0.019749384521780662, + -0.14220676200155105, + -0.9896399338406088, + -23.657492471931135 + ], + [ + 0.13613262956252056, + 0.9802321691840675, + -0.14357159073121345, + 197.74079697289017 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9904937485977718, + -0.019749384521780662, + 0.13613262956252056, + 734.415781527514 + ], + [ + -0.13755774783244099, + -0.14220676200155105, + 0.9802321691840675, + -302.9936392881916 + ], + [ + -2.7755575405117813e-17, + -0.9896399338406088, + -0.14357159073121345, + 4.9775600616082105 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73441.5781527514, + 30299.36392881916, + 497.756006160821 + ], + "rotation_deg": [ + 1.6069251922945967e-15, + -8.254571914672852, + -82.09345245361325 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.7541525180956117, + -0.6566993067226795, + -6.938893851083407e-18, + -743.2547180522943 + ], + [ + -0.08576620667920636, + -0.09849378562226271, + -0.9914348853987612, + 36.42602985028757 + ], + [ + 0.6510745968666413, + 0.7476931195603257, + -0.1306019459161665, + -247.92851103334667 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7541525180956117, + -0.08576620667920636, + 0.6510745968666413, + 725.0714994307032 + ], + [ + -0.6566993067226795, + -0.09849378562226271, + 0.7476931195603257, + -299.13267601518004 + ], + [ + -6.938893851083407e-18, + -0.9914348853987612, + -0.1306019459161665, + 3.734090348733016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72507.14994307031, + 29913.267601518004, + 373.4090348733016 + ], + "rotation_deg": [ + 4.0100398028275006e-16, + -7.504377841949461, + -48.95137405395508 + ] + } + } + ] + }, + { + "frame": 95, + "time": 501.78482845053077, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.27402393714060436, + 0.9617228716600028, + -0.0, + 74.68662371881399 + ], + [ + 0.12436223523788528, + -0.03543456263306898, + -0.991603966418872, + -99.08662280268585 + ], + [ + -0.9536482200372626, + 0.2717232017693588, + -0.12931192535868127, + 788.58468899609 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.27402393714060436, + 0.12436223523788528, + -0.9536482200372626, + 743.8890932269584 + ], + [ + 0.9617228716600028, + -0.03543456263306898, + 0.2717232017693588, + -289.61569912552494 + ], + [ + -0.0, + -0.991603966418872, + -0.12931192535868127, + 3.718715692115469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74388.90932269584, + 28961.56991255249, + 371.8715692115469 + ], + "rotation_deg": [ + 0.0, + -7.429832935333248, + -164.0961456298828 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.9238795383318846, + 0.38268341831292263, + -2.7755575406595685e-17, + -570.5003263210217 + ], + [ + 0.06319225466335346, + -0.15255960480835506, + -0.98627192291542, + -87.72113689217066 + ], + [ + -0.37742992462538527, + 0.9111964428760615, + -0.16512932655130771, + 554.8283405863546 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9238795383318846, + 0.06319225466335346, + -0.37742992462538527, + 742.0256824570248 + ], + [ + 0.38268341831292263, + -0.15255960480835506, + 0.9111964428760615, + -300.6192928999746 + ], + [ + -2.7755575406595685e-17, + -0.98627192291542, + -0.16512932655130771, + 5.10153377185924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74202.56824570248, + 30061.92928999746, + 510.15337718592406 + ], + "rotation_deg": [ + 1.612412666451102e-15, + -9.504747390747067, + -112.49999999999997 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9907097339254352, + -0.1359934671423345, + -0.0, + -768.8690275616907 + ], + [ + -0.01937340933214236, + -0.1411349060215292, + -0.9898007927422281, + -23.607848720397783 + ], + [ + 0.1346064306680589, + 0.9806052813562023, + -0.1424583833936346, + 198.85797364612102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9907097339254352, + -0.01937340933214236, + 0.1346064306680589, + 734.501102123789 + ], + [ + -0.1359934671423345, + -0.1411349060215292, + 0.9806052813562023, + -302.89422701151193 + ], + [ + -0.0, + -0.9898007927422281, + -0.1424583833936346, + 4.961916653324872 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73450.1102123789, + 30289.422701151194, + 496.19166533248716 + ], + "rotation_deg": [ + 0.0, + -8.1901273727417, + -82.18392944335935 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.7532017727787189, + -0.6577895480189656, + -6.9388938510628315e-18, + -742.861772394086 + ], + [ + -0.08496093566564968, + -0.09728450011562204, + -0.9916236006913461, + 36.221380685909594 + ], + [ + 0.6522796350837355, + 0.746892658181942, + -0.12916127441668343, + -249.17596507918304 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7532017727787189, + -0.08496093566564968, + 0.6522796350837355, + 725.1346183136196 + ], + [ + -0.6577895480189656, + -0.09728450011562204, + 0.746892658181942, + -299.01522906438294 + ], + [ + -6.9388938510628315e-18, + -0.9916236006913461, + -0.12916127441668343, + 3.734090348733016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72513.46183136196, + 29901.522906438295, + 373.4090348733016 + ], + "rotation_deg": [ + 4.0092766545463086e-16, + -7.421128273010254, + -48.86849212646484 + ] + } + } + ] + }, + { + "frame": 96, + "time": 501.8514951206744, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.2905907567021071, + 0.95684743408722, + 3.46944692553577e-18, + 60.95074407636872 + ], + [ + 0.12417295654756783, + -0.037710832594244556, + -0.9915437307387326, + -99.60528796495166 + ], + [ + -0.948756080771352, + 0.2881334220586528, + -0.12977299523457975, + 789.6998519633022 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.2905907567021071, + 0.12417295654756783, + -0.948756080771352, + 743.8890932269584 + ], + [ + 0.95684743408722, + -0.037710832594244556, + 0.2881334220586528, + -289.61569912552494 + ], + [ + 3.46944692553577e-18, + -0.9915437307387326, + -0.12977299523457975, + 3.718715692115469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74388.90932269584, + 28961.56991255249, + 371.8715692115469 + ], + "rotation_deg": [ + -2.0047998031271564e-16, + -7.456474781036376, + -163.10667419433594 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.9238795383318846, + 0.38268341831292263, + -2.7755575406595685e-17, + -570.6035595935838 + ], + [ + 0.06319225466335346, + -0.15255960480835506, + -0.98627192291542, + -87.70720260782402 + ], + [ + -0.37742992462538527, + 0.9111964428760615, + -0.16512932655130771, + 554.7451149501163 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9238795383318846, + 0.06319225466335346, + -0.37742992462538527, + 742.0887651813182 + ], + [ + 0.38268341831292263, + -0.15255960480835506, + 0.9111964428760615, + -300.50182652381585 + ], + [ + -2.7755575406595685e-17, + -0.98627192291542, + -0.16512932655130771, + 5.10153377185924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74208.87651813182, + 30050.182652381583, + 510.15337718592406 + ], + "rotation_deg": [ + 1.612412666451102e-15, + -9.504747390747067, + -112.49999999999997 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.990921906225098, + -0.13443874353480706, + 1.3877787702488738e-17, + -768.6249876312448 + ], + [ + -0.019001897921597066, + -0.14005930444811582, + -0.9899607664513208, + -23.554139355089298 + ], + [ + 0.13308907065784154, + 0.9809738111065391, + -0.14134242531718472, + 199.96774974033997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.990921906225098, + -0.019001897921597066, + 0.13308907065784154, + 734.5862415264911 + ], + [ + -0.13443874353480706, + -0.14005930444811582, + 0.9809738111065391, + -302.7950709800009 + ], + [ + 1.3877787702488738e-17, + -0.9899607664513208, + -0.14134242531718472, + 4.946251474332782 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73458.6241526491, + 30279.507098000093, + 494.6251474332782 + ], + "rotation_deg": [ + -8.032022050135407e-16, + -8.12553405761719, + -82.27383422851561 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.7522279120185978, + -0.6589030037722858, + -0.0, + -742.4585861085234 + ], + [ + -0.08413392345613058, + -0.09605038254342163, + -0.9918144014568149, + 36.00800800632315 + ], + [ + 0.6535094833003219, + 0.7460704805328192, + -0.12768787457732375, + -250.44797939677036 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7522279120185978, + -0.08413392345613058, + 0.6535094833003219, + 725.1977010379129 + ], + [ + -0.6589030037722858, + -0.09605038254342163, + 0.7460704805328192, + -298.8977626882242 + ], + [ + -0.0, + -0.9918144014568149, + -0.12768787457732375, + 3.734090348733016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72519.77010379129, + 29889.776268822417, + 373.4090348733016 + ], + "rotation_deg": [ + 0.0, + -7.336003780364989, + -48.78373718261719 + ] + } + } + ] + }, + { + "frame": 97, + "time": 501.918161790818, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.3071864842543644, + 0.9516493387227478, + -1.0408340776616423e-17, + 47.09991333297563 + ], + [ + 0.1239028814519134, + -0.03999507906271693, + -0.9914880078037653, + -100.06614290263641 + ], + [ + -0.9435489135280403, + 0.30457169457716143, + -0.13019804392713163, + 790.5886594675007 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.3071864842543644, + 0.1239028814519134, + -0.9435489135280403, + 743.8890932269584 + ], + [ + 0.9516493387227478, + -0.03999507906271693, + 0.30457169457716143, + -289.61569912552494 + ], + [ + -1.0408340776616423e-17, + -0.9914880078037653, + -0.13019804392713163, + 3.718715692115469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74388.90932269584, + 28961.56991255249, + 371.8715692115469 + ], + "rotation_deg": [ + 6.014737426573548e-16, + -7.481036663055415, + -162.11024475097656 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.9238795383318846, + 0.38268341831292263, + -2.7755575406595685e-17, + -570.7067659624977 + ], + [ + 0.06319225466335346, + -0.15255960480835506, + -0.98627192291542, + -87.69326289030651 + ], + [ + -0.37742992462538527, + 0.9111964428760615, + -0.16512932655130771, + 554.6618568630465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9238795383318846, + 0.06319225466335346, + -0.37742992462538527, + 742.1518104586328 + ], + [ + 0.38268341831292263, + -0.15255960480835506, + 0.9111964428760615, + -300.3843400452726 + ], + [ + -2.7755575406595685e-17, + -0.98627192291542, + -0.16512932655130771, + 5.10153377185924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74215.18104586328, + 30038.434004527262, + 510.15337718592406 + ], + "rotation_deg": [ + 1.612412666451102e-15, + -9.504747390747067, + -112.49999999999997 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.991130435425206, + -0.13289266335596212, + -0.0, + -768.381097952677 + ], + [ + -0.01863477968498774, + -0.13898056398917122, + -0.9901197643817357, + -23.496591677858287 + ], + [ + 0.13157964158209534, + 0.9813378345085102, + -0.1402242934846704, + 201.07078205656745 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.991130435425206, + -0.01863477968498774, + 0.13157964158209534, + 734.6712158514587 + ], + [ + -0.13289266335596212, + -0.13898056398917122, + 0.9813378345085102, + -302.6961374361722 + ], + [ + -0.0, + -0.9901197643817357, + -0.1402242934846704, + 4.93056713711699 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73467.12158514587, + 30269.61374361722, + 493.056713711699 + ], + "rotation_deg": [ + 0.0, + -8.060825347900392, + -82.36322021484375 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.7512314000322875, + -0.6600389258259918, + -1.3877787702042078e-17, + -742.0452584102811 + ], + [ + -0.0832853166756606, + -0.09479220482351298, + -0.992007053367531, + 35.785773753450584 + ], + [ + 0.6547632649284358, + 0.7452268517611463, + -0.12618243266962997, + -251.74383296971493 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7512314000322875, + -0.0832853166756606, + 0.6547632649284358, + 725.2607463152276 + ], + [ + -0.6600389258259918, + -0.09479220482351298, + 0.7452268517611463, + -298.78027620968095 + ], + [ + -1.3877787702042078e-17, + -0.992007053367531, + -0.12618243266962997, + 3.734090348733016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72526.07463152276, + 29878.027620968096, + 373.4090348733016 + ], + "rotation_deg": [ + 8.015453799101276e-16, + -7.249044895172116, + -48.69715881347662 + ] + } + } + ] + }, + { + "frame": 98, + "time": 501.9848284609616, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.3237951357979559, + 0.9461272166223649, + -0.0, + 33.14562534373195 + ], + [ + 0.12355088640930914, + -0.042283083437422826, + -0.9914369971523646, + -100.46712931026569 + ], + [ + -0.9380255334392658, + 0.3210224566534217, + -0.13058591401901903, + 791.2457186001753 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.3237951357979559, + 0.12355088640930914, + -0.9380255334392658, + 743.8890932269584 + ], + [ + 0.9461272166223649, + -0.042283083437422826, + 0.3210224566534217, + -289.61569912552494 + ], + [ + -0.0, + -0.9914369971523646, + -0.13058591401901903, + 3.718715692115469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74388.90932269584, + 28961.56991255249, + 371.8715692115469 + ], + "rotation_deg": [ + 0.0, + -7.503451347351072, + -161.10740661621094 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.9238795383318846, + 0.38268341831292263, + -2.7755575406595685e-17, + -570.8099444864802 + ], + [ + 0.06319225466335346, + -0.15255960480835506, + -0.98627192291542, + -87.6793175532464 + ], + [ + -0.37742992462538527, + 0.9111964428760615, + -0.16512932655130771, + 554.5785652119979 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9238795383318846, + 0.06319225466335346, + -0.37742992462538527, + 742.214816987424 + ], + [ + 0.38268341831292263, + -0.15255960480835506, + 0.9111964428760615, + -300.26683278182975 + ], + [ + -2.7755575406595685e-17, + -0.98627192291542, + -0.16512932655130771, + 5.10153377185924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74221.4816987424, + 30026.683278182973, + 510.15337718592406 + ], + "rotation_deg": [ + 1.612412666451102e-15, + -9.504747390747067, + -112.49999999999997 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9913354504710864, + -0.13135457601198267, + 1.3877787702419457e-17, + -768.1372617512521 + ], + [ + -0.018272011308003898, + -0.13789921227700844, + -0.9902777089565028, + -23.435389787536437 + ], + [ + 0.1300774976308794, + 0.9816974000008315, + -0.13910449109103498, + 202.1675304646686 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9913354504710864, + -0.018272011308003898, + 0.1300774976308794, + 734.7560391128377 + ], + [ + -0.13135457601198267, + -0.13789921227700844, + 0.9816974000008315, + -302.5973965867025 + ], + [ + 1.3877787702419457e-17, + -0.9902777089565028, + -0.13910449109103498, + 4.914865940664341 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73475.60391128378, + 30259.739658670245, + 491.48659406643407 + ], + "rotation_deg": [ + -8.029451367985422e-16, + -7.99603033065796, + -82.45212554931639 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.7502126148857206, + -0.6611966670109051, + -0.0, + -741.621856647336 + ], + [ + -0.08241529998406036, + -0.09351075223525479, + -0.992201319060267, + 35.55456385688055 + ], + [ + 0.6560402001948233, + 0.7443619502861637, + -0.12464566857502508, + -253.06290066312556 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7502126148857206, + -0.08241529998406036, + 0.6560402001948233, + 725.3237528440187 + ], + [ + -0.6611966670109051, + -0.09351075223525479, + 0.7443619502861637, + -298.6627689462381 + ], + [ + -0.0, + -0.992201319060267, + -0.12464566857502508, + 3.734090348733016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72532.37528440187, + 29866.276894623807, + 373.4090348733016 + ], + "rotation_deg": [ + 0.0, + -7.160294055938719, + -48.6087989807129 + ] + } + } + ] + }, + { + "frame": 99, + "time": 502.0514951311052, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.34040050508130504, + 0.9402805411899112, + -1.040834077663231e-17, + 19.09978325191244 + ], + [ + 0.12311613038037307, + -0.044570520317372346, + -0.9913908851501517, + -100.80636815074381 + ], + [ + -0.9321855651991298, + 0.3374699378153554, + -0.1309355303394732, + 791.6661788008108 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.34040050508130504, + 0.12311613038037307, + -0.9321855651991298, + 743.8890932269584 + ], + [ + 0.9402805411899112, + -0.044570520317372346, + 0.3374699378153554, + -289.61569912552494 + ], + [ + -1.040834077663231e-17, + -0.9913908851501517, + -0.1309355303394732, + 3.718715692115469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74388.90932269584, + 28961.56991255249, + 371.8715692115469 + ], + "rotation_deg": [ + 6.015326666678042e-16, + -7.52365636825561, + -160.09872436523438 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.9238795383318846, + 0.38268341831292263, + -2.7755575406595685e-17, + -570.9130942144479 + ], + [ + 0.06319225466335346, + -0.15255960480835506, + -0.98627192291542, + -87.66536640867493 + ], + [ + -0.37742992462538527, + 0.9111964428760615, + -0.16512932655130771, + 554.4952388742851 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9238795383318846, + 0.06319225466335346, + -0.37742992462538527, + 742.2777834533923 + ], + [ + 0.38268341831292263, + -0.15255960480835506, + 0.9111964428760615, + -300.14930404578786 + ], + [ + -2.7755575406595685e-17, + -0.98627192291542, + -0.16512932655130771, + 5.10153377185924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74227.77834533923, + 30014.930404578787, + 510.15337718592406 + ], + "rotation_deg": [ + 1.612412666451102e-15, + -9.504747390747067, + -112.49999999999997 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9915370414393606, + -0.12982409427251707, + -0.0, + -767.8934324837655 + ], + [ + -0.017913573815429525, + -0.13681568188160806, + -0.9904345374957547, + -23.37067180173174 + ], + [ + 0.1285822557882282, + 0.9820525323361035, + -0.1379834309932049, + 203.25825794181057 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9915370414393606, + -0.017913573815429525, + 0.1285822557882282, + 734.8407234741368 + ], + [ + -0.12982409427251707, + -0.13681568188160806, + 0.9820525323361035, + -302.49882212638136 + ], + [ + -0.0, + -0.9904345374957547, + -0.1379834309932049, + 4.899149908083257 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73484.07234741368, + 30249.882212638135, + 489.9149908083257 + ], + "rotation_deg": [ + 0.0, + -7.931172847747804, + -82.54057312011719 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.7491718920159649, + -0.6623756307513278, + -6.938893850978572e-18, + -741.188432740752 + ], + [ + -0.08152406783124405, + -0.09220680427613774, + -0.9923969627167488, + 35.314273497869465 + ], + [ + 0.6573395591803001, + 0.7434759144132257, + -0.12307830281600028, + -254.40460534479558 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7491718920159649, + -0.08152406783124405, + 0.6573395591803001, + 725.3867193099871 + ], + [ + -0.6623756307513278, + -0.09220680427613774, + 0.7434759144132257, + -298.5452402101962 + ], + [ + -6.938893850978572e-18, + -0.9923969627167488, + -0.12307830281600028, + 3.734090348733016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72538.67193099871, + 29854.52402101962, + 373.4090348733016 + ], + "rotation_deg": [ + 4.006152277428357e-16, + -7.069793701171873, + -48.51869583129883 + ] + } + } + ] + }, + { + "frame": 100, + "time": 502.1181618012488, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.3569857058764739, + 0.9341098467524446, + 3.4694469255463413e-18, + 4.975103287810384 + ], + [ + 0.12259808648178332, + -0.04685290985204987, + -0.9913498444189116, + -101.0821694043438 + ], + [ + -0.9260296587349099, + 0.35389770401541165, + -0.1312458998823431, + 791.8457602923418 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.3569857058764739, + 0.12259808648178332, + -0.9260296587349099, + 743.8890932269584 + ], + [ + 0.9341098467524446, + -0.04685290985204987, + 0.35389770401541165, + -289.61569912552494 + ], + [ + 3.4694469255463413e-18, + -0.9913498444189116, + -0.1312458998823431, + 3.718715692115469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74388.90932269584, + 28961.56991255249, + 371.8715692115469 + ], + "rotation_deg": [ + -2.0051918980712888e-16, + -7.5415940284729, + -159.08480834960938 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.9238795383318846, + 0.38268341831292263, + -2.7755575406595685e-17, + -571.0162141858552 + ], + [ + 0.06319225466335346, + -0.15255960480835506, + -0.98627192291542, + -87.6514092671123 + ], + [ + -0.37742992462538527, + 0.9111964428760615, + -0.16512932655130771, + 554.4118767181973 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9238795383318846, + 0.06319225466335346, + -0.37742992462538527, + 742.340708529994 + ], + [ + 0.38268341831292263, + -0.15255960480835506, + 0.9111964428760615, + -300.0317531446139 + ], + [ + -2.7755575406595685e-17, + -0.98627192291542, + -0.16512932655130771, + 5.10153377185924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74234.0708529994, + 30003.17531446139, + 510.15337718592406 + ], + "rotation_deg": [ + 1.612412666451102e-15, + -9.504747390747067, + -112.49999999999997 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9917353299543484, + -0.12830056632898784, + 1.3877787702351186e-17, + -767.6495059264801 + ], + [ + -0.017559408026936934, + -0.13573038538850793, + -0.990590192598347, + -23.302599965688138 + ], + [ + 0.127093271716859, + 0.982403292781516, + -0.13686150158587052, + 204.3434337503473 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9917353299543484, + -0.017559408026936934, + 0.127093271716859, + 734.9252794692828 + ], + [ + -0.12830056632898784, + -0.13573038538850793, + 0.982403292781516, + -302.4003908192661 + ], + [ + 1.3877787702351186e-17, + -0.990590192598347, + -0.13686150158587052, + 4.88342081970915 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73492.52794692828, + 30240.039081926607, + 488.34208197091505 + ], + "rotation_deg": [ + -8.02691846157938e-16, + -7.86627531051636, + -82.62860107421875 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.748109612364976, + -0.6635751712407006, + -6.938893850957149e-18, + -740.7450572885616 + ], + [ + -0.08061182875228266, + -0.09088116399404408, + -0.992593747258313, + 35.06480146108917 + ], + [ + 0.6586605608715185, + 0.7425689277240275, + -0.12148108137156444, + -255.76831906885113 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.748109612364976, + -0.08061182875228266, + 0.6586605608715185, + 725.4496443865887 + ], + [ + -0.6635751712407006, + -0.09088116399404408, + 0.7425689277240275, + -298.42768930902224 + ], + [ + -6.938893850957149e-18, + -0.992593747258313, + -0.12148108137156444, + 3.734090348733016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72544.96443865888, + 29842.768930902224, + 373.4090348733016 + ], + "rotation_deg": [ + 4.005358046300263e-16, + -6.977587699890136, + -48.42689132690428 + ] + } + } + ] + }, + { + "frame": 101, + "time": 502.1848284713924, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.3735342190364006, + 0.9276164008947158, + -3.469446925548294e-18, + -9.215759022801763 + ], + [ + 0.12199653189366344, + -0.04912578003374596, + -0.9913140289242323, + -101.29307158159635 + ], + [ + -0.919559159455763, + 0.3702896919124132, + -0.13151614472915435, + 791.7808084494512 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.3735342190364006, + 0.12199653189366344, + -0.919559159455763, + 743.8890932269584 + ], + [ + 0.9276164008947158, + -0.04912578003374596, + 0.3702896919124132, + -289.61569912552494 + ], + [ + -3.469446925548294e-18, + -0.9913140289242323, + -0.13151614472915435, + 3.718715692115469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74388.90932269584, + 28961.56991255249, + 371.8715692115469 + ], + "rotation_deg": [ + 2.0052643442778185e-16, + -7.557213306427, + -158.06625366210938 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.9238795383318846, + 0.38268341831292263, + -2.7755575406595685e-17, + -571.1193034309947 + ], + [ + 0.06319225466335346, + -0.15255960480835506, + -0.98627192291542, + -87.63744593764584 + ], + [ + -0.37742992462538527, + 0.9111964428760615, + -0.16512932655130771, + 554.328477603466 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9238795383318846, + 0.06319225466335346, + -0.37742992462538527, + 742.4035908789007 + ], + [ + 0.38268341831292263, + -0.15255960480835506, + 0.9111964428760615, + -299.9141793812646 + ], + [ + -2.7755575406595685e-17, + -0.98627192291542, + -0.16512932655130771, + 5.10153377185924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74240.35908789007, + 29991.417938126462, + 510.15337718592406 + ], + "rotation_deg": [ + 1.612412666451102e-15, + -9.504747390747067, + -112.49999999999997 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9919304165506114, + -0.12678347180027102, + -1.3877787702317455e-17, + -767.4054014611037 + ], + [ + -0.017209463740242393, + -0.13464365894131297, + -0.9907446287841626, + -23.231307329319513 + ], + [ + 0.1256100326962859, + 0.9827497335878641, + -0.13573901730534213, + 205.42343032544963 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9919304165506114, + -0.017209463740242393, + 0.1256100326962859, + 735.0097161971618 + ], + [ + -0.12678347180027102, + -0.13464365894131297, + 0.9827497335878641, + -302.30208213011286 + ], + [ + -1.3877787702317455e-17, + -0.9907446287841626, + -0.13573901730534213, + 4.867680242237184 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73500.97161971618, + 30230.208213011287, + 486.76802422371844 + ], + "rotation_deg": [ + 8.025667234316199e-16, + -7.801355838775637, + -82.71623992919922 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.7470262472012669, + -0.6647945441957174, + 6.938893850935635e-18, + -740.2918374378834 + ], + [ + -0.07967879489592071, + -0.08953465646236654, + -0.9927914357689127, + 34.80604301615753 + ], + [ + 0.6600023251028767, + 0.7416412647455728, + -0.1198547674704015, + -257.15331462653825 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7470262472012669, + -0.07967879489592071, + 0.6600023251028767, + 725.5125267354955 + ], + [ + -0.6647945441957174, + -0.08953465646236654, + 0.7416412647455728, + -298.31011554567294 + ], + [ + 6.938893850935635e-18, + -0.9927914357689127, + -0.1198547674704015, + 3.734090348733016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72551.25267354955, + 29831.011554567296, + 373.4090348733016 + ], + "rotation_deg": [ + -4.0045604837404036e-16, + -6.883720874786374, + -48.333435058593814 + ] + } + } + ] + }, + { + "frame": 102, + "time": 502.251495141536, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.3900284479479408, + 0.9208028072238486, + 3.469446925549955e-18, + -23.45895970583075 + ], + [ + 0.12131158913832615, + -0.05138447717418533, + -0.9912835789249558, + -101.43781752274742 + ], + [ + -0.9127767103138369, + 0.3866287763314837, + -0.13174546072282356, + 791.46832662549 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.3900284479479408, + 0.12131158913832615, + -0.9127767103138369, + 743.8890932269584 + ], + [ + 0.9208028072238486, + -0.05138447717418533, + 0.3866287763314837, + -289.61569912552494 + ], + [ + 3.469446925549955e-18, + -0.9912835789249558, + -0.13174546072282356, + 3.718715692115469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74388.90932269584, + 28961.56991255249, + 371.8715692115469 + ], + "rotation_deg": [ + -2.005325941483787e-16, + -7.57046747207642, + -157.04373168945312 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.9238795383318846, + 0.38268341831292263, + -2.7755575406595685e-17, + -571.2223609713557 + ], + [ + 0.06319225466335346, + -0.15255960480835506, + -0.98627192291542, + -87.62347622802018 + ], + [ + -0.37742992462538527, + 0.9111964428760615, + -0.16512932655130771, + 554.2450403818026 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9238795383318846, + 0.06319225466335346, + -0.37742992462538527, + 742.4664291505387 + ], + [ + 0.38268341831292263, + -0.15255960480835506, + 0.9111964428760615, + -299.7965820545531 + ], + [ + -2.7755575406595685e-17, + -0.98627192291542, + -0.16512932655130771, + 5.10153377185924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74246.64291505388, + 29979.658205455307, + 510.15337718592406 + ], + "rotation_deg": [ + 1.612412666451102e-15, + -9.504747390747067, + -112.49999999999997 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9921223650418575, + -0.12527255399228887, + -0.0, + -767.1610905850831 + ], + [ + -0.016863725643504312, + -0.13355582556319867, + -0.9908978031136979, + -23.156897827161664 + ], + [ + 0.12413228751804777, + 0.9830918731899096, + -0.13461628454050753, + 206.49842022813561 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9921223650418575, + -0.016863725643504312, + 0.12413228751804777, + 735.0940414929486 + ], + [ + -0.12527255399228887, + -0.13355582556319867, + 0.9830918731899096, + -302.20387790011824 + ], + [ + -0.0, + -0.9908978031136979, + -0.13461628454050753, + 4.851929554359101 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73509.40414929486, + 30220.387790011824, + 485.1929554359101 + ], + "rotation_deg": [ + 0.0, + -7.73643207550049, + -82.80350494384764 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.7459222260759778, + -0.6660330567215548, + -1.3877787701828111e-17, + -739.828865852884 + ], + [ + -0.07872518451942864, + -0.08816809359888016, + -0.9929897948083457, + 34.537902245307436 + ], + [ + 0.6613640234266013, + 0.7406931624465419, + -0.11820011684392863, + -258.558913447316 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7459222260759778, + -0.07872518451942864, + 0.6613640234266013, + 725.5753650071335 + ], + [ + -0.6660330567215548, + -0.08816809359888016, + 0.7406931624465419, + -298.1925182189614 + ], + [ + -1.3877787701828111e-17, + -0.9929897948083457, + -0.11820011684392863, + 3.734090348733016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72557.53650071335, + 29819.25182189614, + 373.4090348733016 + ], + "rotation_deg": [ + 8.007521070306792e-16, + -6.788237571716305, + -48.23837280273437 + ] + } + } + ] + }, + { + "frame": 103, + "time": 502.3181618116796, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.40645174779283766, + 0.9136722479730613, + -0.0, + -37.74119523781826 + ], + [ + 0.12054367225735492, + -0.05362446586624734, + -0.9912586139546384, + -101.51540125919973 + ], + [ + -0.9056854945096063, + 0.4028987769974781, + -0.13193316690213028, + 790.9059941745735 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.40645174779283766, + 0.12054367225735492, + -0.9056854945096063, + 743.8890932269584 + ], + [ + 0.9136722479730613, + -0.05362446586624734, + 0.4028987769974781, + -289.61569912552494 + ], + [ + -0.0, + -0.9912586139546384, + -0.13193316690213028, + 3.718715692115469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74388.90932269584, + 28961.56991255249, + 371.8715692115469 + ], + "rotation_deg": [ + 0.0, + -7.5813169479370135, + -156.0178680419922 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.9238795383318846, + 0.38268341831292263, + -2.7755575406595685e-17, + -571.325385819945 + ], + [ + 0.06319225466335346, + -0.15255960480835506, + -0.98627192291542, + -87.60949994471984 + ], + [ + -0.37742992462538527, + 0.9111964428760615, + -0.16512932655130771, + 554.161563897393 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9238795383318846, + 0.06319225466335346, + -0.37742992462538527, + 742.5292219845779 + ], + [ + 0.38268341831292263, + -0.15255960480835506, + 0.9111964428760615, + -299.6789604594887 + ], + [ + -2.7755575406595685e-17, + -0.98627192291542, + -0.16512932655130771, + 5.10153377185924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74252.92219845779, + 29967.896045948866, + 510.15337718592406 + ], + "rotation_deg": [ + 1.612412666451102e-15, + -9.504747390747067, + -112.49999999999997 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9923112539998109, + -0.12376742376458544, + -0.0, + -766.9165150317067 + ], + [ + -0.01652215290974174, + -0.13246715310021437, + -0.9910496818085112, + -23.079477864213757 + ], + [ + 0.12265965490196155, + 0.9834297537687406, + -0.13349355213524508, + 207.56868078626042 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9923112539998109, + -0.01652215290974174, + 0.12265965490196155, + 735.178262078892 + ], + [ + -0.12376742376458544, + -0.13246715310021437, + 0.9834297537687406, + -302.10576206158913 + ], + [ + -0.0, + -0.9910496818085112, + -0.13349355213524508, + 4.8361699693236355 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73517.8262078892, + 30210.576206158916, + 483.6169969323636 + ], + "rotation_deg": [ + 0.0, + -7.671518325805665, + -82.89041900634764 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.7447978921593964, + -0.6672901166920728, + -0.0, + -739.3562029816705 + ], + [ + -0.07775126624643142, + -0.08678231216751076, + -0.9931885877777377, + 34.26031280085813 + ], + [ + 0.6627449237504247, + 0.7397247709287569, + -0.11651793560410204, + -259.9845324653279 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7447978921593964, + -0.07775126624643142, + 0.6627449237504247, + 725.6381578411726 + ], + [ + -0.6672901166920728, + -0.08678231216751076, + 0.7397247709287569, + -298.074896623897 + ], + [ + -0.0, + -0.9931885877777377, + -0.11651793560410204, + 3.734090348733016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72563.81578411727, + 29807.4896623897, + 373.4090348733016 + ], + "rotation_deg": [ + 0.0, + -6.691184997558592, + -48.14174270629883 + ] + } + } + ] + }, + { + "frame": 104, + "time": 502.3848284818232, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.4227869870966845, + 0.906229089988678, + -6.938893851104749e-18, + -52.048456994551145 + ], + [ + 0.11969356411543985, + -0.055841157502307594, + -0.9912392323945541, + -101.5250758568006 + ], + [ + -0.898289836192846, + 0.4190830296756124, + -0.1320787054393674, + 790.0921994861465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.4227869870966845, + 0.11969356411543985, + -0.898289836192846, + 743.8890932269584 + ], + [ + 0.906229089988678, + -0.055841157502307594, + 0.4190830296756124, + -289.61569912552494 + ], + [ + -6.938893851104749e-18, + -0.9912392323945541, + -0.1320787054393674, + 3.718715692115469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74388.90932269584, + 28961.56991255249, + 371.8715692115469 + ], + "rotation_deg": [ + 4.010831313414451e-16, + -7.589729309082031, + -154.9893341064453 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.9238795383318846, + 0.38268341831292263, + -2.7755575406595685e-17, + -571.4283769816685 + ], + [ + 0.06319225466335346, + -0.15255960480835506, + -0.98627192291542, + -87.59551689306419 + ], + [ + -0.37742992462538527, + 0.9111964428760615, + -0.16512932655130771, + 554.0780469874627 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9238795383318846, + 0.06319225466335346, + -0.37742992462538527, + 742.591968010503 + ], + [ + 0.38268341831292263, + -0.15255960480835506, + 0.9111964428760615, + -299.56131388766124 + ], + [ + -2.7755575406595685e-17, + -0.98627192291542, + -0.16512932655130771, + 5.10153377185924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74259.1968010503, + 29956.131388766124, + 510.15337718592406 + ], + "rotation_deg": [ + 1.612412666451102e-15, + -9.504747390747067, + -112.49999999999997 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.99249715949064, + -0.12226769157472009, + -0.0, + -766.6716141091889 + ], + [ + -0.01618470189780874, + -0.13137788449176188, + -0.9912002355180046, + -22.999148760205664 + ], + [ + 0.12119175363215208, + 0.9837634194625471, + -0.1323710443371964, + 208.6344917722319 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.99249715949064, + -0.01618470189780874, + 0.12119175363215208, + 735.2623836971461 + ], + [ + -0.12226769157472009, + -0.13137788449176188, + 0.9837634194625471, + -302.0077203869372 + ], + [ + -0.0, + -0.9912002355180046, + -0.1323710443371964, + 4.820402554789673 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73526.23836971461, + 30200.77203869372, + 482.04025547896737 + ], + "rotation_deg": [ + 0.0, + -7.6066274642944345, + -82.97700500488281 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.7436537686303242, + -0.6685649350675792, + -0.0, + -738.8739815931763 + ], + [ + -0.0767572749898479, + -0.08537814925968969, + -0.9933875841609471, + 33.97318426112232 + ], + [ + 0.6641441008346434, + 0.7387364249096943, + -0.11480900591062689, + -261.42939339339347 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7436537686303242, + -0.0767572749898479, + 0.6641441008346434, + 725.7009038670978 + ], + [ + -0.6685649350675792, + -0.08537814925968969, + 0.7387364249096943, + -297.9572500520696 + ], + [ + -0.0, + -0.9933875841609471, + -0.11480900591062689, + 3.734090348733016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72570.09038670978, + 29795.725005206958, + 373.4090348733016 + ], + "rotation_deg": [ + 0.0, + -6.59260892868042, + -48.043598175048835 + ] + } + } + ] + }, + { + "frame": 105, + "time": 502.4514951519668, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.4390173331077863, + 0.8984785925279059, + -6.938893851106245e-18, + -66.3667001121816 + ], + [ + 0.11876235214226843, + -0.05803002046427401, + -0.9912255144206849, + -101.4663375167406 + ], + [ + -0.8905949140105223, + 0.4351651632518862, + -0.1321816168404266, + 789.0260518588502 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.4390173331077863, + 0.11876235214226843, + -0.8905949140105223, + 743.8890932269584 + ], + [ + 0.8984785925279059, + -0.05803002046427401, + 0.4351651632518862, + -289.61569912552494 + ], + [ + -6.938893851106245e-18, + -0.9912255144206849, + -0.1321816168404266, + 3.718715692115469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74388.90932269584, + 28961.56991255249, + 371.8715692115469 + ], + "rotation_deg": [ + 4.010886820944482e-16, + -7.595677852630614, + -153.95880126953125 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.9238795383318846, + 0.38268341831292263, + -2.7755575406595685e-17, + -571.5313334536766 + ], + [ + 0.06319225466335346, + -0.15255960480835506, + -0.98627192291542, + -87.58152687729459 + ], + [ + -0.37742992462538527, + 0.9111964428760615, + -0.16512932655130771, + 553.9944884828001 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9238795383318846, + 0.06319225466335346, + -0.37742992462538527, + 742.6546658481358 + ], + [ + 0.38268341831292263, + -0.15255960480835506, + 0.9111964428760615, + -299.44364162759825 + ], + [ + -2.7755575406595685e-17, + -0.98627192291542, + -0.16512932655130771, + 5.10153377185924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74265.46658481358, + 29944.364162759826, + 510.15337718592406 + ], + "rotation_deg": [ + 1.612412666451102e-15, + -9.504747390747067, + -112.49999999999997 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9926801229331731, + -0.12077323185780876, + -0.0, + -766.4263809564654 + ], + [ + -0.015851361048799494, + -0.13028823351441185, + -0.9913494391790385, + -22.915979758599427 + ], + [ + 0.1197284646024336, + 0.9840928843656979, + -0.13124896077586481, + 209.69593281593643 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9926801229331731, + -0.015851361048799494, + 0.1197284646024336, + 735.3464112266817 + ], + [ + -0.12077323185780876, + -0.13028823351441185, + 0.9840928843656979, + -301.90974026781316 + ], + [ + -0.0, + -0.9913494391790385, + -0.13124896077586481, + 4.804628250297034 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73534.64112266817, + 30190.974026781314, + 480.4628250297034 + ], + "rotation_deg": [ + 0.0, + -7.541770935058592, + -83.06327056884763 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.742490292940831, + -0.669856824171135, + -6.9388938508491796e-18, + -738.3823029277632 + ], + [ + -0.07574349738927647, + -0.08395646582314889, + -0.9935865510612182, + 33.67645708822706 + ], + [ + 0.6655607267845708, + 0.7377283735999876, + -0.11307416038826366, + -262.8928137751873 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.742490292940831, + -0.07574349738927647, + 0.6655607267845708, + 725.7636017047305 + ], + [ + -0.669856824171135, + -0.08395646582314889, + 0.7377283735999876, + -297.8395777920066 + ], + [ + -6.9388938508491796e-18, + -0.9935865510612182, + -0.11307416038826366, + 3.734090348733016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72576.36017047305, + 29783.95777920066, + 373.4090348733016 + ], + "rotation_deg": [ + 4.001355843615476e-16, + -6.492558002471923, + -47.94398498535155 + ] + } + } + ] + }, + { + "frame": 106, + "time": 502.5181618221104, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.4551258160945642, + 0.8904271399301891, + 3.469446925553558e-18, + -80.68145198754144 + ], + [ + 0.11775149197770192, + -0.06018655707967953, + -0.9912175162313865, + -101.33896626809445 + ], + [ + -0.882606987233027, + 0.45112866269171387, + -0.1322415811514071, + 787.7074232925557 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.4551258160945642, + 0.11775149197770192, + -0.882606987233027, + 743.8890932269584 + ], + [ + 0.8904271399301891, + -0.06018655707967953, + 0.45112866269171387, + -289.61569912552494 + ], + [ + 3.469446925553558e-18, + -0.9912175162313865, + -0.1322415811514071, + 3.718715692115469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74388.90932269584, + 28961.56991255249, + 371.8715692115469 + ], + "rotation_deg": [ + -2.005459592506972e-16, + -7.599143981933595, + -152.92697143554688 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.9238795383318846, + 0.38268341831292263, + -2.7755575406595685e-17, + -571.6342542257698 + ], + [ + 0.06319225466335346, + -0.15255960480835506, + -0.98627192291542, + -87.56752970067451 + ], + [ + -0.37742992462538527, + 0.9111964428760615, + -0.16512932655130771, + 553.9108872083515 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9238795383318846, + 0.06319225466335346, + -0.37742992462538527, + 742.7173141082411 + ], + [ + 0.38268341831292263, + -0.15255960480835506, + 0.9111964428760615, + -299.3259429651677 + ], + [ + -2.7755575406595685e-17, + -0.98627192291542, + -0.16512932655130771, + 5.10153377185924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74271.73141082411, + 29932.59429651677, + 510.15337718592406 + ], + "rotation_deg": [ + 1.612412666451102e-15, + -9.504747390747067, + -112.49999999999997 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9928602325209307, + -0.11928352224210514, + -2.7755575404306417e-17, + -766.1807229121215 + ], + [ + -0.015522063610821224, + -0.12919839552159612, + -0.9914972718751708, + -22.830075402506505 + ], + [ + 0.1182692758004386, + 0.9844182130967997, + -0.13012747644115458, + 210.75338914183567 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9928602325209307, + -0.015522063610821224, + 0.1182692758004386, + 735.4303487863148 + ], + [ + -0.11928352224210514, + -0.12919839552159612, + 0.9844182130967997, + -301.81181052083315 + ], + [ + -2.7755575404306417e-17, + -0.9914972718751708, + -0.13012747644115458, + 4.788847882640759 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73543.03487863147, + 30181.181052083317, + 478.8847882640759 + ], + "rotation_deg": [ + 1.6039149940726798e-15, + -7.476958751678464, + -83.1492462158203 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.7413079501762394, + -0.6711650490047154, + -2.081668155248277e-17, + -737.8812891413171 + ], + [ + -0.07471021068011381, + -0.08251811267383358, + -0.9937852612616475, + 33.37006843734025 + ], + [ + 0.6669939287450446, + 0.7367009191842782, + -0.11131421602962423, + -264.3740626945464 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7413079501762394, + -0.07471021068011381, + 0.6669939287450446, + 725.8262499648358 + ], + [ + -0.6711650490047154, + -0.08251811267383358, + 0.7367009191842782, + -297.72187912957605 + ], + [ + -2.081668155248277e-17, + -0.9937852612616475, + -0.11131421602962423, + 3.734090348733016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72582.62499648359, + 29772.187912957605, + 373.4090348733016 + ], + "rotation_deg": [ + 1.2001667283232469e-15, + -6.391079902648922, + -47.84295272827147 + ] + } + } + ] + }, + { + "frame": 107, + "time": 502.584828492254, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.4710963290755739, + 0.8820817698668976, + -0.0, + -94.97869259269555 + ], + [ + 0.11666270936085917, + -0.06230643915042535, + -0.9912152742391421, + -101.14299221984449 + ], + [ + -0.8743329328895734, + 0.46695785899830655, + -0.13225838493053615, + 786.1368907530997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.4710963290755739, + 0.11666270936085917, + -0.8743329328895734, + 743.8890932269584 + ], + [ + 0.8820817698668976, + -0.06230643915042535, + 0.46695785899830655, + -289.61569912552494 + ], + [ + -0.0, + -0.9912152742391421, + -0.13225838493053615, + 3.718715692115469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74388.90932269584, + 28961.56991255249, + 371.8715692115469 + ], + "rotation_deg": [ + 0.0, + -7.600115299224855, + -151.89451599121094 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.9238795383318846, + 0.38268341831292263, + -2.7755575406595685e-17, + -571.7371382807694 + ], + [ + 0.06319225466335346, + -0.15255960480835506, + -0.98627192291542, + -87.55352516558172 + ], + [ + -0.37742992462538527, + 0.9111964428760615, + -0.16512932655130771, + 553.8272419837742 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9238795383318846, + 0.06319225466335346, + -0.37742992462538527, + 742.7799113930835 + ], + [ + 0.38268341831292263, + -0.15255960480835506, + 0.9111964428760615, + -299.20821718395354 + ], + [ + -2.7755575406595685e-17, + -0.98627192291542, + -0.16512932655130771, + 5.10153377185924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74277.99113930835, + 29920.821718395353, + 510.15337718592406 + ], + "rotation_deg": [ + 1.612412666451102e-15, + -9.504747390747067, + -112.49999999999997 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.993037494776323, + -0.11779870104701394, + -1.3877787702121273e-17, + -765.934686374143 + ], + [ + -0.015196826477072684, + -0.12810853056282726, + -0.9916437166956983, + -22.741468311642524 + ], + [ + 0.11681433063136101, + 0.9847393933243476, + -0.1290067416623745, + 211.8067420134358 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.993037494776323, + -0.015196826477072684, + 0.11681433063136101, + 735.5141998253947 + ], + [ + -0.11779870104701394, + -0.12810853056282726, + 0.9847393933243476, + -301.71392121663996 + ], + [ + -1.3877787702121273e-17, + -0.9916437166956983, + -0.1290067416623745, + 4.773062179400484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73551.41998253948, + 30171.392121663994, + 477.30621794004844 + ], + "rotation_deg": [ + 8.018390648599678e-16, + -7.412199497222897, + -83.23492431640622 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.7401071840942582, + -0.6724889263415923, + -1.3877787701612125e-17, + -737.3710482634249 + ], + [ + -0.0736577164319772, + -0.08106394463898306, + -0.9939834896463794, + 33.05397241597709 + ], + [ + 0.6684428849426585, + 0.7356543258039151, + -0.1095300072834947, + -265.87245747224756 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7401071840942582, + -0.0736577164319772, + 0.6684428849426585, + 725.8888472496782 + ], + [ + -0.6724889263415923, + -0.08106394463898306, + 0.7356543258039151, + -297.6041533483619 + ], + [ + -1.3877787701612125e-17, + -0.9939834896463794, + -0.1095300072834947, + 3.734090348733016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72588.88472496782, + 29760.415334836187, + 373.4090348733016 + ], + "rotation_deg": [ + 7.999515874486495e-16, + -6.288223266601558, + -47.740547180175774 + ] + } + } + ] + }, + { + "frame": 108, + "time": 502.6514951623976, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.4869127128377823, + 0.8734506340240134, + -1.3877787702213952e-17, + -109.24404040907862 + ], + [ + 0.1154980905736766, + -0.06438542307734665, + -0.9912187994428804, + -100.87873828052776 + ], + [ + -0.865780698555358, + 0.4826370169275008, + -0.13223196247624497, + 784.3158089369235 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.4869127128377823, + 0.1154980905736766, + -0.865780698555358, + 743.8890932269584 + ], + [ + 0.8734506340240134, + -0.06438542307734665, + 0.4826370169275008, + -289.61569912552494 + ], + [ + -1.3877787702213952e-17, + -0.9912187994428804, + -0.13223196247624497, + 3.718715692115469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74388.90932269584, + 28961.56991255249, + 371.8715692115469 + ], + "rotation_deg": [ + 8.021827985120575e-16, + -7.598587989807127, + -150.8621368408203 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.9238795383318846, + 0.38268341831292263, + -2.7755575406595685e-17, + -571.83998459494 + ], + [ + 0.06319225466335346, + -0.15255960480835506, + -0.98627192291542, + -87.539513073611 + ], + [ + -0.37742992462538527, + 0.9111964428760615, + -0.16512932655130771, + 553.7435516240486 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9238795383318846, + 0.06319225466335346, + -0.37742992462538527, + 742.8424562970552 + ], + [ + 0.38268341831292263, + -0.15255960480835506, + 0.9111964428760615, + -299.09046356566813 + ], + [ + -2.7755575406595685e-17, + -0.98627192291542, + -0.16512932655130771, + 5.10153377185924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74284.24562970552, + 29909.04635656681, + 510.15337718592406 + ], + "rotation_deg": [ + 1.612412666451102e-15, + -9.504747390747067, + -112.49999999999997 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9932119943906922, + -0.11631824533779374, + -0.0, + -765.6881753516252 + ], + [ + -0.014875577611566496, + -0.12701878423622484, + -0.9917887605946507, + -22.650252360252974 + ], + [ + 0.11536311726679811, + 0.9850564940978593, + -0.1278868820877278, + 212.85638020757494 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9932119943906922, + -0.014875577611566496, + 0.11536311726679811, + 735.597967203749 + ], + [ + -0.11631824533779374, + -0.12701878423622484, + 0.9850564940978593, + -301.6160635295574 + ], + [ + -0.0, + -0.9917887605946507, + -0.1278868820877278, + 4.75727178084629 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73559.7967203749, + 30161.606352955736, + 475.72717808462903 + ], + "rotation_deg": [ + 0.0, + -7.3475003242492685, + -83.32033538818357 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.7388884865545988, + -0.6738277260821601, + -0.0, + -736.8517097311004 + ], + [ + -0.07258634105358748, + -0.07959484243466952, + -0.9941810117630754, + 32.72813394713704 + ], + [ + 0.6699067256785818, + 0.734588907390911, + -0.10772240263208215, + -267.3872655940763 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7388884865545988, + -0.07258634105358748, + 0.6699067256785818, + 725.95139215365 + ], + [ + -0.6738277260821601, + -0.07959484243466952, + 0.734588907390911, + -297.48639973007647 + ], + [ + -0.0, + -0.9941810117630754, + -0.10772240263208215, + 3.734090348733016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72595.139215365, + 29748.639973007645, + 373.4090348733016 + ], + "rotation_deg": [ + 0.0, + -6.184038639068604, + -47.63681793212891 + ] + } + } + ] + }, + { + "frame": 109, + "time": 502.7181618325412, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.5025595061593564, + 0.8645426205623777, + -1.387778770221193e-17, + -123.46341985148518 + ], + [ + 0.11425998748345738, + -0.06641944713623002, + -0.9912280828862735, + -100.54677767278812 + ], + [ + -0.8569589343272609, + 0.4981510783989727, + -0.13216235457430928, + 782.2462516519618 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5025595061593564, + 0.11425998748345738, + -0.8569589343272609, + 743.8890932269584 + ], + [ + 0.8645426205623777, + -0.06641944713623002, + 0.4981510783989727, + -289.61569912552494 + ], + [ + -1.387778770221193e-17, + -0.9912280828862735, + -0.13216235457430928, + 3.718715692115469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74388.90932269584, + 28961.56991255249, + 371.8715692115469 + ], + "rotation_deg": [ + 8.021752855906165e-16, + -7.594564437866207, + -149.8305206298828 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.9238795383318846, + 0.38268341831292263, + -2.7755575406595685e-17, + -571.942792138425 + ], + [ + 0.06319225466335346, + -0.15255960480835506, + -0.98627192291542, + -87.5254932256796 + ], + [ + -0.37742992462538527, + 0.9111964428760615, + -0.16512932655130771, + 553.6598149401078 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9238795383318846, + 0.06319225466335346, + -0.37742992462538527, + 742.9049474073231 + ], + [ + 0.38268341831292263, + -0.15255960480835506, + 0.9111964428760615, + -298.9726813905752 + ], + [ + -2.7755575406595685e-17, + -0.98627192291542, + -0.16512932655130771, + 5.10153377185924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74290.4947407323, + 29897.268139057516, + 510.15337718592406 + ], + "rotation_deg": [ + 1.612412666451102e-15, + -9.504747390747067, + -112.49999999999997 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9933837516753773, + -0.11484216084414171, + -2.7755575404116693e-17, + -765.4412057780535 + ], + [ + -0.014558314572526833, + -0.1259293019377624, + -0.9919323900298218, + -22.55647038100769 + ], + [ + 0.11391564795657524, + 0.9853695201767103, + -0.1267680316852509, + 213.90228874794823 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9933837516753773, + -0.014558314572526833, + 0.11391564795657524, + 735.6816532621266 + ], + [ + -0.11484216084414171, + -0.1259293019377624, + 0.9853695201767103, + -301.51822960534736 + ], + [ + -2.7755575404116693e-17, + -0.9919323900298218, + -0.1267680316852509, + 4.741477250415847 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73568.16532621266, + 30151.822960534737, + 474.1477250415847 + ], + "rotation_deg": [ + 1.6032114254118284e-15, + -7.282868862152097, + -83.40547943115232 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.7376523981027204, + -0.6751806718007453, + 6.9388938507632785e-18, + -736.3234250187302 + ], + [ + -0.07149640330431942, + -0.07811167522389414, + -0.9943776096173236, + 32.392516361207136 + ], + [ + 0.6713845377125757, + 0.7335050326041829, + -0.1058922549802742, + -268.9177066256009 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7376523981027204, + -0.07149640330431942, + 0.6713845377125757, + 726.0138832639178 + ], + [ + -0.6751806718007453, + -0.07811167522389414, + 0.7335050326041829, + -297.36861755498353 + ], + [ + 6.9388938507632785e-18, + -0.9943776096173236, + -0.1058922549802742, + 3.734090348733016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72601.38832639178, + 29736.86175549835, + 373.4090348733016 + ], + "rotation_deg": [ + -3.9981726395743566e-16, + -6.078575611114502, + -47.53181838989258 + ] + } + } + ] + }, + { + "frame": 110, + "time": 502.78482850268483, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.5180212860780458, + 0.8553677262850448, + -0.0, + -137.62246271540636 + ], + [ + 0.11295108627431495, + -0.06840457639178517, + -0.9912430912940138, + -100.14796912439624 + ], + [ + -0.8478773594102076, + 0.513485003840539, + -0.13204974150090154, + 779.9310938829369 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5180212860780458, + 0.11295108627431495, + -0.8478773594102076, + 743.8890932269584 + ], + [ + 0.8553677262850448, + -0.06840457639178517, + 0.513485003840539, + -289.61569912552494 + ], + [ + -0.0, + -0.9912430912940138, + -0.13204974150090154, + 3.718715692115469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74388.90932269584, + 28961.56991255249, + 371.8715692115469 + ], + "rotation_deg": [ + 0.0, + -7.588055133819584, + -148.8003845214844 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.9238795383318846, + 0.38268341831292263, + -2.7755575406595685e-17, + -572.0455598756612 + ], + [ + 0.06319225466335346, + -0.15255960480835506, + -0.98627192291542, + -87.51146542212771 + ], + [ + -0.37742992462538527, + 0.9111964428760615, + -0.16512932655130771, + 553.5760307394393 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9238795383318846, + 0.06319225466335346, + -0.37742992462538527, + 742.9673833044444 + ], + [ + 0.38268341831292263, + -0.15255960480835506, + 0.9111964428760615, + -298.85486993789414 + ], + [ + -2.7755575406595685e-17, + -0.98627192291542, + -0.16512932655130771, + 5.10153377185924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74296.73833044444, + 29885.48699378941, + 510.15337718592406 + ], + "rotation_deg": [ + 1.612412666451102e-15, + -9.504747390747067, + -112.49999999999997 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9935528019852584, + -0.11337032092766436, + -0.0, + -765.19376445442 + ], + [ + -0.014245013758266561, + -0.12484019819327048, + -0.9920745962366395, + -22.460171610071015 + ], + [ + 0.11247180421942428, + 0.9856784960170406, + -0.12565029146489085, + 214.94455550060533 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9935528019852584, + -0.014245013758266561, + 0.11247180421942428, + 735.7652598842379 + ], + [ + -0.11337032092766436, + -0.12484019819327048, + 0.9856784960170406, + -301.4204124448677 + ], + [ + -0.0, + -0.9920745962366395, + -0.12565029146489085, + 4.7256790839343035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73576.52598842379, + 30142.04124448677, + 472.56790839343034 + ], + "rotation_deg": [ + 0.0, + -7.218310832977297, + -83.49036407470703 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.736399373429551, + -0.6765470883926444, + -1.3877787701484143e-17, + -735.786313883103 + ], + [ + -0.07038825826536527, + -0.07661531646904347, + -0.9945730673915899, + 32.04710858532355 + ], + [ + 0.6728755081845801, + 0.7324029879096398, + -0.10404044303238758, + -270.4630972741931 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.736399373429551, + -0.07038825826536527, + 0.6728755081845801, + 726.0763191610391 + ], + [ + -0.6765470883926444, + -0.07661531646904347, + 0.7324029879096398, + -297.2508061023025 + ], + [ + -1.3877787701484143e-17, + -0.9945730673915899, + -0.10404044303238758, + 3.734090348733016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72607.63191610391, + 29725.080610230245, + 373.4090348733016 + ], + "rotation_deg": [ + 7.994773802978614e-16, + -5.971885204315184, + -47.42559432983404 + ] + } + } + ] + }, + { + "frame": 111, + "time": 502.85149517282844, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.533283853021081, + 0.8459363641001548, + 6.938893851102072e-18, + -151.70759035185952 + ], + [ + 0.11157429077499502, + -0.07033716743679219, + -0.9912637693949199, + -99.6834177794933 + ], + [ + -0.838546079393101, + 0.5286249454779304, + -0.13189442654227063, + 777.3738436622236 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.533283853021081, + 0.11157429077499502, + -0.838546079393101, + 743.8890932269584 + ], + [ + 0.8459363641001548, + -0.07033716743679219, + 0.5286249454779304, + -289.61569912552494 + ], + [ + 6.938893851102072e-18, + -0.9912637693949199, + -0.13189442654227063, + 3.718715692115469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74388.90932269584, + 28961.56991255249, + 371.8715692115469 + ], + "rotation_deg": [ + -4.0107320323008095e-16, + -7.579077720642091, + -147.77239990234375 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.9238795383318846, + 0.38268341831292263, + -2.7755575406595685e-17, + -572.1482867658577 + ], + [ + 0.06319225466335346, + -0.15255960480835506, + -0.98627192291542, + -87.4974294628321 + ], + [ + -0.37742992462538527, + 0.9111964428760615, + -0.16512932655130771, + 553.4921978267618 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9238795383318846, + 0.06319225466335346, + -0.37742992462538527, + 743.0297625630727 + ], + [ + 0.38268341831292263, + -0.15255960480835506, + 0.9111964428760615, + -298.737028486252 + ], + [ + -2.7755575406595685e-17, + -0.98627192291542, + -0.16512932655130771, + 5.10153377185924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74302.97625630727, + 29873.702848625195, + 510.15337718592406 + ], + "rotation_deg": [ + 1.612412666451102e-15, + -9.504747390747067, + -112.49999999999997 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9937191798407178, + -0.11190259879328503, + -0.0, + -764.9458373105775 + ], + [ + -0.013935649703936218, + -0.12375157095255977, + -0.9922153729680379, + -22.361401802841243 + ], + [ + 0.11103146764336452, + 0.9859834477860373, + -0.12453374596838733, + 215.98326952309472 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9937191798407178, + -0.013935649703936218, + 0.11103146764336452, + 735.8487885515107 + ], + [ + -0.11190259879328503, + -0.12375157095255977, + 0.9859834477860373, + -301.3226058017871 + ], + [ + -0.0, + -0.9922153729680379, + -0.12453374596838733, + 4.709877717727793 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73584.87885515107, + 30132.260580178714, + 470.9877717727793 + ], + "rotation_deg": [ + 0.0, + -7.153831005096437, + -83.57499694824219 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.7351299611339337, + -0.677926205602956, + -0.0, + -735.2405364322748 + ], + [ + -0.06926226557947796, + -0.07510665052135551, + -0.9947671735709118, + 31.691900145155596 + ], + [ + 0.6743787307040812, + 0.7312831578992235, + -0.1021678547630881, + -272.02265704925406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7351299611339337, + -0.06926226557947796, + 0.6743787307040812, + 726.1386984196674 + ], + [ + -0.677926205602956, + -0.07510665052135551, + 0.7312831578992235, + -297.1329646506603 + ], + [ + -0.0, + -0.9947671735709118, + -0.1021678547630881, + 3.734090348733016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72613.86984196675, + 29713.29646506603, + 373.4090348733016 + ], + "rotation_deg": [ + 0.0, + -5.864018917083739, + -47.318199157714844 + ] + } + } + ] + }, + { + "frame": 112, + "time": 502.91816184297204, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.5483333344469703, + 0.8362598605303658, + -0.0, + -165.70520278975533 + ], + [ + 0.11013280447441118, + -0.07221378277219999, + -0.9912900357394552, + -99.15451142773911 + ], + [ + -0.828976077704207, + 0.5435573541801598, + -0.1316968690243317, + 774.578749109374 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5483333344469703, + 0.11013280447441118, + -0.828976077704207, + 743.8890932269584 + ], + [ + 0.8362598605303658, + -0.07221378277219999, + 0.5435573541801598, + -289.61569912552494 + ], + [ + -0.0, + -0.9912900357394552, + -0.1316968690243317, + 3.718715692115469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74388.90932269584, + 28961.56991255249, + 371.8715692115469 + ], + "rotation_deg": [ + 0.0, + -7.5676589012146005, + -146.74725341796875 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.9238795383318846, + 0.38268341831292263, + -2.7755575406595685e-17, + -572.250973004746 + ], + [ + 0.06319225466335346, + -0.15255960480835506, + -0.98627192291542, + -87.48338539479212 + ], + [ + -0.37742992462538527, + 0.9111964428760615, + -0.16512932655130771, + 553.4083164827898 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9238795383318846, + 0.06319225466335346, + -0.37742992462538527, + 743.0920854729607 + ], + [ + 0.38268341831292263, + -0.15255960480835506, + 0.9111964428760615, + -298.61915722370145 + ], + [ + -2.7755575406595685e-17, + -0.98627192291542, + -0.16512932655130771, + 5.10153377185924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74309.20854729606, + 29861.915722370148, + 510.15337718592406 + ], + "rotation_deg": [ + 1.612412666451102e-15, + -9.504747390747067, + -112.49999999999997 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9938829336388311, + -0.11043873514972309, + -0.0, + -764.6973822095024 + ], + [ + -0.013630180695272932, + -0.12266351979746656, + -0.992354714346191, + -22.260219389713114 + ], + [ + 0.1095943883036101, + 0.9862844158267361, + -0.12341847977377982, + 217.01862234671137 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9938829336388311, + -0.013630180695272932, + 0.1095943883036101, + 735.9322421116589 + ], + [ + -0.11043873514972309, + -0.12266351979746656, + 0.9862844158267361, + -301.2248050021953 + ], + [ + -0.0, + -0.992354714346191, + -0.12341847977377982, + 4.694073535763311 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73593.22421116589, + 30122.480500219528, + 469.40735357633116 + ], + "rotation_deg": [ + 0.0, + -7.089434146881104, + -83.65939331054688 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.7338447143064668, + -0.6793172567250595, + -0.0, + -734.6862594730001 + ], + [ + -0.06811880620286226, + -0.07358656854652665, + -0.9949597203761787, + 31.326894596546254 + ], + [ + 0.6758933030845515, + 0.7301459360026881, + -0.10027539570708936, + -273.5956062536956 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7338447143064668, + -0.06811880620286226, + 0.6758933030845515, + 726.2010213295554 + ], + [ + -0.6793172567250595, + -0.07358656854652665, + 0.7301459360026881, + -297.0150933881098 + ], + [ + -0.0, + -0.9949597203761787, + -0.10027539570708936, + 3.734090348733016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72620.10213295554, + 29701.50933881098, + 373.4090348733016 + ], + "rotation_deg": [ + 0.0, + -5.7550292015075675, + -47.20968627929688 + ] + } + } + ] + }, + { + "frame": 113, + "time": 502.98482851311564, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.5631575476776763, + 0.8263495486134579, + -0.0, + -179.60295524211568 + ], + [ + 0.10863080857944532, + -0.0740319394673742, + -0.9913216528282205, + -98.56364221083084 + ], + [ + -0.8191782112334657, + 0.5582702547514343, + -0.13145866612782828, + 771.5504242811602 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5631575476776763, + 0.10863080857944532, + -0.8191782112334657, + 743.8890932269584 + ], + [ + 0.8263495486134579, + -0.0740319394673742, + 0.5582702547514343, + -289.61569912552494 + ], + [ + -0.0, + -0.9913216528282205, + -0.13145866612782828, + 3.718715692115469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74388.90932269584, + 28961.56991255249, + 371.8715692115469 + ], + "rotation_deg": [ + 0.0, + -7.5538911819458034, + -145.72555541992188 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.9238795383318846, + 0.38268341831292263, + -2.7755575406595685e-17, + -572.3536567882288 + ], + [ + 0.06319225466335346, + -0.15255960480835506, + -0.98627192291542, + -87.46934083722341 + ], + [ + -0.37742992462538527, + 0.9111964428760615, + -0.16512932655130771, + 553.3244322149977 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9238795383318846, + 0.06319225466335346, + -0.37742992462538527, + 743.1544049798779 + ], + [ + 0.38268341831292263, + -0.15255960480835506, + 0.9111964428760615, + -298.50128416193706 + ], + [ + -2.7755575406595685e-17, + -0.98627192291542, + -0.16512932655130771, + 5.10153377185924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74315.44049798779, + 29850.128416193707, + 510.15337718592406 + ], + "rotation_deg": [ + 1.612412666451102e-15, + -9.504747390747067, + -112.49999999999997 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.994044081152329, + -0.10897873520105511, + -0.0, + -764.4484694021186 + ], + [ + -0.013328597161738525, + -0.12157613220823685, + -0.9924926158793248, + -22.156658293796983 + ], + [ + 0.10816057879208717, + 0.9865814115113671, + -0.12230456923434514, + 218.05062595478802 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.994044081152329, + -0.013328597161738525, + 0.10816057879208717, + 736.0156757614585 + ], + [ + -0.10897873520105511, + -0.12157613220823685, + 0.9865814115113671, + -301.1270337792589 + ], + [ + -0.0, + -0.9924926158793248, + -0.12230456923434514, + 4.678266875931815 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73601.56757614586, + 30112.70337792589, + 467.82668759318153 + ], + "rotation_deg": [ + 0.0, + -7.0251245498657235, + -83.74355316162108 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.7325441906528581, + -0.6807194787434461, + 6.93889385067946e-18, + -734.1237122748225 + ], + [ + -0.06695826587089518, + -0.07205594993470142, + -0.9951505065619822, + 30.952104526515807 + ], + [ + 0.6774183294048888, + 0.7289917266659796, + -0.09836396412733589, + -275.1811818403133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7325441906528581, + -0.06695826587089518, + 0.6774183294048888, + 726.2633408364726 + ], + [ + -0.6807194787434461, + -0.07205594993470142, + 0.7289917266659796, + -296.8972203263454 + ], + [ + 6.93889385067946e-18, + -0.9951505065619822, + -0.09836396412733589, + 3.734090348733016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72626.33408364726, + 29689.72203263454, + 373.4090348733016 + ], + "rotation_deg": [ + -3.99506740529573e-16, + -5.644968032836913, + -47.1001091003418 + ] + } + } + ] + }, + { + "frame": 114, + "time": 503.05149518325925, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.5777446559805917, + 0.8162175644311188, + 6.938893851091736e-18, + -193.3885276928717 + ], + [ + 0.1070717321013175, + -0.07578876481448492, + -0.9913585160337899, + -97.91252934060876 + ], + [ + -0.809164244531613, + 0.5727520688912773, + -0.13118038326039916, + 768.2942695435646 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5777446559805917, + 0.1070717321013175, + -0.809164244531613, + 743.8890932269584 + ], + [ + 0.8162175644311188, + -0.07578876481448492, + 0.5727520688912773, + -289.61569912552494 + ], + [ + 6.938893851091736e-18, + -0.9913585160337899, + -0.13118038326039916, + 3.718715692115469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74388.90932269584, + 28961.56991255249, + 371.8715692115469 + ], + "rotation_deg": [ + -4.010348716498056e-16, + -7.53780746459961, + -144.70793151855472 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.9238795383318846, + 0.38268341831292263, + -2.7755575406595685e-17, + -572.4563342849484 + ], + [ + 0.06319225466335346, + -0.15255960480835506, + -0.98627192291542, + -87.45529502640775 + ], + [ + -0.37742992462538527, + 0.9111964428760615, + -0.16512932655130771, + 553.240540461907 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9238795383318846, + 0.06319225466335346, + -0.37742992462538527, + 743.2167157742122 + ], + [ + 0.38268341831292263, + -0.15255960480835506, + 0.9111964428760615, + -298.3834064942406 + ], + [ + -2.7755575406595685e-17, + -0.98627192291542, + -0.16512932655130771, + 5.10153377185924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74321.67157742122, + 29838.340649424063, + 510.15337718592406 + ], + "rotation_deg": [ + 1.612412666451102e-15, + -9.504747390747067, + -112.49999999999997 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9942026544311994, + -0.10752247170687967, + -0.0, + -764.1990782364558 + ], + [ + -0.013030871269975444, + -0.12048948094756189, + -0.9926290754229055, + -22.050758524369503 + ], + [ + 0.10672992048063719, + 0.9868744627472634, + -0.12119207421072023, + 219.07937048658317 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9942026544311994, + -0.013030871269975444, + 0.10672992048063719, + 736.0990861721828 + ], + [ + -0.10752247170687967, + -0.12048948094756189, + 0.9868744627472634, + -301.0292855611555 + ], + [ + -0.0, + -0.9926290754229055, + -0.12119207421072023, + 4.6624580355773455 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73609.90861721827, + 30102.928556115552, + 466.2458035577346 + ], + "rotation_deg": [ + 0.0, + -6.960905551910399, + -83.82748413085933 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.7312289071938415, + -0.6821321611565462, + 6.938893850658997e-18, + -733.5530469032132 + ], + [ + -0.06578106821679777, + -0.0705156879638367, + -0.9953393335015165, + 30.567564715448714 + ], + [ + 0.6789529659724698, + 0.7278208973839663, + -0.09643449242042132, + -276.7786528303497 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7312289071938415, + -0.06578106821679777, + 0.6789529659724698, + 726.325651630807 + ], + [ + -0.6821321611565462, + -0.0705156879638367, + 0.7278208973839663, + -296.77934265864894 + ], + [ + 6.938893850658997e-18, + -0.9953393335015165, + -0.09643449242042132, + 3.734090348733016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72632.5651630807, + 29677.934265864897, + 373.4090348733016 + ], + "rotation_deg": [ + -3.994309496572836e-16, + -5.5338892936706525, + -46.98951721191406 + ] + } + } + ] + }, + { + "frame": 115, + "time": 503.11816185340285, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.5920842781662041, + 0.8058760497423937, + -0.0, + -207.05068124433612 + ], + [ + 0.10546007303507915, + -0.07748245060551183, + -0.9914003443834382, + -97.20399618596073 + ], + [ + -0.7989458045415571, + 0.5869925416777034, + -0.13086388890825984, + 764.8159710145729 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5920842781662041, + 0.10546007303507915, + -0.7989458045415571, + 743.8890932269584 + ], + [ + 0.8058760497423937, + -0.07748245060551183, + 0.5869925416777034, + -289.61569912552494 + ], + [ + -0.0, + -0.9914003443834382, + -0.13086388890825984, + 3.718715692115469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74388.90932269584, + 28961.56991255249, + 371.8715692115469 + ], + "rotation_deg": [ + 0.0, + -7.519515991210938, + -143.6949462890625 