diff --git a/clips/clip_00234/.capture_done b/clips/clip_00234/.capture_done new file mode 100644 index 0000000000000000000000000000000000000000..4a87ff22777f57f1c9821d2262cba03bcc2902e9 --- /dev/null +++ b/clips/clip_00234/.capture_done @@ -0,0 +1,73 @@ +{ + "clip": "clip_00234", + "frames": 121, + "frame_count": 121, + "frame_bucket": 121, + "spec_gen": "gen3", + "bucket_retired": false, + "target_class": "pedestrian", + "target_model": "arch_37f9f662", + "target_class_fallback": false, + "target_lost_frame": null, + "hfov_deg_per_cam": [ + 35.939, + 83.255, + 56.557, + 27.007 + ], + "oos_allowed": [ + false, + false, + false, + false + ], + "oos_effective": [ + false, + false, + false, + false + ], + "oos_departed": [ + false, + false, + false, + false + ], + "oos_cycles": [ + 0, + 0, + 0, + 0 + ], + "oos_forced_returns": 0, + "visible_ratio": [ + 1.0, + 1.0, + 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": 1.0, + "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": 484, + "sky": 0, + "near": 0, + "const": 0 + }, + "capture_wall_sec": 19.1 +} \ No newline at end of file diff --git a/clips/clip_00234/cameras.json b/clips/clip_00234/cameras.json new file mode 100644 index 0000000000000000000000000000000000000000..42612016d8c3f7655a8d749bb08857fd67593d3a --- /dev/null +++ b/clips/clip_00234/cameras.json @@ -0,0 +1,33273 @@ +{ + "convention": "opencv_w2c_rh_meters (X right, Y down, Z forward)", + "resolution": [ + 1280, + 1280 + ], + "num_cams": 4, + "frames": 121, + "fps": 15, + "intrinsics_mode": "per_camera", + "hfov_deg_per_cam": [ + 35.939, + 83.255, + 56.557, + 27.007 + ], + "hfov_range_deg": [ + 27.007, + 83.255 + ], + "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": 1973.2910527263678, + "fy": 1973.2910527263678, + "cx": 640.0, + "cy": 640.0, + "width": 1280, + "height": 1280, + "fov_deg": 35.939, + "hfov_deg": 35.939 + }, + "oos_allowed": false, + "oos_reason": "none", + "pinned": false, + "oos_effective": false, + "oos_cycles": 0, + "oos_departed": false, + "oos_schedule": null + }, + { + "name": "cam02", + "intrinsics": { + "fx": 720.1528572729918, + "fy": 720.1528572729918, + "cx": 640.0, + "cy": 640.0, + "width": 1280, + "height": 1280, + "fov_deg": 83.255, + "hfov_deg": 83.255 + }, + "oos_allowed": false, + "oos_reason": "none", + "pinned": false, + "oos_effective": false, + "oos_cycles": 0, + "oos_departed": false, + "oos_schedule": null + }, + { + "name": "cam03", + "intrinsics": { + "fx": 1189.6782402393749, + "fy": 1189.6782402393749, + "cx": 640.0, + "cy": 640.0, + "width": 1280, + "height": 1280, + "fov_deg": 56.557, + "hfov_deg": 56.557 + }, + "oos_allowed": false, + "oos_reason": "none", + "pinned": false, + "oos_effective": false, + "oos_cycles": 0, + "oos_departed": false, + "oos_schedule": null + }, + { + "name": "cam04", + "intrinsics": { + "fx": 2665.0746460716555, + "fy": 2665.0746460716555, + "cx": 640.0, + "cy": 640.0, + "width": 1280, + "height": 1280, + "fov_deg": 27.007, + "hfov_deg": 27.007 + }, + "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": 761.6088363490999, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.09535349209915225, + 0.9954434748113509, + -0.0, + -3654.399532288954 + ], + [ + 0.010244634722302007, + -0.000981333165338045, + -0.9999470408199753, + -0.31238700748213777 + ], + [ + -0.9953907591902041, + 0.09534841876891846, + -0.01029152841008817, + 441.28267024726654 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.09535349209915225, + 0.010244634722302007, + -0.9953907591902041, + 787.7115625547107 + ], + [ + 0.9954434748113509, + -0.000981333165338045, + 0.09534841876891846, + 3595.6722552335814 + ], + [ + -0.0, + -0.9999470408199753, + -0.01029152841008817, + 4.229101751439061 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 78771.15625547107, + -359567.22552335815, + 422.91017514390614 + ], + "rotation_deg": [ + 0.0, + -0.5896715521812439, + -174.5283355712891 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5555702494602023, + 0.8314696013172872, + -0.0, + -3418.28968310326 + ], + [ + 0.36314977829627226, + -0.24264893460908107, + -0.8995797535829971, + 594.6508885964876 + ], + [ + -0.747973227675385, + 0.49977973246823976, + -0.4367565336601629, + -1213.332493678104 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5555702494602023, + 0.36314977829627226, + -0.747973227675385, + 775.6124554833527 + ], + [ + 0.8314696013172872, + -0.24264893460908107, + 0.49977973246823976, + 3592.8944040684833 + ], + [ + -0.0, + -0.8995797535829971, + -0.4367565336601629, + 5.004982071922934 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77561.24554833527, + -359289.4404068483, + 500.4982071922934 + ], + "rotation_deg": [ + 0.0, + -25.897117614746108, + -146.25000000000003 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9238795383318844, + 0.3826834183129235, + -0.0, + -2088.7357383988838 + ], + [ + 0.019508713151106735, + -0.047098201900024624, + -0.9986997394056797, + 156.87367355050412 + ], + [ + -0.3821858441701792, + 0.9226782483426559, + -0.05097872645776591, + -3013.16559428185 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9238795383318844, + 0.019508713151106735, + -0.3821858441701792, + 775.0906000293082 + ], + [ + 0.3826834183129235, + -0.047098201900024624, + 0.9226782483426559, + 3586.895399674724 + ], + [ + -0.0, + -0.9986997394056797, + -0.05097872645776591, + 3.062351859894793 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77509.06000293083, + -358689.53996747243, + 306.2351859894793 + ], + "rotation_deg": [ + 0.0, + -2.9221324920654306, + -112.50000000000003 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9807852783261096, + -0.1950903324585191, + -6.9388938502153445e-18, + -55.150916789944745 + ], + [ + -0.00647924655240916, + -0.03257337025964252, + -0.9994483452955643, + 124.69761311136428 + ], + [ + 0.19498269952053135, + 0.9802442255808731, + -0.03321152063728712, + -3653.6855059822874 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9807852783261096, + -0.00647924655240916, + 0.19498269952053135, + 767.3046552680162 + ], + [ + -0.1950903324585191, + -0.03257337025964252, + 0.9802442255808731, + 3574.806523210484 + ], + [ + -6.9388938502153445e-18, + -0.9994483452955643, + -0.03321152063728712, + 3.284372421448437 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76730.46552680162, + -357480.65232104843, + 328.4372421448437 + ], + "rotation_deg": [ + 3.977887772366734e-16, + -1.9032299518585207, + -78.74999999999997 + ] + } + } + ] + }, + { + "frame": 1, + "time": 761.6755030192435, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.09646421252722542, + 0.9953364535178553, + -5.421010820437961e-20, + -3655.0054357887707 + ], + [ + 0.00918554761484924, + -0.0008902282380657029, + -0.9999574156976384, + 0.1911990823491072 + ], + [ + -0.9952940700839649, + 0.09646008118945154, + -0.00922858562402393, + 437.2709220366312 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.09646421252722542, + 0.00918554761484924, + -0.9952940700839649, + 787.7885338032527 + ], + [ + 0.9953364535178553, + -0.0008902282380657029, + 0.09646008118945154, + 3595.7811276659513 + ], + [ + -5.421010820437961e-20, + -0.9999574156976384, + -0.00922858562402393, + 4.226582258336034 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 78778.85338032526, + -359578.11276659515, + 422.6582258336034 + ], + "rotation_deg": [ + 3.106142704038852e-18, + -0.5287665128707888, + -174.46440124511722 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5538545079735515, + 0.8326134661398258, + -2.775557544765782e-17, + -3421.2123077030765 + ], + [ + 0.36315407671007666, + -0.24157010504208107, + -0.8998683242112755, + 590.7652794956005 + ], + [ + -0.7492424930840612, + 0.4983961122757567, + -0.4361616693676685, + -1207.3665474048726 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5538545079735515, + 0.36315407671007666, + -0.7492424930840612, + 775.7046808658588 + ], + [ + 0.8326134661398258, + -0.24157010504208107, + 0.4983961122757567, + 3593.0055121723685 + ], + [ + -2.775557544765782e-17, + -0.8998683242112755, + -0.4361616693676685, + 5.003929532487481 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77570.46808658588, + -359300.55121723685, + 500.3929532487481 + ], + "rotation_deg": [ + 1.7672333836402735e-15, + -25.859235763549812, + -146.36814880371094 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9233454236483986, + 0.383970348630671, + 3.4694469251486922e-18, + -2093.063947296856 + ], + [ + 0.019674537815947593, + -0.04731197218623319, + -0.9986863821288332, + 157.5154811347654 + ], + [ + -0.38346597234644636, + 0.9221324947432076, + -0.05123973254284949, + -3010.2794398916594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9233454236483986, + 0.019674537815947593, + -0.38346597234644636, + 775.1822704002564 + ], + [ + 0.383970348630671, + -0.04731197218623319, + 0.9221324947432076, + 3587.0033984165493 + ], + [ + 3.4694469251486922e-18, + -0.9986863821288332, + -0.05123973254284949, + 3.0626521648165204 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77518.22704002564, + -358700.33984165493, + 306.26521648165203 + ], + "rotation_deg": [ + -1.9904613815979326e-16, + -2.9371066093444833, + -112.57983398437503 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9807852783261096, + -0.1950903324585191, + -6.9388938502153445e-18, + -55.20516909834248 + ], + [ + -0.00647924655240916, + -0.03257337025964252, + -0.9994483452955643, + 124.69914006589889 + ], + [ + 0.19498269952053135, + 0.9802442255808731, + -0.03321152063728712, + -3653.807319293467 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9807852783261096, + -0.00647924655240916, + 0.19498269952053135, + 767.3816265165582 + ], + [ + -0.1950903324585191, + -0.03257337025964252, + 0.9802442255808731, + 3574.9153956428545 + ], + [ + -6.9388938502153445e-18, + -0.9994483452955643, + -0.03321152063728712, + 3.2818529283454096 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76738.16265165582, + -357491.5395642854, + 328.185292834541 + ], + "rotation_deg": [ + 3.977887772366734e-16, + -1.9032299518585207, + -78.74999999999997 + ] + } + } + ] + }, + { + "frame": 2, + "time": 761.7421696893871, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.09750908139591868, + 0.9952346351716885, + -0.0, + -3655.5782987280318 + ], + [ + 0.00818948757264684, + -0.0008023730104351995, + -0.9999661436722993, + 0.6594692628504029 + ], + [ + -0.9952009424803452, + 0.09750575663022687, + -0.008228700395531762, + 433.49932408787004 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.09750908139591868, + 0.00818948757264684, + -0.9952009424803452, + 787.8655302851226 + ], + [ + 0.9952346351716885, + -0.0008023730104351995, + 0.09750575663022687, + 3595.8899822543335 + ], + [ + -0.0, + -0.9999661436722993, + -0.008228700395531762, + 4.226582258336034 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 78786.55302851227, + -359588.99822543334, + 422.6582258336034 + ], + "rotation_deg": [ + 0.0, + -0.47147512435913086, + -174.4042510986328 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5521444048781242, + 0.8337484969472398, + 1.387778772375502e-17, + -3424.1075016733093 + ], + [ + 0.36315370701670224, + -0.2404961306367553, + -0.9001560954794315, + 586.9027464091889 + ], + [ + -0.7505038001993997, + 0.497016135932735, + -0.4355674534544015, + -1201.4181966355939 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5521444048781242, + 0.36315370701670224, + -0.7505038001993997, + 775.7969314816932 + ], + [ + 0.8337484969472398, + -0.2404961306367553, + 0.497016135932735, + 3593.116602432266 + ], + [ + 1.387778772375502e-17, + -0.9001560954794315, + -0.4355674534544015, + 5.005396486155055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77579.69314816932, + -359311.6602432266, + 500.5396486155055 + ], + "rotation_deg": [ + -8.833342080359579e-16, + -25.82140731811525, + -146.48574829101565 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9228102345177305, + 0.3852548131682863, + -0.0, + -2097.3826746357317 + ], + [ + 0.01984072982727234, + -0.04752498325545985, + -0.9986729802124865, + 158.15681095666037 + ], + [ + -0.38474358643721623, + 0.921585641197205, + -0.05150027800473733, + -3007.390781740949 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9228102345177305, + 0.01984072982727234, + -0.38474358643721623, + 775.2739660045326 + ], + [ + 0.3852548131682863, + -0.04752498325545985, + 0.921585641197205, + 3587.1113793143863 + ], + [ + -0.0, + -0.9986729802124865, + -0.05150027800473733, + 3.065471962841276 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77527.39660045326, + -358711.1379314386, + 306.5471962841276 + ], + "rotation_deg": [ + 0.0, + -2.9520545005798344, + -112.65956115722658 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9807852783261096, + -0.1950903324585191, + -6.9388938502153445e-18, + -55.259449636406316 + ], + [ + -0.00647924655240916, + -0.03257337025964252, + -0.9994483452955643, + 124.70318470590041 + ], + [ + 0.19498269952053135, + 0.9802442255808731, + -0.03321152063728712, + -3653.929036357045 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9807852783261096, + -0.00647924655240916, + 0.19498269952053135, + 767.4586229984282 + ], + [ + -0.1950903324585191, + -0.03257337025964252, + 0.9802442255808731, + 3575.0242502312362 + ], + [ + -6.9388938502153445e-18, + -0.9994483452955643, + -0.03321152063728712, + 3.2818529283454096 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76745.86229984282, + -357502.4250231236, + 328.185292834541 + ], + "rotation_deg": [ + 3.977887772366734e-16, + -1.9032299518585207, + -78.74999999999997 + ] + } + } + ] + }, + { + "frame": 3, + "time": 761.8088363595307, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.09848732265697446, + 0.9951383056017192, + 5.4210108204366184e-20, + -3656.1185293610097 + ], + [ + 0.007257105625426755, + -0.0007182246922501689, + -0.999973408932074, + 1.091022755820056 + ], + [ + -0.9951118461324879, + 0.0984846803172981, + -0.007292559879155579, + 429.9709866891739 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.09848732265697446, + 0.007257105625426755, + -0.9951118461324879, + 787.9425431979251 + ], + [ + 0.9951383056017192, + -0.0007182246922501689, + 0.0984846803172981, + 3595.9988252187086 + ], + [ + 5.4210108204366184e-20, + -0.999973408932074, + -0.007292559879155579, + 4.226582258336034 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 78794.25431979251, + -359599.88252187084, + 422.6582258336034 + ], + "rotation_deg": [ + -3.10609302544862e-18, + -0.417836606502533, + -174.34793090820318 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.550439757683649, + 0.8348748847349317, + -2.7755575447362756e-17, + -3426.975808485509 + ], + [ + 0.3631487961635986, + -0.23942693572206877, + -0.9004430544435716, + 583.06066003685 + ], + [ + -0.7517572998469294, + 0.49563964096090474, + -0.4349739169593957, + -1195.487853867152 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.550439757683649, + 0.3631487961635986, + -0.7517572998469294, + 775.8891985284598 + ], + [ + 0.8348748847349317, + -0.23942693572206877, + 0.49563964096090474, + 3593.2276810681565 + ], + [ + -2.7755575447362756e-17, + -0.9004430544435716, + -0.4349739169593957, + 5.006863439822629 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77588.91985284598, + -359322.76810681564, + 500.6863439822629 + ], + "rotation_deg": [ + 1.7661054028479348e-15, + -25.783634185791026, + -146.60281372070312 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9222740306301785, + 0.38653668962359083, + -3.4694469251501375e-18, + -2101.691521054997 + ], + [ + 0.020007275940036404, + -0.04773723043242364, + -0.9986595344460998, + 158.79514040168107 + ], + [ + -0.3860185645365327, + 0.9210377481579058, + -0.051760354532876605, + -3004.5000690750126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9222740306301785, + 0.020007275940036404, + -0.3860185645365327, + 775.3656780397412 + ], + [ + 0.38653668962359083, + -0.04773723043242364, + 0.9210377481579058, + 3587.2193485882167 + ], + [ + -3.4694469251501375e-18, + -0.9986595344460998, + -0.051760354532876605, + 3.0682917608660314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77536.56780397412, + -358721.9348588217, + 306.8291760866031 + ], + "rotation_deg": [ + 1.9905148926040876e-16, + -2.9669756889343266, + -112.7391738891602 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9807852783261096, + -0.1950903324585191, + -6.9388938502153445e-18, + -55.31374855741842 + ], + [ + -0.00647924655240916, + -0.03257337025964252, + -0.9994483452955643, + 124.70722907372894 + ], + [ + 0.19498269952053135, + 0.9802442255808731, + -0.03321152063728712, + -3654.0507452300044 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9807852783261096, + -0.00647924655240916, + 0.19498269952053135, + 767.5356359112307 + ], + [ + -0.1950903324585191, + -0.03257337025964252, + 0.9802442255808731, + 3575.1330931956113 + ], + [ + -6.9388938502153445e-18, + -0.9994483452955643, + -0.03321152063728712, + 3.2818529283454096 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76753.56359112306, + -357513.3093195611, + 328.185292834541 + ], + "rotation_deg": [ + 3.977887772366734e-16, + -1.9032299518585207, + -78.74999999999997 + ] + } + } + ] + }, + { + "frame": 4, + "time": 761.8755030296743, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.09939789468723746, + 0.99504776695983, + -5.421010820436116e-20, + -3656.6263850253586 + ], + [ + 0.006389010235561044, + -0.0006382147547451518, + -0.9999793864026082, + 1.4869190426780472 + ], + [ + -0.99502725778769, + 0.09939582229152108, + -0.006420807620695766, + 426.69000579499476 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.09939789468723746, + 0.006389010235561044, + -0.99502725778769, + 788.0195640436174 + ], + [ + 0.99504776695983, + -0.0006382147547451518, + 0.09939582229152108, + 3596.107662569654 + ], + [ + -5.421010820436116e-20, + -0.9999793864026082, + -0.006420807620695766, + 4.226582258336034 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 78801.95640436174, + -359610.7662569654, + 422.6582258336034 + ], + "rotation_deg": [ + 3.106074458486064e-18, + -0.367887705564499, + -174.29550170898438 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5487406050038716, + 0.8359926724678781, + -0.0, + -3429.817411359251 + ], + [ + 0.3631393814100897, + -0.2383625244793769, + -0.9007292026979671, + 579.2390139013677 + ], + [ + -0.7530030218737753, + 0.49426667186656903, + -0.43438106097170864, + -1189.5756685338356 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5487406050038716, + 0.3631393814100897, + -0.7530030218737753, + 775.9814735081164 + ], + [ + 0.8359926724678781, + -0.2383625244793769, + 0.49426667186656903, + 3593.338754090618 + ], + [ + -0.0, + -0.9007292026979671, + -0.43438106097170864, + 5.008330393490204 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77598.14735081165, + -359333.8754090618, + 500.8330393490204 + ], + "rotation_deg": [ + 0.0, + -25.74591636657717, + -146.71934509277347 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9217367174204759, + 0.3878162242079686, + 3.4694469251508647e-18, + -2105.9912897735485 + ], + [ + 0.020174188363136333, + -0.047948716422157256, + -0.9986460447612838, + 159.43046980477774 + ], + [ + -0.3872911524316633, + 0.9204887212365093, + -0.05201997043953828, + -3001.6067818399088 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9217367174204759, + 0.020174188363136333, + -0.3872911524316633, + 775.4573980078396 + ], + [ + 0.3878162242079686, + -0.047948716422157256, + 0.9204887212365093, + 3587.3273122486175 + ], + [ + 3.4694469251508647e-18, + -0.9986460447612838, + -0.05201997043953828, + 3.0711115588907862 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77545.73980078397, + -358732.73122486175, + 307.11115588907865 + ], + "rotation_deg": [ + -1.9905417804279366e-16, + -2.9818706512451176, + -112.81868743896486 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9807852783261096, + -0.1950903324585191, + -6.9388938502153445e-18, + -55.36805635401777 + ], + [ + -0.00647924655240916, + -0.03257337025964252, + -0.9994483452955643, + 124.71127331010828 + ], + [ + 0.19498269952053135, + 0.9802442255808731, + -0.03321152063728712, + -3654.172450147209 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9807852783261096, + -0.00647924655240916, + 0.19498269952053135, + 767.612656756923 + ], + [ + -0.1950903324585191, + -0.03257337025964252, + 0.9802442255808731, + 3575.241930546557 + ], + [ + -6.9388938502153445e-18, + -0.9994483452955643, + -0.03321152063728712, + 3.2818529283454096 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76761.2656756923, + -357524.1930546557, + 328.185292834541 + ], + "rotation_deg": [ + 3.977887772366734e-16, + -1.9032299518585207, + -78.74999999999997 + ] + } + } + ] + }, + { + "frame": 5, + "time": 761.9421696998179, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.10024081516354601, + 0.9949632048349061, + 5.421010820435707e-20, + -3657.102538288467 + ], + [ + 0.005585766773440811, + -0.0005627563029087742, + -0.9999842411332771, + 1.845636287148876 + ], + [ + -0.994947527703572, + 0.1002392120427812, + -0.005614043604392989, + 423.6565540803379 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.10024081516354601, + 0.005585766773440811, + -0.994947527703572, + 788.0965846402688 + ], + [ + 0.9949632048349061, + -0.0005627563029087742, + 0.1002392120427812, + 3596.2165000968384 + ], + [ + 5.421010820435707e-20, + -0.9999842411332771, + -0.005614043604392989, + 4.224033067814794 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 78809.65846402688, + -359621.65000968386, + 422.4033067814794 + ], + "rotation_deg": [ + -3.106059379093262e-18, + -0.3216626942157746, + -174.24696350097656 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5470467621908071, + 0.8371020487231854, + -2.7755575447069673e-17, + -3432.6328436031463 + ], + [ + 0.3631255630454049, + -0.23730280416311758, + -0.9010145418356345, + 575.4351072449874 + ], + [ + -0.7542411274228934, + 0.49289707199995647, + -0.4337888865769989, + -1183.6820708120797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5470467621908071, + 0.3631255630454049, + -0.7542411274228934, + 776.073748238732 + ], + [ + 0.8371020487231854, + -0.23730280416311758, + 0.49289707199995647, + 3593.4498272893175 + ], + [ + -2.7755575447069673e-17, + -0.9010145418356345, + -0.4337888865769989, + 5.007248156636538 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77607.37482387321, + -359344.98272893176, + 500.72481566365377 + ], + "rotation_deg": [ + 1.7649852133940356e-15, + -25.708253860473636, + -146.83535766601562 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9211984061900838, + 0.38909317191753573, + -3.4694469251515927e-18, + -2110.281181793017 + ], + [ + 0.020341447462507493, + -0.048159439266728284, + -0.9986325119505393, + 160.06026175709727 + ], + [ + -0.38856110568830865, + 0.919938672428015, + -0.05227911741470308, + -2998.711653454843 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9211984061900838, + 0.020341447462507493, + -0.38856110568830865, + 775.5491177268973 + ], + [ + 0.38909317191753573, + -0.048159439266728284, + 0.919938672428015, + 3587.435276085257 + ], + [ + -3.4694469251515927e-18, + -0.9986325119505393, + -0.05227911741470308, + 3.071382166394302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77554.91177268972, + -358743.5276085257, + 307.1382166394302 + ], + "rotation_deg": [ + 1.9905687549408717e-16, + -2.9967389106750493, + -112.89808654785159 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9807852783261096, + -0.1950903324585191, + -6.9388938502153445e-18, + -55.42236387197897 + ], + [ + -0.00647924655240916, + -0.03257337025964252, + -0.9994483452955643, + 124.71276976636642 + ], + [ + 0.19498269952053135, + 0.9802442255808731, + -0.03321152063728712, + -3654.2942398511054 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9807852783261096, + -0.00647924655240916, + 0.19498269952053135, + 767.6896773535743 + ], + [ + -0.1950903324585191, + -0.03257337025964252, + 0.9802442255808731, + 3575.350768073741 + ], + [ + -6.9388938502153445e-18, + -0.9994483452955643, + -0.03321152063728712, + 3.2793037378241694 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76768.96773535744, + -357535.07680737413, + 327.93037378241695 + ], + "rotation_deg": [ + 3.977887772366734e-16, + -1.9032299518585207, + -78.74999999999997 + ] + } + } + ] + }, + { + "frame": 6, + "time": 762.0088363699615, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.10101504088769146, + 0.9948848986261966, + 5.4210108204353816e-20, + -3657.5471627950606 + ], + [ + 0.004847897201336314, + -0.0004922283318286746, + -0.9999881277315219, + 2.1732115677271957 + ], + [ + -0.9948730894644795, + 0.10101381817864392, + -0.0048728222185138274, + 420.87473023080577 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.10101504088769146, + 0.004847897201336314, + -0.9948730894644795, + 788.1735971328499 + ], + [ + 0.9948848986261966, + -0.0004922283318286746, + 0.10101381817864392, + 3596.325343358544 + ], + [ + 5.4210108204353816e-20, + -0.9999881277315219, + -0.0048728222185138274, + 4.224033067814794 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 78817.35971328498, + -359632.5343358544, + 422.4033067814794 + ], + "rotation_deg": [ + -3.1060473069448203e-18, + -0.27919325232505815, + -174.20237731933594 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5453584895513922, + 0.8382029097266508, + -0.0, + -3435.421933383723 + ], + [ + 0.36310733938288425, + -0.2362478915939968, + -0.9012990590273984, + 571.6539610483936 + ], + [ + -0.7554715023160248, + 0.49153107763585935, + -0.43319742486134327, + -1177.8057970010989 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5453584895513922, + 0.36310733938288425, + -0.7554715023160248, + 776.1660148652774 + ], + [ + 0.8382029097266508, + -0.2362478915939968, + 0.49153107763585935, + 3593.560906222539 + ], + [ + -0.0, + -0.9012990590273984, + -0.43319742486134327, + 5.008715110304112 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77616.60148652774, + -359356.0906222539, + 500.87151103041117 + ], + "rotation_deg": [ + 0.0, + -25.670648574829116, + -146.95083618164062 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9206590536437852, + 0.39036765611885615, + 3.469446925152325e-18, + -2114.5615999413094 + ], + [ + 0.02050905915688619, + -0.04836940432573708, + -0.9986189359398672, + 160.68962242632583 + ], + [ + -0.3898285474135842, + 0.919387558539033, + -0.05253780377072558, + -2995.8141761406796 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9206590536437852, + 0.02050905915688619, + -0.3898285474135842, + 775.6408293418843 + ], + [ + 0.39036765611885615, + -0.04836940432573708, + 0.919387558539033, + 3587.5432456564176 + ], + [ + 3.469446925152325e-18, + -0.9986189359398672, + -0.05253780377072558, + 3.074201964419057 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77564.08293418844, + -358754.32456564176, + 307.4201964419057 + ], + "rotation_deg": [ + -1.990595816297419e-16, + -3.0115809440612793, + -112.97737884521486 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9807852783261096, + -0.1950903324585191, + -6.9388938502153445e-18, + -55.47666232283768 + ], + [ + -0.00647924655240916, + -0.03257337025964252, + -0.9994483452955643, + 124.71681414115727 + ], + [ + 0.19498269952053135, + 0.9802442255808731, + -0.03321152063728712, + -3654.415948933586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9807852783261096, + -0.00647924655240916, + 0.19498269952053135, + 767.7666898461554 + ], + [ + -0.1950903324585191, + -0.03257337025964252, + 0.9802442255808731, + 3575.459611335447 + ], + [ + -6.9388938502153445e-18, + -0.9994483452955643, + -0.03321152063728712, + 3.2793037378241694 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76776.66898461554, + -357545.9611335447, + 327.93037378241695 + ], + "rotation_deg": [ + 3.977887772366734e-16, + -1.9032299518585207, + -78.74999999999997 + ] + } + } + ] + }, + { + "frame": 7, + "time": 762.0755030401051, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.10172032265429302, + 0.9948130356801252, + -8.131516230652686e-20, + -3657.9607265645695 + ], + [ + 0.004175878936178071, + -0.00042698651657986674, + -0.9999911898200028, + 2.4679857115687294 + ], + [ + -0.9948042735932282, + 0.10171940305566782, + -0.0041976520398839, + 418.34565088145143 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.10172032265429302, + 0.004175878936178071, + -0.9948042735932282, + 788.2505940030534 + ], + [ + 0.9948130356801252, + -0.00042698651657986674, + 0.10171940305566782, + 3596.434197672244 + ], + [ + -8.131516230652686e-20, + -0.9999911898200028, + -0.0041976520398839, + 4.224033067814794 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 78825.05940030534, + -359643.4197672244, + 422.4033067814794 + ], + "rotation_deg": [ + 4.659056693803799e-18, + -0.2405084520578384, + -174.16175842285156 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.543675824727424, + 0.8392952982156846, + -2.775557544677858e-17, + -3438.1848626445917 + ], + [ + 0.36308474730331725, + -0.2351977901648519, + -0.9015827559227473, + 567.8932695329675 + ], + [ + -0.7566941764861407, + 0.4901687325256973, + -0.4326066769319595, + -1171.9481000480891 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.543675824727424, + 0.36308474730331725, + -0.7566941764861407, + 776.2582658694452 + ], + [ + 0.8392952982156846, + -0.2351977901648519, + 0.4901687325256973, + 3593.671996207754 + ], + [ + -2.775557544677858e-17, + -0.9015827559227473, + -0.4326066769319595, + 5.010182063971686 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77625.82658694452, + -359367.1996207754, + 501.01820639716857 + ], + "rotation_deg": [ + 1.7638728479767888e-15, + -25.633100509643565, + -147.0657806396485 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.92011872009225, + 0.39163955486620544, + -0.0, + -2118.8321476200317 + ], + [ + 0.020677010080715073, + -0.04857860707481822, + -0.998605317524793, + 161.3160002907611 + ], + [ + -0.39109335607856044, + 0.9188354406404099, + -0.052796021198118284, + -2992.9148041041367 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.92011872009225, + 0.020677010080715073, + -0.39109335607856044, + 775.7325253344941 + ], + [ + 0.39163955486620544, + -0.04857860707481822, + 0.9188354406404099, + 3587.6512262795727 + ], + [ + -0.0, + -0.998605317524793, + -0.052796021198118284, + 3.0770217624438123 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77573.25253344941, + -358765.12262795726, + 307.70217624438123 + ], + "rotation_deg": [ + 0.0, + -3.0263962745666517, + -113.0565567016602 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9807852783261096, + -0.1950903324585191, + -6.9388938502153445e-18, + -55.53094329536111 + ], + [ + -0.00647924655240916, + -0.03257337025964252, + -0.9994483452955643, + 124.72085877472759 + ], + [ + 0.19498269952053135, + 0.9802442255808731, + -0.03321152063728712, + -3654.5376658036266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9807852783261096, + -0.00647924655240916, + 0.19498269952053135, + 767.8436867163589 + ], + [ + -0.1950903324585191, + -0.03257337025964252, + 0.9802442255808731, + 3575.5684656491467 + ], + [ + -6.9388938502153445e-18, + -0.9994483452955643, + -0.03321152063728712, + 3.2793037378241694 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76784.3686716359, + -357556.8465649147, + 327.93037378241695 + ], + "rotation_deg": [ + 3.977887772366734e-16, + -1.9032299518585207, + -78.74999999999997 + ] + } + } + ] + }, + { + "frame": 8, + "time": 762.1421697102487, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.10235588027956596, + 0.9947478443164351, + 2.7105054102174627e-20, + -3658.3434261691787 + ], + [ + 0.0035701471773155634, + -0.00036735496251600637, + -0.999993559528992, + 2.730768365049431 + ], + [ + -0.9947414400812952, + 0.10235519764161981, + -0.0035889971768920262, + 416.07238380598045 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.10235588027956596, + 0.0035701471773155634, + -0.9947414400812952, + 788.3275680781417 + ], + [ + 0.9947478443164351, + -0.00036735496251600637, + 0.10235519764161981, + 3596.5430681062307 + ], + [ + 2.7105054102174627e-20, + -0.999993559528992, + -0.0035889971768920262, + 4.224033067814794 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 78832.75680781416, + -359654.3068106231, + 422.4033067814794 + ], + "rotation_deg": [ + -1.5530152177079973e-18, + -0.20563483238220223, + -174.12515258789065 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5419985812313765, + 0.8403794011892335, + 1.3877787723316887e-17, + -3440.922157854824 + ], + [ + 0.363057885875427, + -0.23415240636655602, + -0.901865634169756, + 564.1526263071627 + ], + [ + -0.7579093100670447, + 0.48880987828964095, + -0.43201664389252736, + -1166.1082977149 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5419985812313765, + 0.363057885875427, + -0.7579093100670447, + 776.3504940784976 + ], + [ + 0.8403794011892335, + -0.23415240636655602, + 0.48880987828964095, + 3593.783102313256 + ], + [ + 1.3877787723316887e-17, + -0.901865634169756, + -0.43201664389252736, + 5.011649017639261 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77635.04940784976, + -359378.3102313256, + 501.1649017639261 + ], + "rotation_deg": [ + -8.816597967123491e-16, + -25.59560966491701, + -147.18020629882815 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.919577309550712, + 0.39290911386664706, + -0.0, + -2123.093626255247 + ], + [ + 0.02084531274359381, + -0.048787050065738774, + -0.9985916566257225, + 161.93939487100565 + ], + [ + -0.39235577695681567, + 0.9182822229181788, + -0.05305377800931453, + -2990.0130111854023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.919577309550712, + 0.02084531274359381, + -0.39235577695681567, + 775.8241985319885 + ], + [ + 0.39290911386664706, + -0.048787050065738774, + 0.9182822229181788, + 3587.7592230230152 + ], + [ + -0.0, + -0.9985916566257225, + -0.05305377800931453, + 3.079841560468568 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77582.41985319885, + -358775.9223023015, + 307.9841560468568 + ], + "rotation_deg": [ + 0.0, + -3.0411853790283208, + -113.1356353759766 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9807852783261096, + -0.1950903324585191, + -6.9388938502153445e-18, + -55.58519876585899 + ], + [ + -0.00647924655240916, + -0.03257337025964252, + -0.9994483452955643, + 124.72490378569483 + ], + [ + 0.19498269952053135, + 0.9802442255808731, + -0.03321152063728712, + -3654.659394030833 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9807852783261096, + -0.00647924655240916, + 0.19498269952053135, + 767.9206607914472 + ], + [ + -0.1950903324585191, + -0.03257337025964252, + 0.9802442255808731, + 3575.677336083134 + ], + [ + -6.9388938502153445e-18, + -0.9994483452955643, + -0.03321152063728712, + 3.2793037378241694 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76792.06607914472, + -357567.73360831337, + 327.93037378241695 + ], + "rotation_deg": [ + 3.977887772366734e-16, + -1.9032299518585207, + -78.74999999999997 + ] + } + } + ] + }, + { + "frame": 9, + "time": 762.2088363803923, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.1029217271976404, + 0.9946894581077323, + -0.0, + -3658.6957427305456 + ], + [ + 0.0030310925229126433, + -0.00031363082740164564, + -0.9999953570461324, + 2.9597980284047845 + ], + [ + -0.9946848422328766, + 0.10292122592466034, + -0.003047275229154218, + 414.05505342176406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.1029217271976404, + 0.0030310925229126433, + -0.9946848422328766, + 788.4045125387764 + ], + [ + 0.9946894581077323, + -0.00031363082740164564, + 0.10292122592466034, + 3596.651959472325 + ], + [ + -0.0, + -0.9999953570461324, + -0.003047275229154218, + 4.221523721806493 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 78840.45125387765, + -359665.1959472325, + 422.1523721806493 + ], + "rotation_deg": [ + 0.0, + -0.17459627985954293, + -174.09255981445312 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5403267952018118, + 0.8414552598842907, + -0.0, + -3443.6339945450054 + ], + [ + 0.3630268160775631, + -0.23311175941841572, + -0.9021476810530733, + 560.4297955275497 + ], + [ + -0.7591169198673227, + 0.48745454937951144, + -0.4314273568752521, + -1160.287593997667 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5403267952018118, + 0.3630268160775631, + -0.7591169198673227, + 776.4426926730968 + ], + [ + 0.8414552598842907, + -0.23311175941841572, + 0.48745454937951144, + 3593.8942293508658 + ], + [ + -0.0, + -0.9021476810530733, + -0.4314273568752521, + 5.010606625298534 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77644.26926730968, + -359389.4229350866, + 501.0606625298534 + ], + "rotation_deg": [ + 0.0, + -25.55817794799806, + -147.2941131591797 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9190349346190075, + 0.3941760887596256, + 3.4694469251545336e-18, + -2127.3452411553885 + ], + [ + 0.021013947279610996, + -0.04899473158043748, + -0.9985779540411908, + 162.55730969941393 + ], + [ + -0.3936155662841308, + 0.9177280186590816, + -0.053311065895356634, + -2987.109534248278 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9190349346190075, + 0.021013947279610996, + -0.3936155662841308, + 775.9158421150295 + ], + [ + 0.3941760887596256, + -0.04899473158043748, + 0.9177280186590816, + 3587.867240698564 + ], + [ + 3.4694469251545336e-18, + -0.9985779540411908, + -0.053311065895356634, + 3.080152012485022 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77591.58421150295, + -358786.7240698564, + 308.0152012485022 + ], + "rotation_deg": [ + -1.9906775108681674e-16, + -3.0559477806091317, + -113.21459960937503 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9807852783261096, + -0.1950903324585191, + -6.9388938502153445e-18, + -55.63942110728533 + ], + [ + -0.00647924655240916, + -0.03257337025964252, + -0.9994483452955643, + 124.7264413248962 + ], + [ + 0.19498269952053135, + 0.9802442255808731, + -0.03321152063728712, + -3654.7812203415065 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9807852783261096, + -0.00647924655240916, + 0.19498269952053135, + 767.9976052520819 + ], + [ + -0.1950903324585191, + -0.03257337025964252, + 0.9802442255808731, + 3575.7862274492277 + ], + [ + -6.9388938502153445e-18, + -0.9994483452955643, + -0.03321152063728712, + 3.276794391815869 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76799.7605252082, + -357578.62274492276, + 327.6794391815869 + ], + "rotation_deg": [ + 3.977887772366734e-16, + -1.9032299518585207, + -78.74999999999997 + ] + } + } + ] + }, + { + "frame": 10, + "time": 762.2755030505359, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.10341708082516582, + 0.9946380785962303, + -0.0, + -3659.0177740296094 + ], + [ + 0.002559062622377049, + -0.00026607747255015567, + -0.9999966901951591, + 3.1607534599947824 + ], + [ + -0.9946347889719978, + 0.10341671512767972, + -0.002572858105143273, + 412.29671816386525 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.10341708082516582, + 0.002559062622377049, + -0.9946347889719978, + 788.4814209259905 + ], + [ + 0.9946380785962303, + -0.00026607747255015567, + 0.10341671512767972, + 3596.760876319544 + ], + [ + -0.0, + -0.9999966901951591, + -0.002572858105143273, + 4.221523721806493 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 78848.14209259905, + -359676.0876319544, + 422.1523721806493 + ], + "rotation_deg": [ + 0.0, + -0.14741407334804535, + -174.06402587890625 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.538660502471251, + 0.8425229154613063, + -0.0, + -3446.32054780179 + ], + [ + 0.3629915735734216, + -0.23207585197469827, + -0.9024288982767057, + 556.7292920154075 + ], + [ + -0.7603170348079119, + 0.4861027878368631, + -0.43083881700484417, + -1154.4839612496974 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.538660502471251, + 0.3629915735734216, + -0.7603170348079119, + 776.534855194275 + ], + [ + 0.8425229154613063, + -0.23207585197469827, + 0.4861027878368631, + 3594.0053818696006 + ], + [ + -0.0, + -0.9024288982767057, + -0.43083881700484417, + 5.012073578966108 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77653.4855194275, + -359400.53818696004, + 501.2073578966108 + ], + "rotation_deg": [ + 0.0, + -25.520805358886737, + -147.40750122070315 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9184916039191757, + 0.3954404803886167, + -0.0, + -2131.586996929172 + ], + [ + 0.021182909957843853, + -0.04920165210130965, + -0.998564210131837, + 163.17476104314855 + ], + [ + -0.394872724993166, + 0.9171728369114934, + -0.053567884858322895, + -2984.2041453345805 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9184916039191757, + 0.021182909957843853, + -0.394872724993166, + 776.0074496246498 + ], + [ + 0.3954404803886167, + -0.04920165210130965, + 0.9171728369114934, + 3587.975283855238 + ], + [ + -0.0, + -0.998564210131837, + -0.053567884858322895, + 3.0829718105097776 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77600.74496246497, + -358797.5283855238, + 308.29718105097777 + ], + "rotation_deg": [ + 0.0, + -3.070683479309083, + -113.2934494018555 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9807852783261096, + -0.1950903324585191, + -6.9388938502153445e-18, + -55.6936030973103 + ], + [ + -0.00647924655240916, + -0.03257337025964252, + -0.9994483452955643, + 124.73048742209087 + ], + [ + 0.19498269952053135, + 0.9802442255808731, + -0.03321152063728712, + -3654.902981257016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9807852783261096, + -0.00647924655240916, + 0.19498269952053135, + 768.074513639296 + ], + [ + -0.1950903324585191, + -0.03257337025964252, + 0.9802442255808731, + 3575.8951442964467 + ], + [ + -6.9388938502153445e-18, + -0.9994483452955643, + -0.03321152063728712, + 3.276794391815869 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76807.4513639296, + -357589.5144296447, + 327.6794391815869 + ], + "rotation_deg": [ + 3.977887772366734e-16, + -1.9032299518585207, + -78.74999999999997 + ] + } + } + ] + }, + { + "frame": 11, + "time": 762.3421697206795, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.10384195195474379, + 0.9945938110677284, + 1.3552527051086451e-20, + -3659.309896868808 + ], + [ + 0.0021543611982776166, + -0.00022492908115378816, + -0.999997654064616, + 3.3317150662759465 + ], + [ + -0.9945914802582816, + 0.10384168494541475, + -0.002166071406228928, + 410.7974752630899 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.10384195195474379, + 0.0021543611982776166, + -0.9945914802582816, + 788.5582871470494 + ], + [ + 0.9945938110677284, + -0.00022492908115378816, + 0.10384168494541475, + 3596.8698229289093 + ], + [ + 1.3552527051086451e-20, + -0.999997654064616, + -0.002166071406228928, + 4.221523721806493 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 78855.82871470494, + -359686.98229289096, + 422.1523721806493 + ], + "rotation_deg": [ + -7.765044294084237e-19, + -0.12410684674978256, + -174.03955078125006 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5369997385678194, + 0.843582409002282, + 1.3877787723101199e-17, + -3448.9819922557576 + ], + [ + 0.362952219211215, + -0.23104470262668209, + -0.9027092732202332, + 553.0488780253426 + ], + [ + -0.761509671749607, + 0.4847546277379012, + -0.43025105545308595, + -1148.6986027732326 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5369997385678194, + 0.362952219211215, + -0.761509671749607, + 776.6269755492982 + ], + [ + 0.843582409002282, + -0.23104470262668209, + 0.4847546277379012, + 3594.1165641504817 + ], + [ + 1.3877787723101199e-17, + -0.9027092732202332, + -0.43025105545308595, + 5.013540532633682 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77662.69755492982, + -359411.6564150482, + 501.3540532633682 + ], + "rotation_deg": [ + -8.808358297185825e-16, + -25.483493804931655, + -147.52037048339847 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9179472204083606, + 0.3967025340788285, + 3.469446925156016e-18, + -2135.819693669986 + ], + [ + 0.021352211862978775, + -0.04940781024932159, + -0.9985504250336711, + 163.78922957826072 + ], + [ + -0.3961274980572276, + 0.9166165810048424, + -0.05382423905559939, + -2981.296447417404 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9179472204083606, + 0.021352211862978775, + -0.3961274980572276, + 776.0990149681148 + ], + [ + 0.3967025340788285, + -0.04940781024932159, + 0.9166165810048424, + 3588.0833567740588 + ], + [ + 3.469446925156016e-18, + -0.9985504250336711, + -0.05382423905559939, + 3.085791608534533 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77609.90149681148, + -358808.3356774059, + 308.5791608534533 + ], + "rotation_deg": [ + -1.9907323917992067e-16, + -3.085392713546754, + -113.37220001220705 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9807852783261096, + -0.1950903324585191, + -6.9388938502153445e-18, + -55.74773792508415 + ], + [ + -0.00647924655240916, + -0.03257337025964252, + -0.9994483452955643, + 124.73453421553407 + ], + [ + 0.19498269952053135, + 0.9802442255808731, + -0.03321152063728712, + -3655.0247631250277 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9807852783261096, + -0.00647924655240916, + 0.19498269952053135, + 768.151379860355 + ], + [ + -0.1950903324585191, + -0.03257337025964252, + 0.9802442255808731, + 3576.0040909058125 + ], + [ + -6.9388938502153445e-18, + -0.9994483452955643, + -0.03321152063728712, + 3.276794391815869 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76815.1379860355, + -357600.40909058123, + 327.6794391815869 + ], + "rotation_deg": [ + 3.977887772366734e-16, + -1.9032299518585207, + -78.74999999999997 + ] + } + } + ] + }, + { + "frame": 12, + "time": 762.4088363908231, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.10419582018041955, + 0.9945568013225435, + 1.3552527051086308e-20, + -3659.5722146828357 + ], + [ + 0.0018172482728454735, + -0.00019038598299141006, + -0.9999983306795527, + 3.473185236658423 + ], + [ + -0.9945551435399579, + 0.10419562284498433, + -0.0018271940672528566, + 409.559367303759 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.10419582018041955, + 0.0018172482728454735, + -0.9945551435399579, + 788.6351054803641 + ], + [ + 0.9945568013225435, + -0.00019038598299141006, + 0.10419562284498433, + 3596.9788033092495 + ], + [ + 1.3552527051086308e-20, + -0.9999983306795527, + -0.0018271940672528566, + 4.221523721806493 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 78863.51054803641, + -359697.88033092493, + 422.1523721806493 + ], + "rotation_deg": [ + -7.765039040130432e-19, + -0.1046905666589737, + -174.01916503906253 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5353443137772899, + 0.8446339240797295, + 1.3877787723029802e-17, + -3451.6188397868596 + ], + [ + 0.36290882430891336, + -0.2300182007549096, + -0.9029888219464269, + 549.3881062735275 + ], + [ + -0.7626950004810276, + 0.48340991521883053, + -0.4296640433051948, + -1142.9308434103805 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5353443137772899, + 0.36290882430891336, + -0.7626950004810276, + 776.7190480165772 + ], + [ + 0.8446339240797295, + -0.2300182007549096, + 0.48340991521883053, + 3594.227780202337 + ], + [ + 1.3877787723029802e-17, + -0.9029888219464269, + -0.4296640433051948, + 5.015007486301256 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77671.90480165771, + -359422.7780202337, + 501.5007486301256 + ], + "rotation_deg": [ + -8.805631391466842e-16, + -25.446241378784205, + -147.63273620605472 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9174018976527503, + 0.3979620059542527, + -0.0, + -2140.0425399337264 + ], + [ + 0.021521836249348867, + -0.04961321211752579, + -0.998536599102826, + 164.40075018786268 + ], + [ + -0.3973796420396619, + 0.9160593647766508, + -0.054080128489392046, + -2978.3870442868206 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9174018976527503, + 0.021521836249348867, + -0.3973796420396619, + 776.1905324238356 + ], + [ + 0.3979620059542527, + -0.04961321211752579, + 0.9160593647766508, + 3588.191463463854 + ], + [ + -0.0, + -0.998536599102826, + -0.054080128489392046, + 3.0886114065592882 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77619.05324238357, + -358819.14634638536, + 308.8611406559288 + ], + "rotation_deg": [ + 0.0, + -3.100075483322144, + -113.45083618164067 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9807852783261096, + -0.1950903324585191, + -6.9388938502153445e-18, + -55.80181919687277 + ], + [ + -0.00647924655240916, + -0.03257337025964252, + -0.9994483452955643, + 124.73858179873521 + ], + [ + 0.19498269952053135, + 0.9802442255808731, + -0.03321152063728712, + -3655.1465687595596 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9807852783261096, + -0.00647924655240916, + 0.19498269952053135, + 768.2281981936696 + ], + [ + -0.1950903324585191, + -0.03257337025964252, + 0.9802442255808731, + 3576.1130712861523 + ], + [ + -6.9388938502153445e-18, + -0.9994483452955643, + -0.03321152063728712, + 3.276794391815869 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76822.81981936697, + -357611.3071286152, + 327.6794391815869 + ], + "rotation_deg": [ + 3.977887772366734e-16, + -1.9032299518585207, + -78.74999999999997 + ] + } + } + ] + }, + { + "frame": 13, + "time": 762.4755030609667, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.10447842852055228, + 0.9945271529595738, + -0.0, + -3659.80488655129 + ], + [ + 0.0015479403713786742, + -0.0001626163518651943, + -0.9999987887175308, + 3.583075589735675 + ], + [ + -0.9945259507641141, + 0.10447827857131775, + -0.0015564586434499291, + 408.5834462600764 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.10447842852055228, + 0.0015479403713786742, + -0.9945259507641141, + 788.7118705794118 + ], + [ + 0.9945271529595738, + -0.0001626163518651943, + 0.10447827857131775, + 3597.0878211940226 + ], + [ + -0.0, + -0.9999987887175308, + -0.0015564586434499291, + 4.219014347187962 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 78871.18705794118, + -359708.78211940225, + 421.9014347187963 + ], + "rotation_deg": [ + 0.0, + -0.08917854726314546, + -174.00288391113284 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.533694487407799, + 0.8456773581635768, + -0.0, + -3454.230922761692 + ], + [ + 0.36286141308720343, + -0.22899647718862795, + -0.9032675175868752, + 545.745166766184 + ], + [ + -0.7638728963706357, + 0.4820688787456042, + -0.42907784181345443, + -1137.1826866537021 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.533694487407799, + 0.36286141308720343, + -0.7638728963706357, + 776.811067249589 + ], + [ + 0.8456773581635768, + -0.22899647718862795, + 0.4820688787456042, + 3594.339033758625 + ], + [ + -0.0, + -0.9032675175868752, + -0.42907784181345443, + 5.013965065350301 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77681.1067249589, + -359433.9033758625, + 501.3965065350301 + ], + "rotation_deg": [ + 0.0, + -25.40905189514161, + -147.7445831298828 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9168555910672158, + 0.39921901899682344, + -0.0, + -2144.2559381050014 + ], + [ + 0.021691784403366453, + -0.04981785151525913, + -0.9985227329208892, + 165.00679400656466 + ], + [ + -0.3986292799257121, + 0.9155011443466442, + -0.05433554900701265, + -2975.4758254641124 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9168555910672158, + 0.021691784403366453, + -0.3986292799257121, + 776.2819966452895 + ], + [ + 0.39921901899682344, + -0.04981785151525913, + 0.9155011443466442, + 3588.2996076580826 + ], + [ + -0.0, + -0.9985227329208892, + -0.05433554900701265, + 3.0889218299655137 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77628.19966452895, + -358829.96076580824, + 308.89218299655136 + ], + "rotation_deg": [ + 0.0, + -3.1147315502166757, + -113.52936553955082 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9807852783261096, + -0.1950903324585191, + -6.9388938502153445e-18, + -55.85584094052365 + ], + [ + -0.00647924655240916, + -0.03257337025964252, + -0.9994483452955643, + 124.74012226835397 + ], + [ + 0.19498269952053135, + 0.9802442255808731, + -0.03321152063728712, + -3655.2684841179816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9807852783261096, + -0.00647924655240916, + 0.19498269952053135, + 768.3049632927173 + ], + [ + -0.1950903324585191, + -0.03257337025964252, + 0.9802442255808731, + 3576.2220891709253 + ], + [ + -6.9388938502153445e-18, + -0.9994483452955643, + -0.03321152063728712, + 3.2742850171973386 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76830.49632927173, + -357622.20891709253, + 327.42850171973384 + ], + "rotation_deg": [ + 3.977887772366734e-16, + -1.9032299518585207, + -78.74999999999997 + ] + } + } + ] + }, + { + "frame": 14, + "time": 762.5421697311103, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.1046897833220867, + 0.9945049267188043, + -0.0, + -3660.0081248393094 + ], + [ + 0.0013466099355258154, + -0.00014175525789972051, + -0.999999083273144, + 3.6667415154922285 + ], + [ + -0.9945040174920804, + 0.10468966395595874, + -0.001354050552972169, + 407.86978945539323 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.1046897833220867, + 0.0013466099355258154, + -0.9945040174920804, + 788.7885774756583 + ], + [ + 0.9945049267188043, + -0.00014175525789972051, + 0.10468966395595874, + 3597.1968800391496 + ], + [ + -0.0, + -0.999999083273144, + -0.001354050552972169, + 4.219014347187962 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 78878.85774756582, + -359719.68800391495, + 421.9014347187963 + ], + "rotation_deg": [ + 0.0, + -0.07758140563964844, + -173.990707397461 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5320500685973097, + 0.8467128937872612, + -0.0, + -3456.8187485182484 + ], + [ + 0.3628100560280361, + -0.22797942090392978, + -0.9035453762203876, + 542.1241435001222 + ], + [ + -0.7650435285329763, + 0.4807313633235392, + -0.428492422064736, + -1131.45129801385 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5320500685973097, + 0.3628100560280361, + -0.7650435285329763, + 776.9030282797997 + ], + [ + 0.8467128937872612, + -0.22797942090392978, + 0.4807313633235392, + 3594.450328275268 + ], + [ + -0.0, + -0.9035453762203876, + -0.428492422064736, + 5.015432019017875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77690.30282797998, + -359445.0328275268, + 501.5432019017875 + ], + "rotation_deg": [ + 0.0, + -25.371923446655284, + -147.8559265136719 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9163083087080298, + 0.40047357390048777, + -3.4694469251582576e-18, + -2148.4598929209437 + ], + [ + 0.02186205437553651, + -0.050021732706659494, + -0.9985088266187258, + 165.61238921498247 + ], + [ + -0.3998764124111932, + 0.9149419279858879, + -0.05459050476611972, + -2972.5625536707976 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9163083087080298, + 0.02186205437553651, + -0.3998764124111932, + 776.3734026639422 + ], + [ + 0.40047357390048777, + -0.050021732706659494, + 0.9149419279858879, + 3588.4077928126644 + ], + [ + -3.4694469251582576e-18, + -0.9985088266187258, + -0.05459050476611972, + 3.091741627990268 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77637.34026639423, + -358840.77928126644, + 309.1741627990268 + ], + "rotation_deg": [ + 1.9908153267830105e-16, + -3.1293611526489267, + -113.60778808593754 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9807852783261096, + -0.1950903324585191, + -6.9388938502153445e-18, + -55.90979760875484 + ], + [ + -0.00647924655240916, + -0.03257337025964252, + -0.9994483452955643, + 124.74417168538943 + ], + [ + 0.19498269952053135, + 0.9802442255808731, + -0.03321152063728712, + -3655.390344938868 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9807852783261096, + -0.00647924655240916, + 0.19498269952053135, + 768.3816701889638 + ], + [ + -0.1950903324585191, + -0.03257337025964252, + 0.9802442255808731, + 3576.3311480160523 + ], + [ + -6.9388938502153445e-18, + -0.9994483452955643, + -0.03321152063728712, + 3.2742850171973386 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76838.16701889638, + -357633.11480160523, + 327.42850171973384 + ], + "rotation_deg": [ + 3.977887772366734e-16, + -1.9032299518585207, + -78.74999999999997 + ] + } + } + ] + }, + { + "frame": 15, + "time": 762.6088364012539, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.10482962450189715, + 0.9944901959430222, + -0.0, + -3660.1819768832884 + ], + [ + 0.0012133863052999434, + -0.00012790355428262567, + -0.9999992556669004, + 3.7219211713134697 + ], + [ + -0.9944894581768814, + 0.10482952308097189, + -0.0012201088755316328, + 407.4194238644646 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.10482962450189715, + 0.0012133863052999434, + -0.9944894581768814, + 788.8652215804435 + ], + [ + 0.9944901959430222, + -0.00012790355428262567, + 0.10482952308097189, + 3597.305983021849 + ], + [ + -0.0, + -0.9999992556669004, + -0.0012201088755316328, + 4.219014347187962 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 78886.52215804435, + -359730.5983021849, + 421.9014347187963 + ], + "rotation_deg": [ + 0.0, + -0.06990710645914078, + -173.98265075683594 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5304110908582421, + 0.8477405703955482, + -6.938893861408565e-17, + -3459.3824844107958 + ], + [ + 0.3627547872716217, + -0.22696703348881145, + -0.9038223996011653, + 538.5227546232653 + ], + [ + -0.766206924922003, + 0.4793974088091403, + -0.4279077851928491, + -1125.7378854749445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5304110908582421, + 0.3627547872716217, + -0.766206924922003, + 776.9949265185492 + ], + [ + 0.8477405703955482, + -0.22696703348881145, + 0.4793974088091403, + 3594.5616669294827 + ], + [ + -6.938893861408565e-17, + -0.9038223996011653, + -0.4279077851928491, + 5.016898972685449 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77699.49265185492, + -359456.16669294826, + 501.6898972685449 + ], + "rotation_deg": [ + 4.398755065188703e-15, + -25.334856033325206, + -147.9667663574219 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9157601121097559, + 0.4017255494348434, + 3.4694469251590095e-18, + -2152.6540133823346 + ], + [ + 0.02203263421955661, + -0.05022485528082372, + -0.9984948807787486, + 166.2150378946628 + ], + [ + -0.4011209186336924, + 0.9143817777762608, + -0.054844991614434666, + -2969.647686516812 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9157601121097559, + 0.02203263421955661, + -0.4011209186336924, + 776.4647458911336 + ], + [ + 0.4017255494348434, + -0.05022485528082372, + 0.9143817777762608, + 3588.516022104819 + ], + [ + 3.4694469251590095e-18, + -0.9984948807787486, + -0.054844991614434666, + 3.094561426015024 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77646.47458911336, + -358851.6022104819, + 309.4561426015024 + ], + "rotation_deg": [ + -1.9908431322259192e-16, + -3.1439640522003187, + -113.68609619140629 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9807852783261096, + -0.1950903324585191, + -6.9388938502153445e-18, + -55.96368408123169 + ], + [ + -0.00647924655240916, + -0.03257337025964252, + -0.9994483452955643, + 124.74822213329303 + ], + [ + 0.19498269952053135, + 0.9802442255808731, + -0.03321152063728712, + -3655.512236782106 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9807852783261096, + -0.00647924655240916, + 0.19498269952053135, + 768.458314293749 + ], + [ + -0.1950903324585191, + -0.03257337025964252, + 0.9802442255808731, + 3576.4402509987517 + ], + [ + -6.9388938502153445e-18, + -0.9994483452955643, + -0.03321152063728712, + 3.2742850171973386 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76845.8314293749, + -357644.0250998752, + 327.42850171973384 + ], + "rotation_deg": [ + 3.977887772366734e-16, + -1.9032299518585207, + -78.74999999999997 + ] + } + } + ] + }, + { + "frame": 16, + "time": 762.6755030713975, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.10489795523379608, + 0.9944829907986199, + -6.77626352554305e-21, + -3660.3265421308183 + ], + [ + 0.00114835455755726, + -0.00012112831097737698, + -0.9999993333046489, + 3.7487754431718745 + ], + [ + -0.9944823302488156, + 0.10489786190674842, + -0.0011547251959841416, + 407.2323943431825 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.10489795523379608, + 0.00114835455755726, + -0.9944823302488156, + 788.9417986859822 + ], + [ + 0.9944829907986199, + -0.00012112831097737698, + 0.10489786190674842, + 3597.4151330403533 + ], + [ + -6.77626352554305e-21, + -0.9999993333046489, + -0.0011547251959841416, + 4.219014347187962 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 78894.17986859822, + -359741.51330403535, + 421.9014347187963 + ], + "rotation_deg": [ + 3.882515627351054e-19, + -0.06616089493036273, + -173.97871398925784 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5287775874194055, + 0.8487604273544525, + -0.0, + -3461.9222973237343 + ], + [ + 0.3626956918870353, + -0.2259593481769936, + -0.9040985610308273, + 534.9410580307389 + ], + [ + -0.7673630893614432, + 0.4780670397558148, + -0.4273239925218031, + -1120.0425418571328 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5287775874194055, + 0.3626956918870353, + -0.7673630893614432, + 777.0867577580523 + ], + [ + 0.8487604273544525, + -0.2259593481769936, + 0.4780670397558148, + 3594.673052619503 + ], + [ + -0.0, + -0.9040985610308273, + -0.4273239925218031, + 5.018365926353023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77708.67577580523, + -359467.3052619503, + 501.8365926353023 + ], + "rotation_deg": [ + 0.0, + -25.297853469848647, + -148.0771026611328 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9152109561390137, + 0.4029750684138063, + -1.0408340775479287e-17, + -2156.8387016715074 + ], + [ + 0.022203526973106416, + -0.05042721682684353, + -0.9984808957576768, + 166.814729002982 + ], + [ + -0.40236292132371987, + 0.9138206490826896, + -0.05509900955492489, + -2966.7309734387345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9152109561390137, + 0.022203526973106416, + -0.40236292132371987, + 776.5560221190785 + ], + [ + 0.4029750684138063, + -0.05042721682684353, + 0.9138206490826896, + 3588.6242984327782 + ], + [ + -1.0408340775479287e-17, + -0.9984808957576768, + -0.05509900955492489, + 3.097381224039779 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77655.60221190786, + -358862.42984327785, + 309.7381224039779 + ], + "rotation_deg": [ + 5.972613049706186e-16, + -3.158540248870849, + -113.7642974853516 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9807852783261096, + -0.1950903324585191, + -6.9388938502153445e-18, + -56.01749566560295 + ], + [ + -0.00647924655240916, + -0.03257337025964252, + -0.9994483452955643, + 124.75227367920668 + ], + [ + 0.19498269952053135, + 0.9802442255808731, + -0.03321152063728712, + -3655.634161668227 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9807852783261096, + -0.00647924655240916, + 0.19498269952053135, + 768.5348913992877 + ], + [ + -0.1950903324585191, + -0.03257337025964252, + 0.9802442255808731, + 3576.5494010172565 + ], + [ + -6.9388938502153445e-18, + -0.9994483452955643, + -0.03321152063728712, + 3.2742850171973386 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76853.48913992877, + -357654.94010172563, + 327.42850171973384 + ], + "rotation_deg": [ + 3.977887772366734e-16, + -1.9032299518585207, + -78.74999999999997 + ] + } + } + ] + }, + { + "frame": 17, + "time": 762.7421697415411, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.10489451222426649, + 0.9944833539608556, + 6.77626352554305e-21, + -3660.441754589195 + ], + [ + 0.001151556544874854, + -0.00012146202507283397, + -0.9999993295820254, + 3.747374916276431 + ], + [ + -0.994482689708644, + 0.10489441850899608, + -0.0011579445238663658, + 407.30970858368755 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.10489451222426649, + 0.001151556544874854, + -0.994482689708644, + 789.0183049652479 + ], + [ + 0.9944833539608556, + -0.00012146202507283397, + 0.10489441850899608, + 3597.5243327146436 + ], + [ + 6.77626352554305e-21, + -0.9999993295820254, + -0.0011579445238663658, + 4.219014347187962 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 78901.8304965248, + -359752.43327146437, + 421.9014347187963 + ], + "rotation_deg": [ + -3.882515641804207e-19, + -0.06634534895420077, + -173.97891235351565 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5271495912275364, + 0.8497725039495223, + -5.551115089070647e-17, + -3464.4383536619953 + ], + [ + 0.36263275275405604, + -0.2249563341853813, + -0.9043738907884781, + 531.3789609661906 + ], + [ + -0.7685120739948139, + 0.4767403106807202, + -0.426740985020468, + -1114.3654303309283 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5271495912275364, + 0.36263275275405604, + -0.7685120739948139, + 777.1785181712822 + ], + [ + 0.8497725039495223, + -0.2249563341853813, + 0.4767403106807202, + 3594.7844879653085 + ], + [ + -5.551115089070647e-17, + -0.9043738907884781, + -0.426740985020468, + 5.019832880020598 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77717.85181712822, + -359478.44879653084, + 501.9832880020598 + ], + "rotation_deg": [ + 3.516858147923906e-15, + -25.26091194152832, + -148.1869354248047 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9146608488069158, + 0.40422213158090714, + -0.0, + -2161.013963463258 + ], + [ + 0.022374729048845576, + -0.050628817832418994, + -0.9984668719115735, + 167.41146702532706 + ], + [ + -0.4036024213237879, + 0.9132585503344812, + -0.055352558590703455, + -2963.8124485121953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9146608488069158, + 0.022374729048845576, + -0.4036024213237879, + 776.6472275207504 + ], + [ + 0.40422213158090714, + -0.050628817832418994, + 0.9132585503344812, + 3588.7326244165242 + ], + [ + -0.0, + -0.9984668719115735, + -0.055352558590703455, + 3.1002010220645344 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77664.72275207505, + -358873.2624416524, + 310.02010220645343 + ], + "rotation_deg": [ + 0.0, + -3.1730897426605225, + -113.84239196777345 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9807852783261096, + -0.1950903324585191, + -6.9388938502153445e-18, + -56.07122809724467 + ], + [ + -0.00647924655240916, + -0.03257337025964252, + -0.9994483452955643, + 124.75632638367573 + ], + [ + 0.19498269952053135, + 0.9802442255808731, + -0.03321152063728712, + -3655.7561214192465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9807852783261096, + -0.00647924655240916, + 0.19498269952053135, + 768.6113976785534 + ], + [ + -0.1950903324585191, + -0.03257337025964252, + 0.9802442255808731, + 3576.6586006915463 + ], + [ + -6.9388938502153445e-18, + -0.9994483452955643, + -0.03321152063728712, + 3.2742850171973386 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76861.13976785535, + -357665.86006915465, + 327.42850171973384 + ], + "rotation_deg": [ + 3.977887772366734e-16, + -1.9032299518585207, + -78.74999999999997 + ] + } + } + ] + }, + { + "frame": 18, + "time": 762.8088364116848, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.10481956024374843, + 0.9944912567691616, + -2.7105054102172238e-20, + -3660.527708052972 + ], + [ + 0.0012229901806067077, + -0.00012890338858290582, + -0.9999992438391813, + 3.717703201958065 + ], + [ + -0.9944905072394393, + 0.10481945759043561, + -0.0012297646477593019, + 407.65041270016127 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.10481956024374843, + 0.0012229901806067077, + -0.9944905072394393, + 789.0947369708975 + ], + [ + 0.9944912567691616, + -0.00012890338858290582, + 0.10481945759043561, + 3597.6335843880606 + ], + [ + -2.7105054102172238e-20, + -0.9999992438391813, + -0.0012297646477593019, + 4.219014347187962 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 78909.47369708975, + -359763.3584388061, + 421.9014347187963 + ], + "rotation_deg": [ + 1.5530063898809592e-18, + -0.07046034187078475, + -173.98323059082034 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5255269083732441, + 0.8507769793404495, + 1.387778772260674e-17, + -3466.9311463597314 + ], + [ + 0.3625661400341556, + -0.22395794347971434, + -0.9046483480629751, + 527.8361625130974 + ], + [ + -0.7696539972258143, + 0.47541703332748514, + -0.42615885415701354, + -1108.7057886470013 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5255269083732441, + 0.3625661400341556, + -0.7696539972258143, + 777.2702043108961 + ], + [ + 0.8507769793404495, + -0.22395794347971434, + 0.47541703332748514, + 3594.8959753102413 + ], + [ + 1.387778772260674e-17, + -0.9046483480629751, + -0.42615885415701354, + 5.021299833688172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77727.02043108961, + -359489.59753102413, + 502.1299833688172 + ], + "rotation_deg": [ + -8.78947795953882e-16, + -25.224037170410163, + -148.29627990722656 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9141098521009675, + 0.40546661797483, + 3.4694469251612767e-18, + -2165.1794098378905 + ], + [ + 0.022546230099696217, + -0.050829661797576316, + -0.9984528095958445, + 168.00527249193232 + ], + [ + -0.4048392979619044, + 0.9126955438522169, + -0.05560563872502802, + -2960.8924332139095 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9141098521009675, + 0.022546230099696217, + -0.4048392979619044, + 776.7383586488062 + ], + [ + 0.40546661797483, + -0.050829661797576316, + 0.9126955438522169, + 3588.8410023993965 + ], + [ + 3.4694469251612767e-18, + -0.9984528095958445, + -0.05560563872502802, + 3.10302082008929 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77673.83586488062, + -358884.10023993964, + 310.302082008929 + ], + "rotation_deg": [ + -1.9909270191417986e-16, + -3.1876125335693364, + -113.92037200927739 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9807852783261096, + -0.1950903324585191, + -6.9388938502153445e-18, + -56.12487753789014 + ], + [ + -0.00647924655240916, + -0.03257337025964252, + -0.9994483452955643, + 124.76038030069455 + ], + [ + 0.19498269952053135, + 0.9802442255808731, + -0.03321152063728712, + -3655.87811766004 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9807852783261096, + -0.00647924655240916, + 0.19498269952053135, + 768.687829684203 + ], + [ + -0.1950903324585191, + -0.03257337025964252, + 0.9802442255808731, + 3576.767852364964 + ], + [ + -6.9388938502153445e-18, + -0.9994483452955643, + -0.03321152063728712, + 3.2742850171973386 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76868.7829684203, + -357676.78523649636, + 327.42850171973384 + ], + "rotation_deg": [ + 3.977887772366734e-16, + -1.9032299518585207, + -78.74999999999997 + ] + } + } + ] + }, + { + "frame": 19, + "time": 762.8755030818284, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.10467283273533493, + 0.9945067109311833, + 1.355252705108616e-20, + -3660.5842221131174 + ], + [ + 0.0013626095706552024, + -0.00014341602937924063, + -0.9999990613630597, + 3.659652304751237 + ], + [ + -0.9945057799127127, + 0.10467271109118281, + -0.0013701361350640074, + 408.255490474344 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.10467283273533493, + 0.0013626095706552024, + -0.9945057799127127, + 789.1710916332034 + ], + [ + 0.9945067109311833, + -0.00014341602937924063, + 0.10467271109118281, + 3597.7428901297967 + ], + [ + 1.355252705108616e-20, + -0.9999990613630597, + -0.0013701361350640074, + 4.219014347187962 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 78917.10916332035, + -359774.28901297966, + 421.9014347187963 + ], + "rotation_deg": [ + -7.765033366339062e-19, + -0.07850304245948793, + -173.99168395996094 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5239097972884535, + 0.8517737518291881, + -0.0, + -3469.400510298462 + ], + [ + 0.36249577606744754, + -0.222964241560125, + -0.9049219631099561, + 524.312962623179 + ], + [ + -0.7707887839088341, + 0.47409746603019787, + -0.42557754088307537, + -1103.0646107182909 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5239097972884535, + 0.36249577606744754, + -0.7707887839088341, + 777.3618131071662 + ], + [ + 0.8517737518291881, + -0.222964241560125, + 0.47409746603019787, + 3595.0075167234922 + ], + [ + -0.0, + -0.9049219631099561, + -0.42557754088307537, + 5.022766787355746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77736.18131071662, + -359500.75167234923, + 502.2766787355746 + ], + "rotation_deg": [ + 0.0, + -25.18722534179689, + -148.40512084960938 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9135579203423821, + 0.4067086502395803, + -6.938893850324071e-18, + -2169.335442747063 + ], + [ + 0.022718034960455817, + -0.05102975006927891, + -0.9984387089328028, + 168.59614639821913 + ], + [ + -0.40607367370541875, + 0.9121315842412749, + -0.055858254115992524, + -2957.970673223451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9135579203423821, + 0.022718034960455817, + -0.40607367370541875, + 776.8294124335183 + ], + [ + 0.4067086502395803, + -0.05102975006927891, + 0.9121315842412749, + 3588.949434450587 + ], + [ + -6.938893850324071e-18, + -0.9984387089328028, + -0.055858254115992524, + 3.1058406181140454 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77682.94124335183, + -358894.9434450587, + 310.5840618114045 + ], + "rotation_deg": [ + 3.9819102728650917e-16, + -3.2021088600158696, + -113.99824523925787 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9807852783261096, + -0.1950903324585191, + -6.9388938502153445e-18, + -56.17844057311652 + ], + [ + -0.00647924655240916, + -0.03257337025964252, + -0.9994483452955643, + 124.76443547777411 + ], + [ + 0.19498269952053135, + 0.9802442255808731, + -0.03321152063728712, + -3656.0001518203762 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9807852783261096, + -0.00647924655240916, + 0.19498269952053135, + 768.764184346509 + ], + [ + -0.1950903324585191, + -0.03257337025964252, + 0.9802442255808731, + 3576.8771581066994 + ], + [ + -6.9388938502153445e-18, + -0.9994483452955643, + -0.03321152063728712, + 3.2742850171973386 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76876.4184346509, + -357687.71581066994, + 327.42850171973384 + ], + "rotation_deg": [ + 3.977887772366734e-16, + -1.9032299518585207, + -78.74999999999997 + ] + } + } + ] + }, + { + "frame": 20, + "time": 762.942169751972, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.10445485607584014, + 0.9945296290418779, + -0.0, + -3660.6113853193087 + ], + [ + 0.001570325451813055, + -0.0001649303492540335, + -0.9999987534372007, + 3.5730288893554394 + ], + [ + -0.9945283917555492, + 0.10445470246971678, + -0.0015789629771917417, + 409.12298904301264 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.10445485607584014, + 0.001570325451813055, + -0.9945283917555492, + 789.2473662569975 + ], + [ + 0.9945296290418779, + -0.0001649303492540335, + 0.10445470246971678, + 3597.8522517382207 + ], + [ + -0.0, + -0.9999987534372007, + -0.0015789629771917417, + 4.219014347187962 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 78924.73662569975, + -359785.2251738221, + 421.9014347187963 + ], + "rotation_deg": [ + 0.0, + -0.09046795219182968, + -174.0042419433594 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5222980629845294, + 0.8527629995506422, + -0.0, + -3471.8469339163125 + ], + [ + 0.36242180480604586, + -0.2219751639474288, + -0.9051947094363954, + 520.8090212316151 + ], + [ + -0.771916563856958, + 0.4727814271083994, + -0.4249971066073417, + -1097.4411483288916 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5222980629845294, + 0.36242180480604586, + -0.771916563856958, + 777.4533418649245 + ], + [ + 0.8527629995506422, + -0.2219751639474288, + 0.4727814271083994, + 3595.1191140034316 + ], + [ + -0.0, + -0.9051947094363954, + -0.4249971066073417, + 5.02423374102332 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77745.33418649244, + -359511.9114003432, + 502.423374102332 + ], + "rotation_deg": [ + 0.0, + -25.150480270385753, + -148.51347351074222 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.913005061496964, + 0.4079482291675314, + -0.0, + -2173.482068772174 + ], + [ + 0.02289013669567694, + -0.05122907557205736, + -0.9984245707403668, + 169.1840686377544 + ], + [ + -0.40730554964005267, + 0.9115666803047239, + -0.056110396457697984, + -2955.047202626898 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.913005061496964, + 0.02289013669567694, + -0.40730554964005267, + 776.9203861797184 + ], + [ + 0.4079482291675314, + -0.05122907557205736, + 0.9115666803047239, + 3589.0579223684663 + ], + [ + -0.0, + -0.9984245707403668, + -0.056110396457697984, + 3.1086604161388003 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77692.03861797185, + -358905.79223684664, + 310.86604161388004 + ], + "rotation_deg": [ + 0.0, + -3.2165782451629643, + -114.07601165771487 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9807852783261096, + -0.1950903324585191, + -6.9388938502153445e-18, + -56.231914208697845 + ], + [ + -0.00647924655240916, + -0.03257337025964252, + -0.9994483452955643, + 124.76849195603076 + ], + [ + 0.19498269952053135, + 0.9802442255808731, + -0.03321152063728712, + -3656.1222251375866 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9807852783261096, + -0.00647924655240916, + 0.19498269952053135, + 768.840458970303 + ], + [ + -0.1950903324585191, + -0.03257337025964252, + 0.9802442255808731, + 3576.9865197151234 + ], + [ + -6.9388938502153445e-18, + -0.9994483452955643, + -0.03321152063728712, + 3.2742850171973386 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76884.0458970303, + -357698.65197151236, + 327.42850171973384 + ], + "rotation_deg": [ + 3.977887772366734e-16, + -1.9032299518585207, + -78.74999999999997 + ] + } + } + ] + }, + { + "frame": 21, + "time": 763.0088364221156, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.10416562535192146, + 0.9945599642530573, + -1.3552527051086325e-20, + -3660.6090127180405 + ], + [ + 0.0018460045251842614, + -0.00019334200317696365, + -0.9999982774415977, + 3.457549335607029 + ], + [ + -0.9945582535161661, + 0.10416542252101886, + -0.0018561017996239922, + 410.2528930910006 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.10416562535192146, + 0.0018460045251842614, + -0.9945582535161661, + 789.3235585176358 + ], + [ + 0.9945599642530573, + -0.00019334200317696365, + 0.10416542252101886, + 3597.9616707450296 + ], + [ + -1.3552527051086325e-20, + -0.9999982774415977, + -0.0018561017996239922, + 4.219014347187962 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 78932.35585176358, + -359796.16707450297, + 421.9014347187963 + ], + "rotation_deg": [ + 7.765039453525951e-19, + -0.10634686052799225, + -174.02090454101562 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5206917365171102, + 0.8537447601729663, + -1.3877787722398621e-17, + -3474.2705763933573 + ], + [ + 0.36234420749817897, + -0.22099067944020995, + -0.9054666172162673, + 517.3242444262552 + ], + [ + -0.7730373882031186, + 0.4714689689932032, + -0.42441749223681474, + -1091.8355561903638 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5206917365171102, + 0.36234420749817897, + -0.7730373882031186, + 777.5447882595271 + ], + [ + 0.8537447601729663, + -0.22099067944020995, + 0.4714689689932032, + 3595.2307686817567 + ], + [ + -1.3877787722398621e-17, + -0.9054666172162673, + -0.42441749223681474, + 5.025700694690895 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77754.47882595271, + -359523.07686817565, + 502.5700694690895 + ], + "rotation_deg": [ + 8.781534918160677e-16, + -25.113798141479503, + -148.62133789062506 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9124513380020265, + 0.40918523406681134, + 3.4694469251635627e-18, + -2177.618901039134 + ], + [ + 0.023062528289562394, + -0.05142764949354169, + -0.9984103949060539, + 169.7690846933286 + ], + [ + -0.4085348051842568, + 0.9110008943795616, + -0.056362074063156825, + -2952.1223417545702 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9124513380020265, + 0.023062528289562394, + -0.4085348051842568, + 777.011277562763 + ], + [ + 0.40918523406681134, + -0.05142764949354169, + 0.9110008943795616, + 3589.1664676847304 + ], + [ + 3.4694469251635627e-18, + -0.9984103949060539, + -0.056362074063156825, + 3.111480214163556 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77701.1277562763, + -358916.64676847303, + 311.1480214163556 + ], + "rotation_deg": [ + -1.991011598142231e-16, + -3.231021165847778, + -114.15366363525392 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9807852783261096, + -0.1950903324585191, + -6.9388938502153445e-18, + -56.28529586583886 + ], + [ + -0.00647924655240916, + -0.03257337025964252, + -0.9994483452955643, + 124.77254977029504 + ], + [ + 0.19498269952053135, + 0.9802442255808731, + -0.03321152063728712, + -3656.2443386598416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9807852783261096, + -0.00647924655240916, + 0.19498269952053135, + 768.9166512309414 + ], + [ + -0.1950903324585191, + -0.03257337025964252, + 0.9802442255808731, + 3577.0959387219323 + ], + [ + -6.9388938502153445e-18, + -0.9994483452955643, + -0.03321152063728712, + 3.2742850171973386 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76891.66512309414, + -357709.59387219325, + 327.42850171973384 + ], + "rotation_deg": [ + 3.977887772366734e-16, + -1.9032299518585207, + -78.74999999999997 + ] + } + } + ] + }, + { + "frame": 22, + "time": 763.0755030922592, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.10380513407070993, + 0.9945976544012969, + -0.0, + -3660.5768627995258 + ], + [ + 0.0021894702184592093, + -0.00022851275444420394, + -0.9999975769981063, + 3.3128422131529667 + ], + [ + -0.994595246931826, + 0.10380485914748024, + -0.002201362757825509, + 411.64517500335654 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.10380513407070993, + 0.0021894702184592093, + -0.994595246931826, + 789.3996664559604 + ], + [ + 0.9945976544012969, + -0.00022851275444420394, + 0.10380485914748024, + 3598.0711484201793 + ], + [ + -0.0, + -0.9999975769981063, + -0.002201362757825509, + 4.219014347187962 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 78939.96664559604, + -359807.11484201794, + 421.9014347187963 + ], + "rotation_deg": [ + 0.0, + -0.1261288970708847, + -174.04167175292972 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5190908486794182, + 0.854719071284408, + -4.1633363166989275e-17, + -3476.6715964282484 + ], + [ + 0.36226309379128824, + -0.22001083527803802, + -0.905737645920177, + 513.8587199100067 + ], + [ + -0.7741512477740031, + 0.47016010698899074, + -0.42383878935988684, + -1086.2479012690092 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5190908486794182, + 0.36226309379128824, + -0.7741512477740031, + 777.6361503318159 + ], + [ + 0.854719071284408, + -0.22001083527803802, + 0.47016010698899074, + 3595.3424820284213 + ], + [ + -4.1633363166989275e-17, + -0.905737645920177, + -0.42383878935988684, + 5.027167648358469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77763.61503318159, + -359534.24820284214, + 502.7167648358469 + ], + "rotation_deg": [ + 2.6336721517838236e-15, + -25.07718467712403, + -148.72871398925784 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9118967036362233, + 0.4104197874096591, + -0.0, + -2181.746341226319 + ], + [ + 0.023235209598856724, + -0.051625461762508394, + -0.9983961822506661, + 170.3511583942065 + ], + [ + -0.40976156292049715, + 0.9104341811663567, + -0.056613278626989054, + -2949.19583537767 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9118967036362233, + 0.023235209598856724, + -0.40976156292049715, + 777.1020846234937 + ], + [ + 0.4104197874096591, + -0.051625461762508394, + 0.9104341811663567, + 3589.2750716693354 + ], + [ + -0.0, + -0.9983961822506661, + -0.056613278626989054, + 3.114300012188311 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77710.20846234937, + -358927.50716693356, + 311.4300012188311 + ], + "rotation_deg": [ + 0.0, + -3.2454371452331547, + -114.23120880126956 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9807852783261096, + -0.1950903324585191, + -6.9388938502153445e-18, + -56.338583375269536 + ], + [ + -0.00647924655240916, + -0.03257337025964252, + -0.9994483452955643, + 124.77660894923986 + ], + [ + 0.19498269952053135, + 0.9802442255808731, + -0.03321152063728712, + -3656.366493250007 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9807852783261096, + -0.00647924655240916, + 0.19498269952053135, + 768.9927591692659 + ], + [ + -0.1950903324585191, + -0.03257337025964252, + 0.9802442255808731, + 3577.205416397082 + ], + [ + -6.9388938502153445e-18, + -0.9994483452955643, + -0.03321152063728712, + 3.2742850171973386 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76899.27591692659, + -357720.5416397082, + 327.42850171973384 + ], + "rotation_deg": [ + 3.977887772366734e-16, + -1.9032299518585207, + -78.74999999999997 + ] + } + } + ] + }, + { + "frame": 23, + "time": 763.1421697624028, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.10337363907143166, + 0.994642594475588, + -0.0, + -3660.5147475694903 + ], + [ + 0.0026005016051456817, + -0.0002702712671145376, + -0.9999965821665812, + 3.138451985455867 + ], + [ + -0.9946391973855943, + 0.10337326234998154, + -0.002614508608151006, + 413.29881977345656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.10337363907143166, + 0.0026005016051456817, + -0.9946391973855943, + 789.4756884724136 + ], + [ + 0.994642594475588, + -0.0002702712671145376, + 0.10337326234998154, + 3598.18068577749 + ], + [ + -0.0, + -0.9999965821665812, + -0.002614508608151006, + 4.219014347187962 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 78947.56884724136, + -359818.068577749, + 421.9014347187963 + ], + "rotation_deg": [ + 0.0, + -0.14980047941207889, + -174.06652832031253 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5174952021207148, + 0.8556861082091027, + 1.3877787722261147e-17, + -3479.050470516042 + ], + [ + 0.36217850291070497, + -0.21903550352105544, + -0.9060078256983422, + 510.41196044946787 + ], + [ + -0.7752583185871927, + 0.46885468654102364, + -0.42326093886617666, + -1080.6774961508263 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5174952021207148, + 0.36217850291070497, + -0.7752583185871927, + 777.7274264822335 + ], + [ + 0.8556861082091027, + -0.21903550352105544, + 0.46885468654102364, + 3595.454255057248 + ], + [ + 1.3877787722261147e-17, + -0.9060078256983422, + -0.42326093886617666, + 5.028634602026043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77772.74264822334, + -359545.4255057248, + 502.8634602026043 + ], + "rotation_deg": [ + -8.776289222563679e-16, + -25.040636062622085, + -148.8356170654297 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9113412211346662, + 0.41165176868413317, + 3.469446925165097e-18, + -2185.864003797707 + ], + [ + 0.023408171883151887, + -0.05182251983688381, + -0.9983819328928406, + 170.9303231441881 + ], + [ + -0.41098570254882283, + 0.9098666035069388, + -0.05686401430779696, + -2946.268004715689 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9113412211346662, + 0.023408171883151887, + -0.41098570254882283, + 777.1928057623531 + ], + [ + 0.41165176868413317, + -0.05182251983688381, + 0.9098666035069388, + 3589.3837353361014 + ], + [ + 3.469446925165097e-18, + -0.9983819328928406, + -0.05686401430779696, + 3.1171198102130666 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77719.28057623531, + -358938.37353361014, + 311.71198102130666 + ], + "rotation_deg": [ + -1.991068358183079e-16, + -3.259826421737672, + -114.30863952636722 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9807852783261096, + -0.1950903324585191, + -6.9388938502153445e-18, + -56.39177497038111 + ], + [ + -0.00647924655240916, + -0.03257337025964252, + -0.9994483452955643, + 124.7806695155248 + ], + [ + 0.19498269952053135, + 0.9802442255808731, + -0.03321152063728712, + -3656.488689589987 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9807852783261096, + -0.00647924655240916, + 0.19498269952053135, + 769.0687811857191 + ], + [ + -0.1950903324585191, + -0.03257337025964252, + 0.9802442255808731, + 3577.3149537543927 + ], + [ + -6.9388938502153445e-18, + -0.9994483452955643, + -0.03321152063728712, + 3.2742850171973386 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76906.87811857191, + -357731.4953754393, + 327.42850171973384 + ], + "rotation_deg": [ + 3.977887772366734e-16, + -1.9032299518585207, + -78.74999999999997 + ] + } + } + ] + }, + { + "frame": 24, + "time": 763.2088364325464, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.10287166062253081, + 0.994694637283605, + -0.0, + -3660.422535105895 + ], + [ + 0.003078835152256807, + -0.00031841418765523753, + -0.9999952096817815, + 2.9338415219614866 + ], + [ + -0.9946898748010323, + 0.10287114442188557, + -0.0030952566352568833, + 415.2118248472505 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.10287166062253081, + 0.003078835152256807, + -0.9946898748010323, + 789.5516233201065 + ], + [ + 0.994694637283605, + -0.00031841418765523753, + 0.10287114442188557, + 3598.290283581018 + ], + [ + -0.0, + -0.9999952096817815, + -0.0030952566352568833, + 4.219014347187962 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 78955.16233201064, + -359829.0283581018, + 421.9014347187963 + ], + "rotation_deg": [ + 0.0, + -0.17734542489051822, + -174.09544372558594 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.515905282624098, + 0.8566456323127722, + -0.0, + -3481.4067180742886 + ], + [ + 0.3620903759044955, + -0.21806489249485836, + -0.90627714433199, + 506.984763768712 + ], + [ + -0.776358365547898, + 0.46755314991172403, + -0.42268397207774633, + -1075.126118109259 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.515905282624098, + 0.3620903759044955, + -0.776358365547898, + 777.8186154638904 + ], + [ + 0.8566456323127722, + -0.21806489249485836, + 0.46755314991172403, + 3595.566088532291 + ], + [ + -0.0, + -0.90627714433199, + -0.42268397207774633, + 5.030101555693617 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77781.86154638905, + -359556.6088532291, + 503.0101555693617 + ], + "rotation_deg": [ + 0.0, + -25.00415420532228, + -148.9420166015625 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9107848439155617, + 0.41288130024706354, + -0.0, + -2189.9722902192398 + ], + [ + 0.023581418464773293, + -0.052018821203319535, + -0.9983676471840454, + 171.50656716670895 + ], + [ + -0.4122073463457496, + 0.9092981153130796, + -0.05711428110968908, + -2943.3385911491223 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9107848439155617, + 0.023581418464773293, + -0.4122073463457496, + 777.283439732452 + ], + [ + 0.41288130024706354, + -0.052018821203319535, + 0.9092981153130796, + 3589.492459449084 + ], + [ + -0.0, + -0.9983676471840454, + -0.05711428110968908, + 3.119939608237822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77728.34397324521, + -358949.2459449084, + 311.9939608237822 + ], + "rotation_deg": [ + 0.0, + -3.274188995361328, + -114.38596343994142 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9807852783261096, + -0.1950903324585191, + -6.9388938502153445e-18, + -56.44486927918331 + ], + [ + -0.00647924655240916, + -0.03257337025964252, + -0.9994483452955643, + 124.78473148595889 + ], + [ + 0.19498269952053135, + 0.9802442255808731, + -0.03321152063728712, + -3656.610928185622 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9807852783261096, + -0.00647924655240916, + 0.19498269952053135, + 769.144716033412 + ], + [ + -0.1950903324585191, + -0.03257337025964252, + 0.9802442255808731, + 3577.4245515579205 + ], + [ + -6.9388938502153445e-18, + -0.9994483452955643, + -0.03321152063728712, + 3.2742850171973386 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76914.4716033412, + -357742.45515579206, + 327.42850171973384 + ], + "rotation_deg": [ + 3.977887772366734e-16, + -1.9032299518585207, + -78.74999999999997 + ] + } + } + ] + }, + { + "frame": 25, + "time": 763.27550310269, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.10229918779548416, + 0.9947536761311235, + -0.0, + -3660.299819696661 + ], + [ + 0.003624162319461449, + -0.0003727041886005897, + -0.9999933632475118, + 2.698386953871495 + ], + [ + -0.9947470766054066, + 0.10229848544265618, + -0.0036432761541840193, + 417.38412440112614 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.10229918779548416, + 0.003624162319461449, + -0.9947470766054066, + 789.6274700970041 + ], + [ + 0.9947536761311235, + -0.0003727041886005897, + 0.10229848544265618, + 3598.39994235206 + ], + [ + -0.0, + -0.9999933632475118, + -0.0036432761541840193, + 4.219014347187962 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 78962.74700970041, + -359839.994235206, + 421.9014347187963 + ], + "rotation_deg": [ + 0.0, + -0.20874480903148646, + -174.12841796875003 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5143204357943525, + 0.857598093120727, + -0.0, + -3483.7414460099358 + ], + [ + 0.3619989449575127, + -0.21709872797190802, + -0.9065455896768937, + 503.57596594189584 + ], + [ + -0.7774517772075425, + 0.46625490635061795, + -0.42210792034835065, + -1069.5913447967737 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5143204357943525, + 0.3619989449575127, + -0.7774517772075425, + 777.9097163747524 + ], + [ + 0.857598093120727, + -0.21709872797190802, + 0.46625490635061795, + 3595.677982974849 + ], + [ + -0.0, + -0.9065455896768937, + -0.42210792034835065, + 5.031568509361191 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77790.97163747525, + -359567.7982974849, + 503.1568509361191 + ], + "rotation_deg": [ + 0.0, + -24.967741012573253, + -149.04795837402344 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.910227579868565, + 0.4141083829707084, + 3.469446925166638e-18, + -2194.071208476161 + ], + [ + 0.0237549458267675, + -0.052214366429130916, + -0.9983533254750904, + 172.0798950384121 + ], + [ + -0.4134264952982769, + 0.9087287248797797, + -0.057364079036912895, + -2940.4076251350525 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.910227579868565, + 0.0237549458267675, + -0.4134264952982769, + 777.3739856317559 + ], + [ + 0.4141083829707084, + -0.052214366429130916, + 0.9087287248797797, + 3589.601244529581 + ], + [ + 3.469446925166638e-18, + -0.9983533254750904, + -0.057364079036912895, + 3.1227594062625768 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77737.3985631756, + -358960.1244529581, + 312.2759406262577 + ], + "rotation_deg": [ + -1.991125411456426e-16, + -3.288524866104126, + -114.4631805419922 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9807852783261096, + -0.1950903324585191, + -6.9388938502153445e-18, + -56.497865315273316 + ], + [ + -0.00647924655240916, + -0.03257337025964252, + -0.9994483452955643, + 124.78879487167798 + ], + [ + 0.19498269952053135, + 0.9802442255808731, + -0.03321152063728712, + -3656.73320937203 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9807852783261096, + -0.00647924655240916, + 0.19498269952053135, + 769.2205628103096 + ], + [ + -0.1950903324585191, + -0.03257337025964252, + 0.9802442255808731, + 3577.5342103289627 + ], + [ + -6.9388938502153445e-18, + -0.9994483452955643, + -0.03321152063728712, + 3.2742850171973386 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76922.05628103096, + -357753.42103289627, + 327.42850171973384 + ], + "rotation_deg": [ + 3.977887772366734e-16, + -1.9032299518585207, + -78.74999999999997 + ] + } + } + ] + }, + { + "frame": 26, + "time": 763.3421697728336, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.10165700304667004, + 0.9948195081177132, + -2.7105054102175726e-20, + -3660.1464757613794 + ], + [ + 0.004236132040373546, + -0.00043287499312226496, + -0.9999909338611909, + 2.4313937948479127 + ], + [ + -0.9948104913395281, + 0.10165605798525906, + -0.00425819160020607, + 419.81271496744165 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.10165700304667004, + 0.004236132040373546, + -0.9948104913395281, + 789.7032282372155 + ], + [ + 0.9948195081177132, + -0.00043287499312226496, + 0.10165605798525906, + 3598.5096623767768 + ], + [ + -2.7105054102175726e-20, + -0.9999909338611909, + -0.00425819160020607, + 4.219014347187962 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 78970.32282372155, + -359850.96623767767, + 421.9014347187963 + ], + "rotation_deg": [ + 1.5530192954470816e-18, + -0.24397714436054224, + -174.16540527343753 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5127411471669452, + 0.858543252260435, + -0.0, + -3486.05417449619 + ], + [ + 0.36190412543742834, + -0.21613720211844067, + -0.9068131636956878, + 500.1863262698562 + ], + [ + -0.778538330908145, + 0.46496040539127614, + -0.4215327848757901, + -1064.0749694036112 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5127411471669452, + 0.36190412543742834, + -0.778538330908145, + 778.0007286489281 + ], + [ + 0.858543252260435, + -0.21613720211844067, + 0.46496040539127614, + 3595.7899386710806 + ], + [ + -0.0, + -0.9068131636956878, + -0.4215327848757901, + 5.033035463028766 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77800.0728648928, + -359578.9938671081, + 503.3035463028766 + ], + "rotation_deg": [ + 0.0, + -24.931396484375007, + -149.15341186523438 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9096694921733778, + 0.41533289661310063, + 3.4694469251674115e-18, + -2198.160374990302 + ], + [ + 0.02392874348221758, + -0.05240915927758296, + -0.9983389681161298, + 172.65032820943404 + ], + [ + -0.4146430294822827, + 0.908158495698612, + -0.057613408093854006, + -2937.475428926249 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9096694921733778, + 0.02392874348221758, + -0.4146430294822827, + 777.4644428943735 + ], + [ + 0.41533289661310063, + -0.05240915927758296, + 0.908158495698612, + 3589.710090863753 + ], + [ + 3.4694469251674115e-18, + -0.9983389681161298, + -0.057613408093854006, + 3.1255792042873325 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77746.44428943735, + -358971.0090863753, + 312.55792042873327 + ], + "rotation_deg": [ + -1.9911540463225628e-16, + -3.3028340339660653, + -114.54028320312501 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9807852783261096, + -0.1950903324585191, + -6.9388938502153445e-18, + -56.550762467806635 + ], + [ + -0.00647924655240916, + -0.03257337025964252, + -0.9994483452955643, + 124.79285967833677 + ], + [ + 0.19498269952053135, + 0.9802442255808731, + -0.03321152063728712, + -3656.8555333193785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9807852783261096, + -0.00647924655240916, + 0.19498269952053135, + 769.296320950521 + ], + [ + -0.1950903324585191, + -0.03257337025964252, + 0.9802442255808731, + 3577.6439303536795 + ], + [ + -6.9388938502153445e-18, + -0.9994483452955643, + -0.03321152063728712, + 3.2742850171973386 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76929.6320950521, + -357764.39303536795, + 327.42850171973384 + ], + "rotation_deg": [ + 3.977887772366734e-16, + -1.9032299518585207, + -78.74999999999997 + ] + } + } + ] + }, + { + "frame": 27, + "time": 763.4088364429772, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.10094535777135528, + 0.9948919713940868, + -5.421010820435409e-20, + -3659.9621060226477 + ], + [ + 0.004914349375072901, + -0.000498627760745762, + -0.9999878001958703, + 2.1320849996529443 + ], + [ + -0.9948798362842176, + 0.10094410282570158, + -0.004939580933852286, + 422.4965292528892 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.10094535777135528, + 0.004914349375072901, + -0.9948798362842176, + 789.778897501412 + ], + [ + 0.9948919713940868, + -0.000498627760745762, + 0.10094410282570158, + 3598.61944371439 + ], + [ + -5.421010820435409e-20, + -0.9999878001958703, + -0.004939580933852286, + 4.219014347187962 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 78977.8897501412, + -359861.944371439, + 421.9014347187963 + ], + "rotation_deg": [ + 3.1060483242984763e-18, + -0.2830182909965515, + -174.2063903808594 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5111672173624011, + 0.8594812830387755, + -0.0, + -3488.345371179492 + ], + [ + 0.3618059805682427, + -0.21518020224740586, + -0.9070798823619768, + 496.8153928041368 + ], + [ + -0.7796181892500632, + 0.463669482935688, + -0.42095853665723937, + -1058.5762788680004 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5111672173624011, + 0.3618059805682427, + -0.7796181892500632, + 778.0916520470887 + ], + [ + 0.8594812830387755, + -0.21518020224740586, + 0.463669482935688, + 3595.901955680209 + ], + [ + -0.0, + -0.9070798823619768, + -0.42095853665723937, + 5.03450241669634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77809.16520470887, + -359590.1955680209, + 503.450241669634 + ], + "rotation_deg": [ + 0.0, + -24.895118713378924, + -149.2583923339844 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9091105337104207, + 0.41655496335628206, + 3.4694469251681877e-18, + -2202.240190853114 + ], + [ + 0.02410281312822374, + -0.052603193418632836, + -0.998324575697437, + 173.21784240988643 + ], + [ + -0.41585707110067793, + 0.9075873813607267, + -0.05786226413081779, + -2934.541741728498 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9091105337104207, + 0.02410281312822374, + -0.41585707110067793, + 777.5548112809761 + ], + [ + 0.41655496335628206, + -0.052603193418632836, + 0.9075873813607267, + 3589.818998510822 + ], + [ + 3.4694469251681877e-18, + -0.998324575697437, + -0.05786226413081779, + 3.1283990023120873 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77755.48112809761, + -358981.8998510822, + 312.83990023120873 + ], + "rotation_deg": [ + -1.9911827519398123e-16, + -3.317116260528566, + -114.61727905273443 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9807852783261096, + -0.1950903324585191, + -6.9388938502153445e-18, + -56.6035604904996 + ], + [ + -0.00647924655240916, + -0.03257337025964252, + -0.9994483452955643, + 124.7969259063136 + ], + [ + 0.19498269952053135, + 0.9802442255808731, + -0.03321152063728712, + -3656.977900039054 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9807852783261096, + -0.00647924655240916, + 0.19498269952053135, + 769.3719902147175 + ], + [ + -0.1950903324585191, + -0.03257337025964252, + 0.9802442255808731, + 3577.7537116912927 + ], + [ + -6.9388938502153445e-18, + -0.9994483452955643, + -0.03321152063728712, + 3.2742850171973386 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76937.19902147175, + -357775.37116912927, + 327.42850171973384 + ], + "rotation_deg": [ + 3.977887772366734e-16, + -1.9032299518585207, + -78.74999999999997 + ] + } + } + ] + }, + { + "frame": 28, + "time": 763.4755031131208, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.1001645021473226, + 0.9949708902825141, + -0.0, + -3659.7462623364113 + ], + [ + 0.005658375135117789, + -0.0005696330756078032, + -0.9999838290237446, + 1.7996084147021505 + ], + [ + -0.9949548029913318, + 0.10016285894965504, + -0.005686975603218417, + 425.4344860562742 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.1001645021473226, + 0.005658375135117789, + -0.9949548029913318, + 789.8544779663691 + ], + [ + 0.9949708902825141, + -0.0005696330756078032, + 0.10016285894965504, + 3598.7292862059358 + ], + [ + -0.0, + -0.9999838290237446, + -0.005686975603218417, + 4.219014347187962 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 78985.44779663692, + -359872.92862059356, + 421.9014347187963 + ], + "rotation_deg": [ + 0.0, + -0.3258414566516877, + -174.2513580322266 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5095986748973669, + 0.8604122212886375, + 1.38777877219219e-17, + -3490.6151866673467 + ], + [ + 0.3617045671798009, + -0.21422774291035784, + -0.9073457335816408, + 493.46317574766624 + ], + [ + -0.7806913662293452, + 0.4623821670218535, + -0.4203852070603017, + -1053.0953659075158 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5095986748973669, + 0.3617045671798009, + -0.7806913662293452, + 778.1824866460103 + ], + [ + 0.8604122212886375, + -0.21422774291035784, + 0.4623821670218535, + 3596.0140338432707 + ], + [ + 1.38777877219219e-17, + -0.9073457335816408, + -0.4203852070603017, + 5.035969370363914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77818.24866460102, + -359601.4033843271, + 503.5969370363914 + ], + "rotation_deg": [ + -8.763348326611039e-16, + -24.858909606933608, + -149.36289978027344 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9085507679537255, + 0.41777446313854016, + -0.0, + -2206.310273753602 + ], + [ + 0.0242771476999829, + -0.05279648023682829, + -0.9983101480873343, + 173.78248375289664 + ], + [ + -0.41706850021673875, + 0.907015445209649, + -0.05811065546095852, + -2931.6068846156563 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9085507679537255, + 0.0242771476999829, + -0.41706850021673875, + 777.6450908683395 + ], + [ + 0.41777446313854016, + -0.05279648023682829, + 0.907015445209649, + 3589.9279673118226 + ], + [ + -0.0, + -0.9983101480873343, + -0.05811065546095852, + 3.131218800336843 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77764.50908683395, + -358992.79673118226, + 313.1218800336843 + ], + "rotation_deg": [ + 0.0, + -3.3313720226287846, + -114.69416046142587 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9807852783261096, + -0.1950903324585191, + -6.9388938502153445e-18, + -56.656259489664876 + ], + [ + -0.00647924655240916, + -0.03257337025964252, + -0.9994483452955643, + 124.80099355092798 + ], + [ + 0.19498269952053135, + 0.9802442255808731, + -0.03321152063728712, + -3657.1003093902036 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9807852783261096, + -0.00647924655240916, + 0.19498269952053135, + 769.4475706796746 + ], + [ + -0.1950903324585191, + -0.03257337025964252, + 0.9802442255808731, + 3577.8635541828385 + ], + [ + -6.9388938502153445e-18, + -0.9994483452955643, + -0.03321152063728712, + 3.2742850171973386 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76944.75706796747, + -357786.35541828384, + 327.42850171973384 + ], + "rotation_deg": [ + 3.977887772366734e-16, + -1.9032299518585207, + -78.74999999999997 + ] + } + } + ] + }, + { + "frame": 29, + "time": 763.5421697832644, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.0993154802024241, + 0.9950559961088429, + -0.0, + -3659.498788825195 + ], + [ + 0.006467727446834378, + -0.0006455369946140122, + -0.9999788756687125, + 1.4468550976896015 + ], + [ + -0.9950349785563575, + 0.09931335878096337, + -0.00649986284412842, + 428.6226558537634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.0993154802024241, + 0.006467727446834378, + -0.9950349785563575, + 789.9299700138 + ], + [ + 0.9950559961088429, + -0.0006455369946140122, + 0.09931335878096337, + 3598.8391894834426 + ], + [ + -0.0, + -0.9999788756687125, + -0.00649986284412842, + 4.232812426678624 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 78992.99700138, + -359883.91894834425, + 423.28124266786244 + ], + "rotation_deg": [ + 0.0, + -0.37241733074188244, + -174.30024719238284 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.508035318659695, + 0.8613362380594131, + 1.3877787721854812e-17, + -3492.86407910369 + ], + [ + 0.3615999988902779, + -0.21327974204064093, + -0.9076107053344116, + 490.141816771805 + ], + [ + -0.781757998659468, + 0.4610982773900795, + -0.41981282748368226, + -1047.6256856492935 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.508035318659695, + 0.3615999988902779, + -0.781757998659468, + 778.2732328274053 + ], + [ + 0.8613362380594131, + -0.21327974204064093, + 0.4610982773900795, + 3596.126172792293 + ], + [ + 1.3877787721854812e-17, + -0.9076107053344116, + -0.41981282748368226, + 5.05123440352215 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77827.32328274053, + -359612.6172792293, + 505.12344035221497 + ], + "rotation_deg": [ + -8.760789917161885e-16, + -24.82277107238771, + -149.46694946289062 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9079901474264522, + 0.4189915180245171, + -0.0, + -2210.3710244913973 + ], + [ + 0.0244517454883915, + -0.05298900582884723, + -0.998295686359428, + 174.35797795757094 + ], + [ + -0.41827743911926074, + 0.9064426409183156, + -0.058358569626599424, + -2928.669791133831 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9079901474264522, + 0.0244517454883915, + -0.41827743911926074, + 777.7352820381765 + ], + [ + 0.4189915180245171, + -0.05298900582884723, + 0.9064426409183156, + 3590.0369968987843 + ], + [ + -0.0, + -0.998295686359428, + -0.058358569626599424, + 3.14783667785226 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77773.52820381765, + -359003.69968987844, + 314.783667785226 + ], + "rotation_deg": [ + 0.0, + -3.3456006050109863, + -114.77093505859375 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9807852783261096, + -0.1950903324585191, + -6.9388938502153445e-18, + -56.70885991146872 + ], + [ + -0.00647924655240916, + -0.03257337025964252, + -0.9994483452955643, + 124.8188530703822 + ], + [ + 0.19498269952053135, + 0.9802442255808731, + -0.03321152063728712, + -3657.2223028313506 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9807852783261096, + -0.00647924655240916, + 0.19498269952053135, + 769.5230627271055 + ], + [ + -0.1950903324585191, + -0.03257337025964252, + 0.9802442255808731, + 3577.9734574603453 + ], + [ + -6.9388938502153445e-18, + -0.9994483452955643, + -0.03321152063728712, + 3.288083096688 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76952.30627271056, + -357797.3457460345, + 328.8083096688 + ], + "rotation_deg": [ + 3.977887772366734e-16, + -1.9032299518585207, + -78.74999999999997 + ] + } + } + ] + }, + { + "frame": 30, + "time": 763.608836453408, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.0983982750860315, + 0.995147114481117, + -0.0, + -3659.219030893555 + ], + [ + 0.007341879928541835, + -0.0007259512793080413, + -0.9999727845265866, + 1.0679161229642125 + ], + [ + -0.9951200334002872, + 0.09839557367291892, + -0.00737768303658485, + 432.06090364272495 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.0983982750860315, + 0.007341879928541835, + -0.9951200334002872, + 790.0053743183073 + ], + [ + 0.995147114481117, + -0.0007259512793080413, + 0.09839557367291892, + 3598.94915297963 + ], + [ + -0.0, + -0.9999727845265866, + -0.00737768303658485, + 4.255494797647345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 79000.53743183073, + -359894.915297963, + 425.54947976473454 + ], + "rotation_deg": [ + 0.0, + -0.4227139353752136, + -174.35305786132815 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5064776352163848, + 0.8622530980087102, + -0.0, + -3495.091580386472 + ], + [ + 0.36149216653400057, + -0.21233637557024895, + -0.9078748135862368, + 486.8475852391818 + ], + [ + -0.7828178787057848, + 0.4598182721160575, + -0.41924136891148717, + -1042.171133268231 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5064776352163848, + 0.36149216653400057, + -0.7828178787057848, + 778.3638912658769 + ], + [ + 0.8622530980087102, + -0.21233637557024895, + 0.4598182721160575, + 3596.238371959996 + ], + [ + -0.0, + -0.9078748135862368, + -0.41924136891148717, + 5.075383728158446 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77836.38912658769, + -359623.83719599963, + 507.5383728158446 + ], + "rotation_deg": [ + 0.0, + -24.786701202392596, + -149.57051086425784 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9074286799417507, + 0.42020612896431153, + -0.0, + -2214.422452268209 + ], + [ + 0.02462660822743054, + -0.053180782132661114, + -0.998281190135811, + 174.93946030498847 + ], + [ + -0.41948388857941366, + 0.9058689760379885, + -0.05860601909514303, + -2925.7307653020002 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9074286799417507, + 0.02462660822743054, + -0.41948388857941366, + 777.8253854650899 + ], + [ + 0.42020612896431153, + -0.053180782132661114, + 0.9058689760379885, + 3590.146086704427 + ], + [ + -0.0, + -0.998281190135811, + -0.05860601909514303, + 3.173338846845736 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77782.538546509, + -359014.6086704427, + 317.3338846845736 + ], + "rotation_deg": [ + 0.0, + -3.359802722930909, + -114.84760284423828 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9807852783261096, + -0.1950903324585191, + -6.9388938502153445e-18, + -56.761362528222435 + ], + [ + -0.00647924655240916, + -0.03257337025964252, + -0.9994483452955643, + 124.84559337327066 + ], + [ + 0.19498269952053135, + 0.9802442255808731, + -0.03321152063728712, + -3657.3440431323297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9807852783261096, + -0.00647924655240916, + 0.19498269952053135, + 769.5984670316128 + ], + [ + -0.1950903324585191, + -0.03257337025964252, + 0.9802442255808731, + 3578.083420956533 + ], + [ + -6.9388938502153445e-18, + -0.9994483452955643, + -0.03321152063728712, + 3.310765467656721 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76959.84670316128, + -357808.3420956533, + 331.0765467656721 + ], + "rotation_deg": [ + 3.977887772366734e-16, + -1.9032299518585207, + -78.74999999999997 + ] + } + } + ] + }, + { + "frame": 31, + "time": 763.6755031235516, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.09741392907254838, + 0.9952439532208412, + -5.421010820437291e-20, + -3658.906746612239 + ], + [ + 0.008280264496932843, + -0.000810467720799276, + -0.9999653895820266, + 0.630191698227458 + ], + [ + -0.9952095097080544, + 0.0974105340685282, + -0.008319834081158156, + 435.7449464888375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.09741392907254838, + 0.008280264496932843, + -0.9952095097080544, + 790.0806918346321 + ], + [ + 0.9952439532208412, + -0.000810467720799276, + 0.0974105340685282, + 3599.059175937992 + ], + [ + -5.421010820437291e-20, + -0.9999653895820266, + -0.008319834081158156, + 4.255494797647345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 79008.06918346322, + -359905.91759379924, + 425.54947976473454 + ], + "rotation_deg": [ + 3.106117935158391e-18, + -0.4766968786716462, + -174.4097290039063 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5049249634746464, + 0.863163241374496, + -2.7755575443442795e-17, + -3497.2987586737886 + ], + [ + 0.36138129633833427, + -0.21139736854814278, + -0.9081380463496423, + 483.55065799394964 + ], + [ + -0.7838713877723374, + 0.45854155331335744, + -0.41867086275121035, + -1036.7424947914692 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5049249634746464, + 0.36138129633833427, + -0.7838713877723374, + 778.454462916166 + ], + [ + 0.863163241374496, + -0.21139736854814278, + 0.45854155331335744, + 3596.3506305898736 + ], + [ + -2.7755575443442795e-17, + -0.9081380463496423, + -0.41867086275121035, + 5.07685068182602 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77845.4462916166, + -359635.0630589874, + 507.685068182602 + ], + "rotation_deg": [ + 1.7511405337298456e-15, + -24.750701904296875, + -149.6736297607422 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9068664294130535, + 0.42141817616664184, + 3.4694469251713092e-18, + -2218.4641766074715 + ], + [ + 0.024801721860420848, + -0.053371805533991845, + -0.9982666602500555, + 175.49541612062941 + ], + [ + -0.4206877293454247, + 0.9052945152221961, + -0.05885299556351974, + -2922.791982788919 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9068664294130535, + 0.024801721860420848, + -0.4206877293454247, + 777.915402103821 + ], + [ + 0.42141817616664184, + -0.053371805533991845, + 0.9052945152221961, + 3590.2552359722445 + ], + [ + 3.4694469251713092e-18, + -0.9982666602500555, + -0.05885299556351974, + 3.1761586448704917 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77791.5402103821, + -359025.52359722444, + 317.6158644870492 + ], + "rotation_deg": [ + -1.9912982724177343e-16, + -3.373977899551392, + -114.92415618896484 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9807852783261096, + -0.1950903324585191, + -6.9388938502153445e-18, + -56.81376842390887 + ], + [ + -0.00647924655240916, + -0.03257337025964252, + -0.9994483452955643, + 124.84966519258845 + ], + [ + 0.19498269952053135, + 0.9802442255808731, + -0.03321152063728712, + -3657.4665781146005 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9807852783261096, + -0.00647924655240916, + 0.19498269952053135, + 769.6737845479377 + ], + [ + -0.1950903324585191, + -0.03257337025964252, + 0.9802442255808731, + 3578.1934439148954 + ], + [ + -6.9388938502153445e-18, + -0.9994483452955643, + -0.03321152063728712, + 3.310765467656721 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76967.37845479377, + -357819.3443914895, + 331.0765467656721 + ], + "rotation_deg": [ + 3.977887772366734e-16, + -1.9032299518585207, + -78.74999999999997 + ] + } + } + ] + }, + { + "frame": 32, + "time": 763.7421697936952, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.09636295371078808, + 0.9953462619370871, + -0.0, + -3658.561425163033 + ], + [ + 0.009282267907374634, + -0.0008986488289499522, + -0.9999565150209173, + 0.20982961440508507 + ], + [ + -0.9953029815979759, + 0.09635873989218503, + -0.009325667191648233, + 439.67332681401774 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.09636295371078808, + 0.009282267907374634, + -0.9953029815979759, + 790.1559237842031 + ], + [ + 0.9953462619370871, + -0.0008986488289499522, + 0.09635873989218503, + 3599.1692574232475 + ], + [ + -0.0, + -0.9999565150209173, + -0.009325667191648233, + 4.31006677235652 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 79015.5923784203, + -359916.92574232473, + 431.006677235652 + ], + "rotation_deg": [ + 0.0, + -0.5343291163444519, + -174.4702301025391 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5033777897811892, + 0.8640664330680856, + -4.1633363164965194e-17, + -3499.4851465937536 + ], + [ + 0.36126727901396144, + -0.21046289668329546, + -0.9084004195471975, + 480.3219135571144 + ], + [ + -0.7849183183680999, + 0.45726857883037164, + -0.4181012799605447, + -1031.3092410734516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5033777897811892, + 0.36126727901396144, + -0.7849183183680999, + 778.544948999701 + ], + [ + 0.8640664330680856, + -0.21046289668329546, + 0.45726857883037164, + 3596.4629477466437 + ], + [ + -4.1633363164965194e-17, + -0.9084004195471975, + -0.4181012799605447, + 5.132889610202768 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77854.4948999701, + -359646.2947746644, + 513.2889610202768 + ], + "rotation_deg": [ + 2.6259521279781815e-15, + -24.714771270751964, + -149.77627563476562 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9063033478305189, + 0.4226277815184337, + 3.4694469251720954e-18, + -2222.496597799118 + ], + [ + 0.02497709172920828, + -0.05356207718271847, + -0.9982520968055228, + 176.10296536308854 + ], + [ + -0.4218890831242087, + 0.904719210729599, + -0.05909950319102482, + -2919.84862789395 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9063033478305189, + 0.02497709172920828, + -0.4218890831242087, + 778.005333175798 + ], + [ + 0.4226277815184337, + -0.05356207718271847, + 0.904719210729599, + 3590.364443766955 + ], + [ + 3.4694469251720954e-18, + -0.9982520968055228, + -0.05909950319102482, + 3.2335504176044214 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77800.5333175798, + -359036.4443766955, + 323.35504176044213 + ], + "rotation_deg": [ + -1.9913273233583548e-16, + -3.388126373291017, + -115.000602722168 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9807852783261096, + -0.1950903324585191, + -6.9388938502153445e-18, + -56.86607897895192 + ], + [ + -0.00647924655240916, + -0.03257337025964252, + -0.9994483452955643, + 124.90828023373886 + ], + [ + 0.19498269952053135, + 0.9802442255808731, + -0.03321152063728712, + -3657.587341365218 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9807852783261096, + -0.00647924655240916, + 0.19498269952053135, + 769.7490164975086 + ], + [ + -0.1950903324585191, + -0.03257337025964252, + 0.9802442255808731, + 3578.30352540015 + ], + [ + -6.9388938502153445e-18, + -0.9994483452955643, + -0.03321152063728712, + 3.3653374423658953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76974.90164975086, + -357830.352540015, + 336.53374423658954 + ], + "rotation_deg": [ + 3.977887772366734e-16, + -1.9032299518585207, + -78.74999999999997 + ] + } + } + ] + }, + { + "frame": 33, + "time": 763.8088364638388, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.09524585987383562, + 0.9954537790258738, + -1.0842021640877846e-19, + -3658.1825147662416 + ], + [ + 0.010347234757981064, + -0.0009900321768879737, + -0.9999459758252702, + -0.22473421737573673 + ], + [ + -0.9954000027035421, + 0.09524069080632651, + -0.010394490488807223, + 443.84377414762344 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.09524585987383562, + 0.010347234757981064, + -0.9954000027035421, + 790.23107164103 + ], + [ + 0.9954537790258738, + -0.0009900321768879737, + 0.09524069080632651, + 3599.279396332114 + ], + [ + -1.0842021640877846e-19, + -0.9999459758252702, + -0.010394490488807223, + 4.3888068796359585 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 79023.107164103, + -359927.9396332114, + 438.88068796359585 + ], + "rotation_deg": [ + 6.212356479670573e-18, + -0.5955711603164672, + -174.53453063964847 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5018359111179929, + 0.8649628421570339, + -0.0, + -3501.651193624827 + ], + [ + 0.36115025287074054, + -0.20953289247421547, + -0.9086619073246048, + 477.13341874852614 + ], + [ + -0.7859587939544584, + 0.45599915953505005, + -0.41753268220461603, + -1025.883384555135 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5018359111179929, + 0.36115025287074054, + -0.7859587939544584, + 778.6353509904923 + ], + [ + 0.8649628421570339, + -0.20953289247421547, + 0.45599915953505005, + 3596.5753223270267 + ], + [ + -0.0, + -0.9086619073246048, + -0.41753268220461603, + 5.213096671149781 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77863.53509904923, + -359657.53223270265, + 521.3096671149781 + ], + "rotation_deg": [ + 0.0, + -24.6789131164551, + -149.87846374511722 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9057394993984612, + 0.42383482540893724, + 3.469446925172882e-18, + -2226.5193365411274 + ], + [ + 0.025152705469997236, + -0.053751597309001684, + -0.9982375003947058, + 176.73176550214336 + ], + [ + -0.4230878307518554, + 0.9041431272809964, + -0.059345537829133446, + -2916.9027887668044 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9057394993984612, + 0.025152705469997236, + -0.4230878307518554, + 778.0951801550311 + ], + [ + 0.42383482540893724, + -0.053751597309001684, + 0.9041431272809964, + 3590.473708985277 + ], + [ + 3.469446925172882e-18, + -0.9982375003947058, + -0.059345537829133446, + 3.315110322908615 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77809.51801550311, + -359047.3708985277, + 331.5110322908615 + ], + "rotation_deg": [ + -1.991356440910162e-16, + -3.402247905731201, + -115.07693481445311 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9807852783261096, + -0.1950903324585191, + -6.9388938502153445e-18, + -56.918295854278085 + ], + [ + -0.00647924655240916, + -0.03257337025964252, + -0.9994483452955643, + 124.99105140061846 + ], + [ + 0.19498269952053135, + 0.9802442255808731, + -0.03321152063728712, + -3657.707341847936 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9807852783261096, + -0.00647924655240916, + 0.19498269952053135, + 769.8241643543355 + ], + [ + -0.1950903324585191, + -0.03257337025964252, + 0.9802442255808731, + 3578.413664309017 + ], + [ + -6.9388938502153445e-18, + -0.9994483452955643, + -0.03321152063728712, + 3.444077549645334 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76982.41643543355, + -357841.3664309017, + 344.4077549645334 + ], + "rotation_deg": [ + 3.977887772366734e-16, + -1.9032299518585207, + -78.74999999999997 + ] + } + } + ] + }, + { + "frame": 34, + "time": 763.8755031339824, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.09406368812804598, + 0.9955661819164758, + -0.0, + -3657.7696627518126 + ], + [ + 0.011474465552064541, + -0.0010841374172108607, + -0.9999335784372656, + -0.7775922425488195 + ], + [ + -0.9955000570741814, + 0.0940574167708154, + -0.011525567912378815, + 448.2511011785278 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.09406368812804598, + 0.011474465552064541, + -0.9955000570741814, + 790.3061371169892 + ], + [ + 0.9955661819164758, + -0.0010841374172108607, + 0.0940574167708154, + 3599.389591404377 + ], + [ + -0.0, + -0.9999335784372656, + -0.011525567912378815, + 4.3888068796359585 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 79030.61371169893, + -359938.9591404377, + 438.88068796359585 + ], + "rotation_deg": [ + 0.0, + -0.6603810191154481, + -174.60256958007815 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.500299353875341, + 0.8658525027462334, + -0.0, + -3503.7970424406126 + ], + [ + 0.3610302212013746, + -0.20860733880613003, + -0.9089225256178387, + 473.89159391250695 + ], + [ + -0.7869928516265216, + 0.45473333563626134, + -0.4169650404408921, + -1020.507992322677 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.500299353875341, + 0.3610302212013746, + -0.7869928516265216, + 778.7256706004158 + ], + [ + 0.8658525027462334, + -0.20860733880613003, + 0.45473333563626134, + 3596.687753070805 + ], + [ + -0.0, + -0.9089225256178387, + -0.4169650404408921, + 5.214563624817355 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77872.56706004158, + -359668.7753070805, + 521.4563624817355 + ], + "rotation_deg": [ + 0.0, + -24.64312553405763, + -149.9801940917969 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.905174835752969, + 0.4250394296057546, + -3.46944692517367e-18, + -2230.5327927318785 + ], + [ + 0.02532856850359701, + -0.0539403670298706, + -0.9982228711175882, + 177.2790895590521 + ], + [ + -0.4242840938148561, + 0.9035662167782706, + -0.05959110363728452, + -2913.9603115542077 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.905174835752969, + 0.02532856850359701, + -0.4242840938148561, + 778.1849447533965 + ], + [ + 0.4250394296057546, + -0.0539403670298706, + 0.9035662167782706, + 3590.583030366995 + ], + [ + -3.46944692517367e-18, + -0.9982228711175882, + -0.05959110363728452, + 3.317930120933371 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77818.49447533966, + -359058.3030366995, + 331.7930120933371 + ], + "rotation_deg": [ + 1.9913856248795025e-16, + -3.416342735290527, + -115.15316009521489 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9807852783261096, + -0.1950903324585191, + -6.9388938502153445e-18, + -56.97042097472638 + ], + [ + -0.00647924655240916, + -0.03257337025964252, + -0.9994483452955643, + 124.99512719323441 + ], + [ + 0.19498269952053135, + 0.9802442255808731, + -0.03321152063728712, + -3657.8299964003522 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9807852783261096, + -0.00647924655240916, + 0.19498269952053135, + 769.8992298302948 + ], + [ + -0.1950903324585191, + -0.03257337025964252, + 0.9802442255808731, + 3578.52385938128 + ], + [ + -6.9388938502153445e-18, + -0.9994483452955643, + -0.03321152063728712, + 3.444077549645334 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76989.92298302948, + -357852.385938128, + 344.4077549645334 + ], + "rotation_deg": [ + 3.977887772366734e-16, + -1.9032299518585207, + -78.74999999999997 + ] + } + } + ] + }, + { + "frame": 35, + "time": 763.942169804126, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.09281694847898532, + 0.9956831896115597, + -0.0, + -3657.322246819421 + ], + [ + 0.012663218920026292, + -0.0011804571477567374, + -0.9999191214330817, + -1.3768900944935574 + ], + [ + -0.9956026623726095, + 0.09280941806503883, + -0.012718120733820133, + 452.89380969846997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.09281694847898532, + 0.012663218920026292, + -0.9956026623726095, + 790.3811221465149 + ], + [ + 0.9956831896115597, + -0.0011804571477567374, + 0.09280941806503883, + 3599.4998412342143 + ], + [ + -0.0, + -0.9999191214330817, + -0.012718120733820133, + 4.383178274747042 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 79038.1122146515, + -359949.9841234214, + 438.31782747470425 + ], + "rotation_deg": [ + 0.0, + -0.7287142872810365, + -174.67431640625003 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.498767913395518, + 0.8667355816897565, + -1.3877787721457601e-17, + -3505.923133232869 + ], + [ + 0.360907294786796, + -0.20768615267772017, + -0.909182262561035, + 470.6624654247553 + ], + [ + -0.7880206252035, + 0.45347092331313754, + -0.4163983861200892, + -1015.1517220548017 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.498767913395518, + 0.360907294786796, + -0.7880206252035, + 778.8159097639058 + ], + [ + 0.8667355816897565, + -0.20768615267772017, + 0.45347092331313754, + 3596.8002385721575 + ], + [ + -1.3877787721457601e-17, + -0.909182262561035, + -0.4163983861200892, + 5.210401973596014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77881.59097639058, + -359680.02385721577, + 521.0401973596014 + ], + "rotation_deg": [ + 8.745646547675059e-16, + -24.60741043090822, + -150.08148193359378 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9046094213878585, + 0.4262414746787592, + -1.387778770069784e-17, + -2234.536588201962 + ], + [ + 0.025504668424073704, + -0.05412838664557164, + -0.9982082095673854, + 177.81793186300666 + ], + [ + -0.42547775333823273, + 0.9029885442277614, + -0.05983619646733798, + -2911.0172040837415 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9046094213878585, + 0.025504668424073704, + -0.42547775333823273, + 778.2746289053284 + ], + [ + 0.4262414746787592, + -0.05412838664557164, + 0.9029885442277614, + 3590.6924065062867 + ], + [ + -1.387778770069784e-17, + -0.9982082095673854, + -0.05983619646733798, + 3.3151213140692097 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77827.46289053284, + -359069.2406506287, + 331.51213140692096 + ], + "rotation_deg": [ + 7.965659496354883e-16, + -3.4304106235504146, + -115.22927093505865 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9807852783261096, + -0.1950903324585191, + -6.9388938502153445e-18, + -57.022456511823634 + ], + [ + -0.00647924655240916, + -0.03257337025964252, + -0.9994483452955643, + 124.99357874841422 + ], + [ + 0.19498269952053135, + 0.9802442255808731, + -0.03321152063728712, + -3657.952875877429 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9807852783261096, + -0.00647924655240916, + 0.19498269952053135, + 769.9742148598204 + ], + [ + -0.1950903324585191, + -0.03257337025964252, + 0.9802442255808731, + 3578.634109211117 + ], + [ + -6.9388938502153445e-18, + -0.9994483452955643, + -0.03321152063728712, + 3.438448944756418 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76997.42148598205, + -357863.4109211117, + 343.8448944756418 + ], + "rotation_deg": [ + 3.977887772366734e-16, + -1.9032299518585207, + -78.74999999999997 + ] + } + } + ] + }, + { + "frame": 36, + "time": 764.0088364742696, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.09150668096817745, + 0.9958044624012226, + -0.0, + -3656.83985223365 + ], + [ + 0.013912709653667137, + -0.0012784697515927082, + -0.9999023962493476, + -2.0126420765733046 + ], + [ + -0.9957072703110041, + 0.09149772604809553, + -0.013971326989120746, + 457.767910763402 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.09150668096817745, + 0.013912709653667137, + -0.9957072703110041, + 790.4560288708831 + ], + [ + 0.9958044624012226, + -0.0012784697515927082, + 0.09149772604809553, + 3599.610144281664 + ], + [ + -0.0, + -0.9999023962493476, + -0.013971326989120746, + 4.383178274747042 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 79045.6028870883, + -359961.0144281664, + 438.31782747470425 + ], + "rotation_deg": [ + 0.0, + -0.8005241155624391, + -174.74971008300784 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.4972420770431915, + 0.8676118468634304, + -0.0, + -3508.029010089974 + ], + [ + 0.360781365686121, + -0.2067695090619071, + -0.909441134046594, + 467.45698118639774 + ], + [ + -0.7890419099071747, + 0.45221238173376616, + -0.41583269017323793, + -1009.8116948285162 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.4972420770431915, + 0.360781365686121, + -0.7890419099071747, + 778.9060706222381 + ], + [ + 0.8676118468634304, + -0.2067695090619071, + 0.45221238173376616, + 3596.9127772911224 + ], + [ + -0.0, + -0.909441134046594, + -0.41583269017323793, + 5.211868927263588 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77890.6070622238, + -359691.27772911225, + 521.1868927263588 + ], + "rotation_deg": [ + 0.0, + -24.571765899658214, + -150.1822967529297 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9040432075864367, + 0.4274410822754717, + -0.0, + -2238.5311224139664 + ], + [ + 0.025681010730792774, + -0.054315657239902775, + -0.9981935158407123, + 178.35952877205818 + ], + [ + -0.42666893078722884, + 0.9024100611758872, + -0.06008082047887252, + -2908.072523942776 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9040432075864367, + 0.025681010730792774, + -0.42666893078722884, + 778.3642347521027 + ], + [ + 0.4274410822754717, + -0.054315657239902775, + 0.9024100611758872, + 3590.8018358631916 + ], + [ + -0.0, + -0.9981935158407123, + -0.06008082047887252, + 3.3179411120939655 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77836.42347521026, + -359080.18358631915, + 331.79411120939653 + ], + "rotation_deg": [ + 0.0, + -3.444451808929443, + -115.30527496337896 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9807852783261096, + -0.1950903324585191, + -6.9388938502153445e-18, + -57.074404866133364 + ], + [ + -0.00647924655240916, + -0.03257337025964252, + -0.9994483452955643, + 124.99765702955519 + ], + [ + 0.19498269952053135, + 0.9802442255808731, + -0.03321152063728712, + -3658.0756053180853 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9807852783261096, + -0.00647924655240916, + 0.19498269952053135, + 770.0491215841886 + ], + [ + -0.1950903324585191, + -0.03257337025964252, + 0.9802442255808731, + 3578.7444122585666 + ], + [ + -6.9388938502153445e-18, + -0.9994483452955643, + -0.03321152063728712, + 3.438448944756418 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77004.91215841885, + -357874.44122585666, + 343.8448944756418 + ], + "rotation_deg": [ + 3.977887772366734e-16, + -1.9032299518585207, + -78.74999999999997 + ] + } + } + ] + }, + { + "frame": 37, + "time": 764.0755031444132, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.09013392564394593, + 0.9959296538651771, + -0.0, + -3656.3220401856574 + ], + [ + 0.015222110908238079, + -0.0013776360683932063, + -0.9998831879066478, + -2.6917773596352736 + ], + [ + -0.9958133193659009, + 0.09012337337343604, + -0.015284323513280617, + 462.86919873510607 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.09013392564394593, + 0.015222110908238079, + -0.9958133193659009, + 790.5308596219388 + ], + [ + 0.9959296538651771, + -0.0013776360683932063, + 0.09012337337343604, + 3599.7204988843255 + ], + [ + -0.0, + -0.9998831879066478, + -0.015284323513280617, + 4.383178274747042 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 79053.08596219389, + -359972.04988843255, + 438.31782747470425 + ], + "rotation_deg": [ + 0.0, + -0.8757613301277163, + -174.8286895751953 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.4957211773734569, + 0.86848172940107, + -0.0, + -3510.115703300086 + ], + [ + 0.3606526543398612, + -0.20585713248741846, + -0.9096991282405792, + 464.2688635533634 + ], + [ + -0.7900570800952555, + 0.45095710617163504, + -0.415267984059286, + -1004.4877910762173 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.4957211773734569, + 0.3606526543398612, + -0.7900570800952555, + 778.9961555072582 + ], + [ + 0.86848172940107, + -0.20585713248741846, + 0.45095710617163504, + 3597.0253675653 + ], + [ + -0.0, + -0.9096991282405792, + -0.415267984059286, + 5.213335880931162 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77899.61555072582, + -359702.53675653, + 521.3335880931162 + ], + "rotation_deg": [ + 0.0, + -24.53619384765626, + -150.28268432617188 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9034762020540157, + 0.42863825345161544, + -0.0, + -2242.5164058607647 + ], + [ + 0.025857592013958968, + -0.05450217949264521, + -0.9981787902804743, + 178.89826638971354 + ], + [ + -0.42785762735427735, + 0.9018307757136304, + -0.06032497567774088, + -2905.126632767497 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9034762020540157, + 0.025857592013958968, + -0.42785762735427735, + 778.4537646255646 + ], + [ + 0.42863825345161544, + -0.05450217949264521, + 0.9018307757136304, + 3590.911316775309 + ], + [ + -0.0, + -0.9981787902804743, + -0.06032497567774088, + 3.3207609101187203 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77845.37646255647, + -359091.1316775309, + 332.07609101187205 + ], + "rotation_deg": [ + 0.0, + -3.4584662914276123, + -115.38117218017582 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9807852783261096, + -0.1950903324585191, + -6.9388938502153445e-18, + -57.12626864901347 + ], + [ + -0.00647924655240916, + -0.03257337025964252, + -0.9994483452955643, + 125.00173649777332 + ], + [ + 0.19498269952053135, + 0.9802442255808731, + -0.03321152063728712, + -3658.1983704819586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9807852783261096, + -0.00647924655240916, + 0.19498269952053135, + 770.1239523352444 + ], + [ + -0.1950903324585191, + -0.03257337025964252, + 0.9802442255808731, + 3578.854766861228 + ], + [ + -6.9388938502153445e-18, + -0.9994483452955643, + -0.03321152063728712, + 3.438448944756418 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77012.39523352444, + -357885.4766861228, + 343.8448944756418 + ], + "rotation_deg": [ + 3.977887772366734e-16, + -1.9032299518585207, + -78.74999999999997 + ] + } + } + ] + }, + { + "frame": 38, + "time": 764.1421698145568, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.08869919215056302, + 0.9960584587823332, + -1.0842021640892072e-19, + -3655.768100916514 + ], + [ + 0.01659055360933455, + -0.0014773919035611155, + -0.9998612757998476, + -3.4156536185853534 + ], + [ + -0.9959202834644542, + 0.08868686387443554, + -0.016656204855808248, + 468.1954639231215 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.08869919215056302, + 0.01659055360933455, + -0.9959202834644542, + 790.6056169054615 + ], + [ + 0.9960584587823332, + -0.0014773919035611155, + 0.08868686387443554, + 3599.830903269168 + ], + [ + -1.0842021640892072e-19, + -0.9998612757998476, + -0.016656204855808248, + 4.383178274747042 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 79060.56169054615, + -359983.09032691683, + 438.31782747470425 + ], + "rotation_deg": [ + 6.212882739435452e-18, + -0.9543743729591374, + -174.9112243652344 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.4942057015563012, + 0.8693449974257882, + 1.3877787721262405e-17, + -3512.1827576739083 + ], + [ + 0.3605210790241344, + -0.20494921269753633, + -0.9099562471866068, + 461.0988594911468 + ], + [ + -0.7910659193170658, + 0.449705548763814, + -0.4147042689749919, + -999.1818058337669 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.4942057015563012, + 0.3605210790241344, + -0.7910659193170658, + 779.086166924745 + ], + [ + 0.8693449974257882, + -0.20494921269753633, + 0.449705548763814, + 3597.138007621658 + ], + [ + 1.3877787721262405e-17, + -0.9099562471866068, + -0.4147042689749919, + 5.214802834598736 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77908.6166924745, + -359713.8007621658, + 521.4802834598736 + ], + "rotation_deg": [ + -8.738207732785493e-16, + -24.500694274902354, + -150.3826141357422 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9029084697165884, + 0.4298328690480151, + -3.4694469251768428e-18, + -2246.492061988865 + ], + [ + 0.026034399805158117, + -0.05468795380894735, + -0.9981640334809582, + 179.4341554766953 + ], + [ + -0.42904372434772176, + 0.9012507532734967, + -0.06056865791637481, + -2902.17985586282 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9029084697165884, + 0.026034399805158117, + -0.42904372434772176, + 778.5432210314934 + ], + [ + 0.4298328690480151, + -0.05468795380894735, + 0.9012507532734967, + 3591.0208474696065 + ], + [ + -3.4694469251768428e-18, + -0.9981640334809582, + -0.06056865791637481, + 3.3235807081434756 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77854.32210314934, + -359102.08474696067, + 332.35807081434757 + ], + "rotation_deg": [ + 1.9915030088180882e-16, + -3.4724538326263428, + -115.4569549560547 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9807852783261096, + -0.1950903324585191, + -6.9388938502153445e-18, + -57.17805066399626 + ], + [ + -0.00647924655240916, + -0.03257337025964252, + -0.9994483452955643, + 125.00581711155063 + ], + [ + 0.19498269952053135, + 0.9802442255808731, + -0.03321152063728712, + -3658.3211701196296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9807852783261096, + -0.00647924655240916, + 0.19498269952053135, + 770.198709618767 + ], + [ + -0.1950903324585191, + -0.03257337025964252, + 0.9802442255808731, + 3578.965171246071 + ], + [ + -6.9388938502153445e-18, + -0.9994483452955643, + -0.03321152063728712, + 3.438448944756418 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77019.8709618767, + -357896.5171246071, + 343.8448944756418 + ], + "rotation_deg": [ + 3.977887772366734e-16, + -1.9032299518585207, + -78.74999999999997 + ] + } + } + ] + }, + { + "frame": 39, + "time": 764.2088364847004, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.087203520702175, + 0.9961905169078578, + -1.084202164089625e-19, + -3655.1775460426647 + ], + [ + 0.018017125735626888, + -0.001577164980406808, + -0.9998364344885875, + -4.168289643300435 + ], + [ + -0.9960275765568303, + 0.08718923364791958, + -0.01808602427887338, + 473.74284626541794 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.087203520702175, + 0.018017125735626888, + -0.9960275765568303, + 790.6803033841877 + ], + [ + 0.9961905169078578, + -0.001577164980406808, + 0.08718923364791958, + 3599.941355564426 + ], + [ + -1.084202164089625e-19, + -0.9998364344885875, + -0.01808602427887338, + 4.400515134450107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 79068.03033841877, + -359994.1355564426, + 440.05151344501064 + ], + "rotation_deg": [ + 6.21303710084e-18, + -1.0363093614578247, + -174.99725341796875 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.49269567489296834, + 0.8702016846350977, + -1.3877787721197844e-17, + -3514.2303135194625 + ], + [ + 0.36038666848458384, + -0.2040457470797672, + -0.9102124929252738, + 457.96271821038994 + ], + [ + -0.7920684526513627, + 0.4484577417081817, + -0.4141415461125262, + -993.8866555127504 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.49269567489296834, + 0.36038666848458384, + -0.7920684526513627, + 779.1761075374354 + ], + [ + 0.8702016846350977, + -0.2040457470797672, + 0.4484577417081817, + 3597.250695588431 + ], + [ + -1.3877787721197844e-17, + -0.9102124929252738, + -0.4141415461125262, + 5.233606647969375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77917.61075374355, + -359725.0695588431, + 523.3606647969375 + ], + "rotation_deg": [ + 8.735747726413896e-16, + -24.4652671813965, + -150.48208618164065 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9023399613311821, + 0.4310250505305235, + -3.4694469251776397e-18, + -2250.4584895204653 + ], + [ + 0.026211437930402894, + -0.05487297747414687, + -0.9981492457867922, + 179.98448766721424 + ], + [ + -0.4302273431583348, + 0.9006699451000018, + -0.06081186720106761, + -2899.2308671386513 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9023399613311821, + 0.026211437930402894, + -0.4302273431583348, + 778.6326066326259 + ], + [ + 0.4310250505305235, + -0.05487297747414687, + 0.9006699451000018, + 3591.1304260743195 + ], + [ + -3.4694469251776397e-18, + -0.9981492457867922, + -0.06081186720106761, + 3.3437373658712954 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77863.26066326258, + -359113.04260743194, + 334.37373658712954 + ], + "rotation_deg": [ + 1.9915325131612575e-16, + -3.4864144325256348, + -115.5326309204102 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9807852783261096, + -0.1950903324585191, + -6.9388938502153445e-18, + -57.22975388781833 + ], + [ + -0.00647924655240916, + -0.03257337025964252, + -0.9994483452955643, + 125.02722612291274 + ], + [ + 0.19498269952053135, + 0.9802442255808731, + -0.03321152063728712, + -3658.4434271320238 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9807852783261096, + -0.00647924655240916, + 0.19498269952053135, + 770.2733960974932 + ], + [ + -0.1950903324585191, + -0.03257337025964252, + 0.9802442255808731, + 3579.0756235413287 + ], + [ + -6.9388938502153445e-18, + -0.9994483452955643, + -0.03321152063728712, + 3.4557858044594822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77027.33960974932, + -357907.5623541329, + 345.5785804459482 + ], + "rotation_deg": [ + 3.977887772366734e-16, + -1.9032299518585207, + -78.74999999999997 + ] + } + } + ] + }, + { + "frame": 40, + "time": 764.275503154844, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.08564821720548667, + 0.9963254402500828, + -1.0842021640900951e-19, + -3654.549997475736 + ], + [ + 0.01950087113074574, + -0.0016763747856153137, + -0.999808434547699, + -4.985701524790279 + ], + [ + -0.9961345807405716, + 0.08563178638561299, + -0.01957279267795524, + 479.50558160379194 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.08564821720548667, + 0.01950087113074574, + -0.9961345807405716, + 790.754921860557 + ], + [ + 0.9963254402500828, + -0.0016763747856153137, + 0.08563178638561299, + 3600.0518538115457 + ], + [ + -1.0842021640900951e-19, + -0.999808434547699, + -0.01957279267795524, + 4.400515134450107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 79075.49218605571, + -360005.1853811546, + 440.05151344501064 + ], + "rotation_deg": [ + 6.213211098846263e-18, + -1.121510028839112, + -175.08670043945315 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.4911906585180773, + 0.8710520862638338, + -0.0, + -3516.259090270868 + ], + [ + 0.36024955951843124, + -0.20314654101765, + -0.9104678674941473, + 454.82807769007627 + ], + [ + -0.7930649433716834, + 0.44721329457740405, + -0.4135798166594834, + -988.6150999043904 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.4911906585180773, + 0.36024955951843124, + -0.7930649433716834, + 779.2659801477691 + ], + [ + 0.8710520862638338, + -0.20314654101765, + 0.44721329457740405, + 3597.3634295070665 + ], + [ + -0.0, + -0.9104678674941473, + -0.4135798166594834, + 5.235073601636949 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77926.59801477692, + -359736.34295070666, + 523.5073601636949 + ], + "rotation_deg": [ + 0.0, + -24.429912567138697, + -150.58113098144534 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9017707421098716, + 0.4322146789208009, + 3.4694469251784386e-18, + -2254.4153129223305 + ], + [ + 0.026388697455926913, + -0.055057258461378114, + -0.9981344272878759, + 180.5146883217696 + ], + [ + -0.43140836506608443, + 0.9000884164517531, + -0.061054607691666415, + -2896.2820953619316 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9017707421098716, + 0.026388697455926913, + -0.43140836506608443, + 778.7219242314013 + ], + [ + 0.4322146789208009, + -0.055057258461378114, + 0.9000884164517531, + 3591.240050630894 + ], + [ + 3.4694469251784386e-18, + -0.9981344272878759, + -0.061054607691666415, + 3.34655716389605 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77872.19242314014, + -359124.0050630894, + 334.655716389605 + ], + "rotation_deg": [ + -1.9915620798428975e-16, + -3.5003483295440683, + -115.60819244384768 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9807852783261096, + -0.1950903324585191, + -6.9388938502153445e-18, + -57.28138145116566 + ], + [ + -0.00647924655240916, + -0.03257337025964252, + -0.9994483452955643, + 125.03130889473498 + ], + [ + 0.19498269952053135, + 0.9802442255808731, + -0.03321152063728712, + -3658.566291712657 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9807852783261096, + -0.00647924655240916, + 0.19498269952053135, + 770.3480145738627 + ], + [ + -0.1950903324585191, + -0.03257337025964252, + 0.9802442255808731, + 3579.186121788449 + ], + [ + -6.9388938502153445e-18, + -0.9994483452955643, + -0.03321152063728712, + 3.4557858044594822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77034.80145738626, + -357918.61217884487, + 345.5785804459482 + ], + "rotation_deg": [ + 3.977887772366734e-16, + -1.9032299518585207, + -78.74999999999997 + ] + } + } + ] + }, + { + "frame": 41, + "time": 764.3421698249876, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.08403405743526109, + 0.9964628829971375, + -1.0842021640906226e-19, + -3653.8848098987273 + ], + [ + 0.021040797719697416, + -0.0017744199349830098, + -0.9997770432777565, + -5.851949085085792 + ], + [ + -0.9962407168853012, + 0.0840152978818022, + -0.02111548582660391, + 485.4807262603255 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.08403405743526109, + 0.021040797719697416, + -0.9962407168853012, + 790.8294752592074 + ], + [ + 0.9964628829971375, + -0.0017744199349830098, + 0.0840152978818022, + 3600.1623959771746 + ], + [ + -1.0842021640906226e-19, + -0.9997770432777565, + -0.02111548582660391, + 4.400515134450107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 79082.94752592074, + -360016.2395977175, + 440.05151344501064 + ], + "rotation_deg": [ + 6.213406182931406e-18, + -1.209918141365052, + -175.17951965332034 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.4896909081530581, + 0.8718961030261765, + -0.0, + -3518.268929356356 + ], + [ + 0.3601097517107103, + -0.20225170262596728, + -0.910722359178552, + 451.71110346434705 + ], + [ + -0.794055283804171, + 0.44597244229801775, + -0.4130191121163987, + -983.3608777966241 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.4896909081530581, + 0.3601097517107103, + -0.794055283804171, + 779.3557876803836 + ], + [ + 0.8718961030261765, + -0.20225170262596728, + 0.44597244229801775, + 3597.4762073442107 + ], + [ + -0.0, + -0.910722359178552, + -0.4130191121163987, + 5.236540555304523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77935.57876803837, + -359747.62073442107, + 523.6540555304523 + ], + "rotation_deg": [ + 0.0, + -24.394632339477553, + -150.67973327636722 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9012008201710437, + 0.4334017555606322, + -0.0, + -2258.3625443404053 + ], + [ + 0.026566174934445925, + -0.055240797556900346, + -0.9981195783244761, + 181.0420675475389 + ], + [ + -0.4325867915612641, + 0.8995061758227252, + -0.06129687939453343, + -2893.3325173359567 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9012008201710437, + 0.026566174934445925, + -0.4325867915612641, + 778.811176752458 + ], + [ + 0.4334017555606322, + -0.055240797556900346, + 0.8995061758227252, + 3591.3497191059782 + ], + [ + -0.0, + -0.9981195783244761, + -0.06129687939453343, + 3.3493769619208056 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77881.1176752458, + -359134.9719105978, + 334.9376961920806 + ], + "rotation_deg": [ + 0.0, + -3.514255523681641, + -115.68363952636722 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9807852783261096, + -0.1950903324585191, + -6.9388938502153445e-18, + -57.33293661916787 + ], + [ + -0.00647924655240916, + -0.03257337025964252, + -0.9994483452955643, + 125.03539267547649 + ], + [ + 0.19498269952053135, + 0.9802442255808731, + -0.03321152063728712, + -3658.689186655125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9807852783261096, + -0.00647924655240916, + 0.19498269952053135, + 770.4225679725129 + ], + [ + -0.1950903324585191, + -0.03257337025964252, + 0.9802442255808731, + 3579.2966639540773 + ], + [ + -6.9388938502153445e-18, + -0.9994483452955643, + -0.03321152063728712, + 3.4557858044594822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77042.25679725129, + -357929.66639540775, + 345.5785804459482 + ], + "rotation_deg": [ + 3.977887772366734e-16, + -1.9032299518585207, + -78.74999999999997 + ] + } + } + ] + }, + { + "frame": 42, + "time": 764.4088364951313, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.08236234842467421, + 0.9966024501083529, + 1.0842021640912109e-19, + -3653.1815809604204 + ], + [ + 0.02263586717486363, + -0.0018706989722412069, + -0.9997420257259356, + -6.7683902580823 + ], + [ + -0.9963453542620258, + 0.08234107744670821, + -0.022713036023259008, + 491.66308558487526 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.08236234842467421, + 0.02263586717486363, + -0.9963453542620258, + 790.9039666094155 + ], + [ + 0.9966024501083529, + -0.0018706989722412069, + 0.08234107744670821, + 3600.272979965059 + ], + [ + 1.0842021640912109e-19, + -0.9997420257259356, + -0.022713036023259008, + 4.400515134450107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 79090.39666094155, + -360027.2979965059, + 440.05151344501064 + ], + "rotation_deg": [ + -6.213623817351854e-18, + -1.3014730215072638, + -175.27563476562503 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.488196447795157, + 0.872733767170831, + -1.387778772100566e-17, + -3520.2599648100445 + ], + [ + 0.35996724628202453, + -0.20136121411593105, + -0.9109759837964412, + 448.6117312111475 + ], + [ + -0.795039510021289, + 0.44473522244599206, + -0.41245940336113357, + -978.1240959663284 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.488196447795157, + 0.35996724628202453, + -0.795039510021289, + 779.4455331645561 + ], + [ + 0.872733767170831, + -0.20136121411593105, + 0.44473522244599206, + 3597.589027003611 + ], + [ + -1.387778772100566e-17, + -0.9109759837964412, + -0.41245940336113357, + 5.238007508972097 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77944.55331645561, + -359758.9027003611, + 523.8007508972097 + ], + "rotation_deg": [ + 8.728426277911758e-16, + -24.359424591064464, + -150.77789306640628 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9006300878786591, + 0.4345865216590118, + -0.0, + -2262.3009672864837 + ], + [ + 0.026743879883381956, + -0.05542358469295875, + -0.9981046994922755, + 181.56658133439512 + ], + [ + -0.4337628636597629, + 0.898923116400758, + -0.06153867816285363, + -2890.3815591553816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9006300878786591, + 0.026743879883381956, + -0.4337628636597629, + 778.9003672250723 + ], + [ + 0.4345865216590118, + -0.05542358469295875, + 0.898923116400758, + 3591.459429403318 + ], + [ + -0.0, + -0.9981046994922755, + -0.06153867816285363, + 3.352196759945561 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77890.03672250723, + -359145.9429403318, + 335.2196759945561 + ], + "rotation_deg": [ + 0.0, + -3.5281357765197754, + -115.75898742675778 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9807852783261096, + -0.1950903324585191, + -6.9388938502153445e-18, + -57.38442277185379 + ], + [ + -0.00647924655240916, + -0.03257337025964252, + -0.9994483452955643, + 125.03947741648265 + ], + [ + 0.19498269952053135, + 0.9802442255808731, + -0.03321152063728712, + -3658.8121104952447 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9807852783261096, + -0.00647924655240916, + 0.19498269952053135, + 770.497059322721 + ], + [ + -0.1950903324585191, + -0.03257337025964252, + 0.9802442255808731, + 3579.407247941962 + ], + [ + -6.9388938502153445e-18, + -0.9994483452955643, + -0.03321152063728712, + 3.4557858044594822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77049.7059322721, + -357940.7247941962, + 345.5785804459482 + ], + "rotation_deg": [ + 3.977887772366734e-16, + -1.9032299518585207, + -78.74999999999997 + ] + } + } + ] + }, + { + "frame": 43, + "time": 764.4755031652749, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.08063386714769517, + 0.9967437882770114, + -0.0, + -3652.4396394744344 + ], + [ + 0.02428500370853062, + -0.0019645908865907357, + -0.999703145427444, + -7.736423716417736 + ], + [ + -0.9964479022325228, + 0.0806099069887504, + -0.024364339344008765, + 498.04939465379346 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.08063386714769517, + 0.02428500370853062, + -0.9964479022325228, + 790.9783990273486 + ], + [ + 0.9967437882770114, + -0.0019645908865907357, + 0.0806099069887504, + 3600.383603627956 + ], + [ + -0.0, + -0.999703145427444, + -0.024364339344008765, + 4.400515134450107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 79097.83990273486, + -360038.3603627956, + 440.05151344501064 + ], + "rotation_deg": [ + 0.0, + -1.3961119651794438, + -175.37500000000003 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.4867070685946525, + 0.8735652404829303, + -1.3877787720942105e-17, + -3522.2326151792504 + ], + [ + 0.359822150565517, + -0.20047499145038214, + -0.9112287296641689, + 445.5295753634008 + ], + [ + -0.7960177522273985, + 0.443501446937359, + -0.41190072190190297, + -972.9039755458489 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.4867070685946525, + 0.359822150565517, + -0.7960177522273985, + 779.5352197164534 + ], + [ + 0.8735652404829303, + -0.20047499145038214, + 0.443501446937359, + 3597.701886338023 + ], + [ + -1.3877787720942105e-17, + -0.9112287296641689, + -0.41190072190190297, + 5.239474462639672 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77953.52197164534, + -359770.1886338023, + 523.9474462639672 + ], + "rotation_deg": [ + 8.726005290032307e-16, + -24.32429122924806, + -150.8756256103516 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.900058726450803, + 0.43576861858073046, + -3.469446925180845e-18, + -2266.229436011009 + ], + [ + 0.026921786792204187, + -0.05560563129325543, + -0.9980897911332394, + 182.08829012904823 + ], + [ + -0.43493622355742934, + 0.8983394194528805, + -0.06178000400342497, + -2887.4301478048924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.900058726450803, + 0.026921786792204187, + -0.43493622355742934, + 778.9894987654116 + ], + [ + 0.43576861858073046, + -0.05560563129325543, + 0.8983394194528805, + 3591.56917937567 + ], + [ + -3.469446925180845e-18, + -0.9980897911332394, + -0.06178000400342497, + 3.355016557970316 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77898.94987654116, + -359156.917937567, + 335.5016557970316 + ], + "rotation_deg": [ + 1.991651145651538e-16, + -3.5419890880584717, + -115.83421325683597 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9807852783261096, + -0.1950903324585191, + -6.9388938502153445e-18, + -57.43584338442054 + ], + [ + -0.00647924655240916, + -0.03257337025964252, + -0.9994483452955643, + 125.04356306800094 + ], + [ + 0.19498269952053135, + 0.9802442255808731, + -0.03321152063728712, + -3658.9350617357923 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9807852783261096, + -0.00647924655240916, + 0.19498269952053135, + 770.5714917406542 + ], + [ + -0.1950903324585191, + -0.03257337025964252, + 0.9802442255808731, + 3579.5178716048586 + ], + [ + -6.9388938502153445e-18, + -0.9994483452955643, + -0.03321152063728712, + 3.4557858044594822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77057.14917406542, + -357951.78716048587, + 345.5785804459482 + ], + "rotation_deg": [ + 3.977887772366734e-16, + -1.9032299518585207, + -78.74999999999997 + ] + } + } + ] + }, + { + "frame": 44, + "time": 764.5421698354185, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.07885018768060335, + 0.9968864769384392, + -0.0, + -3651.65870079218 + ], + [ + 0.025987089229335212, + -0.002055486668149682, + -0.9996601653401739, + -8.757371507788204 + ], + [ + -0.99654770222646, + 0.07882336801089246, + -0.02606825353916393, + 504.63345860758045 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.07885018768060335, + 0.025987089229335212, + -0.99654770222646, + 791.0527788951357 + ], + [ + 0.9968864769384392, + -0.002055486668149682, + 0.07882336801089246, + 3600.494262630754 + ], + [ + -0.0, + -0.9996601653401739, + -0.02606825353916393, + 4.400515134450107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 79105.27788951357, + -360049.4262630754, + 440.05151344501064 + ], + "rotation_deg": [ + 0.0, + -1.4937701225280768, + -175.477523803711 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.48522302634993497, + 0.8743904246386794, + -0.0, + -3524.186725079467 + ], + [ + 0.35967443809943733, + -0.199593127323459, + -0.911480598862694, + 442.46498890410675 + ], + [ + -0.7969899157357482, + 0.4422713577162221, + -0.41134306893318845, + -967.7014566131684 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.48522302634993497, + 0.35967443809943733, + -0.7969899157357482, + 779.6248537182048 + ], + [ + 0.8743904246386794, + -0.199593127323459, + 0.4422713577162221, + 3597.8147810123364 + ], + [ + -0.0, + -0.911480598862694, + -0.41134306893318845, + 5.240941416307246 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77962.48537182048, + -359781.47810123366, + 524.0941416307246 + ], + "rotation_deg": [ + 0.0, + -24.289232254028335, + -150.9729156494141 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8994865698783417, + 0.43694840726165207, + -3.4694469251816507e-18, + -2270.149120586653 + ], + [ + 0.02709991625465015, + -0.05578693115887437, + -0.9980748533305834, + 182.60715496337136 + ], + [ + -0.4361072315463024, + 0.8977549194431452, + -0.06202086107634802, + -2884.477402004866 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8994865698783417, + 0.02709991625465015, + -0.4361072315463024, + 779.0785777556048 + ], + [ + 0.43694840726165207, + -0.05578693115887437, + 0.8977549194431452, + 3591.678964687923 + ], + [ + -3.4694469251816507e-18, + -0.9980748533305834, + -0.06202086107634802, + 3.357836355995072 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77907.85777556048, + -359167.8964687923, + 335.7836355995072 + ], + "rotation_deg": [ + 1.991680953929079e-16, + -3.555815696716308, + -115.90933990478518 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9807852783261096, + -0.1950903324585191, + -6.9388938502153445e-18, + -57.487205562104464 + ], + [ + -0.00647924655240916, + -0.03257337025964252, + -0.9994483452955643, + 125.04764953017356 + ], + [ + 0.19498269952053135, + 0.9802442255808731, + -0.03321152063728712, + -3659.058037371705 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9807852783261096, + -0.00647924655240916, + 0.19498269952053135, + 770.6458716084412 + ], + [ + -0.1950903324585191, + -0.03257337025964252, + 0.9802442255808731, + 3579.6285306076566 + ], + [ + -6.9388938502153445e-18, + -0.9994483452955643, + -0.03321152063728712, + 3.4557858044594822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77064.58716084412, + -357962.85306076566, + 345.5785804459482 + ], + "rotation_deg": [ + 3.977887772366734e-16, + -1.9032299518585207, + -78.74999999999997 + ] + } + } + ] + }, + { + "frame": 45, + "time": 764.6088365055621, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.07701235424527493, + 0.9970301386084576, + -0.0, + -3650.839055231317 + ], + [ + 0.027740963497514568, + -0.002142760609982739, + -0.9996128488175801, + -9.832275554714247 + ], + [ + -0.9966441390328779, + 0.07698251516169825, + -0.027823595935694074, + 511.399988179721 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.07701235424527493, + 0.027740963497514568, + -0.9966441390328779, + 791.1161810604697 + ], + [ + 0.9970301386084576, + -0.002142760609982739, + 0.07698251516169825, + 3600.606638287501 + ], + [ + -0.0, + -0.9996128488175801, + -0.027823595935694074, + 4.400515134450107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 79111.61810604697, + -360060.6638287501, + 440.05151344501064 + ], + "rotation_deg": [ + 0.0, + -1.5943803787231452, + -175.5831451416016 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.483743878294415, + 0.875209609300925, + 1.3877787720815736e-17, + -3526.119177618365 + ], + [ + 0.3595242419822567, + -0.1987154269207277, + -0.9117315934696988, + 439.42143115642483 + ], + [ + -0.7979562595371347, + 0.44104456003903986, + -0.41078644564478356, + -962.5243791939274 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.483743878294415, + 0.3595242419822567, + -0.7979562595371347, + 779.703510017503 + ], + [ + 0.875209609300925, + -0.1987154269207277, + 0.44104456003903986, + 3597.929392340599 + ], + [ + 1.3877787720815736e-17, + -0.9117315934696988, + -0.41078644564478356, + 5.24240836997482 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77970.3510017503, + -359792.9392340599, + 524.240836997482 + ], + "rotation_deg": [ + -8.721192478530488e-16, + -24.2542476654053, + -151.0697937011719 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8989138002916988, + 0.43812552955190304, + -3.4694469251824576e-18, + -2274.0497916238282 + ], + [ + 0.027278240828271728, + -0.05596749213243242, + -0.9980598866810151, + 183.1236172501646 + ], + [ + -0.43727553043202094, + 0.8971697987711892, + -0.062261245235365775, + -2881.530541441069 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8989138002916988, + 0.027278240828271728, + -0.43727553043202094, + 779.1566790433449 + ], + [ + 0.43812552955190304, + -0.05596749213243242, + 0.8971697987711892, + 3591.790466654125 + ], + [ + -3.4694469251824576e-18, + -0.9980598866810151, + -0.062261245235365775, + 3.360656154019827 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77915.66790433449, + -359179.0466654125, + 336.0656154019827 + ], + "rotation_deg": [ + 1.9917108206652835e-16, + -3.569615364074707, + -115.98434448242186 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9807852783261096, + -0.1950903324585191, + -6.9388938502153445e-18, + -57.52746606824303 + ], + [ + -0.00647924655240916, + -0.03257337025964252, + -0.9994483452955643, + 125.05172078231011 + ], + [ + 0.19498269952053135, + 0.9802442255808731, + -0.03321152063728712, + -3659.180555285679 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9807852783261096, + -0.00647924655240916, + 0.19498269952053135, + 770.7092737737752 + ], + [ + -0.1950903324585191, + -0.03257337025964252, + 0.9802442255808731, + 3579.7409062644037 + ], + [ + -6.9388938502153445e-18, + -0.9994483452955643, + -0.03321152063728712, + 3.4557858044594822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77070.92737737752, + -357974.09062644036, + 345.5785804459482 + ], + "rotation_deg": [ + 3.977887772366734e-16, + -1.9032299518585207, + -78.74999999999997 + ] + } + } + ] + }, + { + "frame": 46, + "time": 764.6755031757057, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.075121412049716, + 0.9971743947031816, + 2.1684043281885083e-19, + -3649.9797394424613 + ], + [ + 0.02954543537531165, + -0.002225784012111237, + -0.9995609601890295, + -10.962410310012235 + ], + [ + -0.9967365972222546, + 0.07508840708271378, + -0.02962915590397697, + 518.3446753007435 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.075121412049716, + 0.02954543537531165, + -0.9967365972222546, + 791.168541715401 + ], + [ + 0.9971743947031816, + -0.002225784012111237, + 0.07508840708271378, + 3600.720255646201 + ], + [ + 2.1684043281885083e-19, + -0.9995609601890295, + -0.02962915590397697, + 4.400515134450107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 79116.85417154011, + -360072.0255646201, + 440.05151344501064 + ], + "rotation_deg": [ + -1.2429498769341549e-17, + -1.6978740692138674, + -175.69180297851565 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.48227011292602573, + 0.8760225671626949, + -0.0, + -3528.029141034105 + ], + [ + 0.3593715091482443, + -0.1978420931102933, + -0.9119817019031966, + 436.3995948800249 + ], + [ + -0.7989165595188019, + 0.4398215013875523, + -0.41023088358123344, + -957.3743980294938 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.48227011292602573, + 0.3593715091482443, + -0.7989165595188019, + 779.7711248063986 + ], + [ + 0.8760225671626949, + -0.1978420931102933, + 0.4398215013875523, + 3598.0452453708144 + ], + [ + -0.0, + -0.9119817019031966, + -0.41023088358123344, + 5.243875323642394 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77977.11248063986, + -359804.5245370814, + 524.3875323642394 + ], + "rotation_deg": [ + 0.0, + -24.219339370727553, + -151.16622924804688 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8983402507070309, + 0.43930034595892176, + -3.469446925183266e-18, + -2277.9323718345813 + ], + [ + 0.02745678127988074, + -0.05614730788507645, + -0.9980448912644194, + 183.63761966929803 + ], + [ + -0.43844148007013756, + 0.8965838909284911, + -0.06250116064070002, + -2878.5883256441725 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8983402507070309, + 0.02745678127988074, + -0.43844148007013756, + 779.2237388206825 + ], + [ + 0.43930034595892176, + -0.05614730788507645, + 0.8965838909284911, + 3591.9032103222808 + ], + [ + -3.469446925183266e-18, + -0.9980448912644194, + -0.06250116064070002, + 3.3634759520445825 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77922.37388206825, + -359190.32103222806, + 336.34759520445823 + ], + "rotation_deg": [ + 1.991740745705949e-16, + -3.5833883285522474, + -116.05924987792974 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9807852783261096, + -0.1950903324585191, + -6.9388938502153445e-18, + -57.556654979481436 + ], + [ + -0.00647924655240916, + -0.03257337025964252, + -0.9994483452955643, + 125.05576094019594 + ], + [ + 0.19498269952053135, + 0.9802442255808731, + -0.03321152063728712, + -3659.302137467318 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9807852783261096, + -0.00647924655240916, + 0.19498269952053135, + 770.7616344287067 + ], + [ + -0.1950903324585191, + -0.03257337025964252, + 0.9802442255808731, + 3579.854523623104 + ], + [ + -6.9388938502153445e-18, + -0.9994483452955643, + -0.03321152063728712, + 3.4557858044594822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77076.16344287066, + -357985.4523623104, + 345.5785804459482 + ], + "rotation_deg": [ + 3.977887772366734e-16, + -1.9032299518585207, + -78.74999999999997 + ] + } + } + ] + }, + { + "frame": 47, + "time": 764.7421698458493, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.07317867297768983, + 0.9973188466188855, + 2.1684043281904147e-19, + -3649.0804137522678 + ], + [ + 0.03139926747349175, + -0.002303933926418347, + -0.9995042660692304, + -12.14899021796285 + ], + [ + -0.9968244435576504, + 0.07314237213284917, + -0.03148368029250778, + 525.462251851865 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.07317867297768983, + 0.03139926747349175, + -0.9968244435576504, + 791.209861151835 + ], + [ + 0.9973188466188855, + -0.002303933926418347, + 0.07314237213284917, + 3600.8351173159417 + ], + [ + 2.1684043281904147e-19, + -0.9995042660692304, + -0.03148368029250778, + 4.400515134450107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 79120.98611518349, + -360083.51173159416, + 440.05151344501064 + ], + "rotation_deg": [ + -1.2430203798351546e-17, + -1.8041801452636728, + -175.80342102050787 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.480801519741925, + 0.8768294581124969, + -1.3877787720690364e-17, + -3529.917079677429 + ], + [ + 0.3592162658685144, + -0.19697299736871093, + -0.9122309535655244, + 433.39899141887634 + ], + [ + -0.7998709804834356, + 0.4386020118280427, + -0.40967632321243647, + -952.2508041504691 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.480801519741925, + 0.3592162658685144, + -0.7998709804834356, + 779.8276983767968 + ], + [ + 0.8768294581124969, + -0.19697299736871093, + 0.4386020118280427, + 3598.1623427120708 + ], + [ + -1.3877787720690364e-17, + -0.9122309535655244, + -0.40967632321243647, + 5.245342277309968 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77982.76983767968, + -359816.23427120707, + 524.5342277309968 + ], + "rotation_deg": [ + 8.716418451112755e-16, + -24.184503555297862, + -151.26223754882815 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8977661041630904, + 0.44047249881896894, + -1.7347234625920386e-17, + -2281.795742972335 + ], + [ + 0.027635511860816322, + -0.05632639015230504, + -0.9980298674171033, + 184.1492308684912 + ], + [ + -0.4396047236520375, + 0.8959973789797109, + -0.06274060729945324, + -2875.6517290980064 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8977661041630904, + 0.027635511860816322, + -0.4396047236520375, + 779.2797573795225 + ], + [ + 0.44047249881896894, + -0.05632639015230504, + 0.8959973789797109, + 3592.017198301476 + ], + [ + -1.7347234625920386e-17, + -0.9980298674171033, + -0.06274060729945324, + 3.3662957500693382 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77927.97573795225, + -359201.71983014763, + 336.6295750069338 + ], + "rotation_deg": [ + 9.958853641925618e-16, + -3.597134590148924, + -116.13403320312506 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9807852783261096, + -0.1950903324585191, + -6.9388938502153445e-18, + -57.57477207310808 + ], + [ + -0.00647924655240916, + -0.03257337025964252, + -0.9994483452955643, + 125.0597700907091 + ], + [ + 0.19498269952053135, + 0.9802442255808731, + -0.03321152063728712, + -3659.4227865310804 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9807852783261096, + -0.00647924655240916, + 0.19498269952053135, + 770.8029538651405 + ], + [ + -0.1950903324585191, + -0.03257337025964252, + 0.9802442255808731, + 3579.9693852928444 + ], + [ + -6.9388938502153445e-18, + -0.9994483452955643, + -0.03321152063728712, + 3.4557858044594822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77080.29538651404, + -357996.93852928444, + 345.5785804459482 + ], + "rotation_deg": [ + 3.977887772366734e-16, + -1.9032299518585207, + -78.74999999999997 + ] + } + } + ] + }, + { + "frame": 48, + "time": 764.8088365159929, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.0711859815039076, + 0.9974630599863461, + 2.1684043281924906e-19, + -3648.1399959788932 + ], + [ + 0.03330118351067979, + -0.0023766067421904674, + -0.9994425360755771, + -13.393126316352326 + ], + [ + -0.9969070119979909, + 0.07114627417621414, + -0.03338588174784431, + 532.7455010230252 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.0711859815039076, + 0.03330118351067979, + -0.9969070119979909, + 791.2400714705801 + ], + [ + 0.9974630599863461, + -0.0023766067421904674, + 0.07114627417621414, + 3600.950189508978 + ], + [ + 2.1684043281924906e-19, + -0.9994425360755771, + -0.03338588174784431, + 4.400515134450107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 79124.00714705802, + -360095.0189508978, + 440.05151344501064 + ], + "rotation_deg": [ + -1.243097154275483e-17, + -1.9132256507873546, + -175.91789245605472 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.47933812091638994, + 0.8776303127378543, + -2.7755575441256098e-17, + -3531.7822314776354 + ], + [ + 0.35905859150316183, + -0.19610816542229004, + -0.9124793232301041, + 430.4194664904616 + ], + [ + -0.8008195215913811, + 0.4373861071442934, + -0.4091228264412923, + -947.1532862007789 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.47933812091638994, + 0.35905859150316183, + -0.8008195215913811, + 779.8731628295062 + ], + [ + 0.8776303127378543, + -0.19610816542229004, + 0.4373861071442934, + 3598.2796505766223 + ], + [ + -2.7755575441256098e-17, + -0.9124793232301041, + -0.4091228264412923, + 5.246809230977544 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77987.31628295062, + -359827.9650576622, + 524.6809230977543 + ], + "rotation_deg": [ + 1.7428091821635459e-15, + -24.149744033813487, + -151.35781860351562 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8971911927052669, + 0.44164234820961207, + 3.4694469251848886e-18, + -2285.640572491453 + ], + [ + 0.027814449856034987, + -0.05650472501548424, + -0.9980148157367857, + 184.65833716196775 + ], + [ + -0.4407656208245206, + 0.8954100959157967, + -0.06297958106592014, + -2872.719012473527 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8971911927052669, + 0.027814449856034987, + -0.4407656208245206, + 779.3246668206739 + ], + [ + 0.44164234820961207, + -0.05650472501548424, + 0.8954100959157967, + 3592.1313968039676 + ], + [ + 3.4694469251848886e-18, + -0.9980148157367857, + -0.06297958106592014, + 3.3691155480940926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77932.46668206739, + -359213.13968039677, + 336.91155480940927 + ], + "rotation_deg": [ + -1.991800767515066e-16, + -3.610853910446167, + -116.2087173461914 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9807852783261096, + -0.1950903324585191, + -6.9388938502153445e-18, + -57.58195243659054 + ], + [ + -0.00647924655240916, + -0.03257337025964252, + -0.9994483452955643, + 125.06371411996302 + ], + [ + 0.19498269952053135, + 0.9802442255808731, + -0.03321152063728712, + -3659.5414758733314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9807852783261096, + -0.00647924655240916, + 0.19498269952053135, + 770.8331641838856 + ], + [ + -0.1950903324585191, + -0.03257337025964252, + 0.9802442255808731, + 3580.0844574858806 + ], + [ + -6.9388938502153445e-18, + -0.9994483452955643, + -0.03321152063728712, + 3.4557858044594822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77083.31641838857, + -358008.44574858807, + 345.5785804459482 + ], + "rotation_deg": [ + 3.977887772366734e-16, + -1.9032299518585207, + -78.74999999999997 + ] + } + } + ] + }, + { + "frame": 49, + "time": 764.8755031861365, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.06914385540138782, + 0.9976066996869215, + 2.168404328194743e-19, + -3647.158069616702 + ], + [ + 0.03524987667402299, + -0.002443159590277711, + -0.9993755436099497, + -14.696043001087222 + ], + [ + -0.9969837394434831, + 0.0691006543502797, + -0.03533444288017535, + 540.1920266619932 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.06914385540138782, + 0.03524987667402299, + -0.9969837394434831, + 791.2591832887301 + ], + [ + 0.9976066996869215, + -0.002443159590277711, + 0.0691006543502797, + 3601.065790947256 + ], + [ + 2.168404328194743e-19, + -0.9993755436099497, + -0.03533444288017535, + 4.400515134450107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 79125.91832887301, + -360106.5790947256, + 440.05151344501064 + ], + "rotation_deg": [ + -1.2431804844562166e-17, + -2.0249359607696547, + -176.03518676757812 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.4778797044987983, + 0.8784252888141034, + -0.0, + -3533.625331779433 + ], + [ + 0.35889853745335604, + -0.19524748343117945, + -0.9127268266177088, + 427.460624894491 + ], + [ + -0.8017623340411659, + 0.43617360913842873, + -0.4085703640794554, + -942.0812485950592 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.4778797044987983, + 0.35889853745335604, + -0.8017623340411659, + 779.9075287816205 + ], + [ + 0.8784252888141034, + -0.19524748343117945, + 0.43617360913842873, + 3598.3974876864163 + ], + [ + -0.0, + -0.9127268266177088, + -0.4085703640794554, + 5.248276184645118 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77990.75287816205, + -359839.7487686416, + 524.8276184645117 + ], + "rotation_deg": [ + 0.0, + -24.11505889892579, + -151.45298767089844 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8966156413129692, + 0.4428096563456276, + -0.0, + -2289.4662732722354 + ], + [ + 0.02799357692550127, + -0.056682320649555314, + -0.9979997365614367, + 185.16500577134016 + ], + [ + -0.4419239344339846, + 0.8948221668517435, + -0.06321808194763152, + -2869.791128924374 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8966156413129692, + 0.02799357692550127, + -0.4419239344339846, + 779.35847776123 + ], + [ + 0.4428096563456276, + -0.056682320649555314, + 0.8948221668517435, + 3592.2461245517006 + ], + [ + -0.0, + -0.9979997365614367, + -0.06321808194763152, + 3.3719353461188484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77935.847776123, + -359224.6124551701, + 337.19353461188484 + ], + "rotation_deg": [ + 0.0, + -3.62454628944397, + -116.28328704833986 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9807852783261096, + -0.1950903324585191, + -6.9388938502153445e-18, + -57.57814430344774 + ], + [ + -0.00647924655240916, + -0.03257337025964252, + -0.9994483452955643, + 125.06760347859647 + ], + [ + 0.19498269952053135, + 0.9802442255808731, + -0.03321152063728712, + -3659.6585199895676 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9807852783261096, + -0.00647924655240916, + 0.19498269952053135, + 770.8522760020356 + ], + [ + -0.1950903324585191, + -0.03257337025964252, + 0.9802442255808731, + 3580.200058924159 + ], + [ + -6.9388938502153445e-18, + -0.9994483452955643, + -0.03321152063728712, + 3.4557858044594822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77085.22760020357, + -358020.0058924159, + 345.5785804459482 + ], + "rotation_deg": [ + 3.977887772366734e-16, + -1.9032299518585207, + -78.74999999999997 + ] + } + } + ] + }, + { + "frame": 50, + "time": 764.9421698562801, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.06705440773910519, + 0.9977493204220976, + -2.1684043281971805e-19, + -3646.13436554769 + ], + [ + 0.037243998434883865, + -0.0025030077252578683, + -0.999303066908588, + -16.058720357577972 + ], + [ + -0.9970539574888517, + 0.06700765155675528, + -0.037328012117812726, + 547.7936240269902 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.06705440773910519, + 0.037243998434883865, + -0.9970539574888517, + 791.2671847138876 + ], + [ + 0.9977493204220976, + -0.0025030077252578683, + 0.06700765155675528, + 3601.1815188140254 + ], + [ + -2.1684043281971805e-19, + -0.999303066908588, + -0.037328012117812726, + 4.400515134450107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 79126.71847138875, + -360118.15188140253, + 440.05151344501064 + ], + "rotation_deg": [ + 1.2432706489169202e-17, + -2.1392345428466815, + -176.15518188476565 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.4764265258108212, + 0.8792142887281976, + -2.7755575441008334e-17, + -3535.445916882323 + ], + [ + 0.3587361305696542, + -0.1943910723031407, + -0.9129734386238991, + 424.5228016213141 + ], + [ + -0.8026993002115995, + 0.4349647464416099, + -0.408018998078268, + -937.035471068907 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.4764265258108212, + 0.3587361305696542, + -0.8026993002115995, + 779.9307843407421 + ], + [ + 0.8792142887281976, + -0.1943910723031407, + 0.4349647464416099, + 3598.515451224701 + ], + [ + -2.7755575441008334e-17, + -0.9129734386238991, + -0.408018998078268, + 5.249743138312692 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77993.07843407421, + -359851.54512247007, + 524.9743138312691 + ], + "rotation_deg": [ + 1.7418659467712343e-15, + -24.080451965332035, + -151.5477294921875 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8960394579557468, + 0.4439744246985078, + 3.469446925186517e-18, + -2293.2726873928214 + ], + [ + 0.02817289337918241, + -0.05685918536787395, + -0.9979846297002508, + 185.66924972243018 + ], + [ + -0.44307966588291875, + 0.8942335996464948, + -0.06345611825784357, + -2866.867788295464 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8960394579557468, + 0.02817289337918241, + -0.44307966588291875, + 779.3811783087936 + ], + [ + 0.4439744246985078, + -0.05685918536787395, + 0.8942335996464948, + 3592.360978727925 + ], + [ + 3.469446925186517e-18, + -0.9979846297002508, + -0.06345611825784357, + 3.3747551441436037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77938.11783087936, + -359236.0978727925, + 337.47551441436036 + ], + "rotation_deg": [ + -1.9918610135047157e-16, + -3.638212203979492, + -116.35774230957033 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9807852783261096, + -0.1950903324585191, + -6.9388938502153445e-18, + -57.563414595445124 + ], + [ + -0.00647924655240916, + -0.03257337025964252, + -0.9994483452955643, + 125.07142496845647 + ], + [ + 0.19498269952053135, + 0.9802442255808731, + -0.03321152063728712, + -3659.7735217021846 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9807852783261096, + -0.00647924655240916, + 0.19498269952053135, + 770.8602774271931 + ], + [ + -0.1950903324585191, + -0.03257337025964252, + 0.9802442255808731, + 3580.315786790928 + ], + [ + -6.9388938502153445e-18, + -0.9994483452955643, + -0.03321152063728712, + 3.4557858044594822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77086.0277427193, + -358031.5786790928, + 345.5785804459482 + ], + "rotation_deg": [ + 3.977887772366734e-16, + -1.9032299518585207, + -78.74999999999997 + ] + } + } + ] + }, + { + "frame": 51, + "time": 765.0088365264237, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.06491869053745104, + 0.9978905569344277, + -4.3368086563996207e-19, + -3645.0724377027354 + ], + [ + 0.03928216476872835, + -0.0025555374590340084, + -0.9992248899819189, + -17.4822445672904 + ], + [ + -0.9971170835008055, + 0.0648683476452916, + -0.039365203728895896, + 555.5467914160223 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.06491869053745104, + 0.03928216476872835, + -0.9971170835008055, + 791.2651789852144 + ], + [ + 0.9978905569344277, + -0.0025555374590340084, + 0.0648683476452916, + 3601.3012784239413 + ], + [ + -4.3368086563996207e-19, + -0.9992248899819189, + -0.039365203728895896, + 4.400515134450107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 79126.51789852144, + -360130.1278423941, + 440.05151344501064 + ], + "rotation_deg": [ + 2.4867358387841938e-17, + -2.2560429573059086, + -176.27781677246094 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.4749783721187971, + 0.8799974693255527, + -2.7755575440885188e-17, + -3537.2483929630457 + ], + [ + 0.35857136805010636, + -0.19353878916877035, + -0.9132192021096364, + 421.6058411202385 + ], + [ + -0.8036305945231769, + 0.43375935290047646, + -0.40746863844679504, + -932.0160599630467 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.4749783721187971, + 0.35857136805010636, + -0.8036305945231769, + 779.9440327460331 + ], + [ + 0.8799974693255527, + -0.19353878916877035, + 0.43375935290047646, + 3598.6374465061317 + ], + [ + -2.7755575440885188e-17, + -0.9132192021096364, + -0.40746863844679504, + 5.251210091980266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77994.40327460332, + -359863.74465061317, + 525.1210091980265 + ], + "rotation_deg": [ + 1.7413971797404576e-15, + -24.04591751098634, + -151.6420593261719 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8954625913124694, + 0.4451367739919463, + -0.0, + -2297.0629535879243 + ], + [ + 0.028352397927058053, + -0.057035305104100514, + -0.9979694962790535, + 186.17121673175632 + ], + [ + -0.4442329361693948, + 0.8936443441677563, + -0.06369367754572802, + -2863.9517543505044 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8954625913124694, + 0.028352397927058053, + -0.4442329361693948, + 779.3938717025267 + ], + [ + 0.4451367739919463, + -0.057035305104100514, + 0.8936443441677563, + 3592.4798646472964 + ], + [ + -0.0, + -0.9979694962790535, + -0.06369367754572802, + 3.377574942168359 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77939.38717025267, + -359247.98646472965, + 337.7574942168359 + ], + "rotation_deg": [ + 0.0, + -3.6518509387969975, + -116.43209075927733 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9807852783261096, + -0.1950903324585191, + -6.9388938502153445e-18, + -57.538083464176566 + ], + [ + -0.00647924655240916, + -0.03257337025964252, + -0.9994483452955643, + 125.07531294696182 + ], + [ + 0.19498269952053135, + 0.9802442255808731, + -0.03321152063728712, + -3659.8905242858714 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9807852783261096, + -0.00647924655240916, + 0.19498269952053135, + 770.85827169852 + ], + [ + -0.1950903324585191, + -0.03257337025964252, + 0.9802442255808731, + 3580.435546400844 + ], + [ + -6.9388938502153445e-18, + -0.9994483452955643, + -0.03321152063728712, + 3.4557858044594822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77085.827169852, + -358043.5546400844, + 345.5785804459482 + ], + "rotation_deg": [ + 3.977887772366734e-16, + -1.9032299518585207, + -78.74999999999997 + ] + } + } + ] + }, + { + "frame": 52, + "time": 765.0755031965673, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.06273828881492773, + 0.9980300131341616, + -0.0, + -3643.963516351638 + ], + [ + 0.04136295636680795, + -0.002600163390508386, + -0.9991408033860595, + -18.9675516189126 + ], + [ + -0.9971725106079807, + 0.06268436050659701, + -0.04144460200865395, + 563.4454801045746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.06273828881492773, + 0.04136295636680795, + -0.9971725106079807, + 791.2528461007905 + ], + [ + 0.9980300131341616, + -0.002600163390508386, + 0.06268436050659701, + 3601.41640979304 + ], + [ + -0.0, + -0.9991408033860595, + -0.04144460200865395, + 4.400515134450107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 79125.28461007905, + -360141.64097930404, + 440.05151344501064 + ], + "rotation_deg": [ + 0.0, + -2.375281095504763, + -176.4029998779297 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.4735354988070521, + 0.8807747336121512, + -1.3877787720381272e-17, + -3539.0248821404175 + ], + [ + 0.35840430374605936, + -0.1926907690153148, + -0.9134640784358127, + 418.70861931106873 + ], + [ + -0.8045560880588356, + 0.43255765089370707, + -0.4069193775439807, + -927.0204420162638 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.4735354988070521, + 0.35840430374605936, + -0.8045560880588356, + 779.9469539955736 + ], + [ + 0.8807747336121512, + -0.1926907690153148, + 0.43255765089370707, + 3598.754813546747 + ], + [ + -1.3877787720381272e-17, + -0.9134640784358127, + -0.4069193775439807, + 5.25267704564784 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77994.69539955736, + -359875.4813546747, + 525.267704564784 + ], + "rotation_deg": [ + 8.704651778724927e-16, + -24.011461257934585, + -151.73596191406253 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8948851082830731, + 0.4462965863337882, + -0.0, + -2300.832579661671 + ], + [ + 0.02853208335503854, + -0.05721069191333468, + -0.9979543361047231, + 186.67047666324052 + ], + [ + -0.44538362757344535, + 0.8930544670827768, + -0.06393076812471421, + -2861.0357943550835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8948851082830731, + 0.02853208335503854, + -0.44538362757344535, + 779.3962379405089 + ], + [ + 0.4462965863337882, + -0.05721069191333468, + 0.8930544670827768, + 3592.5941223258505 + ], + [ + -0.0, + -0.9979543361047231, + -0.06393076812471421, + 3.3803947401931147 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77939.62379405089, + -359259.4122325851, + 338.03947401931146 + ], + "rotation_deg": [ + 0.0, + -3.665462970733641, + -116.50632476806639 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9807852783261096, + -0.1950903324585191, + -6.9388938502153445e-18, + -57.503526535620495 + ], + [ + -0.00647924655240916, + -0.03257337025964252, + -0.9994483452955643, + 125.07898325587709 + ], + [ + 0.19498269952053135, + 0.9802442255808731, + -0.03321152063728712, + -3660.000976446516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9807852783261096, + -0.00647924655240916, + 0.19498269952053135, + 770.845938814096 + ], + [ + -0.1950903324585191, + -0.03257337025964252, + 0.9802442255808731, + 3580.550677769943 + ], + [ + -6.9388938502153445e-18, + -0.9994483452955643, + -0.03321152063728712, + 3.4557858044594822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77084.5938814096, + -358055.0677769943, + 345.5785804459482 + ], + "rotation_deg": [ + 3.977887772366734e-16, + -1.9032299518585207, + -78.74999999999997 + ] + } + } + ] + }, + { + "frame": 53, + "time": 765.1421698667109, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.06051478934779894, + 0.9981673007418101, + -2.1684043282056739e-19, + -3642.807470149613 + ], + [ + 0.04348492402263039, + -0.0026363125851536877, + -0.9990506049438634, + -20.515507925656323 + ], + [ + -0.9972196470695369, + 0.06045731310456448, + -0.04356476547263221, + 571.483616281883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.06051478934779894, + 0.04348492402263039, + -0.9972196470695369, + 791.2304447010739 + ], + [ + 0.9981673007418101, + -0.0026363125851536877, + 0.06045731310456448, + 3601.52684203471 + ], + [ + -2.1684043282056739e-19, + -0.9990506049438634, + -0.04356476547263221, + 4.400515134450107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 79123.04447010739, + -360152.684203471, + 440.05151344501064 + ], + "rotation_deg": [ + 1.2435848257504289e-17, + -2.496867418289186, + -176.5306396484375 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.4720974575991893, + 0.8815463632324629, + -0.0, + -3540.7761398741277 + ], + [ + 0.35823503866563045, + -0.19184680242665142, + -0.9137080832907758, + 415.8302056975705 + ], + [ + -0.8054760455744342, + 0.4313592459532597, + -0.40637118615424356, + -922.0467990482111 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.4720974575991893, + 0.35823503866563045, + -0.8054760455744342, + 779.9398067298212 + ], + [ + 0.8815463632324629, + -0.19184680242665142, + 0.4313592459532597, + 3598.8674814599317 + ], + [ + -0.0, + -0.9137080832907758, + -0.40637118615424356, + 5.254143999315414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77993.98067298211, + -359886.74814599316, + 525.4143999315414 + ], + "rotation_deg": [ + 0.0, + -23.97708129882814, + -151.82946777343753 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8943069572045825, + 0.44745398232162453, + -0.0, + -2304.5821591190515 + ], + [ + 0.028711953969748065, + -0.057385342861083065, + -0.9979391495096056, + 187.16700700376697 + ], + [ + -0.4465318606151336, + 0.8924639172066502, + -0.06416739000261668, + -2858.1194953796876 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8943069572045825, + 0.028711953969748065, + -0.4465318606151336, + 779.3885356631985 + ], + [ + 0.44745398232162453, + -0.057385342861083065, + 0.8924639172066502, + 3592.7036808769753 + ], + [ + -0.0, + -0.9979391495096056, + -0.06416739000261668, + 3.383214538217869 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77938.85356631984, + -359270.36808769754, + 338.3214538217869 + ], + "rotation_deg": [ + 0.0, + -3.6790482997894274, + -116.58045196533203 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9807852783261096, + -0.1950903324585191, + -6.9388938502153445e-18, + -57.4600113098229 + ], + [ + -0.00647924655240916, + -0.03257337025964252, + -0.9994483452955643, + 125.08243526198173 + ], + [ + 0.19498269952053135, + 0.9802442255808731, + -0.03321152063728712, + -3660.1048591283406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9807852783261096, + -0.00647924655240916, + 0.19498269952053135, + 770.8235374143794 + ], + [ + -0.1950903324585191, + -0.03257337025964252, + 0.9802442255808731, + 3580.661110011613 + ], + [ + -6.9388938502153445e-18, + -0.9994483452955643, + -0.03321152063728712, + 3.4557858044594822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77082.35374143794, + -358066.1110011613, + 345.5785804459482 + ], + "rotation_deg": [ + 3.977887772366734e-16, + -1.9032299518585207, + -78.74999999999997 + ] + } + } + ] + }, + { + "frame": 54, + "time": 765.2088365368545, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.05824924897332248, + 0.998302071015604, + -0.0, + -3641.603999054752 + ], + [ + 0.04564658175568515, + -0.002663401371854376, + -0.9989541009811984, + -22.12697597380224 + ], + [ + -0.9972579492326837, + 0.05818830232107053, + -0.045724218585058124, + 579.6567666679164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.05824924897332248, + 0.04564658175568515, + -0.9972579492326837, + 791.197949770161 + ], + [ + 0.998302071015604, + -0.002663401371854376, + 0.05818830232107053, + 3601.6326291235428 + ], + [ + -0.0, + -0.9989541009811984, + -0.045724218585058124, + 4.400515134450107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 79119.7949770161, + -360163.26291235426, + 440.05151344501064 + ], + "rotation_deg": [ + 0.0, + -2.6207184791564955, + -176.66067504882815 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.470664503328121, + 0.8823122606576953, + -1.3877787720259355e-17, + -3542.502080309453 + ], + [ + 0.3580635191615478, + -0.19100696649105234, + -0.9139512322862382, + 412.9709470121884 + ], + [ + -0.8063903855658073, + 0.43016438562867293, + -0.40582403502470693, + -917.0961747680175 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.470664503328121, + 0.3580635191615478, + -0.8063903855658073, + 779.9225659328727 + ], + [ + 0.8823122606576953, + -0.19100696649105234, + 0.43016438562867293, + 3598.97550422028 + ], + [ + -1.3877787720259355e-17, + -0.9139512322862382, + -0.40582403502470693, + 5.255610952982988 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77992.25659328727, + -359897.550422028, + 525.5610952982988 + ], + "rotation_deg": [ + 8.700012029304311e-16, + -23.942775726318374, + -151.9225616455078 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8937281455176178, + 0.44860896325156, + -0.0, + -2308.311704640148 + ], + [ + 0.028892006515513012, + -0.0575592587723504, + -0.99792393682539, + 187.6608198185816 + ], + [ + -0.44767763675502353, + 0.8918727023372507, + -0.06440354318736558, + -2855.202986374007 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8937281455176178, + 0.028892006515513012, + -0.44767763675502353, + 779.3707398546918 + ], + [ + 0.44860896325156, + -0.0575592587723504, + 0.8918727023372507, + 3592.808594275263 + ], + [ + -0.0, + -0.99792393682539, + -0.06440354318736558, + 3.386034336242625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77937.07398546918, + -359280.8594275263, + 338.6034336242625 + ], + "rotation_deg": [ + 0.0, + -3.6926069259643555, + -116.65447235107428 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9807852783261096, + -0.1950903324585191, + -6.9388938502153445e-18, + -57.40750272163325 + ], + [ + -0.00647924655240916, + -0.03257337025964252, + -0.9994483452955643, + 125.08567056132588 + ], + [ + 0.19498269952053135, + 0.9802442255808731, + -0.03321152063728712, + -3660.20222036196 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9807852783261096, + -0.00647924655240916, + 0.19498269952053135, + 770.7910424834666 + ], + [ + -0.1950903324585191, + -0.03257337025964252, + 0.9802442255808731, + 3580.7668971004455 + ], + [ + -6.9388938502153445e-18, + -0.9994483452955643, + -0.03321152063728712, + 3.4557858044594822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77079.10424834666, + -358076.68971004453, + 345.5785804459482 + ], + "rotation_deg": [ + 3.977887772366734e-16, + -1.9032299518585207, + -78.74999999999997 + ] + } + } + ] + }, + { + "frame": 55, + "time": 765.2755032069981, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.05594378965440631, + 0.9984339198961057, + -4.336808656424775e-19, + -3640.337053889307 + ], + [ + 0.04784641506010039, + -0.0026809082969839466, + -0.9988511066703585, + -23.80289370939353 + ], + [ + -0.9972868271433323, + 0.055879492369151684, + -0.04792146428221415, + 587.9633826452804 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.05594378965440631, + 0.04784641506010039, + -0.9972868271433323, + 791.1611824578949 + ], + [ + 0.9984339198961057, + -0.0026809082969839466, + 0.055879492369151684, + 3601.717076568621 + ], + [ + -4.336808656424775e-19, + -0.9988511066703585, + -0.04792146428221415, + 4.400515134450107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 79116.11824578949, + -360171.7076568621, + 440.05151344501064 + ], + "rotation_deg": [ + 2.48766640828049e-17, + -2.7467496395111084, + -176.7929840087891 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.4692366562985169, + 0.8830724547769492, + 1.387778772019877e-17, + -3544.190842904717 + ], + [ + 0.3578898234999612, + -0.1901712857126837, + -0.914193500483104, + 410.12561986178304 + ], + [ + -0.8072991062723213, + 0.4289730841698791, + -0.4052779861646728, + -912.1568058043644 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.4692366562985169, + 0.3578898234999612, + -0.8072991062723213, + 779.9010527545707 + ], + [ + 0.8830724547769492, + -0.1901712857126837, + 0.4289730841698791, + 3599.0621873368736 + ], + [ + 1.387778772019877e-17, + -0.914193500483104, + -0.4052779861646728, + 5.257077906650562 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77990.10527545707, + -359906.21873368736, + 525.7077906650562 + ], + "rotation_deg": [ + -8.69770646023097e-16, + -23.908548355102546, + -152.01524353027344 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8931487405369707, + 0.4497614115030577, + -0.0, + -2312.018537407968 + ], + [ + 0.029072228190457038, + -0.05773244064255074, + -0.9979086986520843, + 188.1507984223446 + ], + [ + -0.4488208389082396, + 0.8912808902599441, + -0.06463922353451916, + -2852.2691526110343 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8931487405369707, + 0.029072228190457038, + -0.4488208389082396, + 779.3486716648317 + ], + [ + 0.4497614115030577, + -0.05773244064255074, + 0.8912808902599441, + 3592.8921680297963 + ], + [ + -0.0, + -0.9979086986520843, + -0.06463922353451916, + 3.38885413426738 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77934.86716648318, + -359289.21680297964, + 338.885413426738 + ], + "rotation_deg": [ + 0.0, + -3.7061386108398446, + -116.72837829589844 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9807852783261096, + -0.1950903324585191, + -6.9388938502153445e-18, + -57.354967002903436 + ], + [ + -0.00647924655240916, + -0.03257337025964252, + -0.9994483452955643, + 125.08818307474064 + ], + [ + 0.19498269952053135, + 0.9802442255808731, + -0.03321152063728712, + -3660.277830492563 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9807852783261096, + -0.00647924655240916, + 0.19498269952053135, + 770.7542751712004 + ], + [ + -0.1950903324585191, + -0.03257337025964252, + 0.9802442255808731, + 3580.8513445455237 + ], + [ + -6.9388938502153445e-18, + -0.9994483452955643, + -0.03321152063728712, + 3.4557858044594822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77075.42751712004, + -358085.1344545524, + 345.5785804459482 + ], + "rotation_deg": [ + 3.977887772366734e-16, + -1.9032299518585207, + -78.74999999999997 + ] + } + } + ] + }, + { + "frame": 56, + "time": 765.3421698771417, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.053599471727877164, + 0.9985625151338762, + -0.0, + -3639.037403571688 + ], + [ + 0.05008287001045064, + -0.0026882797366133853, + -0.9987414476647969, + -25.543471844453983 + ], + [ + -0.9973057732096554, + 0.053531990130441735, + -0.05015496740469047, + 596.3884600463966 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.053599471727877164, + 0.05008287001045064, + -0.9973057732096554, + 791.1113396432295 + ], + [ + 0.9985625151338762, + -0.0026882797366133853, + 0.053531990130441735, + 3601.811803647247 + ], + [ + -0.0, + -0.9987414476647969, + -0.05015496740469047, + 4.400515134450107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 79111.13396432294, + -360181.1803647247, + 440.05151344501064 + ], + "rotation_deg": [ + 0.0, + -2.8748741149902357, + -176.92750549316412 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.4678139366452453, + 0.8838269744019346, + 1.387778772013842e-17, + -3545.8663426284497 + ], + [ + 0.3577139493429092, + -0.1893397414672275, + -0.9144349035041376, + 407.30334711484517 + ], + [ + -0.808202241694308, + 0.4277853747823548, + -0.4047330103199085, + -907.2495147433816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.4678139366452453, + 0.3577139493429092, + -0.808202241694308, + 779.8664640738696 + ], + [ + 0.8838269744019346, + -0.1893397414672275, + 0.4277853747823548, + 3599.1591500870154 + ], + [ + 1.387778772013842e-17, + -0.9144349035041376, + -0.4047330103199085, + 5.258544860318136 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77986.64640738696, + -359915.91500870156, + 525.8544860318136 + ], + "rotation_deg": [ + -8.695410339815952e-16, + -23.874397277832045, + -152.1075134277344 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8925687501322802, + 0.4509113286304732, + 3.469446925191435e-18, + -2315.70900229191 + ], + [ + 0.029252617546087704, + -0.057904893098408974, + -0.9978934350530441, + 188.6390400428809 + ], + [ + -0.44996146868208675, + 0.890688488955769, + -0.06487443520485069, + -2849.3501977147766 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8925687501322802, + 0.029252617546087704, + -0.44996146868208675, + 779.3135279725725 + ], + [ + 0.4509113286304732, + -0.057904893098408974, + 0.890688488955769, + 3592.9860214178784 + ], + [ + 3.469446925191435e-18, + -0.9978934350530441, + -0.06487443520485069, + 3.3916739322921354 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77931.35279725725, + -359298.6021417878, + 339.16739322921353 + ], + "rotation_deg": [ + -1.992043044029067e-16, + -3.719643592834473, + -116.80216979980469 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9807852783261096, + -0.1950903324585191, + -6.9388938502153445e-18, + -57.28760156678709 + ], + [ + -0.00647924655240916, + -0.03257337025964252, + -0.9994483452955643, + 125.09094571106127 + ], + [ + 0.19498269952053135, + 0.9802442255808731, + -0.03321152063728712, + -3660.360967677838 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9807852783261096, + -0.00647924655240916, + 0.19498269952053135, + 770.704432356535 + ], + [ + -0.1950903324585191, + -0.03257337025964252, + 0.9802442255808731, + 3580.94607162415 + ], + [ + -6.9388938502153445e-18, + -0.9994483452955643, + -0.03321152063728712, + 3.4557858044594822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77070.4432356535, + -358094.607162415, + 345.5785804459482 + ], + "rotation_deg": [ + 3.977887772366734e-16, + -1.9032299518585207, + -78.74999999999997 + ] + } + } + ] + }, + { + "frame": 57, + "time": 765.4088365472853, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.05121842095690193, + 0.9986874753168188, + 2.1684043282200001e-19, + -3637.6925650241706 + ], + [ + 0.05235437258102007, + -0.0026850324651748548, + -0.9986249597683349, + -27.349164420441014 + ], + [ + -0.9973142410625596, + 0.051147969691688604, + -0.05242317970353605, + 604.9247362821225 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.05121842095690193, + 0.05235437258102007, + -0.9973142410625596, + 791.0486842700673 + ], + [ + 0.9986874753168188, + -0.0026850324651748548, + 0.051147969691688604, + 3601.903888275631 + ], + [ + 2.1684043282200001e-19, + -0.9986249597683349, + -0.05242317970353605, + 4.400515134450107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 79104.86842700673, + -360190.3888275631, + 440.05151344501064 + ], + "rotation_deg": [ + -1.2441148804866658e-17, + -3.0050044059753436, + -177.06411743164065 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.4663961287575149, + 0.8845759724749498, + -1.3877787720078316e-17, + -3547.517730788747 + ], + [ + 0.35753597123852565, + -0.1885122341845305, + -0.914675443440612, + 404.5011507166113 + ], + [ + -0.8090999275063223, + 0.4266010686335623, + -0.40418910864837365, + -902.3677900559596 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.4663961287575149, + 0.35753597123852565, + -0.8090999275063223, + 779.8190628346716 + ], + [ + 0.8845759724749498, + -0.1885122341845305, + 0.4266010686335623, + 3599.2534703869146 + ], + [ + -1.3877787720078316e-17, + -0.914675443440612, + -0.40418910864837365, + 5.260011813985711 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77981.90628346716, + -359925.34703869146, + 526.0011813985711 + ], + "rotation_deg": [ + 8.693123634186983e-16, + -23.840322494506854, + -152.19938659667972 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8919881219607418, + 0.4520588349772056, + -3.46944692519226e-18, + -2319.3779414706546 + ], + [ + 0.029433177141625525, + -0.058076609437840564, + -0.9978781466289127, + 189.12477260301384 + ], + [ + -0.4510996464643292, + 0.8900954467997956, + -0.06510917405427352, + -2846.434247931187 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8919881219607418, + 0.029433177141625525, + -0.4510996464643292, + 779.2655717218165 + ], + [ + 0.4520588349772056, + -0.058076609437840564, + 0.8900954467997956, + 3593.077232355717 + ], + [ + -3.46944692519226e-18, + -0.9978781466289127, + -0.06510917405427352, + 3.394493730316891 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77926.55717218165, + -359307.7232355717, + 339.4493730316891 + ], + "rotation_deg": [ + 1.992073563987361e-16, + -3.7331216335296626, + -116.87585449218753 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9807852783261096, + -0.1950903324585191, + -6.9388938502153445e-18, + -57.20818527841607 + ], + [ + -0.00647924655240916, + -0.03257337025964252, + -0.9994483452955643, + 125.09353925814628 + ], + [ + 0.19498269952053135, + 0.9802442255808731, + -0.03321152063728712, + -3660.4390163892767 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9807852783261096, + -0.00647924655240916, + 0.19498269952053135, + 770.6417769833729 + ], + [ + -0.1950903324585191, + -0.03257337025964252, + 0.9802442255808731, + 3581.0381562525336 + ], + [ + -6.9388938502153445e-18, + -0.9994483452955643, + -0.03321152063728712, + 3.4557858044594822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77064.17769833728, + -358103.81562525337, + 345.5785804459482 + ], + "rotation_deg": [ + 3.977887772366734e-16, + -1.9032299518585207, + -78.74999999999997 + ] + } + } + ] + }, + { + "frame": 58, + "time": 765.4755032174289, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.04880170120012308, + 0.9988084871285255, + 2.168404328224158e-19, + -3636.30049045462 + ], + [ + 0.054659313740838225, + -0.0026706496103701227, + -0.9985014907610499, + -29.22062599378749 + ], + [ + -0.9973117645268658, + 0.04872854750552671, + -0.054724519132758075, + 613.5706498991417 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.04880170120012308, + 0.054659313740838225, + -0.9973117645268658, + 790.9759694428557 + ], + [ + 0.9988084871285255, + -0.0026706496103701227, + 0.04872854750552671, + 3601.9913365778643 + ], + [ + 2.168404328224158e-19, + -0.9985014907610499, + -0.054724519132758075, + 4.400515134450107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 79097.59694428557, + -360199.1336577864, + 440.05151344501064 + ], + "rotation_deg": [ + -1.2442687206491953e-17, + -3.137051105499268, + -177.20275878906253 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.46498348761434927, + 0.885319352689184, + 1.3877787720018464e-17, + -3549.1444207963 + ], + [ + 0.3573558897213815, + -0.1876888689007496, + -0.9149151089430082, + 401.7180507436992 + ], + [ + -0.8099920596240533, + 0.42542040094582295, + -0.4036463127604152, + -897.5095252312021 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.46498348761434927, + 0.3573558897213815, + -0.8099920596240533, + 779.7616021414242 + ], + [ + 0.885319352689184, + -0.1876888689007496, + 0.42542040094582295, + 3599.343154360663 + ], + [ + 1.3877787720018464e-17, + -0.9149151089430082, + -0.4036463127604152, + 5.261478767653285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77976.16021414242, + -359934.3154360663, + 526.1478767653285 + ], + "rotation_deg": [ + -8.69084643725679e-16, + -23.80632591247559, + -152.2908477783203 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8914068634002441, + 0.45320393189262864, + -0.0, + -2323.026928698808 + ], + [ + 0.029613907507397518, + -0.0582475979278315, + -0.9978628331678563, + 189.60783312667124 + ], + [ + -0.4522353735305626, + 0.8895017710378083, + -0.0653434483959567, + -2843.518357592047 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8914068634002441, + 0.029613907507397518, + -0.4522353735305626, + 779.207556017011 + ], + [ + 0.45320393189262864, + -0.0582475979278315, + 0.8895017710378083, + 3593.1638069674054 + ], + [ + -0.0, + -0.9978628331678563, + -0.0653434483959567, + 3.3973135283416465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77920.75560170111, + -359316.3806967405, + 339.7313528341646 + ], + "rotation_deg": [ + 0.0, + -3.746573209762574, + -116.94943237304688 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9807852783261096, + -0.1950903324585191, + -6.9388938502153445e-18, + -57.1198073280151 + ], + [ + -0.00647924655240916, + -0.03257337025964252, + -0.9994483452955643, + 125.09591660677998 + ], + [ + 0.19498269952053135, + 0.9802442255808731, + -0.03321152063728712, + -3660.510558949273 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9807852783261096, + -0.00647924655240916, + 0.19498269952053135, + 770.5690621561612 + ], + [ + -0.1950903324585191, + -0.03257337025964252, + 0.9802442255808731, + 3581.125604554767 + ], + [ + -6.9388938502153445e-18, + -0.9994483452955643, + -0.03321152063728712, + 3.4557858044594822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77056.90621561612, + -358112.5604554767, + 345.5785804459482 + ], + "rotation_deg": [ + 3.977887772366734e-16, + -1.9032299518585207, + -78.74999999999997 + ] + } + } + ] + }, + { + "frame": 59, + "time": 765.5421698875725, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.04635144199276482, + 0.998925194308959, + -0.0, + -3634.861596544827 + ], + [ + 0.05699606050970752, + -0.002644692122676326, + -0.99837090036216, + -31.158075608236302 + ], + [ + -0.9972978467210218, + 0.04627590696227531, + -0.0570573865545249, + 622.3179594391332 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.04635144199276482, + 0.05699606050970752, + -0.9972978467210218, + 790.8932374950585 + ], + [ + 0.998925194308959, + -0.002644692122676326, + 0.04627590696227531, + 3602.0740842499076 + ], + [ + -0.0, + -0.99837090036216, + -0.0570573865545249, + 4.400515134450107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 79089.32374950586, + -360207.4084249908, + 440.05151344501064 + ], + "rotation_deg": [ + 0.0, + -3.2709238529205336, + -177.34330749511722 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.46357556090875257, + 0.8860573905386351, + -0.0, + -3550.747044147964 + ], + [ + 0.3571738015035699, + -0.18686943660982777, + -0.9151539155686401, + 398.95319919855876 + ], + [ + -0.8108788979622441, + 0.4242429724212635, + -0.403104593363444, + -892.6730622790911 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.46357556090875257, + 0.3571738015035699, + -0.8108788979622441, + 779.6941243275915 + ], + [ + 0.8860573905386351, + -0.18686943660982777, + 0.4242429724212635, + 3599.4281377042225 + ], + [ + -0.0, + -0.9151539155686401, + -0.403104593363444, + 5.262945721320859 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77969.41243275914, + -359942.81377042225, + 526.2945721320859 + ], + "rotation_deg": [ + 0.0, + -23.772405624389663, + -152.38192749023438 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.89082504231336, + 0.4543465021185921, + -3.4694469251939135e-18, + -2326.6556051070593 + ], + [ + 0.029794793895482438, + -0.0584178559951433, + -0.9978474955411053, + 190.0882217597455 + ], + [ + -0.4533685332955582, + 0.8889075302350418, + -0.06557724993374217, + -2840.602829525085 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.89082504231336, + 0.029794793895482438, + -0.4533685332955582, + 779.1395231916201 + ], + [ + 0.4543465021185921, + -0.0584178559951433, + 0.8889075302350418, + 3593.245680948904 + ], + [ + -3.4694469251939135e-18, + -0.9978474955411053, + -0.06557724993374217, + 3.4001333263664013 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77913.95231916201, + -359324.5680948904, + 340.01333263664014 + ], + "rotation_deg": [ + 1.9921347549238006e-16, + -3.759997844696045, + -117.02289581298837 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9807852783261096, + -0.1950903324585191, + -6.9388938502153445e-18, + -57.02252178071933 + ], + [ + -0.00647924655240916, + -0.03257337025964252, + -0.9994483452955643, + 125.09807593665204 + ], + [ + 0.19498269952053135, + 0.9802442255808731, + -0.03321152063728712, + -3660.5755405784557 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9807852783261096, + -0.00647924655240916, + 0.19498269952053135, + 770.486330208364 + ], + [ + -0.1950903324585191, + -0.03257337025964252, + 0.9802442255808731, + 3581.2083522268103 + ], + [ + -6.9388938502153445e-18, + -0.9994483452955643, + -0.03321152063728712, + 3.4557858044594822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77048.63302083641, + -358120.83522268105, + 345.5785804459482 + ], + "rotation_deg": [ + 3.977887772366734e-16, + -1.9032299518585207, + -78.74999999999997 + ] + } + } + ] + }, + { + "frame": 60, + "time": 765.6088365577161, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.04386924278608768, + 0.9990372813550931, + -0.0, + -3633.3760363039946 + ], + [ + 0.05936295216360342, + -0.0026067172963071834, + -0.9982330614317274, + -33.16172186103532 + ], + [ + -0.9972720448750102, + 0.043791704597314726, + -0.059420157516433036, + 631.1603553139962 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.04386924278608768, + 0.05936295216360342, + -0.9972720448750102, + 790.8005239405558 + ], + [ + 0.9990372813550931, + -0.0026067172963071834, + 0.043791704597314726, + 3602.1520750883587 + ], + [ + -0.0, + -0.9982330614317274, + -0.059420157516433036, + 4.400515134450107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 79080.05239405557, + -360215.2075088359, + 440.05151344501064 + ], + "rotation_deg": [ + 0.0, + -3.4065308570861834, + -177.48567199707034 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.46217283927284436, + 0.8867898661117396, + -2.7755575439798948e-17, + -3552.3251879341055 + ], + [ + 0.3569896571597315, + -0.18605413722642025, + -0.9153918519966787, + 396.20733769020455 + ], + [ + -0.8117602254474227, + 0.42306923395358625, + -0.40256398207424765, + -887.8601836603809 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.46217283927284436, + 0.3569896571597315, + -0.8117602254474227, + 779.6166649070527 + ], + [ + 0.8867898661117396, + -0.18605413722642025, + 0.42306923395358625, + 3599.508364214189 + ], + [ + -2.7755575439798948e-17, + -0.9153918519966787, + -0.40256398207424765, + 5.264412674988433 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77961.66649070528, + -359950.8364214189, + 526.4412674988433 + ], + "rotation_deg": [ + 1.737264035623167e-15, + -23.738563537597663, + -152.47259521484378 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8902426058512946, + 0.4554866658060322, + 3.4694469251947416e-18, + -2330.2643681464374 + ], + [ + 0.029975840824224845, + -0.05858738060030413, + -0.9978321340793127, + 190.56592259127476 + ], + [ + -0.45449924583381524, + 0.8883126720196927, + -0.0658105786764305, + -2837.6873577029733 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8902426058512946, + 0.029975840824224845, + -0.45449924583381524, + 779.0615087595235 + ], + [ + 0.4554866658060322, + -0.05858738060030413, + 0.8883126720196927, + 3593.32279809681 + ], + [ + 3.4694469251947416e-18, + -0.9978321340793127, + -0.0658105786764305, + 3.402953124391157 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77906.15087595234, + -359332.279809681, + 340.2953124391157 + ], + "rotation_deg": [ + -1.9921654235115848e-16, + -3.7733955383300795, + -117.09625244140626 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9807852783261096, + -0.1950903324585191, + -6.9388938502153445e-18, + -56.91637443275965 + ], + [ + -0.00647924655240916, + -0.03257337025964252, + -0.9994483452955643, + 125.10001564713139 + ], + [ + 0.19498269952053135, + 0.9802442255808731, + -0.03321152063728712, + -3660.6339131083564 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9807852783261096, + -0.00647924655240916, + 0.19498269952053135, + 770.3936166538613 + ], + [ + -0.1950903324585191, + -0.03257337025964252, + 0.9802442255808731, + 3581.2863430652615 + ], + [ + -6.9388938502153445e-18, + -0.9994483452955643, + -0.03321152063728712, + 3.4557858044594822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77039.36166538612, + -358128.63430652616, + 345.5785804459482 + ], + "rotation_deg": [ + 3.977887772366734e-16, + -1.9032299518585207, + -78.74999999999997 + ] + } + } + ] + }, + { + "frame": 61, + "time": 765.6755032278597, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.041356704781592354, + 0.9991444454980513, + -2.1684043282380938e-19, + -3631.844012804856 + ], + [ + 0.06175830733566591, + -0.002556307144377721, + -0.9980878602451875, + -35.23166649837702 + ], + [ + -0.9972339426447265, + 0.04127760103198124, + -0.061811190655894674, + 640.0915275825511 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.041356704781592354, + 0.06175830733566591, + -0.9972339426447265, + 790.6978590309205 + ], + [ + 0.9991444454980513, + -0.002556307144377721, + 0.04127760103198124, + 3602.22525491135 + ], + [ + -2.1684043282380938e-19, + -0.9980878602451875, + -0.061811190655894674, + 4.400515134450107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 79069.78590309205, + -360222.525491135, + 440.05151344501064 + ], + "rotation_deg": [ + 1.2447843741715732e-17, + -3.5437793731689466, + -177.6297607421875 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.460775105659981, + 0.8875169305450084, + -0.0, + -3553.879221844095 + ], + [ + 0.3568035028863153, + -0.18524285687861117, + -0.9156289337409043, + 393.48000620030876 + ], + [ + -0.8126361883506883, + 0.421899001334329, + -0.40202444957484873, + -883.070107733929 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.460775105659981, + 0.3568035028863153, + -0.8126361883506883, + 779.5292541313819 + ], + [ + 0.8875169305450084, + -0.18524285687861117, + 0.421899001334329, + 3599.583779708696 + ], + [ + -0.0, + -0.9156289337409043, + -0.40202444957484873, + 5.265879628656008 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77952.92541313819, + -359958.3779708696, + 526.5879628656008 + ], + "rotation_deg": [ + 0.0, + -23.704797744750984, + -152.5628662109375 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.889659622148514, + 0.4566243058779976, + -0.0, + -2333.8528531185 + ], + [ + 0.030157041055698188, + -0.05875618403436034, + -0.9978167485628238, + 191.04098419933388 + ], + [ + -0.45562739425306903, + 0.887717264252063, + -0.06604344293714165, + -2834.7722567569467 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.889659622148514, + 0.030157041055698188, + -0.45562739425306903, + 778.9735429722944 + ], + [ + 0.4566243058779976, + -0.05875618403436034, + 0.887717264252063, + 3593.395104229257 + ], + [ + -0.0, + -0.9978167485628238, + -0.06604344293714165, + 3.405772922415912 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77897.35429722944, + -359339.5104229257, + 340.5772922415912 + ], + "rotation_deg": [ + 0.0, + -3.786766767501831, + -117.16949462890624 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9807852783261096, + -0.1950903324585191, + -6.9388938502153445e-18, + -56.80140552479202 + ], + [ + -0.00647924655240916, + -0.03257337025964252, + -0.9994483452955643, + 125.10173416933944 + ], + [ + 0.19498269952053135, + 0.9802442255808731, + -0.03321152063728712, + -3660.6856293260466 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9807852783261096, + -0.00647924655240916, + 0.19498269952053135, + 770.290951744226 + ], + [ + -0.1950903324585191, + -0.03257337025964252, + 0.9802442255808731, + 3581.359522888253 + ], + [ + -6.9388938502153445e-18, + -0.9994483452955643, + -0.03321152063728712, + 3.4557858044594822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77029.0951744226, + -358135.9522888253, + 345.5785804459482 + ], + "rotation_deg": [ + 3.977887772366734e-16, + -1.9032299518585207, + -78.74999999999997 + ] + } + } + ] + }, + { + "frame": 62, + "time": 765.7421698980033, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.03881543089044269, + 0.9992463972038074, + -2.1684043282432391e-19, + -3630.271765938863 + ], + [ + 0.06418041183028787, + -0.0024930691237814735, + -0.9979351979681037, + -37.36799526795647 + ], + [ + -0.9971831521115511, + 0.0387352607411582, + -0.06422881534160568, + 649.1067690115563 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.03881543089044269, + 0.06418041183028787, + -0.9971831521115511, + 790.5871027559724 + ], + [ + 0.9992463972038074, + -0.0024930691237814735, + 0.0387352607411582, + 3602.299489857243 + ], + [ + -2.1684043282432391e-19, + -0.9979351979681037, + -0.06422881534160568, + 4.400515134450107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 79058.71027559724, + -360229.9489857243, + 440.05151344501064 + ], + "rotation_deg": [ + 1.2449747989810942e-17, + -3.6825749874115012, + -177.7754821777344 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.45938214209061196, + 0.8882387334091216, + -0.0, + -3555.415608059892 + ], + [ + 0.3566154379342838, + -0.18443550998059935, + -0.9158651495089957, + 390.77124438410465 + ], + [ + -0.813506907915459, + 0.4207320768676903, + -0.40148602748841566, + -878.3030255763765 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.45938214209061196, + 0.3566154379342838, + -0.813506907915459, + 779.433751990398 + ], + [ + 0.8882387334091216, + -0.18443550998059935, + 0.4207320768676903, + 3599.660250326104 + ], + [ + -0.0, + -0.9158651495089957, + -0.40148602748841566, + 5.267346582323582 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77943.3751990398, + -359966.0250326104, + 526.7346582323582 + ], + "rotation_deg": [ + 0.0, + -23.671110153198256, + -152.65275573730472 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8890760989745348, + 0.45775942396877317, + -0.0, + -2337.4254114819028 + ], + [ + 0.03033838945331478, + -0.058924263558500306, + -0.9978013395909364, + 191.5136928307318 + ], + [ + -0.4567529804927286, + 0.8871213152847386, + -0.0662758385724724, + -2831.8619511071797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8890760989745348, + 0.03033838945331478, + -0.4567529804927286, + 778.8774858197525 + ], + [ + 0.45775942396877317, + -0.058924263558500306, + 0.8871213152847386, + 3593.4684654846046 + ], + [ + -0.0, + -0.9978013395909364, + -0.0662758385724724, + 3.4085927204406676 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77887.74858197525, + -359346.8465484605, + 340.85927204406676 + ], + "rotation_deg": [ + 0.0, + -3.800111293792725, + -117.2426223754883 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9807852783261096, + -0.1950903324585191, + -6.9388938502153445e-18, + -56.678294880566455 + ], + [ + -0.00647924655240916, + -0.03257337025964252, + -0.9994483452955643, + 125.10343463450558 + ], + [ + 0.19498269952053135, + 0.9802442255808731, + -0.03321152063728712, + -3660.736802145616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9807852783261096, + -0.00647924655240916, + 0.19498269952053135, + 770.1801954692779 + ], + [ + -0.1950903324585191, + -0.03257337025964252, + 0.9802442255808731, + 3581.4337578341456 + ], + [ + -6.9388938502153445e-18, + -0.9994483452955643, + -0.03321152063728712, + 3.4557858044594822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77018.0195469278, + -358143.3757834146, + 345.5785804459482 + ], + "rotation_deg": [ + 3.977887772366734e-16, + -1.9032299518585207, + -78.74999999999997 + ] + } + } + ] + }, + { + "frame": 63, + "time": 765.808836568147, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.03624729182605341, + 0.9993428509952312, + -6.505212984745921e-19, + -3628.655873332038 + ], + [ + 0.06662753902068085, + -0.0024166559535891497, + -0.9977749900744403, + -39.57094450930577 + ], + [ + -0.9971193040682852, + 0.03616661725492933, + -0.06667135254901027, + 658.2050365920485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.03624729182605341, + 0.06662753902068085, + -0.9971193040682852, + 790.4743236751859 + ], + [ + 0.9993428509952312, + -0.0024166559535891497, + 0.03616661725492933, + 3602.3706141046487 + ], + [ + -6.505212984745921e-19, + -0.9977749900744403, + -0.06667135254901027, + 4.400515134450107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 79047.43236751859, + -360237.06141046487, + 440.05151344501064 + ], + "rotation_deg": [ + 3.7355240956587875e-17, + -3.822822809219361, + -177.92272949218753 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.4579942031535645, + 0.8889551787788466, + -1.3877787719722795e-17, + -3556.9333093451173 + ], + [ + 0.35642543577114144, + -0.18363218679248708, + -0.9161005014239215, + 388.0784631056952 + ], + [ + -0.81437229254802, + 0.41956870175403066, + -0.4009487169682916, + -873.5532036004532 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.4579942031535645, + 0.35642543577114144, + -0.81437229254802, + 779.3362270435758 + ], + [ + 0.8889551787788466, + -0.18363218679248708, + 0.41956870175403066, + 3599.7336102450254 + ], + [ + -1.3877787719722795e-17, + -0.9161005014239215, + -0.4009487169682916, + 5.268813535991156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77933.62270435758, + -359973.36102450255, + 526.8813535991156 + ], + "rotation_deg": [ + 8.679600876127973e-16, + -23.637500762939464, + -152.74224853515625 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.888491982976492, + 0.4588921400356521, + 3.469446925197236e-18, + -2340.9859303202625 + ], + [ + 0.030519888739830765, + -0.05909161238753709, + -0.9977859077661646, + 191.98359542467128 + ], + [ + -0.4578761245576906, + 0.8865247724843068, + -0.06650776143938458, + -2828.9497110011134 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.888491982976492, + 0.030519888739830765, + -0.4578761245576906, + 778.7794058613721 + ], + [ + 0.4588921400356521, + -0.05909161238753709, + 0.8865247724843068, + 3593.5387160414657 + ], + [ + 3.469446925197236e-18, + -0.9977859077661646, + -0.06650776143938458, + 3.411412518465423 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77877.9405861372, + -359353.87160414655, + 341.1412518465423 + ], + "rotation_deg": [ + -1.9922577183249537e-16, + -3.81342887878418, + -117.31564331054688 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9807852783261096, + -0.1950903324585191, + -6.9388938502153445e-18, + -56.55380716535558 + ], + [ + -0.00647924655240916, + -0.03257337025964252, + -0.9994483452955643, + 125.10502066748039 + ], + [ + 0.19498269952053135, + 0.9802442255808731, + -0.03321152063728712, + -3660.784531308813 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9807852783261096, + -0.00647924655240916, + 0.19498269952053135, + 770.0674163884914 + ], + [ + -0.1950903324585191, + -0.03257337025964252, + 0.9802442255808731, + 3581.5048820815514 + ], + [ + -6.9388938502153445e-18, + -0.9994483452955643, + -0.03321152063728712, + 3.4557858044594822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77006.74163884914, + -358150.48820815515, + 345.5785804459482 + ], + "rotation_deg": [ + 3.977887772366734e-16, + -1.9032299518585207, + -78.74999999999997 + ] + } + } + ] + }, + { + "frame": 64, + "time": 765.8755032382905, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.033654160003453774, + 0.9994335383178123, + 2.1684043282543002e-19, + -3626.9987079327257 + ], + [ + 0.06909793845888261, + -0.002326751092141724, + -0.9976071677419361, + -41.840329277771275 + ], + [ + -0.9970420622787899, + 0.033573607238562966, + -0.06913710251267705, + 667.3802086532393 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.033654160003453774, + 0.06909793845888261, + -0.9970420622787899, + 790.3607275598966 + ], + [ + 0.9994335383178123, + -0.002326751092141724, + 0.033573607238562966, + 3602.4404260106776 + ], + [ + 2.1684043282543002e-19, + -0.9976071677419361, + -0.06913710251267705, + 4.400515134450107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 79036.07275598966, + -360244.04260106775, + 440.05151344501064 + ], + "rotation_deg": [ + -1.2453841679034772e-17, + -3.964426755905155, + -178.07139587402347 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.45661107018502967, + 0.8896664153403127, + -0.0, + -3558.434840143775 + ], + [ + 0.3562335679795552, + -0.1828327875552725, + -0.9163349916047755, + 385.40115340461995 + ], + [ + -0.8152324747405563, + 0.4184086837362459, + -0.4004125191630373, + -868.8196312573763 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.45661107018502967, + 0.3562335679795552, + -0.8152324747405563, + 779.2378850622507 + ], + [ + 0.8896664153403127, + -0.1828327875552725, + 0.4184086837362459, + 3599.8056578225696 + ], + [ + -0.0, + -0.9163349916047755, + -0.4004125191630373, + 5.27028048965873 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77923.78850622507, + -359980.56578225695, + 527.028048965873 + ], + "rotation_deg": [ + 0.0, + -23.60396957397462, + -152.83135986328125 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8879072814379991, + 0.460022455505578, + -0.0, + -2344.5363109731 + ], + [ + 0.03070153955688449, + -0.05925823880478799, + -0.9977704528610735, + 192.45079022606876 + ], + [ + -0.45899682780063694, + 0.8859276429836922, + -0.06673921985094025, + -2826.0366123019994 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8879072814379991, + 0.03070153955688449, + -0.45899682780063694, + 778.680508868489 + ], + [ + 0.460022455505578, + -0.05925823880478799, + 0.8859276429836922, + 3593.6076542569494 + ], + [ + -0.0, + -0.9977704528610735, + -0.06673921985094025, + 3.4142323164901778 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77868.0508868489, + -359360.76542569493, + 341.4232316490178 + ], + "rotation_deg": [ + 0.0, + -3.8267199993133554, + -117.38855743408202 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9807852783261096, + -0.1950903324585191, + -6.9388938502153445e-18, + -56.4287741398482 + ], + [ + -0.00647924655240916, + -0.03257337025964252, + -0.9994483452955643, + 125.10655865930565 + ], + [ + 0.19498269952053135, + 0.9802442255808731, + -0.03321152063728712, + -3660.83081474936 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9807852783261096, + -0.00647924655240916, + 0.19498269952053135, + 769.9538202732022 + ], + [ + -0.1950903324585191, + -0.03257337025964252, + 0.9802442255808731, + 3581.5746939875803 + ], + [ + -6.9388938502153445e-18, + -0.9994483452955643, + -0.03321152063728712, + 3.4557858044594822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76995.38202732021, + -358157.469398758, + 345.5785804459482 + ], + "rotation_deg": [ + 3.977887772366734e-16, + -1.9032299518585207, + -78.74999999999997 + ] + } + } + ] + }, + { + "frame": 65, + "time": 765.9421699084342, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.03103790945982511, + 0.9995182080264291, + -0.0, + -3625.29492293626 + ], + [ + 0.07158984040880643, + -0.0022230700421548596, + -0.9974316782165229, + -44.175542965958286 + ], + [ + -0.9969511243459703, + 0.030958170097616033, + -0.07162434899887724, + 676.6219642069451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.03103790945982511, + 0.07158984040880643, + -0.9969511243459703, + 790.2430363109339 + ], + [ + 0.9995182080264291, + -0.0022230700421548596, + 0.030958170097616033, + 3602.5030881966413 + ], + [ + -0.0, + -0.9974316782165229, + -0.07162434899887724, + 4.400515134450107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 79024.3036310934, + -360250.3088196641, + 440.05151344501064 + ], + "rotation_deg": [ + 0.0, + -4.10728979110718, + -178.22137451171878 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.45523299785731314, + 0.8903723477634753, + 1.387778771960621e-17, + -3559.9133640113796 + ], + [ + 0.35603978104350587, + -0.18203738838928193, + -0.9165686354784902, + 382.7397385658124 + ], + [ + -0.8160873753493274, + 0.4172522702183683, + -0.3998774047043206, + -864.1035064069695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.45523299785731314, + 0.35603978104350587, + -0.8160873753493274, + 779.1354479472523 + ], + [ + 0.8903723477634753, + -0.18203738838928193, + 0.4172522702183683, + 3599.8705556800483 + ], + [ + 1.387778771960621e-17, + -0.9165686354784902, + -0.3998774047043206, + 5.271747443326306 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77913.54479472523, + -359987.05556800484, + 527.1747443326306 + ], + "rotation_deg": [ + -8.67516780187723e-16, + -23.57051467895509, + -152.92007446289062 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.887322063033296, + 0.4611502536639604, + 3.4694469251989043e-18, + -2348.07058349647 + ], + [ + 0.030883327021097907, + -0.05942414045739936, + -0.9977549757545722, + 192.91503441243535 + ], + [ + -0.46011497420735215, + 0.8853299961504714, + -0.06697020551240512, + -2823.1193392015266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.887322063033296, + 0.030883327021097907, + -0.46011497420735215, + 778.5775167419325 + ], + [ + 0.4611502536639604, + -0.05942414045739936, + 0.8853299961504714, + 3593.669442752368 + ], + [ + 3.4694469251989043e-18, + -0.9977549757545722, + -0.06697020551240512, + 3.4170521145149335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77857.75167419325, + -359366.9442752368, + 341.70521145149337 + ], + "rotation_deg": [ + -1.9923194815246287e-16, + -3.839984178543092, + -117.46135711669925 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9807852783261096, + -0.1950903324585191, + -6.9388938502153445e-18, + -56.30111950878552 + ], + [ + -0.00647924655240916, + -0.03257337025964252, + -0.9994483452955643, + 125.10783722727123 + ], + [ + 0.19498269952053135, + 0.9802442255808731, + -0.03321152063728712, + -3660.8692912378806 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9807852783261096, + -0.00647924655240916, + 0.19498269952053135, + 769.8361290242395 + ], + [ + -0.1950903324585191, + -0.03257337025964252, + 0.9802442255808731, + 3581.637356173544 + ], + [ + -6.9388938502153445e-18, + -0.9994483452955643, + -0.03321152063728712, + 3.4557858044594822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76983.61290242395, + -358163.7356173544, + 345.5785804459482 + ], + "rotation_deg": [ + 3.977887772366734e-16, + -1.9032299518585207, + -78.74999999999997 + ] + } + } + ] + }, + { + "frame": 66, + "time": 766.0088365785778, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.028399883349458335, + 0.9995966419640161, + -0.0, + -3623.544962501144 + ], + [ + 0.07410145322941844, + -0.0021053218262177638, + -0.9972484857092019, + -46.576225581132796 + ], + [ + -0.9968462381590308, + 0.028321716623507538, + -0.07413135528025235, + 685.9255739273292 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.028399883349458335, + 0.07410145322941844, + -0.9968462381590308, + 790.1218609922104 + ], + [ + 0.9995966419640161, + -0.0021053218262177638, + 0.028321716623507538, + 3602.5587148248364 + ], + [ + -0.0, + -0.9972484857092019, + -0.07413135528025235, + 4.400515134450107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 79012.18609922104, + -360255.87148248364, + 440.05151344501064 + ], + "rotation_deg": [ + 0.0, + -4.251313686370852, + -178.37258911132815 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.45385976683130846, + 0.8910731238522628, + -0.0, + -3561.3696204248886 + ], + [ + 0.35584417298647225, + -0.18124590345819572, + -0.9168014218091046, + 380.0936512754009 + ], + [ + -0.8169371143589742, + 0.41609926205641584, + -0.39934340522780376, + -859.4036011897184 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.45385976683130846, + 0.35584417298647225, + -0.8169371143589742, + 779.029526762493 + ], + [ + 0.8910731238522628, + -0.18124590345819572, + 0.41609926205641584, + 3599.9284179797596 + ], + [ + -0.0, + -0.9168014218091046, + -0.39934340522780376, + 5.27321439699388 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77902.9526762493, + -359992.84179797594, + 527.321439699388 + ], + "rotation_deg": [ + 0.0, + -23.537137985229506, + -153.00840759277344 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8867362739093407, + 0.4622756542728358, + -0.0, + -2351.58971367847 + ], + [ + 0.031065259679583273, + -0.059589321569683294, + -0.997739476214059, + 193.37632291287557 + ], + [ + -0.4612306832033877, + 0.8847317781100567, + -0.06720072673679785, + -2820.1974499271882 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8867362739093407, + 0.031065259679583273, + -0.4612306832033877, + 778.4710405456151 + ], + [ + 0.4622756542728358, + -0.059589321569683294, + 0.8847317781100567, + 3593.724195690019 + ], + [ + -0.0, + -0.997739476214059, + -0.06720072673679785, + 3.4198719125396884 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77847.10405456151, + -359372.4195690019, + 341.98719125396883 + ], + "rotation_deg": [ + 0.0, + -3.8532218933105464, + -117.53404998779298 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9807852783261096, + -0.1950903324585191, + -6.9388938502153445e-18, + -56.17142032269692 + ], + [ + -0.00647924655240916, + -0.03257337025964252, + -0.9994483452955643, + 125.10886404926165 + ], + [ + 0.19498269952053135, + 0.9802442255808731, + -0.03321152063728712, + -3660.900191828198 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9807852783261096, + -0.00647924655240916, + 0.19498269952053135, + 769.714953705516 + ], + [ + -0.1950903324585191, + -0.03257337025964252, + 0.9802442255808731, + 3581.692982801739 + ], + [ + -6.9388938502153445e-18, + -0.9994483452955643, + -0.03321152063728712, + 3.4557858044594822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76971.4953705516, + -358169.2982801739, + 345.5785804459482 + ], + "rotation_deg": [ + 3.977887772366734e-16, + -1.9032299518585207, + -78.74999999999997 + ] + } + } + ] + }, + { + "frame": 67, + "time": 766.0755032487214, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.025742491023840103, + 0.9996686071673391, + -4.336808656545691e-19, + -3621.7501221542607 + ], + [ + 0.07663097689761851, + -0.001973326181087958, + -0.997057570736765, + -49.04161419318961 + ], + [ + -0.9967271535780292, + 0.02566672150626877, + -0.07665638086526118, + 695.2824322834487 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.025742491023840103, + 0.07663097689761851, + -0.9967271535780292, + 789.9977692332077 + ], + [ + 0.9996686071673391, + -0.001973326181087958, + 0.02566672150626877, + 3602.6074899719883 + ], + [ + -4.336808656545691e-19, + -0.997057570736765, + -0.07665638086526118, + 4.400515134450107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 78999.77692332077, + -360260.7489971988, + 440.05151344501064 + ], + "rotation_deg": [ + 2.4921412944799173e-17, + -4.396399974822996, + -178.52490234375003 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.45249139436815755, + 0.8917687693694818, + -1.3877787719490584e-17, + -3562.804133705036 + ], + [ + 0.35564679292259044, + -0.1804583416235675, + -0.9170333394279334, + 377.46273122054737 + ], + [ + -0.8177817000311562, + 0.4149496769394798, + -0.3988105523954611, + -854.7196170332455 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.45249139436815755, + 0.35564679292259044, + -0.8177817000311562, + 778.9206891374545 + ], + [ + 0.8917687693694818, + -0.1804583416235675, + 0.4149496769394798, + 3599.9794287984264 + ], + [ + -1.3877787719490584e-17, + -0.9170333394279334, + -0.3988105523954611, + 5.274681350661454 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77892.06891374545, + -359997.94287984265, + 527.4681350661454 + ], + "rotation_deg": [ + 8.670771686019132e-16, + -23.503841400146484, + -153.0963592529297 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8861499830082767, + 0.4633985407987714, + -0.0, + -2355.093906849958 + ], + [ + 0.031247322604758657, + -0.059753779861998306, + -0.9977239551209732, + 193.8346507623309 + ], + [ + -0.462343838964746, + 0.8841330584947278, + -0.06743077522985413, + -2817.27120863066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8861499830082767, + 0.031247322604758657, + -0.462343838964746, + 778.3616479090185 + ], + [ + 0.4633985407987714, + -0.059753779861998306, + 0.8841330584947278, + 3593.7720971466256 + ], + [ + -0.0, + -0.9977239551209732, + -0.06743077522985413, + 3.422691710564444 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77836.16479090185, + -359377.2097146626, + 342.2691710564444 + ], + "rotation_deg": [ + 0.0, + -3.866432666778564, + -117.60662841796876 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9807852783261096, + -0.1950903324585191, + -6.9388938502153445e-18, + -56.04019739263185 + ], + [ + -0.00647924655240916, + -0.03257337025964252, + -0.9994483452955643, + 125.1096487990876 + ], + [ + 0.19498269952053135, + 0.9802442255808731, + -0.03321152063728712, + -3660.9238076383867 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9807852783261096, + -0.00647924655240916, + 0.19498269952053135, + 769.5908619465132 + ], + [ + -0.1950903324585191, + -0.03257337025964252, + 0.9802442255808731, + 3581.741757948891 + ], + [ + -6.9388938502153445e-18, + -0.9994483452955643, + -0.03321152063728712, + 3.4557858044594822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76959.08619465132, + -358174.1757948891, + 345.5785804459482 + ], + "rotation_deg": [ + 3.977887772366734e-16, + -1.9032299518585207, + -78.74999999999997 + ] + } + } + ] + }, + { + "frame": 68, + "time": 766.142169918865, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.02306707835050765, + 0.9997339195487827, + -0.0, + -3619.9097708053732 + ], + [ + 0.07917659146570716, + -0.0018268587302608605, + -0.9968589318208729, + -51.57105932767815 + ], + [ + -0.9965936876533551, + 0.022994599008653242, + -0.0791976650281986, + 704.6873611941612 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.02306707835050765, + 0.07917659146570716, + -0.9965936876533551, + 789.8708517349932 + ], + [ + 0.9997339195487827, + -0.0018268587302608605, + 0.022994599008653242, + 3602.648352280772 + ], + [ + -0.0, + -0.9968589318208729, + -0.0791976650281986, + 4.400515134450107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 78987.08517349932, + -360264.8352280772, + 440.05151344501064 + ], + "rotation_deg": [ + 0.0, + -4.542448997497559, + -178.67823791503906 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.45112789758694727, + 0.8924593100073417, + -2.7755575438866237e-17, + -3564.2160986786325 + ], + [ + 0.35544760820478044, + -0.17967467019915165, + -0.9172644170087089, + 374.8466778475253 + ], + [ + -0.8186211761400061, + 0.41380355045233136, + -0.3982787862894504, + -850.0511646795658 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.45112789758694727, + 0.35544760820478044, + -0.8186211761400061, + 778.8090257732043 + ], + [ + 0.8924593100073417, + -0.17967467019915165, + 0.41380355045233136, + 3600.022526778726 + ], + [ + -2.7755575438866237e-17, + -0.9172644170087089, + -0.3982787862894504, + 5.276148304329028 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77880.90257732043, + -360002.2526778726, + 527.6148304329027 + ], + "rotation_deg": [ + 1.7337174684143185e-15, + -23.470621109008793, + -153.18392944335938 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.885563136144893, + 0.46451903287295054, + -3.4694469252014177e-18, + -2358.5831199270197 + ], + [ + 0.03142952442489137, + -0.05991751951499005, + -0.9977084122375613, + 194.28995797618762 + ], + [ + -0.46345456078248454, + 0.883533783094169, + -0.06766035930454548, + -2814.3393689823706 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.885563136144893, + 0.03142952442489137, + -0.46345456078248454, + 778.2494295332103 + ], + [ + 0.46451903287295054, + -0.05991751951499005, + 0.883533783094169, + 3593.8120857648646 + ], + [ + -3.4694469252014177e-18, + -0.9977084122375613, + -0.06766035930454548, + 3.4255115085891994 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77824.94295332104, + -359381.20857648645, + 342.5511508589199 + ], + "rotation_deg": [ + 1.992412464005653e-16, + -3.8796169757843013, + -117.6791000366211 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9807852783261096, + -0.1950903324585191, + -6.9388938502153445e-18, + -55.90774673741544 + ], + [ + -0.00647924655240916, + -0.03257337025964252, + -0.9994483452955643, + 125.11015749243852 + ], + [ + 0.19498269952053135, + 0.9802442255808731, + -0.03321152063728712, + -3660.9391159641973 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9807852783261096, + -0.00647924655240916, + 0.19498269952053135, + 769.4639444482987 + ], + [ + -0.1950903324585191, + -0.03257337025964252, + 0.9802442255808731, + 3581.782620257675 + ], + [ + -6.9388938502153445e-18, + -0.9994483452955643, + -0.03321152063728712, + 3.4557858044594822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76946.39444482987, + -358178.2620257675, + 345.5785804459482 + ], + "rotation_deg": [ + 3.977887772366734e-16, + -1.9032299518585207, + -78.74999999999997 + ] + } + } + ] + }, + { + "frame": 69, + "time": 766.2088365890086, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.020375791082761118, + 0.9997923920183389, + -1.0842021641432616e-19, + -3618.0252496072158 + ], + [ + 0.08173647438812738, + -0.001665791157514019, + -0.996652584351447, + -54.163604434287095 + ], + [ + -0.99644567175917, + 0.02030756074763979, + -0.08175344768814208, + 714.1328066116077 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.020375791082761118, + 0.08173647438812738, + -0.99644567175917, + 789.7417257405132 + ], + [ + 0.9997923920183389, + -0.001665791157514019, + 0.02030756074763979, + 3602.6815826461284 + ], + [ + -1.0842021641432616e-19, + -0.996652584351447, + -0.08175344768814208, + 4.400515134450107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 78974.17257405132, + -360268.15826461284, + 440.05151344501064 + ], + "rotation_deg": [ + 6.232884919070217e-18, + -4.6893610954284695, + -178.8324737548828 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.4497692934655016, + 0.8931447713867798, + -0.0, + -3565.6061421727563 + ], + [ + 0.3552466949614871, + -0.17889491168458027, + -0.9174946301163327, + 372.2453605331364 + ], + [ + -0.819455539089406, + 0.41266089399802647, + -0.39774816909753385, + -845.3979308181257 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.4497692934655016, + 0.3552466949614871, + -0.819455539089406, + 778.6951539126885 + ], + [ + 0.8931447713867798, + -0.17889491168458027, + 0.41266089399802647, + 3600.0579928155976 + ], + [ + -0.0, + -0.9174946301163327, + -0.39774816909753385, + 5.277615257996602 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77869.51539126885, + -360005.79928155977, + 527.7615257996601 + ], + "rotation_deg": [ + 0.0, + -23.437480926513686, + -153.27111816406253 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8849758025279132, + 0.465637014143072, + 3.4694469252022566e-18, + -2362.057643927383 + ], + [ + 0.03161185210180383, + -0.06008054199615604, + -0.9976928481652765, + 194.74225495803822 + ], + [ + -0.4645627328912051, + 0.8829340215539894, + -0.06788947481866388, + -2811.4022553962445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8849758025279132, + 0.03161185210180383, + -0.4645627328912051, + 778.1350026611366 + ], + [ + 0.465637014143072, + -0.06008054199615604, + 0.8829340215539894, + 3593.8444424396757 + ], + [ + 3.4694469252022566e-18, + -0.9976928481652765, + -0.06788947481866388, + 3.4283313066139542 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77813.50026611365, + -359384.4442439676, + 342.83313066139544 + ], + "rotation_deg": [ + -1.99244354576809e-16, + -3.8927745819091797, + -117.75145721435548 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9807852783261096, + -0.1950903324585191, + -6.9388938502153445e-18, + -55.774618939955076 + ], + [ + -0.00647924655240916, + -0.03257337025964252, + -0.9994483452955643, + 125.11040327827858 + ], + [ + 0.19498269952053135, + 0.9802442255808731, + -0.03321152063728712, + -3660.9465125029697 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9807852783261096, + -0.00647924655240916, + 