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.9238795383318846, + 0.38268341831292263, + -2.7755575406595685e-17, + -572.5590461861746 + ], + [ + 0.06319225466335346, + -0.15255960480835506, + -0.98627192291542, + -87.4412560763333 + ], + [ + -0.37742992462538527, + 0.9111964428760615, + -0.16512932655130771, + 553.1566896861323 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9238795383318846, + 0.06319225466335346, + -0.37742992462538527, + 743.2790742537763 + ], + [ + 0.38268341831292263, + -0.15255960480835506, + 0.9111964428760615, + -298.26555404556603 + ], + [ + -2.7755575406595685e-17, + -0.98627192291542, + -0.16512932655130771, + 5.10153377185924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74327.90742537763, + 29826.555404556602, + 510.15337718592406 + ], + "rotation_deg": [ + 1.612412666451102e-15, + -9.504747390747067, + -112.49999999999997 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.994358670587341, + -0.10606994969252792, + 6.938893850938611e-18, + -763.9492815959567 + ], + [ + -0.012736991320449644, + -0.11940363687734462, + -0.9927640910873868, + -21.942550848589775 + ], + [ + 0.10530242598717743, + 0.9871635829037981, + -0.12008105458293925, + 220.1048712636832 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.994358670587341, + -0.012736991320449644, + 0.10530242598717743, + 736.1825314848231 + ], + [ + -0.10606994969252792, + -0.11940363687734462, + 0.9871635829037981, + -300.9315868595472 + ], + [ + 6.938893850938611e-18, + -0.9927640910873868, + -0.12008105458293925, + 4.6466472763626605 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73618.25314848231, + 30093.15868595472, + 464.66472763626604 + ], + "rotation_deg": [ + -4.004670785305264e-16, + -6.896780490875248, + -83.91118621826173 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.7298994309203672, + -0.6835545484759239, + -0.0, + -732.9745061976116 + ], + [ + -0.06458762590175093, + -0.0689666559827537, + -0.9955260111835007, + 30.17331018815655 + ], + [ + 0.6804963284179109, + 0.7266338732916112, + -0.09448788914444768, + -278.3872598842383 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7298994309203672, + -0.06458762590175093, + 0.6804963284179109, + 726.388010110371 + ], + [ + -0.6835545484759239, + -0.0689666559827537, + 0.7266338732916112, + -296.6614902099744 + ], + [ + -0.0, + -0.9955260111835007, + -0.09448788914444768, + 3.734090348733016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72638.80101103711, + 29666.149020997436, + 373.4090348733016 + ], + "rotation_deg": [ + 0.0, + -5.4218454360961905, + -46.8779640197754 + ] + } + } + ] + }, + { + "frame": 116, + "time": 503.18482852354646, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.6061689363566133, + 0.795335916827784, + -1.387778770216424e-17, + -220.5806928169519 + ], + [ + 0.10380112989324705, + -0.07911250978198772, + -0.9914466885460255, + -96.44184486371456 + ], + [ + -0.7885331725091022, + 0.6009841693582485, + -0.13051231372367175, + 761.1210152382934 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.6061689363566133, + 0.10380112989324705, + -0.7885331725091022, + 743.8890932269584 + ], + [ + 0.795335916827784, + -0.07911250978198772, + 0.6009841693582485, + -289.61569912552494 + ], + [ + -1.387778770216424e-17, + -0.9914466885460255, + -0.13051231372367175, + 3.718715692115469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74388.90932269584, + 28961.56991255249, + 371.8715692115469 + ], + "rotation_deg": [ + 8.019984126812593e-16, + -7.4991979598999, + -142.6869964599609 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.9238795383318846, + 0.38268341831292263, + -2.7755575406595685e-17, + -572.6618795125898 + ], + [ + 0.06319225466335346, + -0.15255960480835506, + -0.98627192291542, + -87.4272413853968 + ], + [ + -0.37742992462538527, + 0.9111964428760615, + -0.16512932655130771, + 553.0729838035003 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9238795383318846, + 0.06319225466335346, + -0.37742992462538527, + 743.3416011355832 + ], + [ + 0.38268341831292263, + -0.15255960480835506, + 0.9111964428760615, + -298.1477908565651 + ], + [ + -2.7755575406595685e-17, + -0.98627192291542, + -0.16512932655130771, + 5.10153377185924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74334.16011355832, + 29814.77908565651, + 510.15337718592406 + ], + "rotation_deg": [ + 1.612412666451102e-15, + -9.504747390747067, + -112.49999999999997 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9945121745573928, + -0.10462090927307768, + -0.0, + -763.6991604226154 + ], + [ + -0.012446912032179748, + -0.11831865769143216, + -0.9928976632175949, + -21.832090044321127 + ], + [ + 0.10387784511592572, + 0.987448815229825, + -0.11897155372309098, + 221.12737388329498 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9945121745573928, + -0.012446912032179748, + 0.10387784511592572, + 736.2661339503903 + ], + [ + -0.10462090927307768, + -0.11831865769143216, + 0.987448815229825, + -300.83399879938906 + ], + [ + -0.0, + -0.9928976632175949, + -0.11897155372309098, + 4.630834828550984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73626.61339503904, + 30083.399879938905, + 463.08348285509845 + ], + "rotation_deg": [ + 0.0, + -6.832751750946047, + -83.99467468261719 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.7285563337586735, + -0.6849858893000061, + -6.938893850618814e-18, + -732.3884084578405 + ], + [ + -0.06337839670873005, + -0.0674097569992304, + -0.9957103512025648, + 29.769402157189354 + ], + [ + 0.6820475357715534, + 0.7254310872216846, + -0.09252511356554155, + -280.006263180261 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7285563337586735, + -0.06337839670873005, + 0.6820475357715534, + 726.450536992178 + ], + [ + -0.6849858893000061, + -0.0674097569992304, + 0.7254310872216846, + -296.54372702097345 + ], + [ + -6.938893850618814e-18, + -0.9957103512025648, + -0.09252511356554155, + 3.734090348733016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72645.0536992178, + 29654.372702097346, + 373.4090348733016 + ], + "rotation_deg": [ + 3.9928211525499713e-16, + -5.308891773223875, + -46.76550292968748 + ] + } + } + ] + }, + { + "frame": 117, + "time": 503.25149519369006, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.6199920353538152, + 0.7846081035127241, + -0.0, + -233.9704885488961 + ], + [ + 0.10209981626163966, + -0.08067858668538205, + -0.9914971473331571, + -95.62962902438083 + ], + [ + -0.7779367080795196, + 0.6147203194391209, + -0.13012842537687574, + 757.2151980597051 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.6199920353538152, + 0.10209981626163966, + -0.7779367080795196, + 743.8890932269584 + ], + [ + 0.7846081035127241, + -0.08067858668538205, + 0.6147203194391209, + -289.61569912552494 + ], + [ + -0.0, + -0.9914971473331571, + -0.13012842537687574, + 3.718715692115469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74388.90932269584, + 28961.56991255249, + 371.8715692115469 + ], + "rotation_deg": [ + 0.0, + -7.47701358795166, + -141.6844482421875 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.9238795383318846, + 0.38268341831292263, + -2.7755575406595685e-17, + -572.7649055267393 + ], + [ + 0.06319225466335346, + -0.15255960480835506, + -0.98627192291542, + -87.41326533637881 + ], + [ + -0.37742992462538527, + 0.9111964428760615, + -0.16512932655130771, + 552.9895087183944 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9238795383318846, + 0.06319225466335346, + -0.37742992462538527, + 743.4043955894035 + ], + [ + 0.38268341831292263, + -0.15255960480835506, + 0.9111964428760615, + -298.03017012624287 + ], + [ + -2.7755575406595685e-17, + -0.98627192291542, + -0.16512932655130771, + 5.10153377185924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74340.43955894036, + 29803.01701262429, + 510.15337718592406 + ], + "rotation_deg": [ + 1.612412666451102e-15, + -9.504747390747067, + -112.49999999999997 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9946631684846873, + -0.10317548768967388, + 6.938893850909705e-18, + -763.4488607174732 + ], + [ + -0.012160636718676484, + -0.11723460407350772, + -0.9930297913568976, + -21.719394938314508 + ], + [ + 0.1024563217746648, + 0.9877301597281062, + -0.11786362327663284, + 222.14681346238982 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9946631684846873, + -0.012160636718676484, + 0.1024563217746648, + 736.3499940885733 + ], + [ + -0.10317548768967388, + -0.11723460407350772, + 0.9877301597281062, + -300.7365720138729 + ], + [ + 6.938893850909705e-18, + -0.9930297913568976, + -0.11786362327663284, + 4.615020894773957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73634.99940885733, + 30073.657201387286, + 461.50208947739566 + ], + "rotation_deg": [ + -4.003599274528064e-16, + -6.768822193145754, + -84.07794189453126 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.7272002383649526, + -0.6864253880225847, + 6.93889385059913e-18, + -731.79507283343 + ], + [ + -0.062153828524645245, + -0.06584587299228697, + -0.9958921741883566, + 29.355900633166442 + ], + [ + 0.6836056674843725, + 0.7242130307210614, + -0.09054710109694615, + -281.634871001529 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7272002383649526, + -0.062153828524645245, + 0.6836056674843725, + 726.5133314459983 + ], + [ + -0.6864253880225847, + -0.06584587299228697, + 0.7242130307210614, + -296.4261062906512 + ], + [ + 6.93889385059913e-18, + -0.9958921741883566, + -0.09054710109694615, + 3.734090348733016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72651.33314459983, + 29642.610629065122, + 373.4090348733016 + ], + "rotation_deg": [ + -3.992092171347203e-16, + -5.195082187652588, + -46.65219116210939 + ] + } + } + ] + }, + { + "frame": 118, + "time": 503.31816186383367, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.6335488738160937, + 0.773702671887825, + -0.0, + -247.21365702393553 + ], + [ + 0.10036082849644785, + -0.08218078104090261, + -0.9915513215820013, + -94.77087260246675 + ], + [ + -0.7671659186696278, + 0.628196208444138, + -0.12971498343751414, + 753.1042168347406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.6335488738160937, + 0.10036082849644785, + -0.7671659186696278, + 743.8890932269584 + ], + [ + 0.773702671887825, + -0.08218078104090261, + 0.628196208444138, + -289.61569912552494 + ], + [ + -0.0, + -0.9915513215820013, + -0.12971498343751414, + 3.718715692115469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74388.90932269584, + 28961.56991255249, + 371.8715692115469 + ], + "rotation_deg": [ + 0.0, + -7.453122615814211, + -140.68756103515625 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.9238795383318846, + 0.38268341831292263, + -2.7755575406595685e-17, + -572.8681952491361 + ], + [ + 0.06319225466335346, + -0.15255960480835506, + -0.98627192291542, + -87.3993424635314 + ], + [ + -0.37742992462538527, + 0.9111964428760615, + -0.16512932655130771, + 552.9063512398951 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9238795383318846, + 0.06319225466335346, + -0.37742992462538527, + 743.4675569124313 + ], + [ + 0.38268341831292263, + -0.15255960480835506, + 0.9111964428760615, + -297.91274599369103 + ], + [ + -2.7755575406595685e-17, + -0.98627192291542, + -0.16512932655130771, + 5.10153377185924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74346.75569124313, + 29791.274599369106, + 510.15337718592406 + ], + "rotation_deg": [ + 1.612412666451102e-15, + -9.504747390747067, + -112.49999999999997 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.994811682341804, + -0.1017335572771814, + -0.0, + -763.1984691422307 + ], + [ + -0.011878136050627255, + -0.1161515317449707, + -0.9931604762359705, + -21.60450693512187 + ], + [ + 0.10103773694173898, + 0.9880076452440615, + -0.11675730663635688, + 223.1633291837844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.994811682341804, + -0.011878136050627255, + 0.10103773694173898, + 736.4342123844933 + ], + [ + -0.1017335572771814, + -0.1161515317449707, + 0.9880076452440615, + -300.6393583841748 + ], + [ + -0.0, + -0.9931604762359705, + -0.11675730663635688, + 4.59920565334742 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73643.42123844933, + 30063.93583841748, + 459.920565334742 + ], + "rotation_deg": [ + 0.0, + -6.704994201660158, + -84.16099548339844 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.7258317728947257, + -0.6878722537335688, + -6.938893850579743e-18, + -731.1948248870896 + ], + [ + -0.06091439262327755, + -0.06427589040345862, + -0.9960713060239107, + 28.93288162186297 + ], + [ + 0.6851698095632248, + 0.7229802062477917, + -0.08855480470869406, + -283.2722934023987 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7258317728947257, + -0.06091439262327755, + 0.6851698095632248, + 726.5764927690261 + ], + [ + -0.6878722537335688, + -0.06427589040345862, + 0.7229802062477917, + -296.3086821580994 + ], + [ + -6.938893850579743e-18, + -0.9960713060239107, + -0.08855480470869406, + 3.734090348733016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72657.64927690261, + 29630.86821580994, + 373.4090348733016 + ], + "rotation_deg": [ + 3.9913742400052017e-16, + -5.080471515655517, + -46.53808593750001 + ] + } + } + ] + }, + { + "frame": 119, + "time": 503.38482853397727, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.646835330216507, + 0.7626296975490152, + -0.0, + -260.3042142323719 + ], + [ + 0.09858874212921914, + -0.08361945748471838, + -0.9916088171528827, + -93.86908635603861 + ], + [ + -0.7562303443274507, + 0.6414076023218489, + -0.12927472298219048, + 748.7939522242744 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.646835330216507, + 0.09858874212921914, + -0.7562303443274507, + 743.8890932269584 + ], + [ + 0.7626296975490152, + -0.08361945748471838, + 0.6414076023218489, + -289.61569912552494 + ], + [ + -0.0, + -0.9916088171528827, + -0.12927472298219048, + 3.718715692115469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74388.90932269584, + 28961.56991255249, + 371.8715692115469 + ], + "rotation_deg": [ + 0.0, + -7.4276833534240705, + -139.6965789794922 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.9238795383318846, + 0.38268341831292263, + -2.7755575406595685e-17, + -572.971818742812 + ], + [ + 0.06319225466335346, + -0.15255960480835506, + -0.98627192291542, + -87.38548738376541 + ], + [ + -0.37742992462538527, + 0.9111964428760615, + -0.16512932655130771, + 552.823598670781 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9238795383318846, + 0.06319225466335346, + -0.37742992462538527, + 743.5311837088235 + ], + [ + 0.38268341831292263, + -0.15255960480835506, + 0.9111964428760615, + -297.79557342688037 + ], + [ + -2.7755575406595685e-17, + -0.98627192291542, + -0.16512932655130771, + 5.10153377185924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74353.11837088235, + 29779.557342688036, + 510.15337718592406 + ], + "rotation_deg": [ + 1.612412666451102e-15, + -9.504747390747067, + -112.49999999999997 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9949577453001525, + -0.10029499023997399, + -3.469446925440721e-17, + -762.9480708277216 + ], + [ + -0.011599379374805117, + -0.11506947976188517, + -0.9932897206885049, + -21.487463424312743 + ], + [ + 0.09962197157524373, + 0.9882813019574006, + -0.11565263066980451, + 224.17706238095997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9949577453001525, + -0.011599379374805117, + 0.09962197157524373, + 736.518888487684 + ], + [ + -0.10029499023997399, + -0.11506947976188517, + 0.9882813019574006, + -300.5424108912998 + ], + [ + -3.469446925440721e-17, + -0.9932897206885049, + -0.11565263066980451, + 4.583389261189315 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73651.8888487684, + 30054.24108912998, + 458.3389261189315 + ], + "rotation_deg": [ + 2.0012757956909392e-15, + -6.6412692070007315, + -84.24384307861327 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.7244514334014315, + -0.689325845041814, + 6.938893850560672e-18, + -730.5879388293805 + ], + [ + -0.05966059646773959, + -0.06270068783800868, + -0.9962475781520143, + 28.500450034036604 + ], + [ + 0.6867391991105619, + 0.7217329902830937, + -0.08654919492408711, + -284.91788732471724 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7244514334014315, + -0.05966059646773959, + 0.6867391991105619, + 726.6401195654183 + ], + [ + -0.689325845041814, + -0.06270068783800868, + 0.7217329902830937, + -296.1915095912887 + ], + [ + 6.938893850560672e-18, + -0.9962475781520143, + -0.08654919492408711, + 3.734090348733016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72664.01195654183, + 29619.15095912887, + 373.4090348733016 + ], + "rotation_deg": [ + -3.9906680219348147e-16, + -4.965115547180176, + -46.423233032226584 + ] + } + } + ] + }, + { + "frame": 120, + "time": 503.4514952041209, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.6598490521854269, + 0.7513981822775415, + -1.3877787702115707e-17, + -273.2378032149264 + ], + [ + 0.09678785942565939, + -0.08499538435333605, + -0.9916692467281755, + -92.92769465626981 + ], + [ + -0.7451384815868047, + 0.6543519984758299, + -0.12881034643691616, + 744.2900099654844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.6598490521854269, + 0.09678785942565939, + -0.7451384815868047, + 743.8890932269584 + ], + [ + 0.7513981822775415, + -0.08499538435333605, + 0.6543519984758299, + -289.61569912552494 + ], + [ + -1.3877787702115707e-17, + -0.9916692467281755, + -0.12881034643691616, + 3.718715692115469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74388.90932269584, + 28961.56991255249, + 371.8715692115469 + ], + "rotation_deg": [ + 8.018184219109666e-16, + -7.4008522033691415, + -138.71163940429688 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.9238795383318846, + 0.38268341831292263, + -2.7755575406595685e-17, + -573.0758445141429 + ], + [ + 0.06319225466335346, + -0.15255960480835506, + -0.98627192291542, + -87.37171474813086 + ], + [ + -0.37742992462538527, + 0.9111964428760615, + -0.16512932655130771, + 552.7413385177346 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9238795383318846, + 0.06319225466335346, + -0.37742992462538527, + 743.5953732236906 + ], + [ + 0.38268341831292263, + -0.15255960480835506, + 0.9111964428760615, + -297.67870818049255 + ], + [ + -2.7755575406595685e-17, + -0.98627192291542, + -0.16512932655130771, + 5.10153377185924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74359.53732236905, + 29767.870818049254, + 510.15337718592406 + ], + "rotation_deg": [ + 1.612412666451102e-15, + -9.504747390747067, + -112.49999999999997 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9951013725704296, + -0.09885979116125387, + -0.0, + -762.6977788296437 + ], + [ + -0.01132435246256639, + -0.11398849366968673, + -0.9934175266987285, + -21.368291672065524 + ], + [ + 0.09820903794491503, + 0.9885511453717291, + -0.11454963051086858, + 225.1880550836676 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9951013725704296, + -0.01132435246256639, + 0.09820903794491503, + 736.604120563187 + ], + [ + -0.09885979116125387, + -0.11398849366968673, + 0.9885511453717291, + -300.4457835413998 + ], + [ + -0.0, + -0.9934175266987285, + -0.11454963051086858, + 4.56757185638743 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73660.4120563187, + 30044.57835413998, + 456.757185638743 + ], + "rotation_deg": [ + 0.0, + -6.577649116516115, + -84.32648468017578 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.7230599503874605, + -0.6907852836777021, + -0.0, + -729.9747888535119 + ], + [ + -0.05839293265316036, + -0.06112115006617841, + -0.9964208299863823, + 28.058698415620135 + ], + [ + 0.6883128411555143, + 0.7204720001642921, + -0.0845312349353076, + -286.5707691853655 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7230599503874605, + -0.05839293265316036, + 0.6883128411555143, + 726.7043090802853 + ], + [ + -0.6907852836777021, + -0.06112115006617841, + 0.7204720001642921, + -296.0746443449009 + ], + [ + -0.0, + -0.9964208299863823, + -0.0845312349353076, + 3.734090348733016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72670.43090802853, + 29607.464434490088, + 373.4090348733016 + ], + "rotation_deg": [ + 0.0, + -4.849069595336914, + -46.30769729614258 + ] + } + } + ] + }, + { + "frame": 121, + "time": 503.5181618742645, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.6725883674691026, + 0.7400168159881555, + -0.0, + -286.01066326453633 + ], + [ + 0.09496228024741761, + -0.08630955900301637, + -0.9917322347059792, + -91.95003759231226 + ], + [ + -0.7338985429662838, + 0.6670275509551082, + -0.12832449064304172, + 739.5979744506622 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.6725883674691026, + 0.09496228024741761, + -0.7338985429662838, + 743.8890932269584 + ], + [ + 0.7400168159881555, + -0.08630955900301637, + 0.6670275509551082, + -289.61569912552494 + ], + [ + -0.0, + -0.9917322347059792, + -0.12832449064304172, + 3.718715692115469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74388.90932269584, + 28961.56991255249, + 371.8715692115469 + ], + "rotation_deg": [ + 0.0, + -7.372781753540037, + -137.73284912109378 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.9238795383318846, + 0.38268341831292263, + -2.7755575406595685e-17, + -573.1803390522317 + ], + [ + 0.06319225466335346, + -0.15255960480835506, + -0.98627192291542, + -87.3580392171938 + ], + [ + -0.37742992462538527, + 0.9111964428760615, + -0.16512932655130771, + 552.6596583442753 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9238795383318846, + 0.06319225466335346, + -0.37742992462538527, + 743.6602208604797 + ], + [ + 0.38268341831292263, + -0.15255960480835506, + 0.9111964428760615, + -297.5622068344274 + ], + [ + -2.7755575406595685e-17, + -0.98627192291542, + -0.16512932655130771, + 5.10153377185924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74366.02208604797, + 29756.22068344274, + 510.15337718592406 + ], + "rotation_deg": [ + 1.612412666451102e-15, + -9.504747390747067, + -112.49999999999997 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9952425793335893, + -0.09742796457600812, + -0.0, + -762.4477040735906 + ], + [ + -0.011053040086153432, + -0.11290861071247082, + -0.9935438973351067, + -21.247017189212865 + ], + [ + 0.09679894834010556, + 0.9888171920701737, + -0.11344833302744517, + 226.19635138863737 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9952425793335893, + -0.011053040086153432, + 0.09679894834010556, + 736.6900048239892 + ], + [ + -0.09742796457600812, + -0.11290861071247082, + 0.9888171920701737, + -300.3495313756684 + ], + [ + -0.0, + -0.9935438973351067, + -0.11344833302744517, + 4.5517535604590185 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73669.00048239891, + 30034.953137566838, + 455.1753560459019 + ], + "rotation_deg": [ + 0.0, + -6.514135360717775, + -84.40892028808594 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.7216578764934719, + -0.6922498893426656, + 3.46944692526177e-18, + -729.3556780784002 + ], + [ + -0.0571119344800423, + -0.05953814943681406, + -0.9965909068928868, + 27.6077528026983 + ], + [ + 0.6898899404885221, + 0.719197681871346, + -0.08250190545451314, + -288.2302503318152 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7216578764934719, + -0.0571119344800423, + 0.6898899404885221, + 726.7691567170746 + ], + [ + -0.6922498893426656, + -0.05953814943681406, + 0.719197681871346, + -295.95814299883574 + ], + [ + 3.46944692526177e-18, + -0.9965909068928868, + -0.08250190545451314, + 3.734090348733016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72676.91567170745, + 29595.814299883576, + 373.4090348733016 + ], + "rotation_deg": [ + -1.9946466120362066e-16, + -4.7323899269103995, + -46.19152832031251 + ] + } + } + ] + }, + { + "frame": 122, + "time": 503.5848285444081, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.6850524463226491, + 0.7284937513715226, + -6.938893851043882e-18, + -298.61981599582515 + ], + [ + 0.09311586562849376, + -0.0875632102817022, + -0.9917974187168557, + -90.93934458645207 + ], + [ + -0.7225182346318609, + 0.6794332345022188, + -0.12781971865996333, + 734.7232908132573 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.6850524463226491, + 0.09311586562849376, + -0.7225182346318609, + 743.8890932269584 + ], + [ + 0.7284937513715226, + -0.0875632102817022, + 0.6794332345022188, + -289.61569912552494 + ], + [ + -6.938893851043882e-18, + -0.9917974187168557, + -0.12781971865996333, + 3.718715692115469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74388.90932269584, + 28961.56991255249, + 371.8715692115469 + ], + "rotation_deg": [ + 4.0085740064555593e-16, + -7.343620300292968, + -136.76026916503903 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.9238795383318846, + 0.38268341831292263, + -2.7755575406595685e-17, + -573.2853665132365 + ], + [ + 0.06319225466335346, + -0.15255960480835506, + -0.98627192291542, + -87.3444754617801 + ], + [ + -0.37742992462538527, + 0.9111964428760615, + -0.16512932655130771, + 552.5786457752008 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9238795383318846, + 0.06319225466335346, + -0.37742992462538527, + 743.7258198910541 + ], + [ + 0.38268341831292263, + -0.15255960480835506, + 0.9111964428760615, + -297.4461269187665 + ], + [ + -2.7755575406595685e-17, + -0.98627192291542, + -0.16512932655130771, + 5.10153377185924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74372.58198910541, + 29744.612691876646, + 510.15337718592406 + ], + "rotation_deg": [ + 1.612412666451102e-15, + -9.504747390747067, + -112.49999999999997 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9953813807407091, + -0.09599951497126799, + -6.938893850840239e-18, + -762.1979550800224 + ], + [ + -0.010785426872634054, + -0.11182986805270342, + -0.9936688357689846, + -21.123665580187485 + ], + [ + 0.09539171496805807, + 0.9890794587388904, + -0.1123487650854967, + 227.20199738711037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9953813807407091, + -0.010785426872634054, + 0.09539171496805807, + 736.7766352543481 + ], + [ + -0.09599951497126799, + -0.11182986805270342, + 0.9890794587388904, + -300.2537105701255 + ], + [ + -6.938893850840239e-18, + -0.9936688357689846, + -0.1123487650854967, + 4.5359344803392645 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73677.66352543481, + 30025.37105701255, + 453.59344803392645 + ], + "rotation_deg": [ + 4.0010244953940846e-16, + -6.450729370117187, + -84.49114990234375 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.7202458617298493, + -0.6937188902293397, + 3.469446925252758e-18, + -728.7309526738882 + ], + [ + -0.05581813365575412, + -0.05795255159009682, + -0.9967576624834068, + 27.14774028612626 + ], + [ + 0.6914696149386764, + 0.7179105858223981, + -0.08046217981573651, + -289.89554681283687 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7202458617298493, + -0.05581813365575412, + 0.6914696149386764, + 726.8347557476488 + ], + [ + -0.6937188902293397, + -0.05795255159009682, + 0.7179105858223981, + -295.8420630831748 + ], + [ + 3.469446925252758e-18, + -0.9967576624834068, + -0.08046217981573651, + 3.734090348733016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72683.47557476489, + 29584.20630831748, + 373.4090348733016 + ], + "rotation_deg": [ + -1.9943129115878907e-16, + -4.6151323318481445, + -46.07478332519532 + ] + } + } + ] + }, + { + "frame": 123, + "time": 503.6514952145517, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.6972412529106541, + 0.7168365470869779, + 6.9388938510365795e-18, + -311.06304564481246 + ], + [ + 0.09125221884964269, + -0.08875776724855257, + -0.9918644520840881, + -89.89871124710223 + ], + [ + -0.7110047016167541, + 0.6915688001473503, + -0.12729850329687564, + 729.6712112556596 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.6972412529106541, + 0.09125221884964269, + -0.7110047016167541, + 743.8890932269584 + ], + [ + 0.7168365470869779, + -0.08875776724855257, + 0.6915688001473503, + -289.61569912552494 + ], + [ + 6.9388938510365795e-18, + -0.9918644520840881, + -0.12729850329687564, + 3.718715692115469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74388.90932269584, + 28961.56991255249, + 371.8715692115469 + ], + "rotation_deg": [ + -4.0083030942184354e-16, + -7.313510894775387, + -135.79391479492182 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.9238795383318846, + 0.38268341831292263, + -2.7755575406595685e-17, + -573.390988539548 + ], + [ + 0.06319225466335346, + -0.15255960480835506, + -0.98627192291542, + -87.33103818817527 + ], + [ + -0.37742992462538527, + 0.9111964428760615, + -0.16512932655130771, + 552.4983886471001 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9238795383318846, + 0.06319225466335346, + -0.37742992462538527, + 743.7922613470364 + ], + [ + 0.38268341831292263, + -0.15255960480835506, + 0.9111964428760615, + -297.33052712396085 + ], + [ + -2.7755575406595685e-17, + -0.98627192291542, + -0.16512932655130771, + 5.10153377185924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74379.22613470364, + 29733.052712396086, + 510.15337718592406 + ], + "rotation_deg": [ + 1.612412666451102e-15, + -9.504747390747067, + -112.49999999999997 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9955178045061981, + -0.0945743142251587, + -0.0, + -761.9486073657519 + ], + [ + -0.010521482557602397, + -0.11075230417169878, + -0.9937923452741269, + -20.99827383788773 + ], + [ + 0.09398721821507859, + 0.9893379746813955, + -0.111250953548747, + 228.20514217110815 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9955178045061981, + -0.010521482557602397, + 0.09398721821507859, + 736.8641035127941 + ], + [ + -0.0945743142251587, + -0.11075230417169878, + 0.9893379746813955, + -300.1583786236482 + ], + [ + -0.0, + -0.9937923452741269, + -0.111250953548747, + 4.5201147101311285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73686.41035127941, + 30015.83786236482, + 452.01147101311284 + ], + "rotation_deg": [ + 0.0, + -6.387432575225832, + -84.57318115234376 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.7188245619316735, + -0.6951915197726002, + 3.4694469252439333e-18, + -728.1009640979266 + ], + [ + -0.054512086164658594, + -0.056365225039151506, + -0.9969209566802486, + 26.678804964665925 + ], + [ + 0.6930509904819311, + 0.7166112742381423, + -0.07841304882990047, + -291.56587561261017 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7188245619316735, + -0.054512086164658594, + 0.6930509904819311, + 726.9011972036311 + ], + [ + -0.6951915197726002, + -0.056365225039151506, + 0.7166112742381423, + -295.7264632883692 + ], + [ + 3.4694469252439333e-18, + -0.9969209566802486, + -0.07841304882990047, + 3.734090348733016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72690.11972036312, + 29572.64632883692, + 373.4090348733016 + ], + "rotation_deg": [ + -1.993986246040314e-16, + -4.497353553771971, + -45.95751953125001 + ] + } + } + ] + }, + { + "frame": 124, + "time": 503.7181618846953, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.7091558704370033, + 0.7050517367007444, + -1.3877787702058214e-17, + -323.3392657717052 + ], + [ + 0.08937464439417862, + -0.08989489769493747, + -0.9919330019249436, + -88.83107999981874 + ], + [ + -0.6993640984332126, + 0.7034350985577283, + -0.1267632436464867, + 724.4465693405324 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7091558704370033, + 0.08937464439417862, + -0.6993640984332126, + 743.8890932269584 + ], + [ + 0.7050517367007444, + -0.08989489769493747, + 0.7034350985577283, + -289.61569912552494 + ], + [ + -1.3877787702058214e-17, + -0.9919330019249436, + -0.1267632436464867, + 3.718715692115469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74388.90932269584, + 28961.56991255249, + 371.8715692115469 + ], + "rotation_deg": [ + 8.016052182182504e-16, + -7.282592296600342, + -134.83372497558594 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.9238795383318846, + 0.38268341831292263, + -2.7755575406595685e-17, + -573.4972641915659 + ], + [ + 0.06319225466335346, + -0.15255960480835506, + -0.98627192291542, + -87.31774218508988 + ], + [ + -0.37742992462538527, + 0.9111964428760615, + -0.16512932655130771, + 552.4189752888641 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9238795383318846, + 0.06319225466335346, + -0.37742992462538527, + 743.8596340656185 + ], + [ + 0.38268341831292263, + -0.15255960480835506, + 0.9111964428760615, + -297.2154675897057 + ], + [ + -2.7755575406595685e-17, + -0.98627192291542, + -0.16512932655130771, + 5.10153377185924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74385.96340656184, + 29721.546758970573, + 510.15337718592406 + ], + "rotation_deg": [ + 1.612412666451102e-15, + -9.504747390747067, + -112.49999999999997 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9956518651530025, + -0.09315236667603603, + 6.938893850813561e-18, + -761.699764139621 + ], + [ + -0.01026119037047615, + -0.10967593949153934, + -0.993914431059751, + -20.870863622889875 + ], + [ + 0.09258547019169787, + 0.9895927580530208, + -0.11015490873491438, + 229.205836701938 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9956518651530025, + -0.01026119037047615, + 0.09258547019169787, + 736.9524989881975 + ], + [ + -0.09315236667603603, + -0.10967593949153934, + 0.9895927580530208, + -300.0635946273464 + ], + [ + 6.938893850813561e-18, + -0.993914431059751, + -0.11015490873491438, + 4.504294332645216 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73695.24989881975, + 30006.35946273464, + 450.4294332645216 + ], + "rotation_deg": [ + -4.00003584611112e-16, + -6.32424545288086, + -84.65501403808595 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.7173946388012878, + -0.6966670167441329, + -0.0, + -727.4660694081589 + ], + [ + -0.05319436667309492, + -0.054777034865314767, + -0.9970806566199207, + 26.20110575502673 + ], + [ + 0.6946332020360981, + 0.7153003217841727, + -0.07635551246987222, + -293.24045489409497 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7173946388012878, + -0.05319436667309492, + 0.6946332020360981, + 726.9685699222132 + ], + [ + -0.6966670167441329, + -0.054777034865314767, + 0.7153003217841727, + -295.61140375411406 + ], + [ + -0.0, + -0.9970806566199207, + -0.07635551246987222, + 3.734090348733016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72696.85699222132, + 29561.140375411407, + 373.4090348733016 + ], + "rotation_deg": [ + 0.0, + -4.379110813140868, + -45.839794158935554 + ] + } + } + ] + }, + { + "frame": 125, + "time": 503.7848285548389, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.7207976790624595, + 0.6931455156445663, + -0.0, + -335.44770876874566 + ], + [ + 0.08748624892819855, + -0.09097640214650422, + -0.9920027472244974, + -87.7392845138849 + ], + [ + -0.6876022686024251, + 0.7150332652878889, + -0.12621628161429063, + 719.054049582856 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7207976790624595, + 0.08748624892819855, + -0.6876022686024251, + 743.8890932269584 + ], + [ + 0.6931455156445663, + -0.09097640214650422, + 0.7150332652878889, + -289.61569912552494 + ], + [ + -0.0, + -0.9920027472244974, + -0.12621628161429063, + 3.718715692115469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74388.90932269584, + 28961.56991255249, + 371.8715692115469 + ], + "rotation_deg": [ + 0.0, + -7.250999927520748, + -133.8796234130859 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.9238795383318846, + 0.38268341831292263, + -2.7755575406595685e-17, + -573.6042516236693 + ], + [ + 0.06319225466335346, + -0.15255960480835506, + -0.98627192291542, + -87.30460275740795 + ], + [ + -0.37742992462538527, + 0.9111964428760615, + -0.16512932655130771, + 552.3404971123454 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9238795383318846, + 0.06319225466335346, + -0.37742992462538527, + 743.9280272431581 + ], + [ + 0.38268341831292263, + -0.15255960480835506, + 0.9111964428760615, + -297.10101169034635 + ], + [ + -2.7755575406595685e-17, + -0.98627192291542, + -0.16512932655130771, + 5.10153377185924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74392.80272431581, + 29710.101169034635, + 510.15337718592406 + ], + "rotation_deg": [ + 1.612412666451102e-15, + -9.504747390747067, + -112.49999999999997 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9957835771764535, + -0.09173367661696363, + 6.938893850800459e-18, + -761.4515288894163 + ], + [ + -0.01000453576809878, + -0.1086008190508405, + -0.9940350956407681, + -20.741462543475567 + ], + [ + 0.09118648266094534, + 0.9898438243288366, + -0.10906066576905073, + 