0.19498269952053135, + 769.3348184538187 + ], + [ + -0.1950903324585191, + -0.03257337025964252, + 0.9802442255808731, + 3581.815850623031 + ], + [ + -6.9388938502153445e-18, + -0.9994483452955643, + -0.03321152063728712, + 3.4557858044594822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76933.48184538187, + -358181.5850623031, + 345.5785804459482 + ], + "rotation_deg": [ + 3.977887772366734e-16, + -1.9032299518585207, + -78.74999999999997 + ] + } + } + ] + }, + { + "frame": 70, + "time": 766.2755032591522, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.017670243614783365, + 0.9998438690568614, + -1.084202164146877e-19, + -3616.0976546685292 + ], + [ + 0.08430877873926315, + -0.001489989292621172, + -0.9964385629628157, + -56.81829555365151 + ], + [ + -0.9962829884411458, + 0.017607288044649453, + -0.08432194465554396, + 723.6130994841856 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.017670243614783365, + 0.08430877873926315, + -0.9962829884411458, + 789.6109417285294 + ], + [ + 0.9998438690568614, + -0.001489989292621172, + 0.017607288044649453, + 3602.7075310919695 + ], + [ + -1.084202164146877e-19, + -0.9964385629628157, + -0.08432194465554396, + 4.400515134450107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 78961.09417285294, + -360270.75310919696, + 440.05151344501064 + ], + "rotation_deg": [ + 6.234223657609508e-18, + -4.8370351791381845, + -178.98751831054688 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.44841559884117543, + 0.8938251790567939, + -0.0, + -3566.97492007403 + ], + [ + 0.35504402019729103, + -0.17811903341070523, + -0.9177240073458802, + 369.6585707519714 + ], + [ + -0.8202848325996591, + 0.41152174275358083, + -0.3972186408616851, + -840.7597311666269 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.44841559884117543, + 0.35504402019729103, + -0.8202848325996591, + 778.579624034669 + ], + [ + 0.8938251790567939, + -0.17811903341070523, + 0.41152174275358083, + 3600.086176932954 + ], + [ + -0.0, + -0.9177240073458802, + -0.3972186408616851, + 5.279082211664177 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77857.9624034669, + -360008.6176932954, + 527.9082211664177 + ], + "rotation_deg": [ + 0.0, + -23.404417037963878, + -153.35792541503906 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8843879276412521, + 0.4667526041088697, + -0.0, + -2365.518494331918 + ], + [ + 0.031794310482792444, + -0.060242844091558036, + -0.9976772632252796, + 195.1915274204529 + ], + [ + -0.4656684747091474, + 0.8823337198288206, + -0.06811812178188767, + -2808.459653383706 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8843879276412521, + 0.031794310482792444, + -0.4656684747091474, + 778.0189177715589 + ], + [ + 0.4667526041088697, + -0.060242844091558036, + 0.8823337198288206, + 3593.8695171949726 + ], + [ + -0.0, + -0.9976772632252796, + -0.06811812178188767, + 3.43115110463871 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77801.89177715589, + -359386.9517194973, + 343.115110463871 + ], + "rotation_deg": [ + 0.0, + -3.9059054851531982, + -117.82370758056642 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9807852783261096, + -0.1950903324585191, + -6.9388938502153445e-18, + -55.641285615435095 + ], + [ + -0.00647924655240916, + -0.03257337025964252, + -0.9994483452955643, + 125.11040112475386 + ], + [ + 0.19498269952053135, + 0.9802442255808731, + -0.03321152063728712, + -3660.9464476974576 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9807852783261096, + -0.00647924655240916, + 0.19498269952053135, + 769.204034441835 + ], + [ + -0.1950903324585191, + -0.03257337025964252, + 0.9802442255808731, + 3581.841799068872 + ], + [ + -6.9388938502153445e-18, + -0.9994483452955643, + -0.03321152063728712, + 3.4557858044594822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76920.4034441835, + -358184.17990688724, + 345.5785804459482 + ], + "rotation_deg": [ + 3.977887772366734e-16, + -1.9032299518585207, + -78.74999999999997 + ] + } + } + ] + }, + { + "frame": 71, + "time": 766.3421699292958, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.014952583870077205, + 0.9998882038686168, + -0.0, + -3614.1285842937023 + ], + [ + 0.0868916650402141, + -0.0012994001770373683, + -0.9962169192027, + -59.53389184034927 + ], + [ + -0.9961055463073306, + 0.014895992910519932, + -0.08690138094981137, + 733.1206112301111 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.014952583870077205, + 0.0868916650402141, + -0.9961055463073306, + 789.4789796753876 + ], + [ + 0.9998882038686168, + -0.0012994001770373683, + 0.014895992910519932, + 3602.7266045332613 + ], + [ + -0.0, + -0.9962169192027, + -0.08690138094981137, + 4.400515134450107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 78947.89796753875, + -360272.6604533261, + 440.05151344501064 + ], + "rotation_deg": [ + 0.0, + -4.985370635986329, + -179.14324951171878 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.4470665921917189, + 0.8945006775548485, + -0.0, + -3568.323348593597 + ], + [ + 0.3548397071458561, + -0.17734696309190687, + -0.917952524325044, + 367.08586971246393 + ], + [ + -0.8211091623644189, + 0.41038588924898434, + -0.39669026379093597, + -836.135536628105 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.4470665921917189, + 0.3548397071458561, + -0.8211091623644189, + 778.4629161154913 + ], + [ + 0.8945006775548485, + -0.17734696309190687, + 0.41038588924898434, + 3600.1074860457616 + ], + [ + -0.0, + -0.917952524325044, + -0.39669026379093597, + 5.280549165331751 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77846.29161154914, + -360010.74860457616, + 528.0549165331751 + ], + "rotation_deg": [ + 0.0, + -23.37143325805665, + -153.44436645507812 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8837995186588022, + 0.46786580428416574, + -0.0, + -2368.9662753079983 + ], + [ + 0.03197689840979783, + -0.06040443042427583, + -0.9976616574536721, + 195.63779946364753 + ], + [ + -0.46677178780545026, + 0.8817328851697972, + -0.06834630435545686, + -2805.5117402515143 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8837995186588022, + 0.03197689840979783, + -0.46677178780545026, + 777.9016548408232 + ], + [ + 0.46786580428416574, + -0.06040443042427583, + 0.8817328851697972, + 3593.8877169457196 + ], + [ + -0.0, + -0.9976616574536721, + -0.06834630435545686, + 3.433970902663465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77790.16548408232, + -359388.77169457194, + 343.3970902663465 + ], + "rotation_deg": [ + 0.0, + -3.919009923934936, + -117.8958511352539 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9807852783261096, + -0.1950903324585191, + -6.9388938502153445e-18, + -55.50813813241302 + ], + [ + -0.00647924655240916, + -0.03257337025964252, + -0.9994483452955643, + 125.11016739634131 + ], + [ + 0.19498269952053135, + 0.9802442255808731, + -0.03321152063728712, + -3660.93941401079 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9807852783261096, + -0.00647924655240916, + 0.19498269952053135, + 769.0720723886931 + ], + [ + -0.1950903324585191, + -0.03257337025964252, + 0.9802442255808731, + 3581.860872510164 + ], + [ + -6.9388938502153445e-18, + -0.9994483452955643, + -0.03321152063728712, + 3.4557858044594822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76907.2072388693, + -358186.0872510164, + 345.5785804459482 + ], + "rotation_deg": [ + 3.977887772366734e-16, + -1.9032299518585207, + -78.74999999999997 + ] + } + } + ] + }, + { + "frame": 72, + "time": 766.4088365994394, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.012224428109630524, + 0.9999252788870739, + 1.0842021641544978e-19, + -3612.119394572664 + ], + [ + 0.08948326199413702, + -0.001093963445428704, + -0.9959877253595388, + -62.3091532416474 + ], + [ + -0.9959133042812707, + 0.012175356203807596, + -0.08948994947407123, + 742.6496008247723 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.012224428109630524, + 0.08948326199413702, + -0.9959133042812707, + 789.3462510425962 + ], + [ + 0.9999252788870739, + -0.001093963445428704, + 0.012175356203807596, + 3602.7392887624264 + ], + [ + 1.0842021641544978e-19, + -0.9959877253595388, + -0.08948994947407123, + 4.400515134450107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 78934.62510425963, + -360273.92887624266, + 440.05151344501064 + ], + "rotation_deg": [ + -6.237045602523275e-18, + -5.134264945983889, + -179.2995758056641 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.44572228954022386, + 0.8951712912102467, + -2.7755575438411268e-17, + -3569.652134936593 + ], + [ + 0.3546337492132447, + -0.1765786818675309, + -0.9181801963824324, + 364.5271494576684 + ], + [ + -0.8219285593353198, + 0.40925336172392035, + -0.3961630084531308, + -831.5253103615908 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.44572228954022386, + 0.3546337492132447, + -0.8219285593353198, + 778.3454416166643 + ], + [ + 0.8951712912102467, + -0.1765786818675309, + 0.40925336172392035, + 3600.122405946442 + ], + [ + -2.7755575438411268e-17, + -0.9181801963824324, + -0.3961630084531308, + 5.282016118999325 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77834.54416166643, + -360012.2405946442, + 528.2016118999325 + ], + "rotation_deg": [ + 1.7319882841760161e-15, + -23.33852767944337, + -153.5304412841797 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8832106451871812, + 0.46897649858819473, + -0.0, + -2372.401194221494 + ], + [ + 0.032159600846624656, + -0.060565298897100356, + -0.9976460317381564, + 196.0810887570254 + ], + [ + -0.4678725568312245, + 0.8811315878654927, + -0.06857401424627171, + -2802.5591093020385 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8832106451871812, + 0.032159600846624656, + -0.4678725568312245, + 777.7836253304381 + ], + [ + 0.46897649858819473, + -0.060565298897100356, + 0.8811315878654927, + 3593.8995274843396 + ], + [ + -0.0, + -0.9976460317381564, + -0.06857401424627171, + 3.4367907006882206 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77778.36253304381, + -359389.952748434, + 343.67907006882206 + ], + "rotation_deg": [ + 0.0, + -3.932087421417237, + -117.9678802490235 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9807852783261096, + -0.1950903324585191, + -6.9388938502153445e-18, + -55.37548527287424 + ], + [ + -0.00647924655240916, + -0.03257337025964252, + -0.9994483452955643, + 125.10972058289795 + ], + [ + 0.19498269952053135, + 0.9802442255808731, + -0.03321152063728712, + -3660.92596786606 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9807852783261096, + -0.00647924655240916, + 0.19498269952053135, + 768.9393437559017 + ], + [ + -0.1950903324585191, + -0.03257337025964252, + 0.9802442255808731, + 3581.873556739329 + ], + [ + -6.9388938502153445e-18, + -0.9994483452955643, + -0.03321152063728712, + 3.4557858044594822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76893.93437559018, + -358187.35567393294, + 345.5785804459482 + ], + "rotation_deg": [ + 3.977887772366734e-16, + -1.9032299518585207, + -78.74999999999997 + ] + } + } + ] + }, + { + "frame": 73, + "time": 766.475503269583, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.009487925920606823, + 0.9999549886178503, + -5.4210108207925026e-20, + -3610.072384134692 + ], + [ + 0.09208171528258112, + -0.0008737038198600605, + -0.9957510704750722, + -65.14254633981105 + ], + [ + -0.9957062505065573, + 0.009447588233153939, + -0.0920858609057326, + 752.1923916083191 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.009487925920606823, + 0.09208171528258112, + -0.9957062505065573, + 789.213115742331 + ], + [ + 0.9999549886178503, + -0.0008737038198600605, + 0.009447588233153939, + 3602.7465531588505 + ], + [ + -5.4210108207925026e-20, + -0.9957510704750722, + -0.0920858609057326, + 4.400515134450107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 78921.3115742331, + -360274.65531588503, + 440.05151344501064 + ], + "rotation_deg": [ + 3.1192639640749037e-18, + -5.283616542816163, + -179.4563751220703 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.4443829453553565, + 0.8958369259398152, + -0.0, + -3570.9621551314176 + ], + [ + 0.35442612015102826, + -0.1758142789418425, + -0.9184070256018562, + 361.98280828000327 + ], + [ + -0.8227429339361981, + 0.40812440143061124, + -0.39563687595440544, + -826.930112121395 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.4443829453553565, + 0.35442612015102826, + -0.8227429339361981, + 778.2275604503634 + ], + [ + 0.8958369259398152, + -0.1758142789418425, + 0.40812440143061124, + 3600.1319060143815 + ], + [ + -0.0, + -0.9184070256018562, + -0.39563687595440544, + 5.283483072666899 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77822.75604503634, + -360013.19060143817, + 528.3483072666899 + ], + "rotation_deg": [ + 0.0, + -23.305700302124034, + -153.6161346435547 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8826213148124591, + 0.47008468879418486, + 3.4694469252056277e-18, + -2375.824016841757 + ], + [ + 0.03234242048763353, + -0.06072546155084566, + -0.9976303855418787, + 196.5214810541939 + ], + [ + -0.4689707833541434, + 0.8805298350671704, + -0.06880126391849803, + -2799.602482897129 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8826213148124591, + 0.03234242048763353, + -0.4689707833541434, + 777.6651891525789 + ], + [ + 0.47008468879418486, + -0.06072546155084566, + 0.8805298350671704, + 3593.9059181902185 + ], + [ + 3.4694469252056277e-18, + -0.9976303855418787, + -0.06880126391849803, + 3.439610498712976 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77766.5189152579, + -359390.59181902185, + 343.9610498712976 + ], + "rotation_deg": [ + -1.9925682946275633e-16, + -3.9451386928558345, + -118.039794921875 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9807852783261096, + -0.1950903324585191, + -6.9388938502153445e-18, + -55.24349091683496 + ], + [ + -0.00647924655240916, + -0.03257337025964252, + -0.9994483452955643, + 125.10909459233714 + ], + [ + 0.19498269952053135, + 0.9802442255808731, + -0.03321152063728712, + -3660.9071296684597 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9807852783261096, + -0.00647924655240916, + 0.19498269952053135, + 768.8062084556365 + ], + [ + -0.1950903324585191, + -0.03257337025964252, + 0.9802442255808731, + 3581.880821135753 + ], + [ + -6.9388938502153445e-18, + -0.9994483452955643, + -0.03321152063728712, + 3.4557858044594822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76880.62084556365, + -358188.0821135753, + 345.5785804459482 + ], + "rotation_deg": [ + 3.977887772366734e-16, + -1.9032299518585207, + -78.74999999999997 + ] + } + } + ] + }, + { + "frame": 74, + "time": 766.5421699397266, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.006744961232367242, + 0.9999772524902625, + -0.0, + -3607.9898381628823 + ], + [ + 0.09468516432068583, + -0.0006386622906000223, + -0.9955070626409654, + -68.0324677684789 + ], + [ + -0.9954844174278664, + 0.006714632369566957, + -0.09468731895266182, + 761.7421941582523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.006744961232367242, + 0.09468516432068583, + -0.9954844174278664, + 789.0798145075976 + ], + [ + 0.9999772524902625, + -0.0006386622906000223, + 0.006714632369566957, + 3602.74947898364 + ], + [ + -0.0, + -0.9955070626409654, + -0.09468731895266182, + 4.400515134450107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 78907.98145075976, + -360274.947898364, + 440.05151344501064 + ], + "rotation_deg": [ + 0.0, + -5.4333233833313, + -179.6135406494141 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.44304833717661696, + 0.8964977249971325, + -2.775557543818661e-17, + -3572.254816732023 + ], + [ + 0.35421691506446323, + -0.1750536681168303, + -0.9186330009100788, + 359.4525774924618 + ], + [ + -0.8235524027662219, + 0.4069988058642416, + -0.39511189797709634, + -822.349381454509 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.44304833717661696, + 0.35421691506446323, + -0.8235524027662219, + 778.1095133495942 + ], + [ + 0.8964977249971325, + -0.1750536681168303, + 0.4069988058642416, + 3600.1370675106864 + ], + [ + -2.775557543818661e-17, + -0.9186330009100788, + -0.39511189797709634, + 5.2849500263344735 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77810.95133495942, + -360013.70675106865, + 528.4950026334474 + ], + "rotation_deg": [ + 1.7311345676766082e-15, + -23.27295303344727, + -153.7014617919922 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8820314723606628, + 0.4711904941372239, + -0.0, + -2379.2358334170126 + ], + [ + 0.03252535646265475, + -0.06088490410304395, + -0.997614720039425, + 196.9589813553007 + ], + [ + -0.47006658692778763, + 0.8799275728261373, + -0.06902804092803888, + -2796.6424227213383 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8820314723606628, + 0.03252535646265475, + -0.47006658692778763, + 777.5465870402518 + ], + [ + 0.4711904941372239, + -0.06088490410304395, + 0.8799275728261373, + 3593.907970324463 + ], + [ + -0.0, + -0.997614720039425, + -0.06902804092803888, + 3.442430296737731 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77754.65870402518, + -359390.7970324463, + 344.2430296737731 + ], + "rotation_deg": [ + 0.0, + -3.9581630229949947, + -118.11160278320312 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9807852783261096, + -0.1950903324585191, + -6.9388938502153445e-18, + -55.112180228094985 + ], + [ + -0.00647924655240916, + -0.03257337025964252, + -0.9994483452955643, + 125.10832620474575 + ], + [ + 0.19498269952053135, + 0.9802442255808731, + -0.03321152063728712, + -3660.884006256717 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9807852783261096, + -0.00647924655240916, + 0.19498269952053135, + 768.6729072209032 + ], + [ + -0.1950903324585191, + -0.03257337025964252, + 0.9802442255808731, + 3581.883746960543 + ], + [ + -6.9388938502153445e-18, + -0.9994483452955643, + -0.03321152063728712, + 3.4557858044594822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76867.29072209031, + -358188.37469605426, + 345.5785804459482 + ], + "rotation_deg": [ + 3.977887772366734e-16, + -1.9032299518585207, + -78.74999999999997 + ] + } + } + ] + }, + { + "frame": 75, + "time": 766.6088366098702, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.003997152141088594, + 0.9999920113554713, + -0.0, + -3605.874089977506 + ], + [ + 0.09729172594087777, + -0.0003888929373822208, + -0.9952558308423659, + -70.97724271901468 + ], + [ + -0.9952478801205664, + 0.003978164785423428, + -0.09729250392737732, + 771.2931196039891 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.003997152141088594, + 0.09729172594087777, + -0.9952478801205664, + 788.9464812483873 + ], + [ + 0.9999920113554713, + -0.0003888929373822208, + 0.003978164785423428, + 3602.749331944519 + ], + [ + -0.0, + -0.9952558308423659, + -0.09729250392737732, + 4.400515134450107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 78894.64812483873, + -360274.9331944519, + 440.05151344501064 + ], + "rotation_deg": [ + 0.0, + -5.583281993865969, + -179.77098083496097 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.4417182417081811, + 0.8971538301441022, + -0.0, + -3573.5316413751266 + ], + [ + 0.35400614591502, + -0.17429672267280616, + -0.918858150706578, + 356.9361742272293 + ], + [ + -0.8243571165921463, + 0.4058763890217645, + -0.39458801446386566, + -817.782748440877 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.4417182417081811, + 0.35400614591502, + -0.8243571165921463, + 777.9914342243482 + ], + [ + 0.8971538301441022, + -0.17429672267280616, + 0.4058763890217645, + 3600.1391561430814 + ], + [ + -0.0, + -0.918858150706578, + -0.39458801446386566, + 5.2864169800020475 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77799.14342243482, + -360013.91561430815, + 528.6416980002048 + ], + "rotation_deg": [ + 0.0, + -23.240282058715827, + -153.78643798828125 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8814411249426384, + 0.4722939161791687, + 3.469446925207319e-18, + -2382.6373569767247 + ], + [ + 0.032708411575998186, + -0.061043638520419864, + -0.9975990346869643, + 197.3937014216282 + ], + [ + -0.47115996890145107, + 0.879324807815042, + -0.06925435773886929, + -2793.6800090619195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8814411249426384, + 0.032708411575998186, + -0.47115996890145107, + 777.4279529034476 + ], + [ + 0.4722939161791687, + -0.061043638520419864, + 0.879324807815042, + 3593.906949594798 + ], + [ + 3.469446925207319e-18, + -0.9975990346869643, + -0.06925435773886929, + 3.445250094762487 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77742.79529034476, + -359390.6949594798, + 344.52500947624867 + ], + "rotation_deg": [ + -1.9926309136942513e-16, + -3.971161127090453, + -118.18330383300781 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9807852783261096, + -0.1950903324585191, + -6.9388938502153445e-18, + -54.981437616261246 + ], + [ + -0.00647924655240916, + -0.03257337025964252, + -0.9994483452955643, + 125.10745751612598 + ], + [ + 0.19498269952053135, + 0.9802442255808731, + -0.03321152063728712, + -3660.857864443651 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9807852783261096, + -0.00647924655240916, + 0.19498269952053135, + 768.5395739616928 + ], + [ + -0.1950903324585191, + -0.03257337025964252, + 0.9802442255808731, + 3581.883599921422 + ], + [ + -6.9388938502153445e-18, + -0.9994483452955643, + -0.03321152063728712, + 3.4557858044594822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76853.95739616928, + -358188.3599921422, + 345.5785804459482 + ], + "rotation_deg": [ + 3.977887772366734e-16, + -1.9032299518585207, + -78.74999999999997 + ] + } + } + ] + }, + { + "frame": 76, + "time": 766.6755032800138, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.0012466497096271238, + 0.9999992229319488, + -0.0, + -3603.7280608745555 + ], + [ + 0.09989954419257895, + -0.0001245398345354871, + -0.9949975203787917, + -73.97488798163906 + ], + [ + -0.9949967471507445, + 0.0012403891652017743, + -0.09989962259265783, + 780.8373298363312 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.0012466497096271238, + 0.09989954419257895, + -0.9949967471507445, + 788.8131606764019 + ], + [ + 0.9999992229319488, + -0.0001245398345354871, + 0.0012403891652017743, + 3602.747486756817 + ], + [ + -0.0, + -0.9949975203787917, + -0.09989962259265783, + 4.400515134450107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 78881.31606764019, + -360274.7486756817, + 440.05151344501064 + ], + "rotation_deg": [ + 0.0, + -5.7333903312683105, + -179.92857360839847 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.4403931521322375, + 0.8978050298116133, + -0.0, + -3574.7934973844667 + ], + [ + 0.35379379476067885, + -0.17354365291557186, + -0.9190824507744437, + 354.4345986202161 + ], + [ + -0.8251568544270865, + 0.40475759985546883, + -0.39406528767608484, + -813.2325292287684 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.4403931521322375, + 0.35379379476067885, + -0.8251568544270865, + 777.873367786327 + ], + [ + 0.8978050298116133, + -0.17354365291557186, + 0.40475759985546883, + 3600.1395466268946 + ], + [ + -0.0, + -0.9190824507744437, + -0.39406528767608484, + 5.2878839336696215 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77787.3367786327, + -360013.9546626895, + 528.7883933669622 + ], + "rotation_deg": [ + 0.0, + -23.207691192626957, + -153.87103271484375 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8808503426902835, + 0.4733948392012844, + -0.0, + -2386.0289063923724 + ], + [ + 0.03289156875528576, + -0.06120165918706931, + -0.9975833306634418, + 197.82571560764777 + ], + [ + -0.4722508144405986, + 0.8787216110936881, + -0.06948020190748182, + -2790.716778287961 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8808503426902835, + 0.03289156875528576, + -0.4722508144405986, + 777.3093314538684 + ], + [ + 0.4733948392012844, + -0.06120165918706931, + 0.8787216110936881, + 3593.904230716551 + ], + [ + -0.0, + -0.9975833306634418, + -0.06948020190748182, + 3.4480698927872417 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77730.93314538684, + -359390.4230716551, + 344.8069892787242 + ], + "rotation_deg": [ + 0.0, + -3.984132289886475, + -118.25489044189453 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9807852783261096, + -0.1950903324585191, + -6.9388938502153445e-18, + -54.85103874024219 + ], + [ + -0.00647924655240916, + -0.03257337025964252, + -0.9994483452955643, + 125.10653359528735 + ], + [ + 0.19498269952053135, + 0.9802442255808731, + -0.03321152063728712, + -3660.8300605040336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9807852783261096, + -0.00647924655240916, + 0.19498269952053135, + 768.4062533897074 + ], + [ + -0.1950903324585191, + -0.03257337025964252, + 0.9802442255808731, + 3581.88175473372 + ], + [ + -6.9388938502153445e-18, + -0.9994483452955643, + -0.03321152063728712, + 3.4557858044594822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76840.62533897074, + -358188.175473372, + 345.5785804459482 + ], + "rotation_deg": [ + 3.977887772366734e-16, + -1.9032299518585207, + -78.74999999999997 + ] + } + } + ] + }, + { + "frame": 77, + "time": 766.7421699501574, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.0015047097723516994, + 0.9999988679236095, + 1.3552527052196876e-20, + -3601.5545019125393 + ], + [ + 0.10250675002765462, + 0.00015424308311357758, + -0.9947322968557112, + -77.02337174412594 + ], + [ + -0.9947311706976318, + -0.0014967592117171294, + -0.10250686686452037, + 790.3679508067831 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.0015047097723516994, + 0.10250675002765462, + -0.9947311706976318, + 788.6798450280859 + ], + [ + 0.9999988679236095, + 0.00015424308311357758, + -0.0014967592117171294, + 3602.745314765522 + ], + [ + 1.3552527052196876e-20, + -0.9947322968557112, + -0.10250686686452037, + 4.400515134450107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 78867.98450280858, + -360274.5314765522, + 440.05151344501064 + ], + "rotation_deg": [ + -7.806146541107668e-19, + -5.883545398712157, + 179.9137878417969 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.43907284507224953, + 0.8984514659791926, + -0.0, + -3576.041945705061 + ], + [ + 0.3535799284262842, + -0.1727943589756092, + -0.9193059032336689, + 351.947682155913 + ], + [ + -0.8259517437374408, + 0.40364224069117915, + -0.39354371872370786, + -808.69847687121 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.43907284507224953, + 0.3535799284262842, + -0.8259517437374408, + 777.7553062719751 + ], + [ + 0.8984514659791926, + -0.1727943589756092, + 0.40364224069117915, + 3600.1396103071147 + ], + [ + -0.0, + -0.9193059032336689, + -0.39354371872370786, + 5.2893508873371955 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77775.53062719751, + -360013.9610307115, + 528.9350887337196 + ], + "rotation_deg": [ + 0.0, + -23.175180435180675, + -153.95526123046875 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8802590699400884, + 0.47449338223858323, + 3.4694469252090147e-18, + -2389.411504606929 + ], + [ + 0.03307483895770718, + -0.06135897373736248, + -0.9975676074180732, + 198.2551264638802 + ], + [ + -0.4733392420854272, + 0.878117926702705, + -0.06970558589765675, + -2787.7536471294775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8802590699400884, + 0.03307483895770718, + -0.4733392420854272, + 777.1907149279584 + ], + [ + 0.47449338223858323, + -0.06135897373736248, + 0.878117926702705, + 3593.9011850347106 + ], + [ + 3.4694469252090147e-18, + -0.9975676074180732, + -0.06970558589765675, + 3.450889690811997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77719.07149279585, + -359390.1185034711, + 345.0889690811997 + ], + "rotation_deg": [ + -1.992693689337758e-16, + -3.997077226638794, + -118.32637023925783 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9807852783261096, + -0.1950903324585191, + -6.9388938502153445e-18, + -54.72070844950713 + ], + [ + -0.00647924655240916, + -0.03257337025964252, + -0.9994483452955643, + 125.10559906125594 + ], + [ + 0.19498269952053135, + 0.9802442255808731, + -0.03321152063728712, + -3660.801937177111 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9807852783261096, + -0.00647924655240916, + 0.19498269952053135, + 768.2729377413914 + ], + [ + -0.1950903324585191, + -0.03257337025964252, + 0.9802442255808731, + 3581.8795827424246 + ], + [ + -6.9388938502153445e-18, + -0.9994483452955643, + -0.03321152063728712, + 3.4557858044594822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76827.29377413914, + -358187.95827424247, + 345.5785804459482 + ], + "rotation_deg": [ + 3.977887772366734e-16, + -1.9032299518585207, + -78.74999999999997 + ] + } + } + ] + }, + { + "frame": 78, + "time": 766.808836620301, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.004255210251206967, + 0.9999909465518765, + 2.7105054104508984e-20, + -3599.356395185077 + ], + [ + 0.10511146979464252, + 0.00044727545317470665, + -0.994460345545401, + -80.12056449657875 + ], + [ + -0.9944513422673488, + -0.004231613688300847, + -0.10511242223572431, + 799.8791113261157 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.004255210251206967, + 0.10511146979464252, + -0.9944513422673488, + 788.5465145334402 + ], + [ + 0.9999909465518765, + 0.00044727545317470665, + -0.004231613688300847, + 3602.7444436571964 + ], + [ + 2.7105054104508984e-20, + -0.994460345545401, + -0.10511242223572431, + 4.400515134450107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 78854.65145334402, + -360274.4443657196, + 440.05151344501064 + ], + "rotation_deg": [ + -1.5616562517035635e-18, + -6.03364372253418, + 179.75619506835938 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.4377570963338439, + 0.8990932791481434, + -2.7755575437742807e-17, + -3577.278770258798 + ], + [ + 0.3533645577810045, + -0.17204871435371666, + -0.9195285363671254, + 349.47524834244666 + ], + [ + -0.8267419343100778, + 0.40253012432010804, + -0.3930232474906148, + -804.1804721263121 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.4377570963338439, + 0.3533645577810045, + -0.8267419343100778, + 777.6372299112938 + ], + [ + 0.8990932791481434, + -0.17204871435371666, + 0.40253012432010804, + 3600.140974870305 + ], + [ + -2.7755575437742807e-17, + -0.9195285363671254, + -0.3930232474906148, + 5.2908178410047695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77763.72299112938, + -360014.0974870305, + 529.081784100477 + ], + "rotation_deg": [ + 1.7294486032389779e-15, + -23.142745971679695, + -154.0391387939453 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8796673770846353, + 0.47558942975326735, + -0.0, + -2392.785546919502 + ], + [ + 0.03325820703428812, + -0.06151558028438078, + -0.9975518658431451, + 198.68203965902651 + ], + [ + -0.47442513705426914, + 0.8775138257044947, + -0.06993050141747628, + -2784.792397620321 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8796673770846353, + 0.03325820703428812, + -0.47442513705426914, + 777.072083555719 + ], + [ + 0.47558942975326735, + -0.06151558028438078, + 0.8775138257044947, + 3593.8994402358403 + ], + [ + -0.0, + -0.9975518658431451, + -0.06993050141747628, + 3.4537094888367528 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77707.2083555719, + -359389.944023584, + 345.3709488836753 + ], + "rotation_deg": [ + 0.0, + -4.009995460510255, + -118.39773559570312 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9807852783261096, + -0.1950903324585191, + -6.9388938502153445e-18, + -54.59010980801963 + ], + [ + -0.00647924655240916, + -0.03257337025964252, + -0.9994483452955643, + 125.10470680517416 + ], + [ + 0.19498269952053135, + 0.9802442255808731, + -0.03321152063728712, + -3660.775086138431 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9807852783261096, + -0.00647924655240916, + 0.19498269952053135, + 768.1396072467458 + ], + [ + -0.1950903324585191, + -0.03257337025964252, + 0.9802442255808731, + 3581.878711634099 + ], + [ + -6.9388938502153445e-18, + -0.9994483452955643, + -0.03321152063728712, + 3.4557858044594822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76813.96072467457, + -358187.8711634099, + 345.5785804459482 + ], + "rotation_deg": [ + 3.977887772366734e-16, + -1.9032299518585207, + -78.74999999999997 + ] + } + } + ] + }, + { + "frame": 79, + "time": 766.8755032904446, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.007002482823159031, + 0.9999754823165972, + -1.0842021641850816e-19, + -3597.1372276025954 + ], + [ + 0.10771185926470529, + 0.0007542689372786265, + -0.994181867895462, + -83.26397852323153 + ], + [ + -0.994157492938174, + -0.006961717312584808, + -0.1077145010058724, + 809.3621873437593 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.007002482823159031, + 0.10771185926470529, + -0.994157492938174, + 788.4131956706061 + ], + [ + 0.9999754823165972, + 0.0007542689372786265, + -0.006961717312584808, + 3602.746408458654 + ], + [ + -1.0842021641850816e-19, + -0.994181867895462, + -0.1077145010058724, + 4.400515134450107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 78841.31956706061, + -360274.6408458654, + 440.05151344501064 + ], + "rotation_deg": [ + 6.2483747324280265e-18, + -6.183583259582518, + 179.59878540039062 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.4364459205307301, + 0.8997304921208812, + 1.3877787718816507e-17, + -3578.5054580965516 + ], + [ + 0.35314775715310376, + -0.171306740522629, + -0.9197503260500887, + 347.01756673404884 + ], + [ + -0.8275274207465164, + 0.40142125993266325, + -0.3925039362690399, + -799.6791402686359 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.4364459205307301, + 0.35314775715310376, + -0.8275274207465164, + 777.5191651824239 + ], + [ + 0.8997304921208812, + -0.171306740522629, + 0.40142125993266325, + 3600.145175343278 + ], + [ + 1.3877787718816507e-17, + -0.9197503260500887, + -0.3925039362690399, + 5.292284794672344 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77751.91651824239, + -360014.5175343278, + 529.2284794672345 + ], + "rotation_deg": [ + -8.645157809738091e-16, + -23.1103916168213, + -154.12266540527344 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8790752081353418, + 0.4766831006463361, + 6.9388938504214306e-18, + -2396.152176611787 + ], + [ + 0.03344168008600187, + -0.06167147910663729, + -0.9975361059619972, + 199.1065451166214 + ], + [ + -0.4755086180238697, + 0.8769092523213157, + -0.07015495262845246, + -2781.8340673644143 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8790752081353418, + 0.03344168008600187, + -0.4755086180238697, + 776.953463815291 + ], + [ + 0.4766831006463361, + -0.06167147910663729, + 0.8769092523213157, + 3593.9005313467533 + ], + [ + 6.9388938504214306e-18, + -0.9975361059619972, + -0.07015495262845246, + 3.4565292868615076 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77695.3463815291, + -359390.0531346753, + 345.65292868615074 + ], + "rotation_deg": [ + -3.985513234277788e-16, + -4.0228872299194345, + -118.46899414062497 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9807852783261096, + -0.1950903324585191, + -6.9388938502153445e-18, + -54.458969316259186 + ], + [ + -0.00647924655240916, + -0.03257337025964252, + -0.9994483452955643, + 125.10390699959714 + ], + [ + 0.19498269952053135, + 0.9802442255808731, + -0.03321152063728712, + -3660.751017251942 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9807852783261096, + -0.00647924655240916, + 0.19498269952053135, + 768.0062883839116 + ], + [ + -0.1950903324585191, + -0.03257337025964252, + 0.9802442255808731, + 3581.880676435557 + ], + [ + -6.9388938502153445e-18, + -0.9994483452955643, + -0.03321152063728712, + 3.4557858044594822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76800.62883839116, + -358188.0676435557, + 345.5785804459482 + ], + "rotation_deg": [ + 3.977887772366734e-16, + -1.9032299518585207, + -78.74999999999997 + ] + } + } + ] + }, + { + "frame": 80, + "time": 766.9421699605882, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.00974517538341704, + 0.999952514650944, + 1.0842021641899133e-19, + -3594.8990493934334 + ], + [ + 0.11030606198585209, + 0.0010750029667973148, + -0.9938970857477116, + -86.45137052496571 + ], + [ + -0.9938498903381986, + -0.009685677301524318, + -0.11031130100747358, + 818.8124939139329 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.00974517538341704, + 0.11030606198585209, + -0.9938498903381986, + 788.2799819047483 + ], + [ + 0.999952514650944, + 0.0010750029667973148, + -0.009685677301524318, + 3602.7520540071787 + ], + [ + 1.0842021641899133e-19, + -0.9938970857477116, + -0.11031130100747358, + 4.400515134450107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 78827.99819047483, + -360275.20540071785, + 440.05151344501064 + ], + "rotation_deg": [ + -6.2501650843965045e-18, + -6.333261013031005, + 179.44163513183594 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.43513957194000663, + 0.9003630117524083, + -4.163336315628551e-17, + -3579.722676585891 + ], + [ + 0.3529295004020884, + -0.17056852594495134, + -0.9199712743900748, + 344.57508048951127 + ], + [ + -0.8283081145803681, + 0.40031588873396284, + -0.3919857861548719, + -795.1956681335907 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.43513957194000663, + 0.3529295004020884, + -0.8283081145803681, + 777.4012055505304 + ], + [ + 0.9003630117524083, + -0.17056852594495134, + 0.40031588873396284, + 3600.1530565633184 + ], + [ + -4.163336315628551e-17, + -0.9199712743900748, + -0.3919857861548719, + 5.293751748339918 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77740.12055505304, + -360015.3056563318, + 529.3751748339919 + ], + "rotation_deg": [ + 2.592924453918865e-15, + -23.078117370605476, + -154.20582580566406 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8784825701246688, + 0.4777743965379015, + -3.4694469252115677e-18, + -2399.511900164149 + ], + [ + 0.03362525312498499, + -0.06182666756607172, + -0.9975203283793042, + 199.52868767807766 + ], + [ + -0.476589686951525, + 0.8763042141544174, + -0.07037893539018925, + -2778.879371925669 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8784825701246688, + 0.03362525312498499, + -0.476589686951525, + 776.8349491718394 + ], + [ + 0.4777743965379015, + -0.06182666756607172, + 0.8763042141544174, + 3593.905303204733 + ], + [ + -3.4694469252115677e-18, + -0.9975203283793042, + -0.07037893539018925, + 3.4593490848862634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77683.49491718394, + -359390.5303204733, + 345.9349084886263 + ], + "rotation_deg": [ + 1.9927881361785643e-16, + -4.035752296447754, + -118.54014587402344 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9807852783261096, + -0.1950903324585191, + -6.9388938502153445e-18, + -54.32721382389684 + ], + [ + -0.00647924655240916, + -0.03257337025964252, + -0.9994483452955643, + 125.10322776930639 + ], + [ + 0.19498269952053135, + 0.9802442255808731, + -0.03321152063728712, + -3660.7305768886035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9807852783261096, + -0.00647924655240916, + 0.19498269952053135, + 767.8730746180538 + ], + [ + -0.1950903324585191, + -0.03257337025964252, + 0.9802442255808731, + 3581.8863219840814 + ], + [ + -6.9388938502153445e-18, + -0.9994483452955643, + -0.03321152063728712, + 3.4557858044594822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76787.30746180538, + -358188.63219840813, + 345.5785804459482 + ], + "rotation_deg": [ + 3.977887772366734e-16, + -1.9032299518585207, + -78.74999999999997 + ] + } + } + ] + }, + { + "frame": 81, + "time": 767.0088366307318, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.012480870952632544, + 0.9999221108967757, + -1.0842021641948499e-19, + -3592.644098070116 + ], + [ + 0.11289222765208544, + 0.0014091030786560405, + -0.99360623959608, + -89.67995148234172 + ], + [ + -0.993528848698769, + -0.012401047170504725, + -0.11290102228223398, + 828.2216010737554 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.012480870952632544, + 0.11289222765208544, + -0.993528848698769, + 788.1469817914324 + ], + [ + 0.9999221108967757, + 0.0014091030786560405, + -0.012401047170504725, + 3602.761474701957 + ], + [ + -1.0842021641948499e-19, + -0.99360623959608, + -0.11290102228223398, + 4.400515134450107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 78814.69817914323, + -360276.1474701957, + 440.05151344501064 + ], + "rotation_deg": [ + 6.251994618489289e-18, + -6.482573986053469, + 179.28488159179688 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.43383782549375305, + 0.9009909772971377, + 2.7755575437414792e-17, + -3580.9308890257425 + ], + [ + 0.3527098249238802, + -0.16983395764327885, + -0.9201913965221508, + 342.147323115227 + ], + [ + -0.8290841528814432, + 0.399213816681563, + -0.3914687676065596, + -790.729184364104 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.43383782549375305, + 0.3527098249238802, + -0.8290841528814432, + 777.2834595711787 + ], + [ + 0.9009909772971377, + -0.16983395764327885, + 0.399213816681563, + 3600.164712929612 + ], + [ + 2.7755575437414792e-17, + -0.9201913965221508, + -0.3914687676065596, + 5.295218702007492 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77728.34595711787, + -360016.4712929612, + 529.5218702007493 + ], + "rotation_deg": [ + -1.7282027943861913e-15, + -23.045921325683608, + -154.28863525390625 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8778895338342739, + 0.47886320216136974, + 6.93889385042484e-18, + -2402.864510796039 + ], + [ + 0.03380891886409684, + -0.0619811584750688, + -0.9975045328214449, + 199.94852291090143 + ], + [ + -0.47766822878172, + 0.8756987816222914, + -0.07060245801506378, + -2775.9286766484147 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8778895338342739, + 0.03380891886409684, + -0.47766822878172, + 776.7166481809296 + ], + [ + 0.47886320216136974, + -0.0619811584750688, + 0.8756987816222914, + 3593.913850208967 + ], + [ + 6.93889385042484e-18, + -0.9975045328214449, + -0.07060245801506378, + 3.462168882911018 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77671.66481809296, + -359391.3850208967, + 346.21688829110184 + ], + "rotation_deg": [ + -3.985639384252381e-16, + -4.048591136932373, + -118.61118316650392 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9807852783261096, + -0.1950903324585191, + -6.9388938502153445e-18, + -54.194931384264464 + ], + [ + -0.00647924655240916, + -0.03257337025964252, + -0.9994483452955643, + 125.10267289255985 + ], + [ + 0.19498269952053135, + 0.9802442255808731, + -0.03321152063728712, + -3660.7138787491303 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9807852783261096, + -0.00647924655240916, + 0.19498269952053135, + 767.7400745047379 + ], + [ + -0.1950903324585191, + -0.03257337025964252, + 0.9802442255808731, + 3581.89574267886 + ], + [ + -6.9388938502153445e-18, + -0.9994483452955643, + -0.03321152063728712, + 3.4557858044594822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76774.00745047379, + -358189.574267886, + 345.5785804459482 + ], + "rotation_deg": [ + 3.977887772366734e-16, + -1.9032299518585207, + -78.74999999999997 + ] + } + } + ] + }, + { + "frame": 82, + "time": 767.0755033008754, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.01520795197378737, + 0.9998843524111992, + -0.0, + -3590.3740079133786 + ], + [ + 0.11546853589829727, + 0.001756243053699356, + -0.9933095855914407, + -92.94713293807183 + ], + [ + -0.9931947119952528, + -0.015106180417895774, + -0.11548189199112024, + 837.5839911300156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.01520795197378737, + 0.11546853589829727, + -0.9931947119952528, + 788.0143103638666 + ], + [ + 0.9998843524111992, + 0.001756243053699356, + -0.015106180417895774, + 3602.7747439121754 + ], + [ + -0.0, + -0.9933095855914407, + -0.11548189199112024, + 4.400515134450107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 78801.43103638665, + -360277.4743912175, + 440.05151344501064 + ], + "rotation_deg": [ + 0.0, + -6.631420612335205, + 179.1286163330078 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.4325409355650336, + 0.9016142961713313, + -1.3877787718653182e-17, + -3582.130080188044 + ], + [ + 0.35248870467782695, + -0.16910312396874577, + -0.9204106944937994, + 339.7345962432169 + ], + [ + -0.8298554477168677, + 0.39811528505441585, + -0.3909528816886729, + -786.2805451761425 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.4325409355650336, + 0.35248870467782695, + -0.8298554477168677, + 777.1660422775772 + ], + [ + 0.9016142961713313, + -0.16910312396874577, + 0.39811528505441585, + 3600.1802178113453 + ], + [ + -1.3877787718653182e-17, + -0.9204106944937994, + -0.3909528816886729, + 5.296685655675066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77716.60422775772, + -360018.02178113454, + 529.6685655675067 + ], + "rotation_deg": [ + 8.638955155275054e-16, + -23.013803482055668, + -154.37107849121094 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8772961067000125, + 0.47994951939657143, + -1.7347234626066366e-17, + -2406.210169198383 + ], + [ + 0.03399267426860831, + -0.06213495292101925, + -0.997488719596152, + 200.3660593762487 + ], + [ + -0.47874424559655293, + 0.8750929624629449, + -0.0708255205135428, + -2772.982008407677 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8772961067000125, + 0.03399267426860831, + -0.47874424559655293, + 776.59867587577 + ], + [ + 0.47994951939657143, + -0.06213495292101925, + 0.8750929624629449, + 3593.92624572864 + ], + [ + -1.7347234626066366e-17, + -0.997488719596152, + -0.0708255205135428, + 3.4649886809357735 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77659.867587577, + -359392.624572864, + 346.49886809357736 + ], + "rotation_deg": [ + 9.964256421852115e-16, + -4.061403751373289, + -118.68210601806642 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9807852783261096, + -0.1950903324585191, + -6.9388938502153445e-18, + -54.06222050662063 + ], + [ + -0.00647924655240916, + -0.03257337025964252, + -0.9994483452955643, + 125.10224550456766 + ], + [ + 0.19498269952053135, + 0.9802442255808731, + -0.03321152063728712, + -3660.7010171827287 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9807852783261096, + -0.00647924655240916, + 0.19498269952053135, + 767.6074030771721 + ], + [ + -0.1950903324585191, + -0.03257337025964252, + 0.9802442255808731, + 3581.909011889078 + ], + [ + -6.9388938502153445e-18, + -0.9994483452955643, + -0.03321152063728712, + 3.4557858044594822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76760.7403077172, + -358190.9011889078, + 345.5785804459482 + ], + "rotation_deg": [ + 3.977887772366734e-16, + -1.9032299518585207, + -78.74999999999997 + ] + } + } + ] + }, + { + "frame": 83, + "time": 767.142169971019, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.01792480148692109, + 0.9998393378396624, + -4.3368086568200883e-19, + -3588.0904517600534 + ], + [ + 0.11803314747822288, + 0.002116060708308428, + -0.9930074009711419, + -96.25018490732755 + ], + [ + -0.9928478625793745, + -0.01779943651150266, + -0.11805211489609124, + 846.8942023015234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.01792480148692109, + 0.11803314747822288, + -0.9928478625793745, + 787.8820872030086 + ], + [ + 0.9998393378396624, + 0.002116060708308428, + -0.01779943651150266, + 3602.7919141004345 + ], + [ + -4.3368086568200883e-19, + -0.9930074009711419, + -0.11805211489609124, + 4.400515134450107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 78788.20872030086, + -360279.19141004345, + 440.05151344501064 + ], + "rotation_deg": [ + 2.502305967441982e-17, + -6.779697895050048, + 178.97293090820312 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.43124843623263776, + 0.902233221648873, + -0.0, + -3583.320902759233 + ], + [ + 0.35226627646855474, + -0.168375844758773, + -0.9206291573509656, + 337.336103040738 + ], + [ + -0.8306222177766862, + 0.39701986658954874, + -0.3904381601085575, + -781.8479487840843 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.43124843623263776, + 0.35226627646855474, + -0.8306222177766862, + 777.0490732506835 + ], + [ + 0.902233221648873, + -0.168375844758773, + 0.39701986658954874, + 3600.1996236711207 + ], + [ + -0.0, + -0.9206291573509656, + -0.3904381601085575, + 5.298152609342642 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77704.90732506834, + -360019.96236711205, + 529.8152609342642 + ], + "rotation_deg": [ + 0.0, + -22.981765747070323, + -154.45318603515625 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8767021680335332, + 0.48103358361480575, + -0.0, + -2409.5497696458006 + ], + [ + 0.03417652890833342, + -0.06228803561829816, + -0.9974728896018134, + 200.78123549186245 + ], + [ + -0.4798179726651387, + 0.874486637130628, + -0.0710481145948394, + -2770.038734450745 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8767021680335332, + 0.03417652890833342, + -0.4798179726651387, + 776.4811518373182 + ], + [ + 0.48103358361480575, + -0.06228803561829816, + 0.874486637130628, + 3593.942542226354 + ], + [ + -0.0, + -0.9974728896018134, + -0.0710481145948394, + 3.4678084789605292 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77648.11518373182, + -359394.2542226354, + 346.78084789605293 + ], + "rotation_deg": [ + 0.0, + -4.07418966293335, + -118.75292968749997 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9807852783261096, + -0.1950903324585191, + -6.9388938502153445e-18, + -53.92918823926152 + ], + [ + -0.00647924655240916, + -0.03257337025964252, + -0.9994483452955643, + 125.10194808900812 + ], + [ + 0.19498269952053135, + 0.9802442255808731, + -0.03321152063728712, + -3660.6920669317783 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9807852783261096, + -0.00647924655240916, + 0.19498269952053135, + 767.4751799163141 + ], + [ + -0.1950903324585191, + -0.03257337025964252, + 0.9802442255808731, + 3581.926182077337 + ], + [ + -6.9388938502153445e-18, + -0.9994483452955643, + -0.03321152063728712, + 3.4557858044594822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76747.51799163141, + -358192.6182077337, + 345.5785804459482 + ], + "rotation_deg": [ + 3.977887772366734e-16, + -1.9032299518585207, + -78.74999999999997 + ] + } + } + ] + }, + { + "frame": 84, + "time": 767.2088366411626, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.020629004464095248, + 0.9997871994453722, + 2.1684043284204967e-19, + -3585.795829311012 + ], + [ + 0.12058426453729261, + 0.0024880627925816623, + -0.9926999771781703, + -99.58594052306627 + ], + [ + -0.9924887304546008, + -0.02047838826386084, + -0.12060993132710668, + 856.1439782618445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.020629004464095248, + 0.12058426453729261, + -0.9924887304546008, + 787.7504344742542 + ], + [ + 0.9997871994453722, + 0.0024880627925816623, + -0.02047838826386084, + 3602.8130171486437 + ], + [ + 2.1684043284204967e-19, + -0.9926999771781703, + -0.12060993132710668, + 4.400515134450107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 78775.04344742543, + -360281.3017148644, + 440.05151344501064 + ], + "rotation_deg": [ + -1.2515404464092901e-17, + -6.927304744720458, + 178.81796264648438 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.4299605814725889, + 0.902847660671363, + -2.7755575437090866e-17, + -3584.503304050001 + ], + [ + 0.3520424862525802, + -0.1676521950332793, + -0.9208468001647313, + 334.9521095340011 + ], + [ + -0.8313843865452638, + 0.39592780775564235, + -0.38992457328894525, + -777.4322379284703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.4299605814725889, + 0.3520424862525802, + -0.8313843865452638, + 776.9326746558934 + ], + [ + 0.902847660671363, + -0.1676521950332793, + 0.39592780775564235, + 3600.222962390845 + ], + [ + -2.7755575437090866e-17, + -0.9208468001647313, + -0.38992457328894525, + 5.299619563010216 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77693.26746558934, + -360022.2962390845, + 529.9619563010216 + ], + "rotation_deg": [ + 1.7269727630444787e-15, + -22.949806213378913, + -154.53494262695312 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8761079169646444, + 0.4821150462616483, + -3.469446925214983e-18, + -2412.882348402932 + ], + [ + 0.034360454919133414, + -0.062440421261654874, + -0.9974570431504391, + 201.19412504130244 + ], + [ + -0.480889062522297, + 0.8738800045763048, + -0.07127024027000142, + -2767.099799304556 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8761079169646444, + 0.034360454919133414, + -0.480889062522297, + 776.36419823097 + ], + [ + 0.4821150462616483, + -0.062440421261654874, + 0.8738800045763048, + 3593.9627715840184 + ], + [ + -3.469446925214983e-18, + -0.9974570431504391, + -0.07127024027000142, + 3.470628276985284 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77636.419823097, + -359396.27715840185, + 347.0628276985284 + ], + "rotation_deg": [ + 1.9929145717540113e-16, + -4.086948871612549, + -118.82363128662112 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9807852783261096, + -0.1950903324585191, + -6.9388938502153445e-18, + -53.795948180356845 + ], + [ + -0.00647924655240916, + -0.03257337025964252, + -0.9994483452955643, + 125.10178247592216 + ], + [ + 0.19498269952053135, + 0.9802442255808731, + -0.03321152063728712, + -3660.687083068476 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9807852783261096, + -0.00647924655240916, + 0.19498269952053135, + 767.3435271875599 + ], + [ + -0.1950903324585191, + -0.03257337025964252, + 0.9802442255808731, + 3581.947285125547 + ], + [ + -6.9388938502153445e-18, + -0.9994483452955643, + -0.03321152063728712, + 3.4557858044594822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76734.35271875598, + -358194.72851255466, + 345.5785804459482 + ], + "rotation_deg": [ + 3.977887772366734e-16, + -1.9032299518585207, + -78.74999999999997 + ] + } + } + ] + }, + { + "frame": 85, + "time": 767.2755033113062, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.023318679374286364, + 0.9997280826265907, + -0.0, + -3583.4921445566115 + ], + [ + 0.12312010389488084, + 0.002871779113887212, + -0.9923876223037218, + -102.95132994120844 + ], + [ + -0.9921177753092878, + -0.023141144811883813, + -0.12315359244514673, + 865.3270179301712 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.023318679374286364, + 0.12312010389488084, + -0.9921177753092878, + 787.6194749632989 + ], + [ + 0.9997280826265907, + 0.002871779113887212, + -0.023141144811883813, + 3602.8380648256307 + ], + [ + -0.0, + -0.9923876223037218, + -0.12315359244514673, + 4.400515134450107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 78761.94749632989, + -360283.8064825631, + 440.05151344501064 + ], + "rotation_deg": [ + 0.0, + -7.074140548706056, + 178.663818359375 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.4286773851979755, + 0.903457635653065, + -0.0, + -3585.6774419429335 + ], + [ + 0.35181735271206444, + -0.16693216912031975, + -0.9210636249703164, + 332.5825311870536 + ], + [ + -0.8321419720653641, + 0.39483912844085234, + -0.3894121222807976, + -773.03335709625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.4286773851979755, + 0.35181735271206444, + -0.8321419720653641, + 776.8169692789022 + ], + [ + 0.903457635653065, + -0.16693216912031975, + 0.39483912844085234, + 3600.250245739348 + ], + [ + -0.0, + -0.9210636249703164, + -0.3894121222807976, + 5.30108651667779 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77681.69692789023, + -360025.0245739348, + 530.108651667779 + ], + "rotation_deg": [ + 0.0, + -22.917924880981456, + -154.61634826660156 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.875513168286923, + 0.48319425923348225, + -0.0, + -2416.209151296333 + ], + [ + 0.034544478221848286, + -0.06259210451466657, + -0.9974411799584, + 201.60468668440367 + ], + [ + -0.4819578660972066, + 0.8732728798633235, + -0.07149190585125217, + -2764.164207041858 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.875513168286923, + 0.034544478221848286, + -0.4819578660972066, + 776.2479378424208 + ], + [ + 0.48319425923348225, + -0.06259210451466657, + 0.8732728798633235, + 3593.986945570461 + ], + [ + -0.0, + -0.9974411799584, + -0.07149190585125217, + 3.47344807501004 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77624.79378424208, + -359398.6945570461, + 347.34480750100397 + ], + "rotation_deg": [ + 0.0, + -4.099681854248047, + -118.89423370361328 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9807852783261096, + -0.1950903324585191, + -6.9388938502153445e-18, + -53.6626184603241 + ], + [ + -0.00647924655240916, + -0.03257337025964252, + -0.9994483452955643, + 125.10174984421894 + ], + [ + 0.19498269952053135, + 0.9802442255808731, + -0.03321152063728712, + -3660.6861010702332 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9807852783261096, + -0.00647924655240916, + 0.19498269952053135, + 767.2125676766044 + ], + [ + -0.1950903324585191, + -0.03257337025964252, + 0.9802442255808731, + 3581.972332802534 + ], + [ + -6.9388938502153445e-18, + -0.9994483452955643, + -0.03321152063728712, + 3.4557858044594822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76721.25676766044, + -358197.23328025336, + 345.5785804459482 + ], + "rotation_deg": [ + 3.977887772366734e-16, + -1.9032299518585207, + -78.74999999999997 + ] + } + } + ] + }, + { + "frame": 86, + "time": 767.3421699814498, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.025992478169068755, + 0.9996621384641066, + -2.168404328441909e-19, + -3581.1809799536245 + ], + [ + 0.12563886343256025, + 0.0032667691305933045, + -0.9920706649300851, + -106.34337728673803 + ], + [ + -0.9917354829112169, + -0.025786351162081143, + -0.1256813272869182, + 874.438968619135 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.025992478169068755, + 0.12563886343256025, + -0.9917354829112169, + 787.4893301370844 + ], + [ + 0.9996621384641066, + 0.0032667691305933045, + -0.025786351162081143, + 3602.8670493705076 + ], + [ + -2.168404328441909e-19, + -0.9920706649300851, + -0.1256813272869182, + 4.400515134450107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 78748.93301370843, + -360286.70493705076, + 440.05151344501064 + ], + "rotation_deg": [ + 1.2523343512912808e-17, + -7.220103263854979, + 178.5105743408203 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.4273988612079869, + 0.9040631689423675, + -0.0, + -3586.84345508223 + ], + [ + 0.35159092215232124, + -0.16621577440740481, + -0.9212796208525547, + 330.22730635126453 + ], + [ + -0.8328949806574653, + 0.3937538428721822, + -0.388900838799544, + -768.6512324281268 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.4273988612079869, + 0.35159092215232124, + -0.8328949806574653, + 776.702078586652 + ], + [ + 0.9040631689423675, + -0.16621577440740481, + 0.3937538428721822, + 3600.28146595574 + ], + [ + -0.0, + -0.9212796208525547, + -0.388900838799544, + 5.302553470345364 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77670.20785866519, + -360028.146595574, + 530.2553470345364 + ], + "rotation_deg": [ + 0.0, + -22.88612365722657, + -154.69740295410156 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8749180574771761, + 0.4842709909754708, + -0.0, + -2419.5295653224316 + ], + [ + 0.03472857923056329, + -0.06274309559228931, + -0.9974253003308684, + 202.0129690260298 + ], + [ + -0.48302415263186327, + 0.8726653984402353, + -0.07171311134942739, + -2761.2325478847774 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8749180574771761, + 0.03472857923056329, + -0.48302415263186327, + 776.1324921386124 + ], + [ + 0.4842709909754708, + -0.06274309559228931, + 0.8726653984402353, + 3594.015056424793 + ], + [ + -0.0, + -0.9974253003308684, + -0.07171311134942739, + 3.4762678730347947 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77613.24921386124, + -359401.5056424793, + 347.6267873034795 + ], + "rotation_deg": [ + 0.0, + -4.112388610839845, + -118.96472167968753 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9807852783261096, + -0.1950903324585191, + -6.9388938502153445e-18, + -53.52931972622662 + ], + [ + -0.00647924655240916, + -0.03257337025964252, + -0.9994483452955643, + 125.10185072811446 + ], + [ + 0.19498269952053135, + 0.9802442255808731, + -0.03321152063728712, + -3660.6891370134354 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9807852783261096, + -0.00647924655240916, + 0.19498269952053135, + 767.0824228503899 + ], + [ + -0.1950903324585191, + -0.03257337025964252, + 0.9802442255808731, + 3582.0013173474103 + ], + [ + -6.9388938502153445e-18, + -0.9994483452955643, + -0.03321152063728712, + 3.4557858044594822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76708.24228503898, + -358200.13173474104, + 345.5785804459482 + ], + "rotation_deg": [ + 3.977887772366734e-16, + -1.9032299518585207, + -78.74999999999997 + ] + } + } + ] + }, + { + "frame": 87, + "time": 767.4088366515934, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.02864825517444326, + 0.9995895545049779, + -2.1684043284528477e-19, + -3578.864656552439 + ], + [ + 0.12813880883756104, + 0.0036724606382522703, + -0.9917494435100788, + -109.75868747207721 + ], + [ + -0.991342384976328, + -0.028411867217922705, + -0.12819142541776116, + 883.4726805862837 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.02864825517444326, + 0.12813880883756104, + -0.991342384976328, + 787.3601182538019 + ], + [ + 0.9995895545049779, + 0.0036724606382522703, + -0.028411867217922705, + 3602.8999441854603 + ], + [ + -2.1684043284528477e-19, + -0.9917494435100788, + -0.12819142541776116, + 4.400515134450107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 78736.01182538019, + -360289.99441854603, + 440.05151344501064 + ], + "rotation_deg": [ + 1.2527399745336678e-17, + -7.365094184875491, + 178.3583526611328 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.42612478226187095, + 0.9046643963052116, + -0.0, + -3588.0016841269885 + ], + [ + 0.3513632294479265, + -0.16550289837294765, + -0.9214948028188099, + 327.8859489378822 + ], + [ + -0.8336435466218154, + 0.39267175425044715, + -0.38839069323257114, + -764.2849262933531 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.42612478226187095, + 0.3513632294479265, + -0.8336435466218154, + 776.5881208373338 + ], + [ + 0.9046643963052116, + -0.16550289837294765, + 0.39267175425044715, + 3600.3165964422083 + ], + [ + -0.0, + -0.9214948028188099, + -0.38839069323257114, + 5.304020424012939 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77658.81208373338, + -360031.65964422084, + 530.4020424012939 + ], + "rotation_deg": [ + 0.0, + -22.85440063476563, + -154.7781219482422 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8743225272603715, + 0.4853453598470235, + -0.0, + -2422.844073089289 + ], + [ + 0.03491275930312311, + -0.06289338370755385, + -0.9974094051710444, + 202.41892774693298 + ], + [ + -0.48408804068253125, + 0.8720575040166653, + -0.07193384847463444, + -2758.304436429201 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8743225272603715, + 0.03491275930312311, + -0.48408804068253125, + 776.0179793777362 + ], + [ + 0.4853453598470235, + -0.06289338370755385, + 0.8720575040166653, + 3594.047077549201 + ], + [ + -0.0, + -0.9974094051710444, + -0.07193384847463444, + 3.47908767105955 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77601.79793777362, + -359404.70775492006, + 347.908767105955 + ], + "rotation_deg": [ + 0.0, + -4.125068664550781, + -119.0351028442383 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9807852783261096, + -0.1950903324585191, + -6.9388938502153445e-18, + -53.39617315293299 + ], + [ + -0.00647924655240916, + -0.03257337025964252, + -0.9994483452955643, + 125.10208502745223 + ], + [ + 0.19498269952053135, + 0.9802442255808731, + -0.03321152063728712, + -3660.6961878840316 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9807852783261096, + -0.00647924655240916, + 0.19498269952053135, + 766.9532109671075 + ], + [ + -0.1950903324585191, + -0.03257337025964252, + 0.9802442255808731, + 3582.034212162363 + ], + [ + -6.9388938502153445e-18, + -0.9994483452955643, + -0.03321152063728712, + 3.4557858044594822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76695.32109671074, + -358203.4212162363, + 345.5785804459482 + ], + "rotation_deg": [ + 3.977887772366734e-16, + -1.9032299518585207, + -78.74999999999997 + ] + } + } + ] + }, + { + "frame": 88, + "time": 767.475503321737, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.031284398414460096, + 0.9995105234142588, + -0.0, + -3576.5450735323557 + ], + [ + 0.1306181875348531, + 0.0040883125522845455, + -0.991424316216616, + -113.19396446167565 + ], + [ + -0.990939037841976, + -0.031016089426915583, + -0.13068215439562075, + 892.4229494743516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.031284398414460096, + 0.1306181875348531, + -0.990939037841976, + 787.231952574319 + ], + [ + 0.9995105234142588, + 0.0040883125522845455, + -0.031016089426915583, + 3602.9367047381606 + ], + [ + -0.0, + -0.991424316216616, + -0.13068215439562075, + 4.400515134450107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 78723.1952574319, + -360293.67047381605, + 440.05151344501064 + ], + "rotation_deg": [ + 0.0, + -7.509013175964356, + 178.20724487304688 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.4248551614561072, + 0.9052613389425755, + 1.3877787718332619e-17, + -3589.152224896936 + ], + [ + 0.3511343201802793, + -0.16479354842130972, + -0.9217091599795709, + 325.5583952566501 + ], + [ + -0.8343876753939786, + 0.39159287600078696, + -0.3878817173006026, + -759.9343547205408 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.4248551614561072, + 0.3511343201802793, + -0.8343876753939786, + 776.4752092918151 + ], + [ + 0.9052613389425755, + -0.16479354842130972, + 0.39159287600078696, + 3600.355592666424 + ], + [ + 1.3877787718332619e-17, + -0.9217091599795709, + -0.3878817173006026, + 5.305487377680513 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77647.52092918151, + -360035.5592666424, + 530.5487377680513 + ], + "rotation_deg": [ + -8.626784954768237e-16, + -22.822757720947273, + -154.85850524902344 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.873726649314058, + 0.4864172512138411, + -0.0, + -2426.152406357917 + ], + [ + 0.03509701113700374, + -0.06304298185384727, + -0.9973934941878377, + 202.82260963591727 + ], + [ + -0.48514941583472904, + 0.8714492678767521, + -0.07215412553897219, + -2755.380112897471 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.873726649314058, + 0.03509701113700374, + -0.48514941583472904, + 775.9045128206594 + ], + [ + 0.4864172512138411, + -0.06304298185384727, + 0.8714492678767521, + 3594.082964411356 + ], + [ + -0.0, + -0.9973934941878377, + -0.07215412553897219, + 3.4819074690843057 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77590.45128206594, + -359408.2964411356, + 348.1907469084306 + ], + "rotation_deg": [ + 0.0, + -4.137722492218018, + -119.10536956787112 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9807852783261096, + -0.1950903324585191, + -6.9388938502153445e-18, + -53.263298512861866 + ], + [ + -0.00647924655240916, + -0.03257337025964252, + -0.9994483452955643, + 125.10245202550936 + ], + [ + 0.19498269952053135, + 0.9802442255808731, + -0.03321152063728712, + -3660.7072321133737 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9807852783261096, + -0.00647924655240916, + 0.19498269952053135, + 766.8250452876246 + ], + [ + -0.1950903324585191, + -0.03257337025964252, + 0.9802442255808731, + 3582.0709727150634 + ], + [ + -6.9388938502153445e-18, + -0.9994483452955643, + -0.03321152063728712, + 3.4557858044594822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76682.50452876245, + -358207.0972715063, + 345.5785804459482 + ], + "rotation_deg": [ + 3.977887772366734e-16, + -1.9032299518585207, + -78.74999999999997 + ] + } + } + ] + }, + { + "frame": 89, + "time": 767.5421699918807, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.0338984986939235, + 0.9994252807420363, + -8.673617313900517e-19, + -3574.2250315555843 + ], + [ + 0.13307529166960164, + 0.004513646680526422, + -0.9910956531741492, + -116.64546097723941 + ], + [ + -0.9905260520868995, + -0.033596630854788125, + -0.13315181760812816, + 901.281831374475 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.0338984986939235, + 0.13307529166960164, + -0.9905260520868995, + 787.1049844104606 + ], + [ + 0.9994252807420363, + 0.004513646680526422, + -0.033596630854788125, + 3602.977409344762 + ], + [ + -8.673617313900517e-19, + -0.9910956531741492, + -0.13315181760812816, + 4.400515134450107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 78710.49844104606, + -360297.7409344762, + 440.05151344501064 + ], + "rotation_deg": [ + 5.0142654491132315e-17, + -7.651762008666992, + 178.05738830566406 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.4235902530255998, + 0.9058539051865416, + -1.3877787718279974e-17, + -3590.2950806935432 + ], + [ + 0.35090414063081504, + -0.1640877992207015, + -0.921922707299834, + 323.2449081709648 + ], + [ + -0.8351272917868567, + 0.3905174548556326, + -0.3873738813676381, + -755.600352813614 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.4235902530255998, + 0.35090414063081504, + -0.8351272917868567, + 776.3634952619209 + ], + [ + 0.9058539051865416, + -0.1640877992207015, + 0.3905174548556326, + 3600.3985329445404 + ], + [ + -1.3877787718279974e-17, + -0.921922707299834, + -0.3873738813676381, + 5.306954331348087 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77636.34952619209, + -360039.85329445405, + 530.6954331348087 + ], + "rotation_deg": [ + 8.6247867104196e-16, + -22.791193008422848, + -154.93853759765625 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8731303660445591, + 0.48748678329867995, + -0.0, + -2429.4551260600892 + ], + [ + 0.035281340177247274, + -0.06319188646521391, + -0.9973775676845077, + 203.22399837043608 + ], + [ + -0.4862083962163909, + 0.8708406328875227, + -0.07237394255354539, + -2752.459263662348 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8731303660445591, + 0.035281340177247274, + -0.4862083962163909, + 775.7922437792072 + ], + [ + 0.48748678329867995, + -0.06319188646521391, + 0.8708406328875227, + 3594.1227953274124 + ], + [ + -0.0, + -0.9973775676845077, + -0.07237394255354539, + 3.484727267109061 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77579.22437792072, + -359412.27953274123, + 348.4727267109061 + ], + "rotation_deg": [ + 0.0, + -4.150350093841554, + -119.17552947998051 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9807852783261096, + -0.1950903324585191, + -6.9388938502153445e-18, + -53.13082893169894 + ], + [ + -0.00647924655240916, + -0.03257337025964252, + -0.9994483452955643, + 125.10295525369352 + ], + [ + 0.19498269952053135, + 0.9802442255808731, + -0.03321152063728712, + -3660.722375973607 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9807852783261096, + -0.00647924655240916, + 0.19498269952053135, + 766.6980771237661 + ], + [ + -0.1950903324585191, + -0.03257337025964252, + 0.9802442255808731, + 3582.111677321665 + ], + [ + -6.9388938502153445e-18, + -0.9994483452955643, + -0.03321152063728712, + 3.4557858044594822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76669.80771237661, + -358211.1677321665, + 345.5785804459482 + ], + "rotation_deg": [ + 3.977887772366734e-16, + -1.9032299518585207, + -78.74999999999997 + ] + } + } + ] + }, + { + "frame": 90, + "time": 767.6088366620243, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.03648947915803579, + 0.9993340372021636, + -4.3368086569728945e-19, + -3571.90634780821 + ], + [ + 0.13550842477864206, + 0.0049479269769916075, + -0.9907638390820696, + -120.10996336369787 + ], + [ + -0.9901040279506043, + -0.03615243263633158, + -0.13559872953116026, + 910.0462324810603 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.03648947915803579, + 0.13550842477864206, + -0.9901040279506043, + 786.9794338473746 + ], + [ + 0.9993340372021636, + 0.0049479269769916075, + -0.03615243263633158, + 3603.0222962664748 + ], + [ + -4.3368086569728945e-19, + -0.9907638390820696, + -0.13559872953116026, + 4.400515134450107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 78697.94338473746, + -360302.2296266475, + 440.05151344501064 + ], + "rotation_deg": [ + 2.5079723817472354e-17, + -7.793242931365969, + 177.90884399414065 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.4223295875269653, + 0.9064423420710789, + -1.3877787718227548e-17, + -3591.43108578484 + ], + [ + 0.35067282382067, + -0.1633854710523733, + -0.9221354339155562, + 320.9446915590481 + ], + [ + -0.8358626095082391, + 0.3894450594284542, + -0.3868672171596411, + -751.2810937042797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.4223295875269653, + 0.35067282382067, + -0.8358626095082391, + 776.2531988327993 + ], + [ + 0.9064423420710789, + -0.1633854710523733, + 0.3894450594284542, + 3600.445655537769 + ], + [ + -1.3877787718227548e-17, + -0.9221354339155562, + -0.3868672171596411, + 5.308421285015661 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77625.31988327992, + -360044.5655537769, + 530.8421285015661 + ], + "rotation_deg": [ + 8.622797065893655e-16, + -22.759708404541023, + -155.01824951171875 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8725337493823668, + 0.48855384164772353, + -0.0, + -2432.752195427303 + ], + [ + 0.035465735088797, + -0.06334010332876074, + -0.9973616259636787, + 203.623131872422 + ], + [ + -0.4872648678864499, + 0.8702316711008709, + -0.07259329952954684, + -2749.542324318685 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8725337493823668, + 0.035465735088797, + -0.4872648678864499, + 775.6813923385274 + ], + [ + 0.48855384164772353, + -0.06334010332876074, + 0.8702316711008709, + 3594.1668085585807 + ], + [ + -0.0, + -0.9973616259636787, + -0.07259329952954684, + 3.4875470651338163 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77568.13923385274, + -359416.6808558581, + 348.7547065133816 + ], + "rotation_deg": [ + 0.0, + -4.162951469421387, + -119.24557495117186 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9807852783261096, + -0.1950903324585191, + -6.9388938502153445e-18, + -52.998933783258735 + ], + [ + -0.00647924655240916, + -0.03257337025964252, + -0.9994483452955643, + 125.10360389896125 + ], + [ + 0.19498269952053135, + 0.9802442255808731, + -0.03321152063728712, + -3660.7418959317033 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9807852783261096, + -0.00647924655240916, + 0.19498269952053135, + 766.5725265606801 + ], + [ + -0.1950903324585191, + -0.03257337025964252, + 0.9802442255808731, + 3582.1565642433775 + ], + [ + -6.9388938502153445e-18, + -0.9994483452955643, + -0.03321152063728712, + 3.4557858044594822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76657.25265606801, + -358215.65642433777, + 345.5785804459482 + ], + "rotation_deg": [ + 3.977887772366734e-16, + -1.9032299518585207, + -78.74999999999997 + ] + } + } + ] + }, + { + "frame": 91, + "time": 767.6755033321679, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.03905493364254662, + 0.999237065044215, + -0.0, + -3569.592145375303 + ], + [ + 0.13791591348342885, + 0.005390409381089339, + -0.9904292727371982, + -123.58353688537592 + ], + [ + -0.9896736404055035, + -0.03868112573346356, + -0.1380212157550794, + 918.7084480505166 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.03905493364254662, + 0.13791591348342885, + -0.9896736404055035, + 786.8555697696085 + ], + [ + 0.999237065044215, + 0.005390409381089339, + -0.03868112573346356, + 3603.0716467464244 + ], + [ + -0.0, + -0.9904292727371982, + -0.1380212157550794, + 4.400515134450107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 78685.55697696084, + -360307.16467464244, + 440.05151344501064 + ], + "rotation_deg": [ + 0.0, + -7.933358669281008, + 177.76174926757812 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.42107366038462646, + 0.9070264453312769, + -2.7755575436350686e-17, + -3592.5602575856637 + ], + [ + 0.35044027227305596, + -0.16268673195995567, + -0.9223473547494867, + 318.65836999870174 + ], + [ + -0.836593449606193, + 0.3883761587678894, + -0.38636169501738804, + -746.9782719495686 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.42107366038462646, + 0.35044027227305596, + -0.836593449606193, + 776.1445888889972 + ], + [ + 0.9070264453312769, + -0.16268673195995567, + 0.3883761587678894, + 3600.4972416892338 + ], + [ + -2.7755575436350686e-17, + -0.9223473547494867, + -0.38636169501738804, + 5.309888238683235 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77614.45888889972, + -360049.7241689234, + 530.9888238683235 + ], + "rotation_deg": [ + 1.7241631740903834e-15, + -22.728302001953132, + -155.0976104736328 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8719366762197913, + 0.4896186604519713, + -0.0, + -2436.0447435009396 + ], + [ + 0.035650205764603475, + -0.06348761685726076, + -0.9973456699333121, + 204.01995572461118 + ], + [ + -0.488319064928431, + 0.869622260570737, + -0.07281218817796886, + -2746.6287753131523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8719366762197913, + 0.035650205764603475, + -0.488319064928431, + 775.5722273831674 + ], + [ + 0.4896186604519713, + -0.06348761685726076, + 0.869622260570737, + 3594.215285347985 + ], + [ + -0.0, + -0.9973456699333121, + -0.07281218817796886, + 3.490366863158572 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77557.22273831673, + -359421.52853479853, + 349.0366863158572 + ], + "rotation_deg": [ + 0.0, + -4.175526142120361, + -119.31552124023438 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9807852783261096, + -0.1950903324585191, + -6.9388938502153445e-18, + -52.86782191773182 + ], + [ + -0.00647924655240916, + -0.03257337025964252, + -0.9994483452955643, + 125.10440886451832 + ], + [ + 0.19498269952053135, + 0.9802442255808731, + -0.03321152063728712, + -3660.766120102447 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9807852783261096, + -0.00647924655240916, + 0.19498269952053135, + 766.448662482914 + ], + [ + -0.1950903324585191, + -0.03257337025964252, + 0.9802442255808731, + 3582.205914723327 + ], + [ + -6.9388938502153445e-18, + -0.9994483452955643, + -0.03321152063728712, + 3.4557858044594822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76644.8662482914, + -358220.5914723327, + 345.5785804459482 + ], + "rotation_deg": [ + 3.977887772366734e-16, + -1.9032299518585207, + -78.74999999999997 + ] + } + } + ] + }, + { + "frame": 92, + "time": 767.7421700023115, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.04159352216819411, + 0.9991346150112326, + -0.0, + -3567.279687912165 + ], + [ + 0.14029610486002927, + 0.005840463396958087, + -0.9900923653621475, + -127.06235620953522 + ], + [ + -0.9892355551274757, + -0.04118140498573252, + -0.14041762124119522, + 927.2623468800265 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.04159352216819411, + 0.14029610486002927, + -0.9892355551274757, + 786.7315925997017 + ], + [ + 0.9991346150112326, + 0.005840463396958087, + -0.04118140498573252, + 3603.1207124266302 + ], + [ + -0.0, + -0.9900923653621475, + -0.14041762124119522, + 4.400515134450107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 78673.15925997017, + -360312.071242663, + 440.05151344501064 + ], + "rotation_deg": [ + 0.0, + -8.072012901306154, + 177.61618041992188 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.4198222430313773, + 0.9076063487306063, + -0.0, + -3593.677834451932 + ], + [ + 0.35020654710048704, + -0.16199148268809613, + -0.9225584718078668, + 316.38539170061745 + ], + [ + -0.8373199331390802, + 0.38731054889806654, + -0.38585731596050443, + -742.6907079710849 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.4198222430313773, + 0.35020654710048704, + -0.8373199331390802, + 776.0358658530548 + ], + [ + 0.9076063487306063, + -0.16199148268809613, + 0.38731054889806654, + 3600.5485430409553 + ], + [ + -0.0, + -0.9225584718078668, + -0.38585731596050443, + 5.31135519235081 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77603.58658530549, + -360054.85430409556, + 531.135519235081 + ], + "rotation_deg": [ + 0.0, + -22.696973800659187, + -155.1766357421875 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.871339348990858, + 0.490680893147662, + -1.3877787700887432e-17, + -2439.327794708728 + ], + [ + 0.03583473207944794, + -0.06363445684845855, + -0.9973296986846404, + 204.41435592389803 + ], + [ + -0.48937064131958086, + 0.8690126024462334, + -0.07303062511088755, + -2743.7163478771718 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.871339348990858, + 0.03583473207944794, + -0.48937064131958086, + 775.4629493356667 + ], + [ + 0.490680893147662, + -0.06363445684845855, + 0.8690126024462334, + 3594.2634773376462 + ], + [ + -1.3877787700887432e-17, + -0.9973296986846404, + -0.07303062511088755, + 3.4931866611833264 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77546.29493356668, + -359426.3477337646, + 349.31866611833266 + ], + "rotation_deg": [ + 7.972676151603037e-16, + -4.18807506561279, + -119.38534545898445 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9807852783261096, + -0.1950903324585191, + -6.9388938502153445e-18, + -52.7366546947751 + ], + [ + -0.00647924655240916, + -0.03257337025964252, + -0.9994483452955643, + 125.105203820436 + ], + [ + 0.19498269952053135, + 0.9802442255808731, + -0.03321152063728712, + -3660.7900430488758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9807852783261096, + -0.00647924655240916, + 0.19498269952053135, + 766.3246853130072 + ], + [ + -0.1950903324585191, + -0.03257337025964252, + 0.9802442255808731, + 3582.254980403533 + ], + [ + -6.9388938502153445e-18, + -0.9994483452955643, + -0.03321152063728712, + 3.4557858044594822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76632.46853130072, + -358225.4980403533, + 345.5785804459482 + ], + "rotation_deg": [ + 3.977887772366734e-16, + -1.9032299518585207, + -78.74999999999997 + ] + } + } + ] + }, + { + "frame": 93, + "time": 767.8088366724551, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.04410337413234088, + 0.9990269728041093, + 4.336808657041892e-19, + -3564.9729919810784 + ], + [ + 0.1426473907118353, + 0.006297358742885388, + -0.9897535376021486, + -130.54263189438325 + ], + [ + -0.9887904813818941, + -0.04365144683547213, + -0.14278632678842926, + 935.7025899010811 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.04410337413234088, + 0.1426473907118353, + -0.9887904813818941, + 786.6081255024012 + ], + [ + 0.9990269728041093, + 0.006297358742885388, + -0.04365144683547213, + 3603.1710478566606 + ], + [ + 4.336808657041892e-19, + -0.9897535376021486, + -0.14278632678842926, + 4.400515134450107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 78660.81255024012, + -360317.10478566604, + 440.05151344501064 + ], + "rotation_deg": [ + -2.5105324213451252e-17, + -8.209111213684084, + 177.4722442626953 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.4185751061772419, + 0.9081821846351702, + -0.0, + -3594.7857855359366 + ], + [ + 0.34997173647441937, + -0.16129963704656983, + -0.9227687742645632, + 314.12541117989196 + ], + [ + -0.8380421683597807, + 0.3862480195796555, + -0.3853541117227509, + -738.4176390570072 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.4185751061772419, + 0.34997173647441937, + -0.8380421683597807, + 775.9276528897186 + ], + [ + 0.9081821846351702, + -0.16129963704656983, + 0.3862480195796555, + 3600.601114142501 + ], + [ + -0.0, + -0.9227687742645632, + -0.3853541117227509, + 5.312822146018384 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77592.76528897186, + -360060.1114142501, + 531.2822146018384 + ], + "rotation_deg": [ + 0.0, + -22.66572570800782, + -155.2553405761719 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8707415789343258, + 0.4917408898138909, + -0.0, + -2442.603767042781 + ], + [ + 0.03601932838446724, + -0.0637805956741062, + -0.9973137137321375, + 204.80629860584773 + ], + [ + -0.4904199470187234, + 0.868402509831337, + -0.07324859373931322, + -2740.8051433132946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8707415789343258, + 0.03601932838446724, + -0.4904199470187234, + 775.3541813607725 + ], + [ + 0.4917408898138909, + -0.0637805956741062, + 0.868402509831337, + 3594.3129390771314 + ], + [ + -0.0, + -0.9973137137321375, + -0.07324859373931322, + 3.496006459208082 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77535.41813607725, + -359431.29390771315, + 349.60064592080823 + ], + "rotation_deg": [ + 0.0, + -4.200597286224366, + -119.45507049560548 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9807852783261096, + -0.1950903324585191, + -6.9388938502153445e-18, + -52.60574002760609 + ], + [ + -0.00647924655240916, + -0.03257337025964252, + -0.9994483452955643, + 125.10604344127104 + ], + [ + 0.19498269952053135, + 0.9802442255808731, + -0.03321152063728712, + -3660.8153101155713 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9807852783261096, + -0.00647924655240916, + 0.19498269952053135, + 766.2012182157067 + ], + [ + -0.1950903324585191, + -0.03257337025964252, + 0.9802442255808731, + 3582.3053158335633 + ], + [ + -6.9388938502153445e-18, + -0.9994483452955643, + -0.03321152063728712, + 3.4557858044594822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76620.12182157068, + -358230.5315833563, + 345.5785804459482 + ], + "rotation_deg": [ + 3.977887772366734e-16, + -1.9032299518585207, + -78.74999999999997 + ] + } + } + ] + }, + { + "frame": 94, + "time": 767.8755033425987, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.04658288673248552, + 0.9989144280986578, + -0.0, + -3562.6760663875043 + ], + [ + 0.14496817876074988, + 0.006760375124304202, + -0.9894132223065193, + -134.02065464030585 + ], + [ + -0.988339144055015, + -0.046089700363319164, + -0.14512572428422038, + 944.0249986044364 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.04658288673248552, + 0.14496817876074988, + -0.988339144055015, + 786.4859364276396 + ], + [ + 0.9989144280986578, + 0.006760375124304202, + -0.046089700363319164, + 3603.224410855461 + ], + [ + -0.0, + -0.9894132223065193, + -0.14512572428422038, + 4.400515134450107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 78648.59364276395, + -360322.4410855461, + 440.05151344501064 + ], + "rotation_deg": [ + 0.0, + -8.344559669494632, + 177.3300323486328 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.4173327458684501, + 0.9087537505979819, + -2.775557543604008e-17, + -3595.885682907704 + ], + [ + 0.34973574366828675, + -0.1606113626902644, + -0.9229782769792397, + 311.87911887618225 + ], + [ + -0.8387599779444681, + 0.3851890406023333, + -0.3848520526104142, + -734.1609214028421 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.4173327458684501, + 0.34973574366828675, + -0.8387599779444681, + 775.8207179489212 + ], + [ + 0.9087537505979819, + -0.1606113626902644, + 0.3851890406023333, + 3600.656712812817 + ], + [ + -2.775557543604008e-17, + -0.9229782769792397, + -0.3848520526104142, + 5.314289099685958 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77582.07179489212, + -360065.67128128174, + 531.4289099685958 + ], + "rotation_deg": [ + 1.7229845841720899e-15, + -22.634555816650387, + -155.3336944580078 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8701435036803676, + 0.49279842025198656, + 6.9388938504471695e-18, + -2445.8734771954064 + ], + [ + 0.036203978912562884, + -0.0639260512280845, + -0.997297714769909, + 205.19594507035092 + ], + [ + -0.49146675236215676, + 0.8677921197639499, + -0.07346610237507269, + -2737.896975470804 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8701435036803676, + 0.036203978912562884, + -0.49146675236215676, + 775.246691408417 + ], + [ + 0.49279842025198656, + -0.0639260512280845, + 0.8677921197639499, + 3594.365428385387 + ], + [ + 6.9388938504471695e-18, + -0.997297714769909, + -0.07346610237507269, + 3.4988262572328375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77524.6691408417, + -359436.5428385387, + 349.88262572328375 + ], + "rotation_deg": [ + -3.986465919972018e-16, + -4.213093280792237, + -119.5246810913086 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9807852783261096, + -0.1950903324585191, + -6.9388938502153445e-18, + -52.47548817673055 + ], + [ + -0.00647924655240916, + -0.03257337025964252, + -0.9994483452955643, + 125.10698996084774 + ], + [ + 0.19498269952053135, + 0.9802442255808731, + -0.03321152063728712, + -3660.843794131356 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9807852783261096, + -0.00647924655240916, + 0.19498269952053135, + 766.0790291409451 + ], + [ + -0.1950903324585191, + -0.03257337025964252, + 0.9802442255808731, + 3582.3586788323637 + ], + [ + -6.9388938502153445e-18, + -0.9994483452955643, + -0.03321152063728712, + 3.4557858044594822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76607.9029140945, + -358235.8678832364, + 345.5785804459482 + ], + "rotation_deg": [ + 3.977887772366734e-16, + -1.9032299518585207, + -78.74999999999997 + ] + } + } + ] + }, + { + "frame": 95, + "time": 767.9421700127423, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.049029926884120195, + 0.9987973099031344, + -0.0, + -3560.3920639572602 + ], + [ + 0.14725689788536675, + 0.007228688808945728, + -0.9890718639630195, + -137.49228203171472 + ], + [ + -0.9878823180200721, + -0.0484940974992795, + -0.1474342166900871, + 952.2229952758465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.049029926884120195, + 0.14725689788536675, + -0.9878823180200721, + 786.3652667541766 + ], + [ + 0.9987973099031344, + 0.007228688808945728, + -0.0484940974992795, + 3603.2811260169124 + ], + [ + -0.0, + -0.9890718639630195, + -0.1474342166900871, + 4.400515134450107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 78636.52667541766, + -360328.1126016912, + 440.05151344501064 + ], + "rotation_deg": [ + 0.0, + -8.478264808654787, + 177.18966674804688 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.416094448430775, + 0.9093214008177134, + 1.3877787717968706e-17, + -3596.978642108027 + ], + [ + 0.34949871412874456, + -0.15992637427414677, + -0.923186981945629, + 309.6453369445697 + ], + [ + -0.8394736866426667, + 0.38413295992371627, + -0.38435113962991496, + -729.9178641240733 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.416094448430775, + 0.34949871412874456, + -0.8394736866426667, + 775.7153024094224 + ], + [ + 0.9093214008177134, + -0.15992637427414677, + 0.38413295992371627, + 3600.715663645784 + ], + [ + 1.3877787717968706e-17, + -0.923186981945629, + -0.38435113962991496, + 5.315756053353532 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77571.53024094224, + -360071.5663645784, + 531.5756053353532 + ], + "rotation_deg": [ + -8.612975344407122e-16, + -22.603464126586925, + -155.4117431640625 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8695450646880468, + 0.4938536022716249, + -0.0, + -2449.1376804605316 + ], + [ + 0.03638869338028107, + -0.0640708270502131, + -0.9972817014841782, + 205.58331304470408 + ], + [ + -0.4925111747582787, + 0.8671813736292062, + -0.07368315932954524, + -2734.9916948193736 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8695450646880468, + 0.03638869338028107, + -0.4925111747582787, + 775.1407208573603 + ], + [ + 0.4938536022716249, + -0.0640708270502131, + 0.8671813736292062, + 3594.4212698562937 + ], + [ + -0.0, + -0.9972817014841782, + -0.07368315932954524, + 3.5016460552575928 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77514.07208573603, + -359442.1269856294, + 350.16460552575927 + ], + "rotation_deg": [ + 0.0, + -4.225563526153565, + -119.59418487548831 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9807852783261096, + -0.1950903324585191, + -6.9388938502153445e-18, + -52.346072557754724 + ], + [ + -0.00647924655240916, + -0.03257337025964252, + -0.9994483452955643, + 125.10805551623527 + ], + [ + 0.19498269952053135, + 0.9802442255808731, + -0.03321152063728712, + -3660.8758603421898 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9807852783261096, + -0.00647924655240916, + 0.19498269952053135, + 765.9583594674821 + ], + [ + -0.1950903324585191, + -0.03257337025964252, + 0.9802442255808731, + 3582.415393993815 + ], + [ + -6.9388938502153445e-18, + -0.9994483452955643, + -0.03321152063728712, + 3.4557858044594822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76595.83594674821, + -358241.5393993815, + 345.5785804459482 + ], + "rotation_deg": [ + 3.977887772366734e-16, + -1.9032299518585207, + -78.74999999999997 + ] + } + } + ] + }, + { + "frame": 96, + "time": 768.0088366828859, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.051443161401717556, + 0.9986759239838501, + 8.673617314223845e-19, + -3558.1230379211615 + ], + [ + 0.14951203024680368, + 0.0077015689662397226, + -0.988729911880356, + -140.9537242808036 + ], + [ + -0.9874207593610704, + -0.05086336879445864, + -0.1497102591597724, + 960.2926867003698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.051443161401717556, + 0.14951203024680368, + -0.9874207593610704, + 786.2461959841404 + ], + [ + 0.9986759239838501, + 0.0077015689662397226, + -0.05086336879445864, + 3603.3411254448683 + ], + [ + 8.673617314223845e-19, + -0.988729911880356, + -0.1497102591597724, + 4.400515134450107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 78624.61959841404, + -360334.1125444868, + 440.05151344501064 + ], + "rotation_deg": [ + -5.026263118925507e-17, + -8.610136032104496, + 177.05122375488284 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.4148607098666068, + 0.9098849330596561, + -0.0, + -3598.0642889311416 + ], + [ + 0.3492606069449238, + -0.15924486499449825, + -0.92339487837509, + 307.42474857806826 + ], + [ + -0.8401830940852354, + 0.3830802365814738, + -0.3838514045226906, + -725.6901678841689 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.4148607098666068, + 0.3492606069449238, + -0.8401830940852354, + 775.6114857733504 + ], + [ + 0.9098849330596561, + -0.15924486499449825, + 0.3830802365814738, + 3600.7778987452552 + ], + [ + -0.0, + -0.92339487837509, + -0.3838514045226906, + 5.3172230070211075 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77561.14857733504, + -360077.7898745255, + 531.7223007021107 + ], + "rotation_deg": [ + 0.0, + -22.57245254516603, + -155.4894561767578 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8689463346400116, + 0.49490632195971046, + -1.3877787700901257e-17, + -2452.3960667981364 + ], + [ + 0.03657345220095644, + -0.06421491467175068, + -0.9972656753983883, + 205.96838052658876 + ], + [ + -0.49355310142690795, + 0.8665703452779989, + -0.07389974801479371, + -2732.0895444901007 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8689463346400116, + 0.03657345220095644, + -0.49355310142690795, + 775.0363492097302 + ], + [ + 0.49490632195971046, + -0.06421491467175068, + 0.8665703452779989, + 3594.480395593705 + ], + [ + -1.3877787700901257e-17, + -0.9972656753983883, + -0.07389974801479371, + 3.5044658532823485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77503.63492097303, + -359448.0395593705, + 350.44658532823485 + ], + "rotation_deg": [ + 7.97318798806544e-16, + -4.238007068634033, + -119.66357421874997 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9807852783261096, + -0.1950903324585191, + -6.9388938502153445e-18, + -52.217584391077025 + ], + [ + -0.00647924655240916, + -0.03257337025964252, + -0.9994483452955643, + 125.10923841094119 + ], + [ + 0.19498269952053135, + 0.9802442255808731, + -0.03321152063728712, + -3660.9114576948064 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9807852783261096, + -0.00647924655240916, + 0.19498269952053135, + 765.8392886974459 + ], + [ + -0.1950903324585191, + -0.03257337025964252, + 0.9802442255808731, + 3582.475393421771 + ], + [ + -6.9388938502153445e-18, + -0.9994483452955643, + -0.03321152063728712, + 3.4557858044594822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76583.92886974459, + -358247.5393421771, + 345.5785804459482 + ], + "rotation_deg": [ + 3.977887772366734e-16, + -1.9032299518585207, + -78.74999999999997 + ] + } + } + ] + }, + { + "frame": 97, + "time": 768.0755033530295, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.05382099283069954, + 0.9985505999851574, + -0.0, + -3555.871107689145 + ], + [ + 0.15173205230474493, + 0.008178223216131852, + -0.9883878292292034, + -144.4009448496342 + ], + [ + -0.9869552609879386, + -0.05319599065443596, + -0.15195229312689965, + 968.2291517723544 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.05382099283069954, + 0.15173205230474493, + -0.9869552609879386, + 786.1286755845755 + ], + [ + 0.9985505999851574, + 0.008178223216131852, + -0.05319599065443596, + 3603.404107468639 + ], + [ + -0.0, + -0.9883878292292034, + -0.15195229312689965, + 4.400515134450107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 78612.86755845755, + -360340.41074686387, + 440.05151344501064 + ], + "rotation_deg": [ + 0.0, + -8.740081787109379, + 176.914794921875 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.41363154235081545, + 0.9104443679723024, + -0.0, + -3599.1424098873927 + ], + [ + 0.3490214111319398, + -0.15856681602796652, + -0.9236019810644747, + 305.21725843613257 + ], + [ + -0.8408882288796264, + 0.38203089377667426, + -0.38335281756089956, + -721.477805269509 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.41363154235081545, + 0.3490214111319398, + -0.8408882288796264, + 775.50921950775 + ], + [ + 0.9104443679723024, + -0.15856681602796652, + 0.38203089377667426, + 3600.8431164405415 + ], + [ + -0.0, + -0.9236019810644747, + -0.38335281756089956, + 5.3186899606886815 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77550.921950775, + -360084.31164405413, + 531.8689960688681 + ], + "rotation_deg": [ + 0.0, + -22.54151916503907, + -155.56683349609375 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8683472546818108, + 0.4959566969873096, + 6.93889385045236e-18, + -2455.6488289692325 + ], + [ + 0.03675826925549441, + -0.06435832480689359, + -0.9972496355824806, + 206.35115806270795 + ], + [ + -0.4945926493321633, + 0.8659589752471156, + -0.07411588504198678, + -2729.189970966133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8683472546818108, + 0.03675826925549441, + -0.4945926493321633, + 774.9335279325716 + ], + [ + 0.4959566969873096, + -0.06435832480689359, + 0.8659589752471156, + 3594.5425039269303 + ], + [ + 6.93889385045236e-18, + -0.9972496355824806, + -0.07411588504198678, + 3.507285651307103 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77493.35279325716, + -359454.25039269304, + 350.7285651307103 + ], + "rotation_deg": [ + -3.9866581146224637e-16, + -4.250424861907959, + -119.73285675048827 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9807852783261096, + -0.1950903324585191, + -6.9388938502153445e-18, + -52.09003492932459 + ], + [ + -0.00647924655240916, + -0.03257337025964252, + -0.9994483452955643, + 125.11052850407745 + ], + [ + 0.19498269952053135, + 0.9802442255808731, + -0.03321152063728712, + -3660.950281015167 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9807852783261096, + -0.00647924655240916, + 0.19498269952053135, + 765.7217682978811 + ], + [ + -0.1950903324585191, + -0.03257337025964252, + 0.9802442255808731, + 3582.5383754455415 + ], + [ + -6.9388938502153445e-18, + -0.9994483452955643, + -0.03321152063728712, + 3.4557858044594822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76572.1768297881, + -358253.83754455415, + 345.5785804459482 + ], + "rotation_deg": [ + 3.977887772366734e-16, + -1.9032299518585207, + -78.74999999999997 + ] + } + } + ] + }, + { + "frame": 98, + "time": 768.1421700231731, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.056161825527071246, + 0.9984216791283465, + -8.6736173143175455e-19, + -3553.638652949585 + ], + [ + 0.15391549883162894, + 0.008657840241250289, + -0.9880460824383485, + -147.82990183770653 + ], + [ + -0.9864866298260014, + -0.0554904481065569, + -0.15415881208504215, + 976.0276215769424 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.056161825527071246, + 0.15391549883162894, + -0.9864866298260014, + 786.0127599423386 + ], + [ + 0.9984216791283465, + 0.008657840241250289, + -0.0554904481065569, + 3603.4699963411203 + ], + [ + -8.6736173143175455e-19, + -0.9880460824383485, + -0.15415881208504215, + 4.400515134450107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 78601.27599423386, + -360346.99963411206, + 440.05151344501064 + ], + "rotation_deg": [ + 5.0297418096655206e-17, + -8.868013381958011, + 176.7804718017578 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.41240647273049014, + 0.910999945801313, + -0.0, + -3600.2134537018533 + ], + [ + 0.34878122762962616, + -0.15789203556408926, + -0.9238082919949351, + 303.0220620232802 + ], + [ + -0.8415893108937521, + 0.3809845009907169, + -0.38285537973787664, + -717.2789675747484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.41240647273049014, + 0.34878122762962616, + -0.8415893108937521, + 775.4085579994772 + ], + [ + 0.910999945801313, + -0.15789203556408926, + 0.3809845009907169, + 3600.9112409845384 + ], + [ + -0.0, + -0.9238082919949351, + -0.38285537973787664, + 5.3201569143562555 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77540.85579994772, + -360091.12409845385, + 532.0156914356255 + ], + "rotation_deg": [ + 0.0, + -22.510663986206062, + -155.64390563964844 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8677478315637778, + 0.49700472916901045, + -0.0, + -2458.8959945575466 + ], + [ + 0.036943133491305694, + -0.06450104414871743, + -0.9972335835658407, + 206.73159980938607 + ], + [ + -0.4956298211132827, + 0.8653472716368509, + -0.07433155382388672, + -2726.2928977757447 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8677478315637778, + 0.036943133491305694, + -0.4956298211132827, + 774.8323114127409 + ], + [ + 0.49700472916901045, + -0.06450104414871743, + 0.8653472716368509, + 3594.607519108867 + ], + [ + -0.0, + -0.9972335835658407, + -0.07433155382388672, + 3.5101054493318586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77483.23114127408, + -359460.7519108867, + 351.0105449331859 + ], + "rotation_deg": [ + 0.0, + -4.262815952301026, + -119.80203247070314 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9807852783261096, + -0.1950903324585191, + -6.9388938502153445e-18, + -51.96349229185296 + ], + [ + -0.00647924655240916, + -0.03257337025964252, + -0.9994483452955643, + 125.11192368069146 + ], + [ + 0.19498269952053135, + 0.9802442255808731, + -0.03321152063728712, + -3660.9922666571074 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9807852783261096, + -0.00647924655240916, + 0.19498269952053135, + 765.6058526556441 + ], + [ + -0.1950903324585191, + -0.03257337025964252, + 0.9802442255808731, + 3582.6042643180235 + ], + [ + -6.9388938502153445e-18, + -0.9994483452955643, + -0.03321152063728712, + 3.4557858044594822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76560.58526556441, + -358260.42643180233, + 345.5785804459482 + ], + "rotation_deg": [ + 3.977887772366734e-16, + -1.9032299518585207, + -78.74999999999997 + ] + } + } + ] + }, + { + "frame": 99, + "time": 768.2088366933167, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.058463533950174534, + 0.9982895447704823, + -1.7347234628728604e-18, + -3551.428555492756 + ], + [ + 0.1560609347742154, + 0.009139506475113884, + -0.9877051453033892, + -151.23620152605503 + ], + [ + -0.9860157210617243, + -0.05774470973528623, + -0.156328328580317, + 983.6814542227921 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.058463533950174534, + 0.1560609347742154, + -0.9860157210617243, + 785.8984590517778 + ], + [ + 0.9982895447704823, + 0.009139506475113884, + -0.05774470973528623, + 3603.5386482606064 + ], + [ + -1.7347234628728604e-18, + -0.9877051453033892, + -0.156328328580317, + 4.400515134450107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 78589.84590517778, + -360353.86482606066, + 440.05151344501064 + ], + "rotation_deg": [ + 1.006295596286821e-16, + -8.993843078613281, + 176.64837646484375 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.4111859976216882, + 0.9115514661059225, + -0.0, + -3601.2769535702464 + ], + [ + 0.34853998837046785, + -0.15722070355653314, + -0.9240138131434522, + 300.83982967944996 + ], + [ + -0.8422861530127793, + 0.37994152336281295, + -0.38235909204264723, + -713.0953986439014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.4111859976216882, + 0.34853998837046785, + -0.8422861530127793, + 775.3095112428807 + ], + [ + 0.9115514661059225, + -0.15722070355653314, + 0.37994152336281295, + 3600.98212857554 + ], + [ + -0.0, + -0.9240138131434522, + -0.38235909204264723, + 5.3216238680238295 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77530.95112428807, + -360098.212857554, + 532.1623868023829 + ], + "rotation_deg": [ + 0.0, + -22.479887008667003, + -155.72064208984375 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8671480720209448, + 0.49805042032946634, + -0.0, + -2462.1375182869106 + ], + [ + 0.037128050329383294, + -0.06464308822332407, + -0.9972175184099457, + 207.10974794203656 + ], + [ + -0.4966646181968744, + 0.8647352403881239, + -0.0745467709712928, + -2723.398204686549 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8671480720209448, + 0.037128050329383294, + -0.4966646181968744, + 774.7327096445862 + ], + [ + 0.49805042032946634, + -0.06464308822332407, + 0.8647352403881239, + 3594.675297337809 + ], + [ + -0.0, + -0.9972175184099457, + -0.0745467709712928, + 3.512925247356614 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77473.27096445861, + -359467.5297337809, + 351.2925247356614 + ], + "rotation_deg": [ + 0.0, + -4.275181293487549, + -119.87110137939457 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9807852783261096, + -0.1950903324585191, + -6.9388938502153445e-18, + -51.83799433529498 + ], + [ + -0.00647924655240916, + -0.03257337025964252, + -0.9994483452955643, + 125.11341932143281 + ], + [ + 0.19498269952053135, + 0.9802442255808731, + -0.03321152063728712, + -3661.0372756085594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9807852783261096, + -0.00647924655240916, + 0.19498269952053135, + 765.4915517650833 + ], + [ + -0.1950903324585191, + -0.03257337025964252, + 0.9802442255808731, + 3582.6729162375095 + ], + [ + -6.9388938502153445e-18, + -0.9994483452955643, + -0.03321152063728712, + 3.4557858044594822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76549.15517650833, + -358267.29162375093, + 345.5785804459482 + ], + "rotation_deg": [ + 3.977887772366734e-16, + -1.9032299518585207, + -78.74999999999997 + ] + } + } + ] + }, + { + "frame": 100, + "time": 768.2755033634603, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.060725057974966745, + 0.9981545307886635, + -8.673617314410909e-19, + -3549.242564930575 + ], + [ + 0.15816697382814301, + 0.009622456602836988, + -0.9873654929756122, + -154.61600770012174 + ], + [ + -0.9855433415939282, + -0.05995780327133504, + -0.15845940699986802, + 991.1876908830202 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.060725057974966745, + 0.15816697382814301, + -0.9855433415939282, + 785.7856959273822 + ], + [ + 0.9981545307886635, + 0.009622456602836988, + -0.05995780327133504, + 3603.6097978031817 + ], + [ + -8.673617314410909e-19, + -0.9873654929756122, + -0.15845940699986802, + 4.400515134450107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 78578.56959273822, + -360360.97978031816, + 440.05151344501064 + ], + "rotation_deg": [ + 5.0332088027433513e-17, + -9.117486000061035, + 176.51856994628906 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.40996964309433065, + 0.9120991677121008, + -0.0, + -3602.3331248984714 + ], + [ + 0.3482978214580782, + -0.15655264099393698, + -0.9242185337707636, + 298.66979869121457 + ], + [ + -0.8429789623603545, + 0.37890152419975104, + -0.381863986226726, + -708.925316954528 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.40996964309433065, + 0.3482978214580782, + -0.8429789623603545, + 775.2120022524493 + ], + [ + 0.9120991677121008, + -0.15655264099393698, + 0.37890152419975104, + 3601.0555137896304 + ], + [ + -0.0, + -0.9242185337707636, + -0.381863986226726, + 5.3230908216914035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77521.20022524493, + -360105.55137896305, + 532.3090821691403 + ], + "rotation_deg": [ + 0.0, + -22.44919013977051, + -155.7970733642578 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.866548049231392, + 0.4990936569154818, + -2.0816681551372696e-17, + -2465.372854852699 + ], + [ + 0.03731300835782866, + -0.06478446310710484, + -0.9972014404057047, + 207.48561898197326 + ], + [ + -0.49769692756432676, + 0.8641229547661665, + -0.07476153649584034, + -2720.506040714679 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.866548049231392, + 0.03731300835782866, + -0.49769692756432676, + 774.6346456425968 + ], + [ + 0.4990936569154818, + -0.06478446310710484, + 0.8641229547661665, + 3594.745573189839 + ], + [ + -2.0816681551372696e-17, + -0.9972014404057047, + -0.07476153649584034, + 3.5157450453813692 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77463.46456425967, + -359474.5573189839, + 351.5745045381369 + ], + "rotation_deg": [ + 1.196055237460755e-15, + -4.287520885467527, + -119.940055847168 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9807852783261096, + -0.1950903324585191, + -6.9388938502153445e-18, + -51.71351733503457 + ], + [ + -0.00647924655240916, + -0.03257337025964252, + -0.9994483452955643, + 125.11500628174193 + ], + [ + 0.19498269952053135, + 0.9802442255808731, + -0.03321152063728712, + -3661.08503267842 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9807852783261096, + -0.00647924655240916, + 0.19498269952053135, + 765.3787886406877 + ], + [ + -0.1950903324585191, + -0.03257337025964252, + 0.9802442255808731, + 3582.7440657800844 + ], + [ + -6.9388938502153445e-18, + -0.9994483452955643, + -0.03321152063728712, + 3.4557858044594822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76537.87886406877, + -358274.40657800843, + 345.5785804459482 + ], + "rotation_deg": [ + 3.977887772366734e-16, + -1.9032299518585207, + -78.74999999999997 + ] + } + } + ] + }, + { + "frame": 101, + "time": 768.3421700336039, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.06294480744066962, + 0.9980170094824321, + -0.0, + -3547.0829858621923 + ], + [ + 0.1602322097703188, + 0.010105825345618255, + -0.9870276142267774, + -157.96510348436402 + ], + [ + -0.9850703491086792, + -0.062128239611534596, + -0.16055058128103022, + 998.5415242537252 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.06294480744066962, + 0.1602322097703188, + -0.9850703491086792, + 785.6743711346063 + ], + [ + 0.9980170094824321, + 0.010105825345618255, + -0.062128239611534596, + 3603.6831774334987 + ], + [ + -0.0, + -0.9870276142267774, + -0.16055058128103022, + 4.400515134450107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 78567.43711346063, + -360368.3177433499, + 440.05151344501064 + ], + "rotation_deg": [ + 0.0, + -9.238855361938478, + 176.39114379882812 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.4087579061677072, + 0.9126428513637695, + 1.3877787717665224e-17, + -3603.381347024311 + ], + [ + 0.3480546032589062, + -0.15588800224265956, + -0.924422481286061, + 296.51261038788834 + ], + [ + -0.8436675760938576, + 0.3778649796129104, + -0.3813700017437779, + -704.7705348701522 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.4087579061677072, + 0.3480546032589062, + -0.8436675760938576, + 775.1159315936378 + ], + [ + 0.9126428513637695, + -0.15588800224265956, + 0.3778649796129104, + 3601.1311290914628 + ], + [ + 1.3877787717665224e-17, + -0.924422481286061, + -0.3813700017437779, + 5.324557775358978 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77511.59315936378, + -360113.1129091463, + 532.4557775358978 + ], + "rotation_deg": [ + -8.601464021666192e-16, + -22.41856956481935, + -155.8731689453125 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8659477037184291, + 0.5001345563193764, + -0.0, + -2468.60216489193 + ], + [ + 0.0374980050879806, + -0.06492515062131242, + -0.9971853510913713, + 207.85913594866372 + ], + [ + -0.4987268671250563, + 0.8635103568295641, + -0.07497583381133713, + -2717.615914743632 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8659477037184291, + 0.0374980050879806, + -0.4987268671250563, + 774.5380199722271 + ], + [ + 0.5001345563193764, + -0.06492515062131242, + 0.8635103568295641, + 3594.8180791296113 + ], + [ + -0.0, + -0.9971853510913713, + -0.07497583381133713, + 3.518564843406125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77453.8019972227, + -359481.8079129611, + 351.8564843406125 + ], + "rotation_deg": [ + 0.0, + -4.299833774566651, + -120.00890350341797 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9807852783261096, + -0.1950903324585191, + -6.9388938502153445e-18, + -51.59001596069288 + ], + [ + -0.00647924655240916, + -0.03257337025964252, + -0.9994483452955643, + 125.11667520282998 + ], + [ + 0.19498269952053135, + 0.9802442255808731, + -0.03321152063728712, + -3661.1352562286947 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9807852783261096, + -0.00647924655240916, + 0.19498269952053135, + 765.2674638479118 + ], + [ + -0.1950903324585191, + -0.03257337025964252, + 0.9802442255808731, + 3582.8174454104014 + ], + [ + -6.9388938502153445e-18, + -0.9994483452955643, + -0.03321152063728712, + 3.4557858044594822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76526.74638479119, + -358281.74454104016, + 345.5785804459482 + ], + "rotation_deg": [ + 3.977887772366734e-16, + -1.9032299518585207, + -78.74999999999997 + ] + } + } + ] + }, + { + "frame": 102, + "time": 768.4088367037475, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.06512119399747775, + 0.997877362250664, + -0.0, + -3544.9521710563445 + ], + [ + 0.1622553267172899, + 0.010588736660433985, + -0.9866919922690167, + -161.27930149904088 + ], + [ + -0.9845976039252348, + -0.06425453716684885, + -0.16260046985836446, + 1005.7381645536434 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.06512119399747775, + 0.1622553267172899, + -0.9845976039252348, + 785.5643756493585 + ], + [ + 0.997877362250664, + 0.010588736660433985, + -0.06425453716684885, + 3603.7585350665377 + ], + [ + -0.0, + -0.9866919922690167, + -0.16260046985836446, + 4.400515134450107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 78556.43756493584, + -360375.85350665374, + 440.05151344501064 + ], + "rotation_deg": [ + 0.0, + -9.357869148254398, + 176.2661895751953 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.40755031214501375, + 0.9131827544749744, + 1.3877787717615386e-17, + -3604.42182855917 + ], + [ + 0.3478104890708806, + -0.15522662106080312, + -0.9246256322460028, + 294.3675414761704 + ], + [ + -0.8443521886050026, + 0.3768314467667688, + -0.38087720111028656, + -700.6292933813768 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.40755031214501375, + 0.3478104890708806, + -0.8443521886050026, + 775.021190242354 + ], + [ + 0.9131827544749744, + -0.15522662106080312, + 0.3768314467667688, + 3601.2087223960175 + ], + [ + 1.3877787717615386e-17, + -0.9246256322460028, + -0.38087720111028656, + 5.326024729026552 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77502.1190242354, + -360120.87223960174, + 532.6024729026552 + ], + "rotation_deg": [ + -8.599574180372029e-16, + -22.38802909851075, + -155.94895935058597 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8653470421702603, + 0.5011731203957185, + -6.938893850461042e-18, + -2471.825243527871 + ], + [ + 0.03768304601925713, + -0.06506516627823629, + -0.9971692495157959, + 208.2303380557823 + ], + [ + -0.49975443832918476, + 0.8628974524604613, + -0.07518967952802125, + -2714.7276744057613 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8653470421702603, + 0.03768304601925713, + -0.49975443832918476, + 774.4427236093853 + ], + [ + 0.5011731203957185, + -0.06506516627823629, + 0.8628974524604613, + 3594.8925630721046 + ], + [ + -6.938893850461042e-18, + -0.9971692495157959, + -0.07518967952802125, + 3.5213846414308803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77444.27236093853, + -359489.2563072105, + 352.138464143088 + ], + "rotation_deg": [ + 3.9869794961433855e-16, + -4.312120914459227, + -120.07764434814455 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9807852783261096, + -0.1950903324585191, + -6.9388938502153445e-18, + -51.46743246239669 + ], + [ + -0.00647924655240916, + -0.03257337025964252, + -0.9994483452955643, + 125.11841716704427 + ], + [ + 0.19498269952053135, + 0.9802442255808731, + -0.03321152063728712, + -3661.1876778966857 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9807852783261096, + -0.00647924655240916, + 0.19498269952053135, + 765.157468362664 + ], + [ + -0.1950903324585191, + -0.03257337025964252, + 0.9802442255808731, + 3582.8928030434404 + ], + [ + -6.9388938502153445e-18, + -0.9994483452955643, + -0.03321152063728712, + 3.4557858044594822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76515.7468362664, + -358289.280304344, + 345.5785804459482 + ], + "rotation_deg": [ + 3.977887772366734e-16, + -1.9032299518585207, + -78.74999999999997 + ] + } + } + ] + }, + { + "frame": 103, + "time": 768.4755033738911, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.0672526310836489, + 0.9977359789104162, + -0.0, + -3542.8524738951037 + ], + [ + 0.16423501680425676, + 0.011070300389703875, + -0.9863591170078914, + -164.55436138589306 + ], + [ + -0.9841259805344522, + -0.0663352223614059, + -0.16460769335412584, + 1012.7728168715922 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.0672526310836489, + 0.16423501680425676, + -0.9841259805344522, + 785.4555600793065 + ], + [ + 0.9977359789104162, + 0.011070300389703875, + -0.0663352223614059, + 3603.835586681357 + ], + [ + -0.0, + -0.9863591170078914, + -0.16460769335412584, + 4.400515134450107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 78545.55600793065, + -360383.5586681357, + 440.05151344501064 + ], + "rotation_deg": [ + 0.0, + -9.47444534301758, + 176.143798828125 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.4063471151044584, + 0.9137187871803247, + -1.3877787717565765e-17, + -3605.4541188741696 + ], + [ + 0.3475654249929527, + -0.15456857157525952, + -0.9248280013227604, + 292.2349063278492 + ], + [ + -0.8450327265957547, + 0.37580117201261315, + -0.38038555453130796, + -696.5025468310743 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.4063471151044584, + 0.3475654249929527, + -0.8450327265957547, + 774.9276288062663 + ], + [ + 0.9137187871803247, + -0.15456857157525952, + 0.37580117201261315, + 3601.2880096823524 + ], + [ + -1.3877787717565765e-17, + -0.9248280013227604, + -0.38038555453130796, + 5.327491682694126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77492.76288062663, + -360128.80096823524, + 532.7491682694126 + ], + "rotation_deg": [ + 8.597692438130949e-16, + -22.357566833496097, + -156.02442932128906 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8647461381330104, + 0.502209235860955, + -0.0, + -2475.041471971601 + ], + [ + 0.03786811554277463, + -0.0652045090685177, + -0.9971531365955645, + 208.5992208577559 + ], + [ + -0.5007795287505857, + 0.8622843158255838, + -0.07540306535908103, + -2711.8414948436084 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8647461381330104, + 0.03786811554277463, + -0.5007795287505857, + 774.3486071617394 + ], + [ + 0.502209235860955, + -0.0652045090685177, + 0.8622843158255838, + 3594.9687409963794 + ], + [ + -0.0, + -0.9971531365955645, + -0.07540306535908103, + 3.5242044394556356 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77434.86071617395, + -359496.87409963796, + 352.42044394556353 + ], + "rotation_deg": [ + 0.0, + -4.3243818283081055, + -120.14627075195311 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9807852783261096, + -0.1950903324585191, + -6.9388938502153445e-18, + -51.34567572808544 + ], + [ + -0.00647924655240916, + -0.03257337025964252, + -0.9994483452955643, + 125.12022195491578 + ], + [ + 0.19498269952053135, + 0.9802442255808731, + -0.03321152063728712, + -3661.2419901435856 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9807852783261096, + -0.00647924655240916, + 0.19498269952053135, + 765.048652792612 + ], + [ + -0.1950903324585191, + -0.03257337025964252, + 0.9802442255808731, + 3582.96985465826 + ], + [ + -6.9388938502153445e-18, + -0.9994483452955643, + -0.03321152063728712, + 3.4557858044594822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76504.8652792612, + -358296.985465826, + 345.5785804459482 + ], + "rotation_deg": [ + 3.977887772366734e-16, + -1.9032299518585207, + -78.74999999999997 + ] + } + } + ] + }, + { + "frame": 104, + "time": 768.5421700440347, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.06933753389309293, + 0.997593256990856, + -8.673617314594498e-19, + -3540.786264327743 + ], + [ + 0.16617001267066567, + 0.011549615842755812, + -0.9860294789015768, + -167.7860301118345 + ], + [ + -0.9836563607580724, + -0.0683688289885229, + -0.16657090731254157, + 1019.6406872001247 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.06933753389309293, + 0.16617001267066567, + -0.9836563607580724, + 785.3477472951431 + ], + [ + 0.997593256990856, + 0.011549615842755812, + -0.0683688289885229, + 3603.9140352836594 + ], + [ + -8.673617314594498e-19, + -0.9860294789015768, + -0.16657090731254157, + 4.400515134450107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 78534.7747295143, + -360391.40352836595, + 440.05151344501064 + ], + "rotation_deg": [ + 5.040028515588756e-17, + -9.58850383758545, + 176.02406311035156 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.40514808264739305, + 0.9142510766343898, + -1.3877787717516344e-17, + -3606.4781488485037 + ], + [ + 0.3473194677795903, + -0.15391375524000225, + -0.9250295904722304, + 290.1143199320469 + ], + [ + -0.8457093058689336, + 0.37477394665896, + -0.3798950629744394, + -692.3894843866354 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.40514808264739305, + 0.3473194677795903, + -0.8457093058689336, + 774.8350701560672 + ], + [ + 0.9142510766343898, + -0.15391375524000225, + 0.37477394665896, + 3601.3686939561703 + ], + [ + -1.3877787717516344e-17, + -0.9250295904722304, + -0.3798950629744394, + 5.3289586363617 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77483.50701560672, + -360136.86939561705, + 532.89586363617 + ], + "rotation_deg": [ + 8.595818766680678e-16, + -22.327182769775398, + -156.09959411621094 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8641449316664147, + 0.5032430198971934, + -6.938893850464526e-18, + -2478.2509252107793 + ], + [ + 0.038053223704799057, + -0.0653431823153515, + -0.9971370119951294, + 208.96577576308934 + ], + [ + -0.5018022551501121, + 0.8616708868984853, + -0.0756159996154224, + -2708.956895305658 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8641449316664147, + 0.038053223704799057, + -0.5018022551501121, + 774.2554934999822 + ], + [ + 0.5032430198971934, + -0.0653431823153515, + 0.8616708868984853, + 3595.0463159081373 + ], + [ + -6.938893850464526e-18, + -0.9971370119951294, + -0.0756159996154224, + 3.5270242374803913 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77425.54934999823, + -359504.63159081375, + 352.7024237480391 + ], + "rotation_deg": [ + 3.9871083955166443e-16, + -4.336616992950439, + -120.2147903442383 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9807852783261096, + -0.1950903324585191, + -6.9388938502153445e-18, + -51.22462997265859 + ], + [ + -0.00647924655240916, + -0.03257337025964252, + -0.9994483452955643, + 125.12207874467482 + ], + [ + 0.19498269952053135, + 0.9802442255808731, + -0.03321152063728712, + -3661.2978673052985 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9807852783261096, + -0.00647924655240916, + 0.19498269952053135, + 764.9408400084486 + ], + [ + -0.1950903324585191, + -0.03257337025964252, + 0.9802442255808731, + 3583.048303260562 + ], + [ + -6.9388938502153445e-18, + -0.9994483452955643, + -0.03321152063728712, + 3.4557858044594822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76494.08400084486, + -358304.8303260562, + 345.5785804459482 + ], + "rotation_deg": [ + 3.977887772366734e-16, + -1.9032299518585207, + -78.74999999999997 + ] + } + } + ] + }, + { + "frame": 105, + "time": 768.6088367141783, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.07137511624405914, + 0.9974495439776124, + -0.0, + -3538.7551089972217 + ], + [ + 0.1680590938414889, + 0.01202590891061327, + -0.9857035652223498, + -170.9705431398742 + ], + [ + -0.9831895730809566, + -0.0703546831513918, + -0.16848881845260233, + 1026.3397770554209 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.07137511624405914, + 0.1680590938414889, + -0.9831895730809566, + 785.2407448211369 + ], + [ + 0.9974495439776124, + 0.01202590891061327, + -0.0703546831513918, + 3603.993585583399 + ], + [ + -0.0, + -0.9857035652223498, + -0.16848881845260233, + 4.400515134450107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 78524.07448211369, + -360399.35855833994, + 440.05151344501064 + ], + "rotation_deg": [ + 0.0, + -9.69996738433838, + 175.9070281982422 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.4039534689633859, + 0.9147795335010762, + -0.0, + -3607.4934423590375 + ], + [ + 0.34707259176995353, + -0.15326225860235743, + -0.9252304016460933, + 288.0061339486777 + ], + [ + -0.8463818420441943, + 0.3737500120021952, + -0.37940572740304734, + -688.2910862697486 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.4039534689633859, + 0.34707259176995353, + -0.8463818420441943, + 774.7433218160253 + ], + [ + 0.9147795335010762, + -0.15326225860235743, + 0.3737500120021952, + 3601.4504799274255 + ], + [ + -0.0, + -0.9252304016460933, + -0.37940572740304734, + 5.330425590029275 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77474.33218160253, + -360145.04799274256, + 533.0425590029275 + ], + "rotation_deg": [ + 0.0, + -22.296876907348643, + -156.1744384765625 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8635434294118766, + 0.5042744743882792, + -0.0, + -2481.453302107017 + ], + [ + 0.03823836357975032, + -0.06548117998796586, + -0.997120876633383, + 209.32997435837066 + ], + [ + -0.5028226199461169, + 0.8610571731306451, + -0.07582847401065766, + -2706.073736885345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8635434294118766, + 0.03823836357975032, + -0.5028226199461169, + 774.1631901483822 + ], + [ + 0.5042744743882792, + -0.06548117998796586, + 0.8610571731306451, + 3595.1249925173324 + ], + [ + -0.0, + -0.997120876633383, + -0.07582847401065766, + 3.5298440355051457 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77416.31901483823, + -359512.49925173324, + 352.98440355051457 + ], + "rotation_deg": [ + 0.0, + -4.348825931549073, + -120.28320312499999 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9807852783261096, + -0.1950903324585191, + -6.9388938502153445e-18, + -51.10416402698536 + ], + [ + -0.00647924655240916, + -0.03257337025964252, + -0.9994483452955643, + 125.12397667063172 + ], + [ + 0.19498269952053135, + 0.9802442255808731, + -0.03321152063728712, + -3661.3549823960248 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9807852783261096, + -0.00647924655240916, + 0.19498269952053135, + 764.8338375344424 + ], + [ + -0.1950903324585191, + -0.03257337025964252, + 0.9802442255808731, + 3583.1278535603024 + ], + [ + -6.9388938502153445e-18, + -0.9994483452955643, + -0.03321152063728712, + 3.4557858044594822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76483.38375344424, + -358312.7853560302, + 345.5785804459482 + ], + "rotation_deg": [ + 3.977887772366734e-16, + -1.9032299518585207, + -78.74999999999997 + ] + } + } + ] + }, + { + "frame": 106, + "time": 768.6755033843219, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.0733632651636191, + 0.9973052849175784, + -8.673617314683641e-19, + -3536.761974370432 + ], + [ + 0.169901061946272, + 0.012498175681656943, + -0.9853818674778623, + -174.10332129959778 + ], + [ + -0.9827265455904571, + -0.07229080785804716, + -0.1703601352754755, + 1032.8634567334443 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.0733632651636191, + 0.169901061946272, + -0.9827265455904571, + 785.1343496172193 + ], + [ + 0.9973052849175784, + 0.012498175681656943, + -0.07229080785804716, + 3604.0739462716465 + ], + [ + -8.673617314683641e-19, + -0.9853818674778623, + -0.1703601352754755, + 4.400515134450107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 78513.43496172193, + -360407.39462716464, + 440.05151344501064 + ], + "rotation_deg": [ + 5.043340916802279e-17, + -9.80875873565674, + 175.79281616210938 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.40276304119708395, + 0.9153042841840499, + -0.0, + -3608.4999225434653 + ], + [ + 0.3468248813953481, + -0.15261399559397207, + -0.9254304241778232, + 285.9099979045174 + ], + [ + -0.8470504387939566, + 0.3727291537049607, + -0.3789175795834087, + -684.2065581340354 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.40276304119708395, + 0.3468248813953481, + -0.8470504387939566, + 774.652180746072 + ], + [ + 0.9153042841840499, + -0.15261399559397207, + 0.3727291537049607, + 3601.5330762871886 + ], + [ + -0.0, + -0.9254304241778232, + -0.3789175795834087, + 5.331892543696849 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77465.2180746072, + -360153.30762871885, + 533.1892543696849 + ], + "rotation_deg": [ + 0.0, + -22.26665115356446, + -156.2489776611328 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.86294163799551, + 0.5053036012276437, + -1.3877787700936024e-17, + -2484.6482936644006 + ], + [ + 0.03842353660319552, + -0.06561851040322263, + -0.997104730169988, + 209.69183397351432 + ], + [ + -0.5038406249340395, + 0.8604431808690409, + -0.0760404968555789, + -2703.1918874011376 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.86294163799551, + 0.03842353660319552, + -0.5038406249340395, + 774.0714940668709 + ], + [ + 0.5053036012276437, + -0.06561851040322263, + 0.8604431808690409, + 3595.2044795150346 + ], + [ + -1.3877787700936024e-17, + -0.997104730169988, + -0.0760404968555789, + 3.5326638335299014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77407.14940668708, + -359520.44795150345, + 353.26638335299015 + ], + "rotation_deg": [ + 7.974474960780451e-16, + -4.3610091209411594, + -120.35150909423827 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9807852783261096, + -0.1950903324585191, + -6.9388938502153445e-18, + -50.984135583911666 + ], + [ + -0.00647924655240916, + -0.03257337025964252, + -0.9994483452955643, + 125.12590492832614 + ], + [ + 0.19498269952053135, + 0.9802442255808731, + -0.03321152063728712, + -3661.413010272566 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9807852783261096, + -0.00647924655240916, + 0.19498269952053135, + 764.7274423305248 + ], + [ + -0.1950903324585191, + -0.03257337025964252, + 0.9802442255808731, + 3583.208214248549 + ], + [ + -6.9388938502153445e-18, + -0.9994483452955643, + -0.03321152063728712, + 3.4557858044594822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76472.74423305248, + -358320.8214248549, + 345.5785804459482 + ], + "rotation_deg": [ + 3.977887772366734e-16, + -1.9032299518585207, + -78.74999999999997 + ] + } + } + ] + }, + { + "frame": 107, + "time": 768.7421700544655, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.07530093182683231, + 0.9971608544593047, + -0.0, + -3534.8086356653957 + ], + [ + 0.1716947778223025, + 0.012965587951033992, + -0.9850648693348241, + -177.1804454599253 + ], + [ + -0.9822681283354439, + -0.07417627922250976, + -0.1721836335343407, + 1039.208726799844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.07530093182683231, + 0.1716947778223025, + -0.9822681283354439, + 785.0282640262153 + ], + [ + 0.9971608544593047, + 0.012965587951033992, + -0.07417627922250976, + 3604.1547152447333 + ], + [ + -0.0, + -0.9850648693348241, + -0.1721836335343407, + 4.400515134450107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 78502.82640262153, + -360415.47152447334, + 440.05151344501064 + ], + "rotation_deg": [ + 0.0, + -9.914804458618168, + 175.68148803710938 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.4015768097482837, + 0.915825346816952, + -1.387778771736935e-17, + -3609.4971720226845 + ], + [ + 0.3465762952681535, + -0.15196893542189968, + -0.9256296852548193, + 283.82587459599995 + ], + [ + -0.8477151343366854, + 0.37171139763974337, + -0.3784305588628424, + -680.1360627251705 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.4015768097482837, + 0.3465762952681535, + -0.8477151343366854, + 774.5613492890323 + ], + [ + 0.915825346816952, + -0.15196893542189968, + 0.37171139763974337, + 3601.6160809317907 + ], + [ + -1.387778771736935e-17, + -0.9256296852548193, + -0.3784305588628424, + 5.333359497364423 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77456.13492890322, + -360161.60809317906, + 533.3359497364423 + ], + "rotation_deg": [ + 8.590246013169899e-16, + -22.236501693725586, + -156.32321166992188 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8623396314501128, + 0.5063302874907677, + -0.0, + -2487.8350918383353 + ], + [ + 0.038608727094317605, + -0.06575517269224963, + -0.9970885735261279, + 210.05134852278093 + ], + [ + -0.5048561580630307, + 0.8598289847593529, + -0.07625205986422044, + -2700.3115024545677 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8623396314501128, + 0.038608727094317605, + -0.5048561580630307, + 773.980107598273 + ], + [ + 0.5063302874907677, + -0.06575517269224963, + 0.8598289847593529, + 3595.2843747975767 + ], + [ + -0.0, + -0.9970885735261279, + -0.07625205986422044, + 3.5354836315546567 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77398.0107598273, + -359528.43747975765, + 353.54836315546567 + ], + "rotation_deg": [ + 0.0, + -4.373166084289551, + -120.4197006225586 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9807852783261096, + -0.1950903324585191, + -6.9388938502153445e-18, + -50.86433115220075 + ], + [ + -0.00647924655240916, + -0.03257337025964252, + -0.9994483452955643, + 125.1278484912922 + ], + [ + 0.19498269952053135, + 0.9802442255808731, + -0.03321152063728712, + -3661.4714987371267 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9807852783261096, + -0.00647924655240916, + 0.19498269952053135, + 764.6213567395208 + ], + [ + -0.1950903324585191, + -0.03257337025964252, + 0.9802442255808731, + 3583.288983221636 + ], + [ + -6.9388938502153445e-18, + -0.9994483452955643, + -0.03321152063728712, + 3.4557858044594822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76462.13567395209, + -358328.8983221636, + 345.5785804459482 + ], + "rotation_deg": [ + 3.977887772366734e-16, + -1.9032299518585207, + -78.74999999999997 + ] + } + } + ] + }, + { + "frame": 108, + "time": 768.8088367246091, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.0771870686336906, + 0.9970166279635149, + -0.0, + -3532.896712284817 + ], + [ + 0.1734390910687532, + 0.013427313698301392, + -0.984753059876481, + -180.19794501230217 + ], + [ + -0.9818151767041757, + -0.0760101786959828, + -0.17395807405220493, + 1045.372460263176 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.0771870686336906, + 0.1734390910687532, + -0.9818151767041757, + 784.922053263976 + ], + [ + 0.9970166279635149, + 0.013427313698301392, + -0.0760101786959828, + 3604.235319547451 + ], + [ + -0.0, + -0.984753059876481, + -0.17395807405220493, + 4.400515134450107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 78492.2053263976, + -360423.5319547451, + 440.05151344501064 + ], + "rotation_deg": [ + 0.0, + -10.01803016662598, + 175.57310485839844 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.4003950289711592, + 0.9163426328482073, + -0.0, + -3610.484367216282 + ], + [ + 0.3463268361661097, + -0.151327176788892, + -0.9258281741858344, + 281.7541811825399 + ], + [ + -0.8483758334970438, + 0.37069698023236075, + -0.3779446969925694, + -676.0806794271197 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.4003950289711592, + 0.3463268361661097, + -0.8483758334970438, + 774.470392660757 + ], + [ + 0.9163426328482073, + -0.151327176788892, + 0.37069698023236075, + 3601.698920906024 + ], + [ + -0.0, + -0.9258281741858344, + -0.3779446969925694, + 5.334826451031997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77447.0392660757, + -360169.89209060237, + 533.4826451031997 + ], + "rotation_deg": [ + 0.0, + -22.206430435180675, + -156.39712524414062 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8617373492220951, + 0.507354650077908, + -6.9388938504715055e-18, + -2491.0134048772693 + ], + [ + 0.03879394524280988, + -0.06589117008048047, + -0.9970724063566913, + 210.40850067011246 + ], + [ + -0.505869335802956, + 0.8592145241566834, + -0.07646317134725754, + -2697.4319990752647 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8617373492220951, + 0.03879394524280988, + -0.505869335802956, + 773.8885959584399 + ], + [ + 0.507354650077908, + -0.06589117008048047, + 0.8592145241566834, + 3595.3641054097493 + ], + [ + -6.9388938504715055e-18, + -0.9970724063566913, + -0.07646317134725754, + 3.538303429579412 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77388.85959584398, + -359536.41054097493, + 353.8303429579412 + ], + "rotation_deg": [ + 3.9873667415362226e-16, + -4.385297298431396, + -120.48778533935547 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9807852783261096, + -0.1950903324585191, + -6.9388938502153445e-18, + -50.74443607998171 + ], + [ + -0.00647924655240916, + -0.03257337025964252, + -0.9994483452955643, + 125.12978587937408 + ], + [ + 0.19498269952053135, + 0.9802442255808731, + -0.03321152063728712, + -3661.529801378283 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9807852783261096, + -0.00647924655240916, + 0.19498269952053135, + 764.5151459772815 + ], + [ + -0.1950903324585191, + -0.03257337025964252, + 0.9802442255808731, + 3583.369587524354 + ], + [ + -6.9388938502153445e-18, + -0.9994483452955643, + -0.03321152063728712, + 3.4557858044594822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76451.51459772815, + -358336.9587524354, + 345.5785804459482 + ], + "rotation_deg": [ + 3.977887772366734e-16, + -1.9032299518585207, + -78.74999999999997 + ] + } + } + ] + }, + { + "frame": 109, + "time": 768.8755033947527, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.07901983268350103, + 0.9968730440947188, + -8.673617314812506e-19, + -3531.02846993836 + ], + [ + 0.17513294878345728, + 0.013882385918865339, + -0.9844469155884488, + -183.15140403020368 + ], + [ + -0.9813685950981772, + -0.07779080725541924, + -0.17568230093432866, + 1051.3485753527889 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.07901983268350103, + 0.17513294878345728, + -0.9813685950981772, + 784.8151204043658 + ], + [ + 0.9968730440947188, + 0.013882385918865339, + -0.07779080725541924, + 3604.3149633994904 + ], + [ + -8.673617314812506e-19, + -0.9844469155884488, + -0.17568230093432866, + 4.400515134450107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 78481.51204043657, + -360431.496339949, + 440.05151344501064 + ], + "rotation_deg": [ + 5.04813069380121e-17, + -10.118366241455083, + 175.4677734375 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.3992172211642668, + 0.9168563738808171, + -0.0, + -3611.461002501344 + ], + [ + 0.34607657141715764, + -0.1506885168572478, + -0.926025905471066, + 279.69422249649904 + ], + [ + -0.8490327605928956, + 0.3696854702953779, + -0.37745996409220894, + -672.0388947540443 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.3992172211642668, + 0.34607657141715764, + -0.8490327605928956, + 774.3787139351111 + ], + [ + 0.9168563738808171, + -0.1506885168572478, + 0.3696854702953779, + 3601.7808004295784 + ], + [ + -0.0, + -0.926025905471066, + -0.37745996409220894, + 5.336293404699572 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77437.87139351112, + -360178.08004295785, + 533.6293404699572 + ], + "rotation_deg": [ + 0.0, + -22.17643547058106, + -156.4707489013672 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8611347978908072, + 0.5083766909109412, + -0.0, + -2494.1823254322535 + ], + [ + 0.038979188343057955, + -0.06602650372423775, + -0.9970562289470286, + 210.76326724354593 + ], + [ + -0.5068801602954548, + 0.8585998058991293, + -0.07667383131702321, + -2694.5530194831113 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8611347978908072, + 0.038979188343057955, + -0.5068801602954548, + 773.7963622212358 + ], + [ + 0.5083766909109412, + -0.06602650372423775, + 0.8585998058991293, + 3595.442875571244 + ], + [ + -0.0, + -0.9970562289470286, + -0.07667383131702321, + 3.5411232276041678 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77379.63622212358, + -359544.2875571244, + 354.11232276041676 + ], + "rotation_deg": [ + 0.0, + -4.397402763366699, + -120.5557632446289 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9807852783261096, + -0.1950903324585191, + -6.9388938502153445e-18, + -50.62402015993416 + ], + [ + -0.00647924655240916, + -0.03257337025964252, + -0.9994483452955643, + 125.1316873036935 + ], + [ + 0.19498269952053135, + 0.9802442255808731, + -0.03321152063728712, + -3661.5870217467136 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9807852783261096, + -0.00647924655240916, + 0.19498269952053135, + 764.4082131176713 + ], + [ + -0.1950903324585191, + -0.03257337025964252, + 0.9802442255808731, + 3583.449231376393 + ], + [ + -6.9388938502153445e-18, + -0.9994483452955643, + -0.03321152063728712, + 3.4557858044594822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76440.82131176713, + -358344.9231376393, + 345.5785804459482 + ], + "rotation_deg": [ + 3.977887772366734e-16, + -1.9032299518585207, + -78.74999999999997 + ] + } + } + ] + }, + { + "frame": 110, + "time": 768.9421700648963, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.08079844438147117, + 0.9967304607493109, + -8.673617314853898e-19, + -3529.2050216771086 + ], + [ + 0.1767753047192945, + 0.014330022196413956, + -0.984146910834582, + -186.03707354292672 + ], + [ + -0.9809292055223177, + -0.07951751616127693, + -0.1773551757826534, + 1057.1347146845685 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.08079844438147117, + 0.1767753047192945, + -0.9809292055223177, + 784.7068798107728 + ], + [ + 0.9967304607493109, + 0.014330022196413956, + -0.07951751616127693, + 3604.3928206633177 + ], + [ + -8.673617314853898e-19, + -0.984146910834582, + -0.1773551757826534, + 4.400515134450107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 78470.68798107728, + -360439.28206633177, + 440.05151344501064 + ], + "rotation_deg": [ + 5.04966955269852e-17, + -10.215744018554688, + 175.36553955078125 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.3980436403804799, + 0.9173664809402263, + -2.7755575434448422e-17, + -3612.4259622413865 + ], + [ + 0.3458255317928607, + -0.15005306654572972, + -0.9262228558939838, + 277.6464544999218 + ], + [ + -0.8496858086453386, + 0.36867709893101513, + -0.3769764227515131, + -668.011820640902 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.3980436403804799, + 0.3458255317928607, + -0.8496858086453386, + 774.2857274754824 + ], + [ + 0.9173664809402263, + -0.15005306654572972, + 0.36867709893101513, + 3601.860893364921 + ], + [ + -2.7755575434448422e-17, + -0.9262228558939838, + -0.3769764227515131, + 5.337760358367146 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77428.57274754824, + -360186.0893364921, + 533.7760358367146 + ], + "rotation_deg": [ + 1.7169489314046647e-15, + -22.146520614624027, + -156.5440673828125 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8605319840203265, + 0.5093964119210505, + -0.0, + -2497.340938621265 + ], + [ + 0.039164453698162155, + -0.06616117478498275, + -0.9970400415818791, + 211.11562264597168 + ], + [ + -0.5078886336923223, + 0.857984836807937, + -0.0768840397859244, + -2691.6741784165933 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8605319840203265, + 0.039164453698162155, + -0.5078886336923223, + 773.702820750049 + ], + [ + 0.5093964119210505, + -0.06616117478498275, + 0.857984836807937, + 3595.5198591445264 + ], + [ + -0.0, + -0.9970400415818791, + -0.0768840397859244, + 3.543943025628922 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77370.2820750049, + -359551.98591445264, + 354.3943025628922 + ], + "rotation_deg": [ + 0.0, + -4.409482479095459, + -120.6236343383789 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9807852783261096, + -0.1950903324585191, + -6.9388938502153445e-18, + -50.50267017973658 + ], + [ + -0.00647924655240916, + -0.03257337025964252, + -0.9994483452955643, + 125.13352205968269 + ], + [ + 0.19498269952053135, + 0.9802442255808731, + -0.03321152063728712, + -3661.642235836863 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9807852783261096, + -0.00647924655240916, + 0.19498269952053135, + 764.2999725240784 + ], + [ + -0.1950903324585191, + -0.03257337025964252, + 0.9802442255808731, + 3583.5270886402204 + ], + [ + -6.9388938502153445e-18, + -0.9994483452955643, + -0.03321152063728712, + 3.4557858044594822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76429.99725240783, + -358352.70886402205, + 345.5785804459482 + ], + "rotation_deg": [ + 3.977887772366734e-16, + -1.9032299518585207, + -78.74999999999997 + ] + } + } + ] + }, + { + "frame": 111, + "time": 769.00883673504, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.08252159414333969, + 0.99658927673342, + 8.673617314894401e-19, + -3527.4284759120396 + ], + [ + 0.17836513999866502, + 0.014769349857480973, + -0.9838535171142316, + -188.85097016029187 + ], + [ + -0.9804978667077319, + -0.08118913738137346, + -0.17897557753183893, + 1062.7270807119385 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.08252159414333969, + 0.17836513999866502, + -0.9804978667077319, + 784.5971233134451 + ], + [ + 0.99658927673342, + 0.014769349857480973, + -0.08118913738137346, + 3604.468525953268 + ], + [ + 8.673617314894401e-19, + -0.9838535171142316, + -0.17897557753183893, + 4.400515134450107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 78459.7123313445, + -360446.8525953268, + 440.05151344501064 + ], + "rotation_deg": [ + -5.051175408330523e-17, + -10.310095787048343, + 175.2664794921875 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.3968742966925676, + 0.9178729719437105, + -0.0, + -3613.3789005945546 + ], + [ + 0.34557367539873696, + -0.14942079522061597, + -0.9264190524957088, + 275.61081974509574 + ], + [ + -0.8503350157314834, + 0.3676718914495602, + -0.3764940122483234, + -663.999569404503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.3968742966925676, + 0.34557367539873696, + -0.8503350157314834, + 774.191225112119 + ], + [ + 0.9178729719437105, + -0.14942079522061597, + 0.3676718914495602, + 3601.938834326387 + ], + [ + -0.0, + -0.9264190524957088, + -0.3764940122483234, + 5.33922731203472 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77419.1225112119, + -360193.8834326387, + 533.922731203472 + ], + "rotation_deg": [ + 0.0, + -22.116682052612315, + -156.61708068847656 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8599289821251646, + 0.5104137005421958, + -0.0, + -2500.4885282757805 + ], + [ + 0.03934972555698167, + -0.0662951825336484, + -0.9970238451869746, + 211.4655602707297 + ], + [ + -0.5088946443172386, + 0.8573696920026703, + -0.0770937884688319, + -2688.7956316028453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8599289821251646, + 0.03934972555698167, + -0.5088946443172386, + 773.6077633751274 + ], + [ + 0.5104137005421958, + -0.0662951825336484, + 0.8573696920026703, + 3595.5946907439316 + ], + [ + -0.0, + -0.9970238451869746, + -0.0770937884688319, + 3.546762823653678 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77360.77633751274, + -359559.46907439316, + 354.6762823653678 + ], + "rotation_deg": [ + 0.0, + -4.4215359687805185, + -120.69139099121094 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9807852783261096, + -0.1950903324585191, + -6.9388938502153445e-18, + -50.38025325277158 + ], + [ + -0.00647924655240916, + -0.03257337025964252, + -0.9994483452955643, + 125.13527689671594 + ], + [ + 0.19498269952053135, + 0.9802442255808731, + -0.03321152063728712, + -3661.6950448920443 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9807852783261096, + -0.00647924655240916, + 0.19498269952053135, + 764.1902160267506 + ], + [ + -0.1950903324585191, + -0.03257337025964252, + 0.9802442255808731, + 3583.6027939301707 + ], + [ + -6.9388938502153445e-18, + -0.9994483452955643, + -0.03321152063728712, + 3.4557858044594822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76419.02160267506, + -358360.27939301706, + 345.5785804459482 + ], + "rotation_deg": [ + 3.977887772366734e-16, + -1.9032299518585207, + -78.74999999999997 + ] + } + } + ] + }, + { + "frame": 112, + "time": 769.0755034051836, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.08418797341928307, + 0.9964498909285675, + -0.0, + -3525.7019892044887 + ], + [ + 0.17990152093426715, + 0.015199504360815286, + -0.9835671902990273, + -191.58936118123486 + ], + [ + -0.9800754212024549, + -0.08280450524046758, + -0.18054246776509927, + 1068.1227181123393 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.08418797341928307, + 0.17990152093426715, + -0.9800754212024549, + 784.4864139001006 + ], + [ + 0.9964498909285675, + 0.015199504360815286, + -0.08280450524046758, + 3604.542830767574 + ], + [ + -0.0, + -0.9835671902990273, + -0.18054246776509927, + 4.400515134450107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 78448.64139001006, + -360454.2830767574, + 440.05151344501064 + ], + "rotation_deg": [ + 0.0, + -10.401358604431156, + 175.17066955566406 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.3957092000926724, + 0.9183758647536515, + -0.0, + -3614.3208025747444 + ], + [ + 0.3453210734002008, + -0.1487917213144436, + -0.9266144721155707, + 273.5872502639475 + ], + [ + -0.8509803738588875, + 0.3666698530833268, + -0.3760127951903226, + -660.0019712923257 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.3957092000926724, + 0.3453210734002008, + -0.8509803738588875, + 774.0957698327387 + ], + [ + 0.9183758647536515, + -0.1487917213144436, + 0.3666698530833268, + 3602.0153748122084 + ], + [ + -0.0, + -0.9266144721155707, + -0.3760127951903226, + 5.340694265702294 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77409.57698327387, + -360201.53748122085, + 534.0694265702294 + ], + "rotation_deg": [ + 0.0, + -22.086923599243175, + -156.68978881835938 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8593256629426269, + 0.5114287878172428, + -6.9388938504785005e-18, + -2503.6266889728804 + ], + [ + 0.03953502309625906, + -0.06642852483264039, + -0.9970076394077113, + 211.81308509053244 + ], + [ + -0.5098984224309818, + 0.856754242328182, + -0.07730308567617836, + -2685.917101095383 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8593256629426269, + 0.03953502309625906, + -0.5098984224309818, + 773.5117530841891 + ], + [ + 0.5114287878172428, + -0.06642852483264039, + 0.856754242328182, + 3595.6681218676927 + ], + [ + -6.9388938504785005e-18, + -0.9970076394077113, + -0.07730308567617836, + 3.549582621678433 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77351.17530841891, + -359566.81218676927, + 354.9582621678433 + ], + "rotation_deg": [ + 3.9876257662137814e-16, + -4.433563709259031, + -120.75904846191409 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9807852783261096, + -0.1950903324585191, + -6.9388938502153445e-18, + -50.25717493906495 + ], + [ + -0.00647924655240916, + -0.03257337025964252, + -0.9994483452955643, + 125.13697994135966 + ], + [ + 0.19498269952053135, + 0.9802442255808731, + -0.03321152063728712, + -3661.746295336924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9807852783261096, + -0.00647924655240916, + 0.19498269952053135, + 764.0795066134061 + ], + [ + -0.1950903324585191, + -0.03257337025964252, + 0.9802442255808731, + 3583.6770987444766 + ], + [ + -6.9388938502153445e-18, + -0.9994483452955643, + -0.03321152063728712, + 3.4557858044594822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76407.95066134061, + -358367.70987444767, + 345.5785804459482 + ], + "rotation_deg": [ + 3.977887772366734e-16, + -1.9032299518585207, + -78.74999999999997 + ] + } + } + ] + }, + { + "frame": 113, + "time": 769.1421700753272, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.08579680525944754, + 0.9963126558501965, + -0.0, + -3524.029044853866 + ], + [ + 0.18138347587929213, + 0.01561971803320866, + -0.9832883905988665, + -194.24896393792392 + ], + [ + -0.9796626696439034, + -0.08436297935083228, + -0.1820547758814123, + 1073.3212124130557 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.08579680525944754, + 0.18138347587929213, + -0.9796626696439034, + 784.3759216691075 + ], + [ + 0.9963126558501965, + 0.01561971803320866, + -0.08436297935083228, + 3604.617458152107 + ], + [ + -0.0, + -0.9832883905988665, + -0.1820547758814123, + 4.400515134450107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 78437.59216691075, + -360461.7458152107, + 440.05151344501064 + ], + "rotation_deg": [ + 0.0, + -10.48946762084961, + 175.07815551757812 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.39454811578148785, + 0.9188752822517741, + -0.0, + -3615.253973178313 + ], + [ + 0.3450677231107336, + -0.14816572237824524, + -0.9268091417219118, + 271.5751611789461 + ], + [ + -0.851622018414305, + 0.36567078206415116, + -0.3755327108209578, + -656.0178343136309 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.39454811578148785, + 0.3450677231107336, + -0.851622018414305, + 774.00053173571 + ], + [ + 0.9188752822517741, + -0.14816572237824524, + 0.36567078206415116, + 3602.092237868257 + ], + [ + -0.0, + -0.9268091417219118, + -0.3755327108209578, + 5.342161219369868 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77400.053173571, + -360209.2237868257, + 534.2161219369868 + ], + "rotation_deg": [ + 0.0, + -22.05724143981935, + -156.76220703125 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8587221690569372, + 0.5124414467723594, + -0.0, + -2506.756599666287 + ], + [ + 0.03972032597221631, + -0.06656121336270879, + -0.996991424526984, + 212.15832288305518 + ], + [ + -0.5108997419660001, + 0.856138630215063, + -0.07751193142058961, + -2683.0401559936627 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8587221690569372, + 0.03972032597221631, + -0.5108997419660001, + 773.4159599756022 + ], + [ + 0.5124414467723594, + -0.06656121336270879, + 0.856138630215063, + 3595.7418755616804 + ], + [ + -0.0, + -0.996991424526984, + -0.07751193142058961, + 3.5524024197031885 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77341.59599756022, + -359574.18755616806, + 355.24024197031883 + ], + "rotation_deg": [ + 0.0, + -4.445565700531006, + -120.82659149169922 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9807852783261096, + -0.1950903324585191, + -6.9388938502153445e-18, + -50.13424670427844 + ], + [ + -0.00647924655240916, + -0.03257337025964252, + -0.9994483452955643, + 125.13869490038083 + ], + [ + 0.19498269952053135, + 0.9802442255808731, + -0.03321152063728712, + -3661.7979043262076 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9807852783261096, + -0.00647924655240916, + 0.19498269952053135, + 763.969014382413 + ], + [ + -0.1950903324585191, + -0.03257337025964252, + 0.9802442255808731, + 3583.7517261290095 + ], + [ + -6.9388938502153445e-18, + -0.9994483452955643, + -0.03321152063728712, + 3.4557858044594822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76396.9014382413, + -358375.17261290096, + 345.5785804459482 + ], + "rotation_deg": [ + 3.977887772366734e-16, + -1.9032299518585207, + -78.74999999999997 + ] + } + } + ] + }, + { + "frame": 114, + "time": 769.2088367454708, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.0873465173550186, + 0.996177989069197, + 1.7347234630019827e-18, + -3522.413908904871 + ], + [ + 0.1828101617135094, + 0.016029094336547967, + -0.9830175547308554, + -196.82613630397952 + ], + [ + -0.9792604526615374, + -0.08586313671388852, + -0.18351154624920202, + 1078.3193364465224 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.0873465173550186, + 0.1828101617135094, + -0.9792604526615374, + 784.2667902913018 + ], + [ + 0.996177989069197, + 0.016029094336547967, + -0.08586313671388852, + 3604.6940618204935 + ], + [ + 1.7347234630019827e-18, + -0.9830175547308554, + -0.18351154624920202, + 4.400515134450107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 78426.67902913019, + -360469.40618204937, + 440.05151344501064 + ], + "rotation_deg": [ + -1.0110941899656586e-16, + -10.57436466217041, + 174.98902893066406 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.3933910531950935, + 0.9193712412654937, + 1.3877787717033547e-17, + -3616.1804483887736 + ], + [ + 0.3448136383773125, + -0.14754279258351455, + -0.927003063180299, + 269.574370480006 + ], + [ + -0.8522599635586282, + 0.36467469282890513, + -0.3750537600467285, + -652.0468261044426 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.3933910531950935, + 0.3448136383773125, + -0.8522599635586282, + 773.9066544918685 + ], + [ + 0.9193712412654937, + -0.14754279258351455, + 0.36467469282890513, + 3602.171077208159 + ], + [ + 1.3877787717033547e-17, + -0.927003063180299, + -0.3750537600467285, + 5.343628173037444 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77390.66544918685, + -360217.1077208159, + 534.3628173037444 + ], + "rotation_deg": [ + -8.577519351403696e-16, + -22.027635574340824, + -156.83433532714844 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.858118439004493, + 0.513451793881852, + 6.9388938504820064e-18, + -2509.880462252044 + ], + [ + 0.03990564461104166, + -0.06669325118566982, + -0.9969752001802562, + 212.5013411110356 + ], + [ + -0.5118987189475923, + 0.8555227940977855, + -0.07772033401196762, + -2680.1653125243665 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.858118439004493, + 0.03990564461104166, + -0.5118987189475923, + 773.3215277202028 + ], + [ + 0.513451793881852, + -0.06669325118566982, + 0.8555227940977855, + 3595.817605539523 + ], + [ + 6.9388938504820064e-18, + -0.9969752001802562, + -0.07772033401196762, + 3.5552222177279442 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77332.15277202027, + -359581.7605539523, + 355.5222217727944 + ], + "rotation_deg": [ + -3.9877555141766406e-16, + -4.457542419433595, + -120.89402770996092 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9807852783261096, + -0.1950903324585191, + -6.9388938502153445e-18, + -50.01226762039016 + ], + [ + -0.00647924655240916, + -0.03257337025964252, + -0.9994483452955643, + 125.14048305093102 + ], + [ + 0.19498269952053135, + 0.9802442255808731, + -0.03321152063728712, + -3661.851715899155 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9807852783261096, + -0.00647924655240916, + 0.19498269952053135, + 763.8598830046074 + ], + [ + -0.1950903324585191, + -0.03257337025964252, + 0.9802442255808731, + 3583.8283297973962 + ], + [ + -6.9388938502153445e-18, + -0.9994483452955643, + -0.03321152063728712, + 3.4557858044594822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76385.98830046074, + -358382.83297973964, + 345.5785804459482 + ], + "rotation_deg": [ + 3.977887772366734e-16, + -1.9032299518585207, + -78.74999999999997 + ] + } + } + ] + }, + { + "frame": 115, + "time": 769.2755034156144, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.08883633404388637, + 0.9960462367549223, + 1.7347234630092417e-18, + -3520.8594955313174 + ], + [ + 0.18418070811697373, + 0.016426886932503798, + -0.9827551191132187, + -199.31771544123018 + ], + [ + -0.9788695398434846, + -0.08730433887402259, + -0.18491180703344684, + 1083.1163778995597 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.08883633404388637, + 0.18418070811697373, + -0.9788695398434846, + 784.1599365601096 + ], + [ + 0.9960462367549223, + 0.016426886932503798, + -0.08730433887402259, + 3604.7738118033303 + ], + [ + 1.7347234630092417e-18, + -0.9827551191132187, + -0.18491180703344684, + 4.400515134450107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 78415.99365601096, + -360477.38118033303, + 440.05151344501064 + ], + "rotation_deg": [ + -1.0113641932729232e-16, + -10.65599060058594, + 174.90333557128906 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.392238266670395, + 0.9198636541136972, + -2.7755575433972764e-17, + -3617.101541302298 + ], + [ + 0.3445588222353338, + -0.1469230299459961, + -0.9271962258827885, + 267.5850827140028 + ], + [ + -0.852894115111226, + 0.3636818219736303, + -0.37457597463609343, + -648.089506391211 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.392238266670395, + 0.3445588222353338, + -0.852894115111226, + 773.8150548946405 + ], + [ + 0.9198636541136972, + -0.1469230299459961, + 0.3636818219736303, + 3602.2530628625113 + ], + [ + -2.7755575433972764e-17, + -0.9271962258827885, + -0.37457597463609343, + 5.345095126705018 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77381.50548946405, + -360225.3062862511, + 534.5095126705017 + ], + "rotation_deg": [ + 1.715146479515043e-15, + -21.998107910156243, + -156.90615844726562 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8575144792721427, + 0.5144598311225334, + -1.3877787700967521e-17, + -2512.9996800188687 + ], + [ + 0.04009096784752769, + -0.06682462524290006, + -0.9969589679411054, + 212.84214277041588 + ], + [ + -0.5128953562399334, + 0.8549067418214764, + -0.07792827686853562, + -2677.293118349672 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8575144792721427, + 0.04009096784752769, + -0.5128953562399334, + 773.2293731114166 + ], + [ + 0.5144598311225334, + -0.06682462524290006, + 0.8549067418214764, + 3595.8964818318145 + ], + [ + -1.3877787700967521e-17, + -0.9969589679411054, + -0.07792827686853562, + 3.558042015752699 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77322.93731114166, + -359589.6481831815, + 355.80420157526993 + ], + "rotation_deg": [ + 7.975640883651779e-16, + -4.469492912292478, + -120.96135711669919 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9807852783261096, + -0.1950903324585191, + -6.9388938502153445e-18, + -49.891908603237425 + ], + [ + -0.00647924655240916, + -0.03257337025964252, + -0.9994483452955643, + 125.14238844498072 + ], + [ + 0.19498269952053135, + 0.9802442255808731, + -0.03321152063728712, + -3661.9090557303593 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9807852783261096, + -0.00647924655240916, + 0.19498269952053135, + 763.7530292734151 + ], + [ + -0.1950903324585191, + -0.03257337025964252, + 0.9802442255808731, + 3583.908079780233 + ], + [ + -6.9388938502153445e-18, + -0.9994483452955643, + -0.03321152063728712, + 3.4557858044594822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76375.30292734152, + -358390.8079780233, + 345.5785804459482 + ], + "rotation_deg": [ + 3.977887772366734e-16, + -1.9032299518585207, + -78.74999999999997 + ] + } + } + ] + }, + { + "frame": 116, + "time": 769.342170085758, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.09026521475394525, + 0.9959177631739599, + 1.7347234630162602e-18, + -3519.368378454666 + ], + [ + 0.18549429852548627, + 0.016812314541588092, + -0.9825015070188402, + -201.72038498120884 + ], + [ + -0.9784907050121985, + -0.08868568637537111, + -0.18625463547750906, + 1087.7102904302883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.09026521475394525, + 0.18549429852548627, + -0.9784907050121985, + 784.0559260317766 + ], + [ + 0.9959177631739599, + 0.016812314541588092, + -0.08868568637537111, + 3604.857235958274 + ], + [ + 1.7347234630162602e-18, + -0.9825015070188402, + -0.18625463547750906, + 4.400515134450107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 78405.59260317766, + -360485.7235958274, + 440.05151344501064 + ], + "rotation_deg": [ + -1.011625255666644e-16, + -10.734289169311525, + 174.82113647460938 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.3910895207824407, + 0.9203526425963913, + -0.0, + -3618.018210251346 + ], + [ + 0.34430332789926044, + -0.14630633659295292, + -0.9273886317344222, + 265.60678311894037 + ], + [ + -0.8535245846055215, + 0.36269195701491946, + -0.3740993555068756, + -644.1447182084312 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.3910895207824407, + 0.34430332789926044, + -0.8535245846055215, + 773.7262985002718 + ], + [ + 0.9203526425963913, + -0.14630633659295292, + 0.36269195701491946, + 3602.338722688971 + ], + [ + -0.0, + -0.9273886317344222, + -0.3740993555068756, + 5.346562080372592 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77372.62985002718, + -360233.8722688971, + 534.6562080372591 + ], + "rotation_deg": [ + 0.0, + -21.968658447265636, + -156.97769165039062 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8569103649698697, + 0.5154654463756075, + 6.938893850485516e-18, + -2516.114669488772 + ], + [ + 0.04027628837354545, + -0.06695534921395607, + -0.9969427274455077, + 213.1807950837496 + ], + [ + -0.5138895419679811, + 0.854290547980038, + -0.07813576830047203, + -2674.424075164497 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8569103649698697, + 0.04027628837354545, + -0.5138895419679811, + 773.1400617054898 + ], + [ + 0.5154654463756075, + -0.06695534921395607, + 0.854290547980038, + 3595.9790322962135 + ], + [ + 6.938893850485516e-18, + -0.9969427274455077, + -0.07813576830047203, + 3.5608618137774544 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77314.00617054898, + -359597.90322962136, + 356.08618137774545 + ], + "rotation_deg": [ + -3.987885404616181e-16, + -4.481417655944824, + -121.02857208251952 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9807852783261096, + -0.1950903324585191, + -6.9388938502153445e-18, + -49.77362136213435 + ], + [ + -0.00647924655240916, + -0.03257337025964252, + -0.9994483452955643, + 125.14443194101119 + ], + [ + 0.19498269952053135, + 0.9802442255808731, + -0.03321152063728712, + -3661.970551522924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9807852783261096, + -0.00647924655240916, + 0.19498269952053135, + 763.6490187450821 + ], + [ + -0.1950903324585191, + -0.03257337025964252, + 0.9802442255808731, + 3583.9915039351768 + ], + [ + -6.9388938502153445e-18, + -0.9994483452955643, + -0.03321152063728712, + 3.4557858044594822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76364.90187450821, + -358399.1503935177, + 345.5785804459482 + ], + "rotation_deg": [ + 3.977887772366734e-16, + -1.9032299518585207, + -78.74999999999997 + ] + } + } + ] + }, + { + "frame": 117, + "time": 769.4088367559016, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.09163238445465763, + 0.9957929032279519, + -3.4694469260460523e-18, + -3517.9422056865633 + ], + [ + 0.18675016086888657, + 0.01718466006559769, + -0.9822571276778166, + -204.03100033118125 + ], + [ + -0.9781246787401408, + -0.0900065396232809, + -0.18753915768324025, + 1092.0994218419091 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.09163238445465763, + 0.18675016086888657, + -0.9781246787401408, + 783.9548637135099 + ], + [ + 0.9957929032279519, + 0.01718466006559769, + -0.0900065396232809, + 3604.9442082955925 + ], + [ + -3.4694469260460523e-18, + -0.9822571276778166, + -0.18753915768324025, + 4.400515134450107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 78395.48637135098, + -360494.42082955927, + 440.05151344501064 + ], + "rotation_deg": [ + 2.0237538832310387e-16, + -10.809206962585446, + 174.7424774169922 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.3899448247447058, + 0.9208382233893315, + -0.0, + -3618.930441003541 + ], + [ + 0.34404714061392794, + -0.14569269448526415, + -0.9275802950736952, + 263.63935970542883 + ], + [ + -0.854151397626175, + 0.3617051170308462, + -0.37362387269412195, + -640.2123588856754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.3899448247447058, + 0.34404714061392794, + -0.854151397626175, + 773.6404903159693 + ], + [ + 0.9208382233893315, + -0.14569269448526415, + 0.3617051170308462, + 3602.4279306978046 + ], + [ + -0.0, + -0.9275802950736952, + -0.37362387269412195, + 5.348029034040166 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77364.04903159692, + -360242.79306978045, + 534.8029034040165 + ], + "rotation_deg": [ + 0.0, + -21.93928527832032, + -157.04893493652344 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8563059654108777, + 0.5164688699251336, + -0.0, + -2519.22618797204 + ], + [ + 0.04046162565239622, + -0.06708542069803959, + -0.9969264783219133, + 213.51726136767869 + ], + [ + -0.5148815056092098, + 0.8536740819926727, + -0.07834281661748412, + -2671.5573583832124 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8563059654108777, + 0.04046162565239622, + -0.5148815056092098, + 773.0536985096292 + ], + [ + 0.5164688699251336, + -0.06708542069803959, + 0.8536740819926727, + 3596.0651309429873 + ], + [ + -0.0, + -0.9969264783219133, + -0.07834281661748412, + 3.56368161180221 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77305.36985096292, + -359606.5130942987, + 356.368161180221 + ], + "rotation_deg": [ + 0.0, + -4.493317127227783, + -121.09568786621094 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9807852783261096, + -0.1950903324585191, + -6.9388938502153445e-18, + -49.657533465982624 + ], + [ + -0.00647924655240916, + -0.03257337025964252, + -0.9994483452955643, + 125.14661011547983 + ], + [ + 0.19498269952053135, + 0.9802442255808731, + -0.03321152063728712, + -3662.0361002507307 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9807852783261096, + -0.00647924655240916, + 0.19498269952053135, + 763.5479564268154 + ], + [ + -0.1950903324585191, + -0.03257337025964252, + 0.9802442255808731, + 3584.0784762724957 + ], + [ + -6.9388938502153445e-18, + -0.9994483452955643, + -0.03321152063728712, + 3.4557858044594822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76354.79564268154, + -358407.84762724955, + 345.5785804459482 + ], + "rotation_deg": [ + 3.977887772366734e-16, + -1.9032299518585207, + -78.74999999999997 + ] + } + } + ] + }, + { + "frame": 118, + "time": 769.4755034260452, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.09293680305103748, + 0.9956720095687396, + 1.7347234630295277e-18, + -3516.582568555658 + ], + [ + 0.18794755952199438, + 0.017543172003785076, + -0.982022378556503, + -206.24625100909842 + ], + [ + -0.9777721969775877, + -0.09126599727175282, + -0.18876453204882987, + 1096.2808161319592 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.09293680305103748, + 0.18794755952199438, + -0.9777721969775877, + 783.8565180202334 + ], + [ + 0.9956720095687396, + 0.017543172003785076, + -0.09126599727175282, + 3605.0342410909843 + ], + [ + 1.7347234630295277e-18, + -0.982022378556503, + -0.18876453204882987, + 4.400515134450107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 78385.65180202333, + -360503.42410909844, + 440.05151344501064 + ], + "rotation_deg": [ + -1.0121188273727423e-16, + -10.880692481994627, + 174.66741943359375 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.38880443306064255, + 0.9213203095733818, + -0.0, + -3619.8375710022415 + ], + [ + 0.3437902637372816, + -0.14508220126617774, + -0.9277712053276985, + 261.6831668066201 + ], + [ + -0.8547744607500453, + 0.36072153891007463, + -0.3731495579734975, + -636.2933597527002 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.38880443306064255, + 0.3437902637372816, + -0.8547744607500453, + 773.5573987566571 + ], + [ + 0.9213203095733818, + -0.14508220126617774, + 0.36072153891007463, + 3602.5201991647123 + ], + [ + -0.0, + -0.9277712053276985, + -0.3731495579734975, + 5.349495987707741 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77355.7398756657, + -360252.0199164712, + 534.9495987707741 + ], + "rotation_deg": [ + 0.0, + -21.90999031066895, + -157.119873046875 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8557014244460353, + 0.5174698756459415, + -0.0, + -2522.333087772793 + ], + [ + 0.04064695494004886, + -0.06721484453211263, + -0.9969102214987192, + 213.85155435833914 + ], + [ + -0.5158710222984132, + 0.8530574880897664, + -0.0785494135354789, + -2668.6933479576223 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8557014244460353, + 0.04064695494004886, + -0.5158710222984132, + 772.9700519387588 + ], + [ + 0.5174698756459415, + -0.06721484453211263, + 0.8530574880897664, + 3596.154290047834 + ], + [ + -0.0, + -0.9969102214987192, + -0.0785494135354789, + 3.566501409826965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77297.00519387588, + -359615.4290047834, + 356.6501409826965 + ], + "rotation_deg": [ + 0.0, + -4.505190849304199, + -121.16268920898436 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9807852783261096, + -0.1950903324585191, + -6.9388938502153445e-18, + -49.54351292984518 + ], + [ + -0.00647924655240916, + -0.03257337025964252, + -0.9994483452955643, + 125.1489055810655 + ], + [ + 0.19498269952053135, + 0.9802442255808731, + -0.03321152063728712, + -3662.105178669765 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9807852783261096, + -0.00647924655240916, + 0.19498269952053135, + 763.4496107335389 + ], + [ + -0.1950903324585191, + -0.03257337025964252, + 0.9802442255808731, + 3584.168509067887 + ], + [ + -6.9388938502153445e-18, + -0.9994483452955643, + -0.03321152063728712, + 3.4557858044594822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76344.96107335389, + -358416.8509067887, + 345.5785804459482 + ], + "rotation_deg": [ + 3.977887772366734e-16, + -1.9032299518585207, + -78.74999999999997 + ] + } + } + ] + }, + { + "frame": 119, + "time": 769.5421700961888, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.09417743056178662, + 0.9955554286792772, + -0.0, + -3515.2909868372485 + ], + [ + 0.18908580669279693, + 0.017887115992782254, + -0.9817976414663028, + -208.36289750697446 + ], + [ + -0.9774339737290146, + -0.09246315610580595, + -0.1899299654168907, + 1100.2513588848533 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.09417743056178662, + 0.18908580669279693, + -0.9774339737290146, + 783.7605293968674 + ], + [ + 0.9955554286792772, + 0.017887115992782254, + -0.09246315610580595, + 3605.1267827778956 + ], + [ + -0.0, + -0.9817976414663028, + -0.1899299654168907, + 4.400515134450107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 78376.05293968674, + -360512.67827778956, + 440.05151344501064 + ], + "rotation_deg": [ + 0.0, + -10.948697090148928, + 174.5960235595703 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.38766786420178734, + 0.9217991251163261, + 1.3877787716799727e-17, + -3620.7393799364127 + ], + [ + 0.3435327312824021, + -0.14447464376021096, + -0.9279613892010877, + 259.7374512840916 + ], + [ + -0.8553940033362775, + 0.35974079120699676, + -0.37267635046793707, + -632.3860843933714 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.38766786420178734, + 0.3435327312824021, + -0.8553940033362775, + 773.4766642672553 + ], + [ + 0.9217991251163261, + -0.14447464376021096, + 0.35974079120699676, + 3602.6149765231385 + ], + [ + 1.3877787716799727e-17, + -0.9279613892010877, + -0.37267635046793707, + 5.350962941375315 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77347.66642672553, + -360261.49765231385, + 535.0962941375315 + ], + "rotation_deg": [ + -8.568661159438064e-16, + -21.88076972961426, + -157.19053649902344 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8550966798619205, + 0.5184685796546593, + -6.938893850490785e-18, + -2525.4351486191367 + ], + [ + 0.04083228253398988, + -0.0673436165587028, + -0.9968939572551628, + 214.18363127771755 + ], + [ + -0.5168582080311276, + 0.8524407045107694, + -0.07875555906750153, + -2665.8314334209927 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8550966798619205, + 0.04083228253398988, + -0.5168582080311276, + 772.888762437799 + ], + [ + 0.5184685796546593, + -0.0673436165587028, + 0.8524407045107694, + 3596.2459580442005 + ], + [ + -6.938893850490785e-18, + -0.9968939572551628, + -0.07875555906750153, + 3.5693212078517207 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77288.8762437799, + -359624.59580442007, + 356.93212078517206 + ], + "rotation_deg": [ + 3.9880805005256907e-16, + -4.517038822174071, + -121.2295837402344 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9807852783261096, + -0.1950903324585191, + -6.9388938502153445e-18, + -49.43131471269521 + ], + [ + -0.00647924655240916, + -0.03257337025964252, + -0.9994483452955643, + 125.15129804174072 + ], + [ + 0.19498269952053135, + 0.9802442255808731, + -0.03321152063728712, + -3662.177176003078 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9807852783261096, + -0.00647924655240916, + 0.19498269952053135, + 763.3536221101729 + ], + [ + -0.1950903324585191, + -0.03257337025964252, + 0.9802442255808731, + 3584.2610507547984 + ], + [ + -6.9388938502153445e-18, + -0.9994483452955643, + -0.03321152063728712, + 3.4557858044594822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76335.36221101729, + -358426.10507547983, + 345.5785804459482 + ], + "rotation_deg": [ + 3.977887772366734e-16, + -1.9032299518585207, + -78.74999999999997 + ] + } + } + ] + }, + { + "frame": 120, + "time": 769.6088367663324, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.09535349209915268, + 0.9954434748113506, + -1.7347234630416967e-18, + -3514.0686486538093 + ], + [ + 0.19016424066575632, + 0.018215825286614053, + -0.9815832849438421, + -210.37794352042914 + ], + [ + -0.9771106779066273, + -0.09359737092236833, + -0.19103469652728397, + 1104.0087369153864 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.09535349209915268, + 0.19016424066575632, + -0.9771106779066273, + 783.66644780821 + ], + [ + 0.9954434748113506, + 0.018215825286614053, + -0.09359737092236833, + 3605.2212625868915 + ], + [ + -1.7347234630416967e-18, + -0.9815832849438421, + -0.19103469652728397, + 4.400515134450107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 78366.644780821, + -360522.12625868915, + 440.05151344501064 + ], + "rotation_deg": [ + 1.0125715805177297e-16, + -11.013174057006832, + 174.52833557128906 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.38653537239942737, + 0.9222745826943491, + -0.0, + -3621.635043175974 + ], + [ + 0.34327460326566767, + -0.1438701435541291, + -0.9281508113159803, + 257.80267486394257 + ], + [ + -0.8560099087976027, + 0.35876310086966173, + -0.3722043437343317, + -628.4916087519621 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.38653537239942737, + 0.34327460326566767, + -0.8560099087976027, + 773.3978368125622 + ], + [ + 0.9222745826943491, + -0.1438701435541291, + 0.35876310086966173, + 3602.7116920036497 + ], + [ + -0.0, + -0.9281508113159803, + -0.3722043437343317, + 5.352429895042889 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77339.78368125622, + -360271.16920036497, + 535.2429895042889 + ], + "rotation_deg": [ + 0.0, + -21.851629257202152, + -157.2609100341797 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8544917380682693, + 0.5194649839720364, + -0.0, + -2528.531704343102 + ], + [ + 0.041017605824726036, + -0.06747173798812985, + -0.9968776858698707, + 214.51347792374264 + ], + [ + -0.5178430650566044, + 0.851823737906884, + -0.078961253226665, + -2662.9713715679577 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8544917380682693, + 0.041017605824726036, + -0.5178430650566044, + 772.8093799715479 + ], + [ + 0.5194649839720364, + -0.06747173798812985, + 0.851823737906884, + 3596.3395641626516 + ], + [ + -0.0, + -0.9968776858698707, + -0.078961253226665, + 3.572141005876476 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 77280.93799715479, + -359633.95641626517, + 357.2141005876476 + ], + "rotation_deg": [ + 0.0, + -4.528861045837402, + -121.29637145996091 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9807852783261096, + -0.1950903324585191, + -6.9388938502153445e-18, + -49.320608778231076 + ], + [ + -0.00647924655240916, + -0.03257337025964252, + -0.9994483452955643, + 125.15376598973224 + ], + [ + 0.19498269952053135, + 0.9802442255808731, + -0.03321152063728712, + -3662.2514450081485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9807852783261096, + -0.00647924655240916, + 0.19498269952053135, + 763.2595405215156 + ], + [ + -0.1950903324585191, + -0.03257337025964252, + 0.9802442255808731, + 3584.355530563794 + ], + [ + -6.9388938502153445e-18, + -0.9994483452955643, + -0.03321152063728712, + 3.4557858044594822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76325.95405215156, + -358435.55305637943, + 345.5785804459482 + ], + "rotation_deg": [ + 3.977887772366734e-16, + -1.9032299518585207, + -78.74999999999997 + ] + } + } + ] + } + ] +} \ No newline at end of file diff --git a/clips/clip_00234/caption.txt b/clips/clip_00234/caption.txt new file mode 100644 index 0000000000000000000000000000000000000000..96b000e3069b232b166f7f63d368eb8b14302dd8 --- /dev/null +++ b/clips/clip_00234/caption.txt @@ -0,0 +1 @@ +A shirtless-vested man with short reddish hair, blue jeans, and a dark satchel crosses a wide downtown crosswalk, then walks along a riverside promenade past a clock and benches toward an open waterfront plaza overlooking a distant skyline, under an overcast late-afternoon sky amid tall office towers and light traffic. diff --git a/clips/clip_00234/depth.zip b/clips/clip_00234/depth.zip new file mode 100644 index 0000000000000000000000000000000000000000..eb01a7ae90b0152d786660613d4d19708d06c934 --- /dev/null +++ b/clips/clip_00234/depth.zip @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ec6990b318ecdad83fa7bc26c46665e03b7e56f121dc40bcc7d063d7ee39d472 +size 149420571 diff --git a/clips/clip_00234/meta.json b/clips/clip_00234/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f5e48a439706cb1f12004eec66d2167dcf0e6ff6 --- /dev/null +++ b/clips/clip_00234/meta.json @@ -0,0 +1,300 @@ +{ + "mode": "pie", + "clip": "clip_00228", + "num_cams": 4, + "resolution": 1280, + "focal_mm": 35.0, + "sensor_mm": 23.76, + "fov_deg": 37.4973605549133, + "fps": 15, + "frames": 121, + "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": [ + 76892.48513061933, + -359304.6790400756, + 65.5832019817085 + ], + "intrinsics_mode": "per_camera", + "clip_index": 6, + "target": { + "tracked": true, + "kind": "pedestrian", + "aim_z_cm": 110.0, + "moving_at_acquire": true, + "motion_kinds": [ + "pan_tilt", + "translation", + "translation", + "static" + ], + "model_id": "arch_37f9f662", + "identity": { + "model_id": "arch_37f9f662", + "primary_mesh": "/Game/Crowd/Character/Male/UnderWeight/Meshes/m_tal_unw_base.m_tal_unw_base", + "meshes": [ + "/Game/Crowd/Character/Accessories/briefcaseA.briefcaseA", + "/Game/Crowd/Character/Male/OverWeight/Meshes/m_tal_ovw_loafers.m_tal_ovw_loafers", + "/Game/Crowd/Character/Male/UnderWeight/Meshes/m_tal_unw_base.m_tal_unw_base", + "/Game/Crowd/Character/Male/UnderWeight/Meshes/m_tal_unw_body.m_tal_unw_body", + "/Game/Crowd/Character/Male/UnderWeight/Meshes/m_tal_unw_buttonOpen.m_tal_unw_buttonOpen", + "/Game/Crowd/Character/Male/UnderWeight/Meshes/m_tal_unw_slacks.m_tal_unw_slacks", + "/Game/Crowd/Character/Male/m_005/Face/m_005_nrw_FaceMesh.m_005_nrw_FaceMesh" + ], + "mesh_count": 7, + "actor_class": "BP_CrowdCharacter_C", + "source": "mesh_set" + }, + "model_cap_override": false, + "model_skipped_candidates": 0 + }, + "frame_count": 121, + "frame_bucket": 121, + "spec_gen": "gen3", + "bucket_retired": false, + "target_class": "pedestrian", + "target_class_requested": "pedestrian", + "target_class_fallback": false, + "hfov_deg_per_cam": [ + 35.939, + 83.255, + 56.557, + 27.007 + ], + "hfov_range_deg": [ + 25.0, + 90.0 + ], + "bench": { + "mode": true, + "clip_id": 234, + "bg_ratio": 0.0, + "placement_fallbacks": [], + "target_reacquires": 0, + "motion_gate": { + "enabled": true, + "required_travel_m": 1.49, + "travel_m": 15.75, + "retries": 0, + "probe_rejects": 1, + "rejects": [ + { + "attempt": 1, + "reason": "probe_static", + "frames_captured": 0, + "clip_frames": 121, + "target_class": "pedestrian", + "probe_disp_cm": 0.0, + "probe_min_cm": 150.0, + "probe_samples": 49 + } + ], + "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": 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, + "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, + 30, + 30 + ], + "open_frames_est": [ + 15, + 14, + 15, + 16 + ], + "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, + false, + false + ], + "cycles": [ + 0, + 0, + 0, + 0 + ], + "segments": [], + "num_allowed": 0, + "num_effective": 0, + "num_departed": 0 + }, + "visibility": { + "frames": 121, + "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": 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": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "non_oos_cams": [ + 1, + 2, + 3, + 4 + ], + "min_visible_ratio_non_oos": 1.0, + "gate1_cams": [ + 1, + 2, + 3, + 4 + ], + "min_visible_ratio_gate1": 1.0, + "target_absent_frames": 0, + "bbox_sources": { + "colliding": 121 + } + }, + "smoothing": { + "rot_cap_frac_hfov": 0.06, + "rot_cap_deg_per_cam": [ + 2.15634, + 4.995299999999999, + 3.39342, + 1.62042 + ], + "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": 120, + "still_frames": 0, + "moving_frac": 1.0 + }, + "points": { + "enabled": true, + "num_points": 256, + "frames": 121, + "valid_frames": 121, + "track_complete_ratio": 1.0, + "track_breaks": 0, + "in_frustum_ratio": 1.0, + "render_lod_natural": 1, + "render_lod_forced": 1, + "sample_log": "ok=1 n=256 comps=7 skinned=6 static=1 tris=138211 area_m2=3.120 half_cm=86.1 centre_off_cm=8.3", + "npz_written": true + } +} \ No newline at end of file diff --git a/clips/clip_00234/points_target.npz b/clips/clip_00234/points_target.npz new file mode 100644 index 0000000000000000000000000000000000000000..5e097ffd35705548dbdafc28a57fe7aab87c1a41 --- /dev/null +++ b/clips/clip_00234/points_target.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:06db784073fbd93d52fe13e865d777a4e7c362872fb2f919eecdeb86c148034b +size 345259 diff --git a/clips/clip_00234/videos/cam01.mp4 b/clips/clip_00234/videos/cam01.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..c2ac7aa37538c1f2aefc81b6e992e6675b11d939 --- /dev/null +++ b/clips/clip_00234/videos/cam01.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f1bae18e1080d4b25ceabe0092ee4b46ebe8b3788c3d309eb94aa501f5f64846 +size 23916838 diff --git a/clips/clip_00234/videos/cam02.mp4 b/clips/clip_00234/videos/cam02.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..d8e6404b02c32eb1827b18df071feb14446adeeb --- /dev/null +++ b/clips/clip_00234/videos/cam02.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8e5e38f68f6bdffac61b60f52a1e7f6f98544053ed20585d351da56024b5b20a +size 26190434 diff --git a/clips/clip_00234/videos/cam03.mp4 b/clips/clip_00234/videos/cam03.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..cb21904af92dfc1124dfd1dc4221421625fe6c89 --- /dev/null +++ b/clips/clip_00234/videos/cam03.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e251a63488b07ef7c7b9fd54c6142cebcaf8a3a4db84ba2c34463b8ae6af39a6 +size 21242612 diff --git a/clips/clip_00234/videos/cam04.mp4 b/clips/clip_00234/videos/cam04.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..bd009715b4da1ba6f2e88e188673cc4e5e2c8e75 --- /dev/null +++ b/clips/clip_00234/videos/cam04.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:959a0da567194ec8b75775265831aaf2b5262cc4ff0f87b056e1ed04b1059d3e +size 20609485 diff --git a/clips/clip_00234/videos_depth/cam01.mp4 b/clips/clip_00234/videos_depth/cam01.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..dfdda71c22a8edaaa295ea71f3b1349f7613588d --- /dev/null +++ b/clips/clip_00234/videos_depth/cam01.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:33884580bf2cf8ce6c1c7ff8eff585e026664c40eb0691d824d6de957f39cd45 +size 1751077 diff --git a/clips/clip_00234/videos_depth/cam02.mp4 b/clips/clip_00234/videos_depth/cam02.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..7cac6d0171959f75dd1b212fb4c1c94440c47e8b --- /dev/null +++ b/clips/clip_00234/videos_depth/cam02.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b44b4b0091d6ae7d0347bb0451d837bf53cde3e5a438385e00229758ce0bf4b0 +size 1330156 diff --git a/clips/clip_00234/videos_depth/cam03.mp4 b/clips/clip_00234/videos_depth/cam03.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..7c472aca6ecf44b9e711876179e954abb4d2249c --- /dev/null +++ b/clips/clip_00234/videos_depth/cam03.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9ac783676f70f0b3ac00b52ce2f36e0c0218d6ad3b247a2bd0ad57413492e517 +size 1734813 diff --git a/clips/clip_00234/videos_depth/cam04.mp4 b/clips/clip_00234/videos_depth/cam04.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..57bac7f63df3b41f2fdbbb30e864d5594bfa1092 --- /dev/null +++ b/clips/clip_00234/videos_depth/cam04.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2cb2c99a66d403c190fc825317613c0a7e55d9df713d9bdfa4b8b714804d2b6f +size 1566533 diff --git a/clips/clip_00234/views/cam01/frame_0000.png b/clips/clip_00234/views/cam01/frame_0000.png new file mode 100644 index 0000000000000000000000000000000000000000..09dea4b93954c7ec9e7e236f051e1e78407aa249 --- /dev/null +++ b/clips/clip_00234/views/cam01/frame_0000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fc4665d66be7abc51595e5a0a162ee9eb8b1534be41071c877277592b0a08832 +size 3457979 diff --git a/clips/clip_00234/views/cam01/frame_0060.png b/clips/clip_00234/views/cam01/frame_0060.png new file mode 100644 index 0000000000000000000000000000000000000000..b9e525cd9b36f309b2a7ae6164c15f102e106942 --- /dev/null +++ b/clips/clip_00234/views/cam01/frame_0060.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2359444157200b8d606230307f3d0046d94bc96370b34d847d3815d63c1143e9 +size 3501536 diff --git a/clips/clip_00234/views/cam01/frame_0120.png b/clips/clip_00234/views/cam01/frame_0120.png new file mode 100644 index 0000000000000000000000000000000000000000..b8795977564ec16002ef2749d7a32ad30d9738a8 --- /dev/null +++ b/clips/clip_00234/views/cam01/frame_0120.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6018c794323578b484c4b1e916ddb2c9adeaed5a9434b0356153c4e5e4fc9b78 +size 3532600 diff --git a/clips/clip_00234/views/cam02/frame_0000.png b/clips/clip_00234/views/cam02/frame_0000.png new file mode 100644 index 0000000000000000000000000000000000000000..455144c869d957ba3f9216c636b192d3fe82eee7 --- /dev/null +++ b/clips/clip_00234/views/cam02/frame_0000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9943ef1a9e8ff4dc5ddf97b9bd0ce46105ad3a27a054c89d0d4602a7656ba284 +size 3756498 diff --git a/clips/clip_00234/views/cam02/frame_0060.png b/clips/clip_00234/views/cam02/frame_0060.png new file mode 100644 index 0000000000000000000000000000000000000000..9100833aec9ff10e32ca09e1fe298e8e34ba72b6 --- /dev/null +++ b/clips/clip_00234/views/cam02/frame_0060.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0311b1cea10335b95d677c52c5ef0d5e45d2a6994b99ab3a89a9f68fb878f740 +size 3293344 diff --git a/clips/clip_00234/views/cam03/frame_0000.png b/clips/clip_00234/views/cam03/frame_0000.png new file mode 100644 index 0000000000000000000000000000000000000000..6586bea4a652edbdbe15ae8eee7acfe25b242e0e --- /dev/null +++ b/clips/clip_00234/views/cam03/frame_0000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:14f080b1d13d9afcf800e78db36c5019a521ed47dc4ec38362a84a209ec79727 +size 3048542 diff --git a/clips/clip_00234/views/cam03/frame_0060.png b/clips/clip_00234/views/cam03/frame_0060.png new file mode 100644 index 0000000000000000000000000000000000000000..09f4981f246335b9d31bbb62f68fae17eeabb2d6 --- /dev/null +++ b/clips/clip_00234/views/cam03/frame_0060.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:44076eaeb9a9c2892222a689ae940772d927ec33bce9d63e13ea6e49b30eff62 +size 3143448 diff --git a/clips/clip_00234/views/cam04/frame_0000.png b/clips/clip_00234/views/cam04/frame_0000.png new file mode 100644 index 0000000000000000000000000000000000000000..ba9842ba8979e7bcc8d24341bf1e92a7a2657385 --- /dev/null +++ b/clips/clip_00234/views/cam04/frame_0000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ffdc7e61d590ddca58350b891a5a231545e593dd9cf4b7a70a0668ac64241bf0 +size 3254508 diff --git a/clips/clip_00234/views/cam04/frame_0060.png b/clips/clip_00234/views/cam04/frame_0060.png new file mode 100644 index 0000000000000000000000000000000000000000..f2efcd55d963e502917b8bf95dfac3245c73d779 --- /dev/null +++ b/clips/clip_00234/views/cam04/frame_0060.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a144b5634b7d4de3f69c71ee92e8c581e8252a67744aa0ed1d16a2bfc939ea18 +size 3202426 diff --git a/clips/clip_00234/visibility.json b/clips/clip_00234/visibility.json new file mode 100644 index 0000000000000000000000000000000000000000..f88b99762f1bcf9425d27bad134d9665b82c167d --- /dev/null +++ b/clips/clip_00234/visibility.json @@ -0,0 +1,8176 @@ +{ + "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": 121, + "fps": 15, + "clip_id": 234, + "target_class": "pedestrian", + "target_lost_frame": null, + "target_bbox_extent_cm": [ + 55.6, + 55.6, + 88.0 + ], + "bbox_sources": { + "colliding": 121 + }, + "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": 35.939, + "motion_kind": "pan_tilt", + "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": 83.255, + "motion_kind": "translation", + "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": "cam03", + "hfov_deg": 56.557, + "motion_kind": "translation", + "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": 27.007, + "motion_kind": "static", + "ratio": { + "visible": 1.0, + "occluded": 0.0, + "out_of_frustum": 0.0, + "target_absent": 0.0 + } + } + ], + "summary": { + "frames": 121, + "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": 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": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "non_oos_cams": [ + 1, + 2, + 3, + 4 + ], + "min_visible_ratio_non_oos": 1.0, + "gate1_cams": [ + 1, + 2, + 3, + 4 + ], + "min_visible_ratio_gate1": 1.0, + "target_absent_frames": 0, + "bbox_sources": { + "colliding": 121 + } + }, + "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_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, + 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 + ], + [ + 0.556, + 1.0, + 1.0, + 1.0 + ], + [ + 0.556, + 1.0, + 1.0, + 1.0 + ], + [ + 0.444, + 1.0, + 1.0, + 1.0 + ], + [ + 0.889, + 1.0, + 1.0, + 1.0 + ], + [ + 0.444, + 1.0, + 1.0, + 1.0 + ], + [ + 0.556, + 1.0, + 1.0, + 1.0 + ], + [ + 0.556, + 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, + 0.778, + 1.0, + 1.0 + ], + [ + 1.0, + 0.222, + 1.0, + 1.0 + ], + [ + 1.0, + 0.333, + 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 + ], + [ + 0.889, + 1.0, + 1.0, + 1.0 + ], + [ + 0.889, + 1.0, + 1.0, + 1.0 + ], + [ + 0.778, + 1.0, + 1.0, + 1.0 + ], + [ + 0.667, + 1.0, + 1.0, + 1.0 + ], + [ + 0.667, + 1.0, + 1.0, + 1.0 + ], + [ + 0.667, + 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, + 0.778, + 1.0 + ], + [ + 0.444, + 1.0, + 0.778, + 1.0 + ], + [ + 0.444, + 1.0, + 0.778, + 1.0 + ], + [ + 0.444, + 1.0, + 0.778, + 1.0 + ], + [ + 0.444, + 1.0, + 0.556, + 1.0 + ], + [ + 0.556, + 1.0, + 0.556, + 1.0 + ], + [ + 0.556, + 1.0, + 0.556, + 1.0 + ], + [ + 0.667, + 1.0, + 0.556, + 1.0 + ], + [ + 0.667, + 1.0, + 0.778, + 1.0 + ], + [ + 0.556, + 0.889, + 0.778, + 1.0 + ], + [ + 0.556, + 0.889, + 0.778, + 1.0 + ], + [ + 0.556, + 1.0, + 0.778, + 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, + 0.889, + 1.0, + 1.0 + ], + [ + 0.556, + 0.889, + 1.0, + 1.0 + ], + [ + 0.556, + 0.889, + 1.0, + 1.0 + ], + [ + 0.556, + 0.889, + 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 + ], + [ + 0.556, + 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 + ], + [ + 0.556, + 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 + ], + [ + 0.556, + 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 + ], + [ + 0.556, + 1.0, + 1.0, + 1.0 + ], + [ + 0.556, + 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 + ], + [ + 0.889, + 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 + ], + [ + 0.889, + 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 + ], + [ + 0.778, + 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 + ], + [ + 0.667, + 1.0, + 1.0, + 1.0 + ], + [ + 0.667, + 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 + ], + [ + 0.889, + 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 + ], + [ + 0.889, + 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 + ] + ], + "target_world_cm": [ + [ + 77145.5, + -359567.2, + 147.7 + ], + [ + 77153.2, + -359578.1, + 147.5 + ], + [ + 77160.9, + -359589.0, + 147.5 + ], + [ + 77168.6, + -359599.9, + 147.5 + ], + [ + 77176.3, + -359610.8, + 147.5 + ], + [ + 77184.0, + -359621.7, + 147.2 + ], + [ + 77191.7, + -359632.5, + 147.2 + ], + [ + 77199.4, + -359643.4, + 147.2 + ], + [ + 77207.1, + -359654.3, + 147.2 + ], + [ + 77214.8, + -359665.2, + 147.0 + ], + [ + 77222.5, + -359676.1, + 147.0 + ], + [ + 77230.2, + -359687.0, + 147.0 + ], + [ + 77237.9, + -359697.9, + 147.0 + ], + [ + 77245.5, + -359708.8, + 146.7 + ], + [ + 77253.2, + -359719.7, + 146.7 + ], + [ + 77260.9, + -359730.6, + 146.7 + ], + [ + 77268.5, + -359741.5, + 146.7 + ], + [ + 77276.2, + -359752.4, + 146.7 + ], + [ + 77283.8, + -359763.4, + 146.7 + ], + [ + 77291.5, + -359774.3, + 146.7 + ], + [ + 77299.1, + -359785.2, + 146.7 + ], + [ + 77306.7, + -359796.2, + 146.7 + ], + [ + 77314.3, + -359807.1, + 146.7 + ], + [ + 77321.9, + -359818.1, + 146.7 + ], + [ + 77329.5, + -359829.0, + 146.7 + ], + [ + 77337.1, + -359840.0, + 146.7 + ], + [ + 77344.7, + -359851.0, + 146.7 + ], + [ + 77352.2, + -359861.9, + 146.7 + ], + [ + 77359.8, + -359872.9, + 146.7 + ], + [ + 77367.4, + -359883.9, + 148.1 + ], + [ + 77374.9, + -359894.9, + 150.4 + ], + [ + 77382.4, + -359905.9, + 150.4 + ], + [ + 77389.9, + -359916.9, + 155.8 + ], + [ + 77397.5, + -359927.9, + 163.7 + ], + [ + 77405.0, + -359939.0, + 163.7 + ], + [ + 77412.5, + -359950.0, + 163.1 + ], + [ + 77420.0, + -359961.0, + 163.1 + ], + [ + 77427.4, + -359972.0, + 163.1 + ], + [ + 77434.9, + -359983.1, + 163.1 + ], + [ + 77442.4, + -359994.1, + 164.9 + ], + [ + 77449.8, + -360005.2, + 164.9 + ], + [ + 77457.3, + -360016.2, + 164.9 + ], + [ + 77464.8, + -360027.3, + 164.9 + ], + [ + 77472.2, + -360038.4, + 164.9 + ], + [ + 77479.6, + -360049.4, + 164.9 + ], + [ + 77486.0, + -360060.7, + 164.9 + ], + [ + 77491.2, + -360072.0, + 164.9 + ], + [ + 77495.3, + -360083.5, + 164.9 + ], + [ + 77498.4, + -360095.0, + 164.9 + ], + [ + 77500.3, + -360106.6, + 164.9 + ], + [ + 77501.1, + -360118.2, + 164.9 + ], + [ + 77500.9, + -360130.1, + 164.9 + ], + [ + 77499.6, + -360141.6, + 164.9 + ], + [ + 77497.4, + -360152.7, + 164.9 + ], + [ + 77494.1, + -360163.3, + 164.9 + ], + [ + 77490.5, + -360171.7, + 164.9 + ], + [ + 77485.5, + -360181.2, + 164.9 + ], + [ + 77479.2, + -360190.4, + 164.9 + ], + [ + 77472.0, + -360199.1, + 164.9 + ], + [ + 77463.7, + -360207.4, + 164.9 + ], + [ + 77454.4, + -360215.2, + 164.9 + ], + [ + 77444.1, + -360222.5, + 164.9 + ], + [ + 77433.1, + -360229.9, + 164.9 + ], + [ + 77421.8, + -360237.1, + 164.9 + ], + [ + 77410.4, + -360244.0, + 164.9 + ], + [ + 77398.7, + -360250.3, + 164.9 + ], + [ + 77386.5, + -360255.9, + 164.9 + ], + [ + 77374.1, + -360260.7, + 164.9 + ], + [ + 77361.4, + -360264.8, + 164.9 + ], + [ + 77348.5, + -360268.2, + 164.9 + ], + [ + 77335.4, + -360270.8, + 164.9 + ], + [ + 77322.3, + -360272.7, + 164.9 + ], + [ + 77309.0, + -360273.9, + 164.9 + ], + [ + 77295.7, + -360274.7, + 164.9 + ], + [ + 77282.3, + -360274.9, + 164.9 + ], + [ + 77269.0, + -360274.9, + 164.9 + ], + [ + 77255.7, + -360274.7, + 164.9 + ], + [ + 77242.3, + -360274.5, + 164.9 + ], + [ + 77229.0, + -360274.4, + 164.9 + ], + [ + 77215.7, + -360274.6, + 164.9 + ], + [ + 77202.4, + -360275.2, + 164.9 + ], + [ + 77189.1, + -360276.1, + 164.9 + ], + [ + 77175.8, + -360277.5, + 164.9 + ], + [ + 77162.6, + -360279.2, + 164.9 + ], + [ + 77149.4, + -360281.3, + 164.9 + ], + [ + 77136.3, + -360283.8, + 164.9 + ], + [ + 77123.3, + -360286.7, + 164.9 + ], + [ + 77110.4, + -360290.0, + 164.9 + ], + [ + 77097.5, + -360293.7, + 164.9 + ], + [ + 77084.9, + -360297.7, + 164.9 + ], + [ + 77072.3, + -360302.2, + 164.9 + ], + [ + 77059.9, + -360307.2, + 164.9 + ], + [ + 77047.5, + -360312.1, + 164.9 + ], + [ + 77035.2, + -360317.1, + 164.9 + ], + [ + 77022.9, + -360322.4, + 164.9 + ], + [ + 77010.9, + -360328.1, + 164.9 + ], + [ + 76999.0, + -360334.1, + 164.9 + ], + [ + 76987.2, + -360340.4, + 164.9 + ], + [ + 76975.6, + -360347.0, + 164.9 + ], + [ + 76964.2, + -360353.9, + 164.9 + ], + [ + 76952.9, + -360361.0, + 164.9 + ], + [ + 76941.8, + -360368.3, + 164.9 + ], + [ + 76930.8, + -360375.9, + 164.9 + ], + [ + 76919.9, + -360383.6, + 164.9 + ], + [ + 76909.1, + -360391.4, + 164.9 + ], + [ + 76898.4, + -360399.4, + 164.9 + ], + [ + 76887.8, + -360407.4, + 164.9 + ], + [ + 76877.2, + -360415.5, + 164.9 + ], + [ + 76866.6, + -360423.5, + 164.9 + ], + [ + 76855.9, + -360431.5, + 164.9 + ], + [ + 76845.0, + -360439.3, + 164.9 + ], + [ + 76834.1, + -360446.9, + 164.9 + ], + [ + 76823.0, + -360454.3, + 164.9 + ], + [ + 76811.9, + -360461.7, + 164.9 + ], + [ + 76801.0, + -360469.4, + 164.9 + ], + [ + 76790.3, + -360477.4, + 164.9 + ], + [ + 76779.9, + -360485.7, + 164.9 + ], + [ + 76769.8, + -360494.4, + 164.9 + ], + [ + 76760.0, + -360503.4, + 164.9 + ], + [ + 76750.4, + -360512.7, + 164.9 + ], + [ + 76741.0, + -360522.1, + 164.9 + ] + ], + "target_bbox_cm": [ + [ + 77145.5, + -359567.2, + 147.7, + 55.6, + 55.6, + 88.0 + ], + [ + 77153.2, + -359578.1, + 147.5, + 55.6, + 55.6, + 88.0 + ], + [ + 77160.9, + -359589.0, + 147.5, + 55.7, + 55.7, + 88.0 + ], + [ + 77168.6, + -359599.9, + 147.5, + 55.7, + 55.7, + 88.0 + ], + [ + 77176.3, + -359610.8, + 147.5, + 55.7, + 55.7, + 88.0 + ], + [ + 77184.0, + -359621.7, + 147.2, + 55.7, + 55.7, + 88.0 + ], + [ + 77191.7, + -359632.5, + 147.2, + 55.7, + 55.7, + 88.0 + ], + [ + 77199.4, + -359643.4, + 147.2, + 55.7, + 55.7, + 88.0 + ], + [ + 77207.1, + -359654.3, + 147.2, + 55.7, + 55.7, + 88.0 + ], + [ + 77214.8, + -359665.2, + 147.0, + 55.7, + 55.7, + 88.0 + ], + [ + 77222.5, + -359676.1, + 147.0, + 55.7, + 55.7, + 88.0 + ], + [ + 77230.2, + -359687.0, + 147.0, + 55.7, + 55.7, + 88.0 + ], + [ + 77237.9, + -359697.9, + 147.0, + 55.7, + 55.7, + 88.0 + ], + [ + 77245.5, + -359708.8, + 146.7, + 55.7, + 55.7, + 88.0 + ], + [ + 77253.2, + -359719.7, + 146.7, + 55.7, + 55.7, + 88.0 + ], + [ + 77260.9, + -359730.6, + 146.7, + 55.7, + 55.7, + 88.0 + ], + [ + 77268.5, + -359741.5, + 146.7, + 55.7, + 55.7, + 88.0 + ], + [ + 77276.2, + -359752.4, + 146.7, + 55.7, + 55.7, + 88.0 + ], + [ + 77283.8, + -359763.4, + 146.7, + 55.7, + 55.7, + 88.0 + ], + [ + 77291.5, + -359774.3, + 146.7, + 55.7, + 55.7, + 88.0 + ], + [ + 77299.1, + -359785.2, + 146.7, + 55.7, + 55.7, + 88.0 + ], + [ + 77306.7, + -359796.2, + 146.7, + 55.6, + 55.6, + 88.0 + ], + [ + 77314.3, + -359807.1, + 146.7, + 55.6, + 55.6, + 88.0 + ], + [ + 77321.9, + -359818.1, + 146.7, + 55.6, + 55.6, + 88.0 + ], + [ + 77329.5, + -359829.0, + 146.7, + 55.6, + 55.6, + 88.0 + ], + [ + 77337.1, + -359840.0, + 146.7, + 55.6, + 55.6, + 88.0 + ], + [ + 77344.7, + -359851.0, + 146.7, + 55.6, + 55.6, + 88.0 + ], + [ + 77352.2, + -359861.9, + 146.7, + 55.6, + 55.6, + 88.0 + ], + [ + 77359.8, + -359872.9, + 146.7, + 55.6, + 55.6, + 88.0 + ], + [ + 77367.4, + -359883.9, + 148.1, + 55.6, + 55.6, + 88.0 + ], + [ + 77374.9, + -359894.9, + 150.4, + 55.6, + 55.6, + 88.0 + ], + [ + 77382.4, + -359905.9, + 150.4, + 55.6, + 55.6, + 88.0 + ], + [ + 77389.9, + -359916.9, + 155.8, + 55.6, + 55.6, + 88.0 + ], + [ + 77397.5, + -359927.9, + 163.7, + 55.6, + 55.6, + 88.0 + ], + [ + 77405.0, + -359939.0, + 163.7, + 55.6, + 55.6, + 88.0 + ], + [ + 77412.5, + -359950.0, + 163.1, + 55.6, + 55.6, + 88.0 + ], + [ + 77420.0, + -359961.0, + 163.1, + 55.6, + 55.6, + 88.0 + ], + [ + 77427.4, + -359972.0, + 163.1, + 55.6, + 55.6, + 88.0 + ], + [ + 77434.9, + -359983.1, + 163.1, + 55.6, + 55.6, + 88.0 + ], + [ + 77442.4, + -359994.1, + 164.9, + 55.6, + 55.6, + 88.0 + ], + [ + 77449.8, + -360005.2, + 164.9, + 55.6, + 55.6, + 88.0 + ], + [ + 77457.3, + -360016.2, + 164.9, + 55.6, + 55.6, + 88.0 + ], + [ + 77464.8, + -360027.3, + 164.9, + 55.6, + 55.6, + 88.0 + ], + [ + 77472.2, + -360038.4, + 164.9, + 55.5, + 55.5, + 88.0 + ], + [ + 77479.6, + -360049.4, + 164.9, + 55.5, + 55.5, + 88.0 + ], + [ + 77486.0, + -360060.7, + 164.9, + 55.5, + 55.5, + 88.0 + ], + [ + 77491.2, + -360072.0, + 164.9, + 55.4, + 55.4, + 88.0 + ], + [ + 77495.3, + -360083.5, + 164.9, + 55.0, + 55.0, + 88.0 + ], + [ + 77498.4, + -360095.0, + 164.9, + 54.4, + 54.4, + 88.0 + ], + [ + 77500.3, + -360106.6, + 164.9, + 53.6, + 53.6, + 88.0 + ], + [ + 77501.1, + -360118.2, + 164.9, + 52.5, + 52.5, + 88.0 + ], + [ + 77500.9, + -360130.1, + 164.9, + 51.0, + 51.0, + 88.0 + ], + [ + 77499.6, + -360141.6, + 164.9, + 49.2, + 49.2, + 88.0 + ], + [ + 77497.4, + -360152.7, + 164.9, + 47.1, + 47.1, + 88.0 + ], + [ + 77494.1, + -360163.3, + 164.9, + 44.6, + 44.6, + 88.0 + ], + [ + 77490.5, + -360171.7, + 164.9, + 41.7, + 41.7, + 88.0 + ], + [ + 77485.5, + -360181.0, + 164.9, + 41.4, + 41.6, + 88.0 + ], + [ + 77479.2, + -360190.4, + 164.9, + 44.5, + 44.5, + 88.0 + ], + [ + 77472.0, + -360199.1, + 164.9, + 47.3, + 47.3, + 88.0 + ], + [ + 77463.7, + -360207.4, + 164.9, + 49.8, + 49.8, + 88.0 + ], + [ + 77454.4, + -360215.2, + 164.9, + 51.9, + 51.9, + 88.0 + ], + [ + 77444.1, + -360222.5, + 164.9, + 53.7, + 53.7, + 88.0 + ], + [ + 77433.1, + -360229.9, + 164.9, + 55.0, + 55.0, + 88.0 + ], + [ + 77421.8, + -360237.1, + 164.9, + 55.9, + 55.9, + 88.0 + ], + [ + 77410.4, + -360244.0, + 164.9, + 56.4, + 56.4, + 88.0 + ], + [ + 77398.7, + -360250.3, + 164.9, + 56.6, + 56.6, + 88.0 + ], + [ + 77386.5, + -360255.9, + 164.9, + 56.5, + 56.5, + 88.0 + ], + [ + 77374.1, + -360260.7, + 164.9, + 56.4, + 56.4, + 88.0 + ], + [ + 77361.4, + -360264.8, + 164.9, + 56.1, + 56.1, + 88.0 + ], + [ + 77348.5, + -360268.2, + 164.9, + 55.7, + 55.7, + 88.0 + ], + [ + 77335.4, + -360270.8, + 164.9, + 55.2, + 55.2, + 88.0 + ], + [ + 77322.3, + -360272.7, + 164.9, + 54.6, + 54.6, + 88.0 + ], + [ + 77309.0, + -360273.9, + 164.9, + 54.0, + 54.0, + 88.0 + ], + [ + 77295.7, + -360274.7, + 164.9, + 53.3, + 53.3, + 88.0 + ], + [ + 77282.3, + -360274.9, + 164.9, + 52.6, + 52.6, + 88.0 + ], + [ + 77269.0, + -360274.9, + 164.9, + 51.9, + 51.9, + 88.0 + ], + [ + 77255.7, + -360274.7, + 164.9, + 51.2, + 51.2, + 88.0 + ], + [ + 77242.3, + -360274.5, + 164.9, + 50.6, + 50.6, + 88.0 + ], + [ + 77229.0, + -360274.4, + 164.9, + 50.1, + 50.1, + 88.0 + ], + [ + 77215.7, + -360274.6, + 164.9, + 49.7, + 49.7, + 88.0 + ], + [ + 77202.4, + -360275.2, + 164.9, + 49.5, + 49.5, + 88.0 + ], + [ + 77189.1, + -360276.1, + 164.9, + 49.4, + 49.4, + 88.0 + ], + [ + 77175.8, + -360277.5, + 164.9, + 49.4, + 49.4, + 88.0 + ], + [ + 77162.6, + -360279.2, + 164.9, + 49.5, + 49.5, + 88.0 + ], + [ + 77149.4, + -360281.3, + 164.9, + 49.6, + 49.6, + 88.0 + ], + [ + 77136.3, + -360283.8, + 164.9, + 49.9, + 49.9, + 88.0 + ], + [ + 77123.3, + -360286.7, + 164.9, + 50.2, + 50.2, + 88.0 + ], + [ + 77110.4, + -360290.0, + 164.9, + 50.5, + 50.5, + 88.0 + ], + [ + 77097.5, + -360293.7, + 164.9, + 50.8, + 50.8, + 88.0 + ], + [ + 77084.9, + -360297.7, + 164.9, + 51.1, + 51.1, + 88.0 + ], + [ + 77072.3, + -360302.2, + 164.9, + 51.5, + 51.5, + 88.0 + ], + [ + 77059.9, + -360307.2, + 164.9, + 51.9, + 51.9, + 88.0 + ], + [ + 77047.5, + -360312.1, + 164.9, + 52.3, + 52.3, + 88.0 + ], + [ + 77035.2, + -360317.1, + 164.9, + 52.5, + 52.5, + 88.0 + ], + [ + 77022.9, + -360322.4, + 164.9, + 52.8, + 52.8, + 88.0 + ], + [ + 77010.9, + -360328.1, + 164.9, + 53.0, + 53.0, + 88.0 + ], + [ + 76999.0, + -360334.1, + 164.9, + 53.3, + 53.3, + 88.0 + ], + [ + 76987.2, + -360340.4, + 164.9, + 53.6, + 53.6, + 88.0 + ], + [ + 76975.6, + -360347.0, + 164.9, + 53.8, + 53.8, + 88.0 + ], + [ + 76964.2, + -360353.9, + 164.9, + 54.1, + 54.1, + 88.0 + ], + [ + 76952.9, + -360361.0, + 164.9, + 54.3, + 54.3, + 88.0 + ], + [ + 76941.8, + -360368.3, + 164.9, + 54.5, + 54.5, + 88.0 + ], + [ + 76930.8, + -360375.9, + 164.9, + 54.7, + 54.7, + 88.0 + ], + [ + 76919.9, + -360383.6, + 164.9, + 54.9, + 54.9, + 88.0 + ], + [ + 76909.1, + -360391.4, + 164.9, + 55.1, + 55.1, + 88.0 + ], + [ + 76898.4, + -360399.4, + 164.9, + 55.2, + 55.2, + 88.0 + ], + [ + 76887.8, + -360407.4, + 164.9, + 55.3, + 55.3, + 88.0 + ], + [ + 76877.2, + -360415.5, + 164.9, + 55.4, + 55.4, + 88.0 + ], + [ + 76866.6, + -360423.5, + 164.9, + 55.5, + 55.5, + 88.0 + ], + [ + 76855.9, + -360431.5, + 164.9, + 55.6, + 55.6, + 88.0 + ], + [ + 76845.0, + -360439.3, + 164.9, + 55.6, + 55.6, + 88.0 + ], + [ + 76834.1, + -360446.9, + 164.9, + 55.6, + 55.6, + 88.0 + ], + [ + 76823.0, + -360454.3, + 164.9, + 55.6, + 55.6, + 88.0 + ], + [ + 76811.9, + -360461.7, + 164.9, + 55.6, + 55.6, + 88.0 + ], + [ + 76801.0, + -360469.4, + 164.9, + 55.6, + 55.6, + 88.0 + ], + [ + 76790.3, + -360477.4, + 164.9, + 55.6, + 55.6, + 88.0 + ], + [ + 76779.9, + -360485.7, + 164.9, + 55.6, + 55.6, + 88.0 + ], + [ + 76769.8, + -360494.4, + 164.9, + 55.7, + 55.7, + 88.0 + ], + [ + 76760.0, + -360503.4, + 164.9, + 55.8, + 55.8, + 88.0 + ], + [ + 76750.4, + -360512.7, + 164.9, + 55.9, + 55.9, + 88.0 + ], + [ + 76741.0, + -360522.1, + 164.9, + 56.0, + 56.0, + 88.0 + ] + ], + "target_bbox_format": "[cx,cy,cz,ex,ey,ez] (\uc911\uc2ec + \ubc18\ud06c\uae30, cm, UE)", + "target_world_cam01_m": [ + [ + -1.550374079723042, + 2.585413707642875, + 16.209931140400386 + ], + [ + -1.5683008023283946, + 2.6021400324748223, + 16.205412592301514 + ], + [ + -1.5851416736854844, + 2.618356432882387, + 16.201157937536493 + ], + [ + -1.6008894836627405, + 2.6335335142014022, + 16.197162005080656 + ], + [ + -1.6155324814722007, + 2.6476619689044205, + 16.193425260870413 + ], + [ + -1.6290759108642305, + 2.661183927235565, + 16.189948840281716 + ], + [ + -1.6425024263003252, + 2.673190252206561, + 16.186626497659176 + ], + [ + -1.6538226341754125, + 2.684123337840142, + 16.183661158425878 + ], + [ + -1.6640230844895996, + 2.6939770278077537, + 16.1809520087146 + ], + [ + -1.6731080362501416, + 2.7022359402931384, + 16.178495431127487 + ], + [ + -1.6810685795398967, + 2.709913382726045, + 16.176293867898096 + ], + [ + -1.6879084750753464, + 2.716495312823535, + 16.174343081305324 + ], + [ + -1.6936226233419802, + 2.721977711577135, + 16.172641381560027 + ], + [ + -1.6983144634000382, + 2.7268463183623033, + 16.172181747296918 + ], + [ + -1.7017782718285162, + 2.7301205385910547, + 16.17097053542318 + ], + [ + -1.7041167194929585, + 2.732287219959396, + 16.170000528480728 + ], + [ + -1.7054372471752686, + 2.7333439596854054, + 16.170262904279298 + ], + [ + -1.7055280590730035, + 2.7332924882220597, + 16.169765666597584 + ], + [ + -1.7036106978480348, + 2.7321303829646393, + 16.170598490418342 + ], + [ + -1.701461893798296, + 2.729861042247637, + 16.17055922272482 + ], + [ + -1.6983067588098493, + 2.7264831724611684, + 16.171736822886714 + ], + [ + -1.6930471202481385, + 2.721999862436232, + 16.173236763248553 + ], + [ + -1.6876730593662614, + 2.716414225911142, + 16.174845963211396 + ], + [ + -1.6802005075514899, + 2.709729311869177, + 16.17676722175554 + ], + [ + -1.672627913571887, + 2.7019497911247763, + 16.178787633328966 + ], + [ + -1.6629663418448217, + 2.693079974891254, + 16.181108350461955 + ], + [ + -1.6522235692691538, + 2.6831257216039424, + 16.183619325814732 + ], + [ + -1.6414997824163038, + 2.6720889203235894, + 16.18720853194219 + ], + [ + -1.6286067887449462, + 2.6599847567521744, + 16.190082803609073 + ], + [ + -1.614658014712404, + 2.6466152353666823, + 16.193126359203404 + ], + [ + -1.5997514293112545, + 2.632067677151146, + 16.19732835857701 + ], + [ + -1.5838033265558806, + 2.6167900016185284, + 16.20168915219699 + ], + [ + -1.566821419363805, + 2.601046208208846, + 16.206204767856946 + ], + [ + -1.5487180519212416, + 2.5834532184095207, + 16.20985963892332 + ], + [ + -1.5287054279547192, + 2.565093171990336, + 16.214739996290405 + ], + [ + -1.5086855713175282, + 2.546100661564064, + 16.21965575946399 + ], + [ + -1.4876789240224753, + 2.525744426482479, + 16.22468451428847 + ], + [ + -1.4657914300619268, + 2.5043937541377197, + 16.230817564567587 + ], + [ + -1.441852437052603, + 2.4820900638313796, + 16.236143940558236 + ], + [ + -1.4179610986134321, + 2.458173780184336, + 16.241459431660644 + ], + [ + -1.3922307233292486, + 2.433963655956899, + 16.247949395353487 + ], + [ + -1.3664921521844917, + 2.408853160720069, + 16.253428876943758 + ], + [ + -1.3388596189938653, + 2.3828373758816292, + 16.259053722395606 + ], + [ + -1.31042123809857, + 2.3559108452255675, + 16.265725508615787 + ], + [ + -1.2821118800097793, + 2.328114250344937, + 16.272362146252192 + ], + [ + -1.2515661362408537, + 2.299486981641582, + 16.278212467824062 + ], + [ + -1.2214692925522286, + 2.2700010761003817, + 16.28499594683518 + ], + [ + -1.1897725272733624, + 2.2396978537392247, + 16.29185581371877 + ], + [ + -1.1573934312364145, + 2.208635295208948, + 16.297639912610293 + ], + [ + -1.1238066342766615, + 2.1767679663748183, + 16.304388104310306 + ], + [ + -1.0895687351076049, + 2.1441509900479687, + 16.311034136074454 + ], + [ + -1.0556076894845319, + 2.110805217620168, + 16.317609671533887 + ], + [ + -1.0203356916449593, + 2.0767208915633404, + 16.32488980294613 + ], + [ + -0.9835976508425119, + 2.041992180434402, + 16.33112470909407 + ], + [ + -0.9465848679737974, + 2.00656215289618, + 16.338204848688633 + ], + [ + -0.9095089007169008, + 1.9705540891660114, + 16.343928980518967 + ], + [ + -0.8711351466072301, + 1.9338875356035672, + 16.35055404048535 + ], + [ + -0.832530120579122, + 1.896622885251528, + 16.3572716218207 + ], + [ + -0.7936551402958685, + 1.8588527285430452, + 16.362828510818076 + ], + [ + -0.7535842086285811, + 1.8204913690276001, + 16.369301013503673 + ], + [ + -0.7132364116760073, + 1.7816183189423, + 16.375669047208135 + ], + [ + -0.6725848128771759, + 1.7422584082630763, + 16.38195553086348 + ], + [ + -0.6314771211573316, + 1.7025116520238868, + 16.387019369981886 + ], + [ + -0.5888620665132294, + 1.6622732133880689, + 16.392955341812467 + ], + [ + -0.5475322797924491, + 1.6216258510221024, + 16.39885865342444 + ], + [ + -0.5046415373435593, + 1.5806815090805273, + 16.40354642745342 + ], + [ + -0.4614078956715275, + 1.5392866763793975, + 16.40957234700045 + ], + [ + -0.4189795456777574, + 1.4976478551349715, + 16.414471940318208 + ], + [ + -0.3753502597410261, + 1.4557109730439706, + 16.4193812935938 + ], + [ + -0.33082638015275734, + 1.4135365272831564, + 16.423898325156756 + ], + [ + -0.2867952859551224, + 1.371112184706277, + 16.428535851297625 + ], + [ + -0.24267347695877106, + 1.3285962756576453, + 16.431787871070355 + ], + [ + -0.19901211305204924, + 1.2858132448617496, + 16.436046125631606 + ], + [ + -0.15379000088341854, + 1.242932728764245, + 16.439695915119273 + ], + [ + -0.11013055635976343, + 1.1998739022346, + 16.443935894268293 + ], + [ + -0.06531157069503024, + 1.156840491922253, + 16.44692897717175 + ], + [ + -0.020752494425323675, + 1.1137677547893077, + 16.449701713901277 + ], + [ + 0.024147068415913964, + 1.0705845714420832, + 16.453240153328807 + ], + [ + 0.06873123411241977, + 1.0275263565938104, + 16.455532996354464 + ], + [ + 0.11342528231352844, + 0.9845210875707124, + 16.45759965589332 + ], + [ + 0.15836339007728384, + 0.9415894678367351, + 16.459529570693007 + ], + [ + 0.20241414596421237, + 0.8987479399221314, + 16.461441632015635 + ], + [ + 0.2474812454934181, + 0.8560144508776943, + 16.463427795005487 + ], + [ + 0.291473021832644, + 0.8135179359102125, + 16.46464208523753 + ], + [ + 0.3353369143451346, + 0.771158773430443, + 16.466188415659076 + ], + [ + 0.3790147194213205, + 0.7290704893988647, + 16.46719824857314 + ], + [ + 0.4224929523707033, + 0.6872704457093164, + 16.46779476609845 + ], + [ + 0.4657652155119649, + 0.6457741790124203, + 16.468098101529677 + ], + [ + 0.5088840986554715, + 0.6044665377569487, + 16.4692137099928 + ], + [ + 0.5506443568033319, + 0.5637429749602063, + 16.468359054812822 + ], + [ + 0.5928927348854813, + 0.5232164888194006, + 16.46867329966915 + ], + [ + 0.6352522376741945, + 0.48314336783754186, + 16.46845238417393 + ], + [ + 0.6764562691823812, + 0.4435191873246964, + 16.467948772160298 + ], + [ + 0.7169021748800333, + 0.4044276507156326, + 16.466782989087164 + ], + [ + 0.7568846187782583, + 0.3656442117202232, + 16.466701196821305 + ], + [ + 0.7969177050131293, + 0.32759787839893306, + 16.464952073103632 + ], + [ + 0.8361448350201499, + 0.29000748462127035, + 16.463641807391355 + ], + [ + 0.8748431072149288, + 0.252904441827809, + 16.46271624552469 + ], + [ + 0.9130129686213877, + 0.216456465130193, + 16.46124642893585 + ], + [ + 0.9507611834428644, + 0.18069067466177557, + 16.459243644791968 + ], + [ + 0.9873906263424033, + 0.14548064350793766, + 16.457669760827798 + ], + [ + 1.0230770691018733, + 0.11102535580880613, + 16.455437566677233 + ], + [ + 1.0590985389344496, + 0.07721933060128094, + 16.453356292466424 + ], + [ + 1.0937088205828331, + 0.0440901962072644, + 16.451396270091664 + ], + [ + 1.12716756782811, + 0.011690722681208854, + 16.449377666836085 + ], + [ + 1.1607404110081916, + -0.01991054192561137, + 16.447032378189192 + ], + [ + 1.192672471131118, + -0.05067727025095792, + 16.444290909692086 + ], + [ + 1.2243957760024387, + -0.08069105179237113, + 16.441754790245454 + ], + [ + 1.2544385048777258, + -0.10987644518692719, + 16.439112370256453 + ], + [ + 1.2845924004973313, + -0.1382612067887976, + 16.436635705671733 + ], + [ + 1.3137093495411136, + -0.1659171927520049, + 16.434829386984347 + ], + [ + 1.3419536403066559, + -0.19243086685438016, + 16.431509752601187 + ], + [ + 1.3687631729467284, + -0.2182510034596703, + 16.429263019641894 + ], + [ + 1.394335479820711, + -0.24321122738496115, + 16.42726440476281 + ], + [ + 1.419912431101693, + -0.26711977374992557, + 16.424571924436577 + ], + [ + 1.4443940993687647, + -0.2901454122699363, + 16.42219121506423 + ], + [ + 1.467199924461056, + -0.31220329126742286, + 16.419754388663705 + ], + [ + 1.4894477665511658, + -0.3332801404834811, + 16.41727517573213 + ], + [ + 1.5105887659974542, + -0.35332768076187904, + 16.41458181003827 + ], + [ + 1.5312144250942765, + -0.37244402009289956, + 16.412259216711618 + ], + [ + 1.54984767723181, + -0.39055857236149905, + 16.41000817437657 + ] + ], + "target_bbox_centre_cam01_m": [ + [ + -1.550374079723042, + 2.585413707642875, + 16.209931140400386 + ], + [ + -1.5683008023283946, + 2.6021400324748223, + 16.205412592301514 + ], + [ + -1.5851416736854844, + 2.618356432882387, + 16.201157937536493 + ], + [ + -1.6008894836627405, + 2.6335335142014022, + 16.197162005080656 + ], + [ + -1.6155324814722007, + 2.6476619689044205, + 16.193425260870413 + ], + [ + -1.6290759108642305, + 2.661183927235565, + 16.189948840281716 + ], + [ + -1.6425024263003252, + 2.673190252206561, + 16.186626497659176 + ], + [ + -1.6538226341754125, + 2.684123337840142, + 16.183661158425878 + ], + [ + -1.6640230844895996, + 2.6939770278077537, + 16.1809520087146 + ], + [ + -1.6731080362501416, + 2.7022359402931384, + 16.178495431127487 + ], + [ + -1.6810685795398967, + 2.709913382726045, + 16.176293867898096 + ], + [ + -1.6879084750753464, + 2.716495312823535, + 16.174343081305324 + ], + [ + -1.6936226233419802, + 2.721977711577135, + 16.172641381560027 + ], + [ + -1.6983144634000382, + 2.7268463183623033, + 16.172181747296918 + ], + [ + -1.7017782718285162, + 2.7301205385910547, + 16.17097053542318 + ], + [ + -1.7041167194929585, + 2.732287219959396, + 16.170000528480728 + ], + [ + -1.7054372471752686, + 2.7333439596854054, + 16.170262904279298 + ], + [ + -1.7055280590730035, + 2.7332924882220597, + 16.169765666597584 + ], + [ + -1.7036106978480348, + 2.7321303829646393, + 16.170598490418342 + ], + [ + -1.701461893798296, + 2.729861042247637, + 16.17055922272482 + ], + [ + -1.6983067588098493, + 2.7264831724611684, + 16.171736822886714 + ], + [ + -1.6930471202481385, + 2.721999862436232, + 16.173236763248553 + ], + [ + -1.6876730593662614, + 2.716414225911142, + 16.174845963211396 + ], + [ + -1.6802005075514899, + 2.709729311869177, + 16.17676722175554 + ], + [ + -1.672627913571887, + 2.7019497911247763, + 16.178787633328966 + ], + [ + -1.6629663418448217, + 2.693079974891254, + 16.181108350461955 + ], + [ + -1.6522235692691538, + 2.6831257216039424, + 16.183619325814732 + ], + [ + -1.6414997824163038, + 2.6720889203235894, + 16.18720853194219 + ], + [ + -1.6286067887449462, + 2.6599847567521744, + 16.190082803609073 + ], + [ + -1.614658014712404, + 2.6466152353666823, + 16.193126359203404 + ], + [ + -1.5997514293112545, + 2.632067677151146, + 16.19732835857701 + ], + [ + -1.5838033265558806, + 2.6167900016185284, + 16.20168915219699 + ], + [ + -1.566821419363805, + 2.601046208208846, + 16.206204767856946 + ], + [ + -1.5487180519212416, + 2.5834532184095207, + 16.20985963892332 + ], + [ + -1.5287054279547192, + 2.565093171990336, + 16.214739996290405 + ], + [ + -1.5086855713175282, + 2.546100661564064, + 16.21965575946399 + ], + [ + -1.4876789240224753, + 2.525744426482479, + 16.22468451428847 + ], + [ + -1.4657914300619268, + 2.5043937541377197, + 16.230817564567587 + ], + [ + -1.441852437052603, + 2.4820900638313796, + 16.236143940558236 + ], + [ + -1.4179610986134321, + 2.458173780184336, + 16.241459431660644 + ], + [ + -1.3922307233292486, + 2.433963655956899, + 16.247949395353487 + ], + [ + -1.3664921521844917, + 2.408853160720069, + 16.253428876943758 + ], + [ + -1.3388596189938653, + 2.3828373758816292, + 16.259053722395606 + ], + [ + -1.31042123809857, + 2.3559108452255675, + 16.265725508615787 + ], + [ + -1.2821118800097793, + 2.328114250344937, + 16.272362146252192 + ], + [ + -1.2515661362408537, + 2.299486981641582, + 16.278212467824062 + ], + [ + -1.2214692925522286, + 2.2700010761003817, + 16.28499594683518 + ], + [ + -1.1897725272733624, + 2.2396978537392247, + 16.29185581371877 + ], + [ + -1.1573934312364145, + 2.208635295208948, + 16.297639912610293 + ], + [ + -1.1238066342766615, + 2.1767679663748183, + 16.304388104310306 + ], + [ + -1.0895687351076049, + 2.1441509900479687, + 16.311034136074454 + ], + [ + -1.0556076894845319, + 2.110805217620168, + 16.317609671533887 + ], + [ + -1.0203356916449593, + 2.0767208915633404, + 16.32488980294613 + ], + [ + -0.9835976508425119, + 2.041992180434402, + 16.33112470909407 + ], + [ + -0.9465848679737974, + 2.00656215289618, + 16.338204848688633 + ], + [ + -0.9095089007169008, + 1.9705540891660114, + 16.343928980518967 + ], + [ + -0.8731322716375871, + 1.9338929121630386, + 16.350446976505168 + ], + [ + -0.832530120579122, + 1.896622885251528, + 16.3572716218207 + ], + [ + -0.7936551402958685, + 1.8588527285430452, + 16.362828510818076 + ], + [ + -0.7535842086285811, + 1.8204913690276001, + 16.369301013503673 + ], + [ + -0.7132364116760073, + 1.7816183189423, + 16.375669047208135 + ], + [ + -0.6725848128771759, + 1.7422584082630763, + 16.38195553086348 + ], + [ + -0.6314771211573316, + 1.7025116520238868, + 16.387019369981886 + ], + [ + -0.5888620665132294, + 1.6622732133880689, + 16.392955341812467 + ], + [ + -0.5475322797924491, + 1.6216258510221024, + 16.39885865342444 + ], + [ + -0.5046415373435593, + 1.5806815090805273, + 16.40354642745342 + ], + [ + -0.4614078956715275, + 1.5392866763793975, + 16.40957234700045 + ], + [ + -0.4189795456777574, + 1.4976478551349715, + 16.414471940318208 + ], + [ + -0.3753502597410261, + 1.4557109730439706, + 16.4193812935938 + ], + [ + -0.33082638015275734, + 1.4135365272831564, + 16.423898325156756 + ], + [ + -0.2867952859551224, + 1.371112184706277, + 16.428535851297625 + ], + [ + -0.24267347695877106, + 1.3285962756576453, + 16.431787871070355 + ], + [ + -0.19901211305204924, + 1.2858132448617496, + 16.436046125631606 + ], + [ + -0.15379000088341854, + 1.242932728764245, + 16.439695915119273 + ], + [ + -0.11013055635976343, + 1.1998739022346, + 16.443935894268293 + ], + [ + -0.06531157069503024, + 1.156840491922253, + 16.44692897717175 + ], + [ + -0.020752494425323675, + 1.1137677547893077, + 16.449701713901277 + ], + [ + 0.024147068415913964, + 1.0705845714420832, + 16.453240153328807 + ], + [ + 0.06873123411241977, + 1.0275263565938104, + 16.455532996354464 + ], + [ + 0.11342528231352844, + 0.9845210875707124, + 16.45759965589332 + ], + [ + 0.15836339007728384, + 0.9415894678367351, + 16.459529570693007 + ], + [ + 0.20241414596421237, + 0.8987479399221314, + 16.461441632015635 + ], + [ + 0.2474812454934181, + 0.8560144508776943, + 16.463427795005487 + ], + [ + 0.291473021832644, + 0.8135179359102125, + 16.46464208523753 + ], + [ + 0.3353369143451346, + 0.771158773430443, + 16.466188415659076 + ], + [ + 0.3790147194213205, + 0.7290704893988647, + 16.46719824857314 + ], + [ + 0.4224929523707033, + 0.6872704457093164, + 16.46779476609845 + ], + [ + 0.4657652155119649, + 0.6457741790124203, + 16.468098101529677 + ], + [ + 0.5088840986554715, + 0.6044665377569487, + 16.4692137099928 + ], + [ + 0.5506443568033319, + 0.5637429749602063, + 16.468359054812822 + ], + [ + 0.5928927348854813, + 0.5232164888194006, + 16.46867329966915 + ], + [ + 0.6352522376741945, + 0.48314336783754186, + 16.46845238417393 + ], + [ + 0.6764562691823812, + 0.4435191873246964, + 16.467948772160298 + ], + [ + 0.7169021748800333, + 0.4044276507156326, + 16.466782989087164 + ], + [ + 0.7568846187782583, + 0.3656442117202232, + 16.466701196821305 + ], + [ + 0.7969177050131293, + 0.32759787839893306, + 16.464952073103632 + ], + [ + 0.8361448350201499, + 0.29000748462127035, + 16.463641807391355 + ], + [ + 0.8748431072149288, + 0.252904441827809, + 16.46271624552469 + ], + [ + 0.9130129686213877, + 0.216456465130193, + 16.46124642893585 + ], + [ + 0.9507611834428644, + 0.18069067466177557, + 16.459243644791968 + ], + [ + 0.9873906263424033, + 0.14548064350793766, + 16.457669760827798 + ], + [ + 1.0230770691018733, + 0.11102535580880613, + 16.455437566677233 + ], + [ + 1.0590985389344496, + 0.07721933060128094, + 16.453356292466424 + ], + [ + 1.0937088205828331, + 0.0440901962072644, + 16.451396270091664 + ], + [ + 1.12716756782811, + 0.011690722681208854, + 16.449377666836085 + ], + [ + 1.1607404110081916, + -0.01991054192561137, + 16.447032378189192 + ], + [ + 1.192672471131118, + -0.05067727025095792, + 16.444290909692086 + ], + [ + 1.2243957760024387, + -0.08069105179237113, + 16.441754790245454 + ], + [ + 1.2544385048777258, + -0.10987644518692719, + 16.439112370256453 + ], + [ + 1.2845924004973313, + -0.1382612067887976, + 16.436635705671733 + ], + [ + 1.3137093495411136, + -0.1659171927520049, + 16.434829386984347 + ], + [ + 1.3419536403066559, + -0.19243086685438016, + 16.431509752601187 + ], + [ + 1.3687631729467284, + -0.2182510034596703, + 16.429263019641894 + ], + [ + 1.394335479820711, + -0.24321122738496115, + 16.42726440476281 + ], + [ + 1.419912431101693, + -0.26711977374992557, + 16.424571924436577 + ], + [ + 1.4443940993687647, + -0.2901454122699363, + 16.42219121506423 + ], + [ + 1.467199924461056, + -0.31220329126742286, + 16.419754388663705 + ], + [ + 1.4894477665511658, + -0.3332801404834811, + 16.41727517573213 + ], + [ + 1.5105887659974542, + -0.35332768076187904, + 16.41458181003827 + ], + [ + 1.5312144250942765, + -0.37244402009289956, + 16.412259216711618 + ], + [ + 1.54984767723181, + -0.39055857236149905, + 16.41000817437657 + ] + ], + "target_bbox_half_world_m": [ + [ + 0.556, + 0.556, + 0.88 + ], + [ + 0.556, + 0.556, + 0.88 + ], + [ + 0.557, + 0.557, + 0.88 + ], + [ + 0.557, + 0.557, + 0.88 + ], + [ + 0.557, + 0.557, + 0.88 + ], + [ + 0.557, + 0.557, + 0.88 + ], + [ + 0.557, + 0.557, + 0.88 + ], + [ + 0.557, + 0.557, + 0.88 + ], + [ + 0.557, + 0.557, + 0.88 + ], + [ + 0.557, + 0.557, + 0.88 + ], + [ + 0.557, + 0.557, + 0.88 + ], + [ + 0.557, + 0.557, + 0.88 + ], + [ + 0.557, + 0.557, + 0.88 + ], + [ + 0.557, + 0.557, + 0.88 + ], + [ + 0.557, + 0.557, + 0.88 + ], + [ + 0.557, + 0.557, + 0.88 + ], + [ + 0.557, + 0.557, + 0.88 + ], + [ + 0.557, + 0.557, + 0.88 + ], + [ + 0.557, + 0.557, + 0.88 + ], + [ + 0.557, + 0.557, + 0.88 + ], + [ + 0.557, + 0.557, + 0.88 + ], + [ + 0.556, + 0.556, + 0.88 + ], + [ + 0.556, + 0.556, + 0.88 + ], + [ + 0.556, + 0.556, + 0.88 + ], + [ + 0.556, + 0.556, + 0.88 + ], + [ + 0.556, + 0.556, + 0.88 + ], + [ + 0.556, + 0.556, + 0.88 + ], + [ + 0.556, + 0.556, + 0.88 + ], + [ + 0.556, + 0.556, + 0.88 + ], + [ + 0.556, + 0.556, + 0.88 + ], + [ + 0.556, + 0.556, + 0.88 + ], + [ + 0.556, + 0.556, + 0.88 + ], + [ + 0.556, + 0.556, + 0.88 + ], + [ + 0.556, + 0.556, + 0.88 + ], + [ + 0.556, + 0.556, + 0.88 + ], + [ + 0.556, + 0.556, + 0.88 + ], + [ + 0.556, + 0.556, + 0.88 + ], + [ + 0.556, + 0.556, + 0.88 + ], + [ + 0.556, + 0.556, + 0.88 + ], + [ + 0.556, + 0.556, + 0.88 + ], + [ + 0.556, + 0.556, + 0.88 + ], + [ + 0.556, + 0.556, + 0.88 + ], + [ + 0.556, + 0.556, + 0.88 + ], + [ + 0.555, + 0.555, + 0.88 + ], + [ + 0.555, + 0.555, + 0.88 + ], + [ + 0.555, + 0.555, + 0.88 + ], + [ + 0.5539999999999999, + 0.5539999999999999, + 0.88 + ], + [ + 0.55, + 0.55, + 0.88 + ], + [ + 0.544, + 0.544, + 0.88 + ], + [ + 0.536, + 0.536, + 0.88 + ], + [ + 0.525, + 0.525, + 0.88 + ], + [ + 0.51, + 0.51, + 0.88 + ], + [ + 0.49200000000000005, + 0.49200000000000005, + 0.88 + ], + [ + 0.47100000000000003, + 0.47100000000000003, + 0.88 + ], + [ + 0.446, + 0.446, + 0.88 + ], + [ + 0.41700000000000004, + 0.41700000000000004, + 0.88 + ], + [ + 0.414, + 0.41600000000000004, + 0.88 + ], + [ + 0.445, + 0.445, + 0.88 + ], + [ + 0.473, + 0.473, + 0.88 + ], + [ + 0.498, + 0.498, + 0.88 + ], + [ + 0.519, + 0.519, + 0.88 + ], + [ + 0.537, + 0.537, + 0.88 + ], + [ + 0.55, + 0.55, + 0.88 + ], + [ + 0.5589999999999999, + 0.5589999999999999, + 0.88 + ], + [ + 0.564, + 0.564, + 0.88 + ], + [ + 0.5660000000000001, + 0.5660000000000001, + 0.88 + ], + [ + 0.565, + 0.565, + 0.88 + ], + [ + 0.564, + 0.564, + 0.88 + ], + [ + 0.561, + 0.561, + 0.88 + ], + [ + 0.557, + 0.557, + 0.88 + ], + [ + 0.552, + 0.552, + 0.88 + ], + [ + 0.546, + 0.546, + 0.88 + ], + [ + 0.54, + 0.54, + 0.88 + ], + [ + 0.5329999999999999, + 0.5329999999999999, + 0.88 + ], + [ + 0.526, + 0.526, + 0.88 + ], + [ + 0.519, + 0.519, + 0.88 + ], + [ + 0.512, + 0.512, + 0.88 + ], + [ + 0.506, + 0.506, + 0.88 + ], + [ + 0.501, + 0.501, + 0.88 + ], + [ + 0.49700000000000005, + 0.49700000000000005, + 0.88 + ], + [ + 0.495, + 0.495, + 0.88 + ], + [ + 0.494, + 0.494, + 0.88 + ], + [ + 0.494, + 0.494, + 0.88 + ], + [ + 0.495, + 0.495, + 0.88 + ], + [ + 0.496, + 0.496, + 0.88 + ], + [ + 0.499, + 0.499, + 0.88 + ], + [ + 0.502, + 0.502, + 0.88 + ], + [ + 0.505, + 0.505, + 0.88 + ], + [ + 0.508, + 0.508, + 0.88 + ], + [ + 0.511, + 0.511, + 0.88 + ], + [ + 0.515, + 0.515, + 0.88 + ], + [ + 0.519, + 0.519, + 0.88 + ], + [ + 0.523, + 0.523, + 0.88 + ], + [ + 0.525, + 0.525, + 0.88 + ], + [ + 0.528, + 0.528, + 0.88 + ], + [ + 0.53, + 0.53, + 0.88 + ], + [ + 0.5329999999999999, + 0.5329999999999999, + 0.88 + ], + [ + 0.536, + 0.536, + 0.88 + ], + [ + 0.5379999999999999, + 0.5379999999999999, + 0.88 + ], + [ + 0.541, + 0.541, + 0.88 + ], + [ + 0.5429999999999999, + 0.5429999999999999, + 0.88 + ], + [ + 0.545, + 0.545, + 0.88 + ], + [ + 0.547, + 0.547, + 0.88 + ], + [ + 0.5489999999999999, + 0.5489999999999999, + 0.88 + ], + [ + 0.551, + 0.551, + 0.88 + ], + [ + 0.552, + 0.552, + 0.88 + ], + [ + 0.5529999999999999, + 0.5529999999999999, + 0.88 + ], + [ + 0.5539999999999999, + 0.5539999999999999, + 0.88 + ], + [ + 0.555, + 0.555, + 0.88 + ], + [ + 0.556, + 0.556, + 0.88 + ], + [ + 0.556, + 0.556, + 0.88 + ], + [ + 0.556, + 0.556, + 0.88 + ], + [ + 0.556, + 0.556, + 0.88 + ], + [ + 0.556, + 0.556, + 0.88 + ], + [ + 0.556, + 0.556, + 0.88 + ], + [ + 0.556, + 0.556, + 0.88 + ], + [ + 0.556, + 0.556, + 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 + ] + ], + "w2c_cam01": [ + [ + [ + 0.09535349209915225, + 0.9954434748113509, + -0.0, + -3654.399532288954 + ], + [ + 0.010244634722302007, + -0.000981333165338045, + -0.9999470408199753, + -0.31238700748213777 + ], + [ + -0.9953907591902041, + 0.09534841876891846, + -0.01029152841008817, + 441.28267024726654 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.09646421252722542, + 0.9953364535178553, + -5.421010820437961e-20, + -3655.0054357887707 + ], + [ + 0.00918554761484924, + -0.0008902282380657029, + -0.9999574156976384, + 0.1911990823491072 + ], + [ + -0.9952940700839649, + 0.09646008118945154, + -0.00922858562402393, + 437.2709220366312 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.09750908139591868, + 0.9952346351716885, + -0.0, + -3655.5782987280318 + ], + [ + 0.00818948757264684, + -0.0008023730104351995, + -0.9999661436722993, + 0.6594692628504029 + ], + [ + -0.9952009424803452, + 0.09750575663022687, + -0.008228700395531762, + 433.49932408787004 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.09848732265697446, + 0.9951383056017192, + 5.4210108204366184e-20, + -3656.1185293610097 + ], + [ + 0.007257105625426755, + -0.0007182246922501689, + -0.999973408932074, + 1.091022755820056 + ], + [ + -0.9951118461324879, + 0.0984846803172981, + -0.007292559879155579, + 429.9709866891739 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.09939789468723746, + 0.99504776695983, + -5.421010820436116e-20, + -3656.6263850253586 + ], + [ + 0.006389010235561044, + -0.0006382147547451518, + -0.9999793864026082, + 1.4869190426780472 + ], + [ + -0.99502725778769, + 0.09939582229152108, + -0.006420807620695766, + 426.69000579499476 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.10024081516354601, + 0.9949632048349061, + 5.421010820435707e-20, + -3657.102538288467 + ], + [ + 0.005585766773440811, + -0.0005627563029087742, + -0.9999842411332771, + 1.845636287148876 + ], + [ + -0.994947527703572, + 0.1002392120427812, + -0.005614043604392989, + 423.6565540803379 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.10101504088769146, + 0.9948848986261966, + 5.4210108204353816e-20, + -3657.5471627950606 + ], + [ + 0.004847897201336314, + -0.0004922283318286746, + -0.9999881277315219, + 2.1732115677271957 + ], + [ + -0.9948730894644795, + 0.10101381817864392, + -0.0048728222185138274, + 420.87473023080577 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.10172032265429302, + 0.9948130356801252, + -8.131516230652686e-20, + -3657.9607265645695 + ], + [ + 0.004175878936178071, + -0.00042698651657986674, + -0.9999911898200028, + 2.4679857115687294 + ], + [ + -0.9948042735932282, + 0.10171940305566782, + -0.0041976520398839, + 418.34565088145143 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.10235588027956596, + 0.9947478443164351, + 2.7105054102174627e-20, + -3658.3434261691787 + ], + [ + 0.0035701471773155634, + -0.00036735496251600637, + -0.999993559528992, + 2.730768365049431 + ], + [ + -0.9947414400812952, + 0.10235519764161981, + -0.0035889971768920262, + 416.07238380598045 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.1029217271976404, + 0.9946894581077323, + -0.0, + -3658.6957427305456 + ], + [ + 0.0030310925229126433, + -0.00031363082740164564, + -0.9999953570461324, + 2.9597980284047845 + ], + [ + -0.9946848422328766, + 0.10292122592466034, + -0.003047275229154218, + 414.05505342176406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.10341708082516582, + 0.9946380785962303, + -0.0, + -3659.0177740296094 + ], + [ + 0.002559062622377049, + -0.00026607747255015567, + -0.9999966901951591, + 3.1607534599947824 + ], + [ + -0.9946347889719978, + 0.10341671512767972, + -0.002572858105143273, + 412.29671816386525 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.10384195195474379, + 0.9945938110677284, + 1.3552527051086451e-20, + -3659.309896868808 + ], + [ + 0.0021543611982776166, + -0.00022492908115378816, + -0.999997654064616, + 3.3317150662759465 + ], + [ + -0.9945914802582816, + 0.10384168494541475, + -0.002166071406228928, + 410.7974752630899 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.10419582018041955, + 0.9945568013225435, + 1.3552527051086308e-20, + -3659.5722146828357 + ], + [ + 0.0018172482728454735, + -0.00019038598299141006, + -0.9999983306795527, + 3.473185236658423 + ], + [ + -0.9945551435399579, + 0.10419562284498433, + -0.0018271940672528566, + 409.559367303759 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.10447842852055228, + 0.9945271529595738, + -0.0, + -3659.80488655129 + ], + [ + 0.0015479403713786742, + -0.0001626163518651943, + -0.9999987887175308, + 3.583075589735675 + ], + [ + -0.9945259507641141, + 0.10447827857131775, + -0.0015564586434499291, + 408.5834462600764 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.1046897833220867, + 0.9945049267188043, + -0.0, + -3660.0081248393094 + ], + [ + 0.0013466099355258154, + -0.00014175525789972051, + -0.999999083273144, + 3.6667415154922285 + ], + [ + -0.9945040174920804, + 0.10468966395595874, + -0.001354050552972169, + 407.86978945539323 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.10482962450189715, + 0.9944901959430222, + -0.0, + -3660.1819768832884 + ], + [ + 0.0012133863052999434, + -0.00012790355428262567, + -0.9999992556669004, + 3.7219211713134697 + ], + [ + -0.9944894581768814, + 0.10482952308097189, + -0.0012201088755316328, + 407.4194238644646 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.10489795523379608, + 0.9944829907986199, + -6.77626352554305e-21, + -3660.3265421308183 + ], + [ + 0.00114835455755726, + -0.00012112831097737698, + -0.9999993333046489, + 3.7487754431718745 + ], + [ + -0.9944823302488156, + 0.10489786190674842, + -0.0011547251959841416, + 407.2323943431825 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.10489451222426649, + 0.9944833539608556, + 6.77626352554305e-21, + -3660.441754589195 + ], + [ + 0.001151556544874854, + -0.00012146202507283397, + -0.9999993295820254, + 3.747374916276431 + ], + [ + -0.994482689708644, + 0.10489441850899608, + -0.0011579445238663658, + 407.30970858368755 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.10481956024374843, + 0.9944912567691616, + -2.7105054102172238e-20, + -3660.527708052972 + ], + [ + 0.0012229901806067077, + -0.00012890338858290582, + -0.9999992438391813, + 3.717703201958065 + ], + [ + -0.9944905072394393, + 0.10481945759043561, + -0.0012297646477593019, + 407.65041270016127 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.10467283273533493, + 0.9945067109311833, + 1.355252705108616e-20, + -3660.5842221131174 + ], + [ + 0.0013626095706552024, + -0.00014341602937924063, + -0.9999990613630597, + 3.659652304751237 + ], + [ + -0.9945057799127127, + 0.10467271109118281, + -0.0013701361350640074, + 408.255490474344 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.10445485607584014, + 0.9945296290418779, + -0.0, + -3660.6113853193087 + ], + [ + 0.001570325451813055, + -0.0001649303492540335, + -0.9999987534372007, + 3.5730288893554394 + ], + [ + -0.9945283917555492, + 0.10445470246971678, + -0.0015789629771917417, + 409.12298904301264 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.10416562535192146, + 0.9945599642530573, + -1.3552527051086325e-20, + -3660.6090127180405 + ], + [ + 0.0018460045251842614, + -0.00019334200317696365, + -0.9999982774415977, + 3.457549335607029 + ], + [ + -0.9945582535161661, + 0.10416542252101886, + -0.0018561017996239922, + 410.2528930910006 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.10380513407070993, + 0.9945976544012969, + -0.0, + -3660.5768627995258 + ], + [ + 0.0021894702184592093, + -0.00022851275444420394, + -0.9999975769981063, + 3.3128422131529667 + ], + [ + -0.994595246931826, + 0.10380485914748024, + -0.002201362757825509, + 411.64517500335654 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.10337363907143166, + 0.994642594475588, + -0.0, + -3660.5147475694903 + ], + [ + 0.0026005016051456817, + -0.0002702712671145376, + -0.9999965821665812, + 3.138451985455867 + ], + [ + -0.9946391973855943, + 0.10337326234998154, + -0.002614508608151006, + 413.29881977345656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.10287166062253081, + 0.994694637283605, + -0.0, + -3660.422535105895 + ], + [ + 0.003078835152256807, + -0.00031841418765523753, + -0.9999952096817815, + 2.9338415219614866 + ], + [ + -0.9946898748010323, + 0.10287114442188557, + -0.0030952566352568833, + 415.2118248472505 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.10229918779548416, + 0.9947536761311235, + -0.0, + -3660.299819696661 + ], + [ + 0.003624162319461449, + -0.0003727041886005897, + -0.9999933632475118, + 2.698386953871495 + ], + [ + -0.9947470766054066, + 0.10229848544265618, + -0.0036432761541840193, + 417.38412440112614 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.10165700304667004, + 0.9948195081177132, + -2.7105054102175726e-20, + -3660.1464757613794 + ], + [ + 0.004236132040373546, + -0.00043287499312226496, + -0.9999909338611909, + 2.4313937948479127 + ], + [ + -0.9948104913395281, + 0.10165605798525906, + -0.00425819160020607, + 419.81271496744165 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.10094535777135528, + 0.9948919713940868, + -5.421010820435409e-20, + -3659.9621060226477 + ], + [ + 0.004914349375072901, + -0.000498627760745762, + -0.9999878001958703, + 2.1320849996529443 + ], + [ + -0.9948798362842176, + 0.10094410282570158, + -0.004939580933852286, + 422.4965292528892 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.1001645021473226, + 0.9949708902825141, + -0.0, + -3659.7462623364113 + ], + [ + 0.005658375135117789, + -0.0005696330756078032, + -0.9999838290237446, + 1.7996084147021505 + ], + [ + -0.9949548029913318, + 0.10016285894965504, + -0.005686975603218417, + 425.4344860562742 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.0993154802024241, + 0.9950559961088429, + -0.0, + -3659.498788825195 + ], + [ + 0.006467727446834378, + -0.0006455369946140122, + -0.9999788756687125, + 1.4468550976896015 + ], + [ + -0.9950349785563575, + 0.09931335878096337, + -0.00649986284412842, + 428.6226558537634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.0983982750860315, + 0.995147114481117, + -0.0, + -3659.219030893555 + ], + [ + 0.007341879928541835, + -0.0007259512793080413, + -0.9999727845265866, + 1.0679161229642125 + ], + [ + -0.9951200334002872, + 0.09839557367291892, + -0.00737768303658485, + 432.06090364272495 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.09741392907254838, + 0.9952439532208412, + -5.421010820437291e-20, + -3658.906746612239 + ], + [ + 0.008280264496932843, + -0.000810467720799276, + -0.9999653895820266, + 0.630191698227458 + ], + [ + -0.9952095097080544, + 0.0974105340685282, + -0.008319834081158156, + 435.7449464888375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.09636295371078808, + 0.9953462619370871, + -0.0, + -3658.561425163033 + ], + [ + 0.009282267907374634, + -0.0008986488289499522, + -0.9999565150209173, + 0.20982961440508507 + ], + [ + -0.9953029815979759, + 0.09635873989218503, + -0.009325667191648233, + 439.67332681401774 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.09524585987383562, + 0.9954537790258738, + -1.0842021640877846e-19, + -3658.1825147662416 + ], + [ + 0.010347234757981064, + -0.0009900321768879737, + -0.9999459758252702, + -0.22473421737573673 + ], + [ + -0.9954000027035421, + 0.09524069080632651, + -0.010394490488807223, + 443.84377414762344 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.09406368812804598, + 0.9955661819164758, + -0.0, + -3657.7696627518126 + ], + [ + 0.011474465552064541, + -0.0010841374172108607, + -0.9999335784372656, + -0.7775922425488195 + ], + [ + -0.9955000570741814, + 0.0940574167708154, + -0.011525567912378815, + 448.2511011785278 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.09281694847898532, + 0.9956831896115597, + -0.0, + -3657.322246819421 + ], + [ + 0.012663218920026292, + -0.0011804571477567374, + -0.9999191214330817, + -1.3768900944935574 + ], + [ + -0.9956026623726095, + 0.09280941806503883, + -0.012718120733820133, + 452.89380969846997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.09150668096817745, + 0.9958044624012226, + -0.0, + -3656.83985223365 + ], + [ + 0.013912709653667137, + -0.0012784697515927082, + -0.9999023962493476, + -2.0126420765733046 + ], + [ + -0.9957072703110041, + 0.09149772604809553, + -0.013971326989120746, + 457.767910763402 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.09013392564394593, + 0.9959296538651771, + -0.0, + -3656.3220401856574 + ], + [ + 0.015222110908238079, + -0.0013776360683932063, + -0.9998831879066478, + -2.6917773596352736 + ], + [ + -0.9958133193659009, + 0.09012337337343604, + -0.015284323513280617, + 462.86919873510607 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.08869919215056302, + 0.9960584587823332, + -1.0842021640892072e-19, + -3655.768100916514 + ], + [ + 0.01659055360933455, + -0.0014773919035611155, + -0.9998612757998476, + -3.4156536185853534 + ], + [ + -0.9959202834644542, + 0.08868686387443554, + -0.016656204855808248, + 468.1954639231215 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.087203520702175, + 0.9961905169078578, + -1.084202164089625e-19, + -3655.1775460426647 + ], + [ + 0.018017125735626888, + -0.001577164980406808, + -0.9998364344885875, + -4.168289643300435 + ], + [ + -0.9960275765568303, + 0.08718923364791958, + -0.01808602427887338, + 473.74284626541794 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.08564821720548667, + 0.9963254402500828, + -1.0842021640900951e-19, + -3654.549997475736 + ], + [ + 0.01950087113074574, + -0.0016763747856153137, + -0.999808434547699, + -4.985701524790279 + ], + [ + -0.9961345807405716, + 0.08563178638561299, + -0.01957279267795524, + 479.50558160379194 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.08403405743526109, + 0.9964628829971375, + -1.0842021640906226e-19, + -3653.8848098987273 + ], + [ + 0.021040797719697416, + -0.0017744199349830098, + -0.9997770432777565, + -5.851949085085792 + ], + [ + -0.9962407168853012, + 0.0840152978818022, + -0.02111548582660391, + 485.4807262603255 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.08236234842467421, + 0.9966024501083529, + 1.0842021640912109e-19, + -3653.1815809604204 + ], + [ + 0.02263586717486363, + -0.0018706989722412069, + -0.9997420257259356, + -6.7683902580823 + ], + [ + -0.9963453542620258, + 0.08234107744670821, + -0.022713036023259008, + 491.66308558487526 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.08063386714769517, + 0.9967437882770114, + -0.0, + -3652.4396394744344 + ], + [ + 0.02428500370853062, + -0.0019645908865907357, + -0.999703145427444, + -7.736423716417736 + ], + [ + -0.9964479022325228, + 0.0806099069887504, + -0.024364339344008765, + 498.04939465379346 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.07885018768060335, + 0.9968864769384392, + -0.0, + -3651.65870079218 + ], + [ + 0.025987089229335212, + -0.002055486668149682, + -0.9996601653401739, + -8.757371507788204 + ], + [ + -0.99654770222646, + 0.07882336801089246, + -0.02606825353916393, + 504.63345860758045 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.07701235424527493, + 0.9970301386084576, + -0.0, + -3650.839055231317 + ], + [ + 0.027740963497514568, + -0.002142760609982739, + -0.9996128488175801, + -9.832275554714247 + ], + [ + -0.9966441390328779, + 0.07698251516169825, + -0.027823595935694074, + 511.399988179721 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.075121412049716, + 0.9971743947031816, + 2.1684043281885083e-19, + -3649.9797394424613 + ], + [ + 0.02954543537531165, + -0.002225784012111237, + -0.9995609601890295, + -10.962410310012235 + ], + [ + -0.9967365972222546, + 0.07508840708271378, + -0.02962915590397697, + 518.3446753007435 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.07317867297768983, + 0.9973188466188855, + 2.1684043281904147e-19, + -3649.0804137522678 + ], + [ + 0.03139926747349175, + -0.002303933926418347, + -0.9995042660692304, + -12.14899021796285 + ], + [ + -0.9968244435576504, + 0.07314237213284917, + -0.03148368029250778, + 525.462251851865 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.0711859815039076, + 0.9974630599863461, + 2.1684043281924906e-19, + -3648.1399959788932 + ], + [ + 0.03330118351067979, + -0.0023766067421904674, + -0.9994425360755771, + -13.393126316352326 + ], + [ + -0.9969070119979909, + 0.07114627417621414, + -0.03338588174784431, + 532.7455010230252 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.06914385540138782, + 0.9976066996869215, + 2.168404328194743e-19, + -3647.158069616702 + ], + [ + 0.03524987667402299, + -0.002443159590277711, + -0.9993755436099497, + -14.696043001087222 + ], + [ + -0.9969837394434831, + 0.0691006543502797, + -0.03533444288017535, + 540.1920266619932 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.06705440773910519, + 0.9977493204220976, + -2.1684043281971805e-19, + -3646.13436554769 + ], + [ + 0.037243998434883865, + -0.0025030077252578683, + -0.999303066908588, + -16.058720357577972 + ], + [ + -0.9970539574888517, + 0.06700765155675528, + -0.037328012117812726, + 547.7936240269902 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.06491869053745104, + 0.9978905569344277, + -4.3368086563996207e-19, + -3645.0724377027354 + ], + [ + 0.03928216476872835, + -0.0025555374590340084, + -0.9992248899819189, + -17.4822445672904 + ], + [ + -0.9971170835008055, + 0.0648683476452916, + -0.039365203728895896, + 555.5467914160223 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.06273828881492773, + 0.9980300131341616, + -0.0, + -3643.963516351638 + ], + [ + 0.04136295636680795, + -0.002600163390508386, + -0.9991408033860595, + -18.9675516189126 + ], + [ + -0.9971725106079807, + 0.06268436050659701, + -0.04144460200865395, + 563.4454801045746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.06051478934779894, + 0.9981673007418101, + -2.1684043282056739e-19, + -3642.807470149613 + ], + [ + 0.04348492402263039, + -0.0026363125851536877, + -0.9990506049438634, + -20.515507925656323 + ], + [ + -0.9972196470695369, + 0.06045731310456448, + -0.04356476547263221, + 571.483616281883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.05824924897332248, + 0.998302071015604, + -0.0, + -3641.603999054752 + ], + [ + 0.04564658175568515, + -0.002663401371854376, + -0.9989541009811984, + -22.12697597380224 + ], + [ + -0.9972579492326837, + 0.05818830232107053, + -0.045724218585058124, + 579.6567666679164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.05594378965440631, + 0.9984339198961057, + -4.336808656424775e-19, + -3640.337053889307 + ], + [ + 0.04784641506010039, + -0.0026809082969839466, + -0.9988511066703585, + -23.80289370939353 + ], + [ + -0.9972868271433323, + 0.055879492369151684, + -0.04792146428221415, + 587.9633826452804 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.053599471727877164, + 0.9985625151338762, + -0.0, + -3639.037403571688 + ], + [ + 0.05008287001045064, + -0.0026882797366133853, + -0.9987414476647969, + -25.543471844453983 + ], + [ + -0.9973057732096554, + 0.053531990130441735, + -0.05015496740469047, + 596.3884600463966 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.05121842095690193, + 0.9986874753168188, + 2.1684043282200001e-19, + -3637.6925650241706 + ], + [ + 