230.20413532554133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9957835771764535, + -0.01000453576809878, + 0.09118648266094534, + 737.0419113623934 + ], + [ + -0.09173367661696363, + -0.1086008190508405, + 0.9898438243288366, + -299.9694210328104 + ], + [ + 6.938893850800459e-18, + -0.9940350956407681, + -0.10906066576905073, + 4.48847342075486 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73704.19113623934, + 29996.942103281035, + 448.847342075486 + ], + "rotation_deg": [ + -3.9995502871413735e-16, + -6.26116991043091, + -84.7366485595703 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.7159567599428058, + -0.6981446253407668, + -0.0, + -726.8266344089542 + ], + [ + -0.051865562836568985, + -0.05318883648635831, + -0.9972366374461346, + 25.7148141557846 + ], + [ + 0.6962153941825491, + 0.7139783161152468, + -0.07429057154494617, + -294.9185048970374 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7159567599428058, + -0.051865562836568985, + 0.6962153941825491, + 727.0369630997529 + ], + [ + -0.6981446253407668, + -0.05318883648635831, + 0.7139783161152468, + -295.4969478547547 + ], + [ + -0.0, + -0.9972366374461346, + -0.07429057154494617, + 3.734090348733016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72703.69630997529, + 29549.69478547547, + 373.4090348733016 + ], + "rotation_deg": [ + 0.0, + -4.2604613304138175, + -45.721664428710945 + ] + } + } + ] + }, + { + "frame": 126, + "time": 503.8514952249825, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.7321690594965483, + 0.6811229465492555, + -0.0, + -347.3886794024221 + ], + [ + 0.08559012318909452, + -0.09200459375952226, + -0.992073326694968, + -86.62629522503336 + ], + [ + -0.6757239204423062, + 0.7263653823237712, + -0.12566031475259593, + 713.4977674562174 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7321690594965483, + 0.08559012318909452, + -0.6757239204423062, + 743.8890932269584 + ], + [ + 0.6811229465492555, + -0.09200459375952226, + 0.7263653823237712, + -289.61569912552494 + ], + [ + -0.0, + -0.992073326694968, + -0.12566031475259593, + 3.718715692115469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74388.90932269584, + 28961.56991255249, + 371.8715692115469 + ], + "rotation_deg": [ + 0.0, + -7.218889713287352, + -132.93145751953122 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.9238795383318846, + 0.38268341831292263, + -2.7755575406595685e-17, + -573.7120224855223 + ], + [ + 0.06319225466335346, + -0.15255960480835506, + -0.98627192291542, + -87.29163908416994 + ], + [ + -0.37742992462538527, + 0.9111964428760615, + -0.16512932655130771, + 552.2630686686647 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9238795383318846, + 0.06319225466335346, + -0.37742992462538527, + 743.9975515223 + ], + [ + 0.38268341831292263, + -0.15255960480835506, + 0.9111964428760615, + -296.98723931126455 + ], + [ + -2.7755575406595685e-17, + -0.98627192291542, + -0.16512932655130771, + 5.10153377185924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74399.75515223, + 29698.723931126457, + 510.15337718592406 + ], + "rotation_deg": [ + 1.612412666451102e-15, + -9.504747390747067, + -112.49999999999997 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9959129670707328, + -0.09031811568212067, + 6.938893850787511e-18, + -761.2039966623237 + ], + [ + -0.009751486712238543, + -0.10752695615480859, + -0.994154345263844, + -20.61010295338948 + ], + [ + 0.08979013579950623, + 0.9900912046575271, + -0.10796822668226506, + 231.20020899472658 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9959129670707328, + -0.009751486712238543, + 0.08979013579950623, + 737.1324517052459 + ], + [ + -0.09031811568212067, + -0.10752695615480859, + 0.9900912046575271, + -299.87593691339754 + ], + [ + 6.938893850787511e-18, + -0.994154345263844, + -0.10796822668226506, + 4.472652038588595 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73713.24517052459, + 29987.593691339753, + 447.2652038588594 + ], + "rotation_deg": [ + -3.999070537820852e-16, + -6.198205947875978, + -84.8180923461914 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.7145115988886528, + -0.6996235952664696, + -3.4694469252186682e-18, + -726.183058066923 + ], + [ + -0.050526269509106485, + -0.05160146950029671, + -0.9973887829903155, + 25.220112251415756 + ], + [ + 0.697796721812001, + 0.7126458583214139, + -0.07221921936548666, + -296.59925359064044 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7145115988886528, + -0.050526269509106485, + 0.697796721812001, + 727.1064873788948 + ], + [ + -0.6996235952664696, + -0.05160146950029671, + 0.7126458583214139, + -295.3831754756729 + ], + [ + -3.4694469252186682e-18, + -0.9973887829903155, + -0.07221921936548666, + 3.734090348733016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72710.64873788948, + 29538.31754756729, + 373.4090348733016 + ], + "rotation_deg": [ + 1.993050964575158e-16, + -4.141461849212646, + -45.60318756103516 + ] + } + } + ] + }, + { + "frame": 127, + "time": 503.9181618951261, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.743273306102072, + 0.6689878866138725, + -0.0, + -359.16351120788977 + ], + [ + 0.0836890184271913, + -0.09298197270157539, + -0.9921443952103022, + -85.49488412958182 + ], + [ + -0.6637325952456411, + 0.7374344328240454, + -0.12509795879215635, + 707.7812309864386 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.743273306102072, + 0.0836890184271913, + -0.6637325952456411, + 743.8890932269584 + ], + [ + 0.6689878866138725, + -0.09298197270157539, + 0.7374344328240454, + -289.61569912552494 + ], + [ + -0.0, + -0.9921443952103022, + -0.12509795879215635, + 3.718715692115469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74388.90932269584, + 28961.56991255249, + 371.8715692115469 + ], + "rotation_deg": [ + 0.0, + -7.186412811279295, + -131.9889984130859 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.9238795383318846, + 0.38268341831292263, + -2.7755575406595685e-17, + -573.8206465217891 + ], + [ + 0.06319225466335346, + -0.15255960480835506, + -0.98627192291542, + -87.27887105411395 + ], + [ + -0.37742992462538527, + 0.9111964428760615, + -0.16512932655130771, + 552.1868087477709 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9238795383318846, + 0.06319225466335346, + -0.37742992462538527, + 744.0683174304056 + ], + [ + 0.38268341831292263, + -0.15255960480835506, + 0.9111964428760615, + -296.8742350375307 + ], + [ + -2.7755575406595685e-17, + -0.98627192291542, + -0.16512932655130771, + 5.10153377185924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74406.83174304056, + 29687.423503753067, + 510.15337718592406 + ], + "rotation_deg": [ + 1.612412666451102e-15, + -9.504747390747067, + -112.49999999999997 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.996040036872873, + -0.08890582065469999, + -0.0, + -760.9573238876565 + ], + [ + -0.009502042292560044, + -0.10645438606554014, + -0.9942721834989043, + -20.476801133361693 + ], + [ + 0.0883965730528112, + 0.9903349032402645, + -0.10687761831466176, + 232.19403206874298 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.996040036872873, + -0.009502042292560044, + 0.0883965730528112, + 737.2242309200701 + ], + [ + -0.08890582065469999, + -0.10645438606554014, + 0.9903349032402645, + -299.7832261395967 + ], + [ + -0.0, + -0.9942721834989043, + -0.10687761831466176, + 4.456830242579528 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73722.42309200701, + 29978.32261395967, + 445.6830242579528 + ], + "rotation_deg": [ + 0.0, + -6.135354995727541, + -84.89933776855469 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.7130597884394594, + -0.7011032292827309, + -0.0, + -725.5357289273599 + ], + [ + -0.04917710364656049, + -0.05001576609218667, + -0.9975369845871115, + 24.717200564130863 + ], + [ + 0.699376396822096, + 0.7113035154638215, + -0.0701424583041636, + -298.28197819071727 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7130597884394594, + -0.04917710364656049, + 0.699376396822096, + 727.1772532870003 + ], + [ + -0.7011032292827309, + -0.05001576609218667, + 0.7113035154638215, + -295.27017120193904 + ], + [ + -0.0, + -0.9975369845871115, + -0.0701424583041636, + 3.734090348733016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72717.72532870003, + 29527.0171201939, + 373.4090348733016 + ], + "rotation_deg": [ + 0.0, + -4.022169589996337, + -45.48441696166993 + ] + } + } + ] + }, + { + "frame": 128, + "time": 503.9848285652697, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.7541138384443302, + 0.6567437237360999, + -0.0, + -370.7737667741227 + ], + [ + 0.08178546472474216, + -0.09391113839911142, + -0.9922156196333237, + -84.34768740167391 + ], + [ + -0.6516313939655222, + 0.748243517849555, + -0.12453178066129612, + 701.9076546002844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7541138384443302, + 0.08178546472474216, + -0.6516313939655222, + 743.8890932269584 + ], + [ + 0.6567437237360999, + -0.09391113839911142, + 0.748243517849555, + -289.61569912552494 + ], + [ + -0.0, + -0.9922156196333237, + -0.12453178066129612, + 3.718715692115469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74388.90932269584, + 28961.56991255249, + 371.8715692115469 + ], + "rotation_deg": [ + 0.0, + -7.153717517852782, + -131.05200195312497 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.9238795383318846, + 0.38268341831292263, + -2.7755575406595685e-17, + -573.9301911709352 + ], + [ + 0.06319225466335346, + -0.15255960480835506, + -0.98627192291542, + -87.26631932494597 + ], + [ + -0.37742992462538527, + 0.9111964428760615, + -0.16512932655130771, + 552.1118407324465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9238795383318846, + 0.06319225466335346, + -0.37742992462538527, + 744.1404351462529 + ], + [ + 0.38268341831292263, + -0.15255960480835506, + 0.9111964428760615, + -296.76208863904577 + ], + [ + -2.7755575406595685e-17, + -0.98627192291542, + -0.16512932655130771, + 5.10153377185924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74414.04351462529, + 29676.208863904576, + 510.15337718592406 + ], + "rotation_deg": [ + 1.612412666451102e-15, + -9.504747390747067, + -112.49999999999997 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9961648126468128, + -0.08749666304688357, + -6.938893850762083e-18, + -760.7116048099945 + ], + [ + -0.009256171374391014, + -0.10538313007498663, + -0.9943886157770944, + -20.341591737880066 + ], + [ + 0.08700567426367793, + 0.9905749500468276, + -0.10578885095154157, + 233.18578677673884 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9961648126468128, + -0.009256171374391014, + 0.08700567426367793, + 737.3173595164831 + ], + [ + -0.08749666304688357, + -0.10538313007498663, + 0.9905749500468276, + -299.69137785247733 + ], + [ + -6.938893850762083e-18, + -0.9943886157770944, + -0.10578885095154157, + 4.441008082388797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73731.73595164831, + 29969.13778524773, + 444.1008082388797 + ], + "rotation_deg": [ + 3.9981283867270806e-16, + -6.072617530822754, + -84.98039245605467 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.711602060514243, + -0.70258274065898, + 3.4694469252028883e-18, + -724.8850849072155 + ], + [ + -0.04781870290185315, + -0.048432569641777744, + -0.9976811403703482, + 24.206291533291765 + ], + [ + 0.7009535455255358, + 0.7099519594974036, + -0.06806131221904241, + -299.96585992598705 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.711602060514243, + -0.04781870290185315, + 0.7009535455255358, + 727.2493710028476 + ], + [ + -0.70258274065898, + -0.048432569641777744, + 0.7099519594974036, + -295.1580248034541 + ], + [ + 3.4694469252028883e-18, + -0.9976811403703482, + -0.06806131221904241, + 3.734090348733016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72724.93710028476, + 29515.80248034541, + 373.4090348733016 + ], + "rotation_deg": [ + -1.992466927106935e-16, + -3.9026429653167725, + -45.365413665771506 + ] + } + } + ] + }, + { + "frame": 129, + "time": 504.0514952354133, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.7646945196678745, + 0.6443929636409128, + -0.0, + -382.2215941549277 + ], + [ + 0.07988171042252021, + -0.09479480631920267, + -0.9922866808714492, + -83.18716518599781 + ], + [ + -0.6394225683401433, + 0.7587961754617112, + -0.12396428196046827, + 695.8797473221082 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7646945196678745, + 0.07988171042252021, + -0.6394225683401433, + 743.8890932269584 + ], + [ + 0.6443929636409128, + -0.09479480631920267, + 0.7587961754617112, + -289.61569912552494 + ], + [ + -0.0, + -0.9922866808714492, + -0.12396428196046827, + 3.718715692115469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74388.90932269584, + 28961.56991255249, + 371.8715692115469 + ], + "rotation_deg": [ + 0.0, + -7.120948314666747, + -130.12017822265622 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.9238795383318846, + 0.38268341831292263, + -2.7755575406595685e-17, + -574.0407211859593 + ], + [ + 0.06319225466335346, + -0.15255960480835506, + -0.98627192291542, + -87.2540053980819 + ], + [ + -0.37742992462538527, + 0.9111964428760615, + -0.16512932655130771, + 552.03829304472 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9238795383318846, + 0.06319225466335346, + -0.37742992462538527, + 744.2140143228494 + ], + [ + 0.38268341831292263, + -0.15255960480835506, + 0.9111964428760615, + -296.65089563385425 + ], + [ + -2.7755575406595685e-17, + -0.98627192291542, + -0.16512932655130771, + 5.10153377185924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74421.40143228494, + 29665.089563385423, + 510.15337718592406 + ], + "rotation_deg": [ + 1.612412666451102e-15, + -9.504747390747067, + -112.49999999999997 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9962873082158796, + -0.08609064692494954, + -0.0, + -760.4669639061618 + ], + [ + -0.009013857237409068, + -0.10431320804836396, + -0.9945036475570928, + -20.20449869216793 + ], + [ + 0.08561745098551106, + 0.9908113629353924, + -0.10470193486680807, + 234.175561105823 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9962873082158796, + -0.009013857237409068, + 0.08561745098551106, + 737.4119474386307 + ], + [ + -0.08609064692494954, + -0.10431320804836396, + 0.9908113629353924, + -299.60048701671184 + ], + [ + -0.0, + -0.9945036475570928, + -0.10470193486680807, + 4.425185601718201 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73741.19474386307, + 29960.048701671185, + 442.5185601718201 + ], + "rotation_deg": [ + 0.0, + -6.00999402999878, + -85.06125640869142 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.7101391065114753, + -0.7040613960465972, + 3.469446925195333e-18, + -724.2315542807311 + ], + [ + -0.046451704006123126, + -0.04685269177385858, + -0.9978211585592234, + 23.687606487435875 + ], + [ + 0.7025273535416329, + 0.7085918302710813, + -0.06597678075557734, + -301.65012953978317 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7101391065114753, + -0.046451704006123126, + 0.7025273535416329, + 727.3229501794442 + ], + [ + -0.7040613960465972, + -0.04685269177385858, + 0.7085918302710813, + -295.0468317982626 + ], + [ + 3.469446925195333e-18, + -0.9978211585592234, + -0.06597678075557734, + 3.734090348733016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72732.29501794442, + 29504.683179826257, + 373.4090348733016 + ], + "rotation_deg": [ + -1.99218733630806e-16, + -3.7829389572143555, + -45.24623489379883 + ] + } + } + ] + }, + { + "frame": 130, + "time": 504.1181619055569, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.7750194301742114, + 0.6319374042201019, + -1.3877787701965786e-17, + -393.5095080187938 + ], + [ + 0.07797975255954931, + -0.09563577498378037, + -0.9923572727269159, + -82.01561469265017 + ], + [ + -0.6271076923449601, + 0.7690961569927899, + -0.12339790719740987, + 689.6997755502333 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7750194301742114, + 0.07797975255954931, + -0.6271076923449601, + 743.8890932269584 + ], + [ + 0.6319374042201019, + -0.09563577498378037, + 0.7690961569927899, + -289.61569912552494 + ], + [ + -1.3877787701965786e-17, + -0.9923572727269159, + -0.12339790719740987, + 3.718715692115469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74388.90932269584, + 28961.56991255249, + 371.8715692115469 + ], + "rotation_deg": [ + 8.012625012316957e-16, + -7.088246345520016, + -129.19320678710935 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.9238795383318846, + 0.38268341831292263, + -2.7755575406595685e-17, + -574.1522982821948 + ], + [ + 0.06319225466335346, + -0.15255960480835506, + -0.98627192291542, + -87.2419517137565 + ], + [ + -0.37742992462538527, + 0.9111964428760615, + -0.16512932655130771, + 551.9662997139264 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9238795383318846, + 0.06319225466335346, + -0.37742992462538527, + 744.2891639824578 + ], + [ + 0.38268341831292263, + -0.15255960480835506, + 0.9111964428760615, + -296.54075795504764 + ], + [ + -2.7755575406595685e-17, + -0.98627192291542, + -0.16512932655130771, + 5.10153377185924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74428.91639824578, + 29654.075795504767, + 510.15337718592406 + ], + "rotation_deg": [ + 1.612412666451102e-15, + -9.504747390747067, + -112.49999999999997 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9964075373777426, + -0.08468777631289139, + -0.0, + -760.2235250284803 + ], + [ + -0.008775083115295602, + -0.10324463975641941, + -0.9946172843249239, + -20.06554628372979 + ], + [ + 0.0842319146767254, + 0.9910441597941233, + -0.10361688032291064, + 235.16345024660487 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9964075373777426, + -0.008775083115295602, + 0.0842319146767254, + 737.5081039649773 + ], + [ + -0.08468777631289139, + -0.10324463975641941, + 0.9910441597941233, + -299.51065507842463 + ], + [ + -0.0, + -0.9946172843249239, + -0.10361688032291064, + 4.4093628390253246 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73750.81039649773, + 29951.065507842464, + 440.93628390253247 + ], + "rotation_deg": [ + 0.0, + -5.947484970092775, + -85.14192962646486 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.708671576812405, + -0.7055385150494761, + -0.0, + -723.575555585931 + ], + [ + -0.04507677421822716, + -0.04527694517230953, + -0.997956954313132, + 23.161388815815258 + ], + [ + 0.7040970632921874, + 0.7072237326773664, + -0.06388988496789787, + -303.33406561946964 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.708671576812405, + -0.04507677421822716, + 0.7040970632921874, + 727.3980998390526 + ], + [ + -0.7055385150494761, + -0.04527694517230953, + 0.7072237326773664, + -294.936694119456 + ], + [ + -0.0, + -0.997956954313132, + -0.06388988496789787, + 3.734090348733016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72739.80998390526, + 29493.6694119456, + 373.4090348733016 + ], + "rotation_deg": [ + 0.0, + -3.663115739822387, + -45.12693405151368 + ] + } + } + ] + }, + { + "frame": 131, + "time": 504.1848285757005, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.7850926605367661, + 0.6193783289487144, + 6.938893850975291e-18, + -404.6401795841539 + ], + [ + 0.07608137378460203, + -0.09643690353717753, + -0.9924270996900519, + -80.83519116661132 + ], + [ + -0.6146878520489589, + 0.7791472213324433, + -0.12283506027747014, + 683.3696447724282 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7850926605367661, + 0.07608137378460203, + -0.6146878520489589, + 743.8890932269584 + ], + [ + 0.6193783289487144, + -0.09643690353717753, + 0.7791472213324433, + -289.61569912552494 + ], + [ + 6.938893850975291e-18, + -0.9924270996900519, + -0.12283506027747014, + 3.718715692115469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74388.90932269584, + 28961.56991255249, + 371.8715692115469 + ], + "rotation_deg": [ + -4.006030622844206e-16, + -7.055750370025633, + -128.27075195312497 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.9238795383318846, + 0.38268341831292263, + -2.7755575406595685e-17, + -574.2649808080347 + ], + [ + 0.06319225466335346, + -0.15255960480835506, + -0.98627192291542, + -87.23018177082926 + ], + [ + -0.37742992462538527, + 0.9111964428760615, + -0.16512932655130771, + 551.8960010922742 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9238795383318846, + 0.06319225466335346, + -0.37742992462538527, + 744.3659924900313 + ], + [ + 0.38268341831292263, + -0.15255960480835506, + 0.9111964428760615, + -296.43178474707355 + ], + [ + -2.7755575406595685e-17, + -0.98627192291542, + -0.16512932655130771, + 5.10153377185924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74436.59924900313, + 29643.178474707354, + 510.15337718592406 + ], + "rotation_deg": [ + 1.612412666451102e-15, + -9.504747390747067, + -112.49999999999997 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9965255139042996, + -0.08328805519263491, + -2.7755575402900395e-17, + -759.9814114031068 + ], + [ + -0.008539832885962405, + -0.1021774531252717, + -0.9947295307404481, + -19.924761169815127 + ], + [ + 0.08284907662977158, + 0.9912733576901995, + -0.10253370584930431, + 236.1495572069981 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9965255139042996, + -0.008539832885962405, + 0.08284907662977158, + 737.6059376859338 + ], + [ + -0.08328805519263491, + -0.1021774531252717, + 0.9912733576901995, + -299.421990753532 + ], + [ + -2.7755575402900395e-17, + -0.9947295307404481, + -0.10253370584930431, + 4.39353982815284 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73760.59376859337, + 29942.1990753532, + 439.35398281528404 + ], + "rotation_deg": [ + 1.5987032572345837e-15, + -5.885091304779052, + -85.222412109375 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.707200268567239, + -0.70701328144415, + 3.469446925180918e-18, + -722.9175791249938 + ], + [ + -0.043694578697429015, + -0.04370613480787228, + -0.9980884517780024, + 22.627882846759334 + ], + [ + 0.7056617871470532, + 0.7058484254242828, + -0.0618016382184799, + -305.0168025641478 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.707200268567239, + -0.043694578697429015, + 0.7056617871470532, + 727.4749283466261 + ], + [ + -0.70701328144415, + -0.04370613480787228, + 0.7058484254242828, + -294.8277209114819 + ], + [ + 3.469446925180918e-18, + -0.9980884517780024, + -0.0618016382184799, + 3.734090348733016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72747.49283466261, + 29482.77209114819, + 373.4090348733016 + ], + "rotation_deg": [ + -1.9916538182888468e-16, + -3.543231010437012, + -45.007575988769545 + ] + } + } + ] + }, + { + "frame": 132, + "time": 504.2514952458441, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.7949184473956592, + 0.6067162944820867, + 6.938893850967803e-18, + -415.61659922526115 + ], + [ + 0.07418812288244836, + -0.09720112677582853, + -0.9924958757479486, + -79.64789775870125 + ], + [ + -0.6021634335362992, + 0.7889532701358033, + -0.12227811273403283, + 676.8907809921255 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7949184473956592, + 0.07418812288244836, + -0.6021634335362992, + 743.8890932269584 + ], + [ + 0.6067162944820867, + -0.09720112677582853, + 0.7889532701358033, + -289.61569912552494 + ], + [ + 6.938893850967803e-18, + -0.9924958757479486, + -0.12227811273403283, + 3.718715692115469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74388.90932269584, + 28961.56991255249, + 371.8715692115469 + ], + "rotation_deg": [ + -4.0057530206847667e-16, + -7.023597240447997, + -127.35244750976561 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.9238795383318846, + 0.38268341831292263, + -2.7755575406595685e-17, + -574.378823422252 + ], + [ + 0.06319225466335346, + -0.15255960480835506, + -0.98627192291542, + -87.21872027435256 + ], + [ + -0.37742992462538527, + 0.9111964428760615, + -0.16512932655130771, + 551.8275447362291 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9238795383318846, + 0.06319225466335346, + -0.37742992462538527, + 744.4446075970836 + ], + [ + 0.38268341831292263, + -0.15255960480835506, + 0.9111964428760615, + -296.32409331484564 + ], + [ + -2.7755575406595685e-17, + -0.98627192291542, + -0.16512932655130771, + 5.10153377185924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74444.46075970837, + 29632.409331484567, + 510.15337718592406 + ], + "rotation_deg": [ + 1.612412666451102e-15, + -9.504747390747067, + -112.49999999999997 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9966412624460684, + -0.08189135479344944, + -6.938893850713076e-18, + -759.7407140237734 + ], + [ + -0.008308076194981766, + -0.10111166884892087, + -0.9948403923708183, + -19.78217878719213 + ], + [ + 0.081468816093101, + 0.9914989854447666, + -0.10145242168813183, + 237.1340947179754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9966412624460684, + -0.008308076194981766, + 0.081468816093101, + 737.7055565514164 + ], + [ + -0.08189135479344944, + -0.10111166884892087, + 0.9914989854447666, + -299.33461096984024 + ], + [ + -6.938893850713076e-18, + -0.9948403923708183, + -0.10145242168813183, + 4.3777165988823015 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73770.55565514164, + 29933.46109698402, + 437.77165988823015 + ], + "rotation_deg": [ + 3.996312757943049e-16, + -5.822813510894776, + -85.30271148681639 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.705725796955987, + -0.7084850735977696, + 3.469446925174063e-18, + -722.2580460583456 + ], + [ + -0.042305807440349764, + -0.042141042605306565, + -0.9982155835213943, + 22.087357969355153 + ], + [ + 0.7072208368627008, + 0.7044664924870475, + -0.05971305443718411, + -306.69766649053724 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.705725796955987, + -0.042305807440349764, + 0.7072208368627008, + 727.5535434536785 + ], + [ + -0.7084850735977696, + -0.042141042605306565, + 0.7044664924870475, + -294.720029479254 + ], + [ + 3.469446925174063e-18, + -0.9982155835213943, + -0.05971305443718411, + 3.734090348733016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72755.35434536784, + 29472.0029479254, + 373.4090348733016 + ], + "rotation_deg": [ + -1.991400163236512e-16, + -3.4233424663543697, + -44.888210296630874 + ] + } + } + ] + }, + { + "frame": 133, + "time": 504.31816191598773, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.8045011307600074, + 0.5939511180272914, + -0.0, + -426.44204836726334 + ], + [ + 0.07230131977075487, + -0.09793144881047347, + -0.9925633231654735, + -78.45558741172631 + ], + [ + -0.5895341090888248, + 0.7985183056672546, + -0.12172941195595546, + 670.2641082712328 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8045011307600074, + 0.07230131977075487, + -0.5895341090888248, + 743.8890932269584 + ], + [ + 0.5939511180272914, + -0.09793144881047347, + 0.7985183056672546, + -289.61569912552494 + ], + [ + -0.0, + -0.9925633231654735, + -0.12172941195595546, + 3.718715692115469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74388.90932269584, + 28961.56991255249, + 371.8715692115469 + ], + "rotation_deg": [ + 0.0, + -6.991922378540037, + -126.43789672851561 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.9238795383318846, + 0.38268341831292263, + -2.7755575406595685e-17, + -574.4938767474771 + ], + [ + 0.06319225466335346, + -0.15255960480835506, + -0.98627192291542, + -87.20759331197411 + ], + [ + -0.37742992462538527, + 0.9111964428760615, + -0.16512932655130771, + 551.7610864601176 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9238795383318846, + 0.06319225466335346, + -0.37742992462538527, + 744.5251165303512 + ], + [ + 0.38268341831292263, + -0.15255960480835506, + 0.9111964428760615, + -296.21781024330426 + ], + [ + -2.7755575406595685e-17, + -0.98627192291542, + -0.16512932655130771, + 5.10153377185924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74452.51165303512, + 29621.781024330427, + 510.15337718592406 + ], + "rotation_deg": [ + 1.612412666451102e-15, + -9.504747390747067, + -112.49999999999997 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9967547747285225, + -0.08049794442029114, + -0.0, + -759.5016183703171 + ], + [ + -0.00807982251091307, + -0.10004729592426125, + -0.9949498756452182, + -19.637802208260418 + ], + [ + 0.08009140833621915, + 0.9917210400115533, + -0.10037302978949875, + 238.11698372716415 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9967547747285225, + -0.00807982251091307, + 0.08009140833621915, + 737.8070679627559 + ], + [ + -0.08049794442029114, + -0.10004729592426125, + 0.9917210400115533, + -299.24864198043497 + ], + [ + -0.0, + -0.9949498756452182, + -0.10037302978949875, + 4.361893177421475 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73780.7067962756, + 29924.8641980435, + 436.18931774214747 + ], + "rotation_deg": [ + 0.0, + -5.760651588439943, + -85.3828125 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.7042489713464716, + -0.7099530874342591, + -0.0, + -721.5974717729007 + ], + [ + -0.04091115737368073, + -0.040582456794620525, + -0.9983382900614695, + 21.540086966648264 + ], + [ + 0.7087733470591557, + 0.7030787181034792, + -0.057625156386168455, + -308.3757900442089 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7042489713464716, + -0.04091115737368073, + 0.7087733470591557, + 727.634052386946 + ], + [ + -0.7099530874342591, + -0.040582456794620525, + 0.7030787181034792, + -294.6137464077126 + ], + [ + -0.0, + -0.9983382900614695, + -0.057625156386168455, + 3.734090348733016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72763.4052386946, + 29461.37464077126, + 373.4090348733016 + ], + "rotation_deg": [ + 0.0, + -3.3035082817077637, + -44.76890182495119 + ] + } + } + ] + }, + { + "frame": 134, + "time": 504.38482858613133, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.813837760090695, + 0.5810921615807259, + -0.0, + -437.1116207551616 + ], + [ + 0.07042041313060912, + -0.09862599270135677, + -0.992629779413345, + -77.25730515938345 + ], + [ + -0.5768093978124805, + 0.8078395863950849, + -0.12118630800639763, + 663.4959039238545 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.813837760090695, + 0.07042041313060912, + -0.5768093978124805, + 743.8890932269584 + ], + [ + 0.5810921615807259, + -0.09862599270135677, + 0.8078395863950849, + -289.61569912552494 + ], + [ + -0.0, + -0.992629779413345, + -0.12118630800639763, + 3.718715692115469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74388.90932269584, + 28961.56991255249, + 371.8715692115469 + ], + "rotation_deg": [ + 0.0, + -6.960572719573973, + -125.52739715576173 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.9238795383318846, + 0.38268341831292263, + -2.7755575406595685e-17, + -574.6100139448598 + ], + [ + 0.06319225466335346, + -0.15255960480835506, + -0.98627192291542, + -87.19677774326385 + ], + [ + -0.37742992462538527, + 0.9111964428760615, + -0.16512932655130771, + 551.6964880525302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9238795383318846, + 0.06319225466335346, + -0.37742992462538527, + 744.6073484786007 + ], + [ + 0.38268341831292263, + -0.15255960480835506, + 0.9111964428760615, + -296.11285460353565 + ], + [ + -2.7755575406595685e-17, + -0.98627192291542, + -0.16512932655130771, + 5.10153377185924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74460.73484786006, + 29611.285460353567, + 510.15337718592406 + ], + "rotation_deg": [ + 1.612412666451102e-15, + -9.504747390747067, + -112.49999999999997 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9968660966036637, + -0.07910742975330905, + 6.938893850689488e-18, + -759.2638569806239 + ], + [ + -0.007855014923943741, + -0.0989843569739767, + -0.9950579861570844, + -19.491668743874882 + ], + [ + 0.07871646827294472, + 0.9919395713879847, + -0.09929554036942062, + 239.09846498892574 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9968660966036637, + -0.007855014923943741, + 0.07871646827294472, + 737.9103012623619 + ], + [ + -0.07910742975330905, + -0.0989843569739767, + 0.9919395713879847, + -299.16400256437066 + ], + [ + 6.938893850689488e-18, + -0.9950579861570844, + -0.09929554036942062, + 4.346069586833194 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73791.03012623619, + 29916.400256437064, + 434.6069586833195 + ], + "rotation_deg": [ + -3.995438866320936e-16, + -5.698606014251712, + -85.46273803710939 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.7027704656568866, + -0.7114166659563177, + -0.0, + -720.9359740313021 + ], + [ + -0.03951133778197775, + -0.039031136857668174, + -0.9984565211075926, + 20.986357860661087 + ], + [ + 0.7103186050958877, + 0.7016857585480623, + -0.05553895484669183, + -310.05040427018935 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7027704656568866, + -0.03951133778197775, + 0.7103186050958877, + 727.7162843351954 + ], + [ + -0.7114166659563177, + -0.039031136857668174, + 0.7016857585480623, + -294.508790767944 + ], + [ + -0.0, + -0.9984565211075926, + -0.05553895484669183, + 3.734090348733016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72771.62843351954, + 29450.8790767944, + 373.4090348733016 + ], + "rotation_deg": [ + 0.0, + -3.1837859153747554, + -44.64970397949221 + ] + } + } + ] + }, + { + "frame": 135, + "time": 504.45149525627494, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.82292378752567, + 0.5681517754301272, + -1.3877787701892105e-17, + -447.61835644676034 + ], + [ + 0.06854464799990627, + -0.0992816071092852, + -0.9926957206114903, + -76.05157494573882 + ], + [ + -0.5640018498270701, + 0.8169129126703836, + -0.1206449605413876, + 656.5942732818284 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.82292378752567, + 0.06854464799990627, + -0.5640018498270701, + 743.8890932269584 + ], + [ + 0.5681517754301272, + -0.0992816071092852, + 0.8169129126703836, + -289.61569912552494 + ], + [ + -1.3877787701892105e-17, + -0.9926957206114903, + -0.1206449605413876, + 3.718715692115469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74388.90932269584, + 28961.56991255249, + 371.8715692115469 + ], + "rotation_deg": [ + 8.009893202386466e-16, + -6.929326534271237, + -124.62144470214841 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.9238795383318846, + 0.38268341831292263, + -2.7755575406595685e-17, + -574.7270716281598 + ], + [ + 0.06319225466335346, + -0.15255960480835506, + -0.98627192291542, + -87.1862362326985 + ], + [ + -0.37742992462538527, + 0.9111964428760615, + -0.16512932655130771, + 551.63352651868 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9238795383318846, + 0.06319225466335346, + -0.37742992462538527, + 744.6910659684102 + ], + [ + 0.38268341831292263, + -0.15255960480835506, + 0.9111964428760615, + -296.00908003279625 + ], + [ + -2.7755575406595685e-17, + -0.98627192291542, + -0.16512932655130771, + 5.10153377185924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74469.10659684101, + 29600.908003279626, + 510.15337718592406 + ], + "rotation_deg": [ + 1.612412666451102e-15, + -9.504747390747067, + -112.49999999999997 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.996975209583639, + -0.07772021278701333, + -6.938893850677919e-18, + -759.027282038575 + ], + [ + -0.007633677058173596, + -0.09792287632848741, + -0.9951647287088338, + -19.3437510742283 + ], + [ + 0.0773444029929911, + 0.9921545647946224, + -0.0982199719143269, + 240.07811462871888 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.996975209583639, + -0.007633677058173596, + 0.0773444029929911, + 738.0150191120185 + ], + [ + -0.07772021278701333, + -0.09792287632848741, + 0.9921545647946224, + -299.0805461019154 + ], + [ + -6.938893850677919e-18, + -0.9951647287088338, + -0.0982199719143269, + 4.330245847412756 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73801.50191120185, + 29908.05461019154, + 433.0245847412756 + ], + "rotation_deg": [ + 3.9950103107921126e-16, + -5.636677742004396, + -85.54246520996097 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.7012910067021736, + -0.7128751110248216, + 3.4694469251549492e-18, + -720.2736045655481 + ], + [ + -0.03810707631007338, + -0.037487842533244796, + -0.9985702340833622, + 20.42647279344157 + ], + [ + 0.7118558622563654, + 0.700288328993365, + -0.05345547349829755, + -311.72069344164123 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7012910067021736, + -0.03810707631007338, + 0.7118558622563654, + 727.8000018250049 + ], + [ + -0.7128751110248216, + -0.037487842533244796, + 0.700288328993365, + -294.4050161972046 + ], + [ + 3.4694469251549492e-18, + -0.9985702340833622, + -0.05345547349829755, + 3.734090348733016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72780.00018250049, + 29440.50161972046, + 373.4090348733016 + ], + "rotation_deg": [ + -1.9906929008188667e-16, + -3.0642335414886475, + -44.53067398071291 + ] + } + } + ] + }, + { + "frame": 136, + "time": 504.51816192641854, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.8317734753929, + 0.5551152003258569, + -6.938893850939057e-18, + -457.97713954268124 + ], + [ + 0.06667767301197593, + -0.09990848706669664, + -0.9927599821375512, + -74.84406792167803 + ], + [ + -0.5510961701096972, + 0.825751411262332, + -0.12011502024597212, + 649.5516761510289 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8317734753929, + 0.06667767301197593, + -0.5510961701096972, + 743.8890932269584 + ], + [ + 0.5551152003258569, + -0.09990848706669664, + 0.825751411262332, + -289.61569912552494 + ], + [ + -6.938893850939057e-18, + -0.9927599821375512, + -0.12011502024597212, + 3.718715692115469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74388.90932269584, + 28961.56991255249, + 371.8715692115469 + ], + "rotation_deg": [ + 4.004687360300144e-16, + -6.898740768432614, + -123.71865081787108 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.9238795383318846, + 0.38268341831292263, + -2.7755575406595685e-17, + -574.8453424126219 + ], + [ + 0.06319225466335346, + -0.15255960480835506, + -0.98627192291542, + -87.17607064668404 + ], + [ + -0.37742992462538527, + 0.9111964428760615, + -0.16512932655130771, + 551.5728102785229 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9238795383318846, + 0.06319225466335346, + -0.37742992462538527, + 744.7767754140729 + ], + [ + 0.38268341831292263, + -0.15255960480835506, + 0.9111964428760615, + -295.9069444828817 + ], + [ + -2.7755575406595685e-17, + -0.98627192291542, + -0.16512932655130771, + 5.10153377185924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74477.67754140729, + 29590.694448288174, + 510.15337718592406 + ], + "rotation_deg": [ + 1.612412666451102e-15, + -9.504747390747067, + -112.49999999999997 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9970821583595537, + -0.07633589903219574, + -0.0, + -758.7923426195563 + ], + [ + -0.007415751469005375, + -0.09686285973333908, + -0.9952701105903006, + -19.19412954805177 + ], + [ + 0.07597482717850224, + 0.9923660708246107, + -0.09714631805333702, + 241.0566546726105 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9970821583595537, + -0.007415751469005375, + 0.07597482717850224, + 738.1217280449999 + ], + [ + -0.07633589903219574, + -0.09686285973333908, + 0.9923660708246107, + -298.99873031871533 + ], + [ + -0.0, + -0.9952701105903006, + -0.09714631805333702, + 4.314421977020017 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73812.17280449999, + 29899.87303187153, + 431.4421977020017 + ], + "rotation_deg": [ + 0.0, + -5.574866294860841, + -85.62201690673828 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.6998113746331854, + -0.7143276838636534, + -0.0, + -719.6113952673599 + ], + [ + -0.03669909864097448, + -0.03595331281132502, + -0.9986793957305974, + 19.86074508116818 + ], + [ + 0.7133843354635332, + 0.6988872050132467, + -0.051375719790825974, + -313.3859051658646 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.6998113746331854, + -0.03669909864097448, + 0.7133843354635332, + 727.8857112706677 + ], + [ + -0.7143276838636534, + -0.03595331281132502, + 0.6988872050132467, + -294.30288064729007 + ], + [ + -0.0, + -0.9986793957305974, + -0.051375719790825974, + 3.734090348733016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72788.57112706677, + 29430.288064729008, + 373.4090348733016 + ], + "rotation_deg": [ + 0.0, + -2.9449083805084233, + -44.411872863769545 + ] + } + } + ] + }, + { + "frame": 137, + "time": 504.58482859656215, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.840177426872558, + 0.5423116183282517, + -0.0, + -467.9368657399549 + ], + [ + 0.06489374041356082, + -0.10053676520682597, + -0.99281476686081, + -73.69877540265378 + ], + [ + -0.5384149967096423, + 0.8341405471467428, + -0.11966135100310413, + 642.5462279566984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.840177426872558, + 0.06489374041356082, + -0.5384149967096423, + 743.8890932269584 + ], + [ + 0.5423116183282517, + -0.10053676520682597, + 0.8341405471467428, + -289.61569912552494 + ], + [ + -0.0, + -0.99281476686081, + -0.11966135100310413, + 3.718715692115469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74388.90932269584, + 28961.56991255249, + 371.8715692115469 + ], + "rotation_deg": [ + 0.0, + -6.872558593749998, + -122.84114074707028 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.9238795383318846, + 0.38268341831292263, + -2.7755575406595685e-17, + -574.9624667295559 + ], + [ + 0.06319225466335346, + -0.15255960480835506, + -0.98627192291542, + -87.16711250282061 + ], + [ + -0.37742992462538527, + 0.9111964428760615, + -0.16512932655130771, + 551.5193057573441 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9238795383318846, + 0.06319225466335346, + -0.37742992462538527, + 744.864223881295 + ], + [ + 0.38268341831292263, + -0.15255960480835506, + 0.9111964428760615, + -295.8120031667172 + ], + [ + -2.7755575406595685e-17, + -0.98627192291542, + -0.16512932655130771, + 5.10153377185924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74486.42238812949, + 29581.20031667172, + 510.15337718592406 + ], + "rotation_deg": [ + 1.612412666451102e-15, + -9.504747390747067, + -112.49999999999997 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9971869354825464, + -0.07495475770708282, + -0.0, + -758.559270375054 + ], + [ + -0.007201248102947593, + -0.09580433246800085, + -0.9953741366471807, + -19.04333292566924 + ], + [ + 0.0746080157341687, + 0.9925740857748448, + -0.09607459724839258, + 242.03942296792272 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9971869354825464, + -0.007201248102947593, + 0.0746080157341687, + 738.2301752317155 + ], + [ + -0.07495475770708282, + -0.09580433246800085, + 0.9925740857748448, + -298.9241102286839 + ], + [ + -0.0, + -0.9953741366471807, + -0.09607459724839258, + 4.298597991371654 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73823.01752317155, + 29892.41102286839, + 429.85979913716545 + ], + "rotation_deg": [ + 0.0, + -5.513172626495363, + -85.70137786865234 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.6983322603968167, + -0.7157737450403394, + -0.0, + -718.9534607036142 + ], + [ + -0.03528815938241906, + -0.03442828167073804, + -0.9987839802622995, + 19.289308703061064 + ], + [ + 0.7149033458483222, + 0.6974830788527063, + -0.04930071813903098, + -315.04129490102014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.6983322603968167, + -0.03528815938241906, + 0.7149033458483222, + 727.9731597378897 + ], + [ + -0.7157737450403394, + -0.03442828167073804, + 0.6974830788527063, + -294.20793933112554 + ], + [ + -0.0, + -0.9987839802622995, + -0.04930071813903098, + 3.734090348733016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72797.31597378897, + 29420.793933112553, + 373.4090348733016 + ], + "rotation_deg": [ + 0.0, + -2.8258686065673833, + -44.29335403442386 + ] + } + } + ] + }, + { + "frame": 138, + "time": 504.65149526670575, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.8480831728588453, + 0.5298631256406446, + -6.938893850928553e-18, + -477.42314286575703 + ], + [ + 0.06322029935070614, + -0.10118853241128445, + -0.9928565226952265, + -72.6425275843477 + ], + [ + -0.5260780742576469, + 0.842024901190174, + -0.11931439796203669, + 635.6510683893954 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8480831728588453, + 0.06322029935070614, + -0.5260780742576469, + 743.8890932269584 + ], + [ + 0.5298631256406446, + -0.10118853241128445, + 0.842024901190174, + -289.61569912552494 + ], + [ + -6.938893850928553e-18, + -0.9928565226952265, + -0.11931439796203669, + 3.718715692115469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74388.90932269584, + 28961.56991255249, + 371.8715692115469 + ], + "rotation_deg": [ + 4.004297963898691e-16, + -6.852536201477049, + -121.99620819091797 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.9238795383318846, + 0.38268341831292263, + -2.7755575406595685e-17, + -575.0774626082459 + ], + [ + 0.06319225466335346, + -0.15255960480835506, + -0.98627192291542, + -87.15974148281266 + ], + [ + -0.37742992462538527, + 0.9111964428760615, + -0.16512932655130771, + 551.4752806892458 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9238795383318846, + 0.06319225466335346, + -0.37742992462538527, + 744.9533840510537 + ], + [ + 0.38268341831292263, + -0.15255960480835506, + 0.9111964428760615, + -295.7267561435783 + ], + [ + -2.7755575406595685e-17, + -0.98627192291542, + -0.16512932655130771, + 5.10153377185924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74495.33840510537, + 29572.67561435783, + 510.15337718592406 + ], + "rotation_deg": [ + 1.612412666451102e-15, + -9.504747390747067, + -112.49999999999997 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9972895643421791, + -0.07357665971071535, + -6.938893850644104e-18, + -758.3281700867499 + ], + [ + -0.006990136624065489, + -0.0947473062234072, + -0.9954768133680383, + -18.89160086224151 + ], + [ + 0.07324384722818778, + 0.9927786382961635, + -0.09500481138357698, + 243.02901297909844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9972895643421791, + -0.006990136624065489, + 0.07324384722818778, + 738.3403334452821 + ], + [ + -0.07357665971071535, + -0.0947473062234072, + 0.9927786382961635, + -298.8591857159666 + ], + [ + -6.938893850644104e-18, + -0.9954768133680383, + -0.09500481138357698, + 4.282773904298343 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73834.03334452822, + 29885.91857159666, + 428.27739042983427 + ], + "rotation_deg": [ + 3.99375786429211e-16, + -5.451596736907958, + -85.78055572509764 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.6968544557170322, + -0.7172125678955429, + 3.4694469251380503e-18, + -718.3019630938859 + ], + [ + -0.03387500539849764, + -0.032913461790897734, + -0.9988839712610224, + 18.712442018789307 + ], + [ + 0.7164121338881219, + 0.6960767503842685, + -0.04723147247699125, + -316.6843457470267 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.6968544557170322, + -0.03387500539849764, + 0.7164121338881219, + 728.0623199076485 + ], + [ + -0.7172125678955429, + -0.032913461790897734, + 0.6960767503842685, + -294.12269230798665 + ], + [ + 3.4694469251380503e-18, + -0.9988839712610224, + -0.04723147247699125, + 3.734090348733016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72806.23199076485, + 29412.269230798665, + 373.4090348733016 + ], + "rotation_deg": [ + -1.99006764863749e-16, + -2.707171201705933, + -44.17517852783204 + ] + } + } + ] + }, + { + "frame": 139, + "time": 504.71816193684936, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.8555881925909505, + 0.5176570724900321, + -0.0, + -486.5411098057012 + ], + [ + 0.06164848106389369, + -0.10189315531944151, + -0.9928833011394455, + -71.67723937899828 + ], + [ + -0.5139730768522889, + 0.849499220561072, + -0.11909135374628141, + 628.8101436380739 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8555881925909505, + 0.06164848106389369, + -0.5139730768522889, + 743.8890932269584 + ], + [ + 0.5176570724900321, + -0.10189315531944151, + 0.849499220561072, + -289.61569912552494 + ], + [ + -0.0, + -0.9928833011394455, + -0.11909135374628141, + 3.718715692115469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74388.90932269584, + 28961.56991255249, + 371.8715692115469 + ], + "rotation_deg": [ + 0.0, + -6.839664936065672, + -121.1752243041992 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.9238795383318846, + 0.38268341831292263, + -2.7755575406595685e-17, + -575.1913410312566 + ], + [ + 0.06319225466335346, + -0.15255960480835506, + -0.98627192291542, + -87.15412430289287 + ], + [ + -0.37742992462538527, + 0.9111964428760615, + -0.16512932655130771, + 551.4417308243259 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9238795383318846, + 0.06319225466335346, + -0.37742992462538527, + 745.0455763104936 + ], + [ + 0.38268341831292263, + -0.15255960480835506, + 0.9111964428760615, + -295.65174928530354 + ], + [ + -2.7755575406595685e-17, + -0.98627192291542, + -0.16512932655130771, + 5.10153377185924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74504.55763104936, + 29565.174928530352, + 510.15337718592406 + ], + "rotation_deg": [ + 1.612412666451102e-15, + -9.504747390747067, + -112.49999999999997 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9973900579548017, + -0.07220160865879037, + -0.0, + -758.1003680102879 + ], + [ + -0.0067823997401946735, + -0.0936917915764722, + -0.9955781472315244, + -18.73896028209246 + ], + [ + 0.07188233224402658, + 0.99297974673193, + -0.09393696232767806, + 244.0258820108376 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9973900579548017, + -0.0067823997401946735, + 0.07188233224402658, + 738.4535231539262 + ], + [ + -0.07220160865879037, + -0.0936917915764722, + 0.99297974673193, + -298.8045024982872 + ], + [ + -0.0, + -0.9955781472315244, + -0.09393696232767806, + 4.266949727971076 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73845.35231539262, + 29880.450249828722, + 426.6949727971076 + ], + "rotation_deg": [ + 0.0, + -5.390138626098634, + -85.85955047607423 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.6953786147513205, + -0.7186435710048027, + -0.0, + -717.6585547129513 + ], + [ + -0.03246041081796796, + -0.03140955602969763, + -0.9989793599066731, + 18.1305665387761 + ], + [ + 0.7179100904142371, + 0.6946688877223313, + -0.045168999458050016, + -318.31502795179364 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.6953786147513205, + -0.03246041081796796, + 0.7179100904142371, + 728.1545121670883 + ], + [ + -0.7186435710048027, + -0.03140955602969763, + 0.6946688877223313, + -294.0476854497119 + ], + [ + -0.0, + -0.9989793599066731, + -0.045168999458050016, + 3.734090348733016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72815.45121670884, + 29404.768544971186, + 373.4090348733016 + ], + "rotation_deg": [ + 0.0, + -2.588873863220215, + -44.05739593505861 + ] + } + } + ] + }, + { + "frame": 140, + "time": 504.78482860699296, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.8627819270336654, + 0.5055762517999383, + -0.0, + -495.39124572737956 + ], + [ + 0.06016423983388847, + -0.10267218564478515, + -0.9928940963366297, + -70.79870778432485 + ], + [ + -0.5019836895456422, + 0.8566510735135521, + -0.11900131796842746, + 621.9623232616011 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8627819270336654, + 0.06016423983388847, + -0.5019836895456422, + 743.8890932269584 + ], + [ + 0.5055762517999383, + -0.10267218564478515, + 0.8566510735135521, + -289.61569912552494 + ], + [ + -0.0, + -0.9928940963366297, + -0.11900131796842746, + 3.718715692115469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74388.90932269584, + 28961.56991255249, + 371.8715692115469 + ], + "rotation_deg": [ + 0.0, + -6.834469318389892, + -120.36961364746092 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.9238795383318846, + 0.38268341831292263, + -2.7755575406595685e-17, + -575.304997705835 + ], + [ + 0.06319225466335346, + -0.15255960480835506, + -0.98627192291542, + -87.15034152821814 + ], + [ + -0.37742992462538527, + 0.9111964428760615, + -0.16512932655130771, + 551.4191373560631 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9238795383318846, + 0.06319225466335346, + -0.37742992462538527, + 745.1418148931133 + ], + [ + 0.38268341831292263, + -0.15255960480835506, + 0.9111964428760615, + -295.5870905723469 + ], + [ + -2.7755575406595685e-17, + -0.98627192291542, + -0.16512932655130771, + 5.10153377185924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74514.18148931133, + 29558.709057234686, + 510.15337718592406 + ], + "rotation_deg": [ + 1.612412666451102e-15, + -9.504747390747067, + -112.49999999999997 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9974884293125162, + -0.07082960812858512, + 6.9388938506223004e-18, + -757.8768516480621 + ], + [ + -0.006578021338030131, + -0.0926378155381582, + -0.9956781431605265, + -18.585402444759435 + ], + [ + 0.07052348115795609, + 0.9931774278746562, + -0.09287106850707208, + 245.03008120594274 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9974884293125162, + -0.006578021338030131, + 0.07052348115795609, + 738.5707586624989 + ], + [ + -0.07082960812858512, + -0.0926378155381582, + 0.9931774278746562, + -298.7601684204789 + ], + [ + 6.9388938506223004e-18, + -0.9956781431605265, + -0.09287106850707208, + 4.251125473100328 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73857.07586624988, + 29876.01684204789, + 425.1125473100328 + ], + "rotation_deg": [ + -3.992950311710905e-16, + -5.3287992477417, + -85.93836212158206 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.6939056361200936, + -0.7200659470914927, + -0.0, + -717.0244670299372 + ], + [ + -0.03104513553538961, + -0.02991725217548975, + -0.999070146477142, + 17.544097106244248 + ], + [ + 0.7193963871050892, + 0.6932604097835258, + -0.04311429515744459, + -319.93317273754496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.6939056361200936, + -0.03104513553538961, + 0.7193963871050892, + 728.2507507497081 + ], + [ + -0.7200659470914927, + -0.02991725217548975, + 0.6932604097835258, + -293.9830267367552 + ], + [ + -0.0, + -0.999070146477142, + -0.04311429515744459, + 3.734090348733016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72825.07507497081, + 29398.30267367552, + 373.4090348733016 + ], + "rotation_deg": [ + 0.0, + -2.4710330963134766, + -43.94007492065431 + ] + } + } + ] + }, + { + "frame": 141, + "time": 504.85149527713656, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.8697284767067651, + 0.49353052266838543, + -0.0, + -504.0473405286691 + ], + [ + 0.05875269410441918, + -0.10353744864568298, + -0.9928887740645549, + -69.9992878525307 + ], + [ + -0.4900209295215701, + 0.8635436329889261, + -0.11904571624003515, + 615.0597150905767 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8697284767067651, + 0.05875269410441918, + -0.4900209295215701, + 743.8890932269584 + ], + [ + 0.49353052266838543, + -0.10353744864568298, + 0.8635436329889261, + -289.61569912552494 + ], + [ + -0.0, + -0.9928887740645549, + -0.11904571624003515, + 3.718715692115469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74388.90932269584, + 28961.56991255249, + 371.8715692115469 + ], + "rotation_deg": [ + 0.0, + -6.837031364440919, + -119.57289886474612 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.9238795383318846, + 0.38268341831292263, + -2.7755575406595685e-17, + -575.418944319251 + ], + [ + 0.06319225466335346, + -0.15255960480835506, + -0.98627192291542, + -87.14839289910343 + ], + [ + -0.37742992462538527, + 0.9111964428760615, + -0.16512932655130771, + 551.4074987334378 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9238795383318846, + 0.06319225466335346, + -0.37742992462538527, + 745.2425719344974 + ], + [ + 0.38268341831292263, + -0.15255960480835506, + 0.9111964428760615, + -295.53258273756705 + ], + [ + -2.7755575406595685e-17, + -0.98627192291542, + -0.16512932655130771, + 5.10153377185924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74524.25719344974, + 29553.258273756706, + 510.15337718592406 + ], + "rotation_deg": [ + 1.612412666451102e-15, + -9.504747390747067, + -112.49999999999997 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9975846821338232, + -0.06946079449558952, + -6.938893850611617e-18, + -757.6580792778315 + ], + [ + -0.006376995687866333, + -0.09158537938481003, + -0.995776808430954, + -18.430879142939325 + ], + [ + 0.06916743669697668, + 0.993371691653982, + -0.09180712347784233, + 246.04130139079757 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9975846821338232, + -0.006376995687866333, + 0.06916743669697668, + 738.6925121693748 + ], + [ + -0.06946079449558952, + -0.09158537938481003, + 0.993371691653982, + -298.7259860960541 + ], + [ + -6.938893850611617e-18, + -0.995776808430954, + -0.09180712347784233, + 4.235301149111319 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73869.25121693748, + 29872.598609605408, + 423.5301149111318 + ], + "rotation_deg": [ + 3.992554675334266e-16, + -5.267578125000002, + -86.01698303222658 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.6924361368004264, + -0.7214791725704224, + -0.0, + -716.4002088998764 + ], + [ + -0.02962997513582491, + -0.028437224935333353, + -0.9991563385233704, + 16.953465699621322 + ], + [ + 0.7208704842777602, + 0.6918519593688089, + -0.04106837243777583, + -321.53872941593966 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.6924361368004264, + -0.02962997513582491, + 0.7208704842777602, + 728.3515077910921 + ], + [ + -0.7214791725704224, + -0.028437224935333353, + 0.6918519593688089, + -293.9285189019754 + ], + [ + -0.0, + -0.9991563385233704, + -0.04106837243777583, + 3.734090348733016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72835.15077910922, + 29392.85189019754, + 373.4090348733016 + ], + "rotation_deg": [ + 0.0, + -2.353706359863281, + -43.823261260986335 + ] + } + } + ] + }, + { + "frame": 142, + "time": 504.91816194728017, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.8764653201485115, + 0.4814649962115281, + -2.0816681552782085e-17, + -512.5531707678821 + ], + [ + 0.05740171729847627, + -0.10449485409107453, + -0.992867497866493, + -69.27166970893244 + ], + [ + -0.4780309600206071, + 0.8702139216090953, + -0.11922303426559624, + 608.0729872481097 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8764653201485115, + 0.05740171729847627, + -0.4780309600206071, + 743.8890932269584 + ], + [ + 0.4814649962115281, + -0.10449485409107453, + 0.8702139216090953, + -289.61569912552494 + ], + [ + -2.0816681552782085e-17, + -0.992867497866493, + -0.11922303426559624, + 3.718715692115469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74388.90932269584, + 28961.56991255249, + 371.8715692115469 + ], + "rotation_deg": [ + 1.2012761100996205e-15, + -6.847263813018799, + -118.7811279296875 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.9238795383318846, + 0.38268341831292263, + -2.7755575406595685e-17, + -575.5333138983749 + ], + [ + 0.06319225466335346, + -0.15255960480835506, + -0.98627192291542, + -87.14824718449128 + ], + [ + -0.37742992462538527, + 0.9111964428760615, + -0.16512932655130771, + 551.4066284219585 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9238795383318846, + 0.06319225466335346, + -0.37742992462538527, + 745.347897958191 + ], + [ + 0.38268341831292263, + -0.15255960480835506, + 0.9111964428760615, + -295.4880001396204 + ], + [ + -2.7755575406595685e-17, + -0.98627192291542, + -0.16512932655130771, + 5.10153377185924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74534.7897958191, + 29548.800013962038, + 510.15337718592406 + ], + "rotation_deg": [ + 1.612412666451102e-15, + -9.504747390747067, + -112.49999999999997 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9976788480424241, + -0.06809490560050378, + -0.0, + -757.4439895619174 + ], + [ + -0.006179282078441704, + -0.09053451166989071, + -0.9958741480075127, + -18.275377431061255 + ], + [ + 0.06781394452906794, + 0.9935625735049964, + -0.09074514564171962, + 247.0595369396842 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9976788480424241, + -0.006179282078441704, + 0.06781394452906794, + 738.8188342533546 + ], + [ + -0.06809490560050378, + -0.09053451166989071, + 0.9935625735049964, + -298.70172977864416 + ], + [ + -0.0, + -0.9958741480075127, + -0.09074514564171962, + 4.2194767642982365 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73881.88342533546, + 29870.17297786442, + 421.9476764298237 + ], + "rotation_deg": [ + 0.0, + -5.2064762115478525, + -86.09542846679689 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.6909709305044429, + -0.7228825445380627, + -1.7347234625594964e-18, + -715.7860639676411 + ], + [ + -0.028215715823048715, + -0.02697013444910254, + -0.999237952255813, + 16.35908653133085 + ], + [ + 0.722331669437198, + 0.6904443819257783, + -0.03903222764845896, + -323.1311782584682 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.6909709305044429, + -0.028215715823048715, + 0.722331669437198, + 728.4568338147858 + ], + [ + -0.7228825445380627, + -0.02697013444910254, + 0.6904443819257783, + -293.88393630402874 + ], + [ + -1.7347234625594964e-18, + -0.999237952255813, + -0.03903222764845896, + 3.734090348733016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72845.68338147858, + 29388.393630402872, + 373.4090348733016 + ], + "rotation_deg": [ + 9.946813326348101e-17, + -2.2369501590728746, + -43.70701599121094 + ] + } + } + ] + }, + { + "frame": 143, + "time": 504.9848286174238, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.8830112314044348, + 0.46935185651451644, + -2.0816681552794415e-17, + -520.9307581783503 + ], + [ + 0.05610504346630981, + -0.10555275926058544, + -0.9928297130475697, + -68.61361464398647 + ], + [ + -0.46598648295481215, + 0.8766797799614218, + -0.1195372791651093, + 600.9870147998373 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8830112314044348, + 0.05610504346630981, + -0.46598648295481215, + 743.8890932269584 + ], + [ + 0.46935185651451644, + -0.10555275926058544, + 0.8766797799614218, + -289.61569912552494 + ], + [ + -2.0816681552794415e-17, + -0.9928297130475697, + -0.1195372791651093, + 3.718715692115469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74388.90932269584, + 28961.56991255249, + 371.8715692115469 + ], + "rotation_deg": [ + 1.2013218279104463e-15, + -6.865398406982419, + -117.99223327636719 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.9238795383318846, + 0.38268341831292263, + -2.7755575406595685e-17, + -575.6480125243929 + ], + [ + 0.06319225466335346, + -0.15255960480835506, + -0.98627192291542, + -87.14993396275007 + ], + [ + -0.37742992462538527, + 0.9111964428760615, + -0.16512932655130771, + 551.4167030850609 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9238795383318846, + 0.06319225466335346, + -0.37742992462538527, + 745.4577747417133 + ], + [ + 0.38268341831292263, + -0.15255960480835506, + 0.9111964428760615, + -295.45354420724067 + ], + [ + -2.7755575406595685e-17, + -0.98627192291542, + -0.16512932655130771, + 5.10153377185924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74545.77747417132, + 29545.354420724067, + 510.15337718592406 + ], + "rotation_deg": [ + 1.612412666451102e-15, + -9.504747390747067, + -112.49999999999997 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9977709305255473, + -0.06673207773015562, + -0.0, + -757.2345807000543 + ], + [ + -0.005984874368614774, + -0.08948520518120746, + -0.9959701699009207, + -18.118887762220886 + ], + [ + 0.06646314721274782, + 0.993750083909816, + -0.08968512023635963, + 248.0849102847239 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9977709305255473, + -0.005984874368614774, + 0.06646314721274782, + 738.9497067405817 + ], + [ + -0.06673207773015562, + -0.08948520518120746, + 0.993750083909816, + -298.68760080456127 + ], + [ + -0.0, + -0.9959701699009207, + -0.08968512023635963, + 4.203652325959972 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 73894.97067405818, + 29868.76008045613, + 420.3652325959972 + ], + "rotation_deg": [ + 0.0, + -5.145492553710939, + -86.17369079589844 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.6895107401310838, + -0.7242754581261779, + -3.4694469251148467e-18, + -715.1825388758239 + ], + [ + -0.026803152228023805, + -0.02551661957234393, + -0.9993150119738229, + 15.761371591818172 + ], + [ + 0.7237793340411474, + 0.6890384377884791, + -0.03700684889268548, + -324.70975478386805 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.6895107401310838, + -0.026803152228023805, + 0.7237793340411474, + 728.566710598308 + ], + [ + -0.7242754581261779, + -0.02551661957234393, + 0.6890384377884791, + -293.849480371649 + ], + [ + -3.4694469251148467e-18, + -0.9993150119738229, + -0.03700684889268548, + 3.734090348733016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 72856.6710598308, + 29384.9480371649, + 373.4090348733016 + ], + "rotation_deg": [ + 1.9892092604607822e-16, + -2.120820522308349, + -43.59139251708986 + ] + } + } + ] + } + ] +} \ No newline at end of file diff --git a/clips/clip_00222/caption.txt b/clips/clip_00222/caption.txt new file mode 100644 index 0000000000000000000000000000000000000000..63b3b5d22f35faee8a0e47c46f165e5b6b726770 --- /dev/null +++ b/clips/clip_00222/caption.txt @@ -0,0 +1 @@ +A woman with a dark bun and a grey patterned dress jogs across a crosswalk then continues onto the sidewalk past two other pedestrians, moving through a sunlit downtown intersection lined with high-rise office towers, parked cars, and light traffic under a clear sky. diff --git a/clips/clip_00222/depth.zip b/clips/clip_00222/depth.zip new file mode 100644 index 0000000000000000000000000000000000000000..abb2e4325040e1bf237d82e8419b91a506a46384 --- /dev/null +++ b/clips/clip_00222/depth.zip @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:04d4e5a15b1250e8c174a7a41b258c5722b220689f41100ba696d2e451b891e6 +size 212880283 diff --git a/clips/clip_00222/meta.json b/clips/clip_00222/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6913a7ff1eaf916c2fc8690ba9cec7222a2172c0 --- /dev/null +++ b/clips/clip_00222/meta.json @@ -0,0 +1,393 @@ +{ + "mode": "pie", + "clip": "clip_00217", + "num_cams": 4, + "resolution": 1280, + "focal_mm": 35.0, + "sensor_mm": 23.76, + "fov_deg": 37.4973605549133, + "fps": 15, + "frames": 144, + "radius_cm": 600.0, + "target_z_cm": 150.0, + "exposure_method": "manual", + "exposure_bias": 0.0, + "exposure_compensation": 2.0, + "capture_depth": true, + "fixed_timestep": true, + "center_cm": [ + 74338.52841524515, + 30975.008357416726, + 72.82507853235884 + ], + "intrinsics_mode": "per_camera", + "clip_index": 5, + "target": { + "tracked": true, + "kind": "pedestrian", + "aim_z_cm": 110.0, + "moving_at_acquire": true, + "motion_kinds": [ + "translation", + "static", + "random_polyline", + "pan_tilt" + ], + "model_id": "arch_6e4b810b", + "identity": { + "model_id": "arch_6e4b810b", + "primary_mesh": "/Game/Crowd/Character/Female/OverWeight/Meshes/f_tal_ovw_base.f_tal_ovw_base", + "meshes": [ + "/Game/Crowd/Character/Female/OverWeight/Meshes/f_tal_ovw_base.f_tal_ovw_base", + "/Game/Crowd/Character/Female/OverWeight/Meshes/f_tal_ovw_body.f_tal_ovw_body", + "/Game/Crowd/Character/Female/OverWeight/Meshes/f_tal_ovw_loafers.f_tal_ovw_loafers", + "/Game/Crowd/Character/Female/OverWeight/Meshes/f_tal_ovw_scoopneck_croppedJacket.f_tal_ovw_scoopneck_croppedJacket", + "/Game/Crowd/Character/Female/OverWeight/Meshes/f_tal_ovw_skirt.f_tal_ovw_skirt", + "/Game/Crowd/Character/Female/f_001/Face/f_001_nrw_FaceMesh.f_001_nrw_FaceMesh" + ], + "mesh_count": 6, + "actor_class": "BP_CrowdCharacter_C", + "source": "mesh_set" + }, + "model_cap_override": false, + "model_skipped_candidates": 0 + }, + "frame_count": 144, + "frame_bucket": 144, + "spec_gen": "gen3", + "bucket_retired": false, + "target_class": "pedestrian", + "target_class_requested": "pedestrian", + "target_class_fallback": false, + "hfov_deg_per_cam": [ + 70.185, + 39.814, + 34.145, + 36.114 + ], + "hfov_range_deg": [ + 25.0, + 90.0 + ], + "bench": { + "mode": true, + "clip_id": 222, + "bg_ratio": 0.0, + "placement_fallbacks": [], + "target_reacquires": 0, + "motion_gate": { + "enabled": true, + "required_travel_m": 1.78, + "travel_m": 18.98, + "retries": 0, + "probe_rejects": 0, + "rejects": [], + "acquire_min_cm_s": 300.0 + }, + "view_block_guard": { + "enabled": true, + "abort_sec": 3.0, + "abort_frames": 45, + "aborts": 0, + "max_streak_frames": 40 + } + }, + "continuity": { + "target_lost_frame": null, + "target_survived": true, + "enclosed_retries_budget": 5, + "min_usable_dirs_used": 5 + }, + "oos": { + "prob": 0.3, + "max_cams": 2, + "force_min": 0, + "enabled": true, + "aim_mode": "departure_return_scheduler", + "scheduler": { + "enabled": true, + "out_run_target_frames": [ + 12, + 24 + ], + "gate_min_out_frames": 8, + "reentry_visible_frames": 8, + "slew_half_fov_frac": 0.08, + "window_lead_frac": 0.12, + "two_window_frames": 181, + "aim_offset_frac": 1.15, + "aim_size_aware": true, + "aim_size_margin": 0.05, + "aim_offset_frac_max": 2.5, + "open_slew": true, + "min_clip_frames": 100, + "skipped_short_bucket": false, + "return_frames_est": [ + 29, + 29, + 29, + 29 + ], + "open_frames_est": [ + 14, + 15, + 15, + 15 + ], + "per_cam": [ + { + "windows": [ + 21 + ], + "target_out_frames": [ + 12 + ], + "opened_at": 21, + "left_at": 35, + "out_run_max": 12, + "returned_at": 64, + "cycles_live": 1, + "forced_returns": 0, + "aim_offset": { + "applied": true, + "reason": null, + "deg": 38.94, + "cm": 567.2, + "frac": 1.15, + "need_frac": 1.142, + "radius_cm": 63.6, + "dist_cm": 701.9, + "clamped": false + }, + "events": [ + { + "window": 0, + "opened_at": 21, + "left_at": 35, + "out_run": 12, + "return_at": 46, + "forced": false + } + ] + }, + { + "windows": [ + 19 + ], + "target_out_frames": [ + 22 + ], + "opened_at": 19, + "left_at": 34, + "out_run_max": 22, + "returned_at": 82, + "cycles_live": 1, + "forced_returns": 0, + "aim_offset": { + "applied": true, + "reason": null, + "deg": 22.61, + "cm": 607.0, + "frac": 1.15, + "need_frac": 1.126, + "radius_cm": 63.6, + "dist_cm": 1457.5, + "clamped": false + }, + "events": [ + { + "window": 0, + "opened_at": 19, + "left_at": 34, + "out_run": 22, + "return_at": 55, + "forced": false + } + ] + }, + null, + null + ] + }, + "pan_tilt_scale_half_fov": 1.5, + "allowed": [ + true, + true, + false, + false + ], + "reasons": [ + "sampled", + "sampled", + "none", + "none" + ], + "effective": [ + true, + true, + false, + false + ], + "departed": [ + true, + true, + false, + false + ], + "cycles": [ + 1, + 1, + 0, + 0 + ], + "segments": [ + { + "cam": 0, + "cam_name": "cam01", + "start": 35, + "end": 49, + "kind": "out_of_frustum", + "len": 15 + }, + { + "cam": 0, + "cam_name": "cam01", + "start": 109, + "end": 143, + "kind": "occluded", + "len": 35 + }, + { + "cam": 1, + "cam_name": "cam02", + "start": 34, + "end": 66, + "kind": "out_of_frustum", + "len": 33 + }, + { + "cam": 1, + "cam_name": "cam02", + "start": 122, + "end": 143, + "kind": "occluded", + "len": 22 + }, + { + "cam": 2, + "cam_name": "cam03", + "start": 30, + "end": 58, + "kind": "occluded", + "len": 29 + } + ], + "num_allowed": 2, + "num_effective": 2, + "num_departed": 2 + }, + "visibility": { + "frames": 144, + "states": [ + "visible", + "occluded", + "out_of_frustum", + "target_absent" + ], + "per_cam_ratio": [ + { + "visible": 0.6528, + "occluded": 0.2431, + "out_of_frustum": 0.1042, + "target_absent": 0.0 + }, + { + "visible": 0.6181, + "occluded": 0.1528, + "out_of_frustum": 0.2292, + "target_absent": 0.0 + }, + { + "visible": 0.7778, + "occluded": 0.2222, + "out_of_frustum": 0.0, + "target_absent": 0.0 + }, + { + "visible": 1.0, + "occluded": 0.0, + "out_of_frustum": 0.0, + "target_absent": 0.0 + } + ], + "visible_ratio": [ + 0.6528, + 0.6181, + 0.7778, + 1.0 + ], + "non_oos_cams": [ + 3, + 4 + ], + "min_visible_ratio_non_oos": 0.7778, + "gate1_cams": [ + 3, + 4 + ], + "min_visible_ratio_gate1": 0.7778, + "target_absent_frames": 0, + "bbox_sources": { + "fallback": 144 + } + }, + "smoothing": { + "rot_cap_frac_hfov": 0.06, + "rot_cap_deg_per_cam": [ + 4.2111, + 2.38884, + 2.0487, + 2.1668399999999997 + ], + "max_step_cm": 150.0, + "max_accel_cm": 20.0, + "accel_metric": "vector_jolt", + "lag_closure_frac": 0.12, + "oos_slew_half_fov_frac": 0.08 + }, + "pins": { + "resample": { + "attempts": 2, + "used": 1, + "pinned": 0, + "pinned_per_attempt": [ + 0 + ] + }, + "live_rotation": true, + "forced_cams": null, + "force_pin_cams": 0, + "pinned_cams": [] + }, + "motion_persistence": { + "enabled": true, + "min_moving_frac": 0.4, + "moving_speed_cm_s": 40.0, + "moving_frames": 143, + "still_frames": 0, + "moving_frac": 1.0 + }, + "points": { + "enabled": true, + "num_points": 256, + "frames": 144, + "valid_frames": 144, + "track_complete_ratio": 1.0, + "track_breaks": 0, + "in_frustum_ratio": 0.9062, + "render_lod_natural": 1, + "render_lod_forced": 1, + "sample_log": "ok=1 n=256 comps=6 skinned=6 static=0 tris=126655 area_m2=3.123 half_cm=84.1 centre_off_cm=7.5", + "npz_written": true + } +} \ No newline at end of file diff --git a/clips/clip_00222/points_target.npz b/clips/clip_00222/points_target.npz new file mode 100644 index 0000000000000000000000000000000000000000..928ed3ce76c08fa30eb19258fdcbf49a257f5c5b --- /dev/null +++ b/clips/clip_00222/points_target.