0.05235437258102007, + -0.0026850324651748548, + -0.9986249597683349, + -27.349164420441014 + ], + [ + -0.9973142410625596, + 0.051147969691688604, + -0.05242317970353605, + 604.9247362821225 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.04880170120012308, + 0.9988084871285255, + 2.168404328224158e-19, + -3636.30049045462 + ], + [ + 0.054659313740838225, + -0.0026706496103701227, + -0.9985014907610499, + -29.22062599378749 + ], + [ + -0.9973117645268658, + 0.04872854750552671, + -0.054724519132758075, + 613.5706498991417 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.04635144199276482, + 0.998925194308959, + -0.0, + -3634.861596544827 + ], + [ + 0.05699606050970752, + -0.002644692122676326, + -0.99837090036216, + -31.158075608236302 + ], + [ + -0.9972978467210218, + 0.04627590696227531, + -0.0570573865545249, + 622.3179594391332 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.04386924278608768, + 0.9990372813550931, + -0.0, + -3633.3760363039946 + ], + [ + 0.05936295216360342, + -0.0026067172963071834, + -0.9982330614317274, + -33.16172186103532 + ], + [ + -0.9972720448750102, + 0.043791704597314726, + -0.059420157516433036, + 631.1603553139962 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.041356704781592354, + 0.9991444454980513, + -2.1684043282380938e-19, + -3631.844012804856 + ], + [ + 0.06175830733566591, + -0.002556307144377721, + -0.9980878602451875, + -35.23166649837702 + ], + [ + -0.9972339426447265, + 0.04127760103198124, + -0.061811190655894674, + 640.0915275825511 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.03881543089044269, + 0.9992463972038074, + -2.1684043282432391e-19, + -3630.271765938863 + ], + [ + 0.06418041183028787, + -0.0024930691237814735, + -0.9979351979681037, + -37.36799526795647 + ], + [ + -0.9971831521115511, + 0.0387352607411582, + -0.06422881534160568, + 649.1067690115563 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.03624729182605341, + 0.9993428509952312, + -6.505212984745921e-19, + -3628.655873332038 + ], + [ + 0.06662753902068085, + -0.0024166559535891497, + -0.9977749900744403, + -39.57094450930577 + ], + [ + -0.9971193040682852, + 0.03616661725492933, + -0.06667135254901027, + 658.2050365920485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.033654160003453774, + 0.9994335383178123, + 2.1684043282543002e-19, + -3626.9987079327257 + ], + [ + 0.06909793845888261, + -0.002326751092141724, + -0.9976071677419361, + -41.840329277771275 + ], + [ + -0.9970420622787899, + 0.033573607238562966, + -0.06913710251267705, + 667.3802086532393 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.03103790945982511, + 0.9995182080264291, + -0.0, + -3625.29492293626 + ], + [ + 0.07158984040880643, + -0.0022230700421548596, + -0.9974316782165229, + -44.175542965958286 + ], + [ + -0.9969511243459703, + 0.030958170097616033, + -0.07162434899887724, + 676.6219642069451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.028399883349458335, + 0.9995966419640161, + -0.0, + -3623.544962501144 + ], + [ + 0.07410145322941844, + -0.0021053218262177638, + -0.9972484857092019, + -46.576225581132796 + ], + [ + -0.9968462381590308, + 0.028321716623507538, + -0.07413135528025235, + 685.9255739273292 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.025742491023840103, + 0.9996686071673391, + -4.336808656545691e-19, + -3621.7501221542607 + ], + [ + 0.07663097689761851, + -0.001973326181087958, + -0.997057570736765, + -49.04161419318961 + ], + [ + -0.9967271535780292, + 0.02566672150626877, + -0.07665638086526118, + 695.2824322834487 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.02306707835050765, + 0.9997339195487827, + -0.0, + -3619.9097708053732 + ], + [ + 0.07917659146570716, + -0.0018268587302608605, + -0.9968589318208729, + -51.57105932767815 + ], + [ + -0.9965936876533551, + 0.022994599008653242, + -0.0791976650281986, + 704.6873611941612 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.020375791082761118, + 0.9997923920183389, + -1.0842021641432616e-19, + -3618.0252496072158 + ], + [ + 0.08173647438812738, + -0.001665791157514019, + -0.996652584351447, + -54.163604434287095 + ], + [ + -0.99644567175917, + 0.02030756074763979, + -0.08175344768814208, + 714.1328066116077 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.017670243614783365, + 0.9998438690568614, + -1.084202164146877e-19, + -3616.0976546685292 + ], + [ + 0.08430877873926315, + -0.001489989292621172, + -0.9964385629628157, + -56.81829555365151 + ], + [ + -0.9962829884411458, + 0.017607288044649453, + -0.08432194465554396, + 723.6130994841856 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.014952583870077205, + 0.9998882038686168, + -0.0, + -3614.1285842937023 + ], + [ + 0.0868916650402141, + -0.0012994001770373683, + -0.9962169192027, + -59.53389184034927 + ], + [ + -0.9961055463073306, + 0.014895992910519932, + -0.08690138094981137, + 733.1206112301111 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.012224428109630524, + 0.9999252788870739, + 1.0842021641544978e-19, + -3612.119394572664 + ], + [ + 0.08948326199413702, + -0.001093963445428704, + -0.9959877253595388, + -62.3091532416474 + ], + [ + -0.9959133042812707, + 0.012175356203807596, + -0.08948994947407123, + 742.6496008247723 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.009487925920606823, + 0.9999549886178503, + -5.4210108207925026e-20, + -3610.072384134692 + ], + [ + 0.09208171528258112, + -0.0008737038198600605, + -0.9957510704750722, + -65.14254633981105 + ], + [ + -0.9957062505065573, + 0.009447588233153939, + -0.0920858609057326, + 752.1923916083191 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.006744961232367242, + 0.9999772524902625, + -0.0, + -3607.9898381628823 + ], + [ + 0.09468516432068583, + -0.0006386622906000223, + -0.9955070626409654, + -68.0324677684789 + ], + [ + -0.9954844174278664, + 0.006714632369566957, + -0.09468731895266182, + 761.7421941582523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.003997152141088594, + 0.9999920113554713, + -0.0, + -3605.874089977506 + ], + [ + 0.09729172594087777, + -0.0003888929373822208, + -0.9952558308423659, + -70.97724271901468 + ], + [ + -0.9952478801205664, + 0.003978164785423428, + -0.09729250392737732, + 771.2931196039891 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.0012466497096271238, + 0.9999992229319488, + -0.0, + -3603.7280608745555 + ], + [ + 0.09989954419257895, + -0.0001245398345354871, + -0.9949975203787917, + -73.97488798163906 + ], + [ + -0.9949967471507445, + 0.0012403891652017743, + -0.09989962259265783, + 780.8373298363312 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.0015047097723516994, + 0.9999988679236095, + 1.3552527052196876e-20, + -3601.5545019125393 + ], + [ + 0.10250675002765462, + 0.00015424308311357758, + -0.9947322968557112, + -77.02337174412594 + ], + [ + -0.9947311706976318, + -0.0014967592117171294, + -0.10250686686452037, + 790.3679508067831 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.004255210251206967, + 0.9999909465518765, + 2.7105054104508984e-20, + -3599.356395185077 + ], + [ + 0.10511146979464252, + 0.00044727545317470665, + -0.994460345545401, + -80.12056449657875 + ], + [ + -0.9944513422673488, + -0.004231613688300847, + -0.10511242223572431, + 799.8791113261157 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.007002482823159031, + 0.9999754823165972, + -1.0842021641850816e-19, + -3597.1372276025954 + ], + [ + 0.10771185926470529, + 0.0007542689372786265, + -0.994181867895462, + -83.26397852323153 + ], + [ + -0.994157492938174, + -0.006961717312584808, + -0.1077145010058724, + 809.3621873437593 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.00974517538341704, + 0.999952514650944, + 1.0842021641899133e-19, + -3594.8990493934334 + ], + [ + 0.11030606198585209, + 0.0010750029667973148, + -0.9938970857477116, + -86.45137052496571 + ], + [ + -0.9938498903381986, + -0.009685677301524318, + -0.11031130100747358, + 818.8124939139329 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.012480870952632544, + 0.9999221108967757, + -1.0842021641948499e-19, + -3592.644098070116 + ], + [ + 0.11289222765208544, + 0.0014091030786560405, + -0.99360623959608, + -89.67995148234172 + ], + [ + -0.993528848698769, + -0.012401047170504725, + -0.11290102228223398, + 828.2216010737554 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.01520795197378737, + 0.9998843524111992, + -0.0, + -3590.3740079133786 + ], + [ + 0.11546853589829727, + 0.001756243053699356, + -0.9933095855914407, + -92.94713293807183 + ], + [ + -0.9931947119952528, + -0.015106180417895774, + -0.11548189199112024, + 837.5839911300156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.01792480148692109, + 0.9998393378396624, + -4.3368086568200883e-19, + -3588.0904517600534 + ], + [ + 0.11803314747822288, + 0.002116060708308428, + -0.9930074009711419, + -96.25018490732755 + ], + [ + -0.9928478625793745, + -0.01779943651150266, + -0.11805211489609124, + 846.8942023015234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.020629004464095248, + 0.9997871994453722, + 2.1684043284204967e-19, + -3585.795829311012 + ], + [ + 0.12058426453729261, + 0.0024880627925816623, + -0.9926999771781703, + -99.58594052306627 + ], + [ + -0.9924887304546008, + -0.02047838826386084, + -0.12060993132710668, + 856.1439782618445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.023318679374286364, + 0.9997280826265907, + -0.0, + -3583.4921445566115 + ], + [ + 0.12312010389488084, + 0.002871779113887212, + -0.9923876223037218, + -102.95132994120844 + ], + [ + -0.9921177753092878, + -0.023141144811883813, + -0.12315359244514673, + 865.3270179301712 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.025992478169068755, + 0.9996621384641066, + -2.168404328441909e-19, + -3581.1809799536245 + ], + [ + 0.12563886343256025, + 0.0032667691305933045, + -0.9920706649300851, + -106.34337728673803 + ], + [ + -0.9917354829112169, + -0.025786351162081143, + -0.1256813272869182, + 874.438968619135 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.02864825517444326, + 0.9995895545049779, + -2.1684043284528477e-19, + -3578.864656552439 + ], + [ + 0.12813880883756104, + 0.0036724606382522703, + -0.9917494435100788, + -109.75868747207721 + ], + [ + -0.991342384976328, + -0.028411867217922705, + -0.12819142541776116, + 883.4726805862837 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.031284398414460096, + 0.9995105234142588, + -0.0, + -3576.5450735323557 + ], + [ + 0.1306181875348531, + 0.0040883125522845455, + -0.991424316216616, + -113.19396446167565 + ], + [ + -0.990939037841976, + -0.031016089426915583, + -0.13068215439562075, + 892.4229494743516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.0338984986939235, + 0.9994252807420363, + -8.673617313900517e-19, + -3574.2250315555843 + ], + [ + 0.13307529166960164, + 0.004513646680526422, + -0.9910956531741492, + -116.64546097723941 + ], + [ + -0.9905260520868995, + -0.033596630854788125, + -0.13315181760812816, + 901.281831374475 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.03648947915803579, + 0.9993340372021636, + -4.3368086569728945e-19, + -3571.90634780821 + ], + [ + 0.13550842477864206, + 0.0049479269769916075, + -0.9907638390820696, + -120.10996336369787 + ], + [ + -0.9901040279506043, + -0.03615243263633158, + -0.13559872953116026, + 910.0462324810603 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.03905493364254662, + 0.999237065044215, + -0.0, + -3569.592145375303 + ], + [ + 0.13791591348342885, + 0.005390409381089339, + -0.9904292727371982, + -123.58353688537592 + ], + [ + -0.9896736404055035, + -0.03868112573346356, + -0.1380212157550794, + 918.7084480505166 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.04159352216819411, + 0.9991346150112326, + -0.0, + -3567.279687912165 + ], + [ + 0.14029610486002927, + 0.005840463396958087, + -0.9900923653621475, + -127.06235620953522 + ], + [ + -0.9892355551274757, + -0.04118140498573252, + -0.14041762124119522, + 927.2623468800265 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.04410337413234088, + 0.9990269728041093, + 4.336808657041892e-19, + -3564.9729919810784 + ], + [ + 0.1426473907118353, + 0.006297358742885388, + -0.9897535376021486, + -130.54263189438325 + ], + [ + -0.9887904813818941, + -0.04365144683547213, + -0.14278632678842926, + 935.7025899010811 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.04658288673248552, + 0.9989144280986578, + -0.0, + -3562.6760663875043 + ], + [ + 0.14496817876074988, + 0.006760375124304202, + -0.9894132223065193, + -134.02065464030585 + ], + [ + -0.988339144055015, + -0.046089700363319164, + -0.14512572428422038, + 944.0249986044364 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.049029926884120195, + 0.9987973099031344, + -0.0, + -3560.3920639572602 + ], + [ + 0.14725689788536675, + 0.007228688808945728, + -0.9890718639630195, + -137.49228203171472 + ], + [ + -0.9878823180200721, + -0.0484940974992795, + -0.1474342166900871, + 952.2229952758465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.051443161401717556, + 0.9986759239838501, + 8.673617314223845e-19, + -3558.1230379211615 + ], + [ + 0.14951203024680368, + 0.0077015689662397226, + -0.988729911880356, + -140.9537242808036 + ], + [ + -0.9874207593610704, + -0.05086336879445864, + -0.1497102591597724, + 960.2926867003698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.05382099283069954, + 0.9985505999851574, + -0.0, + -3555.871107689145 + ], + [ + 0.15173205230474493, + 0.008178223216131852, + -0.9883878292292034, + -144.4009448496342 + ], + [ + -0.9869552609879386, + -0.05319599065443596, + -0.15195229312689965, + 968.2291517723544 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.056161825527071246, + 0.9984216791283465, + -8.6736173143175455e-19, + -3553.638652949585 + ], + [ + 0.15391549883162894, + 0.008657840241250289, + -0.9880460824383485, + -147.82990183770653 + ], + [ + -0.9864866298260014, + -0.0554904481065569, + -0.15415881208504215, + 976.0276215769424 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.058463533950174534, + 0.9982895447704823, + -1.7347234628728604e-18, + -3551.428555492756 + ], + [ + 0.1560609347742154, + 0.009139506475113884, + -0.9877051453033892, + -151.23620152605503 + ], + [ + -0.9860157210617243, + -0.05774470973528623, + -0.156328328580317, + 983.6814542227921 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.060725057974966745, + 0.9981545307886635, + -8.673617314410909e-19, + -3549.242564930575 + ], + [ + 0.15816697382814301, + 0.009622456602836988, + -0.9873654929756122, + -154.61600770012174 + ], + [ + -0.9855433415939282, + -0.05995780327133504, + -0.15845940699986802, + 991.1876908830202 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.06294480744066962, + 0.9980170094824321, + -0.0, + -3547.0829858621923 + ], + [ + 0.1602322097703188, + 0.010105825345618255, + -0.9870276142267774, + -157.96510348436402 + ], + [ + -0.9850703491086792, + -0.062128239611534596, + -0.16055058128103022, + 998.5415242537252 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.06512119399747775, + 0.997877362250664, + -0.0, + -3544.9521710563445 + ], + [ + 0.1622553267172899, + 0.010588736660433985, + -0.9866919922690167, + -161.27930149904088 + ], + [ + -0.9845976039252348, + -0.06425453716684885, + -0.16260046985836446, + 1005.7381645536434 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.0672526310836489, + 0.9977359789104162, + -0.0, + -3542.8524738951037 + ], + [ + 0.16423501680425676, + 0.011070300389703875, + -0.9863591170078914, + -164.55436138589306 + ], + [ + -0.9841259805344522, + -0.0663352223614059, + -0.16460769335412584, + 1012.7728168715922 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.06933753389309293, + 0.997593256990856, + -8.673617314594498e-19, + -3540.786264327743 + ], + [ + 0.16617001267066567, + 0.011549615842755812, + -0.9860294789015768, + -167.7860301118345 + ], + [ + -0.9836563607580724, + -0.0683688289885229, + -0.16657090731254157, + 1019.6406872001247 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.07137511624405914, + 0.9974495439776124, + -0.0, + -3538.7551089972217 + ], + [ + 0.1680590938414889, + 0.01202590891061327, + -0.9857035652223498, + -170.9705431398742 + ], + [ + -0.9831895730809566, + -0.0703546831513918, + -0.16848881845260233, + 1026.3397770554209 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.0733632651636191, + 0.9973052849175784, + -8.673617314683641e-19, + -3536.761974370432 + ], + [ + 0.169901061946272, + 0.012498175681656943, + -0.9853818674778623, + -174.10332129959778 + ], + [ + -0.9827265455904571, + -0.07229080785804716, + -0.1703601352754755, + 1032.8634567334443 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.07530093182683231, + 0.9971608544593047, + -0.0, + -3534.8086356653957 + ], + [ + 0.1716947778223025, + 0.012965587951033992, + -0.9850648693348241, + -177.1804454599253 + ], + [ + -0.9822681283354439, + -0.07417627922250976, + -0.1721836335343407, + 1039.208726799844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.0771870686336906, + 0.9970166279635149, + -0.0, + -3532.896712284817 + ], + [ + 0.1734390910687532, + 0.013427313698301392, + -0.984753059876481, + -180.19794501230217 + ], + [ + -0.9818151767041757, + -0.0760101786959828, + -0.17395807405220493, + 1045.372460263176 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.07901983268350103, + 0.9968730440947188, + -8.673617314812506e-19, + -3531.02846993836 + ], + [ + 0.17513294878345728, + 0.013882385918865339, + -0.9844469155884488, + -183.15140403020368 + ], + [ + -0.9813685950981772, + -0.07779080725541924, + -0.17568230093432866, + 1051.3485753527889 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.08079844438147117, + 0.9967304607493109, + -8.673617314853898e-19, + -3529.2050216771086 + ], + [ + 0.1767753047192945, + 0.014330022196413956, + -0.984146910834582, + -186.03707354292672 + ], + [ + -0.9809292055223177, + -0.07951751616127693, + -0.1773551757826534, + 1057.1347146845685 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.08252159414333969, + 0.99658927673342, + 8.673617314894401e-19, + -3527.4284759120396 + ], + [ + 0.17836513999866502, + 0.014769349857480973, + -0.9838535171142316, + -188.85097016029187 + ], + [ + -0.9804978667077319, + -0.08118913738137346, + -0.17897557753183893, + 1062.7270807119385 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.08418797341928307, + 0.9964498909285675, + -0.0, + -3525.7019892044887 + ], + [ + 0.17990152093426715, + 0.015199504360815286, + -0.9835671902990273, + -191.58936118123486 + ], + [ + -0.9800754212024549, + -0.08280450524046758, + -0.18054246776509927, + 1068.1227181123393 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.08579680525944754, + 0.9963126558501965, + -0.0, + -3524.029044853866 + ], + [ + 0.18138347587929213, + 0.01561971803320866, + -0.9832883905988665, + -194.24896393792392 + ], + [ + -0.9796626696439034, + -0.08436297935083228, + -0.1820547758814123, + 1073.3212124130557 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.0873465173550186, + 0.996177989069197, + 1.7347234630019827e-18, + -3522.413908904871 + ], + [ + 0.1828101617135094, + 0.016029094336547967, + -0.9830175547308554, + -196.82613630397952 + ], + [ + -0.9792604526615374, + -0.08586313671388852, + -0.18351154624920202, + 1078.3193364465224 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.08883633404388637, + 0.9960462367549223, + 1.7347234630092417e-18, + -3520.8594955313174 + ], + [ + 0.18418070811697373, + 0.016426886932503798, + -0.9827551191132187, + -199.31771544123018 + ], + [ + -0.9788695398434846, + -0.08730433887402259, + -0.18491180703344684, + 1083.1163778995597 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.09026521475394525, + 0.9959177631739599, + 1.7347234630162602e-18, + -3519.368378454666 + ], + [ + 0.18549429852548627, + 0.016812314541588092, + -0.9825015070188402, + -201.72038498120884 + ], + [ + -0.9784907050121985, + -0.08868568637537111, + -0.18625463547750906, + 1087.7102904302883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.09163238445465763, + 0.9957929032279519, + -3.4694469260460523e-18, + -3517.9422056865633 + ], + [ + 0.18675016086888657, + 0.01718466006559769, + -0.9822571276778166, + -204.03100033118125 + ], + [ + -0.9781246787401408, + -0.0900065396232809, + -0.18753915768324025, + 1092.0994218419091 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.09293680305103748, + 0.9956720095687396, + 1.7347234630295277e-18, + -3516.582568555658 + ], + [ + 0.18794755952199438, + 0.017543172003785076, + -0.982022378556503, + -206.24625100909842 + ], + [ + -0.9777721969775877, + -0.09126599727175282, + -0.18876453204882987, + 1096.2808161319592 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.09417743056178662, + 0.9955554286792772, + -0.0, + -3515.2909868372485 + ], + [ + 0.18908580669279693, + 0.017887115992782254, + -0.9817976414663028, + -208.36289750697446 + ], + [ + -0.9774339737290146, + -0.09246315610580595, + -0.1899299654168907, + 1100.2513588848533 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.09535349209915268, + 0.9954434748113506, + -1.7347234630416967e-18, + -3514.0686486538093 + ], + [ + 0.19016424066575632, + 0.018215825286614053, + -0.9815832849438421, + -210.37794352042914 + ], + [ + -0.9771106779066273, + -0.09359737092236833, + -0.19103469652728397, + 1104.0087369153864 + ], + [ + 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_00243/.capture_done b/clips/clip_00243/.capture_done new file mode 100644 index 0000000000000000000000000000000000000000..eb68f5f0319d28b5d379044bf9db2962a9eeb623 --- /dev/null +++ b/clips/clip_00243/.capture_done @@ -0,0 +1,73 @@ +{ + "clip": "clip_00243", + "frames": 181, + "frame_count": 181, + "frame_bucket": 181, + "spec_gen": "gen3", + "bucket_retired": false, + "target_class": "pedestrian", + "target_model": "arch_b83ca610", + "target_class_fallback": false, + "target_lost_frame": null, + "hfov_deg_per_cam": [ + 65.936, + 42.897, + 30.807, + 62.832 + ], + "oos_allowed": [ + false, + true, + false, + false + ], + "oos_effective": [ + false, + true, + false, + false + ], + "oos_departed": [ + false, + true, + false, + false + ], + "oos_cycles": [ + 0, + 1, + 0, + 0 + ], + "oos_forced_returns": 0, + "visible_ratio": [ + 0.9669, + 0.5635, + 1.0, + 1.0 + ], + "min_visible_ratio_non_oos": 0.9669, + "points_ok": true, + "points_n": 256, + "points_track_complete_ratio": 1.0, + "points_track_breaks": 0, + "points_in_frustum_ratio": 0.8301, + "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": 11, + "near": 0, + "const": 33 + }, + "capture_wall_sec": 27.5 +} \ No newline at end of file diff --git a/clips/clip_00243/cameras.json b/clips/clip_00243/cameras.json new file mode 100644 index 0000000000000000000000000000000000000000..1dc0b47172a461444e231510068a1b56825c8865 --- /dev/null +++ b/clips/clip_00243/cameras.json @@ -0,0 +1,49757 @@ +{ + "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": [ + 65.936, + 42.897, + 30.807, + 62.832 + ], + "hfov_range_deg": [ + 30.807, + 65.936 + ], + "oos_allowed_per_cam": [ + false, + true, + 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": 986.7196218059604, + "fy": 986.7196218059604, + "cx": 640.0, + "cy": 640.0, + "width": 1280, + "height": 1280, + "fov_deg": 65.936, + "hfov_deg": 65.936 + }, + "oos_allowed": false, + "oos_reason": "none", + "pinned": false, + "oos_effective": false, + "oos_cycles": 0, + "oos_departed": false, + "oos_schedule": null + }, + { + "name": "cam02", + "intrinsics": { + "fx": 1629.0271101906537, + "fy": 1629.0271101906537, + "cx": 640.0, + "cy": 640.0, + "width": 1280, + "height": 1280, + "fov_deg": 42.897, + "hfov_deg": 42.897 + }, + "oos_allowed": true, + "oos_reason": "sampled", + "pinned": false, + "oos_effective": true, + "oos_cycles": 1, + "oos_departed": true, + "oos_schedule": { + "windows": [ + 33, + 99 + ], + "target_out_frames": [ + 12, + 24 + ], + "opened_at": 101, + "left_at": 116, + "out_run_max": 24, + "returned_at": 155, + "cycles_live": 1, + "forced_returns": 0, + "aim_offset": { + "applied": true, + "reason": null, + "deg": 24.31, + "cm": 636.6, + "frac": 1.15, + "need_frac": 1.115, + "radius_cm": 61.1, + "dist_cm": 1408.9, + "clamped": false + }, + "events": [ + { + "window": 0, + "opened_at": 33, + "left_at": 72, + "out_run": 12, + "return_at": 83, + "forced": false + }, + { + "window": 1, + "opened_at": 101, + "left_at": 116, + "out_run": 24, + "return_at": 139, + "forced": false + } + ] + } + }, + { + "name": "cam03", + "intrinsics": { + "fx": 2322.951082517901, + "fy": 2322.951082517901, + "cx": 640.0, + "cy": 640.0, + "width": 1280, + "height": 1280, + "fov_deg": 30.807, + "hfov_deg": 30.807 + }, + "oos_allowed": false, + "oos_reason": "none", + "pinned": false, + "oos_effective": false, + "oos_cycles": 0, + "oos_departed": false, + "oos_schedule": null + }, + { + "name": "cam04", + "intrinsics": { + "fx": 1047.8302207175752, + "fy": 1047.8302207175752, + "cx": 640.0, + "cy": 640.0, + "width": 1280, + "height": 1280, + "fov_deg": 62.832, + "hfov_deg": 62.832 + }, + "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": 1499.532361112535, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -2.4335928950132557e-08, + 0.9999999999999996, + 7.703719718111554e-34, + -3955.378682051118 + ], + [ + 0.06312775221799087, + 1.5362724927585996e-09, + -0.9980054543437644, + -8.860966868663526 + ], + [ + -0.9980054543128739, + -1.222204185155861e-16, + -0.063127752706351, + 189.4864825792466 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -2.4335928950132557e-08, + 0.06312775221799087, + -0.9980054543128739, + 189.6679156801282 + ], + [ + 0.9999999999999996, + 1.5362724927585996e-09, + -1.222204185155861e-16, + 3955.3786866668647 + ], + [ + 7.703719718111554e-34, + -0.9980054543437644, + -0.063127752706351, + 3.118568519928963 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18966.79156801282, + -395537.86866668647, + 311.8568519928963 + ], + "rotation_deg": [ + -4.4227276303706474e-32, + -3.6193604469299308, + 180.0 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.2696129533322209, + 0.9629687717654596, + 1.3877787755105908e-17, + -3853.6117036163178 + ], + [ + 0.5893601555377405, + -0.16500964181792666, + -0.7908390640147019, + 541.2267554666278 + ], + [ + -0.7615533238695537, + 0.2132204378949725, + -0.6120241659992778, + -691.8801987645787 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.2696129533322209, + 0.5893601555377405, + -0.7615533238695537, + 193.1024300575453 + ], + [ + 0.9629687717654596, + -0.16500964181792666, + 0.2132204378949725, + 3947.7383884248934 + ], + [ + 1.3877787755105908e-17, + -0.7908390640147019, + -0.6120241659992778, + 4.575818747264554 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19310.243005754528, + -394773.83884248935, + 457.58187472645545 + ], + "rotation_deg": [ + -1.0054367692319199e-15, + -37.73600769042969, + -164.3587646484375 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9238795383318846, + 0.3826834183129231, + -0.0, + -1681.497106889618 + ], + [ + 0.039254213479837985, + -0.09476805864025926, + -0.9947251488655725, + 370.3110846639018 + ], + [ + -0.380664834196506, + 0.9190062054357105, + -0.10257620765461559, + -3546.7189402572767 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9238795383318846, + 0.039254213479837985, + -0.380664834196506, + 188.85336278241525 + ], + [ + 0.3826834183129231, + -0.09476805864025926, + 0.9190062054357105, + 3938.031482820809 + ], + [ + -0.0, + -0.9947251488655725, + -0.10257620765461559, + 4.548770478919362 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18885.336278241524, + -393803.1482820809, + 454.8770478919362 + ], + "rotation_deg": [ + 0.0, + -5.887539386749268, + -112.5 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9238795290189274, + -0.3826834407963904, + -0.0, + 1345.8186570169685 + ], + [ + -0.11899694122105203, + -0.28728402196135877, + -0.9504249674254875, + 1160.4180443442615 + ], + [ + 0.36371188844839664, + 0.8780781738884479, + -0.31095398814298864, + -3529.9768087579178 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9238795290189274, + -0.11899694122105203, + 0.36371188844839664, + 178.6064482212075 + ], + [ + -0.3826834407963904, + -0.28728402196135877, + 0.8780781738884479, + 3947.9876504067743 + ], + [ + -0.0, + -0.9504249674254875, + -0.31095398814298864, + 5.229926223858895 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 17860.64482212075, + -394798.76504067745, + 522.9926223858895 + ], + "rotation_deg": [ + 0.0, + -18.116731643676758, + -67.49999999999996 + ] + } + } + ] + }, + { + "frame": 1, + "time": 1499.5990277826786, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.00015794978669054168, + 0.9999999875259321, + -8.470329407191615e-22, + -3955.216634208076 + ], + [ + 0.06321350421138278, + 9.984559630697641e-06, + -0.9980000264457038, + -8.914293125339057 + ], + [ + -0.9980000139694452, + -0.00015760960525307042, + -0.06321350548893405, + 190.13158772954827 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.00015794978669054168, + 0.06321350421138278, + -0.9980000139694452, + 189.69020116639757 + ], + [ + 0.9999999875259321, + 9.984559630697641e-06, + -0.00015760960525307042, + 3955.2466450729025 + ], + [ + -8.470329407191615e-22, + -0.9980000264457038, + -0.06321350548893405, + 3.1224253690963644 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18969.020116639756, + -395524.66450729023, + 312.24253690963644 + ], + "rotation_deg": [ + 4.8628669039765075e-20, + -3.6242835521698, + 179.99095153808594 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.26894892964744554, + 0.9631544389356742, + 2.775557551065535e-17, + -3854.0887572472425 + ], + [ + 0.5903321917576145, + -0.1648429417872876, + -0.7901485353511476, + 540.3557941242291 + ], + [ + -0.7610350709483739, + 0.21250958508752968, + -0.6129154077297536, + -689.1384241367487 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.26894892964744554, + 0.5903321917576145, + -0.7610350709483739, + 193.1050638098309 + ], + [ + 0.9631544389356742, + -0.1648429417872876, + 0.21250958508752968, + 3947.6050810995844 + ], + [ + 2.775557551065535e-17, + -0.7901485353511476, + -0.6129154077297536, + 4.577740687798312 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19310.50638098309, + -394760.50810995843, + 457.77406877983117 + ], + "rotation_deg": [ + -2.012630886329944e-15, + -37.800605773925774, + -164.3982696533203 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9235587434582807, + 0.3834569694004285, + 6.938893850724127e-18, + -1684.4498320102243 + ], + [ + 0.03928382712296822, + -0.09461536733221859, + -0.9947385149832902, + 369.6909832279426 + ], + [ + -0.3814394302494828, + 0.9186994470881553, + -0.10244650785101145, + -3545.2588932088725 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9235587434582807, + 0.03928382712296822, + -0.3814394302494828, + 188.86400089551105 + ], + [ + 0.3834569694004285, + -0.09461536733221859, + 0.9186994470881553, + 3937.9199053800667 + ], + [ + 6.938893850724127e-18, + -0.9947385149832902, + -0.10244650785101145, + 4.54646678334296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18886.400089551105, + -393791.99053800665, + 454.646678334296 + ], + "rotation_deg": [ + -3.9967220453122655e-16, + -5.8800687789917, + -112.54798126220707 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9247315773866394, + -0.38061990198098866, + 5.5511150845733115e-17, + 1337.4486144975845 + ], + [ + -0.11835527560151879, + -0.287548969797406, + -0.9504249674254874, + 1161.313249307065 + ], + [ + 0.3617506496159694, + 0.8788879819182843, + -0.3109539881429887, + -3532.706804928997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9247315773866394, + -0.11835527560151879, + 0.3617506496159694, + 178.62559054653147 + ], + [ + -0.38061990198098866, + -0.287548969797406, + 0.8788879819182843, + 3947.847526586648 + ], + [ + 5.5511150845733115e-17, + -0.9504249674254874, + -0.3109539881429887, + 5.231848164392652 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 17862.559054653146, + -394784.75265866483, + 523.1848164392652 + ], + "rotation_deg": [ + -3.3464553152762934e-15, + -18.11673164367676, + -67.62791442871092 + ] + } + } + ] + }, + { + "frame": 2, + "time": 1499.6656944528222, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.0003148099691379806, + 0.9999999504473402, + -0.0, + -3955.0546841104315 + ], + [ + 0.06329883474122414, + 1.9927105198795968e-05, + -0.9979946177827381, + -8.96738049827417 + ], + [ + -0.9979945683060368, + -0.00031415437012309605, + -0.06329883836752999, + 190.7724377893639 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.0003148099691379806, + 0.06329883474122414, + -0.9979945683060368, + 189.71248665299262 + ], + [ + 0.9999999504473402, + 1.9927105198795968e-05, + -0.00031415437012309605, + 3955.1146034789476 + ], + [ + -0.0, + -0.9979946177827381, + -0.06329883836752999, + 3.126282218263765 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18971.248665299263, + -395511.46034789475, + 312.6282218263765 + ], + "rotation_deg": [ + 0.0, + -3.6291825771331787, + 179.98196411132812 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.26837764899457617, + 0.9633137793679399, + 1.3877787755518943e-17, + -3854.479743217333 + ], + [ + 0.5911676919381842, + -0.16469835553273096, + -0.7895538054453883, + 539.5989678448666 + ], + [ + -0.7605880620230127, + 0.21189857630843867, + -0.6136813450533875, + -686.777785908128 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.26837764899457617, + 0.5911676919381842, + -0.7605880620230127, + 193.10769756244218 + ], + [ + 0.9633137793679399, + -0.16469835553273096, + 0.21189857630843867, + 3947.471773774282 + ], + [ + 1.3877787755518943e-17, + -0.7895538054453883, + -0.6136813450533875, + 4.579662628332068 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19310.76975624422, + -394747.1773774282, + 457.96626283320677 + ], + "rotation_deg": [ + -1.0070734483769145e-15, + -37.8561668395996, + -164.4322509765625 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9232366869401719, + 0.38423172681044315, + -0.0, + -1687.4068896583008 + ], + [ + 0.03931324517034615, + -0.09446234574440303, + -0.9947518956959273, + 369.06965160508315 + ], + [ + -0.3822152525806138, + 0.9183914386163223, + -0.10231649999378783, + -3543.793744574124 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9232366869401719, + 0.03931324517034615, + -0.3822152525806138, + 188.87463900893258 + ], + [ + 0.38423172681044315, + -0.09446234574440303, + 0.9183914386163223, + 3937.808327939331 + ], + [ + -0.0, + -0.9947518956959273, + -0.10231649999378783, + 4.544163087766558 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18887.463900893257, + -393780.8327939331, + 454.4163087766558 + ], + "rotation_deg": [ + 0.0, + -5.872580528259277, + -112.59605407714845 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9255790671343362, + -0.3785543428396134, + -0.0, + 1329.07195628804 + ], + [ + -0.11771298175357149, + -0.2878125001123897, + -0.9504249674254875, + 1162.2026596640308 + ], + [ + 0.35978749061530657, + 0.87969345732176, + -0.31095398814298864, + -3535.4190899967816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9255790671343362, + -0.11771298175357149, + 0.35978749061530657, + 178.64474804928312 + ], + [ + -0.3785543428396134, + -0.2878125001123897, + 0.87969345732176, + 3947.707439639923 + ], + [ + -0.0, + -0.9504249674254875, + -0.31095398814298864, + 5.233770104926408 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 17864.47480492831, + -394770.7439639923, + 523.3770104926408 + ], + "rotation_deg": [ + 0.0, + -18.116731643676758, + -67.75583648681639 + ] + } + } + ] + }, + { + "frame": 3, + "time": 1499.7323611229658, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.0004711375116847742, + 0.9999998890147164, + -0.0, + -3954.892731771708 + ], + [ + 0.06338374382333564, + 2.9862462660485416e-05, + -0.9979892284624975, + -9.020360637878696 + ], + [ + -0.9979891176806784, + -0.0004701658784214044, + -0.0633837513483344, + 191.41113564782052 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.0004711375116847742, + 0.06338374382333564, + -0.9979891176806784, + 189.73477213979118 + ], + [ + 0.9999998890147164, + 2.9862462660485416e-05, + -0.0004701658784214044, + 3954.9825618849954 + ], + [ + -0.0, + -0.9979892284624975, + -0.0633837513483344, + 3.1301390674311667 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18973.477213979117, + -395498.25618849957, + 313.01390674311665 + ], + "rotation_deg": [ + 0.0, + -3.634057521820068, + 179.97300720214844 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.2678996708296956, + 0.9634468155374956, + -0.0, + -3854.7848695421053 + ], + [ + 0.5918665162135309, + -0.16457664534421074, + -0.7890554827086016, + 538.9593082294899 + ], + [ + -0.7602129937652371, + 0.21138768633729008, + -0.6143219434266235, + -684.7991945803499 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.2678996708296956, + 0.5918665162135309, + -0.7602129937652371, + 193.11033131525699 + ], + [ + 0.9634468155374956, + -0.16457664534421074, + 0.21138768633729008, + 3947.3384664489836 + ], + [ + -0.0, + -0.7890554827086016, + -0.6143219434266235, + 4.581584568865825 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19311.0331315257, + -394733.84664489835, + 458.1584568865825 + ], + "rotation_deg": [ + 0.0, + -37.90266799926758, + -164.46067810058594 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9229134165571962, + 0.3850075655603706, + -0.0, + -1690.3677962709799 + ], + [ + 0.039342450472672895, + -0.09430899189894835, + -0.9947652917335872, + 368.44708536636125 + ], + [ + -0.38299217722499346, + 0.918082228158817, + -0.10218617579399145, + -3542.32370773829 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9229134165571962, + 0.039342450472672895, + -0.38299217722499346, + 188.88527712255757 + ], + [ + 0.3850075655603706, + -0.09430899189894835, + 0.918082228158817, + 3937.6967504985987 + ], + [ + -0.0, + -0.9947652917335872, + -0.10218617579399145, + 4.541859392190156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18888.527712255756, + -393769.67504985986, + 454.1859392190156 + ], + "rotation_deg": [ + 0.0, + -5.865074157714845, + -112.64421081542972 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.926421892947813, + -0.37648702005114415, + 2.7755575422866557e-17, + 1320.6897153944699 + ], + [ + -0.1170701394925307, + -0.2880745801584381, + -0.9504249674254874, + 1163.0861609604535 + ], + [ + 0.3578226554004271, + 0.8804945000056261, + -0.3109539881429887, + -3538.113314132636 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.926421892947813, + -0.1170701394925307, + 0.3578226554004271, + 178.66392064698044 + ], + [ + -0.37648702005114415, + -0.2880745801584381, + 0.8804945000056261, + 3947.567389600386 + ], + [ + 2.7755575422866557e-17, + -0.9504249674254874, + -0.3109539881429887, + 5.235692045460166 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 17866.392064698044, + -394756.7389600386, + 523.5692045460165 + ], + "rotation_deg": [ + -1.6732276576381467e-15, + -18.11673164367676, + -67.88375091552732 + ] + } + } + ] + }, + { + "frame": 4, + "time": 1499.7990277931094, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.0006266660945540089, + 0.9999998036447837, + -0.0, + -3954.7308294213008 + ], + [ + 0.06346823148421982, + 3.977339656217971e-05, + -0.9979838585920828, + -9.07316535964291 + ], + [ + -0.9979836626167377, + -0.0006253783650574399, + -0.06346824443752766, + 192.0466305489692 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.0006266660945540089, + 0.06346823148421982, + -0.9979836626167377, + 189.75705762667266 + ], + [ + 0.9999998036447837, + 3.977339656217971e-05, + -0.0006253783650574399, + 3954.850520291047 + ], + [ + -0.0, + -0.9979838585920828, + -0.06346824443752766, + 3.133995916598567 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18975.705762667265, + -395485.05202910467, + 313.3995916598567 + ], + "rotation_deg": [ + 0.0, + -3.6389083862304688, + 179.96409606933594 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.2675145207466321, + 0.9635538289009598, + -0.0, + -3855.0051668314195 + ], + [ + 0.5924288632169684, + -0.16447791360107739, + -0.7886539532424137, + 538.4371752886381 + ], + [ + -0.7599105379774674, + 0.21097636659391572, + -0.6148373337799409, + -683.2003145757069 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.2675145207466321, + 0.5924288632169684, + -0.7599105379774674, + 193.11296506815472 + ], + [ + 0.9635538289009598, + -0.16447791360107739, + 0.21097636659391572, + 3947.2051591236873 + ], + [ + -0.0, + -0.7886539532424137, + -0.6148373337799409, + 4.583506509399581 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19311.296506815474, + -394720.5159123687, + 458.3506509399581 + ], + "rotation_deg": [ + 0.0, + -37.940101623535135, + -164.48358154296872 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9225888777582023, + 0.38578460653175484, + -0.0, + -1693.3330171243363 + ], + [ + 0.03937145420347209, + -0.09415530100032615, + -0.9947787029723956, + 367.8232636356858 + ], + [ + -0.3837703244643438, + 0.9177717612713818, + -0.10205553524114959, + -3540.8485459668136 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9225888777582023, + 0.03937145420347209, + -0.3837703244643438, + 188.89591523626552 + ], + [ + 0.38578460653175484, + -0.09415530100032615, + 0.9177717612713818, + 3937.585173057869 + ], + [ + -0.0, + -0.9947787029723956, + -0.10205553524114959, + 4.539555696613754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18889.591523626554, + -393758.5173057869, + 453.9555696613754 + ], + "rotation_deg": [ + 0.0, + -5.857549667358398, + -112.69245910644531 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9272601013088724, + -0.3744178207840268, + -0.0, + 1312.3014389483208 + ], + [ + -0.116426713732975, + -0.288335224389253, + -0.9504249674254875, + 1163.9638045598715 + ], + [ + 0.35585603673340366, + 0.881291154147348, + -0.31095398814298864, + -3540.789634328239 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9272601013088724, + -0.116426713732975, + 0.35585603673340366, + 178.68310825706766 + ], + [ + -0.3744178207840268, + -0.288335224389253, + 0.881291154147348, + 3947.427376501644 + ], + [ + -0.0, + -0.9504249674254875, + -0.31095398814298864, + 5.237613985993921 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 17868.310825706765, + -394742.7376501644, + 523.7613985993921 + ], + "rotation_deg": [ + 0.0, + -18.116731643676758, + -68.01166534423827 + ] + } + } + ] + }, + { + "frame": 5, + "time": 1499.865694463253, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.0007813957141880503, + 0.9999996947103222, + -3.38813176287778e-21, + -3954.568978597016 + ], + [ + 0.0635523102061008, + 4.9659517982334894e-05, + -0.9979785074847052, + -9.125795477782379 + ], + [ + -0.9979782027998327, + -0.0007797918478900555, + -0.06355233009960684, + 192.6789228541234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.0007813957141880503, + 0.0635523102061008, + -0.9979782027998327, + 189.77934311351783 + ], + [ + 0.9999996947103222, + 4.9659517982334894e-05, + -0.0007797918478900555, + 3954.718478697096 + ], + [ + -3.38813176287778e-21, + -0.9979785074847052, + -0.06355233009960684, + 3.1378527657659685 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18977.934311351783, + -395471.8478697096, + 313.78527657659686 + ], + "rotation_deg": [ + 1.9451887039146464e-19, + -3.64373588562012, + 179.95523071289062 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.26722299965705, + 0.96363471733551, + 1.3877787755906972e-17, + -3855.1403978082085 + ], + [ + 0.5928545202660619, + -0.16440292199495293, + -0.7883496667340064, + 538.0356110550958 + ], + [ + -0.7596811099067462, + 0.21066514498370795, + -0.6152274440723917, + -681.9831100423355 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.26722299965705, + 0.5928545202660619, + -0.7596811099067462, + 193.11559882101616 + ], + [ + 0.96363471733551, + -0.16440292199495293, + 0.21066514498370795, + 3947.0718517983896 + ], + [ + 1.3877787755906972e-17, + -0.7883496667340064, + -0.6152274440723917, + 4.585428449933338 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19311.559882101617, + -394707.18517983897, + 458.5428449933338 + ], + "rotation_deg": [ + -1.0086116695467816e-15, + -37.968448638916016, + -164.50091552734375 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9222631185223822, + 0.3865627248110842, + 6.93889385071831e-18, + -1696.3020689952857 + ], + [ + 0.039400242418304796, + -0.09400127873426477, + -0.9947921292881751, + 367.19821155324934 + ], + [ + -0.3845495700714904, + 0.9174600855029854, + -0.10192457832479157, + -3539.3684703292824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9222631185223822, + 0.039400242418304796, + -0.3845495700714904, + 188.90655334993716 + ], + [ + 0.3865627248110842, + -0.09400127873426477, + 0.9174600855029854, + 3937.473595617138 + ], + [ + 6.93889385071831e-18, + -0.9947921292881751, + -0.10192457832479157, + 4.537252001037352 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18890.655334993717, + -393747.3595617138, + 453.72520010373523 + ], + "rotation_deg": [ + -3.996506642042275e-16, + -5.850007057189943, + -112.74079132080081 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9280936880397336, + -0.3723467553515212, + -0.0, + 1303.907169281629 + ], + [ + -0.11578270768185361, + -0.28859443150573677, + -0.9504249674254875, + 1164.8355864769578 + ], + [ + 0.3538876444162159, + 0.8820834157762588, + -0.3109539881429886, + -3543.44803840252 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9280936880397336, + -0.11578270768185361, + 0.3538876444162159, + 178.70231079691544 + ], + [ + -0.3723467553515212, + -0.28859443150573677, + 0.8820834157762588, + 3947.287400377118 + ], + [ + -0.0, + -0.9504249674254875, + -0.3109539881429886, + 5.239535926527679 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 17870.231079691544, + -394728.7400377118, + 523.9535926527678 + ], + "rotation_deg": [ + 0.0, + -18.116731643676754, + -68.1395797729492 + ] + } + } + ] + }, + { + "frame": 6, + "time": 1499.9323611333966, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.0009355926831338469, + 0.9999995623330699, + -0.0, + -3954.4071292964713 + ], + [ + 0.06363597584411042, + 5.953737944137402e-05, + -0.9979731755080736, + -9.1783156450759 + ], + [ + -0.9979727387195423, + -0.0009336721215786942, + -0.06363600418776615, + 193.3090640624885 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.0009355926831338469, + 0.06363597584411042, + -0.9979727387195423, + 189.80162860020843 + ], + [ + 0.9999995623330699, + 5.953737944137402e-05, + -0.0009336721215786942, + 3954.5864371031425 + ], + [ + -0.0, + -0.9979731755080736, + -0.06363600418776615, + 3.141709614933369 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18980.162860020842, + -395458.64371031424, + 314.1709614933369 + ], + "rotation_deg": [ + 0.0, + -3.6485397815704337, + 179.94639587402344 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.26702487453407436, + 0.9636896369579069, + -0.0, + -3855.191144841681 + ], + [ + 0.5931436618821364, + -0.16435178487000474, + -0.788142808873553, + 537.7550261334165 + ], + [ + -0.7595250589889214, + 0.21045371691689999, + -0.6154924189652843, + -681.1462707510775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.26702487453407436, + 0.5931436618821364, + -0.7595250589889214, + 193.118232573723 + ], + [ + 0.9636896369579069, + -0.16435178487000474, + 0.21045371691689999, + 3946.9385444730888 + ], + [ + -0.0, + -0.788142808873553, + -0.6154924189652843, + 4.587350390467094 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19311.8232573723, + -394693.85444730887, + 458.7350390467094 + ], + "rotation_deg": [ + 0.0, + -37.987709045410135, + -164.51269531249997 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9219360840846211, + 0.38734204117641824, + -1.3877787701433706e-17, + -1699.2754166850316 + ], + [ + 0.039428829452628454, + -0.09384692793788514, + -0.9948055697092856, + 366.5719376949012 + ], + [ + -0.38533003389934917, + 0.9171471454133006, + -0.10179331331359691, + -3537.8832402247394 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9219360840846211, + 0.039428829452628454, + -0.38533003389934917, + 188.91719146345423 + ], + [ + 0.38734204117641824, + -0.09384692793788514, + 0.9171471454133006, + 3937.362018176404 + ], + [ + -1.3877787701433706e-17, + -0.9948055697092856, + -0.10179331331359691, + 4.534948305460951 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18891.719146345422, + -393736.2018176404, + 453.49483054609505 + ], + "rotation_deg": [ + 7.992905293669718e-16, + -5.84244680404663, + -112.78921508789067 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.928922698290586, + -0.37027371038265267, + -0.0, + 1295.5064517050926 + ], + [ + -0.11513808608601014, + -0.28885221554752094, + -0.9504249674254875, + 1165.7015563977527 + ], + [ + 0.3519173706982588, + 0.8828713278042246, + -0.31095398814298864, + -3546.0886782199095 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.928922698290586, + -0.11513808608601014, + 0.3519173706982588, + 178.72152818382116 + ], + [ + -0.37027371038265267, + -0.28885221554752094, + 0.8828713278042246, + 3947.1474612600455 + ], + [ + -0.0, + -0.9504249674254875, + -0.31095398814298864, + 5.241457867061435 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 17872.152818382117, + -394714.74612600455, + 524.1457867061434 + ], + "rotation_deg": [ + 0.0, + -18.116731643676758, + -68.26750183105466 + ] + } + } + ] + }, + { + "frame": 7, + "time": 1499.9990278035402, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.0010887243660384935, + 0.9999994073394517, + 6.776263525756681e-21, + -3954.2453859395505 + ], + [ + 0.06371923260391883, + 6.937272223563645e-05, + -0.9979678625004879, + -9.230591161313372 + ], + [ + -0.9979672710392666, + -0.0010864876503490011, + -0.06371927086074028, + 193.93495258514884 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.0010887243660384935, + 0.06371923260391883, + -0.9979672710392666, + 189.82391408662693 + ], + [ + 0.9999994073394517, + 6.937272223563645e-05, + -0.0010864876503490011, + 3954.4543955091835 + ], + [ + 6.776263525756681e-21, + -0.9979678625004879, + -0.06371927086074028, + 3.14556646410077 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18982.391408662694, + -395445.43955091835, + 314.556646410077 + ], + "rotation_deg": [ + -3.890418905164331e-19, + -3.6533203125000013, + 179.9376220703125 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.26692041801422933, + 0.9637185742980724, + -1.3877787756008989e-17, + -3855.157418543275 + ], + [ + 0.5932961816316293, + -0.16432480293606957, + -0.7880336287249108, + 537.5966211648605 + ], + [ + -0.7594426468043887, + 0.21034224785213793, + -0.6156321994366885, + -680.6903597214132 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.26692041801422933, + 0.5932961816316293, + -0.7594426468043887, + 193.12086632615777 + ], + [ + 0.9637185742980724, + -0.16432480293606957, + 0.21034224785213793, + 3946.805237147783 + ], + [ + -1.3877787756008989e-17, + -0.7880336287249108, + -0.6156321994366885, + 4.589272331000851 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19312.086632615777, + -394680.5237147783, + 458.9272331000851 + ], + "rotation_deg": [ + 1.0090161695810696e-15, + -37.99787139892577, + -164.5189056396484 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9216078226243517, + 0.38812243078389713, + -1.3877787701430786e-17, + -1702.2525773126229 + ], + [ + 0.039457198205190336, + -0.0936922466740659, + -0.9948190249602998, + 365.94443778419327 + ], + [ + -0.3861115921133829, + 0.9168329895346619, + -0.10166173191817487, + -3536.393070552749 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9216078226243517, + 0.039457198205190336, + -0.3861115921133829, + 188.9278295766992 + ], + [ + 0.38812243078389713, + -0.0936922466740659, + 0.9168329895346619, + 3937.250440735665 + ], + [ + -1.3877787701430786e-17, + -0.9948190249602998, + -0.10166173191817487, + 4.532644609884548 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18892.78295766992, + -393725.0440735665, + 453.26446098845474 + ], + "rotation_deg": [ + 7.992797187023148e-16, + -5.834868431091309, + -112.83772277832031 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9297470290435992, + -0.36819894348653504, + -0.0, + 1287.100322334256 + ], + [ + -0.11449292905002527, + -0.2891085444808003, + -0.9504249674254875, + 1166.5616027644692 + ], + [ + 0.34994546041766783, + 0.8836547923205288, + -0.31095398814298864, + -3548.7112128061535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9297470290435992, + -0.11449292905002527, + 0.34994546041766783, + 178.74076033500893 + ], + [ + -0.36819894348653504, + -0.2891085444808003, + 0.8836547923205288, + 3947.0075591834793 + ], + [ + -0.0, + -0.9504249674254875, + -0.31095398814298864, + 5.243379807595192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 17874.076033500893, + -394700.7559183479, + 524.3379807595192 + ], + "rotation_deg": [ + 0.0, + -18.116731643676758, + -68.39541625976561 + ] + } + } + ] + }, + { + "frame": 8, + "time": 1500.0656944736838, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.0012413233916099254, + 0.9999992295578218, + -0.0, + -3954.083646810152 + ], + [ + 0.06380208462774241, + 7.919908110020524e-05, + -0.9979625682983605, + -9.282755409826152 + ], + [ + -0.9979617994244863, + -0.0012387700032092017, + -0.06380213427716035, + 194.55869078360692 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.0012413233916099254, + 0.06380208462774241, + -0.9979617994244863, + 189.84619957265647 + ], + [ + 0.9999992295578218, + 7.919908110020524e-05, + -0.0012387700032092017, + 3954.3223539152173 + ], + [ + -0.0, + -0.9979625682983605, + -0.06380213427716035, + 3.149423313268171 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18984.619957265648, + -395432.2353915217, + 314.9423313268171 + ], + "rotation_deg": [ + 0.0, + -3.6580777168273926, + 179.9288787841797 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.2669096385388186, + 0.9637215598164633, + -2.7755575512025336e-17, + -3855.039351891586 + ], + [ + 0.5933120760554945, + -0.16432205977714898, + -0.7880222338724423, + 537.5607191725783 + ], + [ + -0.7594340180278801, + 0.21033071186717733, + -0.6156467850216357, + -680.6152068730886 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.2669096385388186, + 0.5933120760554945, + -0.7594340180278801, + 193.1235000782036 + ], + [ + 0.9637215598164633, + -0.16432205977714898, + 0.21033071186717733, + 3946.6719298224693 + ], + [ + -2.7755575512025336e-17, + -0.7880222338724423, + -0.6156467850216357, + 4.591194271534607 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19312.350007820358, + -394667.1929822469, + 459.1194271534607 + ], + "rotation_deg": [ + 2.018061520040818e-15, + -37.998931884765604, + -164.51954650878903 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9212782791619677, + 0.38890401430733956, + -0.0, + -1705.2340152013617 + ], + [ + 0.03948535975954877, + -0.09353723014702699, + -0.9948324949161444, + 365.3156909622828 + ], + [ + -0.386894364793228, + 0.9165175629922062, + -0.10152983412806163, + -3534.897722945633 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9212782791619677, + 0.03948535975954877, + -0.386894364793228, + 188.9384676895552 + ], + [ + 0.38890401430733956, + -0.09353723014702699, + 0.9165175629922062, + 3937.1388632949174 + ], + [ + -0.0, + -0.9948324949161444, + -0.10152983412806163, + 4.5303409143081455 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18893.846768955522, + -393713.88632949174, + 453.03409143081456 + ], + "rotation_deg": [ + 0.0, + -5.827271938323975, + -112.88632202148438 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9305667257711215, + -0.36612234142102584, + -0.0, + 1278.6883269034884 + ], + [ + -0.11384720136080347, + -0.289363432445383, + -0.9504249674254875, + 1167.415775670176 + ], + [ + 0.3479718059462827, + 0.884433852543226, + -0.3109539881429887, + -3551.315795269767 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9305667257711215, + -0.11384720136080347, + 0.3479718059462827, + 178.76000716762977 + ], + [ + -0.36612234142102584, + -0.289363432445383, + 0.884433852543226, + 3946.867694180287 + ], + [ + -0.0, + -0.9504249674254875, + -0.3109539881429887, + 5.245301748128948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 17876.000716762977, + -394686.7694180287, + 524.5301748128948 + ], + "rotation_deg": [ + 0.0, + -18.11673164367676, + -68.52333068847655 + ] + } + } + ] + }, + { + "frame": 9, + "time": 1500.1323611438274, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.001393123440730194, + 0.9999990296030686, + -0.0, + -3953.921964949904 + ], + [ + 0.0638845319552528, + 8.899912533141793e-05, + -0.9979572930020674, + -9.334739845204021 + ], + [ + -0.9979563245895545, + -0.0013902534222599826, + -0.0638845944428659, + 195.1792281423626 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.001393123440730194, + 0.0638845319552528, + -0.9979563245895545, + 189.86848505818077 + ], + [ + 0.9999990296030686, + 8.899912533141793e-05, + -0.0013902534222599826, + 3954.1903123212396 + ], + [ + -0.0, + -0.9979572930020674, + -0.0638845944428659, + 3.153280162435572 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18986.848505818078, + -395419.03123212396, + 315.3280162435572 + ], + "rotation_deg": [ + 0.0, + -3.6628119945526123, + 179.92018127441406 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.26699228033015315, + 0.9636986677608854, + -0.0, + -3854.837199629928 + ], + [ + 0.5931914949652999, + -0.16434343556915124, + -0.7881085493040672, + 537.6468099388701 + ], + [ + -0.7594991606486545, + 0.21041888098923747, + -0.6155362860930513, + -680.9198744888752 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.26699228033015315, + 0.5931914949652999, + -0.7594991606486545, + 193.12613382974413 + ], + [ + 0.9636986677608854, + -0.16434343556915124, + 0.21041888098923747, + 3946.538622497145 + ], + [ + -0.0, + -0.7881085493040672, + -0.6155362860930513, + 4.593116212068364 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19312.613382974414, + -394653.8622497145, + 459.31162120683643 + ], + "rotation_deg": [ + 0.0, + -37.990898132324226, + -164.51463317871094 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9209475020778255, + 0.3896866669731126, + -0.0, + -1708.2192478148115 + ], + [ + 0.03951330024558662, + -0.09338188407286442, + -0.9948459794514445, + 364.6857224725132 + ], + [ + -0.3876782278422046, + 0.9162009137351323, + -0.10139761993279621, + -3533.397410013131 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9209475020778255, + 0.03951330024558662, + -0.3876782278422046, + 188.94910580190597 + ], + [ + 0.3896866669731126, + -0.09338188407286442, + 0.9162009137351323, + 3937.02728585416 + ], + [ + -0.0, + -0.9948459794514445, + -0.10139761993279621, + 4.528037218731743 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18894.910580190597, + -393702.728585416, + 452.80372187317437 + ], + "rotation_deg": [ + 0.0, + -5.819657325744629, + -112.93500518798828 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.931381784387638, + -0.36404391453628127, + -0.0, + 1270.2705078521117 + ], + [ + -0.11320090623676696, + -0.2896168781708615, + -0.9504249674254875, + 1168.2640712479695 + ], + [ + 0.3459964171211507, + 0.885208504589341, + -0.3109539881429886, + -3553.902413791633 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.931381784387638, + -0.11320090623676696, + 0.3459964171211507, + 178.77926859876226 + ], + [ + -0.36404391453628127, + -0.2896168781708615, + 0.885208504589341, + 3946.7278662831523 + ], + [ + -0.0, + -0.9504249674254875, + -0.3109539881429886, + 5.247223688662705 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 17877.926859876225, + -394672.7866283152, + 524.7223688662705 + ], + "rotation_deg": [ + 0.0, + -18.116731643676754, + -68.65124511718747 + ] + } + } + ] + }, + { + "frame": 10, + "time": 1500.199027813971, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.001544124510380441, + 0.9999988078390375, + -1.3552527051516695e-20, + -3953.7603418602466 + ], + [ + 0.06396657876296775, + 9.877247986577416e-05, + -0.9979520364453184, + -9.386543761172248 + ], + [ + -0.9979508467316226, + -0.0015409379254861253, + -0.06396665551634902, + 195.79656509457573 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.001544124510380441, + 0.06396657876296775, + -0.9979508467316226, + 189.89077054308396 + ], + [ + 0.9999988078390375, + 9.877247986577416e-05, + -0.0015409379254861253, + 3954.058270727251 + ], + [ + -1.3552527051516695e-20, + -0.9979520364453184, + -0.06396665551634902, + 3.1571370116029733 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18989.077054308396, + -395405.8270727251, + 315.7137011602973 + ], + "rotation_deg": [ + 7.780961203002724e-19, + -3.6675233840942374, + 179.91152954101562 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.267168336729058, + 0.9636498740981752, + -0.0, + -3854.550876714741 + ], + [ + 0.5929342999892109, + -0.16438882521099865, + -0.7882926043304304, + 537.8544975466273 + ], + [ + -0.7596380705554797, + 0.21060680621576733, + -0.6153005565886828, + -681.6045255546882 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.267168336729058, + 0.5929342999892109, + -0.7596380705554797, + 193.12876758066355 + ], + [ + 0.9636498740981752, + -0.16438882521099865, + 0.21060680621576733, + 3946.405315171809 + ], + [ + -0.0, + -0.7882926043304304, + -0.6153005565886828, + 4.59503815260212 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19312.876758066355, + -394640.5315171809, + 459.50381526021204 + ], + "rotation_deg": [ + 0.0, + -37.97376251220702, + -164.50416564941406 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9206154361773049, + 0.39047050935002814, + -1.3877787701422016e-17, + -1711.208738995307 + ], + [ + 0.03954102746871985, + -0.09322619603362295, + -0.9948594792832894, + 364.0544820720463 + ], + [ + -0.38846330156682374, + 0.9158829874483391, + -0.10126508104232328, + -3531.89189559804 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9206154361773049, + 0.03954102746871985, + -0.38846330156682374, + 188.9597439136356 + ], + [ + 0.39047050935002814, + -0.09322619603362295, + 0.9158829874483391, + 3936.915708413391 + ], + [ + -1.3877787701422016e-17, + -0.9948594792832894, + -0.10126508104232328, + 4.525733523155342 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18895.97439136356, + -393691.57084133907, + 452.5733523155342 + ], + "rotation_deg": [ + 7.992472173078212e-16, + -5.812024116516112, + -112.98377990722656 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.932192249029121, + -0.3619635490626497, + -0.0, + 1261.8464091422861 + ], + [ + -0.11255400830078925, + -0.2898688953814929, + -0.9504249674254875, + 1169.1065379086544 + ], + [ + 0.34401918581275326, + 0.8859787904068025, + -0.31095398814298864, + -3556.4712163384493 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.932192249029121, + -0.11255400830078925, + 0.34401918581275326, + 178.79854454541248 + ], + [ + -0.3619635490626497, + -0.2898688953814929, + 0.8859787904068025, + 3946.5880755245744 + ], + [ + -0.0, + -0.9504249674254875, + -0.31095398814298864, + 5.249145629196461 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 17879.854454541248, + -394658.80755245744, + 524.9145629196461 + ], + "rotation_deg": [ + 0.0, + -18.116731643676758, + -68.77916717529297 + ] + } + } + ] + }, + { + "frame": 11, + "time": 1500.2656944841146, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.0016945929133736473, + 0.9999985641763982, + -0.0, + -3953.5987266737466 + ], + [ + 0.06404823335108585, + 0.00010853583818916989, + -0.9979467981934591, + -9.438234723803326 + ], + [ + -0.9979453653272264, + -0.0016910892992611495, + -0.06404832580864528, + 196.41175277835347 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.0016945929133736473, + 0.06404823335108585, + -0.9979453653272264, + 189.9130560272505 + ], + [ + 0.9999985641763982, + 0.00010853583818916989, + -0.0016910892992611495, + 3953.926229133247 + ], + [ + -0.0, + -0.9979467981934591, + -0.06404832580864528, + 3.160993860770374 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18991.30560272505, + -395392.6229133247, + 316.0993860770374 + ], + "rotation_deg": [ + 0.0, + -3.6722123622894274, + 179.9029083251953 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.2674383067682551, + 0.9635749851843026, + -0.0, + -3854.179726449581 + ], + [ + 0.5925404759752053, + -0.16445842204605873, + -0.7885741637596289, + 538.1845388659033 + ], + [ + -0.759850339811419, + 0.2108949213752105, + -0.6149396663304583, + -682.6709107846663 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.2674383067682551, + 0.5925404759752053, + -0.759850339811419, + 193.13140133084636 + ], + [ + 0.9635749851843026, + -0.16445842204605873, + 0.2108949213752105, + 3946.272007846458 + ], + [ + -0.0, + -0.7885741637596289, + -0.6149396663304583, + 4.596960093135878 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19313.140133084635, + -394627.2007846458, + 459.69600931358775 + ], + "rotation_deg": [ + 0.0, + -37.94753646850585, + -164.48811340332028 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.920282130042369, + 0.39125541673525716, + 6.938893850709542e-18, + -1714.2020065533145 + ], + [ + 0.039568530816154926, + -0.09307017938815614, + -0.994872993440724, + 363.42202447435506 + ], + [ + -0.3892494616078695, + 0.9155638315037233, + -0.10113222572555981, + -3530.381390043669 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.920282130042369, + 0.039568530816154926, + -0.3892494616078695, + 188.9703820246286 + ], + [ + 0.39125541673525716, + -0.09307017938815614, + 0.9155638315037233, + 3936.8041309726063 + ], + [ + 6.938893850709542e-18, + -0.994872993440724, + -0.10113222572555981, + 4.52342982757894 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18897.03820246286, + -393680.41309726064, + 452.342982757894 + ], + "rotation_deg": [ + -3.9961818024598163e-16, + -5.804372787475586, + -113.0326385498047 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9329980189823284, + -0.359881503518937, + -0.0, + 1253.4170699151437 + ], + [ + -0.11190658794032333, + -0.2901194527600927, + -0.9504249674254875, + 1169.9430669994977 + ], + [ + 0.34204035772382063, + 0.8867446142752327, + -0.31095398814298864, + -3559.021870815209 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9329980189823284, + -0.11190658794032333, + 0.34204035772382063, + 178.81783492451467 + ], + [ + -0.359881503518937, + -0.2901194527600927, + 0.8867446142752327, + 3946.448321936865 + ], + [ + -0.0, + -0.9504249674254875, + -0.31095398814298864, + 5.251067569730218 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 17881.78349245147, + -394644.8321936865, + 525.1067569730218 + ], + "rotation_deg": [ + 0.0, + -18.116731643676758, + -68.90708160400388 + ] + } + } + ] + }, + { + "frame": 12, + "time": 1500.3323611542583, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.0018442623310384026, + 0.999998299346781, + 6.776263525759452e-21, + -3953.4371729107334 + ], + [ + 0.06412949161442975, + 0.00011827180683246493, + -0.9979415786092161, + -9.4897431595518 + ], + [ + -0.9979398814695416, + -0.0018404417904097283, + -0.06412960117273087, + 197.0237408611561 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.0018442623310384026, + 0.06412949161442975, + -0.9979398814695416, + 189.93534151056517 + ], + [ + 0.999998299346781, + 0.00011827180683246493, + -0.0018404417904097283, + 3953.7941875392266 + ], + [ + 6.776263525759452e-21, + -0.9979415786092161, + -0.06412960117273087, + 3.164850709937775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18993.534151056516, + -395379.4187539227, + 316.4850709937775 + ], + "rotation_deg": [ + -3.890521371432181e-19, + -3.6768786907196054, + 179.8943328857422 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.26780139875810016, + 0.9634741360426886, + -0.0, + -3853.7241399314435 + ], + [ + 0.5920100838362206, + -0.16455151477280086, + -0.7889530148381512, + 538.6341062202229 + ], + [ + -0.7601358260130276, + 0.21128270318239767, + -0.6144535339205328, + -684.1169531741986 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.26780139875810016, + 0.5920100838362206, + -0.7601358260130276, + 193.13403508017728 + ], + [ + 0.9634741360426886, + -0.16455151477280086, + 0.21128270318239767, + 3946.138700521091 + ], + [ + -0.0, + -0.7889530148381512, + -0.6144535339205328, + 4.598882033669634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19313.403508017727, + -394613.87005210906, + 459.88820336696335 + ], + "rotation_deg": [ + 0.0, + -37.91222381591797, + -164.46652221679688 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9199474760593703, + 0.3920416320902591, + -0.0, + -1717.1999862202854 + ], + [ + 0.039595833653099384, + -0.09291382406868752, + -0.9948865217974604, + 362.7883057465927 + ], + [ + -0.39003694971182323, + 0.915243338657128, + -0.10099905397205347, + -3528.86542585209 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9199474760593703, + 0.039595833653099384, + -0.39003694971182323, + 188.98102013476975 + ], + [ + 0.3920416320902591, + -0.09291382406868752, + 0.915243338657128, + 3936.692553531806 + ], + [ + -0.0, + -0.9948865217974604, + -0.10099905397205347, + 4.521126132002538 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18898.102013476975, + -393669.2553531806, + 452.1126132002538 + ], + "rotation_deg": [ + 0.0, + -5.796703338623049, + -113.08159637451173 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9337991387065301, + -0.35779766426144044, + -0.0, + 1244.982034544736 + ], + [ + -0.11125860981740694, + -0.29036856413144835, + -0.9504249674254875, + 1170.7737073394428 + ], + [ + 0.34005982484454017, + 0.8875060184498307, + -0.3109539881429887, + -3561.5545264360803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9337991387065301, + -0.11125860981740694, + 0.34005982484454017, + 178.83713965293134 + ], + [ + -0.35779766426144044, + -0.29036856413144835, + 0.8875060184498307, + 3946.308605552154 + ], + [ + -0.0, + -0.9504249674254875, + -0.3109539881429887, + 5.252989510263974 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 17883.713965293133, + -394630.8605552154, + 525.2989510263974 + ], + "rotation_deg": [ + 0.0, + -18.11673164367676, + -69.03499603271483 + ] + } + } + ] + }, + { + "frame": 13, + "time": 1500.3990278244019, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.001993132760656574, + 0.9999980137089265, + -0.0, + -3953.2756820518634 + ], + [ + 0.06421035772943176, + 0.00012798002176958332, + -0.99793637752182, + -9.541068407197127 + ], + [ + -0.9979343953461149, + -0.0019889954167728804, + -0.06421048576685874, + 197.63252977393225 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.001993132760656574, + 0.06421035772943176, + -0.9979343953461149, + 189.95762699291308 + ], + [ + 0.9999980137089265, + 0.00012798002176958332, + -0.0019889954167728804, + 3953.6621459451876 + ], + [ + -0.0, + -0.99793637752182, + -0.06421048576685874, + 3.1687075591051763 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18995.762699291306, + -395366.21459451877, + 316.87075591051763 + ], + "rotation_deg": [ + 0.0, + -3.6815226078033434, + 179.88580322265625 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.26825783994872604, + 0.9633471499444237, + -0.0, + -3853.183474795244 + ], + [ + 0.591343119927198, + -0.16466797875445235, + -0.7894287626427676, + 539.2026989228062 + ], + [ + -0.7604939502566637, + 0.21177043690948397, + -0.6138421895521534, + -685.9438503621786 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.26825783994872604, + 0.591343119927198, + -0.7604939502566637, + 193.13666882854145 + ], + [ + 0.9633471499444237, + -0.16466797875445235, + 0.21177043690948397, + 3946.0053931957045 + ], + [ + -0.0, + -0.7894287626427676, + -0.6138421895521534, + 4.600803974203391 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19313.666882854144, + -394600.53931957047, + 460.08039742033907 + ], + "rotation_deg": [ + 0.0, + -37.86783981323242, + -164.4393768310547 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9196116273147283, + 0.39282878574202873, + 6.938893850706606e-18, + -1720.201251199615 + ], + [ + 0.0396228941666592, + -0.09275713874860839, + -0.9949000650663505, + 362.1533680574463 + ], + [ + -0.39082539845759307, + 0.9149216618008386, + -0.10086555749142051, + -3527.3446747761272 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9196116273147283, + 0.0396228941666592, + -0.39082539845759307, + 188.9916582439441 + ], + [ + 0.39282878574202873, + -0.09275713874860839, + 0.9149216618008386, + 3936.5809760909865 + ], + [ + 6.938893850706606e-18, + -0.9949000650663505, + -0.10086555749142051, + 4.518822436426136 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18899.16582439441, + -393658.09760909865, + 451.8822436426136 + ], + "rotation_deg": [ + -3.9960730647652756e-16, + -5.789015293121339, + -113.13063049316408 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9345956042088017, + -0.3557120416763884, + -0.0, + 1236.5413455742498 + ], + [ + -0.11061007716167914, + -0.2906162282539439, + -0.9504249674254875, + 1171.5984551802835 + ], + [ + 0.3380775970462417, + 0.8882629991356218, + -0.3109539881429887, + -3564.0691717447457 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9345956042088017, + -0.11061007716167914, + 0.3380775970462417, + 178.8564586474538 + ], + [ + -0.3557120416763884, + -0.2906162282539439, + 0.8882629991356218, + 3946.1689264023835 + ], + [ + -0.0, + -0.9504249674254875, + -0.3109539881429887, + 5.2549114507977315 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 17885.64586474538, + -394616.89264023834, + 525.4911450797731 + ], + "rotation_deg": [ + 0.0, + -18.11673164367676, + -69.16291046142577 + ] + } + } + ] + }, + { + "frame": 14, + "time": 1500.4656944945455, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.002141470515109681, + 0.9999977070493877, + -0.0, + -3953.1142027208266 + ], + [ + 0.06429083583579777, + 0.00013767724502124104, + -0.9979311947586921, + -9.592277507455954 + ], + [ + -0.9979289065716787, + -0.0021370159606426092, + -0.06429098374918142, + 198.2391705466361 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.002141470515109681, + 0.06429083583579777, + -0.9979289065716787, + 189.97991247417957 + ], + [ + 0.9999977070493877, + 0.00013767724502124104, + -0.0021370159606426092, + 3953.5301043511267 + ], + [ + -0.0, + -0.9979311947586921, + -0.06429098374918142, + 3.1725644082725775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18997.99124741796, + -395353.0104351127, + 317.25644082725773 + ], + "rotation_deg": [ + 0.0, + -3.68614435195923, + 179.87730407714844 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.26880733678744884, + 0.9631939657666254, + -1.3877787755375087e-17, + -3852.55744435163 + ], + [ + 0.590539526457449, + -0.1648072589910825, + -0.7900010348570804, + 539.8881287540655 + ], + [ + -0.7609242314248373, + 0.21235805648307435, + -0.6131055128420007, + -688.1513952833666 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.26880733678744884, + 0.590539526457449, + -0.7609242314248373, + 193.1393025758242 + ], + [ + 0.9631939657666254, + -0.1648072589910825, + 0.21235805648307435, + 3945.8720858702964 + ], + [ + -1.3877787755375087e-17, + -0.7900010348570804, + -0.6131055128420007, + 4.602725914737147 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19313.93025758242, + -394587.20858702966, + 460.27259147371467 + ], + "rotation_deg": [ + 1.0065033315615964e-15, + -37.81439208984373, + -164.4066925048828 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9192744236701027, + 0.39361724299883055, + -0.0, + -1723.2072088972793 + ], + [ + 0.039649751267286315, + -0.0926001157042956, + -0.9949136222788353, + 361.51717376266714 + ], + [ + -0.3916151709874436, + 0.9145986406570914, + -0.10073174455292484, + -3525.818437578666 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9192744236701027, + 0.039649751267286315, + -0.3916151709874436, + 189.0022963520371 + ], + [ + 0.39361724299883055, + -0.0926001157042956, + 0.9145986406570914, + 3936.4693986501447 + ], + [ + -0.0, + -0.9949136222788353, + -0.10073174455292484, + 4.516518740849734 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18900.22963520371, + -393646.93986501446, + 451.65187408497343 + ], + "rotation_deg": [ + 0.0, + -5.781309127807616, + -113.17976379394536 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9353874586073782, + -0.3536245216045267, + -0.0, + 1228.094545654209 + ], + [ + -0.10996095447486481, + -0.29086245853536635, + -0.9504249674254875, + 1172.4173576540593 + ], + [ + 0.3360935658291195, + 0.8890155973132519, + -0.31095398814298864, + -3566.5659507993855 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9353874586073782, + -0.10996095447486481, + 0.3360935658291195, + 178.87579182480246 + ], + [ + -0.3536245216045267, + -0.29086245853536635, + 0.8890155973132519, + 3946.02928451931 + ], + [ + -0.0, + -0.9504249674254875, + -0.31095398814298864, + 5.256833391331487 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 17887.579182480247, + -394602.928451931, + 525.6833391331487 + ], + "rotation_deg": [ + 0.0, + -18.116731643676758, + -69.29083251953124 + ] + } + } + ] + }, + { + "frame": 15, + "time": 1500.532361164689, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.0022890092762144465, + 0.999997380214835, + -0.0, + -3952.9527889098276 + ], + [ + 0.06437093014134913, + 0.00014734604222707583, + -0.9979260301454619, + -9.64330231360453 + ], + [ + -0.997923415817081, + -0.0022842376722064035, + -0.06437109927775103, + 198.84261291154655 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.0022890092762144465, + 0.06437093014134913, + -0.997923415817081, + 190.0021979542501 + ], + [ + 0.999997380214835, + 0.00014734604222707583, + -0.0022842376722064035, + 3953.398062757042 + ], + [ + -0.0, + -0.9979260301454619, + -0.06437109927775103, + 3.176421257439978 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19000.21979542501, + -395339.80627570424, + 317.64212574399784 + ], + "rotation_deg": [ + 0.0, + -3.6907441616058354, + 179.8688507080078 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.26944958819528975, + 0.963014495956, + -2.7755575510320836e-17, + -3851.845656199606 + ], + [ + 0.5895994085909533, + -0.1649687709916647, + -0.7906692367777425, + 540.6880589265456 + ], + [ + -0.7614259382485078, + 0.2130454824856102, + -0.612243548724569, + -690.7393758146904 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.26944958819528975, + 0.5895994085909533, + -0.7614259382485078, + 193.14193632191098 + ], + [ + 0.963014495956, + -0.1649687709916647, + 0.2130454824856102, + 3945.738778544865 + ], + [ + -2.7755575510320836e-17, + -0.7906692367777425, + -0.612243548724569, + 4.604647855270904 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19314.193632191098, + -394573.8778544865, + 460.4647855270904 + ], + "rotation_deg": [ + 2.01130545245173e-15, + -37.751903533935526, + -164.3684844970703 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9189359663157823, + 0.39440675680226256, + -0.0, + -1726.2169054495748 + ], + [ + 0.0396763755597672, + -0.09244275836075991, + -0.9949271941449254, + 360.87974202305105 + ], + [ + -0.39240602186228596, + 0.9142743764861049, + -0.10059760686596421, + -3524.2871596903365 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9189359663157823, + 0.0396763755597672, + -0.39240602186228596, + 189.01293445893407 + ], + [ + 0.39440675680226256, + -0.09244275836075991, + 0.9142743764861049, + 3936.35782120928 + ], + [ + -0.0, + -0.9949271941449254, + -0.10059760686596421, + 4.514215045273333 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18901.293445893407, + -393635.782120928, + 451.42150452733324 + ], + "rotation_deg": [ + 0.0, + -5.773584365844727, + -113.22898101806643 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9361746035016394, + -0.3515353634537331, + -0.0, + 1219.642676867274 + ], + [ + -0.10931132242087761, + -0.29110722437765096, + -0.9504249674254875, + 1173.2303090210037 + ], + [ + 0.3341079777408999, + 0.8897637194603164, + -0.31095398814298875, + -3569.044540408412 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9361746035016394, + -0.10931132242087761, + 0.3341079777408999, + 178.89513910162728 + ], + [ + -0.3515353634537331, + -0.29110722437765096, + 0.8897637194603164, + 3945.889679934505 + ], + [ + -0.0, + -0.9504249674254875, + -0.31095398814298875, + 5.2587553318652445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 17889.51391016273, + -394588.96799345047, + 525.8755331865244 + ], + "rotation_deg": [ + 0.0, + -18.116731643676765, + -69.41874694824219 + ] + } + } + ] + }, + { + "frame": 16, + "time": 1500.5990278348327, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.002435749041542508, + 0.9999970335589032, + 1.3552527051523258e-20, + -3952.7914420787492 + ], + [ + 0.06445064066981909, + 0.00015698605192818852, + -0.9979208837741743, + -9.69414138629988 + ], + [ + -0.9979179235275605, + -0.0024306605696789384, + -0.06445083235798278, + 199.44285733706005 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.002435749041542508, + 0.06445064066981909, + -0.9979179235275605, + 190.0244834330104 + ], + [ + 0.9999970335589032, + 0.00015698605192818852, + -0.0024306605696789384, + 3953.2660211629327 + ], + [ + 1.3552527051523258e-20, + -0.9979208837741743, + -0.06445083235798278, + 3.1802781066073793 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19002.44834330104, + -395326.6021162933, + 318.02781066073794 + ], + "rotation_deg": [ + -7.781204105755079e-19, + -3.695322036743165, + 179.86044311523438 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.2701845419715644, + 0.9628085548433896, + -0.0, + -3851.047378924692 + ], + [ + 0.5885227384005481, + -0.16515198760408545, + -0.7914327560670839, + 541.600404820105 + ], + [ + -0.7619982298771634, + 0.21383287892889014, + -0.6112562454102637, + -693.7085619696206 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.2701845419715644, + 0.5885227384005481, + -0.7619982298771634, + 193.14457006668752 + ], + [ + 0.9628085548433896, + -0.16515198760408545, + 0.21383287892889014, + 3945.605471219408 + ], + [ + -0.0, + -0.7914327560670839, + -0.6112562454102637, + 4.60656979580466 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19314.457006668752, + -394560.5471219408, + 460.656979580466 + ], + "rotation_deg": [ + 0.0, + -37.68039321899414, + -164.3247528076172 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9185961994085033, + 0.3951974474009832, + -0.0, + -1729.2308032353624 + ], + [ + 0.03970278119839572, + -0.09228506953838932, + -0.9949407796976695, + 360.2410813797156 + ], + [ + -0.3931980704180037, + 0.9139488127729734, + -0.10046315270003527, + -3522.750596439415 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9185961994085033, + 0.03970278119839572, + -0.3931980704180037, + 189.02357256452083 + ], + [ + 0.3951974474009832, + -0.09228506953838932, + 0.9139488127729734, + 3936.24624376839 + ], + [ + -0.0, + -0.9949407796976695, + -0.10046315270003527, + 4.5119113496969305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18902.357256452084, + -393624.62437683897, + 451.19113496969305 + ], + "rotation_deg": [ + 0.0, + -5.765841484069825, + -113.27828979492189 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.936957082334229, + -0.3494444531878116, + -0.0, + 1211.1852822640583 + ], + [ + -0.10866114553970771, + -0.29135053928946053, + -0.9504249674254875, + 1174.0373568223667 + ], + [ + 0.33212072439873425, + 0.8905074068657883, + -0.3109539881429887, + -3571.5050858807595 