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:78acbb56938b200b510a061df9fddc5d7d55c50db23570b87744faa838cead98 +size 417292 diff --git a/clips/clip_00222/videos/cam01.mp4 b/clips/clip_00222/videos/cam01.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..d23e7c5286ee6bf46460ccd364a8438eb3702619 --- /dev/null +++ b/clips/clip_00222/videos/cam01.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bee1438d3f8e1ff9cff2cad8debfdddd8482a4dc4843b7fdbcbe65ee98819015 +size 27256687 diff --git a/clips/clip_00222/videos/cam02.mp4 b/clips/clip_00222/videos/cam02.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..21100bd931dc1d1be25fb6ef5e0144fb9f894860 --- /dev/null +++ b/clips/clip_00222/videos/cam02.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:805830834efaa56d2a1c3bfc342d87133071a9ce16a53f3ddc29d1da663b7e46 +size 28154970 diff --git a/clips/clip_00222/videos/cam03.mp4 b/clips/clip_00222/videos/cam03.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..1c4962d887c5b71a06da44e2e770993ac65c9567 --- /dev/null +++ b/clips/clip_00222/videos/cam03.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:60ad176fa5b52629a88a9c06843c2f751a827a451c2b757dc8af92c22a57c83f +size 29769898 diff --git a/clips/clip_00222/videos/cam04.mp4 b/clips/clip_00222/videos/cam04.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..397bc0fce0cdf6dca781a525975a8d39e31f5bb1 --- /dev/null +++ b/clips/clip_00222/videos/cam04.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cbb0aa43ca5b87b47b6b892b696f28e6030dbeb704ceaa479c86895e7bc6d29e +size 35819336 diff --git a/clips/clip_00222/videos_depth/cam01.mp4 b/clips/clip_00222/videos_depth/cam01.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..3fd8c21db9cbd1dadebc8969a3560f71368c7126 --- /dev/null +++ b/clips/clip_00222/videos_depth/cam01.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:805045e7678e4586eee8515d1d425fd92f1489d9fb4b98ba1217e106356fb53c +size 1830490 diff --git a/clips/clip_00222/videos_depth/cam02.mp4 b/clips/clip_00222/videos_depth/cam02.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..3837a7ef9009fa0857403ed8882a16177226e0dd --- /dev/null +++ b/clips/clip_00222/videos_depth/cam02.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7fefdd24f7d96a120530a565ef5ccad7429cd24debedb6dbae5b18c8bc852e81 +size 1354993 diff --git a/clips/clip_00222/videos_depth/cam03.mp4 b/clips/clip_00222/videos_depth/cam03.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..b821c02c822a71deec7a5018f91fc0ea575c72c3 --- /dev/null +++ b/clips/clip_00222/videos_depth/cam03.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d0e27f47606c677cfd3b539f09104d03bba9db88dae220f7c24229f96b731308 +size 2399630 diff --git a/clips/clip_00222/videos_depth/cam04.mp4 b/clips/clip_00222/videos_depth/cam04.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..30eee501b9ca722c8de7784106d87894ed09cde3 --- /dev/null +++ b/clips/clip_00222/videos_depth/cam04.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bf00afe1552e8e897f9850a29a48b8ae24d0cb4728863d836177e1092185c8eb +size 1486887 diff --git a/clips/clip_00222/views/cam01/frame_0000.png b/clips/clip_00222/views/cam01/frame_0000.png new file mode 100644 index 0000000000000000000000000000000000000000..090e3e4f934bf48c115a72c2bfbc4a49ec71a118 --- /dev/null +++ b/clips/clip_00222/views/cam01/frame_0000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f50c07a041e6f4b7bd4698e17ee215e2cc3fe2151cc87f3d45c400108b2e4aa4 +size 3784226 diff --git a/clips/clip_00222/views/cam01/frame_0072.png b/clips/clip_00222/views/cam01/frame_0072.png new file mode 100644 index 0000000000000000000000000000000000000000..3766734e33989c81b72deb8d88dddbfd7da82b5c --- /dev/null +++ b/clips/clip_00222/views/cam01/frame_0072.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e74f1f6b15ddaf5ab0f96107befea2761a56548a511232b8902f6f38e25762ff +size 3590527 diff --git a/clips/clip_00222/views/cam01/frame_0143.png b/clips/clip_00222/views/cam01/frame_0143.png new file mode 100644 index 0000000000000000000000000000000000000000..4e2617fda35a3083e36ffdb4068f52633978d523 --- /dev/null +++ b/clips/clip_00222/views/cam01/frame_0143.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d7e2895c99a7678e95b55fc09b9eacba9094ea1dc25679964d931fab2cd784b0 +size 2925819 diff --git a/clips/clip_00222/views/cam02/frame_0000.png b/clips/clip_00222/views/cam02/frame_0000.png new file mode 100644 index 0000000000000000000000000000000000000000..51fc6b4e2ae2941197303cf0b02edce3ef10b26c --- /dev/null +++ b/clips/clip_00222/views/cam02/frame_0000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1dd20e96e9ba6b306316a642535ef385f5599905352de921b2f5618117c509ee +size 3266400 diff --git a/clips/clip_00222/views/cam02/frame_0072.png b/clips/clip_00222/views/cam02/frame_0072.png new file mode 100644 index 0000000000000000000000000000000000000000..63bce9143e791dcd765ca8d622ab70511953f823 --- /dev/null +++ b/clips/clip_00222/views/cam02/frame_0072.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:de2fbbb2ac2d0a640395b81d5fc886cedf53e1335c9fede820850e3599042c67 +size 3339128 diff --git a/clips/clip_00222/views/cam03/frame_0000.png b/clips/clip_00222/views/cam03/frame_0000.png new file mode 100644 index 0000000000000000000000000000000000000000..4a5dc78245eaa6460728c4e3a9a97f3119bb553d --- /dev/null +++ b/clips/clip_00222/views/cam03/frame_0000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:af12981372e3d21cf8ef8f1a7560c09175c682e98d0482b9c403ce1a75f4269f +size 3761012 diff --git a/clips/clip_00222/views/cam03/frame_0072.png b/clips/clip_00222/views/cam03/frame_0072.png new file mode 100644 index 0000000000000000000000000000000000000000..5ae60438bbbd32da62a2de6332fd7aa8f4cf516b --- /dev/null +++ b/clips/clip_00222/views/cam03/frame_0072.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4209da5961e4abfbf822e997cc3846d0d60cdc265b07fb3653f77d067da78152 +size 3479560 diff --git a/clips/clip_00222/views/cam04/frame_0000.png b/clips/clip_00222/views/cam04/frame_0000.png new file mode 100644 index 0000000000000000000000000000000000000000..5dc9828fd4a7fef28904b1f9db295f4a90cb2d75 --- /dev/null +++ b/clips/clip_00222/views/cam04/frame_0000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:453fef74518e1fb7598da5ed129c9db01cfc3a0d10b4b7e98a49e84035b1f579 +size 3754004 diff --git a/clips/clip_00222/views/cam04/frame_0072.png b/clips/clip_00222/views/cam04/frame_0072.png new file mode 100644 index 0000000000000000000000000000000000000000..d0cd58ae33b5296c73afb98ac7492ed0c115bbe5 --- /dev/null +++ b/clips/clip_00222/views/cam04/frame_0072.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f2d2f3611781b09d91da611a4bfe67c25cf7f2f8aca97ca83252f1ef3bcb4a89 +size 3788802 diff --git a/clips/clip_00222/visibility.json b/clips/clip_00222/visibility.json new file mode 100644 index 0000000000000000000000000000000000000000..cb48e7576515129a78dcb7bec9f5cfbbb7338158 --- /dev/null +++ b/clips/clip_00222/visibility.json @@ -0,0 +1,9799 @@ +{ + "version": 1, + "convention": "visibility[t][k] = state of the target in camera k at capture frame t (index-aligned with rgb_%04d.png)", + "states": [ + "visible", + "occluded", + "out_of_frustum", + "target_absent" + ], + "state_note": "visible = in-frustum and at least one bbox sample ray unblocked; occluded = in-frustum but every sample ray blocked; out_of_frustum = target bbox does not overlap the image rect; target_absent = target actor despawned (Mass LOD) -- BM-M2", + "num_cams": 4, + "frames": 144, + "fps": 15, + "clip_id": 222, + "target_class": "pedestrian", + "target_lost_frame": null, + "target_bbox_extent_cm": [ + 45.0, + 45.0, + 95.0 + ], + "bbox_sources": { + "fallback": 144 + }, + "target_world_units": "cm, Unreal left-handed world (same frame as cameras.json ue_pose.location_cm)", + "cameras": [ + { + "oos_allowed": true, + "oos_reason": "sampled", + "pinned": false, + "oos_effective": true, + "oos_cycles": 1, + "oos_departed": true, + "oos_schedule": { + "windows": [ + 21 + ], + "target_out_frames": [ + 12 + ], + "opened_at": 21, + "left_at": 35, + "out_run_max": 12, + "returned_at": 64, + "cycles_live": 1, + "forced_returns": 0, + "aim_offset": { + "applied": true, + "reason": null, + "deg": 38.94, + "cm": 567.2, + "frac": 1.15, + "need_frac": 1.142, + "radius_cm": 63.6, + "dist_cm": 701.9, + "clamped": false + }, + "events": [ + { + "window": 0, + "opened_at": 21, + "left_at": 35, + "out_run": 12, + "return_at": 46, + "forced": false + } + ] + }, + "name": "cam01", + "hfov_deg": 70.185, + "motion_kind": "translation", + "ratio": { + "visible": 0.6528, + "occluded": 0.2431, + "out_of_frustum": 0.1042, + "target_absent": 0.0 + } + }, + { + "oos_allowed": true, + "oos_reason": "sampled", + "pinned": false, + "oos_effective": true, + "oos_cycles": 1, + "oos_departed": true, + "oos_schedule": { + "windows": [ + 19 + ], + "target_out_frames": [ + 22 + ], + "opened_at": 19, + "left_at": 34, + "out_run_max": 22, + "returned_at": 82, + "cycles_live": 1, + "forced_returns": 0, + "aim_offset": { + "applied": true, + "reason": null, + "deg": 22.61, + "cm": 607.0, + "frac": 1.15, + "need_frac": 1.126, + "radius_cm": 63.6, + "dist_cm": 1457.5, + "clamped": false + }, + "events": [ + { + "window": 0, + "opened_at": 19, + "left_at": 34, + "out_run": 22, + "return_at": 55, + "forced": false + } + ] + }, + "name": "cam02", + "hfov_deg": 39.814, + "motion_kind": "static", + "ratio": { + "visible": 0.6181, + "occluded": 0.1528, + "out_of_frustum": 0.2292, + "target_absent": 0.0 + } + }, + { + "oos_allowed": false, + "oos_reason": "none", + "pinned": false, + "oos_effective": false, + "oos_cycles": 0, + "oos_departed": false, + "oos_schedule": null, + "name": "cam03", + "hfov_deg": 34.145, + "motion_kind": "random_polyline", + "ratio": { + "visible": 0.7778, + "occluded": 0.2222, + "out_of_frustum": 0.0, + "target_absent": 0.0 + } + }, + { + "oos_allowed": false, + "oos_reason": "none", + "pinned": false, + "oos_effective": false, + "oos_cycles": 0, + "oos_departed": false, + "oos_schedule": null, + "name": "cam04", + "hfov_deg": 36.114, + "motion_kind": "pan_tilt", + "ratio": { + "visible": 1.0, + "occluded": 0.0, + "out_of_frustum": 0.0, + "target_absent": 0.0 + } + } + ], + "summary": { + "frames": 144, + "states": [ + "visible", + "occluded", + "out_of_frustum", + "target_absent" + ], + "per_cam_ratio": [ + { + "visible": 0.6528, + "occluded": 0.2431, + "out_of_frustum": 0.1042, + "target_absent": 0.0 + }, + { + "visible": 0.6181, + "occluded": 0.1528, + "out_of_frustum": 0.2292, + "target_absent": 0.0 + }, + { + "visible": 0.7778, + "occluded": 0.2222, + "out_of_frustum": 0.0, + "target_absent": 0.0 + }, + { + "visible": 1.0, + "occluded": 0.0, + "out_of_frustum": 0.0, + "target_absent": 0.0 + } + ], + "visible_ratio": [ + 0.6528, + 0.6181, + 0.7778, + 1.0 + ], + "non_oos_cams": [ + 3, + 4 + ], + "min_visible_ratio_non_oos": 0.7778, + "gate1_cams": [ + 3, + 4 + ], + "min_visible_ratio_gate1": 0.7778, + "target_absent_frames": 0, + "bbox_sources": { + "fallback": 144 + } + }, + "oos_segments": [ + { + "cam": 0, + "cam_name": "cam01", + "start": 35, + "end": 49, + "kind": "out_of_frustum", + "len": 15 + }, + { + "cam": 0, + "cam_name": "cam01", + "start": 109, + "end": 143, + "kind": "occluded", + "len": 35 + }, + { + "cam": 1, + "cam_name": "cam02", + "start": 34, + "end": 66, + "kind": "out_of_frustum", + "len": 33 + }, + { + "cam": 1, + "cam_name": "cam02", + "start": 122, + "end": 143, + "kind": "occluded", + "len": 22 + }, + { + "cam": 2, + "cam_name": "cam03", + "start": 30, + "end": 58, + "kind": "occluded", + "len": 29 + } + ], + "oos_segment_note": "derived from `visibility` (frame-level is authoritative); maximal runs only, no merging/smoothing; min length 8f applies to this list only; start/end inclusive", + "oos_cycles_per_cam": [ + 1, + 1, + 0, + 0 + ], + "oos_params": { + "segment_min_len": 8, + "min_out": 8, + "min_visible": 8 + }, + "visibility": [ + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "occluded", + "visible" + ], + [ + "visible", + "visible", + "occluded", + "visible" + ], + [ + "visible", + "visible", + "occluded", + "visible" + ], + [ + "visible", + "visible", + "occluded", + "visible" + ], + [ + "visible", + "out_of_frustum", + "occluded", + "visible" + ], + [ + "out_of_frustum", + "out_of_frustum", + "occluded", + "visible" + ], + [ + "out_of_frustum", + "out_of_frustum", + "occluded", + "visible" + ], + [ + "out_of_frustum", + "out_of_frustum", + "occluded", + "visible" + ], + [ + "out_of_frustum", + "out_of_frustum", + "occluded", + "visible" + ], + [ + "out_of_frustum", + "out_of_frustum", + "occluded", + "visible" + ], + [ + "out_of_frustum", + "out_of_frustum", + "occluded", + "visible" + ], + [ + "out_of_frustum", + "out_of_frustum", + "occluded", + "visible" + ], + [ + "out_of_frustum", + "out_of_frustum", + "occluded", + "visible" + ], + [ + "out_of_frustum", + "out_of_frustum", + "occluded", + "visible" + ], + [ + "out_of_frustum", + "out_of_frustum", + "occluded", + "visible" + ], + [ + "out_of_frustum", + "out_of_frustum", + "occluded", + "visible" + ], + [ + "out_of_frustum", + "out_of_frustum", + "occluded", + "visible" + ], + [ + "out_of_frustum", + "out_of_frustum", + "occluded", + "visible" + ], + [ + "out_of_frustum", + "out_of_frustum", + "occluded", + "visible" + ], + [ + "out_of_frustum", + "out_of_frustum", + "occluded", + "visible" + ], + [ + "visible", + "out_of_frustum", + "occluded", + "visible" + ], + [ + "visible", + "out_of_frustum", + "occluded", + "visible" + ], + [ + "visible", + "out_of_frustum", + "occluded", + "visible" + ], + [ + "visible", + "out_of_frustum", + "occluded", + "visible" + ], + [ + "visible", + "out_of_frustum", + "occluded", + "visible" + ], + [ + "visible", + "out_of_frustum", + "occluded", + "visible" + ], + [ + "visible", + "out_of_frustum", + "occluded", + "visible" + ], + [ + "visible", + "out_of_frustum", + "occluded", + "visible" + ], + [ + "visible", + "out_of_frustum", + "occluded", + "visible" + ], + [ + "visible", + "out_of_frustum", + "visible", + "visible" + ], + [ + "visible", + "out_of_frustum", + "visible", + "visible" + ], + [ + "visible", + "out_of_frustum", + "visible", + "visible" + ], + [ + "visible", + "out_of_frustum", + "visible", + "visible" + ], + [ + "visible", + "out_of_frustum", + "visible", + "visible" + ], + [ + "visible", + "out_of_frustum", + "visible", + "visible" + ], + [ + "visible", + "out_of_frustum", + "visible", + "visible" + ], + [ + "visible", + "out_of_frustum", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "occluded", + "visible", + "visible", + "visible" + ], + [ + "occluded", + "visible", + "visible", + "visible" + ], + [ + "occluded", + "visible", + "visible", + "visible" + ], + [ + "occluded", + "visible", + "visible", + "visible" + ], + [ + "occluded", + "visible", + "visible", + "visible" + ], + [ + "occluded", + "visible", + "visible", + "visible" + ], + [ + "occluded", + "visible", + "visible", + "visible" + ], + [ + "occluded", + "visible", + "visible", + "visible" + ], + [ + "occluded", + "visible", + "visible", + "visible" + ], + [ + "occluded", + "visible", + "visible", + "visible" + ], + [ + "occluded", + "visible", + "visible", + "visible" + ], + [ + "occluded", + "visible", + "visible", + "visible" + ], + [ + "occluded", + "visible", + "visible", + "visible" + ], + [ + "occluded", + "occluded", + "visible", + "visible" + ], + [ + "occluded", + "occluded", + "visible", + "visible" + ], + [ + "occluded", + "occluded", + "visible", + "visible" + ], + [ + "occluded", + "occluded", + "visible", + "visible" + ], + [ + "occluded", + "occluded", + "visible", + "visible" + ], + [ + "occluded", + "occluded", + "visible", + "visible" + ], + [ + "occluded", + "occluded", + "visible", + "visible" + ], + [ + "occluded", + "occluded", + "visible", + "visible" + ], + [ + "occluded", + "occluded", + "visible", + "visible" + ], + [ + "occluded", + "occluded", + "visible", + "visible" + ], + [ + "occluded", + "occluded", + "visible", + "visible" + ], + [ + "occluded", + "occluded", + "visible", + "visible" + ], + [ + "occluded", + "occluded", + "visible", + "visible" + ], + [ + "occluded", + "occluded", + "visible", + "visible" + ], + [ + "occluded", + "occluded", + "visible", + "visible" + ], + [ + "occluded", + "occluded", + "visible", + "visible" + ], + [ + "occluded", + "occluded", + "visible", + "visible" + ], + [ + "occluded", + "occluded", + "visible", + "visible" + ], + [ + "occluded", + "occluded", + "visible", + "visible" + ], + [ + "occluded", + "occluded", + "occluded", + "visible" + ], + [ + "occluded", + "occluded", + "occluded", + "visible" + ], + [ + "occluded", + "occluded", + "occluded", + "visible" + ] + ], + "visible_frac": [ + [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + [ + 1.0, + 1.0, + 0.778, + 1.0 + ], + [ + 1.0, + 1.0, + 0.778, + 1.0 + ], + [ + 1.0, + 1.0, + 0.778, + 1.0 + ], + [ + 1.0, + 1.0, + 0.778, + 1.0 + ], + [ + 1.0, + 1.0, + 0.778, + 1.0 + ], + [ + 1.0, + 1.0, + 0.778, + 1.0 + ], + [ + 1.0, + 1.0, + 0.778, + 1.0 + ], + [ + 1.0, + 1.0, + 0.778, + 1.0 + ], + [ + 1.0, + 1.0, + 0.778, + 1.0 + ], + [ + 1.0, + 1.0, + 0.778, + 1.0 + ], + [ + 1.0, + 1.0, + 0.778, + 1.0 + ], + [ + 1.0, + 1.0, + 0.556, + 1.0 + ], + [ + 1.0, + 1.0, + 0.556, + 1.0 + ], + [ + 1.0, + 1.0, + 0.444, + 1.0 + ], + [ + 1.0, + 1.0, + 0.222, + 1.0 + ], + [ + 1.0, + 1.0, + 0.222, + 1.0 + ], + [ + 1.0, + 1.0, + 0.222, + 1.0 + ], + [ + 1.0, + 1.0, + 0.222, + 1.0 + ], + [ + 1.0, + 1.0, + 0.222, + 1.0 + ], + [ + 1.0, + 1.0, + 0.222, + 1.0 + ], + [ + 1.0, + 1.0, + 0.222, + 1.0 + ], + [ + 1.0, + 1.0, + 0.222, + 1.0 + ], + [ + 1.0, + 1.0, + 0.222, + 1.0 + ], + [ + 1.0, + 1.0, + 0.111, + 1.0 + ], + [ + 1.0, + 1.0, + 0.0, + 1.0 + ], + [ + 1.0, + 1.0, + 0.0, + 1.0 + ], + [ + 1.0, + 1.0, + 0.0, + 1.0 + ], + [ + 1.0, + 1.0, + 0.0, + 1.0 + ], + [ + 1.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 1.0, + 0.0, + 0.0, + 1.0 + ], + [ + 1.0, + 0.0, + 0.0, + 1.0 + ], + [ + 1.0, + 0.0, + 0.0, + 1.0 + ], + [ + 1.0, + 0.0, + 0.0, + 1.0 + ], + [ + 1.0, + 0.0, + 0.0, + 1.0 + ], + [ + 1.0, + 0.0, + 0.0, + 1.0 + ], + [ + 1.0, + 0.0, + 0.0, + 1.0 + ], + [ + 1.0, + 0.0, + 0.0, + 1.0 + ], + [ + 1.0, + 0.0, + 0.0, + 1.0 + ], + [ + 1.0, + 0.0, + 0.556, + 1.0 + ], + [ + 0.778, + 0.0, + 1.0, + 1.0 + ], + [ + 0.778, + 0.0, + 1.0, + 1.0 + ], + [ + 0.667, + 0.0, + 1.0, + 1.0 + ], + [ + 0.778, + 0.0, + 1.0, + 1.0 + ], + [ + 1.0, + 0.0, + 1.0, + 1.0 + ], + [ + 1.0, + 0.0, + 1.0, + 1.0 + ], + [ + 1.0, + 0.0, + 1.0, + 1.0 + ], + [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + [ + 1.0, + 0.889, + 1.0, + 1.0 + ], + [ + 1.0, + 0.667, + 1.0, + 1.0 + ], + [ + 1.0, + 0.667, + 1.0, + 1.0 + ], + [ + 1.0, + 0.778, + 1.0, + 1.0 + ], + [ + 1.0, + 0.667, + 1.0, + 1.0 + ], + [ + 1.0, + 0.778, + 1.0, + 1.0 + ], + [ + 1.0, + 0.889, + 1.0, + 1.0 + ], + [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + [ + 1.0, + 1.0, + 0.889, + 1.0 + ], + [ + 1.0, + 1.0, + 0.778, + 1.0 + ], + [ + 1.0, + 1.0, + 0.778, + 1.0 + ], + [ + 1.0, + 1.0, + 0.778, + 1.0 + ], + [ + 1.0, + 1.0, + 0.889, + 1.0 + ], + [ + 1.0, + 1.0, + 0.889, + 1.0 + ], + [ + 0.778, + 1.0, + 1.0, + 1.0 + ], + [ + 0.556, + 1.0, + 0.889, + 1.0 + ], + [ + 0.444, + 1.0, + 1.0, + 1.0 + ], + [ + 0.222, + 1.0, + 1.0, + 1.0 + ], + [ + 0.222, + 1.0, + 1.0, + 1.0 + ], + [ + 0.0, + 1.0, + 1.0, + 1.0 + ], + [ + 0.0, + 1.0, + 1.0, + 0.778 + ], + [ + 0.0, + 1.0, + 1.0, + 0.778 + ], + [ + 0.0, + 1.0, + 1.0, + 0.778 + ], + [ + 0.0, + 1.0, + 1.0, + 0.778 + ], + [ + 0.0, + 1.0, + 1.0, + 0.778 + ], + [ + 0.0, + 1.0, + 1.0, + 0.778 + ], + [ + 0.0, + 1.0, + 1.0, + 0.778 + ], + [ + 0.0, + 0.778, + 1.0, + 0.222 + ], + [ + 0.0, + 0.778, + 1.0, + 0.444 + ], + [ + 0.0, + 0.556, + 1.0, + 0.444 + ], + [ + 0.0, + 0.444, + 1.0, + 0.444 + ], + [ + 0.0, + 0.222, + 1.0, + 0.444 + ], + [ + 0.0, + 0.0, + 1.0, + 0.444 + ], + [ + 0.0, + 0.0, + 1.0, + 0.222 + ], + [ + 0.0, + 0.0, + 1.0, + 0.222 + ], + [ + 0.0, + 0.0, + 1.0, + 0.778 + ], + [ + 0.0, + 0.0, + 1.0, + 0.778 + ], + [ + 0.0, + 0.0, + 1.0, + 0.778 + ], + [ + 0.0, + 0.0, + 1.0, + 0.778 + ], + [ + 0.0, + 0.0, + 1.0, + 0.778 + ], + [ + 0.0, + 0.0, + 1.0, + 0.778 + ], + [ + 0.0, + 0.0, + 1.0, + 0.778 + ], + [ + 0.0, + 0.0, + 1.0, + 1.0 + ], + [ + 0.0, + 0.0, + 1.0, + 1.0 + ], + [ + 0.0, + 0.0, + 1.0, + 1.0 + ], + [ + 0.0, + 0.0, + 1.0, + 1.0 + ], + [ + 0.0, + 0.0, + 1.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.556, + 1.0 + ], + [ + 0.0, + 0.0, + 0.556, + 1.0 + ], + [ + 0.0, + 0.0, + 0.444, + 1.0 + ], + [ + 0.0, + 0.0, + 0.222, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.778 + ], + [ + 0.0, + 0.0, + 0.0, + 0.778 + ] + ], + "target_world_cm": [ + [ + 73072.1, + 29874.7, + 153.1 + ], + [ + 73078.8, + 29863.2, + 152.9 + ], + [ + 73085.5, + 29851.6, + 152.7 + ], + [ + 73092.2, + 29840.1, + 152.5 + ], + [ + 73098.9, + 29828.6, + 152.4 + ], + [ + 73105.6, + 29817.0, + 152.2 + ], + [ + 73112.2, + 29805.5, + 152.0 + ], + [ + 73118.9, + 29794.0, + 151.8 + ], + [ + 73125.6, + 29782.4, + 151.6 + ], + [ + 73132.3, + 29770.9, + 151.4 + ], + [ + 73139.0, + 29759.4, + 151.2 + ], + [ + 73145.7, + 29747.8, + 151.0 + ], + [ + 73152.4, + 29736.3, + 150.8 + ], + [ + 73159.0, + 29724.8, + 150.6 + ], + [ + 73165.7, + 29713.2, + 150.4 + ], + [ + 73172.4, + 29701.7, + 150.2 + ], + [ + 73179.1, + 29690.1, + 150.0 + ], + [ + 73185.8, + 29678.6, + 149.9 + ], + [ + 73192.5, + 29667.1, + 149.7 + ], + [ + 73199.1, + 29655.5, + 149.5 + ], + [ + 73205.8, + 29644.0, + 149.4 + ], + [ + 73212.5, + 29632.4, + 149.4 + ], + [ + 73219.2, + 29620.9, + 149.4 + ], + [ + 73225.8, + 29609.4, + 149.4 + ], + [ + 73232.5, + 29597.8, + 149.1 + ], + [ + 73239.2, + 29586.3, + 149.1 + ], + [ + 73245.8, + 29574.7, + 149.1 + ], + [ + 73252.5, + 29563.1, + 149.1 + ], + [ + 73259.1, + 29551.6, + 148.8 + ], + [ + 73265.7, + 29540.0, + 148.8 + ], + [ + 73272.3, + 29528.4, + 148.8 + ], + [ + 73278.8, + 29516.8, + 148.8 + ], + [ + 73285.3, + 29505.1, + 148.6 + ], + [ + 73291.7, + 29493.4, + 148.6 + ], + [ + 73298.0, + 29481.7, + 148.6 + ], + [ + 73304.2, + 29469.9, + 148.6 + ], + [ + 73310.4, + 29458.1, + 148.6 + ], + [ + 73316.5, + 29446.2, + 148.6 + ], + [ + 73322.4, + 29434.3, + 148.6 + ], + [ + 73328.3, + 29422.3, + 148.6 + ], + [ + 73334.0, + 29410.3, + 148.6 + ], + [ + 73339.7, + 29398.2, + 148.6 + ], + [ + 73345.3, + 29386.1, + 148.6 + ], + [ + 73350.8, + 29373.9, + 148.6 + ], + [ + 73356.2, + 29361.8, + 148.6 + ], + [ + 73361.7, + 29349.6, + 148.6 + ], + [ + 73367.0, + 29337.4, + 148.6 + ], + [ + 73372.4, + 29325.2, + 148.6 + ], + [ + 73377.8, + 29313.0, + 148.6 + ], + [ + 73383.1, + 29300.8, + 148.6 + ], + [ + 73388.6, + 29288.6, + 148.6 + ], + [ + 73394.0, + 29276.4, + 148.6 + ], + [ + 73399.5, + 29264.3, + 148.6 + ], + [ + 73405.0, + 29252.1, + 148.6 + ], + [ + 73410.5, + 29240.0, + 148.6 + ], + [ + 73416.1, + 29227.9, + 148.6 + ], + [ + 73421.7, + 29215.8, + 148.6 + ], + [ + 73427.4, + 29203.7, + 148.6 + ], + [ + 73433.1, + 29191.7, + 150.5 + ], + [ + 73438.9, + 29179.7, + 153.4 + ], + [ + 73444.7, + 29167.6, + 155.9 + ], + [ + 73450.5, + 29155.7, + 158.1 + ], + [ + 73456.4, + 29143.7, + 159.4 + ], + [ + 73462.2, + 29131.7, + 160.8 + ], + [ + 73468.2, + 29119.8, + 162.1 + ], + [ + 73474.1, + 29107.8, + 163.4 + ], + [ + 73480.0, + 29095.9, + 164.2 + ], + [ + 73486.0, + 29084.0, + 164.5 + ], + [ + 73492.0, + 29072.1, + 165.1 + ], + [ + 73498.0, + 29060.2, + 165.4 + ], + [ + 73504.1, + 29048.3, + 165.7 + ], + [ + 73510.1, + 29036.4, + 166.1 + ], + [ + 73516.2, + 29024.5, + 166.4 + ], + [ + 73522.3, + 29012.7, + 166.6 + ], + [ + 73528.5, + 29000.9, + 166.6 + ], + [ + 73534.7, + 28989.1, + 166.6 + ], + [ + 73540.9, + 28977.3, + 166.6 + ], + [ + 73547.2, + 28965.5, + 166.3 + ], + [ + 73553.4, + 28953.7, + 166.0 + ], + [ + 73559.7, + 28942.0, + 166.0 + ], + [ + 73566.0, + 28930.2, + 165.7 + ], + [ + 73572.3, + 28918.4, + 165.4 + ], + [ + 73578.6, + 28906.7, + 165.4 + ], + [ + 73584.9, + 28895.0, + 165.1 + ], + [ + 73591.3, + 28883.2, + 164.7 + ], + [ + 73597.6, + 28871.5, + 164.5 + ], + [ + 73603.9, + 28859.8, + 163.1 + ], + [ + 73610.3, + 28848.0, + 163.1 + ], + [ + 73616.6, + 28836.3, + 163.1 + ], + [ + 73622.9, + 28824.6, + 163.1 + ], + [ + 73629.3, + 28812.8, + 163.1 + ], + [ + 73635.6, + 28801.1, + 163.1 + ], + [ + 73641.9, + 28789.4, + 163.1 + ], + [ + 73648.2, + 28777.6, + 163.1 + ], + [ + 73654.5, + 28765.9, + 163.1 + ], + [ + 73660.9, + 28754.1, + 163.1 + ], + [ + 73667.2, + 28742.4, + 163.1 + ], + [ + 73673.5, + 28730.6, + 163.1 + ], + [ + 73679.8, + 28718.9, + 163.1 + ], + [ + 73686.1, + 28707.1, + 163.1 + ], + [ + 73692.4, + 28695.4, + 163.1 + ], + [ + 73698.6, + 28683.6, + 163.1 + ], + [ + 73704.9, + 28671.9, + 163.1 + ], + [ + 73711.2, + 28660.1, + 163.1 + ], + [ + 73717.5, + 28648.3, + 163.1 + ], + [ + 73723.8, + 28636.6, + 163.1 + ], + [ + 73730.0, + 28624.8, + 163.1 + ], + [ + 73736.3, + 28613.0, + 163.1 + ], + [ + 73742.5, + 28601.2, + 163.1 + ], + [ + 73748.8, + 28589.5, + 163.1 + ], + [ + 73755.0, + 28577.7, + 163.1 + ], + [ + 73761.3, + 28565.9, + 163.1 + ], + [ + 73767.5, + 28554.1, + 163.1 + ], + [ + 73773.7, + 28542.3, + 163.1 + ], + [ + 73780.0, + 28530.5, + 163.1 + ], + [ + 73786.2, + 28518.8, + 163.1 + ], + [ + 73792.5, + 28507.0, + 163.1 + ], + [ + 73798.7, + 28495.2, + 163.1 + ], + [ + 73805.0, + 28483.5, + 163.1 + ], + [ + 73811.4, + 28471.8, + 163.1 + ], + [ + 73817.8, + 28460.1, + 163.1 + ], + [ + 73824.3, + 28448.4, + 163.1 + ], + [ + 73830.9, + 28436.8, + 163.1 + ], + [ + 73837.5, + 28425.2, + 163.1 + ], + [ + 73844.3, + 28413.7, + 163.1 + ], + [ + 73851.1, + 28402.3, + 163.1 + ], + [ + 73858.0, + 28390.9, + 163.1 + ], + [ + 73865.1, + 28379.6, + 163.1 + ], + [ + 73872.3, + 28368.4, + 163.1 + ], + [ + 73879.7, + 28357.3, + 163.1 + ], + [ + 73887.2, + 28346.3, + 163.1 + ], + [ + 73894.9, + 28335.4, + 163.1 + ], + [ + 73902.8, + 28324.6, + 163.1 + ], + [ + 73910.8, + 28314.0, + 163.1 + ], + [ + 73919.0, + 28303.5, + 163.1 + ], + [ + 73927.4, + 28293.1, + 163.1 + ], + [ + 73936.0, + 28282.9, + 163.1 + ], + [ + 73944.7, + 28273.4, + 163.1 + ], + [ + 73953.6, + 28264.9, + 163.1 + ], + [ + 73962.8, + 28257.4, + 163.1 + ], + [ + 73972.5, + 28250.9, + 163.1 + ], + [ + 73982.5, + 28245.5, + 163.1 + ], + [ + 73993.1, + 28241.0, + 163.1 + ], + [ + 74004.1, + 28237.6, + 163.1 + ] + ], + "target_bbox_cm": [ + [ + 73072.1, + 29874.7, + 153.1, + 45.0, + 45.0, + 95.0 + ], + [ + 73078.8, + 29863.2, + 152.9, + 45.0, + 45.0, + 95.0 + ], + [ + 73085.5, + 29851.6, + 152.7, + 45.0, + 45.0, + 95.0 + ], + [ + 73092.2, + 29840.1, + 152.5, + 45.0, + 45.0, + 95.0 + ], + [ + 73098.9, + 29828.6, + 152.4, + 45.0, + 45.0, + 95.0 + ], + [ + 73105.6, + 29817.0, + 152.2, + 45.0, + 45.0, + 95.0 + ], + [ + 73112.2, + 29805.5, + 152.0, + 45.0, + 45.0, + 95.0 + ], + [ + 73118.9, + 29794.0, + 151.8, + 45.0, + 45.0, + 95.0 + ], + [ + 73125.6, + 29782.4, + 151.6, + 45.0, + 45.0, + 95.0 + ], + [ + 73132.3, + 29770.9, + 151.4, + 45.0, + 45.0, + 95.0 + ], + [ + 73139.0, + 29759.4, + 151.2, + 45.0, + 45.0, + 95.0 + ], + [ + 73145.7, + 29747.8, + 151.0, + 45.0, + 45.0, + 95.0 + ], + [ + 73152.4, + 29736.3, + 150.8, + 45.0, + 45.0, + 95.0 + ], + [ + 73159.0, + 29724.8, + 150.6, + 45.0, + 45.0, + 95.0 + ], + [ + 73165.7, + 29713.2, + 150.4, + 45.0, + 45.0, + 95.0 + ], + [ + 73172.4, + 29701.7, + 150.2, + 45.0, + 45.0, + 95.0 + ], + [ + 73179.1, + 29690.1, + 150.0, + 45.0, + 45.0, + 95.0 + ], + [ + 73185.8, + 29678.6, + 149.9, + 45.0, + 45.0, + 95.0 + ], + [ + 73192.5, + 29667.1, + 149.7, + 45.0, + 45.0, + 95.0 + ], + [ + 73199.1, + 29655.5, + 149.5, + 45.0, + 45.0, + 95.0 + ], + [ + 73205.8, + 29644.0, + 149.4, + 45.0, + 45.0, + 95.0 + ], + [ + 73212.5, + 29632.4, + 149.4, + 45.0, + 45.0, + 95.0 + ], + [ + 73219.2, + 29620.9, + 149.4, + 45.0, + 45.0, + 95.0 + ], + [ + 73225.8, + 29609.4, + 149.4, + 45.0, + 45.0, + 95.0 + ], + [ + 73232.5, + 29597.8, + 149.1, + 45.0, + 45.0, + 95.0 + ], + [ + 73239.2, + 29586.3, + 149.1, + 45.0, + 45.0, + 95.0 + ], + [ + 73245.8, + 29574.7, + 149.1, + 45.0, + 45.0, + 95.0 + ], + [ + 73252.5, + 29563.1, + 149.1, + 45.0, + 45.0, + 95.0 + ], + [ + 73259.1, + 29551.6, + 148.8, + 45.0, + 45.0, + 95.0 + ], + [ + 73265.7, + 29540.0, + 148.8, + 45.0, + 45.0, + 95.0 + ], + [ + 73272.3, + 29528.4, + 148.8, + 45.0, + 45.0, + 95.0 + ], + [ + 73278.8, + 29516.8, + 148.8, + 45.0, + 45.0, + 95.0 + ], + [ + 73285.3, + 29505.1, + 148.6, + 45.0, + 45.0, + 95.0 + ], + [ + 73291.7, + 29493.4, + 148.6, + 45.0, + 45.0, + 95.0 + ], + [ + 73298.0, + 29481.7, + 148.6, + 45.0, + 45.0, + 95.0 + ], + [ + 73304.2, + 29469.9, + 148.6, + 45.0, + 45.0, + 95.0 + ], + [ + 73310.4, + 29458.1, + 148.6, + 45.0, + 45.0, + 95.0 + ], + [ + 73316.5, + 29446.2, + 148.6, + 45.0, + 45.0, + 95.0 + ], + [ + 73322.4, + 29434.3, + 148.6, + 45.0, + 45.0, + 95.0 + ], + [ + 73328.3, + 29422.3, + 148.6, + 45.0, + 45.0, + 95.0 + ], + [ + 73334.0, + 29410.3, + 148.6, + 45.0, + 45.0, + 95.0 + ], + [ + 73339.7, + 29398.2, + 148.6, + 45.0, + 45.0, + 95.0 + ], + [ + 73345.3, + 29386.1, + 148.6, + 45.0, + 45.0, + 95.0 + ], + [ + 73350.8, + 29373.9, + 148.6, + 45.0, + 45.0, + 95.0 + ], + [ + 73356.2, + 29361.8, + 148.6, + 45.0, + 45.0, + 95.0 + ], + [ + 73361.7, + 29349.6, + 148.6, + 45.0, + 45.0, + 95.0 + ], + [ + 73367.0, + 29337.4, + 148.6, + 45.0, + 45.0, + 95.0 + ], + [ + 73372.4, + 29325.2, + 148.6, + 45.0, + 45.0, + 95.0 + ], + [ + 73377.8, + 29313.0, + 148.6, + 45.0, + 45.0, + 95.0 + ], + [ + 73383.1, + 29300.8, + 148.6, + 45.0, + 45.0, + 95.0 + ], + [ + 73388.6, + 29288.6, + 148.6, + 45.0, + 45.0, + 95.0 + ], + [ + 73394.0, + 29276.4, + 148.6, + 45.0, + 45.0, + 95.0 + ], + [ + 73399.5, + 29264.3, + 148.6, + 45.0, + 45.0, + 95.0 + ], + [ + 73405.0, + 29252.1, + 148.6, + 45.0, + 45.0, + 95.0 + ], + [ + 73410.5, + 29240.0, + 148.6, + 45.0, + 45.0, + 95.0 + ], + [ + 73416.1, + 29227.9, + 148.6, + 45.0, + 45.0, + 95.0 + ], + [ + 73421.7, + 29215.8, + 148.6, + 45.0, + 45.0, + 95.0 + ], + [ + 73427.4, + 29203.7, + 148.6, + 45.0, + 45.0, + 95.0 + ], + [ + 73433.1, + 29191.7, + 150.5, + 45.0, + 45.0, + 95.0 + ], + [ + 73438.9, + 29179.7, + 153.4, + 45.0, + 45.0, + 95.0 + ], + [ + 73444.7, + 29167.6, + 155.9, + 45.0, + 45.0, + 95.0 + ], + [ + 73450.5, + 29155.7, + 158.1, + 45.0, + 45.0, + 95.0 + ], + [ + 73456.4, + 29143.7, + 159.4, + 45.0, + 45.0, + 95.0 + ], + [ + 73462.2, + 29131.7, + 160.8, + 45.0, + 45.0, + 95.0 + ], + [ + 73468.2, + 29119.8, + 162.1, + 45.0, + 45.0, + 95.0 + ], + [ + 73474.1, + 29107.8, + 163.4, + 45.0, + 45.0, + 95.0 + ], + [ + 73480.0, + 29095.9, + 164.2, + 45.0, + 45.0, + 95.0 + ], + [ + 73486.0, + 29084.0, + 164.5, + 45.0, + 45.0, + 95.0 + ], + [ + 73492.0, + 29072.1, + 165.1, + 45.0, + 45.0, + 95.0 + ], + [ + 73498.0, + 29060.2, + 165.4, + 45.0, + 45.0, + 95.0 + ], + [ + 73504.1, + 29048.3, + 165.7, + 45.0, + 45.0, + 95.0 + ], + [ + 73510.1, + 29036.4, + 166.1, + 45.0, + 45.0, + 95.0 + ], + [ + 73516.2, + 29024.5, + 166.4, + 45.0, + 45.0, + 95.0 + ], + [ + 73522.3, + 29012.7, + 166.6, + 45.0, + 45.0, + 95.0 + ], + [ + 73528.5, + 29000.9, + 166.6, + 45.0, + 45.0, + 95.0 + ], + [ + 73534.7, + 28989.1, + 166.6, + 45.0, + 45.0, + 95.0 + ], + [ + 73540.9, + 28977.3, + 166.6, + 45.0, + 45.0, + 95.0 + ], + [ + 73547.2, + 28965.5, + 166.3, + 45.0, + 45.0, + 95.0 + ], + [ + 73553.4, + 28953.7, + 166.0, + 45.0, + 45.0, + 95.0 + ], + [ + 73559.7, + 28942.0, + 166.0, + 45.0, + 45.0, + 95.0 + ], + [ + 73566.0, + 28930.2, + 165.7, + 45.0, + 45.0, + 95.0 + ], + [ + 73572.3, + 28918.4, + 165.4, + 45.0, + 45.0, + 95.0 + ], + [ + 73578.6, + 28906.7, + 165.4, + 45.0, + 45.0, + 95.0 + ], + [ + 73584.9, + 28895.0, + 165.1, + 45.0, + 45.0, + 95.0 + ], + [ + 73591.3, + 28883.2, + 164.7, + 45.0, + 45.0, + 95.0 + ], + [ + 73597.6, + 28871.5, + 164.5, + 45.0, + 45.0, + 95.0 + ], + [ + 73603.9, + 28859.8, + 163.1, + 45.0, + 45.0, + 95.0 + ], + [ + 73610.3, + 28848.0, + 163.1, + 45.0, + 45.0, + 95.0 + ], + [ + 73616.6, + 28836.3, + 163.1, + 45.0, + 45.0, + 95.0 + ], + [ + 73622.9, + 28824.6, + 163.1, + 45.0, + 45.0, + 95.0 + ], + [ + 73629.3, + 28812.8, + 163.1, + 45.0, + 45.0, + 95.0 + ], + [ + 73635.6, + 28801.1, + 163.1, + 45.0, + 45.0, + 95.0 + ], + [ + 73641.9, + 28789.4, + 163.1, + 45.0, + 45.0, + 95.0 + ], + [ + 73648.2, + 28777.6, + 163.1, + 45.0, + 45.0, + 95.0 + ], + [ + 73654.5, + 28765.9, + 163.1, + 45.0, + 45.0, + 95.0 + ], + [ + 73660.9, + 28754.1, + 163.1, + 45.0, + 45.0, + 95.0 + ], + [ + 73667.2, + 28742.4, + 163.1, + 45.0, + 45.0, + 95.0 + ], + [ + 73673.5, + 28730.6, + 163.1, + 45.0, + 45.0, + 95.0 + ], + [ + 73679.8, + 28718.9, + 163.1, + 45.0, + 45.0, + 95.0 + ], + [ + 73686.1, + 28707.1, + 163.1, + 45.0, + 45.0, + 95.0 + ], + [ + 73692.4, + 28695.4, + 163.1, + 45.0, + 45.0, + 95.0 + ], + [ + 73698.6, + 28683.6, + 163.1, + 45.0, + 45.0, + 95.0 + ], + [ + 73704.9, + 28671.9, + 163.1, + 45.0, + 45.0, + 95.0 + ], + [ + 73711.2, + 28660.1, + 163.1, + 45.0, + 45.0, + 95.0 + ], + [ + 73717.5, + 28648.3, + 163.1, + 45.0, + 45.0, + 95.0 + ], + [ + 73723.8, + 28636.6, + 163.1, + 45.0, + 45.0, + 95.0 + ], + [ + 73730.0, + 28624.8, + 163.1, + 45.0, + 45.0, + 95.0 + ], + [ + 73736.3, + 28613.0, + 163.1, + 45.0, + 45.0, + 95.0 + ], + [ + 73742.5, + 28601.2, + 163.1, + 45.0, + 45.0, + 95.0 + ], + [ + 73748.8, + 28589.5, + 163.1, + 45.0, + 45.0, + 95.0 + ], + [ + 73755.0, + 28577.7, + 163.1, + 45.0, + 45.0, + 95.0 + ], + [ + 73761.3, + 28565.9, + 163.1, + 45.0, + 45.0, + 95.0 + ], + [ + 73767.5, + 28554.1, + 163.1, + 45.0, + 45.0, + 95.0 + ], + [ + 73773.7, + 28542.3, + 163.1, + 45.0, + 45.0, + 95.0 + ], + [ + 73780.0, + 28530.5, + 163.1, + 45.0, + 45.0, + 95.0 + ], + [ + 73786.2, + 28518.8, + 163.1, + 45.0, + 45.0, + 95.0 + ], + [ + 73792.5, + 28507.0, + 163.1, + 45.0, + 45.0, + 95.0 + ], + [ + 73798.7, + 28495.2, + 163.1, + 45.0, + 45.0, + 95.0 + ], + [ + 73805.0, + 28483.5, + 163.1, + 45.0, + 45.0, + 95.0 + ], + [ + 73811.4, + 28471.8, + 163.1, + 45.0, + 45.0, + 95.0 + ], + [ + 73817.8, + 28460.1, + 163.1, + 45.0, + 45.0, + 95.0 + ], + [ + 73824.3, + 28448.4, + 163.1, + 45.0, + 45.0, + 95.0 + ], + [ + 73830.9, + 28436.8, + 163.1, + 45.0, + 45.0, + 95.0 + ], + [ + 73837.5, + 28425.2, + 163.1, + 45.0, + 45.0, + 95.0 + ], + [ + 73844.3, + 28413.7, + 163.1, + 45.0, + 45.0, + 95.0 + ], + [ + 73851.1, + 28402.3, + 163.1, + 45.0, + 45.0, + 95.0 + ], + [ + 73858.0, + 28390.9, + 163.1, + 45.0, + 45.0, + 95.0 + ], + [ + 73865.1, + 28379.6, + 163.1, + 45.0, + 45.0, + 95.0 + ], + [ + 73872.3, + 28368.4, + 163.1, + 45.0, + 45.0, + 95.0 + ], + [ + 73879.7, + 28357.3, + 163.1, + 45.0, + 45.0, + 95.0 + ], + [ + 73887.2, + 28346.3, + 163.1, + 45.0, + 45.0, + 95.0 + ], + [ + 73894.9, + 28335.4, + 163.1, + 45.0, + 45.0, + 95.0 + ], + [ + 73902.8, + 28324.6, + 163.1, + 45.0, + 45.0, + 95.0 + ], + [ + 73910.8, + 28314.0, + 163.1, + 45.0, + 45.0, + 95.0 + ], + [ + 73919.0, + 28303.5, + 163.1, + 45.0, + 45.0, + 95.0 + ], + [ + 73927.4, + 28293.1, + 163.1, + 45.0, + 45.0, + 95.0 + ], + [ + 73936.0, + 28282.9, + 163.1, + 45.0, + 45.0, + 95.0 + ], + [ + 73944.7, + 28273.4, + 163.1, + 45.0, + 45.0, + 95.0 + ], + [ + 73953.6, + 28264.9, + 163.1, + 45.0, + 45.0, + 95.0 + ], + [ + 73962.8, + 28257.4, + 163.1, + 45.0, + 45.0, + 95.0 + ], + [ + 73972.5, + 28250.9, + 163.1, + 45.0, + 45.0, + 95.0 + ], + [ + 73982.5, + 28245.5, + 163.1, + 45.0, + 45.0, + 95.0 + ], + [ + 73993.1, + 28241.0, + 163.1, + 45.0, + 45.0, + 95.0 + ], + [ + 74004.1, + 28237.6, + 163.1, + 45.0, + 45.0, + 95.0 + ] + ], + "target_bbox_format": "[cx,cy,cz,ex,ey,ez] (\uc911\uc2ec + \ubc18\ud06c\uae30, cm, UE)", + "target_world_cam01_m": [ + [ + 0.00021872657629273817, + 1.089280311084167, + 6.71962147121701 + ], + [ + -0.0001553939283667205, + 1.0893988682985736, + 6.729142531045227 + ], + [ + 0.0004795219583115795, + 1.089515460449448, + 6.738737079432099 + ], + [ + 0.00011838278669529245, + 1.0896319171912552, + 6.748390933195424 + ], + [ + -0.00023917759801861393, + 1.0887582043588253, + 6.757963556489472 + ], + [ + 0.00040360148040008426, + 1.0888729300391873, + 6.767747262021317 + ], + [ + 3.0411277634811995e-05, + 1.08884996720775, + 6.778564843915092 + ], + [ + -0.0003270748856039063, + 1.0889669109742215, + 6.788448588062238 + ], + [ + 0.0003174701304260452, + 1.0890807159027958, + 6.798412212431458 + ], + [ + -3.748895517219353e-05, + 1.0891978140377176, + 6.808410386946207 + ], + [ + -0.0003891553068342546, + 1.0893152266320527, + 6.818462984432131 + ], + [ + 0.00025600077964327284, + 1.0894284962711538, + 6.828601245250297 + ], + [ + -9.655563525257094e-05, + 1.0895467090856101, + 6.838761219823027 + ], + [ + -0.0004904737987203589, + 1.0895270255595477, + 6.849960253968447 + ], + [ + 0.0001505471688005855, + 1.0896416829762074, + 6.860258280268795 + ], + [ + -0.00021232919681324347, + 1.089763176656021, + 6.870562929764333 + ], + [ + 0.00041788258670294454, + 1.0898798154209288, + 6.880957130528145 + ], + [ + 4.5670885583604104e-05, + 1.0890144691730228, + 6.89120851268774 + ], + [ + -0.000332942499312594, + 1.0891418756646658, + 6.901635470749966 + ], + [ + 0.00022131405501113477, + 1.089126306870881, + 6.913140892372894 + ], + [ + -0.00017865795581428756, + 1.0892196739767286, + 6.923629944404297 + ], + [ + 0.0004110602792479767, + 1.0892682673468954, + 6.934202420031056 + ], + [ + 0.3430126849603994, + 1.1522555694369032, + 6.9260892986435465 + ], + [ + 0.6858300667632875, + 1.216847930001876, + 6.901112185578199 + ], + [ + 1.0289198630718488, + 1.283323116458078, + 6.85715847381266 + ], + [ + 1.3694083449660752, + 1.350201786938257, + 6.795274576437578 + ], + [ + 1.7085540192448434, + 1.4172734689300697, + 6.71630522823375 + ], + [ + 2.044125130475095, + 1.4842351331750692, + 6.618440198011854 + ], + [ + 2.3745864916976416, + 1.5509672405506194, + 6.504011884724491 + ], + [ + 2.7007772117290187, + 1.616177053537072, + 6.371688468038087 + ], + [ + 3.0207552860711075, + 1.679723122930337, + 6.221952923213962 + ], + [ + 3.3339582534937335, + 1.741071504895821, + 6.056010281093677 + ], + [ + 3.6399346549853817, + 1.7994913024068104, + 5.872740548000365 + ], + [ + 3.9373453016701205, + 1.8553347557606905, + 5.673939979686736 + ], + [ + 4.225384295799813, + 1.9074489994516988, + 5.460046648375055 + ], + [ + 4.5041132895096325, + 1.955184150098476, + 5.231063536776446 + ], + [ + 4.77140600447774, + 1.9973342232876745, + 4.9875045400215186 + ], + [ + 4.824213180594597, + 2.0009808572769185, + 4.951053921162497 + ], + [ + 4.861700965328396, + 2.0020448590603146, + 4.931387580192279 + ], + [ + 4.899005288578792, + 2.0031154924074577, + 4.910326682062873 + ], + [ + 4.936609263419427, + 2.004172398828212, + 4.890088612827242 + ], + [ + 4.974077224003963, + 2.005235675452821, + 4.868539057570274 + ], + [ + 5.011304897284504, + 2.00629194599535, + 4.847158256013074 + ], + [ + 5.049127600467386, + 2.0073465980536414, + 4.825400835692392 + ], + [ + 5.086067025196144, + 2.0083874947765303, + 4.80463168459886 + ], + [ + 5.122463133830706, + 2.0094397746937105, + 4.782138409495531 + ], + [ + 5.1595271979014115, + 2.010475995628191, + 4.76096333933765 + ], + [ + 4.945204491169875, + 1.9721710974232267, + 5.015456039469484 + ], + [ + 4.71976575880683, + 1.9306264237259372, + 5.2600257608272045 + ], + [ + 4.484232124942423, + 1.8860755294948017, + 5.495034113417944 + ], + [ + 4.237513113849218, + 1.8388718358193419, + 5.7174548167384955 + ], + [ + 3.981653250090517, + 1.7892241568309188, + 5.929380899707439 + ], + [ + 3.7152890757145087, + 1.7374886225886002, + 6.128989455809801 + ], + [ + 3.44120887824738, + 1.6839891538195744, + 6.315902059596283 + ], + [ + 3.1580667692556403, + 1.6290146879326244, + 6.490463392168635 + ], + [ + 2.867232893076846, + 1.5729854639695589, + 6.651164035393322 + ], + [ + 2.569535913446032, + 1.516200949242311, + 6.798576078445194 + ], + [ + 2.265312502964264, + 1.459119182421638, + 6.931376145669674 + ], + [ + 1.9543479831613126, + 1.4024777771767418, + 7.0503737446907735 + ], + [ + 1.6381011647021069, + 1.345153492363778, + 7.153918665114247 + ], + [ + 1.3182985976501982, + 1.2901531165509823, + 7.24297774463696 + ], + [ + 0.992511917298657, + 1.2361303325535147, + 7.317183197912755 + ], + [ + 0.6643991664114139, + 1.1841924182544687, + 7.375301767094129 + ], + [ + 0.33341622851395414, + 1.134076513335529, + 7.418989716326905 + ], + [ + -0.00031405637224679595, + 1.090088784078631, + 7.445026582246442 + ], + [ + 0.00021596379406219057, + 1.0902175307628283, + 7.458393467315318 + ], + [ + -0.00016888073631093903, + 1.0902027081797598, + 7.471847809527958 + ], + [ + -0.00030998399100212737, + 1.090410476903486, + 7.484612238562363 + ], + [ + -0.0003844756890032386, + 1.090395894524562, + 7.497611791728673 + ], + [ + -0.00039732630895628063, + 1.0905562358153418, + 7.510892604179048 + ], + [ + -0.00016374006162322985, + 1.0908229821114048, + 7.523449847730035 + ], + [ + -5.6433299079117205e-05, + 1.0899460840185355, + 7.537101595231434 + ], + [ + 0.00031891025716390686, + 1.0901594757823148, + 7.550228344182528 + ], + [ + -0.00017959976594283944, + 1.0906675742526772, + 7.563613062023933 + ], + [ + -0.0003516410741895015, + 1.0907487333329584, + 7.576441102470312 + ], + [ + -0.00038882115768501535, + 1.090768946598871, + 7.5897710770492495 + ], + [ + -0.0003172244021527604, + 1.0907402662392371, + 7.6035123624135394 + ], + [ + 1.5967911934922085e-05, + 1.0905678301652273, + 7.616493504437358 + ], + [ + 0.000165720813953385, + 1.0903981199083717, + 7.6305850056515965 + ], + [ + -0.00044232525635834463, + 1.0904820453799289, + 7.643592571413365 + ], + [ + -4.435140604641674e-05, + 1.090421732299177, + 7.656935302777015 + ], + [ + 0.00040559759915481663, + 1.0903391445079507, + 7.670493340179291 + ], + [ + -5.941120929264798e-05, + 1.0903587834493322, + 7.684107537172963 + ], + [ + -0.0004705662050241699, + 1.0902516171920382, + 7.697942720765695 + ], + [ + 0.0003464248437126116, + 1.0912207489958234, + 7.711304480741205 + ], + [ + -2.7202351787991574e-05, + 1.0911309036167296, + 7.725353522630371 + ], + [ + -0.0004082049350984107, + 1.0912267696557194, + 7.739439428749279 + ], + [ + 0.0004024573553067512, + 1.0913073760907679, + 7.752780097952154 + ], + [ + 5.163933707308388e-06, + 1.0912952316048319, + 7.766870556595791 + ], + [ + -0.00040205631759704374, + 1.0912873653110182, + 7.780967195915878 + ], + [ + 0.0003875239407307163, + 1.0913787251742662, + 7.794337103738712 + ], + [ + -3.570264414065605e-05, + 1.0913792651876406, + 7.808444147054615 + ], + [ + -0.00046865979632571, + 1.091384453463533, + 7.822552708468265 + ], + [ + 5.722144257447326e-05, + 1.091363514021424, + 7.836900245022207 + ], + [ + -0.00040186469664149627, + 1.0912827791092923, + 7.805897472866377 + ], + [ + 0.0003657920285604632, + 1.091302438503675, + 7.776358372438835 + ], + [ + -9.889746175417713e-05, + 1.0912428035914985, + 7.7496919722948405 + ], + [ + 0.000382899037020934, + 1.091155708304015, + 7.725522367588837 + ], + [ + -9.540516612105421e-05, + 1.0911194012949892, + 7.703277683586634 + ], + [ + 0.00036458669902117435, + 1.0910521018167856, + 7.683602674039321 + ], + [ + -0.00011935987600963927, + 1.0910411755957625, + 7.665856238030528 + ], + [ + -4.7039077685440134e-05, + 1.0908735331712336, + 7.651664857344031 + ], + [ + -0.0005422586635859261, + 1.0908903337453637, + 7.638472097961312 + ], + [ + -0.00011446007147242199, + 1.0908688281359957, + 7.627972564137053 + ], + [ + 0.00031183122081301917, + 1.0908584066968388, + 7.619805531555244 + ], + [ + -0.00016011430966500484, + 1.0909174781732673, + 7.613543286704385 + ], + [ + -0.00017573175600205104, + 1.0908145890358867, + 7.610928148609332 + ], + [ + 0.0002530914415217467, + 1.0908424644338908, + 7.609770737837948 + ], + [ + 0.0002041168468451815, + 1.0907669240724402, + 7.611828488471701 + ], + [ + -0.00022727871470351602, + 1.0908868122368744, + 7.614861733633802 + ], + [ + -0.00028588310496502345, + 1.0908417028393984, + 7.62157037901261 + ], + [ + 0.0001764940929547265, + 1.0909232668666249, + 7.629761292869603 + ], + [ + 0.00011286271228527767, + 1.0909068111878497, + 7.641112925587436 + ], + [ + 3.729507122329778e-05, + 1.0908972609769307, + 7.6547682540439155 + ], + [ + 0.0005272695884173118, + 1.0910024094887945, + 7.6699057080170405 + ], + [ + -0.0003704619981874657, + 1.0910753854441566, + 7.687553805140396 + ], + [ + 0.00010973390553203899, + 1.0911575272924239, + 7.7072511718749865 + ], + [ + -7.466639789299734e-05, + 1.0911008649704428, + 7.729996747618657 + ], + [ + -0.0005112511362312944, + 1.0911794316218248, + 7.753578390449206 + ], + [ + -0.0004035317056718668, + 1.0912951672855513, + 7.778611060306389 + ], + [ + -0.0004236451629253679, + 1.0913326797747231, + 7.80585311144182 + ], + [ + 4.702138187440141e-05, + 1.0913743729907281, + 7.83454934545216 + ], + [ + 0.00025950618640990797, + 1.091490441315429, + 7.864031530381453 + ], + [ + 0.00024229052411328666, + 1.0914877805891052, + 7.895676261027006 + ], + [ + 0.0006373504675138975, + 1.0916243507585648, + 7.92735695193096 + ], + [ + 3.720343374880031e-05, + 1.0917068544613642, + 7.960458732835491 + ], + [ + -0.00019007131402304367, + 1.091718573800776, + 7.994972992417729 + ], + [ + -2.6651758730622532e-05, + 1.09181743690975, + 8.029508707127661 + ], + [ + -0.00021622136341648002, + 1.0919001661733745, + 8.064730904000271 + ], + [ + -2.2986405554092926e-05, + 1.0920308648827728, + 8.099978492033983 + ], + [ + -0.0002240195566400871, + 1.0921100129388748, + 8.135894755641743 + ], + [ + -7.019410514885749e-05, + 1.0921976754254814, + 8.171845451956301 + ], + [ + 0.00042756978490388065, + 1.0922719002702195, + 8.207849477906393 + ], + [ + -0.0001461717430970566, + 1.092336077511348, + 8.243718233283175 + ], + [ + -0.00030682672144166645, + 1.09238869663686, + 8.27963295115569 + ], + [ + 5.3678270433010766e-05, + 1.0924588204637047, + 8.315610527383683 + ], + [ + 0.00022023085148248356, + 1.0925623541768914, + 8.35085832478785 + ], + [ + -0.00012106774238418438, + 1.09258715416928, + 8.381812764270308 + ], + [ + -0.0003881416205899768, + 1.092648225277344, + 8.405295585614567 + ], + [ + -0.0005556978399567924, + 1.0926671804047032, + 8.42063400318466 + ], + [ + 0.0002739278498893327, + 1.0926907499958673, + 8.426709235604335 + ], + [ + -0.0006340293854236734, + 1.0926925299883123, + 8.423600488206375 + ], + [ + 0.00016045482868776162, + 1.0926652282865206, + 8.411494598590025 + ], + [ + 5.6686276025175175e-05, + 1.0926785148514, + 8.389617118770389 + ] + ], + "target_bbox_centre_cam01_m": [ + [ + 0.00021872657629273817, + 1.089280311084167, + 6.71962147121701 + ], + [ + -0.0001553939283667205, + 1.0893988682985736, + 6.729142531045227 + ], + [ + 0.0004795219583115795, + 1.089515460449448, + 6.738737079432099 + ], + [ + 0.00011838278669529245, + 1.0896319171912552, + 6.748390933195424 + ], + [ + -0.00023917759801861393, + 1.0887582043588253, + 6.757963556489472 + ], + [ + 0.00040360148040008426, + 1.0888729300391873, + 6.767747262021317 + ], + [ + 3.0411277634811995e-05, + 1.08884996720775, + 6.778564843915092 + ], + [ + -0.0003270748856039063, + 1.0889669109742215, + 6.788448588062238 + ], + [ + 0.0003174701304260452, + 1.0890807159027958, + 6.798412212431458 + ], + [ + -3.748895517219353e-05, + 1.0891978140377176, + 6.808410386946207 + ], + [ + -0.0003891553068342546, + 1.0893152266320527, + 6.818462984432131 + ], + [ + 0.00025600077964327284, + 1.0894284962711538, + 6.828601245250297 + ], + [ + -9.655563525257094e-05, + 1.0895467090856101, + 6.838761219823027 + ], + [ + -0.0004904737987203589, + 1.0895270255595477, + 6.849960253968447 + ], + [ + 0.0001505471688005855, + 1.0896416829762074, + 6.860258280268795 + ], + [ + -0.00021232919681324347, + 1.089763176656021, + 6.870562929764333 + ], + [ + 0.00041788258670294454, + 1.0898798154209288, + 6.880957130528145 + ], + [ + 4.5670885583604104e-05, + 1.0890144691730228, + 6.89120851268774 + ], + [ + -0.000332942499312594, + 1.0891418756646658, + 6.901635470749966 + ], + [ + 0.00022131405501113477, + 1.089126306870881, + 6.913140892372894 + ], + [ + -0.00017865795581428756, + 1.0892196739767286, + 6.923629944404297 + ], + [ + 0.0004110602792479767, + 1.0892682673468954, + 6.934202420031056 + ], + [ + 0.3430126849603994, + 1.1522555694369032, + 6.9260892986435465 + ], + [ + 0.6858300667632875, + 1.216847930001876, + 6.901112185578199 + ], + [ + 1.0289198630718488, + 1.283323116458078, + 6.85715847381266 + ], + [ + 1.3694083449660752, + 1.350201786938257, + 6.795274576437578 + ], + [ + 1.7085540192448434, + 1.4172734689300697, + 6.71630522823375 + ], + [ + 2.044125130475095, + 1.4842351331750692, + 6.618440198011854 + ], + [ + 2.3745864916976416, + 1.5509672405506194, + 6.504011884724491 + ], + [ + 2.7007772117290187, + 1.616177053537072, + 6.371688468038087 + ], + [ + 3.0207552860711075, + 1.679723122930337, + 6.221952923213962 + ], + [ + 3.3339582534937335, + 1.741071504895821, + 6.056010281093677 + ], + [ + 3.6399346549853817, + 1.7994913024068104, + 5.872740548000365 + ], + [ + 3.9373453016701205, + 1.8553347557606905, + 5.673939979686736 + ], + [ + 4.225384295799813, + 1.9074489994516988, + 5.460046648375055 + ], + [ + 4.5041132895096325, + 1.955184150098476, + 5.231063536776446 + ], + [ + 4.77140600447774, + 1.9973342232876745, + 4.9875045400215186 + ], + [ + 4.824213180594597, + 2.0009808572769185, + 4.951053921162497 + ], + [ + 4.861700965328396, + 2.0020448590603146, + 4.931387580192279 + ], + [ + 4.899005288578792, + 2.0031154924074577, + 4.910326682062873 + ], + [ + 4.936609263419427, + 2.004172398828212, + 4.890088612827242 + ], + [ + 4.974077224003963, + 2.005235675452821, + 4.868539057570274 + ], + [ + 5.011304897284504, + 2.00629194599535, + 4.847158256013074 + ], + [ + 5.049127600467386, + 2.0073465980536414, + 4.825400835692392 + ], + [ + 5.086067025196144, + 2.0083874947765303, + 4.80463168459886 + ], + [ + 5.122463133830706, + 2.0094397746937105, + 4.782138409495531 + ], + [ + 5.1595271979014115, + 2.010475995628191, + 4.76096333933765 + ], + [ + 4.945204491169875, + 1.9721710974232267, + 5.015456039469484 + ], + [ + 4.71976575880683, + 1.9306264237259372, + 5.2600257608272045 + ], + [ + 4.484232124942423, + 1.8860755294948017, + 5.495034113417944 + ], + [ + 4.237513113849218, + 1.8388718358193419, + 5.7174548167384955 + ], + [ + 3.981653250090517, + 1.7892241568309188, + 5.929380899707439 + ], + [ + 3.7152890757145087, + 1.7374886225886002, + 6.128989455809801 + ], + [ + 3.44120887824738, + 1.6839891538195744, + 6.315902059596283 + ], + [ + 3.1580667692556403, + 1.6290146879326244, + 6.490463392168635 + ], + [ + 2.867232893076846, + 1.5729854639695589, + 6.651164035393322 + ], + [ + 2.569535913446032, + 1.516200949242311, + 6.798576078445194 + ], + [ + 2.265312502964264, + 1.459119182421638, + 6.931376145669674 + ], + [ + 1.9543479831613126, + 1.4024777771767418, + 7.0503737446907735 + ], + [ + 1.6381011647021069, + 1.345153492363778, + 7.153918665114247 + ], + [ + 1.3182985976501982, + 1.2901531165509823, + 7.24297774463696 + ], + [ + 0.992511917298657, + 1.2361303325535147, + 7.317183197912755 + ], + [ + 0.6643991664114139, + 1.1841924182544687, + 7.375301767094129 + ], + [ + 0.33341622851395414, + 1.134076513335529, + 7.418989716326905 + ], + [ + -0.00031405637224679595, + 1.090088784078631, + 7.445026582246442 + ], + [ + 0.00021596379406219057, + 1.0902175307628283, + 7.458393467315318 + ], + [ + -0.00016888073631093903, + 1.0902027081797598, + 7.471847809527958 + ], + [ + -0.00030998399100212737, + 1.090410476903486, + 7.484612238562363 + ], + [ + -0.0003844756890032386, + 1.090395894524562, + 7.497611791728673 + ], + [ + -0.00039732630895628063, + 1.0905562358153418, + 7.510892604179048 + ], + [ + -0.00016374006162322985, + 1.0908229821114048, + 7.523449847730035 + ], + [ + -5.6433299079117205e-05, + 1.0899460840185355, + 7.537101595231434 + ], + [ + 0.00031891025716390686, + 1.0901594757823148, + 7.550228344182528 + ], + [ + -0.00017959976594283944, + 1.0906675742526772, + 7.563613062023933 + ], + [ + -0.0003516410741895015, + 1.0907487333329584, + 7.576441102470312 + ], + [ + -0.00038882115768501535, + 1.090768946598871, + 7.5897710770492495 + ], + [ + -0.0003172244021527604, + 1.0907402662392371, + 7.6035123624135394 + ], + [ + 1.5967911934922085e-05, + 1.0905678301652273, + 7.616493504437358 + ], + [ + 0.000165720813953385, + 1.0903981199083717, + 7.6305850056515965 + ], + [ + -0.00044232525635834463, + 1.0904820453799289, + 7.643592571413365 + ], + [ + -4.435140604641674e-05, + 1.090421732299177, + 7.656935302777015 + ], + [ + 0.00040559759915481663, + 1.0903391445079507, + 7.670493340179291 + ], + [ + -5.941120929264798e-05, + 1.0903587834493322, + 7.684107537172963 + ], + [ + -0.0004705662050241699, + 1.0902516171920382, + 7.697942720765695 + ], + [ + 0.0003464248437126116, + 1.0912207489958234, + 7.711304480741205 + ], + [ + -2.7202351787991574e-05, + 1.0911309036167296, + 7.725353522630371 + ], + [ + -0.0004082049350984107, + 1.0912267696557194, + 7.739439428749279 + ], + [ + 0.0004024573553067512, + 1.0913073760907679, + 7.752780097952154 + ], + [ + 5.163933707308388e-06, + 1.0912952316048319, + 7.766870556595791 + ], + [ + -0.00040205631759704374, + 1.0912873653110182, + 7.780967195915878 + ], + [ + 0.0003875239407307163, + 1.0913787251742662, + 7.794337103738712 + ], + [ + -3.570264414065605e-05, + 1.0913792651876406, + 7.808444147054615 + ], + [ + -0.00046865979632571, + 1.091384453463533, + 7.822552708468265 + ], + [ + 5.722144257447326e-05, + 1.091363514021424, + 7.836900245022207 + ], + [ + -0.00040186469664149627, + 1.0912827791092923, + 7.805897472866377 + ], + [ + 0.0003657920285604632, + 1.091302438503675, + 7.776358372438835 + ], + [ + -9.889746175417713e-05, + 1.0912428035914985, + 7.7496919722948405 + ], + [ + 0.000382899037020934, + 1.091155708304015, + 7.725522367588837 + ], + [ + -9.540516612105421e-05, + 1.0911194012949892, + 7.703277683586634 + ], + [ + 0.00036458669902117435, + 1.0910521018167856, + 7.683602674039321 + ], + [ + -0.00011935987600963927, + 1.0910411755957625, + 7.665856238030528 + ], + [ + -4.7039077685440134e-05, + 1.0908735331712336, + 7.651664857344031 + ], + [ + -0.0005422586635859261, + 1.0908903337453637, + 7.638472097961312 + ], + [ + -0.00011446007147242199, + 1.0908688281359957, + 7.627972564137053 + ], + [ + 0.00031183122081301917, + 1.0908584066968388, + 7.619805531555244 + ], + [ + -0.00016011430966500484, + 1.0909174781732673, + 7.613543286704385 + ], + [ + -0.00017573175600205104, + 1.0908145890358867, + 7.610928148609332 + ], + [ + 0.0002530914415217467, + 1.0908424644338908, + 7.609770737837948 + ], + [ + 0.0002041168468451815, + 1.0907669240724402, + 7.611828488471701 + ], + [ + -0.00022727871470351602, + 1.0908868122368744, + 7.614861733633802 + ], + [ + -0.00028588310496502345, + 1.0908417028393984, + 7.62157037901261 + ], + [ + 0.0001764940929547265, + 1.0909232668666249, + 7.629761292869603 + ], + [ + 0.00011286271228527767, + 1.0909068111878497, + 7.641112925587436 + ], + [ + 3.729507122329778e-05, + 1.0908972609769307, + 7.6547682540439155 + ], + [ + 0.0005272695884173118, + 1.0910024094887945, + 7.6699057080170405 + ], + [ + -0.0003704619981874657, + 1.0910753854441566, + 7.687553805140396 + ], + [ + 0.00010973390553203899, + 1.0911575272924239, + 7.7072511718749865 + ], + [ + -7.466639789299734e-05, + 1.0911008649704428, + 7.729996747618657 + ], + [ + -0.0005112511362312944, + 1.0911794316218248, + 7.753578390449206 + ], + [ + -0.0004035317056718668, + 1.0912951672855513, + 7.778611060306389 + ], + [ + -0.0004236451629253679, + 1.0913326797747231, + 7.80585311144182 + ], + [ + 4.702138187440141e-05, + 1.0913743729907281, + 7.83454934545216 + ], + [ + 0.00025950618640990797, + 1.091490441315429, + 7.864031530381453 + ], + [ + 0.00024229052411328666, + 1.0914877805891052, + 7.895676261027006 + ], + [ + 0.0006373504675138975, + 1.0916243507585648, + 7.92735695193096 + ], + [ + 3.720343374880031e-05, + 1.0917068544613642, + 7.960458732835491 + ], + [ + -0.00019007131402304367, + 1.091718573800776, + 7.994972992417729 + ], + [ + -2.6651758730622532e-05, + 1.09181743690975, + 8.029508707127661 + ], + [ + -0.00021622136341648002, + 1.0919001661733745, + 8.064730904000271 + ], + [ + -2.2986405554092926e-05, + 1.0920308648827728, + 8.099978492033983 + ], + [ + -0.0002240195566400871, + 1.0921100129388748, + 8.135894755641743 + ], + [ + -7.019410514885749e-05, + 1.0921976754254814, + 8.171845451956301 + ], + [ + 0.00042756978490388065, + 1.0922719002702195, + 8.207849477906393 + ], + [ + -0.0001461717430970566, + 1.092336077511348, + 8.243718233283175 + ], + [ + -0.00030682672144166645, + 1.09238869663686, + 8.27963295115569 + ], + [ + 5.3678270433010766e-05, + 1.0924588204637047, + 8.315610527383683 + ], + [ + 0.00022023085148248356, + 1.0925623541768914, + 8.35085832478785 + ], + [ + -0.00012106774238418438, + 1.09258715416928, + 8.381812764270308 + ], + [ + -0.0003881416205899768, + 1.092648225277344, + 8.405295585614567 + ], + [ + -0.0005556978399567924, + 1.0926671804047032, + 8.42063400318466 + ], + [ + 0.0002739278498893327, + 1.0926907499958673, + 8.426709235604335 + ], + [ + -0.0006340293854236734, + 1.0926925299883123, + 8.423600488206375 + ], + [ + 0.00016045482868776162, + 1.0926652282865206, + 8.411494598590025 + ], + [ + 5.6686276025175175e-05, + 1.0926785148514, + 8.389617118770389 + ] + ], + "target_bbox_half_world_m": [ + [ + 0.45, + 0.45, + 0.95 + ], + [ + 0.45, + 0.45, + 0.95 + ], + [ + 0.45, + 0.45, + 0.95 + ], + [ + 0.45, + 0.45, + 0.95 + ], + [ + 0.45, + 0.45, + 0.95 + ], + [ + 0.45, + 0.45, + 0.95 + ], + [ + 0.45, + 0.45, + 0.95 + ], + [ + 0.45, + 0.45, + 0.95 + ], + [ + 0.45, + 0.45, + 0.95 + ], + [ + 0.45, + 0.45, + 0.95 + ], + [ + 0.45, + 0.45, + 0.95 + ], + [ + 0.45, + 0.45, + 0.95 + ], + [ + 0.45, + 0.45, + 0.95 + ], + [ + 0.45, + 0.45, + 0.95 + ], + [ + 0.45, + 0.45, + 0.95 + ], + [ + 0.45, + 0.45, + 0.95 + ], + [ + 0.45, + 0.45, + 0.95 + ], + [ + 0.45, + 0.45, + 0.95 + ], + [ + 0.45, + 0.45, + 0.95 + ], + [ + 0.45, + 0.45, + 0.95 + ], + [ + 0.45, + 0.45, + 0.95 + ], + [ + 0.45, + 0.45, + 0.95 + ], + [ + 0.45, + 0.45, + 0.95 + ], + [ + 0.45, + 0.45, + 0.95 + ], + [ + 0.45, + 0.45, + 0.95 + ], + [ + 0.45, + 0.45, + 0.95 + ], + [ + 0.45, + 0.45, + 0.95 + ], + [ + 0.45, + 0.45, + 0.95 + ], + [ + 0.45, + 0.45, + 0.95 + ], + [ + 0.45, + 0.45, + 0.95 + ], + [ + 0.45, + 0.45, + 0.95 + ], + [ + 0.45, + 0.45, + 0.95 + ], + [ + 0.45, + 0.45, + 0.95 + ], + [ + 0.45, + 0.45, + 0.95 + ], + [ + 0.45, + 0.45, + 0.95 + ], + [ + 0.45, + 0.45, + 0.95 + ], + [ + 0.45, + 0.45, + 0.95 + ], + [ + 0.45, + 0.45, + 0.95 + ], + [ + 0.45, + 0.45, + 0.95 + ], + [ + 0.45, + 0.45, + 0.95 + ], + [ + 0.45, + 0.45, + 0.95 + ], + [ + 0.45, + 0.45, + 0.95 + ], + [ + 0.45, + 0.45, + 0.95 + ], + [ + 0.45, + 0.45, + 0.95 + ], + [ + 0.45, + 0.45, + 0.95 + ], + [ + 0.45, + 0.45, + 0.95 + ], + [ + 0.45, + 0.45, + 0.95 + ], + [ + 0.45, + 0.45, + 0.95 + ], + [ + 0.45, + 0.45, + 0.95 + ], + [ + 0.45, + 0.45, + 0.95 + ], + [ + 0.45, + 0.45, + 0.95 + ], + [ + 0.45, + 0.45, + 0.95 + ], + [ + 0.45, + 0.45, + 0.95 + ], + [ + 0.45, + 0.45, + 0.95 + ], + [ + 0.45, + 0.45, + 0.95 + ], + [ + 0.45, + 0.45, + 0.95 + ], + [ + 0.45, + 0.45, + 0.95 + ], + [ + 0.45, + 0.45, + 0.95 + ], + [ + 0.45, + 0.45, + 0.95 + ], + [ + 0.45, + 0.45, + 0.95 + ], + [ + 0.45, + 0.45, + 0.95 + ], + [ + 0.45, + 0.45, + 0.95 + ], + [ + 0.45, + 0.45, + 0.95 + ], + [ + 0.45, + 0.45, + 0.95 + ], + [ + 0.45, + 0.45, + 0.95 + ], + [ + 0.45, + 0.45, + 0.95 + ], + [ + 0.45, + 0.45, + 0.95 + ], + [ + 0.45, + 0.45, + 0.95 + ], + [ + 0.45, + 0.45, + 0.95 + ], + [ + 0.45, + 0.45, + 0.95 + ], + [ + 0.45, + 0.45, + 0.95 + ], + [ + 0.45, + 0.45, + 0.95 + ], + [ + 0.45, + 0.45, + 0.95 + ], + [ + 0.45, + 0.45, + 0.95 + ], + [ + 0.45, + 0.45, + 0.95 + ], + [ + 0.45, + 0.45, + 0.95 + ], + [ + 0.45, + 0.45, + 0.95 + ], + [ + 0.45, + 0.45, + 0.95 + ], + [ + 0.45, + 0.45, + 0.95 + ], + [ + 0.45, + 0.45, + 0.95 + ], + [ + 0.45, + 0.45, + 0.95 + ], + [ + 0.45, + 0.45, + 0.95 + ], + [ + 0.45, + 0.45, + 0.95 + ], + [ + 0.45, + 0.45, + 0.95 + ], + [ + 0.45, + 0.45, + 0.95 + ], + [ + 0.45, + 0.45, + 0.95 + ], + [ + 0.45, + 0.45, + 0.95 + ], + [ + 0.45, + 0.45, + 0.95 + ], + [ + 0.45, + 0.45, + 0.95 + ], + [ + 0.45, + 0.45, + 0.95 + ], + [ + 0.45, + 0.45, + 0.95 + ], + [ + 0.45, + 0.45, + 0.95 + ], + [ + 0.45, + 0.45, + 0.95 + ], + [ + 0.45, + 0.45, + 0.95 + ], + [ + 0.45, + 0.45, + 0.95 + ], + [ + 0.45, + 0.45, + 0.95 + ], + [ + 0.45, + 0.45, + 0.95 + ], + [ + 0.45, + 0.45, + 0.95 + ], + [ + 0.45, + 0.45, + 0.95 + ], + [ + 0.45, + 0.45, + 0.95 + ], + [ + 0.45, + 0.45, + 0.95 + ], + [ + 0.45, + 0.45, + 0.95 + ], + [ + 0.45, + 0.45, + 0.95 + ], + [ + 0.45, + 0.45, + 0.95 + ], + [ + 0.45, + 0.45, + 0.95 + ], + [ + 0.45, + 0.45, + 0.95 + ], + [ + 0.45, + 0.45, + 0.95 + ], + [ + 0.45, + 0.45, + 0.95 + ], + [ + 0.45, + 0.45, + 0.95 + ], + [ + 0.45, + 0.45, + 0.95 + ], + [ + 0.45, + 0.45, + 0.95 + ], + [ + 0.45, + 0.45, + 0.95 + ], + [ + 0.45, + 0.45, + 0.95 + ], + [ + 0.45, + 0.45, + 0.95 + ], + [ + 0.45, + 0.45, + 0.95 + ], + [ + 0.45, + 0.45, + 0.95 + ], + [ + 0.45, + 0.45, + 0.95 + ], + [ + 0.45, + 0.45, + 0.95 + ], + [ + 0.45, + 0.45, + 0.95 + ], + [ + 0.45, + 0.45, + 0.95 + ], + [ + 0.45, + 0.45, + 0.95 + ], + [ + 0.45, + 0.45, + 0.95 + ], + [ + 0.45, + 0.45, + 0.95 + ], + [ + 0.45, + 0.45, + 0.95 + ], + [ + 0.45, + 0.45, + 0.95 + ], + [ + 0.45, + 0.45, + 0.95 + ], + [ + 0.45, + 0.45, + 0.95 + ], + [ + 0.45, + 0.45, + 0.95 + ], + [ + 0.45, + 0.45, + 0.95 + ], + [ + 0.45, + 0.45, + 0.95 + ], + [ + 0.45, + 0.45, + 0.95 + ], + [ + 0.45, + 0.45, + 0.95 + ], + [ + 0.45, + 0.45, + 0.95 + ], + [ + 0.45, + 0.45, + 0.95 + ], + [ + 0.45, + 0.45, + 0.95 + ], + [ + 0.45, + 0.45, + 0.95 + ], + [ + 0.45, + 0.45, + 0.95 + ], + [ + 0.45, + 0.45, + 0.95 + ], + [ + 0.45, + 0.45, + 0.95 + ], + [ + 0.45, + 0.45, + 0.95 + ], + [ + 0.45, + 0.45, + 0.95 + ], + [ + 0.45, + 0.45, + 0.95 + ], + [ + 0.45, + 0.45, + 0.95 + ], + [ + 0.45, + 0.45, + 0.95 + ] + ], + "w2c_cam01": [ + [ + [ + -2.4335928950132557e-08, + 0.9999999999999996, + 1.540743943812645e-33, + 298.74723650935056 + ], + [ + 0.14028808736573917, + 3.414040926682619e-09, + -0.9901107274155059, + -99.9063106332885 + ], + [ + -0.9901107272625472, + -1.2125359329435364e-16, + -0.14028808844527627, + 730.4291032706426 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.0030386864398077125, + 0.9999953831817027, + -0.0, + 296.40983029041564 + ], + [ + 0.14018700937609302, + -0.0004259863311298185, + -0.9901249521842344, + -99.97089743778596 + ], + [ + -0.9901203808776482, + 0.0030086551932602006, + -0.14018765767580563, + 731.4100630781201 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.00606799959413549, + 0.9999815895209898, + 5.421010821269416e-20, + 294.0761558560342 + ], + [ + 0.14008367297400096, + -0.0008500433204559555, + -0.9901393043367513, + -100.03314616509104 + ], + [ + -0.9901210753912888, + 0.006008140846952217, + -0.14008625310700826, + 732.3811135160956 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.00908820268954981, + 0.9999587014331511, + -0.0, + 291.7460275628893 + ], + [ + 0.13997812544745114, + -0.001272202116293811, + -0.9901537789141607, + -100.09310136197072 + ], + [ + -0.9901128870482023, + 0.008998694209600151, + -0.13998390765940252, + 733.342377370261 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.012099002500054086, + 0.9999268043904532, + -3.2526064927601605e-19, + 289.41968985830067 + ], + [ + 0.13987038156917972, + -0.0016924159737078273, + -0.9901683756250063, + -100.15075953519518 + ], + [ + -0.9900958997855637, + 0.011980025648215428, + -0.1398806212928837, + 734.2938272421927 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.015100638907229052, + 0.9998859788518857, + -2.1684043285062708e-19, + 287.0969932387839 + ], + [ + 0.1397604554265811, + -0.0021107128368076755, + -0.9901830941751503, + -100.20613914951186 + ], + [ + -0.9900701925722163, + 0.014952373376428824, + -0.1397763939670299, + 735.235590804363 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.01809281969797364, + 0.9998363115407325, + -2.168404328505765e-19, + 284.7781837243288 + ], + [ + 0.1396483949565083, + -0.0025270468794697134, + -0.9901979296181848, + -100.2592619548252 + ], + [ + -0.9900358459266069, + 0.017915448648468273, + -0.13967125860431098, + 736.1676419494655 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.02107578572089173, + 0.9997778809596897, + -0.0, + 282.4631120927712 + ], + [ + 0.1395342304778968, + -0.002941446893642813, + -0.990212879342171, + -100.31015907457919 + ], + [ + -0.989992934560832, + 0.02086949052913337, + -0.13956523164702095, + 737.0901084465526 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.02404924577088009, + 0.9997107750633941, + -0.0, + 280.15202407718004 + ], + [ + 0.13941797716138535, + -0.003353867219667096, + -0.9902279430610408, + -100.35882818037281 + ], + [ + -0.9899415448709831, + 0.023814211261523888, + -0.1394583130560645, + 738.0029690059522 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.02701344163982989, + 0.9996350703985788, + -6.505212985512664e-19, + 277.84476850397 + ], + [ + 0.139299648596601, + -0.0037643366456848186, + -0.9902431204863182, + -100.4052879106082 + ], + [ + -0.9898817519535745, + 0.026749850857895108, + -0.13935050279206945, + 738.9063508811705 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.029967816929076706, + 0.9995508641127302, + -0.0, + 275.5417890756996 + ], + [ + 0.1391792942049381, + -0.0041727737514929445, + -0.990258406691826, + -100.44955048280138 + ], + [ + -0.9898136466683993, + 0.029675858781480907, + -0.13924183378060973, + 739.800157192125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.03291314676791175, + 0.9994582156197598, + -0.0, + 273.2425354714981 + ], + [ + 0.13905694167688903, + -0.00457928251424732, + -0.9902737990793884, + -100.49166725904445 + ], + [ + -0.9897372848373968, + 0.032593003050775976, + -0.13913232246616875, + 740.6846575690206 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.03584860958799689, + 0.9993572320199656, + -8.673617314010576e-19, + 270.94764974926795 + ], + [ + 0.13893260063531368, + -0.004983743950252363, + -0.9902892985269235, + -100.53160982816188 + ], + [ + -0.989652772978832, + 0.03550047062744065, + -0.13902196056932453, + 741.5596878841162 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.03877471520044397, + 0.9992479779619894, + -8.673617314008446e-19, + 268.6567785859539 + ], + [ + 0.1388063077459461, + -0.005386225611235587, + -0.9903049012822275, + -100.56942526745469 + ], + [ + -0.9895601709451993, + 0.038398766718443424, + -0.1389107727766658, + 742.4254419490924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.0416909093150555, + 0.9991305560738716, + 8.673617314006302e-19, + 266.3703652977848 + ], + [ + 0.138678088479986, + -0.005786646775696118, + -0.9903206059123631, + -100.60510823848884 + ], + [ + -0.9894595785184739, + 0.04128734280790485, + -0.1387987672924616, + 743.2818292095659 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.04459770257091883, + 0.9990050274775377, + -0.0, + 264.088054601096 + ], + [ + 0.13854797077691486, + -0.006185075172359064, + -0.990336409831887, + -100.6386993770123 + ], + [ + -0.98935105322636, + 0.044166704909295425, + -0.1386859605632356, + 744.1290415055795 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.04749507377095644, + 0.9988714721962437, + 4.336808657000985e-19, + 261.8098893192017 + ], + [ + 0.13841598519975618, + -0.006581504839343791, + -0.9903523104608936, + -100.67021931250852 + ], + [ + -0.9892346713213379, + 0.04703683232763521, + -0.13857236903635076, + 744.9671275999032 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.05038247021255318, + 0.9987299968936956, + 4.3368086569998927e-19, + 259.5363126441592 + ], + [ + 0.13828214129875846, + -0.0069758552227147455, + -0.9903683086820484, + -100.69965097086798 + ], + [ + -0.9891105388996574, + 0.04989717811939489, + -0.13845798443336751, + 745.7960017147216 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.053260137772365296, + 0.9985806716157032, + -0.0, + 257.2671671473645 + ], + [ + 0.13814648470449625, + -0.007368158644834041, + -0.9903843996156112, + -100.72703748877075 + ], + [ + -0.9889787200392492, + 0.052747985903709854, + -0.13834283968688157, + 746.6157820925283 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.056128322627849565, + 0.9984235631228783, + -1.301042597099307e-18, + 255.00229406727794 + ], + [ + 0.13800903589140695, + -0.007758446393074576, + -0.990400581846502, + -100.75240308455372 + ], + [ + -0.9888392790265476, + 0.055589499746198014, + -0.13822694300397742, + 747.4265869633192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.05898673952811503, + 0.9982587663325788, + -0.0, + 252.741935468201 + ], + [ + 0.1378698109939901, + -0.008146675896241047, + -0.9904168551111814, + -100.77479624380727 + ], + [ + -0.9886923091853371, + 0.058421437439237174, + -0.13811029434947614, + 748.2285321162494 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.06183510384208509, + 0.9980863789937415, + -0.0, + 250.4863338288342 + ], + [ + 0.13772885120883246, + -0.008532806374068997, + -0.9904332156991089, + -100.79423501565473 + ], + [ + -0.9885379032056193, + 0.06124351714907534, + -0.1379929184163029, + 749.0216002002417 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.01371380868676637, + 0.9999059613040132, + 1.0842021642283198e-19, + 286.48301656688 + ], + [ + 0.1290375938924002, + -0.0017697633022741796, + -0.9916381231579963, + -92.37075083983265 + ], + [ + -0.9915448710021512, + 0.013599111480890535, + -0.1290497305547653, + 737.1482909975425 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.03444785408023748, + 0.9994064965514617, + -0.0, + 321.8288139897584 + ], + [ + 0.12007000507560436, + 0.004138610293739283, + -0.9927568009265817, + -83.99677750975128 + ], + [ + -0.9921675970527779, + -0.03419831753110889, + -0.12014131028317454, + 723.4773469547582 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.08253406830236591, + 0.9965882437443561, + -0.0, + 356.438876639569 + ], + [ + 0.11086865504690757, + 0.009181767099572748, + -0.9937926526600098, + -75.7092187830551 + ], + [ + -0.9904020762083184, + -0.08202172719667106, + -0.1112482076706256, + 708.0426032384901 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.13043802622275025, + 0.9914564646594991, + -8.673617313404456e-19, + 390.236459249852 + ], + [ + 0.10152150372679457, + 0.013356375229079297, + -0.9947436813178507, + -67.56851529729026 + ], + [ + -0.9862450564672696, + -0.12975237937622078, + -0.10239633118467109, + 690.8770086830236 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.17804891752414945, + 0.984021637449339, + -1.7347234626573959e-18, + 423.143355261878 + ], + [ + 0.09209402798220066, + 0.016663497395415502, + -0.9956108767307467, + -59.62509889744917 + ], + [ + -0.9797026491842616, + -0.17726741638158683, + -0.09358943461062452, + 672.020583498839 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.22525648553649325, + 0.9742995000120589, + -0.0, + 455.08326768615973 + ], + [ + 0.08265176166386201, + 0.019108955054961012, + -0.9963952700261917, + -51.925421740183225 + ], + [ + -0.9707874184135574, + -0.2244444748023073, + -0.08483198677773067, + 651.5182338334076 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.27194640411528337, + 0.9623123990102005, + -0.0, + 485.97878553481553 + ], + [ + 0.07323101031939191, + 0.02069484914313854, + -0.9971002669473836, + -44.49806760374158 + ], + [ + -0.9595219559170087, + -0.2711578108227683, + -0.07609899961892973, + 629.4229247802535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.31801603198187506, + 0.9480853355065161, + -0.0, + 515.7618572640985 + ], + [ + 0.06392776695274849, + 0.021443275218378688, + -0.9977241234731893, + -37.401991903525605 + ], + [ + -0.9459276172387557, + -0.3172922460997464, + -0.06742828419875416, + 605.7843825203556 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.3633589836398524, + 0.9316492092028058, + -0.0, + 544.3633449458559 + ], + [ + 0.05480766010909434, + 0.021375916467486468, + -0.9982680955477546, + -30.681720970825264 + ], + [ + -0.9300356895469333, + -0.36272966063439893, + -0.058828644936072004, + 580.6597653880085 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.4078710615635182, + 0.9130395375552192, + -0.0, + 571.7170319356001 + ], + [ + 0.045936654616391806, + 0.020520723706262588, + -0.9987335598953435, + -24.377581246086308 + ], + [ + -0.9118832362374627, + -0.40735449806174306, + -0.0503117916393136, + 554.1099546591422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.4514416024071868, + 0.8923006666006873, + -1.7347234625625571e-18, + 597.7544712850988 + ], + [ + 0.03733601897022814, + 0.018889408987708058, + -0.9991242224646292, + -18.504284602167104 + ], + [ + -0.8915192190500998, + -0.4510462215258448, + -0.04184242000122358, + 526.205813915223 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.49398041544706534, + 0.8694730295729387, + 1.7347234625540925e-18, + 622.421147953952 + ], + [ + 0.02912530943301524, + 0.01654718658819338, + -0.9994387960082631, + -13.125605677886032 + ], + [ + -0.8689850878692772, + -0.4937031739921199, + -0.033497657394676986, + 497.00780922627024 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.5353920001231397, + 0.8446036977210933, + -0.0, + 645.6605408970984 + ], + [ + 0.021382804612751022, + 0.01355450202355556, + -0.9996794742025, + -8.284097803859051 + ], + [ + -0.8443329911258204, + -0.5352203763202441, + -0.02531696798871433, + 466.58479781260473 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.5755871843530308, + 0.8177404192092685, + -0.0, + 667.4209778825762 + ], + [ + 0.01420869836634369, + 0.010001150113031588, + -0.9998490335481408, + -4.02728391675 + ], + [ + -0.8176169791088485, + -0.5755002739837708, + -0.017375560926947704, + 435.00511397747897 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.614492944102576, + 0.7889223166118119, + 8.673617312701569e-19, + 687.6601662476767 + ], + [ + 0.007791467050537397, + 0.006068787035110292, + -0.9999512302433168, + -0.44094455559809953 + ], + [ + -0.788883852865519, + -0.6144629602764244, + -0.009876089124152358, + 402.326975178394 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.6194782941743849, + 0.7850137852590832, + 4.336808656350448e-19, + 690.1607459639176 + ], + [ + 0.007343112402890632, + 0.005794673712350357, + -0.9999562492713399, + -0.19048595048506956 + ], + [ + -0.7849794522025884, + -0.6194511765064094, + -0.009354119122058371, + 398.07958187985815 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.6220003423038614, + 0.7830169692758129, + -0.0, + 691.4028437382854 + ], + [ + 0.007297691137797725, + 0.0057970217298562105, + -0.9999565681783991, + -0.1565492004161162 + ], + [ + -0.7829829733239436, + -0.6219733127125086, + -0.0093199655699366, + 395.9736538977665 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.62453404946537, + 0.7809975806994455, + -0.0, + 692.6466578688267 + ], + [ + 0.007252991217149496, + 0.005799941110606763, + -0.9999568764709394, + -0.122967674455706 + ], + [ + -0.7809639132618463, + -0.6245071024279268, + -0.009286829373833119, + 393.84733492124695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.6270757220658305, + 0.7789583036309564, + -0.0, + 693.8902932559507 + ], + [ + 0.0072089954781479676, + 0.005803373587208901, + -0.9999571747025988, + -0.08974640138985768 + ], + [ + -0.7789249564769595, + -0.6270488524949575, + -0.009254661642846123, + 391.70371995751754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.6296204603371311, + 0.7769028741901132, + 4.3368086563503665e-19, + 695.1312947340327 + ], + [ + 0.007165690734367782, + 0.005807245215187767, + -0.9999574634849775, + -0.05689805847030005 + ], + [ + -0.7768698394489738, + -0.6295936636692889, + -0.00922340620421078, + 389.5470502487238 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.6321621756966395, + 0.7748361011326789, + -4.3368086563503463e-19, + 696.3666606634619 + ], + [ + 0.007123069527206114, + 0.005811467900597976, + -0.9999577434678681, + -0.02444379241168182 + ], + [ + -0.7748033712781245, + -0.6321354479667272, + -0.009193001683800935, + 387.382721255619 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.6346940197895935, + 0.7727635480813825, + -0.0, + 697.5930605181698 + ], + [ + 0.007081127150246994, + 0.00581594339793856, + -0.9999580153389811, + 0.007590192891068881 + ], + [ + -0.7727311159299312, + -0.6346673576867308, + -0.009163381506127576, + 385.2169180245998 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.6372088067144088, + 0.7706912070638923, + -0.0, + 698.8070445319172 + ], + [ + 0.0070398634672758685, + 0.005820571142241314, + -0.9999582797666813, + 0.039173631370608586 + ], + [ + -0.7706590657428055, + -0.6371822075835715, + -0.009134480135860813, + 383.0562456802315 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.6397000422661254, + 0.7686246521708219, + 4.336808656350294e-19, + 700.0055499545064 + ], + [ + 0.006999275177821221, + 0.005825257639653999, + -0.9999585374006348, + 0.07028071935127356 + ], + [ + -0.7685927951219567, + -0.6396735040673098, + -0.009106233077836713, + 380.9067961010945 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.6421613029590524, + 0.7665695408649706, + 4.3368086563502775e-19, + 701.1855828215893 + ], + [ + 0.00695936364415899, + 0.005829913383274128, + -0.9999587888346259, + 0.10088343993098325 + ], + [ + -0.7665379617987202, + -0.6421348242291482, + -0.009078581038081145, + 378.77469862022514 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.6042874244181607, + 0.7967664078574508, + -0.0, + 681.9787333219736 + ], + [ + 0.013093959342326303, + 0.00993078383875102, + -0.9998649547619368, + -3.2371595820081445 + ], + [ + -0.7966588200134871, + -0.6042058028946965, + -0.01643387486548055, + 412.3830127226198 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.5649917622512424, + 0.8250965450104828, + -0.0, + 661.1588413189219 + ], + [ + 0.01960124724379228, + 0.013422118041291528, + -0.9997177791025694, + -7.032331495139272 + ], + [ + -0.8248636966381035, + -0.564832293529287, + -0.023756307688033197, + 444.992871023526 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.5243658995220225, + 0.8514930436700348, + -1.7347234625519614e-18, + 638.7744582767573 + ], + [ + 0.026433474844547375, + 0.01627824550933747, + -0.9995180289173279, + -11.256687797983142 + ], + [ + -0.8510826591533286, + -0.5241131532449401, + -0.031043677039701456, + 476.52265706065185 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.48250456106372913, + 0.8758934573067078, + -1.7347234625587274e-18, + 614.8777865513975 + ], + [ + 0.03354107629547864, + 0.01847681605627976, + -0.9992665327475765, + -15.879943667241845 + ], + [ + -0.8752510279822191, + -0.48215064187733336, + -0.03829355759581626, + 506.8936620682002 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.43950515889286645, + 0.898240065520658, + -0.0, + 589.524424110011 + ], + [ + 0.04087284417517623, + 0.01999891405779323, + -0.9989641905721851, + -20.869568234691883 + ], + [ + -0.89730966911499, + -0.43904989662478217, + -0.04550325248282256, + 536.030453347695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.3954682768698278, + 0.9184796361322383, + -1.7347234625763497e-18, + 562.7736631134303 + ], + [ + 0.04837607434223717, + 0.02082920732180153, + -0.9986119864860323, + -26.19084893404956 + ], + [ + -0.9172047823321674, + -0.39491934211639046, + -0.05266973029510273, + 563.8605998479607 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.35049624892939607, + 0.9365641352766091, + 1.7347234625871551e-18, + 534.6876578201195 + ], + [ + 0.055996739959893564, + 0.020956009918552874, + -0.9982110051297558, + -31.807003282732474 + ], + [ + -0.934888634360856, + -0.34986919277028977, + -0.05978954167042592, + 590.3156652327468 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.3046941237271422, + 0.9524502564261029, + -0.0, + 505.33200144696184 + ], + [ + 0.06367958049632895, + 0.020371451262396038, + -0.997762454195023, + -37.67919639626653 + ], + [ + -0.9503191119866593, + -0.3040123358105923, + -0.06685869478141998, + 615.3306201265631 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.2581684439799083, + 0.9660999195388607, + 1.734723462612603e-18, + 474.775154276709 + ], + [ + 0.07136823210689949, + 0.019071552600304343, + -0.9972676929126648, + -43.76663307373131 + ], + [ + -0.9634602435855656, + -0.25746302700193724, + -0.07387251692640827, + 638.8448384174693 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.21102775269463978, + 0.9774800701767019, + -0.0, + 443.08832175633125 + ], + [ + 0.07900522184479268, + 0.01705640342522192, + -0.9967282749192234, + -50.026473089539884 + ], + [ + -0.9742820288379376, + -0.2103373057873811, + -0.08082540490178784, + 660.8013844132036 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.16338184327111321, + 0.9865629089365427, + -0.0, + 410.3452243261188 + ], + [ + 0.0865319273419457, + 0.014330303382446027, + -0.9961460073480468, + -56.4137734588396 + ], + [ + -0.9827607064297592, + -0.16275214817093822, + -0.08771050201330384, + 681.1476998092701 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.11534123971347197, + 0.9933259275894085, + -8.673617313298873e-19, + 376.62172068731235 + ], + [ + 0.09388832057746606, + 0.010901955731993202, + -0.9955230437415098, + -62.861898168547256 + ], + [ + -0.9888788534838684, + -0.1148248388407048, + -0.09451914894684453, + 699.8376999416563 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.06701747306982447, + 0.9977518019544416, + 4.3368086566942067e-19, + 341.9959787498777 + ], + [ + 0.10101238549501831, + 0.006784848507785733, + -0.9948620325489016, + -69.33131448098084 + ], + [ + -0.9926253871802845, + -0.06667311582844576, + -0.1012399938310763, + 716.8273711022 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.018522315580641237, + 0.9998284471975838, + -0.0, + 306.5479198737079 + ], + [ + 0.10783894497949806, + 0.0019977696937832205, + -0.9941663698103849, + -75.77922966306812 + ], + [ + -0.9939958181387863, + -0.018414239192431802, + -0.10785744905925118, + 732.0773825216058 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.030033301202444823, + 0.9995488986632338, + -0.0, + 270.3583802651534 + ], + [ + 0.11429696828336075, + -0.0034342644762765133, + -0.9934406921747966, + -82.14621846999778 + ], + [ + -0.9929925503682456, + 0.02983627959745936, + -0.1143485519495094, + 745.5549376373696 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.07853929866150225, + 0.9969110183791527, + -0.0, + 233.5090142477888 + ], + [ + 0.12030303473777658, + -0.009477792702619907, + -0.992691972002578, + -88.36591445936696 + ], + [ + -0.9896255664830413, + 0.07796530777835033, + -0.12067580099649694, + 757.2329490149303 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.12688981037766955, + 0.9919168191044642, + -3.469446925514575e-18, + 196.0796019403048 + ], + [ + 0.12574157306661954, + -0.016085345117364015, + -0.991932617910706, + -94.32935620996537 + ], + [ + -0.9839146499391598, + 0.12586611880353799, + -0.12676624855391833, + 767.0951179430972 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.17495861016970984, + 0.9845757892247217, + -0.0, + 158.16724497758548 + ], + [ + 0.13036528003830128, + -0.023165843055968485, + -0.9911953578765595, + -99.82605537611464 + ], + [ + -0.975906955607131, + 0.17341813977680062, + -0.1324075632053353, + 775.1399486682855 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.1773717102814372, + 0.9841439307295645, + -0.0, + 156.14059524880074 + ], + [ + 0.1301711984572923, + -0.023460682303490132, + -0.9912139302280041, + -99.76114391648932 + ], + [ + -0.9754971773904529, + 0.17581328764303703, + -0.13226845728066, + 775.5876718801106 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.17977483724993074, + 0.9837077858245104, + -5.204170388329109e-18, + 154.11991436372827 + ], + [ + 0.129976400305888, + -0.02375348304449769, + -0.9912325193448698, + -99.70014211296646 + ], + [ + -0.9750831507956831, + 0.17819864245345052, + -0.13212907652031095, + 776.0284017674556 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.1821685123070632, + 0.983267325361639, + -3.4694469255517247e-18, + 152.10480597021956 + ], + [ + 0.12978087576492592, + -0.024044314759782127, + -0.9912511262104173, + -99.64280428982887 + ], + [ + -0.9746648476357547, + 0.18057472062353788, + -0.13198941266216138, + 776.462296502152 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.1845522090511271, + 0.9828227114461433, + -5.204170388326064e-18, + 150.0957075427909 + ], + [ + 0.12958467270139465, + -0.024333114536008737, + -0.9912697474138153, + -99.58153280522717 + ], + [ + -0.974242424984039, + 0.18294099931756852, + -0.13184949044235467, + 776.8903285323219 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.1869261871660197, + 0.9823739616620414, + -1.7347234627748468e-18, + 148.09243163732248 + ], + [ + 0.12938778740348372, + -0.024619917372668797, + -0.9912883839425303, + -99.52188599128847 + ], + [ + -0.9738159009902858, + 0.18529773568686367, + -0.13170930159938934, + 777.3118432849386 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.18929070612700943, + 0.981921090808186, + -5.204170388323014e-18, + 146.0947905588695 + ], + [ + 0.12919024820738478, + -0.02490476427975674, + -0.9913070323992882, + -99.46112114008388 + ], + [ + -0.9733852867369871, + 0.18764518587379378, + -0.13156887087127628, + 777.7272905433828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.19164524104776134, + 0.981464264038047, + 1.7347234627738291e-18, + 144.103224790394 + ], + [ + 0.1289920788732372, + -0.025187588539601756, + -0.9913256926820366, + -99.39923707094506 + ], + [ + -0.9729507455980893, + 0.18998282908089906, + -0.13142819824733146, + 778.1366440556676 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.19399031330685843, + 0.9810034446132729, + -1.73472346277332e-18, + 142.1173569807399 + ], + [ + 0.12879327656826803, + -0.025468461105296655, + -0.9913443646885461, + -99.33625978336381 + ], + [ + -0.9725122408152964, + 0.1923111816786927, + -0.1312872837168766, + 778.5400932928745 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.19632566015784433, + 0.9805387474055203, + -0.0, + 140.13744473052463 + ], + [ + 0.12859387454914734, + -0.025747353054550223, + -0.9913630461335152, + -99.27289811819415 + ], + [ + -0.9720698837874324, + 0.19462998229379713, + -0.13114614377023656, + 778.9376515783451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.19865128061138068, + 0.9800702366215692, + -0.0, + 138.16353074697145 + ], + [ + 0.12839389126013245, + -0.02602426843347969, + -0.9913817358311494, + -99.21098369410385 + ], + [ + -0.9716237367752804, + 0.19693922923091153, + -0.13100478664833248, + 779.3292033018658 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.20096743481369067, + 0.9795979226929817, + -1.734723462771791e-18, + 136.19543229829046 + ], + [ + 0.12819332997973723, + -0.0262992438932796, + -0.9914004336893075, + -99.14805266295129 + ], + [ + -0.9711738098050172, + 0.19923917989282536, + -0.13086321234190632, + 779.7151818058119 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.20327386114204907, + 0.9791219216095629, + -0.0, + 134.2333524175525 + ], + [ + 0.1279922239416784, + -0.02657225109822184, + -0.9914191374398802, + -99.08410978499673 + ], + [ + -0.9707202154254992, + 0.20152957396641752, + -0.13072143734363773, + 780.0955064198497 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.20557081998241913, + 0.9786422420740665, + -5.2041703883123136e-18, + 132.27705248176585 + ], + [ + 0.1277905761290537, + -0.026843326796522172, + -0.9914378469975308, + -99.02236546031189 + ], + [ + -0.9702629619661546, + 0.2038106690855735, + -0.1305794616452186, + 780.4696676663067 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.20785831095086785, + 0.9781589454524516, + -3.469446925540522e-18, + 130.32651742334482 + ], + [ + 0.12758841253584188, + -0.027112477016028872, + -0.9914565601057056, + -98.95946467424403 + ], + [ + -0.9698021078465753, + 0.20608246390921364, + -0.13043730174090293, + 780.8380328722465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.21013607352955765, + 0.9776721488318978, + -0.0, + 128.38196570954952 + ], + [ + 0.12738574215321677, + -0.027379668850859545, + -0.9914752777702986, + -98.89246252301695 + ], + [ + -0.9693377699310257, + 0.20834469984455847, + -0.13029494937190228, + 781.2009607643356 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.2124046286740175, + 0.9771818017737809, + -3.46944692553848e-18, + 126.4430161350246 + ], + [ + 0.1271825843745126, + -0.02764497820040664, + -0.9914939966596461, + -98.82756021952376 + ], + [ + -0.9688698947510944, + 0.21059789219309047, + -0.1301524292851674, + 781.557816057938 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.21466345609289839, + 0.976688077442462, + -0.0, + 124.5101286776846 + ], + [ + 0.12697895541189588, + -0.027908338444306853, + -0.9915127177841854, + -98.76168177746172 + ], + [ + -0.9683986547871368, + 0.2128415247874927, + -0.130009733222552, + 781.9090564390325 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.2169128167026537, + 0.9761909802646821, + 1.7347234627682193e-18, + 122.58312493058281 + ], + [ + 0.12677488170626855, + -0.02816979180712815, + -0.9915314378263071, + -98.69178853782559 + ], + [ + -0.9679240509968029, + 0.21507585508380775, + -0.12986688593289542, + 782.2552053547507 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.21915297111733445, + 0.9756905120223547, + -3.4694469255354186e-18, + 120.66180823893495 + ], + [ + 0.12657034905149683, + -0.028429371515050768, + -0.9915501588806493, + -98.62403074896481 + ], + [ + -0.9674460870028676, + 0.2173011414140247, + -0.12972387090663853, + 782.5955173181881 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.22138340051325098, + 0.9751868487511456, + -3.4694469255343986e-18, + 118.74659190142654 + ], + [ + 0.12636540609271138, + -0.028687018640446434, + -0.9915688776401498, + -98.55533937139379 + ], + [ + -0.9669649339409563, + 0.21951686808633547, + -0.12958071289404247, + 782.9302853892812 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.22360462565353095, + 0.9746799327914496, + -0.0, + 116.83705162354846 + ], + [ + 0.12616004695000002, + -0.028942803808317125, + -0.9915875940436563, + -98.48469581977295 + ], + [ + -0.9664805344009749, + 0.2217235509078511, + -0.12943741189014663, + 783.259670851842 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.22581638812584726, + 0.9741698819270675, + -3.469446925532358e-18, + 114.9334028796923 + ], + [ + 0.1259542965024275, + -0.029196698474034336, + -0.9916063069539213, + -98.42484657326203 + ], + [ + -0.9659930038911538, + 0.22392093284595385, + -0.12929397614252244, + 783.5819758723553 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.2280189488754416, + 0.9736566946073645, + 1.7347234627656692e-18, + 113.03545339362864 + ], + [ + 0.12574816413579915, + -0.029448741397319768, + -0.9916250152384164, + -98.35032600720835 + ], + [ + -0.9655023396005118, + 0.22610927184783602, + -0.12915041389937468, + 783.9005958526415 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.2302120501841088, + 0.9731404893179758, + -0.0, + 111.14343194929847 + ], + [ + 0.12554167470841301, + -0.029698904356991265, + -0.9916437177693412, + -98.27491152520201 + ], + [ + -0.9650086577581609, + 0.2282883115422092, + -0.12900673340954025, + 784.2137464672271 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.2323959531412518, + 0.9726212628580404, + -0.0, + 109.25714629223046 + ], + [ + 0.12533482126132778, + -0.02994722237844598, + -0.9916624155685273, + -98.19860841900034 + ], + [ + -0.9645119560233677, + 0.23045831051049218, + -0.1288629264165084, + 784.5215016714365 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.23457065960176451, + 0.9720990719335109, + -5.20417038829242e-18, + 107.37661425183731 + ], + [ + 0.12512763665888177, + -0.030193704646897745, + -0.9916811053679798, + -98.12144410294995 + ], + [ + -0.9640122872914442, + 0.23261926927860277, + -0.1287190176757372, + 784.8239016869524 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.23673591287495624, + 0.9715740360648083, + -3.469446925527261e-18, + 105.50206413746602 + ], + [ + 0.12492012968645773, + -0.030438319510432903, + -0.9916997881942391, + -98.04341623618814 + ], + [ + -0.9635097709344377, + 0.23477093296161877, + -0.12857499893135696, + 785.1209620297193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.2388919742407751, + 0.9710461495950359, + 1.7347234627631221e-18, + 103.63330275329957 + ], + [ + 0.12471231704601361, + -0.03068110783785962, + -0.991718461862466, + -97.96454940181985 + ], + [ + -0.9630043990722548, + 0.23691355957861826, + -0.12843088668725366, + 785.4127523663726 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.24103910461375935, + 0.9705154043326656, + -0.0, + 101.77013637452905 + ], + [ + 0.12450420707541013, + -0.03092210845920403, + -0.9917371252650373, + -97.8848613539394 + ], + [ + -0.9624961623609026, + 0.23904740704708066, + -0.12828668919495356, + 785.6993410933621 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.25750174944240223, + 0.9662778322170608, + 3.4694469255289675e-18, + 88.29648702997673 + ], + [ + 0.12447209987866996, + -0.03317035991810578, + -0.9916685048818971, + -98.51236125824569 + ], + [ + -0.9582272987498326, + 0.2553563534546352, + -0.12881605754311318, + 787.2490754988215 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.27402393714060436, + 0.9617228716600028, + -0.0, + 74.68662371881399 + ], + [ + 0.12436223523788528, + -0.03543456263306898, + -0.991603966418872, + -99.08662280268585 + ], + [ + -0.9536482200372626, + 0.2717232017693588, + -0.12931192535868127, + 788.58468899609 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.2905907567021071, + 0.95684743408722, + 3.46944692553577e-18, + 60.95074407636872 + ], + [ + 0.12417295654756783, + -0.037710832594244556, + -0.9915437307387326, + -99.60528796495166 + ], + [ + -0.948756080771352, + 0.2881334220586528, + -0.12977299523457975, + 789.6998519633022 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.3071864842543644, + 0.9516493387227478, + -1.0408340776616423e-17, + 47.09991333297563 + ], + [ + 0.1239028814519134, + -0.03999507906271693, + -0.9914880078037653, + -100.06614290263641 + ], + [ + -0.9435489135280403, + 0.30457169457716143, + -0.13019804392713163, + 790.5886594675007 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.3237951357979559, + 0.9461272166223649, + -0.0, + 33.14562534373195 + ], + [ + 0.12355088640930914, + -0.042283083437422826, + -0.9914369971523646, + -100.46712931026569 + ], + [ + -0.9380255334392658, + 0.3210224566534217, + -0.13058591401901903, + 791.2457186001753 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.34040050508130504, + 0.9402805411899112, + -1.040834077663231e-17, + 19.09978325191244 + ], + [ + 0.12311613038037307, + -0.044570520317372346, + -0.9913908851501517, + -100.80636815074381 + ], + [ + -0.9321855651991298, + 0.3374699378153554, + -0.1309355303394732, + 791.6661788008108 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.3569857058764739, + 0.9341098467524446, + 3.4694469255463413e-18, + 4.975103287810384 + ], + [ + 0.12259808648178332, + -0.04685290985204987, + -0.9913498444189116, + -101.0821694043438 + ], + [ + -0.9260296587349099, + 0.35389770401541165, + -0.1312458998823431, + 791.8457602923418 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.3735342190364006, + 0.9276164008947158, + -3.469446925548294e-18, + -9.215759022801763 + ], + [ + 0.12199653189366344, + -0.04912578003374596, + -0.9913140289242323, + -101.29307158159635 + ], + [ + -0.919559159455763, + 0.3702896919124132, + -0.13151614472915435, + 791.7808084494512 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.3900284479479408, + 0.9208028072238486, + 3.469446925549955e-18, + -23.45895970583075 + ], + [ + 0.12131158913832615, + -0.05138447717418533, + -0.9912835789249558, + -101.43781752274742 + ], + [ + -0.9127767103138369, + 0.3866287763314837, + -0.13174546072282356, + 791.46832662549 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.40645174779283766, + 0.9136722479730613, + -0.0, + -37.74119523781826 + ], + [ + 0.12054367225735492, + -0.05362446586624734, + -0.9912586139546384, + -101.51540125919973 + ], + [ + -0.9056854945096063, + 0.4028987769974781, + -0.13193316690213028, + 790.9059941745735 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.4227869870966845, + 0.906229089988678, + -6.938893851104749e-18, + -52.048456994551145 + ], + [ + 0.11969356411543985, + -0.055841157502307594, + -0.9912392323945541, + -101.5250758568006 + ], + [ + -0.898289836192846, + 0.4190830296756124, + -0.1320787054393674, + 790.0921994861465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.4390173331077863, + 0.8984785925279059, + -6.938893851106245e-18, + -66.3667001121816 + ], + [ + 0.11876235214226843, + -0.05803002046427401, + -0.9912255144206849, + -101.4663375167406 + ], + [ + -0.8905949140105223, + 0.4351651632518862, + -0.1321816168404266, + 789.0260518588502 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.4551258160945642, + 0.8904271399301891, + 3.469446925553558e-18, + -80.68145198754144 + ], + [ + 0.11775149197770192, + -0.06018655707967953, + -0.9912175162313865, + -101.33896626809445 + ], + [ + -0.882606987233027, + 0.45112866269171387, + -0.1322415811514071, + 787.7074232925557 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.4710963290755739, + 0.8820817698668976, + -0.0, + -94.97869259269555 + ], + [ + 0.11666270936085917, + -0.06230643915042535, + -0.9912152742391421, + -101.14299221984449 + ], + [ + -0.8743329328895734, + 0.46695785899830655, + -0.13225838493053615, + 786.1368907530997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.4869127128377823, + 0.8734506340240134, + -1.3877787702213952e-17, + -109.24404040907862 + ], + [ + 0.1154980905736766, + -0.06438542307734665, + -0.9912187994428804, + -100.87873828052776 + ], + [ + -0.865780698555358, + 0.4826370169275008, + -0.13223196247624497, + 784.3158089369235 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.5025595061593564, + 0.8645426205623777, + -1.387778770221193e-17, + -123.46341985148518 + ], + [ + 0.11425998748345738, + -0.06641944713623002, + -0.9912280828862735, + -100.54677767278812 + ], + [ + -0.8569589343272609, + 0.4981510783989727, + -0.13216235457430928, + 782.2462516519618 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.5180212860780458, + 0.8553677262850448, + -0.0, + -137.62246271540636 + ], + [ + 0.11295108627431495, + -0.06840457639178517, + -0.9912430912940138, + -100.14796912439624 + ], + [ + -0.8478773594102076, + 0.513485003840539, + -0.13204974150090154, + 779.9310938829369 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.533283853021081, + 0.8459363641001548, + 6.938893851102072e-18, + -151.70759035185952 + ], + [ + 0.11157429077499502, + -0.07033716743679219, + -0.9912637693949199, + -99.6834177794933 + ], + [ + -0.838546079393101, + 0.5286249454779304, + -0.13189442654227063, + 777.3738436622236 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.5483333344469703, + 0.8362598605303658, + -0.0, + -165.70520278975533 + ], + [ + 0.11013280447441118, + -0.07221378277219999, + -0.9912900357394552, + -99.15451142773911 + ], + [ + -0.828976077704207, + 0.5435573541801598, + -0.1316968690243317, + 774.578749109374 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.5631575476776763, + 0.8263495486134579, + -0.0, + -179.60295524211568 + ], + [ + 0.10863080857944532, + -0.0740319394673742, + -0.9913216528282205, + -98.56364221083084 + ], + [ + -0.8191782112334657, + 0.5582702547514343, + -0.13145866612782828, + 771.5504242811602 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.5777446559805917, + 0.8162175644311188, + 6.938893851091736e-18, + -193.3885276928717 + ], + [ + 0.1070717321013175, + -0.07578876481448492, + -0.9913585160337899, + -97.91252934060876 + ], + [ + -0.809164244531613, + 0.5727520688912773, + -0.13118038326039916, + 768.2942695435646 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.5920842781662041, + 0.8058760497423937, + -0.0, + -207.05068124433612 + ], + [ + 0.10546007303507915, + -0.07748245060551183, + -0.9914003443834382, + -97.20399618596073 + ], + [ + -0.7989458045415571, + 0.5869925416777034, + -0.13086388890825984, + 764.8159710145729 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.6061689363566133, + 0.795335916827784, + -1.387778770216424e-17, + -220.5806928169519 + ], + [ + 0.10380112989324705, + -0.07911250978198772, + -0.9914466885460255, + -96.44184486371456 + ], + [ + -0.7885331725091022, + 0.6009841693582485, + -0.13051231372367175, + 761.1210152382934 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.6199920353538152, + 0.7846081035127241, + -0.0, + -233.9704885488961 + ], + [ + 0.10209981626163966, + -0.08067858668538205, + -0.9914971473331571, + -95.62962902438083 + ], + [ + -0.7779367080795196, + 0.6147203194391209, + -0.13012842537687574, + 757.2151980597051 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.6335488738160937, + 0.773702671887825, + -0.0, + -247.21365702393553 + ], + [ + 0.10036082849644785, + -0.08218078104090261, + -0.9915513215820013, + -94.77087260246675 + ], + [ + -0.7671659186696278, + 0.628196208444138, + -0.12971498343751414, + 753.1042168347406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.646835330216507, + 0.7626296975490152, + -0.0, + -260.3042142323719 + ], + [ + 0.09858874212921914, + -0.08361945748471838, + -0.9916088171528827, + -93.86908635603861 + ], + [ + -0.7562303443274507, + 0.6414076023218489, + -0.12927472298219048, + 748.7939522242744 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.6598490521854269, + 0.7513981822775415, + -1.3877787702115707e-17, + -273.2378032149264 + ], + [ + 0.09678785942565939, + -0.08499538435333605, + -0.9916692467281755, + -92.92769465626981 + ], + [ + -0.7451384815868047, + 0.6543519984758299, + -0.12881034643691616, + 744.2900099654844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.6725883674691026, + 0.7400168159881555, + -0.0, + -286.01066326453633 + ], + [ + 0.09496228024741761, + -0.08630955900301637, + -0.9917322347059792, + -91.95003759231226 + ], + [ + -0.7338985429662838, + 0.6670275509551082, + -0.12832449064304172, + 739.5979744506622 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.6850524463226491, + 0.7284937513715226, + -6.938893851043882e-18, + -298.61981599582515 + ], + [ + 0.09311586562849376, + -0.0875632102817022, + -0.9917974187168557, + -90.93934458645207 + ], + [ + -0.7225182346318609, + 0.6794332345022188, + -0.12781971865996333, + 734.7232908132573 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.6972412529106541, + 0.7168365470869779, + 6.9388938510365795e-18, + -311.06304564481246 + ], + [ + 0.09125221884964269, + -0.08875776724855257, + -0.9918644520840881, + -89.89871124710223 + ], + [ + -0.7110047016167541, + 0.6915688001473503, + -0.12729850329687564, + 729.6712112556596 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.7091558704370033, + 0.7050517367007444, + -1.3877787702058214e-17, + -323.3392657717052 + ], + [ + 0.08937464439417862, + -0.08989489769493747, + -0.9919330019249436, + -88.83107999981874 + ], + [ + -0.6993640984332126, + 0.7034350985577283, + -0.1267632436464867, + 724.4465693405324 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.7207976790624595, + 0.6931455156445663, + -0.0, + -335.44770876874566 + ], + [ + 0.08748624892819855, + -0.09097640214650422, + -0.9920027472244974, + -87.7392845138849 + ], + [ + -0.6876022686024251, + 0.7150332652878889, + -0.12621628161429063, + 719.054049582856 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.7321690594965483, + 0.6811229465492555, + -0.0, + -347.3886794024221 + ], + [ + 0.08559012318909452, + -0.09200459375952226, + -0.992073326694968, + -86.62629522503336 + ], + [ + -0.6757239204423062, + 0.7263653823237712, + -0.12566031475259593, + 713.4977674562174 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.743273306102072, + 0.6689878866138725, + -0.0, + -359.16351120788977 + ], + [ + 0.0836890184271913, + -0.09298197270157539, + -0.9921443952103022, + -85.49488412958182 + ], + [ + -0.6637325952456411, + 0.7374344328240454, + -0.12509795879215635, + 707.7812309864386 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.7541138384443302, + 0.6567437237360999, + -0.0, + -370.7737667741227 + ], + [ + 0.08178546472474216, + -0.09391113839911142, + -0.9922156196333237, + -84.34768740167391 + ], + [ + -0.6516313939655222, + 0.748243517849555, + -0.12453178066129612, + 701.9076546002844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.7646945196678745, + 0.6443929636409128, + -0.0, + -382.2215941549277 + ], + [ + 0.07988171042252021, + -0.09479480631920267, + -0.9922866808714492, + -83.18716518599781 + ], + [ + -0.6394225683401433, + 0.7587961754617112, + -0.12396428196046827, + 695.8797473221082 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.7750194301742114, + 0.6319374042201019, + -1.3877787701965786e-17, + -393.5095080187938 + ], + [ + 0.07797975255954931, + -0.09563577498378037, + -0.9923572727269159, + -82.01561469265017 + ], + [ + -0.6271076923449601, + 0.7690961569927899, + -0.12339790719740987, + 689.6997755502333 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.7850926605367661, + 0.6193783289487144, + 6.938893850975291e-18, + -404.6401795841539 + ], + [ + 0.07608137378460203, + -0.09643690353717753, + -0.9924270996900519, + -80.83519116661132 + ], + [ + -0.6146878520489589, + 0.7791472213324433, + -0.12283506027747014, + 683.3696447724282 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.7949184473956592, + 0.6067162944820867, + 6.938893850967803e-18, + -415.61659922526115 + ], + [ + 0.07418812288244836, + -0.09720112677582853, + -0.9924958757479486, + -79.64789775870125 + ], + [ + -0.6021634335362992, + 0.7889532701358033, + -0.12227811273403283, + 676.8907809921255 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.8045011307600074, + 0.5939511180272914, + -0.0, + -426.44204836726334 + ], + [ + 0.07230131977075487, + -0.09793144881047347, + -0.9925633231654735, + -78.45558741172631 + ], + [ + -0.5895341090888248, + 0.7985183056672546, + -0.12172941195595546, + 670.2641082712328 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.813837760090695, + 0.5810921615807259, + -0.0, + -437.1116207551616 + ], + [ + 0.07042041313060912, + -0.09862599270135677, + -0.992629779413345, + -77.25730515938345 + ], + [ + -0.5768093978124805, + 0.8078395863950849, + -0.12118630800639763, + 663.4959039238545 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.82292378752567, + 0.5681517754301272, + -1.3877787701892105e-17, + -447.61835644676034 + ], + [ + 0.06854464799990627, + -0.0992816071092852, + -0.9926957206114903, + -76.05157494573882 + ], + [ + -0.5640018498270701, + 0.8169129126703836, + -0.1206449605413876, + 656.5942732818284 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.8317734753929, + 0.5551152003258569, + -6.938893850939057e-18, + -457.97713954268124 + ], + [ + 0.06667767301197593, + -0.09990848706669664, + -0.9927599821375512, + -74.84406792167803 + ], + [ + -0.5510961701096972, + 0.825751411262332, + -0.12011502024597212, + 649.5516761510289 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.840177426872558, + 0.5423116183282517, + -0.0, + -467.9368657399549 + ], + [ + 0.06489374041356082, + -0.10053676520682597, + -0.99281476686081, + -73.69877540265378 + ], + [ + -0.5384149967096423, + 0.8341405471467428, + -0.11966135100310413, + 642.5462279566984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.8480831728588453, + 0.5298631256406446, + -6.938893850928553e-18, + -477.42314286575703 + ], + [ + 0.06322029935070614, + -0.10118853241128445, + -0.9928565226952265, + -72.6425275843477 + ], + [ + -0.5260780742576469, + 0.842024901190174, + -0.11931439796203669, + 635.6510683893954 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.8555881925909505, + 0.5176570724900321, + -0.0, + -486.5411098057012 + ], + [ + 0.06164848106389369, + -0.10189315531944151, + -0.9928833011394455, + -71.67723937899828 + ], + [ + -0.5139730768522889, + 0.849499220561072, + -0.11909135374628141, + 628.8101436380739 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.8627819270336654, + 0.5055762517999383, + -0.0, + -495.39124572737956 + ], + [ + 0.06016423983388847, + -0.10267218564478515, + -0.9928940963366297, + -70.79870778432485 + ], + [ + -0.5019836895456422, + 0.8566510735135521, + -0.11900131796842746, + 621.9623232616011 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.8697284767067651, + 0.49353052266838543, + -0.0, + -504.0473405286691 + ], + [ + 0.05875269410441918, + -0.10353744864568298, + -0.9928887740645549, + -69.9992878525307 + ], + [ + -0.4900209295215701, + 0.8635436329889261, + -0.11904571624003515, + 615.0597150905767 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.8764653201485115, + 0.4814649962115281, + -2.0816681552782085e-17, + -512.5531707678821 + ], + [ + 0.05740171729847627, + -0.10449485409107453, + -0.992867497866493, + -69.27166970893244 + ], + [ + -0.4780309600206071, + 0.8702139216090953, + -0.11922303426559624, + 608.0729872481097 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.8830112314044348, + 0.46935185651451644, + -2.0816681552794415e-17, + -520.9307581783503 + ], + [ + 0.05610504346630981, + -0.10555275926058544, + -0.9928297130475697, + -68.61361464398647 + ], + [ + -0.46598648295481215, + 0.8766797799614218, + -0.1195372791651093, + 600.9870147998373 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ] + ], + "cv_convention": "opencv_rh camera space of cam01 at the same frame t (X right, Y down, Z forward), metres -- same frame as points_target.npz xyz. Back to world: X_world = inv(w2c_cam01[t]) @ X" +} \ No newline at end of file