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.936957082334229, + -0.10866114553970771, + 0.33212072439873425, + 178.91450039450802 + ], + [ + -0.3494444531878116, + -0.29135053928946053, + 0.8905074068657883, + 3945.750112679354 + ], + [ + -0.0, + -0.9504249674254875, + -0.3109539881429887, + 5.2606772723990005 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 17891.450039450803, + -394575.0112679354, + 526.0677272399 + ], + "rotation_deg": [ + 0.0, + -18.11673164367676, + -69.54666137695311 + ] + } + } + ] + }, + { + "frame": 17, + "time": 1500.6656945049763, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.002581956123984243, + 0.9999966667457315, + -2.7105054103048677e-20, + -3952.6301103492515 + ], + [ + 0.06452997155309481, + 0.00016661411059923747, + -0.9979157554679127, + -9.74387309021534 + ], + [ + -0.9979124291913335, + -0.0025765504308002366, + -0.0645301871477944, + 200.04101865724706 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.002581956123984243, + 0.06452997155309481, + -0.9979124291913335, + 190.04676891034626 + ], + [ + 0.9999966667457315, + 0.00016661411059923747, + -0.0025765504308002366, + 3953.1339795687945 + ], + [ + -2.7105054103048677e-20, + -0.9979157554679127, + -0.0645301871477944, + 3.185125984830257 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19004.676891034625, + -395313.39795687946, + 318.5125984830257 + ], + "rotation_deg": [ + 1.5562488186995342e-18, + -3.699878215789794, + 179.85206604003906 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.27101188176625013, + 0.9625760021637336, + -1.3877787754640731e-17, + -3850.162009331756 + ], + [ + 0.5873094435946703, + -0.16535612474224826, + -0.7922909626360412, + 542.6228620358191 + ], + [ + -0.7626402691480095, + 0.21472024691157288, + -0.610143454803938, + -697.0584759758301 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.27101188176625013, + 0.5873094435946703, + -0.7626402691480095, + 193.14720381003966 + ], + [ + 0.9625760021637336, + -0.16535612474224826, + 0.21472024691157288, + 3945.472163893923 + ], + [ + -1.3877787754640731e-17, + -0.7922909626360412, + -0.610143454803938, + 4.609482765393893 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19314.720381003965, + -394547.2163893923, + 460.9482765393893 + ], + "rotation_deg": [ + 1.0035942740444357e-15, + -37.59987640380857, + -164.2755126953125 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9182551721387429, + 0.3959891903075731, + 6.938893850700718e-18, + -1732.2484211182682 + ], + [ + 0.03972894790614568, + -0.09212703980659963, + -0.9949543804791973, + 359.6021446991619 + ], + [ + -0.3939911934863885, + 0.9136219998087249, + -0.10032836548393048, + -3521.208870102204 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9182551721387429, + 0.03972894790614568, + -0.3939911934863885, + 189.03421066868316 + ], + [ + 0.3959891903075731, + -0.09212703980659963, + 0.9136219998087249, + 3936.1346663274717 + ], + [ + 6.938893850700718e-18, + -0.9949543804791973, + -0.10032836548393048, + 4.510598683176006 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18903.421066868315, + -393613.46663274715, + 451.0598683176006 + ], + "rotation_deg": [ + -3.9958549157064733e-16, + -5.758079528808593, + -113.32768249511719 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9377349374578143, + -0.34735167636127645, + -0.0, + 1202.7219035356197 + ], + [ + -0.10801038824407524, + -0.291592416440526, + -0.9504249674254875, + 1174.839489127618 + ], + [ + 0.3301316970307742, + 0.8912466997826985, + -0.3109539881429887, + -3573.947420171884 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9377349374578143, + -0.10801038824407524, + 0.3301316970307742, + 178.93387561995482 + ], + [ + -0.34735167636127645, + -0.291592416440526, + 0.8912466997826985, + 3945.610582785057 + ], + [ + -0.0, + -0.9504249674254875, + -0.3109539881429887, + 5.263590241988234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 17893.38756199548, + -394561.0582785057, + 526.3590241988234 + ], + "rotation_deg": [ + 0.0, + -18.11673164367676, + -69.67458343505858 + ] + } + } + ] + }, + { + "frame": 18, + "time": 1500.7323611751199, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.002727364205883953, + 0.9999962807353279, + -0.0, + -3952.4688481785897 + ], + [ + 0.06460892700662277, + 0.0001762127302802145, + -0.9979106450480056, + -9.79353587769777 + ], + [ + -0.9979069335880153, + -0.0027216415099770115, + -0.06460916780500496, + 200.63597532378338 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.002727364205883953, + 0.06460892700662277, + -0.9979069335880153, + 190.06905438614365 + ], + [ + 0.9999962807353279, + 0.0001762127302802145, + -0.0027216415099770115, + 3953.0019379746254 + ], + [ + -0.0, + -0.9979106450480056, + -0.06460916780500496, + 3.189855788636021 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19006.905438614365, + -395300.19379746256, + 318.9855788636021 + ], + "rotation_deg": [ + 0.0, + -3.7044129371643075, + 179.84373474121094 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.27193128360349955, + 0.9623166718901597, + -0.0, + -3849.18884118512 + ], + [ + 0.5859595679206596, + -0.16558035634095752, + -0.7932430462072994, + 543.7512755820144 + ], + [ + -0.7633510100438579, + 0.21570758197661327, + -0.6089051441257701, + -700.7899416500779 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.27193128360349955, + 0.5859595679206596, + -0.7633510100438579, + 193.14983755185327 + ], + [ + 0.9623166718901597, + -0.16558035634095752, + 0.21570758197661327, + 3945.3388565684068 + ], + [ + -0.0, + -0.7932430462072994, + -0.6089051441257701, + 4.612277660566012 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19314.983755185327, + -394533.8856568407, + 461.22776605660124 + ], + "rotation_deg": [ + 0.0, + -37.510379791259766, + -164.2207794189453 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9179127756113844, + 0.3967822278900656, + 6.938893850699244e-18, + -1735.2706920858366 + ], + [ + 0.03975490203122081, + -0.09196866669579533, + -0.9949679955208033, + 358.9618139153043 + ], + [ + -0.39478563191062, + 0.9132938282900054, + -0.10019325348704097, + -3519.661616798743 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9179127756113844, + 0.03975490203122081, + -0.39478563191062, + 189.04484877130702 + ], + [ + 0.3967822278900656, + -0.09196866669579533, + 0.9132938282900054, + 3936.0230888865217 + ], + [ + 6.938893850699244e-18, + -0.9949679955208033, + -0.10019325348704097, + 4.5091679422379665 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18904.4848771307, + -393602.3088886522, + 450.9167942237966 + ], + "rotation_deg": [ + -3.99580023683035e-16, + -5.750298976898196, + -113.37717437744143 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9385080722114099, + -0.3452572930352421, + -0.0, + 1194.2535849154972 + ], + [ + -0.10735913140102032, + -0.29183282577372877, + -0.9504249674254875, + 1175.6355482671372 + ], + [ + 0.32814114280559914, + 0.891981506342035, + -0.31095398814298875, + -3576.371571663366 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9385080722114099, + -0.10735913140102032, + 0.32814114280559914, + 178.95326469440835 + ], + [ + -0.3452572930352421, + -0.29183282577372877, + 0.891981506342035, + 3945.471090282625 + ], + [ + -0.0, + -0.9504249674254875, + -0.31095398814298875, + 5.266385137160353 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 17895.326469440835, + -394547.1090282625, + 526.6385137160353 + ], + "rotation_deg": [ + 0.0, + -18.116731643676765, + -69.80249786376952 + ] + } + } + ] + }, + { + "frame": 19, + "time": 1500.7990278452635, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.002871973285092247, + 0.9999958758762205, + 1.355252705152649e-20, + -3952.3076570058806 + ], + [ + 0.06468750705407983, + 0.00018578155832467606, + -0.9979055526032214, + -9.845799557783458 + ], + [ + -0.9979014371544469, + -0.0028659338253705646, + -0.06468777433486127, + 201.22755461687123 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.002871973285092247, + 0.06468750705407983, + -0.9979014371544469, + 190.09133986028866 + ], + [ + 0.9999958758762205, + 0.00018578155832467606, + -0.0028659338253705646, + 3952.8698963804236 + ], + [ + 1.355252705152649e-20, + -0.9979055526032214, + -0.06468777433486127, + 3.1917906972696652 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19009.133986028864, + -395286.98963804235, + 319.17906972696653 + ], + "rotation_deg": [ + -7.78132365110875e-19, + -3.708926200866699, + 179.83544921875 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.2729424158385478, + 0.9620303725123327, + -0.0, + -3848.1270663154573 + ], + [ + 0.5844731714547616, + -0.1658237868239813, + -0.7942880985970819, + 544.97996375728 + ], + [ + -0.764129277230794, + 0.21679489470471994, + -0.6075412918548941, + -704.9048142245797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.2729424158385478, + 0.5844731714547616, + -0.764129277230794, + 193.15247129201452 + ], + [ + 0.9620303725123327, + -0.1658237868239813, + 0.21679489470471994, + 3945.205549242858 + ], + [ + -0.0, + -0.7942880985970819, + -0.6075412918548941, + 4.612277660566012 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19315.247129201452, + -394520.5549242858, + 461.22776605660124 + ], + "rotation_deg": [ + 0.0, + -37.41193389892578, + -164.1605682373047 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9175691118445424, + 0.3975763134151949, + 1.387778770139553e-17, + -1738.2966638276791 + ], + [ + 0.039780620876456146, + -0.09180996889046375, + -0.9949816238579561, + 358.3175035846906 + ], + [ + -0.39558113989896426, + 0.9129643987673695, + -0.1000578249792145, + -3518.109546918547 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9175691118445424, + 0.039780620876456146, + -0.39558113989896426, + 189.05548687227846 + ], + [ + 0.3975763134151949, + -0.09180996889046375, + 0.9129643987673695, + 3935.911511445539 + ], + [ + 1.387778770139553e-17, + -0.9949816238579561, + -0.1000578249792145, + 4.504942306127808 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18905.548687227845, + -393591.1511445539, + 450.4942306127808 + ], + "rotation_deg": [ + -7.991491012114147e-16, + -5.742500305175782, + -113.42675018310547 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9392765292729083, + -0.3431611888851057, + -2.7755575422866557e-17, + 1185.7798684859652 + ], + [ + -0.10670733946085194, + -0.2920717805599292, + -0.9504249674254874, + 1176.4230367043501 + ], + [ + 0.3261489530662506, + 0.892711867105932, + -0.3109539881429886, + -3578.778515096338 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9392765292729083, + -0.10670733946085194, + 0.3261489530662506, + 178.97266753424054 + ], + [ + -0.3431611888851057, + -0.2920717805599292, + 0.892711867105932, + 3945.3316352028864 + ], + [ + -2.7755575422866557e-17, + -0.9504249674254874, + -0.3109539881429886, + 5.266385137160353 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 17897.266753424054, + -394533.16352028865, + 526.6385137160353 + ], + "rotation_deg": [ + 1.6732276576381467e-15, + -18.116731643676754, + -69.93041229248043 + ] + } + } + ] + }, + { + "frame": 20, + "time": 1500.865694515407, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.003016049674451083, + 0.999995451711837, + -1.3552527051527562e-20, + -3952.146484457597 + ], + [ + 0.06476571166713896, + 0.00019533749204047, + -0.9979004782219082, + -9.89515285245168 + ], + [ + -0.9978959395236332, + -0.003009693150967068, + -0.0647660067425971, + 201.8171686819416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.003016049674451083, + 0.06476571166713896, + -0.9978959395236332, + 190.1136253326674 + ], + [ + 0.999995451711837, + 0.00019533749204047, + -0.003009693150967068, + 3952.7378547861867 + ], + [ + -1.3552527051527562e-20, + -0.9979004782219082, + -0.0647660067425971, + 3.196520453391713 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19011.36253326674, + -395273.7854786187, + 319.6520453391713 + ], + "rotation_deg": [ + 7.7813632195875735e-19, + -3.7134180068969744, + 179.8271942138672 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.2740446829824288, + 0.9617169603002019, + -4.1633363260924773e-17, + -3846.97601418588 + ], + [ + 0.5828502747544716, + -0.1660852676669564, + -0.795425195152022, + 546.3088181774672 + ], + [ + -0.764973902724211, + 0.2179820276326312, + -0.6060517830846275, + -709.3992590015491 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.2740446829824288, + 0.5828502747544716, + -0.764973902724211, + 193.15510503040954 + ], + [ + 0.9617169603002019, + -0.1660852676669564, + 0.2179820276326312, + 3945.072241917274 + ], + [ + -4.1633363260924773e-17, + -0.795425195152022, + -0.6060517830846275, + 4.615072508054416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19315.510503040954, + -394507.2241917274, + 461.5072508054416 + ], + "rotation_deg": [ + 2.998919363886145e-15, + -37.30456542968749, + -164.09490966796875 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.917224124559754, + 0.39837156691409636, + -1.3877787701392572e-17, + -1741.3267977306527 + ], + [ + 0.03980610865407432, + -0.09165092640820155, + -0.9949952670250938, + 357.67469604034477 + ], + [ + -0.39637783756762923, + 0.9126336565859159, + -0.09992206338857604, + -3516.551863424342 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.917224124559754, + 0.03980610865407432, + -0.39637783756762923, + 189.0661249714837 + ], + [ + 0.39837156691409636, + -0.09165092640820155, + 0.9126336565859159, + 3935.799934004522 + ], + [ + -1.3877787701392572e-17, + -0.9949952670250938, + -0.09992206338857604, + 4.503511517506053 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18906.61249714837, + -393579.9934004522, + 450.35115175060525 + ], + "rotation_deg": [ + 7.991381434457985e-16, + -5.734682559967039, + -113.47641754150389 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.940040304812183, + -0.3410633743582239, + -0.0, + 1177.3007969636997 + ], + [ + -0.10605501567221738, + -0.2923092796081349, + -0.9504249674254875, + 1177.2072635304064 + ], + [ + 0.32415513774215765, + 0.893437778434141, + -0.31095398814298875, + -3581.1665014985733 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.940040304812183, + -0.10605501567221738, + 0.32415513774215765, + 178.99208405575465 + ], + [ + -0.3410633743582239, + -0.2923092796081349, + 0.893437778434141, + 3945.1922175764817 + ], + [ + -0.0, + -0.9504249674254875, + -0.31095398814298875, + 5.269179984648756 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 17899.208405575464, + -394519.22175764816, + 526.9179984648756 + ], + "rotation_deg": [ + 0.0, + -18.116731643676765, + -70.0583267211914 + ] + } + } + ] + }, + { + "frame": 21, + "time": 1500.9323611855507, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.0031595933716474056, + 0.9999950084724052, + -1.3552527051528627e-20, + -3951.9853314874385 + ], + [ + 0.06484354916671616, + 0.00020488027080677436, + -0.9978954214523374, + -9.944385103075415 + ], + [ + -0.9978904404738629, + -0.0031529194989478367, + -0.06484387333829598, + 202.40463719743425 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.0031595933716474056, + 0.06484354916671616, + -0.9978904404738629, + 190.13591080316618 + ], + [ + 0.9999950084724052, + 0.00020488027080677436, + -0.0031529194989478367, + 3952.6058131919126 + ], + [ + -1.3552527051528627e-20, + -0.9978954214523374, + -0.06484387333829598, + 3.2012504097853673 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19013.59108031662, + -395260.58131919126, + 320.12504097853673 + ], + "rotation_deg": [ + 7.781402651135722e-19, + -3.7178888320922843, + 179.8189697265625 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.27523773814990354, + 0.961376194576361, + -1.3877787753251983e-17, + -3845.7346798982057 + ], + [ + 0.5810909759297584, + -0.16636376766610594, + -0.7966532335344775, + 547.7315245632972 + ], + [ + -0.7658834559931941, + 0.21926901626718773, + -0.6044366222699791, + -714.2753546358699 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.27523773814990354, + 0.5810909759297584, + -0.7658834559931941, + 193.15773876692458 + ], + [ + 0.961376194576361, + -0.16636376766610594, + 0.21926901626718773, + 3944.938934591653 + ], + [ + -1.3877787753251983e-17, + -0.7966532335344775, + -0.6044366222699791, + 4.617867555814425 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19315.77387669246, + -394493.8934591653, + 461.78675558144255 + ], + "rotation_deg": [ + 9.98098846434549e-16, + -37.188312530517564, + -164.0238189697266 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9168778102040618, + 0.399167986135417, + -0.0, + -1744.3610838290501 + ], + [ + 0.03983136717008496, + -0.09149154736059405, + -0.9950089240559231, + 357.03064239927227 + ], + [ + -0.39717572237396936, + 0.9123015972549268, + -0.09978597698486877, + -3514.988829490502 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9168778102040618, + 0.03983136717008496, + -0.39717572237396936, + 189.07676306880893 + ], + [ + 0.399167986135417, + -0.09149154736059405, + 0.9123015972549268, + 3935.6883565634676 + ], + [ + -0.0, + -0.9950089240559231, + -0.09978597698486877, + 4.502080929155904 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18907.676306880894, + -393568.83565634675, + 450.2080929155903 + ], + "rotation_deg": [ + 0.0, + -5.72684621810913, + -113.52617645263673 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9407994401581984, + -0.3389637346354625, + -2.7755575422866557e-17, + 1168.8159107929241 + ], + [ + -0.10540212433164908, + -0.2925453357697513, + -0.9504249674254874, + 1177.9856175288342 + ], + [ + 0.3221595877063474, + 0.8941592796067412, + -0.3109539881429886, + -3583.536537070043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9407994401581984, + -0.10540212433164908, + 0.3221595877063474, + 179.01151417518594 + ], + [ + -0.3389637346354625, + -0.2925453357697513, + 0.8941592796067412, + 3945.0528374338633 + ], + [ + -2.7755575422866557e-17, + -0.9504249674254874, + -0.3109539881429886, + 5.271975032408766 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 17901.151417518595, + -394505.28374338633, + 527.1975032408766 + ], + "rotation_deg": [ + 1.6732276576381467e-15, + -18.116731643676754, + -70.18624877929683 + ] + } + } + ] + }, + { + "frame": 22, + "time": 1500.9990278556943, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.0033023380597770116, + 0.9999945472668033, + -2.7105054103059375e-20, + -3951.82425316373 + ], + [ + 0.06492101962591289, + 0.00021439232301431925, + -0.9978903823800805, + -9.996216203495944 + ], + [ + -0.9978849411975054, + -0.0032953471301811416, + -0.06492137412703906, + 202.98872879758622 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.0033023380597770116, + 0.06492101962591289, + -0.9978849411975054, + 190.15819627167141 + ], + [ + 0.9999945472668033, + 0.00021439232301431925, + -0.0032953471301811416, + 3952.4737715976003 + ], + [ + -2.7105054103059375e-20, + -0.9978903823800805, + -0.06492137412703906, + 3.2031853184190116 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19015.81962716714, + -395247.37715976004, + 320.3185318419012 + ], + "rotation_deg": [ + 1.55628838901635e-18, + -3.722338676452636, + 179.810791015625 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.2765212266338815, + 0.9610078101768444, + -0.0, + -3844.401960573343 + ], + [ + 0.5791951910115928, + -0.16665813012435185, + -0.7979711764045738, + 549.2412959033196 + ], + [ + -0.7668565348094675, + 0.2206559506849179, + -0.6026956167480825, + -719.5353734980142 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.2765212266338815, + 0.5791951910115928, + -0.7668565348094675, + 193.16037250144603 + ], + [ + 0.9610078101768444, + -0.16665813012435185, + 0.2206559506849179, + 3944.8056272659933 + ], + [ + -0.0, + -0.7979711764045738, + -0.6026956167480825, + 4.617867555814425 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19316.037250144604, + -394480.56272659934, + 461.78675558144255 + ], + "rotation_deg": [ + 0.0, + -37.06320190429686, + -163.9473114013672 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9165302184795052, + 0.39996544677498097, + -1.387778770138665e-17, + -1747.399041879613 + ], + [ + 0.03985638278135126, + -0.09133183756982405, + -0.9950225948176781, + 356.3825869392479 + ], + [ + -0.397974670660304, + 0.9119682700385993, + -0.09964956575734019, + -3513.4209413292115 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9165302184795052, + 0.03985638278135126, + -0.397974670660304, + 189.0874011641406 + ], + [ + 0.39996544677498097, + -0.09133183756982405, + 0.9119682700385993, + 3935.576779122375 + ], + [ + -1.387778770138665e-17, + -0.9950225948176781, + -0.09964956575734019, + 4.497855293045745 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18908.74011641406, + -393557.6779122375, + 449.78552930457454 + ], + "rotation_deg": [ + 7.991161955203108e-16, + -5.71899127960205, + -113.57601928710945 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9415538409762032, + -0.3368625306307584, + -0.0, + 1160.3262570011107 + ], + [ + -0.10474874657137581, + -0.2927799197110121, + -0.9504249674254875, + 1178.7553414023632 + ], + [ + 0.32016255093794294, + 0.8948762809656314, + -0.31095398814298864, + -3585.889183449678 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9415538409762032, + -0.10474874657137581, + 0.32016255093794294, + 179.03095780870188 + ], + [ + -0.3368625306307584, + -0.2927799197110121, + 0.8948762809656314, + 3944.9134948052997 + ], + [ + -0.0, + -0.9504249674254875, + -0.31095398814298864, + 5.271975032408766 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 17903.09578087019, + -394491.34948052996, + 527.1975032408766 + ], + "rotation_deg": [ + 0.0, + -18.116731643676758, + -70.31416320800781 + ] + } + } + ] + }, + { + "frame": 23, + "time": 1501.065694525838, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.0034442837370366, + 0.9999940684371775, + -1.3552527051530745e-20, + -3951.663250899626 + ], + [ + 0.06499812722073041, + 0.00022387332044286213, + -0.9978853608198358, + -10.045067360111949 + ], + [ + -0.9978794418509296, + -0.0034369760618866443, + -0.06499851326628431, + 203.56980660320994 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.0034442837370366, + 0.06499812722073041, + -0.9978794418509296, + 190.1804817380694 + ], + [ + 0.9999940684371775, + 0.00022387332044286213, + -0.0034369760618866443, + 3952.3417300032456 + ], + [ + -1.3552527051530745e-20, + -0.9978853608198358, + -0.06499851326628431, + 3.207915236665693 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19018.04817380694, + -395234.1730003246, + 320.79152366656933 + ], + "rotation_deg": [ + 7.78148110286646e-19, + -3.726767778396606, + 179.8026580810547 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.2778947858187471, + 0.9606115177400034, + -0.0, + -3842.976656490288 + ], + [ + 0.5771630638426555, + -0.16696719021898873, + -0.7993777299413182, + 550.8379558484338 + ], + [ + -0.7678914564462878, + 0.22214288520440087, + -0.6008288022971797, + -725.1764409940063 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.2778947858187471, + 0.5771630638426555, + -0.7678914564462878, + 193.1630062338603 + ], + [ + 0.9606115177400034, + -0.16696719021898873, + 0.22214288520440087, + 3944.672319940292 + ], + [ + -0.0, + -0.7993777299413182, + -0.6008288022971797, + 4.6206625654274625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19316.30062338603, + -394467.2319940292, + 462.06625654274626 + ], + "rotation_deg": [ + 0.0, + -36.929279327392564, + -163.8654022216797 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9161812394149921, + 0.40076419069573677, + -0.0, + -1750.441602540774 + ], + [ + 0.039881175029990557, + -0.09117177935701147, + -0.9950362800054595, + 355.736018706955 + ], + [ + -0.3987749234431742, + 0.9116335660818335, + -0.09951282141417427, + -3511.847167966677 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9161812394149921, + 0.039881175029990557, + -0.3987749234431742, + 189.09803925736506 + ], + [ + 0.40076419069573677, + -0.09117177935701147, + 0.9116335660818335, + 3935.46520168124 + ], + [ + -0.0, + -0.9950362800054595, + -0.09951282141417427, + 4.496424666548624 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18909.803925736505, + -393546.520168124, + 449.64246665486235 + ], + "rotation_deg": [ + 0.0, + -5.711117267608644, + -113.62596130371095 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9423035489214545, + -0.33475964764295, + -0.0, + 1151.831376411838 + ], + [ + -0.10409484672461419, + -0.2930130443847853, + -0.9504249674254875, + 1179.5217933781234 + ], + [ + 0.3181639184220951, + 0.8955888221010069, + -0.31095398814298875, + -3588.222840836369 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9423035489214545, + -0.10409484672461419, + 0.3181639184220951, + 179.05041487240277 + ], + [ + -0.33475964764295, + -0.2930130443847853, + 0.8955888221010069, + 3944.7741897208693 + ], + [ + -0.0, + -0.9504249674254875, + -0.31095398814298875, + 5.274770042021803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 17905.041487240276, + -394477.4189720869, + 527.4770042021803 + ], + "rotation_deg": [ + 0.0, + -18.116731643676765, + -70.44207763671874 + ] + } + } + ] + }, + { + "frame": 24, + "time": 1501.1323611959815, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.0035856967161087033, + 0.9999935713688665, + -0.0, + -3951.5022716728463 + ], + [ + 0.06507487191260321, + 0.00023334025457664108, + -0.9978803568554118, + -10.093794919957466 + ], + [ + -0.9978739419048315, + -0.0035780720620558434, + -0.06507529076102446, + 204.1487399507775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.0035856967161087033, + 0.06507487191260321, + -0.9978739419048315, + 190.2027672022467 + ], + [ + 0.9999935713688665, + 0.00023334025457664108, + -0.0035780720620558434, + 3952.2096884088473 + ], + [ + -0.0, + -0.9978803568554118, + -0.06507529076102446, + 3.2126450690816863 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19020.27672022467, + -395220.96884088474, + 321.26450690816864 + ], + "rotation_deg": [ + 0.0, + -3.731176137924194, + 179.7945556640625 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.27935753365680016, + 0.9601871527932405, + 1.3877787751921586e-17, + -3841.457960371817 + ], + [ + 0.5749947005053431, + -0.1672893674234483, + -0.8008716263783061, + 552.5130128172211 + ], + [ + -0.7689866487793079, + 0.22372950446126397, + -0.5988360734230085, + -731.1992673566313 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.27935753365680016, + 0.5749947005053431, + -0.7689866487793079, + 193.16563996405384 + ], + [ + 0.9601871527932405, + -0.1672893674234483, + 0.22372950446126397, + 3944.539012614546 + ], + [ + 1.3877787751921586e-17, + -0.8008716263783061, + -0.5988360734230085, + 4.6234574892098115 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19316.563996405384, + -394453.9012614546, + 462.3457489209811 + ], + "rotation_deg": [ + -9.928416079848622e-16, + -36.78658294677734, + -163.77813720703125 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9158309760706479, + 0.40156397157798435, + -0.0, + -1753.487815473039 + ], + [ + 0.03990572143410624, + -0.09101139145572831, + -0.9950499786554017, + 355.0882346515986 + ], + [ + -0.3995762353223672, + 0.9112975869798109, + -0.09937575222546878, + -3510.268234915118 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9158309760706479, + 0.03990572143410624, + -0.3995762353223672, + 189.10867734836884 + ], + [ + 0.40156397157798435, + -0.09101139145572831, + 0.9112975869798109, + 3935.3536242400605 + ], + [ + -0.0, + -0.9950499786554017, + -0.09937575222546878, + 4.494993954220814 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18910.867734836884, + -393535.36242400605, + 449.4993954220814 + ], + "rotation_deg": [ + 0.0, + -5.7032246589660645, + -113.67598724365236 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.943048560257274, + -0.3326550961531814, + -2.7755575422866557e-17, + 1143.3313118361905 + ], + [ + -0.10344042805051763, + -0.2932447086291356, + -0.9504249674254874, + 1180.2823135071915 + ], + [ + 0.3161637001203455, + 0.8962968994614356, + -0.3109539881429886, + -3590.538367921725 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.943048560257274, + -0.10344042805051763, + 0.3161637001203455, + 179.06988528232188 + ], + [ + -0.3326550961531814, + -0.2932447086291356, + 0.8962968994614356, + 3944.6349222104645 + ], + [ + -2.7755575422866557e-17, + -0.9504249674254874, + -0.3109539881429886, + 5.277564965804151 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 17906.98852823219, + -394463.4922210465, + 527.7564965804152 + ], + "rotation_deg": [ + 1.6732276576381467e-15, + -18.116731643676754, + -70.56999206542966 + ] + } + } + ] + }, + { + "frame": 25, + "time": 1501.199027866125, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.003726576994959565, + 0.9999930562878426, + -4.0657581154598547e-20, + -3951.3413164196772 + ], + [ + 0.06515125786989152, + 0.00024279286465438203, + -0.9978753702991148, + -10.14518752701962 + ], + [ + -0.9978684413972597, + -0.003718635143421048, + -0.0651517107685879, + 204.72534702855032 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.003726576994959565, + 0.06515125786989152, + -0.9978684413972597, + 190.2250526640898 + ], + [ + 0.9999930562878426, + 0.00024279286465438203, + -0.003718635143421048, + 3952.077646814403 + ], + [ + -4.0657581154598547e-20, + -0.9978753702991148, + -0.0651517107685879, + 3.214579977715331 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19022.505266408978, + -395207.7646814403, + 321.4579977715331 + ], + "rotation_deg": [ + 2.334467702831544e-18, + -3.735563993453979, + 179.78648376464844 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.2809090921380583, + 0.9597343809378572, + -0.0, + -3839.844492125727 + ], + [ + 0.5726901468851896, + -0.16762332623816512, + -0.8024515039312181, + 554.258937734695 + ], + [ + -0.770140299510016, + 0.2254159055805161, + -0.5967173439593816, + -737.6062146048259 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.2809090921380583, + 0.5726901468851896, + -0.770140299510016, + 193.1682736919132 + ], + [ + 0.9597343809378572, + -0.16762332623816512, + 0.2254159055805161, + 3944.405705288755 + ], + [ + -0.0, + -0.8024515039312181, + -0.5967173439593816, + 4.6234574892098115 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19316.82736919132, + -394440.5705288755, + 462.3457489209811 + ], + "rotation_deg": [ + 0.0, + -36.63515472412108, + -163.68553161621097 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9154793180428269, + 0.4023650310797901, + -0.0, + -1756.5386103917367 + ], + [ + 0.0399300414332012, + -0.0908506561879625, + -0.995063691459677, + 354.43638060902464 + ], + [ + -0.4003788471164716, + 0.9109602234406126, + -0.09923834989918964, + -3508.6839443249546 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9154793180428269, + 0.0399300414332012, + -0.4003788471164716, + 189.11931543703838 + ], + [ + 0.4023650310797901, + -0.0908506561879625, + 0.9109602234406126, + 3935.242046798836 + ], + [ + -0.0, + -0.995063691459677, + -0.09923834989918964, + 4.490768318110655 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18911.93154370384, + -393524.2046798836, + 449.0768318110655 + ], + "rotation_deg": [ + 0.0, + -5.695312976837158, + -113.72611236572267 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9437889152856305, + -0.3305487609778215, + -0.0, + 1134.825602508687 + ], + [ + -0.10278545473227703, + -0.2934749249761213, + -0.9504249674254875, + 1181.0342891038968 + ], + [ + 0.3141617865592936, + 0.8970005513509137, + -0.31095398814298864, + -3592.8367670285043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9437889152856305, + -0.10278545473227703, + 0.3141617865592936, + 179.089368954426 + ], + [ + -0.3305487609778215, + -0.2934749249761213, + 0.8970005513509137, + 3944.4956923037926 + ], + [ + -0.0, + -0.9504249674254875, + -0.31095398814298864, + 5.277564965804151 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 17908.9368954426, + -394449.56923037925, + 527.7564965804152 + ], + "rotation_deg": [ + 0.0, + -18.116731643676758, + -70.69791412353514 + ] + } + } + ] + }, + { + "frame": 26, + "time": 1501.2656945362687, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.0038666582575001005, + 0.9999925244490179, + -0.0, + -3951.180440808138 + ], + [ + 0.06522728517577857, + 0.0002522135062741626, + -0.9978704012330183, + -10.193597472997928 + ], + [ + -0.9978629416627615, + -0.0038583995726820084, + -0.06522777329387994, + 205.2989421076901 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.0038666582575001005, + 0.06522728517577857, + -0.9978629416627615, + 190.24733812348535 + ], + [ + 0.9999925244490179, + 0.0002522135062741626, + -0.0038583995726820084, + 3951.9456052199107 + ], + [ + -0.0, + -0.9978704012330183, + -0.06522777329387994, + 3.219309800594581 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19024.733812348535, + -395194.56052199105, + 321.9309800594581 + ], + "rotation_deg": [ + 0.0, + -3.739931344985961, + 179.77845764160156 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.28254881965079437, + 0.9592529199923986, + -1.3877787750906675e-17, + -3838.1350268729843 + ], + [ + 0.5702495245946181, + -0.1679675158892535, + -0.8041159078799557, + 556.0740617076257 + ], + [ + -0.7713505348590737, + 0.22720198274564646, + -0.5944725489112752, + -744.3938464923446 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.28254881965079437, + 0.5702495245946181, + -0.7713505348590737, + 193.170907417325 + ], + [ + 0.9592529199923986, + -0.1679675158892535, + 0.22720198274564646, + 3944.272397962915 + ], + [ + -1.3877787750906675e-17, + -0.8041159078799557, + -0.5944725489112752, + 4.626252403455417 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19317.0907417325, + -394427.2397962915, + 462.62524034554167 + ], + "rotation_deg": [ + 9.888358947668566e-16, + -36.475040435791016, + -163.58761596679688 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9151263688105744, + 0.4031671230489566, + -0.0, + -1759.593037754233 + ], + [ + 0.03995410930133163, + -0.09068958472476575, + -0.9950774182808022, + 353.78606773364936 + ], + [ + -0.40118251391618137, + 0.9106215782357822, + -0.09910061442426196, + -3507.09419224464 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9151263688105744, + 0.03995410930133163, + -0.40118251391618137, + 189.1299535232604 + ], + [ + 0.4031671230489566, + -0.09068958472476575, + 0.9106215782357822, + 3935.130469357563 + ], + [ + -0.0, + -0.9950774182808022, + -0.09910061442426196, + 4.489337596246103 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18912.99535232604, + -393513.0469357563, + 448.9337596246103 + ], + "rotation_deg": [ + 0.0, + -5.687382221221924, + -113.77632141113281 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9445245220055266, + -0.32844090386282754, + -2.7755575422866557e-17, + 1126.315298166136 + ], + [ + -0.10213000816084108, + -0.2937036648176653, + -0.9504249674254874, + 1181.7829351995942 + ], + [ + 0.3121584265088361, + 0.8976996903293986, + -0.3109539881429886, + -3595.1160013858316 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9445245220055266, + -0.10213000816084108, + 0.3121584265088361, + 179.108865804616 + ], + [ + -0.32844090386282754, + -0.2937036648176653, + 0.8976996903293986, + 3944.3565000303684 + ], + [ + -2.7755575422866557e-17, + -0.9504249674254874, + -0.3109539881429886, + 5.280359880049757 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 17910.8865804616, + -394435.65000303683, + 528.0359880049757 + ], + "rotation_deg": [ + 1.6732276576381467e-15, + -18.116731643676754, + -70.82582855224607 + ] + } + } + ] + }, + { + "frame": 27, + "time": 1501.3323612064123, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.004006206816226021, + 0.9999919751212735, + -2.7105054103069878e-20, + -3951.019591337861 + ], + [ + 0.06530296208870608, + 0.00026161927130244843, + -0.9978654491953299, + -10.241882653191432 + ], + [ + -0.9978574415102194, + -0.003997631111289566, + -0.06530348664640721, + 205.8703936725128 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.004006206816226021, + 0.06530296208870608, + -0.9978574415102194, + 190.2696235803199 + ], + [ + 0.9999919751212735, + 0.00026161927130244843, + -0.003997631111289566, + 3951.8135636253674 + ], + [ + -2.7105054103069878e-20, + -0.9978654491953299, + -0.06530348664640721, + 3.224039823745437 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19026.96235803199, + -395181.3563625367, + 322.4039823745437 + ], + "rotation_deg": [ + 1.5563272752475165e-18, + -3.744278669357301, + 179.7704620361328 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.2842760668655673, + 0.9587424668843264, + -0.0, + -3836.3282559900686 + ], + [ + 0.5676730407750455, + -0.16832034135462673, + -0.8058632523347095, + 557.9498058778696 + ], + [ + -0.7726153247918582, + 0.2290876179018497, + -0.5921017000658144, + -751.5637238133164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.2842760668655673, + 0.5676730407750455, + -0.7726153247918582, + 193.17354114017581 + ], + [ + 0.9587424668843264, + -0.16832034135462673, + 0.2290876179018497, + 3944.139090637025 + ], + [ + -0.0, + -0.8058632523347095, + -0.5921017000658144, + 4.629047517972628 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19317.35411401758, + -394413.9090637025, + 462.90475179726286 + ], + "rotation_deg": [ + 0.0, + -36.306293487548814, + -163.4844207763672 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9147720713284657, + 0.4039703671278729, + -0.0, + -1762.651557179074 + ], + [ + 0.03997793564587127, + -0.09052817229693898, + -0.9950911589809599, + 353.13449449213516 + ], + [ + -0.40198735479715125, + 0.9102815944058339, + -0.09896254578961591, + -3505.499010136383 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9147720713284657, + 0.03997793564587127, + -0.40198735479715125, + 189.14059160692142 + ], + [ + 0.4039703671278729, + -0.09052817229693898, + 0.9102815944058339, + 3935.0188919162397 + ], + [ + -0.0, + -0.9950911589809599, + -0.09896254578961591, + 4.4879070746531555 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18914.05916069214, + -393501.88919162395, + 448.79070746531556 + ], + "rotation_deg": [ + 0.0, + -5.679432392120361, + -113.82662200927736 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9452554210462644, + -0.3263314097396225, + 2.7755575422866557e-17, + 1117.7999384105287 + ], + [ + -0.10147405255517705, + -0.2939309407876112, + -0.9504249674254874, + 1182.5256396384402 + ], + [ + 0.3101535106049229, + 0.8983943550119916, + -0.3109539881429887, + -3597.3770745371708 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9452554210462644, + -0.10147405255517705, + 0.3101535106049229, + 179.12837574872694 + ], + [ + -0.3263314097396225, + -0.2939309407876112, + 0.8983943550119916, + 3944.217345419525 + ], + [ + 2.7755575422866557e-17, + -0.9504249674254874, + -0.3109539881429887, + 5.283154994566969 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 17912.837574872694, + -394421.7345419525, + 528.3154994566969 + ], + "rotation_deg": [ + -1.6732276576381467e-15, + -18.11673164367676, + -70.953742980957 + ] + } + } + ] + }, + { + "frame": 28, + "time": 1501.399027876556, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.004144956355478412, + 0.9999914096315085, + -0.0, + -3950.858823972587 + ], + [ + 0.0653782845445343, + 0.0002709924639582673, + -0.9978605145375271, + -10.292761681475506 + ], + [ + -0.997851942615392, + -0.004136064029861209, + -0.06537884667864018, + 206.43846940220354 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.004144956355478412, + 0.0653782845445343, + -0.997851942615392, + 190.29190903448017 + ], + [ + 0.9999914096315085, + 0.0002709924639582673, + -0.004136064029861209, + 3951.681522030771 + ], + [ + -0.0, + -0.9978605145375271, + -0.06537884667864018, + 3.2259747323790817 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19029.190903448016, + -395168.1522030771, + 322.59747323790816 + ], + "rotation_deg": [ + 0.0, + -3.748605728149414, + 179.76251220703125 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.28609017668017606, + 0.9582026981840042, + -0.0, + -3834.422789218194 + ], + [ + 0.5649607852933893, + -0.16868010410352544, + -0.8076919793834162, + 559.8771872171931 + ], + [ + -0.7739326362911687, + 0.23107272316611582, + -0.5896046735669568, + -759.1175022035247 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.28609017668017606, + 0.5649607852933893, + -0.7739326362911687, + 193.17617486035232 + ], + [ + 0.9582026981840042, + -0.16868010410352544, + 0.23107272316611582, + 3944.0057833110814 + ], + [ + -0.0, + -0.8076919793834162, + -0.5896046735669568, + 4.629047517972628 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19317.617486035233, + -394400.57833110815, + 462.90475179726286 + ], + "rotation_deg": [ + 0.0, + -36.12895965576171, + -163.3759765625 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9144164220190673, + 0.40477476099906046, + -1.38777877013688e-17, + -1765.7141584417411 + ], + [ + 0.040001522305480944, + -0.09036642702626092, + -0.9951049125995465, + 352.47891098114854 + ], + [ + -0.4027933671453563, + 0.9099402674421253, + -0.09882415226582658, + -3503.8986573703605 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9144164220190673, + 0.040001522305480944, + -0.4027933671453563, + 189.15122968790817 + ], + [ + 0.40477476099906046, + -0.09036642702626092, + 0.9099402674421253, + 3934.9073144748627 + ], + [ + -1.38777877013688e-17, + -0.9951049125995465, + -0.09882415226582658, + 4.483681438542998 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18915.122968790816, + -393490.73144748627, + 448.3681438542998 + ], + "rotation_deg": [ + 7.990500904565531e-16, + -5.671463966369627, + -113.87701416015624 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9459816087649118, + -0.32422028912230233, + -0.0, + 1109.279566143907 + ], + [ + -0.10081759118468508, + -0.2941567517531746, + -0.9504249674254875, + 1183.2597423826955 + ], + [ + 0.30814704884041333, + 0.8990845419363601, + -0.31095398814298875, + -3599.6208456080626 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9459816087649118, + -0.10081759118468508, + 0.30814704884041333, + 179.14789870252878 + ], + [ + -0.32422028912230233, + -0.2941567517531746, + 0.8990845419363601, + 3944.078228500403 + ], + [ + -0.0, + -0.9504249674254875, + -0.31095398814298875, + 5.283154994566969 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 17914.789870252876, + -394407.8228500403, + 528.3154994566969 + ], + "rotation_deg": [ + 0.0, + -18.116731643676765, + -71.08165740966795 + ] + } + } + ] + }, + { + "frame": 29, + "time": 1501.4656945466995, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.004283173187605582, + 0.9999908271716521, + -0.0, + -3950.6980848959847 + ], + [ + 0.0654532607965794, + 0.00028035022328973995, + -0.9978555967948705, + -10.340725676452337 + ], + [ + -0.9978464437074241, + -0.004273964086739016, + -0.06545386169991713, + 207.0045848158786 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.004283173187605582, + 0.0654532607965794, + -0.9978464437074241, + 190.3141944858528 + ], + [ + 0.9999908271716521, + 0.00028035022328973995, + -0.004273964086739016, + 3951.5494804361197 + ], + [ + -0.0, + -0.9978555967948705, + -0.06545386169991713, + 3.23070464108902 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19031.41944858528, + -395154.94804361195, + 323.070464108902 + ], + "rotation_deg": [ + 0.0, + -3.7529129981994642, + 179.7545928955078 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.28799048415783474, + 0.9576332706388891, + -2.7755575498414142e-17, + -3832.417156771626 + ], + [ + 0.5621129904871592, + -0.1690450794110404, + -0.8096003625570444, + 561.8538594834538 + ], + [ + -0.7753002455208282, + 0.2331571824524861, + -0.586981479747157, + -767.0518109576481 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.28799048415783474, + 0.5621129904871592, + -0.7753002455208282, + 193.17880857774122 + ], + [ + 0.9576332706388891, + -0.1690450794110404, + 0.2331571824524861, + 3943.872475985083 + ], + [ + -2.7755575498414142e-17, + -0.8096003625570444, + -0.586981479747157, + 4.631842518048923 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19317.880857774122, + -394387.2475985083, + 463.18425180489226 + ], + "rotation_deg": [ + 1.9642744987316717e-15, + -35.94309616088865, + -163.26231384277344 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9140593632951824, + 0.40558042404978756, + -0.0, + -1768.7812999853309 + ], + [ + 0.04002487307837643, + -0.0902043289877822, + -0.9951186806441348, + 351.8248009193885 + ], + [ + -0.4036006704553554, + 0.9095975413470081, + -0.09868541727867033, + -3502.292338662516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9140593632951824, + 0.04002487307837643, + -0.4036006704553554, + 189.16186776610724 + ], + [ + 0.40558042404978756, + -0.0902043289877822, + 0.9095975413470081, + 3934.795737033431 + ], + [ + -0.0, + -0.9951186806441348, + -0.09868541727867033, + 4.4822508025091325 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18916.186776610724, + -393479.5737033431, + 448.22508025091327 + ], + "rotation_deg": [ + 0.0, + -5.663475990295412, + -113.92750549316409 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9467031244332256, + -0.3221074264719279, + -2.7755575422866557e-17, + 1100.7537194283325 + ], + [ + -0.10016058812207139, + -0.2943811099260646, + -0.9504249674254874, + 1183.9905987238697 + ], + [ + 0.30613893140421405, + 0.8997702884273611, + -0.3109539881429886, + -3601.8457056407096 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9467031244332256, + -0.10016058812207139, + 0.30613893140421405, + 179.16743458172644 + ], + [ + -0.3221074264719279, + -0.2943811099260646, + 0.8997702884273611, + 3943.9391493019584 + ], + [ + -2.7755575422866557e-17, + -0.9504249674254874, + -0.3109539881429886, + 5.285949994643263 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 17916.743458172645, + -394393.91493019584, + 528.5949994643263 + ], + "rotation_deg": [ + 1.6732276576381467e-15, + -18.116731643676754, + -71.20957946777341 + ] + } + } + ] + }, + { + "frame": 30, + "time": 1501.5323612168431, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.004420590997393005, + 0.9999902291398821, + -0.0, + -3950.5374303646763 + ], + [ + 0.06552788678571216, + 0.0002896748167752216, + -0.9978506963177904, + -10.388492964778598 + ], + [ + -0.9978409465321284, + -0.004411065555520707, + -0.06552852756266393, + 207.56750790929186 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.004420590997393005, + 0.06552788678571216, + -0.9978409465321284, + 190.33647993432453 + ], + [ + 0.9999902291398821, + 0.0002896748167752216, + -0.004411065555520707, + 3951.4174388414117 + ], + [ + -0.0, + -0.9978506963177904, + -0.06552852756266393, + 3.2354343972110677 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19033.647993432452, + -395141.74388414115, + 323.5434397211068 + ], + "rotation_deg": [ + 0.0, + -3.757200241088867, + 179.74671936035156 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.2899763164590307, + 0.9570338217079124, + -0.0, + -3830.3098114450777 + ], + [ + 0.5591298799930933, + -0.16941347248651434, + -0.8115866267004221, + 563.8704402033344 + ], + [ + -0.7767158534866392, + 0.23534088254721794, + -0.5842321045136244, + -775.3682637187331 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.2899763164590307, + 0.5591298799930933, + -0.7767158534866392, + 193.18144229222918 + ], + [ + 0.9570338217079124, + -0.16941347248651434, + 0.23534088254721794, + 3943.7391686590277 + ], + [ + -0.0, + -0.8115866267004221, + -0.5842321045136244, + 4.634637365537326 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19318.14422922292, + -394373.9168659028, + 463.4637365537326 + ], + "rotation_deg": [ + 0.0, + -35.74876022338867, + -163.14346313476562 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9137009994776253, + 0.40638711046684073, + 6.938893850681415e-18, + -1771.8520338771978 + ], + [ + 0.04004796911367093, + -0.09004190453819995, + -0.9951324613321603, + 351.16949026405894 + ], + [ + -0.4044090194733178, + 0.9092535182311184, + -0.0985463573804877, + -3500.680779148145 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9137009994776253, + 0.04004796911367093, + -0.4044090194733178, + 189.17250584140544 + ], + [ + 0.40638711046684073, + -0.09004190453819995, + 0.9092535182311184, + 3934.684159591942 + ], + [ + 6.938893850681415e-18, + -0.9951324613321603, + -0.0985463573804877, + 4.480820013887378 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18917.250584140544, + -393468.4159591942, + 448.0820013887378 + ], + "rotation_deg": [ + -3.9951398498329186e-16, + -5.6554694175720215, + -113.97808074951172 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9474198783913025, + -0.3199930843455993, + -1.1102230169146623e-16, + 1092.223450625127 + ], + [ + -0.09950312501051294, + -0.29460398742617727, + -0.9504249674254875, + 1184.7154573293255 + ], + [ + 0.3041294078371513, + 0.9004515092699852, + -0.3109539881429886, + -3604.0522341981455 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9474198783913025, + -0.09950312501051294, + 0.3041294078371513, + 179.18698330196065 + ], + [ + -0.3199930843455993, + -0.29460398742617727, + 0.9004515092699852, + 3943.8001078529574 + ], + [ + -1.1102230169146623e-16, + -0.9504249674254875, + -0.3109539881429886, + 5.288744842131666 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 17918.698330196064, + -394380.01078529574, + 528.8744842131666 + ], + "rotation_deg": [ + 6.692910630552587e-15, + -18.116731643676754, + -71.33749389648433 + ] + } + } + ] + }, + { + "frame": 31, + "time": 1501.5990278869867, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.0045577424103612615, + 0.9999896134381201, + -0.0, + -3950.3767507582033 + ], + [ + 0.06560217068051584, + 0.0002990009011137067, + -0.9978458126386389, + -10.438990705508909 + ], + [ + -0.9978354485285145, + -0.0045478999310895685, + -0.06560285257605182, + 208.1291552812279 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.0045577424103612615, + 0.06560217068051584, + -0.9978354485285145, + 190.35876537978208 + ], + [ + 0.9999896134381201, + 0.0002990009011137067, + -0.0045478999310895685, + 3951.2853972466423 + ], + [ + -0.0, + -0.9978458126386389, + -0.06560285257605182, + 3.2373693058447124 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19035.87653797821, + -395128.53972466424, + 323.7369305844712 + ], + "rotation_deg": [ + 0.0, + -3.761467933654786, + 179.73886108398438 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.29204673806172055, + 0.9564040478728166, + -0.0, + -3828.0993882361117 + ], + [ + 0.556011664856758, + -0.1697832557346896, + -0.8136489873497941, + 565.9166107480763 + ], + [ + -0.7781771876141395, + 0.23762351471562826, + -0.5813564568585612, + -784.0676681090283 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.29204673806172055, + 0.556011664856758, + -0.7781771876141395, + 193.184076003703 + ], + [ + 0.9564040478728166, + -0.1697832557346896, + 0.23762351471562826, + 3943.605861332912 + ], + [ + -0.0, + -0.8136489873497941, + -0.5813564568585612, + 4.634637365537326 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19318.4076003703, + -394360.5861332912, + 463.4637365537326 + ], + "rotation_deg": [ + 0.0, + -35.546005249023445, + -163.01947021484375 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9133412730795916, + 0.40719493966569736, + -0.0, + -1774.9268187063649 + ], + [ + 0.040070814200326564, + -0.08987913377584916, + -0.9951462561659092, + 350.5101189877027 + ], + [ + -0.4052185337197381, + 0.9089081421912265, + -0.09840695599660844, + -3499.064011751707 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9133412730795916, + 0.040070814200326564, + -0.4052185337197381, + 189.18314391368946 + ], + [ + 0.40719493966569736, + -0.08987913377584916, + 0.9089081421912265, + 3934.572582150393 + ], + [ + -0.0, + -0.9951462561659092, + -0.09840695599660844, + 4.476594377777219 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18918.314391368946, + -393457.25821503927, + 447.6594377777219 + ], + "rotation_deg": [ + 0.0, + -5.647443294525147, + -114.02874755859376 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9481319102392464, + -0.3178771473165026, + 2.7755575422866557e-17, + 1083.6882981519093 + ], + [ + -0.09884516595758158, + -0.2948253965673228, + -0.9504249674254874, + 1185.4317047712284 + ], + [ + 0.3021183684346988, + 0.9011282421011597, + -0.3109539881429887, + -3606.241430874685 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9481319102392464, + -0.09884516595758158, + 0.3021183684346988, + 179.20654477880805 + ], + [ + -0.3178771473165026, + -0.2948253965673228, + 0.9011282421011597, + 3943.6611041819774 + ], + [ + 2.7755575422866557e-17, + -0.9504249674254874, + -0.3109539881429887, + 5.288744842131666 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 17920.654477880806, + -394366.11041819776, + 528.8744842131666 + ], + "rotation_deg": [ + -1.6732276576381467e-15, + -18.11673164367676, + -71.46540832519528 + ] + } + } + ] + }, + { + "frame": 32, + "time": 1501.6656945571303, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.004693828484904244, + 0.9999889839264001, + 5.4210108206160417e-20, + -3950.216213456307 + ], + [ + 0.06567611273578161, + 0.0003082758047259481, + -0.9978409458335256, + -10.486432980605308 + ], + [ + -0.9978299536245997, + -0.0046836700079624155, + -0.0656768367446675, + 208.68674440300794 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.004693828484904244, + 0.06567611273578161, + -0.9978299536245997, + 190.38105082211223 + ], + [ + 0.9999889839264001, + 0.0003082758047259481, + -0.0046836700079624155, + 3951.153355651812 + ], + [ + 5.4210108206160417e-20, + -0.9978409458335256, + -0.0656768367446675, + 3.242099224091394 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19038.105082211223, + -395115.3355651812, + 324.2099224091394 + ], + "rotation_deg": [ + -3.1127309860252893e-18, + -3.765716075897217, + 179.73106384277344 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.29420106062124385, + 0.9557435513407011, + -0.0, + -3825.7841982761943 + ], + [ + 0.552758767107458, + -0.17015256375267354, + -0.8157854193562395, + 567.9894673854687 + ], + [ + -0.77968165647238, + 0.24000491763038273, + -0.5783546957306728, + -793.1465908750201 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.29420106062124385, + 0.552758767107458, + -0.77968165647238, + 193.1867097120494 + ], + [ + 0.9557435513407011, + -0.17015256375267354, + 0.24000491763038273, + 3943.4725540067343 + ], + [ + -0.0, + -0.8157854193562395, + -0.5783546957306728, + 4.637432375150363 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19318.67097120494, + -394347.2554006734, + 463.7432375150363 + ], + "rotation_deg": [ + 0.0, + -35.33490371704101, + -162.89036560058594 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9129801261808889, + 0.40800403086088244, + -6.9388938506784236e-18, + -1778.0061121334786 + ], + [ + 0.04009342212220414, + -0.08971601949843151, + -0.995160064184595, + 349.8522582962974 + ], + [ + -0.40602933152172105, + 0.9085613546386343, + -0.09826722139774552, + -3497.4412334773933 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9129801261808889, + 0.04009342212220414, + -0.40602933152172105, + 189.19378198284605 + ], + [ + 0.40800403086088244, + -0.08971601949843151, + 0.9085613546386343, + 3934.4610047087817 + ], + [ + -6.9388938506784236e-18, + -0.995160064184595, + -0.09826722139774552, + 4.475163751280098 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18919.378198284605, + -393446.1004708782, + 447.5163751280098 + ], + "rotation_deg": [ + 3.99502903624482e-16, + -5.639398097991943, + -114.07951354980474 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9488392584740923, + -0.3157594995852612, + -0.0, + 1075.147799215879 + ], + [ + -0.09818667495499994, + -0.29504534932030746, + -0.9504249674254875, + 1186.1446951260596 + ], + [ + 0.3001057031382353, + 0.9018005235094266, + -0.31095398814298875, + -3608.411683826896 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9488392584740923, + -0.09818667495499994, + 0.3001057031382353, + 179.22611892778167 + ], + [ + -0.3157594995852612, + -0.29504534932030746, + 0.9018005235094266, + 3943.5221383174107 + ], + [ + -0.0, + -0.9504249674254875, + -0.31095398814298875, + 5.291539851744703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 17922.611892778168, + -394352.2138317411, + 529.1539851744703 + ], + "rotation_deg": [ + 0.0, + -18.116731643676765, + -71.59333038330077 + ] + } + } + ] + }, + { + "frame": 33, + "time": 1501.732361227274, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.004829648159517611, + 0.999988337181317, + -0.0, + -3950.0556528891784 + ], + [ + 0.06574971272857265, + 0.00031755168261605934, + -0.9978360959782117, + -10.533814783819299 + ], + [ + -0.9978244584803359, + -0.004819173018625455, + -0.06575048007308622, + 209.24324178710535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.004829648159517611, + 0.06574971272857265, + -0.9978244584803359, + 190.40333626120184 + ], + [ + 0.999988337181317, + 0.00031755168261605934, + -0.004819173018625455, + 3951.021314056917 + ], + [ + -0.0, + -0.9978360959782117, + -0.06575048007308622, + 3.246829170948305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19040.333626120184, + -395102.13140569173, + 324.6829170948305 + ], + "rotation_deg": [ + 0.0, + -3.7699446678161626, + 179.72328186035156 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.29643833335644204, + 0.9550519957137701, + 1.387778774664429e-17, + -3823.362744303446 + ], + [ + 0.5493713952915541, + -0.1705192403605417, + -0.8179940456398657, + 570.0781920738812 + ], + [ + -0.7812268484979112, + 0.24248477358485415, + -0.5752266907624537, + -802.6058398190436 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.29643833335644204, + 0.5493713952915541, + -0.7812268484979112, + 193.18934341715524 + ], + [ + 0.9550519957137701, + -0.1705192403605417, + 0.24248477358485415, + 3943.3392466804926 + ], + [ + 1.387778774664429e-17, + -0.8179940456398657, + -0.5752266907624537, + 4.64022741337363 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19318.934341715525, + -394333.92466804927, + 464.02274133736296 + ], + "rotation_deg": [ + -9.720592432901331e-16, + -35.115509033203125, + -162.75619506835938 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9126176637371203, + 0.4088141384969458, + 6.938893850676926e-18, + -1781.0889674477926 + ], + [ + 0.04011576405541177, + -0.08955256539287458, + -0.9951738860650459, + 349.1931468983194 + ], + [ + -0.40684116886987326, + 0.9082132605669786, + -0.09812714529065052, + -3495.8131794769643 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9126176637371203, + 0.04011576405541177, + -0.40684116886987326, + 189.2044200487621 + ], + [ + 0.4088141384969458, + -0.08955256539287458, + 0.9082132605669786, + 3934.349427267107 + ], + [ + 6.938893850676926e-18, + -0.9951738860650459, + -0.09812714529065052, + 4.473733153393206 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18920.44200487621, + -393434.9427267107, + 447.3733153393206 + ], + "rotation_deg": [ + -3.9949735496455753e-16, + -5.631333351135255, + -114.13036346435548 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9495418351964674, + -0.31364040430359863, + 2.7755575422866557e-17, + 1066.603008090986 + ], + [ + -0.09752773383084506, + -0.2952638183524708, + -0.9504249674254874, + 1186.8516794341895 + ], + [ + 0.2980916620537333, + 0.9024682699530292, + -0.3109539881429887, + -3610.5635793188194 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9495418351964674, + -0.09752773383084506, + 0.2980916620537333, + 179.24570566433155 + ], + [ + -0.31364040430359863, + -0.2952638183524708, + 0.9024682699530292, + 3943.383210287458 + ], + [ + 2.7755575422866557e-17, + -0.9504249674254874, + -0.3109539881429887, + 5.29433488996797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 17924.570566433154, + -394338.3210287458, + 529.433488996797 + ], + "rotation_deg": [ + -1.6732276576381467e-15, + -18.11673164367676, + -71.7212448120117 + ] + } + } + ] + }, + { + "frame": 34, + "time": 1501.7990278974175, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.004964668806563539, + 0.9999876759558797, + -0.0, + -3949.89518138424 + ], + [ + 0.06582297499363318, + 0.0003267932981211268, + -0.9978312628742035, + -10.583786706654188 + ], + [ + -0.9978189656444748, + -0.004953877500361627, + -0.06582378671803608, + 209.79636430098532 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.004964668806563539, + 0.06582297499363318, + -0.9978189656444748, + 190.42562169693755 + ], + [ + 0.9999876759558797, + 0.0003267932981211268, + -0.004953877500361627, + 3950.8892724619577 + ], + [ + -0.0, + -0.9978312628742035, + -0.06582378671803608, + 3.2487640795819495 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19042.562169693756, + -395088.9272461958, + 324.87640795819493 + ], + "rotation_deg": [ + 0.0, + -3.774153947830201, + 179.71554565429688 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.32451693242446866, + 0.9458798869675856, + -1.3877787745792436e-17, + -3792.4932559898957 + ], + [ + 0.5402775713339352, + -0.1853609771417405, + -0.8208175522407909, + 630.3479938980881 + ], + [ + -0.7763948167905099, + 0.26636917635381774, + -0.5711904676633001, + -897.7048149123174 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.32451693242446866, + 0.5402775713339352, + -0.7763948167905099, + 193.19197711890723 + ], + [ + 0.9458798869675856, + -0.1853609771417405, + 0.26636917635381774, + 3943.205939354186 + ], + [ + -1.3877787745792436e-17, + -0.8208175522407909, + -0.5711904676633001, + 4.64022741337363 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19319.197711890723, + -394320.5939354186, + 464.02274133736296 + ], + "rotation_deg": [ + 9.687154847030573e-16, + -34.83328247070311, + -161.06369018554688 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9122537733841574, + 0.40962550329095243, + -1.387778770135085e-17, + -1784.1763100441888 + ], + [ + 0.040137865717908346, + -0.08938876891837623, + -0.995187720848116, + 348.52998843312895 + ], + [ + -0.40765428500580675, + 0.9078637472082463, + -0.09798673594627864, + -3494.179635071361 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9122537733841574, + 0.040137865717908346, + -0.40765428500580675, + 189.21505811132428 + ], + [ + 0.40962550329095243, + -0.08938876891837623, + 0.9078637472082463, + 3934.237849825367 + ], + [ + -1.387778770135085e-17, + -0.995187720848116, + -0.09798673594627864, + 4.469507517283047 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18921.50581113243, + -393423.7849825367, + 446.9507517283047 + ], + "rotation_deg": [ + 7.989836025586899e-16, + -5.6232495307922346, + -114.18131256103514 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9502396792324973, + -0.31151974578206193, + 2.7755575422866557e-17, + 1058.0534623310386 + ], + [ + -0.09686830661102058, + -0.2954808157369515, + -0.9504249674254874, + 1187.5500429446793 + ], + [ + 0.29607613522704596, + 0.903131518333286, + -0.31095398814298864, + -3612.698114096831 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9502396792324973, + -0.09686830661102058, + 0.29607613522704596, + 179.26530490384474 + ], + [ + -0.31151974578206193, + -0.2954808157369515, + 0.903131518333286, + 3943.244320120134 + ], + [ + 2.7755575422866557e-17, + -0.9504249674254874, + -0.31095398814298864, + 5.29433488996797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 17926.530490384474, + -394324.4320120134, + 529.433488996797 + ], + "rotation_deg": [ + -1.6732276576381467e-15, + -18.116731643676758, + -71.84915924072266 + ] + } + } + ] + }, + { + "frame": 35, + "time": 1501.8656945675611, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.005099156737809998, + 0.9999869992157713, + 2.7105054103086317e-20, + -3949.734744195791 + ], + [ + 0.06589590361687044, + 0.00033601790941838053, + -0.9978264463214433, + -10.630839915831073 + ], + [ + -0.9978134738850775, + -0.0050880492034492564, + -0.06589676083615315, + 210.34752969407162 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.005099156737809998, + 0.06589590361687044, + -0.9978134738850775, + 190.44790712920636 + ], + [ + 0.9999869992157713, + 0.00033601790941838053, + -0.0050880492034492564, + 3950.757230866929 + ], + [ + 2.7105054103086317e-20, + -0.9978264463214433, + -0.06589676083615315, + 3.25349384524074 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19044.790712920636, + -395075.7230866929, + 325.34938452407397 + ], + "rotation_deg": [ + -1.5563881087096965e-18, + -3.778344154357912, + 179.7078399658203 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.3522752418890847, + 0.9358964440321305, + -0.0, + -3758.365333132535 + ], + [ + 0.5306045676707474, + -0.19972172521391546, + -0.8237536192603444, + 688.8320321629415 + ], + [ + -0.7709480867994541, + 0.2901879879375555, + -0.5669479509769964, + -992.6569458277689 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.3522752418890847, + 0.5306045676707474, + -0.7709480867994541, + 193.19461081719228 + ], + [ + 0.9358964440321305, + -0.19972172521391546, + 0.2901879879375555, + 3943.0726320278104 + ], + [ + -0.0, + -0.8237536192603444, + -0.5669479509769964, + 4.6430222703987765 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19319.46108171923, + -394307.26320278103, + 464.3022270398776 + ], + "rotation_deg": [ + 0.0, + -34.53767013549806, + -159.37345886230472 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9118885058493241, + 0.4104380012862928, + -0.0, + -1787.267661394143 + ], + [ + 0.04015971363583167, + -0.08922463599361234, + -0.9952015683933054, + 347.8683718131413 + ], + [ + -0.40846855659362635, + 0.9075128648448816, + -0.09784599335360845, + -3492.5402737203326 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9118885058493241, + 0.04015971363583167, + -0.40846855659362635, + 189.22569617041958 + ], + [ + 0.4104380012862928, + -0.08922463599361234, + 0.9075128648448816, + 3934.1262723835575 + ], + [ + -0.0, + -0.9952015683933054, + -0.09784599335360845, + 4.468076738198035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18922.569617041958, + -393412.62723835575, + 446.80767381980354 + ], + "rotation_deg": [ + 0.0, + -5.615146636962891, + -114.23235321044922 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9509327871040025, + -0.3093975345903934, + -2.7755575422866557e-17, + 1049.4992049889302 + ], + [ + -0.09620839658222999, + -0.2956963403921958, + -0.9504249674254874, + 1188.245095342719 + ], + [ + 0.29405913270392176, + 0.9037902653444482, + -0.3109539881429886, + -3614.8135405136804 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9509327871040025, + -0.09620839658222999, + 0.29405913270392176, + 179.28491656164616 + ], + [ + -0.3093975345903934, + -0.2956963403921958, + 0.9037902653444482, + 3943.105467843262 + ], + [ + -2.7755575422866557e-17, + -0.9504249674254874, + -0.3109539881429886, + 5.297129746993116 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 17928.491656164617, + -394310.5467843262, + 529.7129746993116 + ], + "rotation_deg": [ + 1.6732276576381467e-15, + -18.116731643676754, + -71.97707366943357 + ] + } + } + ] + }, + { + "frame": 36, + "time": 1501.9323612377048, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.005232845639445236, + 0.9999863085695292, + 2.7105054103088342e-20, + -3949.574398445164 + ], + [ + 0.06596849870609708, + 0.00034520769718213287, + -0.9978216463928358, + -10.677692646776626 + ], + [ + -0.9978079848802628, + -0.0052214224089568995, + -0.06596940243185727, + 210.89550498515626 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.005232845639445236, + 0.06596849870609708, + -0.9978079848802628, + 190.47019255789496 + ], + [ + 0.9999863085695292, + 0.00034520769718213287, + -0.0052214224089568995, + 3950.62518927183 + ], + [ + 2.7105054103088342e-20, + -0.9978216463928358, + -0.06596940243185727, + 3.2582237920976507 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19047.019255789495, + -395062.518927183, + 325.8223792097651 + ], + "rotation_deg": [ + -1.5563955955706508e-18, + -3.7825152873992924, + 179.70018005371094 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.3796851208868664, + 0.9251157813901595, + -2.7755575488002787e-17, + -3721.029513482599 + ], + [ + 0.520361076015503, + -0.21356608764675405, + -0.8268094561476947, + 745.387005049867 + ], + [ + -0.7648944803694784, + 0.3139272310127198, + -0.562482113074711, + -1087.4073291682068 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.3796851208868664, + 0.520361076015503, + -0.7648944803694784, + 193.19724451189714 + ], + [ + 0.9251157813901595, + -0.21356608764675405, + 0.3139272310127198, + 3942.9393247013636 + ], + [ + -2.7755575488002787e-17, + -0.8268094561476947, + -0.562482113074711, + 4.645817308622043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19319.724451189715, + -394293.9324701364, + 464.58173086220427 + ], + "rotation_deg": [ + 1.923390369950143e-15, + -34.22762680053711, + -157.68582153320312 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9115218575276263, + 0.41125163008720755, + 6.938893850672422e-18, + -1790.363010967136 + ], + [ + 0.04018129946738265, + -0.08906015210350833, + -0.9952154301860536, + 347.2054604533194 + ], + [ + -0.40928398193810905, + 0.9071606111719539, + -0.0977049009365066, + -3490.8953614047214 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9115218575276263, + 0.04018129946738265, + -0.40928398193810905, + 189.23633422593463 + ], + [ + 0.41125163008720755, + -0.08906015210350833, + 0.9071606111719539, + 3934.0146949416776 + ], + [ + 6.938893850672422e-18, + -0.9952154301860536, + -0.0977049009365066, + 4.466646140311143 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18923.633422593462, + -393401.4694941678, + 446.6646140311143 + ], + "rotation_deg": [ + -3.9948067840769196e-16, + -5.6070237159729, + -114.28348541259767 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9516211962723802, + -0.30727365459004824, + -0.0, + 1040.9397721647538 + ], + [ + -0.09554796763072984, + -0.2959104039669746, + -0.9504249674254875, + 1188.9342205390492 + ], + [ + 0.29204054410338626, + 0.9044445465907617, + -0.31095398814298875, + -3616.910849967746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9516211962723802, + -0.09554796763072984, + 0.29204054410338626, + 179.3045405529987 + ], + [ + -0.30727365459004824, + -0.2959104039669746, + 0.9044445465907617, + 3942.9666534844773 + ], + [ + -0.0, + -0.9504249674254875, + -0.31095398814298875, + 5.299924785216383 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 17930.45405529987, + -394296.66534844774, + 529.9924785216383 + ], + "rotation_deg": [ + 0.0, + -18.116731643676765, + -72.10499572753906 + ] + } + } + ] + }, + { + "frame": 37, + "time": 1501.9990279078484, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.005366268135280586, + 0.9999856014794914, + -0.0, + -3949.414032705441 + ], + [ + 0.0660407642478336, + 0.0003543975516131419, + -0.9978168628861398, + -10.727272601380138 + ], + [ + -0.9978024958958509, + -0.005354528594997193, + -0.06604171566166192, + 211.44220497821408 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.005366268135280586, + 0.0660407642478336, + -0.9978024958958509, + 190.4924779828903 + ], + [ + 0.9999856014794914, + 0.0003543975516131419, + -0.005354528594997193, + 3950.493147676657 + ], + [ + -0.0, + -0.9978168628861398, + -0.06604171566166192, + 3.2601587007312953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19049.24779828903, + -395049.3147676657, + 326.0158700731295 + ], + "rotation_deg": [ + 0.0, + -3.7866675853729266, + 179.69253540039062 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.4067164690191467, + 0.9135544394444137, + 1.3877787743056746e-17, + -3680.5455133185533 + ], + [ + 0.5095467929345863, + -0.2268513659113963, + -0.8300003154181396, + 799.8425820630424 + ], + [ + -0.7582504776749261, + 0.3375747805393903, + -0.5577629251299593, + -1181.9067114389306 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.4067164690191467, + 0.5095467929345863, + -0.7582504776749261, + 193.19987820290874 + ], + [ + 0.9135544394444137, + -0.2268513659113963, + 0.3375747805393903, + 3942.806017374844 + ], + [ + 1.3877787743056746e-17, + -0.8300003154181396, + -0.5577629251299593, + 4.645817308622043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19319.987820290873, + -394280.6017374844, + 464.58173086220427 + ], + "rotation_deg": [ + -9.579980369217022e-16, + -33.901229858398445, + -156.0012664794922 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9111538248107897, + 0.4120663872881025, + -1.387778770134184e-17, + -1793.4623481942544 + ], + [ + 0.04020262846653988, + -0.08889533294819309, + -0.9952293044542101, + 346.5385333557507 + ], + [ + -0.41010055799669465, + 0.9068069809106074, + -0.09756347524862304, + -3489.2451509920484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9111538248107897, + 0.04020262846653988, + -0.41010055799669465, + 189.24697227775644 + ], + [ + 0.4120663872881025, + -0.08889533294819309, + 0.9068069809106074, + 3933.9031174997244 + ], + [ + -1.387778770134184e-17, + -0.9952293044542101, + -0.09756347524862304, + 4.462420504200985 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18924.697227775643, + -393390.31174997246, + 446.2420504200985 + ], + "rotation_deg": [ + 7.989502186744212e-16, + -5.598881721496581, + -114.33470916748045 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9523048211917399, + -0.30514836970721054, + 2.7755575422866557e-17, + 1032.3762206081142 + ], + [ + -0.09488710182541897, + -0.29612297986045194, + -0.9504249674254874, + 1189.614672299665 + ], + [ + 0.2900206202674773, + 0.9050942807672792, + -0.3109539881429887, + -3618.9906378206306 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9523048211917399, + -0.09488710182541897, + 0.2900206202674773, + 179.32417679310393 + ], + [ + -0.30514836970721054, + -0.29612297986045194, + 0.9050942807672792, + 3942.8278770712272 + ], + [ + 2.7755575422866557e-17, + -0.9504249674254874, + -0.3109539881429887, + 5.299924785216383 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 17932.417679310394, + -394282.78770712274, + 529.9924785216383 + ], + "rotation_deg": [ + -1.6732276576381467e-15, + -18.11673164367676, + -72.23291015625 + ] + } + } + ] + }, + { + "frame": 38, + "time": 1502.065694577992, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.005498891599345529, + 0.9999848809812971, + -0.0, + -3949.25376046593 + ], + [ + 0.06611270459626624, + 0.0003635520924653064, + -0.9978120955975843, + -10.773863051118678 + ], + [ + -0.9977970097572592, + -0.0054868363102063295, + -0.06611370468198961, + 211.9858998707763 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.005498891599345529, + 0.06611270459626624, + -0.9977970097572592, + 190.51476340407913 + ], + [ + 0.9999848809812971, + 0.0003635520924653064, + -0.0054868363102063295, + 3950.36110608141 + ], + [ + -0.0, + -0.9978120955975843, + -0.06611370468198961, + 3.264888533147288 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19051.476340407913, + -395036.110608141, + 326.48885331472883 + ], + "rotation_deg": [ + 0.0, + -3.7908012866973886, + 179.6849365234375 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.4333437065197904, + 0.9012287345727994, + 1.3877787742078822e-17, + -3636.973029922889 + ], + [ + 0.4981827536630286, + -0.23954447158068704, + -0.8333261006879907, + 852.0691014613122 + ], + [ + -0.7510174324835907, + 0.3611166044557609, + -0.5527817056416546, + -1276.0964593052277 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.4333437065197904, + 0.4981827536630286, + -0.7510174324835907, + 193.2025118901138 + ], + [ + 0.9012287345727994, + -0.23954447158068704, + 0.3611166044557609, + 3942.6727100482494 + ], + [ + 1.3877787742078822e-17, + -0.8333261006879907, + -0.5527817056416546, + 4.648612232404392 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19320.251189011382, + -394267.27100482496, + 464.86122324043913 + ], + "rotation_deg": [ + -9.54174688759271e-16, + -33.558059692382834, + -154.32005310058594 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9107844040872828, + 0.4128822704735248, + -0.0, + -1796.5656624681071 + ], + [ + 0.04022369568026829, + -0.08873017157730079, + -0.9952431918670348, + 345.87312749508527 + ], + [ + -0.4109182827192061, + 0.9064519710046463, + -0.09742170799616723, + -3487.589085535218 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9107844040872828, + 0.04022369568026829, + -0.4109182827192061, + 189.2576103257717 + ], + [ + 0.4128822704735248, + -0.08873017157730079, + 0.9064519710046463, + 3933.791540057697 + ], + [ + -0.0, + -0.9952431918670348, + -0.09742170799616723, + 4.460989791873175 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18925.76103257717, + -393379.1540057697, + 446.09897918731747 + ], + "rotation_deg": [ + 0.0, + -5.590720176696778, + -114.38602447509767 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9529836996535381, + -0.30302156391031837, + -0.0, + 1023.80808675377 + ], + [ + -0.09422576308582084, + -0.2963340798240321, + -0.9504249674254875, + 1190.2918039189733 + ], + [ + 0.2879992509169008, + 0.9057395037919428, + -0.3109539881429887, + -3621.0512895011348 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9529836996535381, + -0.09422576308582084, + 0.2879992509169008, + 179.34382519710215 + ], + [ + -0.30302156391031837, + -0.2963340798240321, + 0.9057395037919428, + 3942.6891386307693 + ], + [ + -0.0, + -0.9504249674254875, + -0.3109539881429887, + 5.3027197089987315 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 17934.382519710216, + -394268.91386307694, + 530.2719708998732 + ], + "rotation_deg": [ + 0.0, + -18.11673164367676, + -72.36082458496094 + ] + } + } + ] + }, + { + "frame": 39, + "time": 1502.1323612481356, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.005630982342919021, + 0.9999841458932505, + -5.421010820618874e-20, + -3949.0935263752262 + ], + [ + 0.06618431552325704, + 0.0003726886207348191, + -0.9978073448727012, + -10.820320369118377 + ], + [ + -0.9977915256310725, + -0.005618611301761767, + -0.06618536534504253, + 212.5274551843971 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.005630982342919021, + 0.06618431552325704, + -0.9977915256310725, + 190.53704882134832 + ], + [ + 0.9999841458932505, + 0.0003726886207348191, + -0.005618611301761767, + 3950.2290644860846 + ], + [ + -5.421010820618874e-20, + -0.9978073448727012, + -0.06618536534504253, + 3.2696183560265384 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19053.704882134833, + -395022.90644860844, + 326.9618356026538 + ], + "rotation_deg": [ + 3.112835806614232e-18, + -3.794916152954102, + 179.6773681640625 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.4595389690915702, + 0.888157607571008, + -0.0, + -3590.3816570956137 + ], + [ + 0.48628053870731675, + -0.2516049578835452, + -0.8367951857192661, + 901.9028332126586 + ], + [ + -0.7432060159286794, + 0.3845399805192605, + -0.5475160465864598, + -1369.9260785684478 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.4595389690915702, + 0.48628053870731675, + -0.7432060159286794, + 193.20514557339928 + ], + [ + 0.888157607571008, + -0.2516049578835452, + 0.3845399805192605, + 3942.539402721577 + ], + [ + -0.0, + -0.8367951857192661, + -0.5475160465864598, + 4.651407146649997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19320.514557339928, + -394253.9402721577, + 465.1407146649997 + ], + "rotation_deg": [ + 0.0, + -33.19676971435549, + -152.64263916015628 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9104135366549453, + 0.41369939844703, + -0.0, + -1799.673409592103 + ], + [ + 0.040244511346125375, + -0.0885646632388501, + -0.9952570922791257, + 345.2064408023436 + ], + [ + -0.41173727436465585, + 0.9060955228255549, + -0.09727959916779981, + -3485.927185528206 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9104135366549453, + 0.040244511346125375, + -0.41173727436465585, + 189.2682483698674 + ], + [ + 0.41369939844703, + -0.0885646632388501, + 0.9060955228255549, + 3933.679962615591 + ], + [ + -0.0, + -0.9952570922791257, + -0.09727959916779981, + 4.4595590700086225 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18926.82483698674, + -393367.99626155914, + 445.9559070008622 + ], + "rotation_deg": [ + 0.0, + -5.582539081573486, + -114.43743896484376 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.953657828274123, + -0.3008932477997523, + 2.7755575422866557e-17, + 1015.2354137360419 + ], + [ + -0.09356395470816592, + -0.2965437028055549, + -0.9504249674254874, + 1190.962956052018 + ], + [ + 0.28597644612652295, + 0.9063802124488458, + -0.3109539881429887, + -3623.0936650255017 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.953657828274123, + -0.09356395470816592, + 0.28597644612652295, + 179.3634856800732 + ], + [ + -0.3008932477997523, + -0.2965437028055549, + 0.9063802124488458, + 3942.5504381901715 + ], + [ + 2.7755575422866557e-17, + -0.9504249674254874, + -0.3109539881429887, + 5.3055146232443375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 17936.34856800732, + -394255.0438190171, + 530.5514623244337 + ], + "rotation_deg": [ + -1.6732276576381467e-15, + -18.11673164367676, + -72.48873901367186 + ] + } + } + ] + }, + { + "frame": 40, + "time": 1502.1990279182792, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.005762274053185467, + 0.9999833979610541, + -2.7105054103096365e-20, + -3948.933388118814 + ], + [ + 0.06625560129834997, + 0.0003817892707200249, + -0.9978026105064802, + -10.869363546479503 + ], + [ + -0.9977860450543151, + -0.00574958785501386, + -0.06625670180718164, + 213.06563665215123 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.005762274053185467, + 0.06625560129834997, + -0.9977860450543151, + 190.55933423458475 + ], + [ + 0.9999833979610541, + 0.0003817892707200249, + -0.00574958785501386, + 3950.0970228906804 + ], + [ + -2.7105054103096365e-20, + -0.9978026105064802, + -0.06625670180718164, + 3.2715532646601826 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19055.933423458475, + -395009.702289068, + 327.15532646601827 + ], + "rotation_deg": [ + 1.556425288187035e-18, + -3.7990124225616437, + 179.6698455810547 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.48527099565600373, + 0.874363803445128, + -2.7755575480027563e-17, + -3540.855319701095 + ], + [ + 0.47384188816421985, + -0.26298175192862056, + -0.8404251680985763, + 949.1400824850294 + ], + [ + -0.7348373527117706, + 0.40783394193201916, + -0.5419276158932548, + -1463.3499995668199 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.48527099565600373, + 0.47384188816421985, + -0.7348373527117706, + 193.20777925265196 + ], + [ + 0.874363803445128, + -0.26298175192862056, + 0.40783394193201916, + 3942.4060953948256 + ], + [ + -2.7755575480027563e-17, + -0.8404251680985763, + -0.5419276158932548, + 4.651407146649997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19320.777925265196, + -394240.60953948257, + 465.1407146649997 + ], + "rotation_deg": [ + 1.8922295590923044e-15, + -32.814956665039084, + -150.96977233886722 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9100412737653082, + 0.41451764744533487, + 6.9388938506663996e-18, + -1802.7851119727973 + ], + [ + 0.040265062069381755, + -0.08839881389776462, + -0.9952710055447292, + 344.5357177121483 + ], + [ + -0.41255740977839533, + 0.9057376871750649, + -0.09713714875218904, + -3484.259946042386 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9100412737653082, + 0.040265062069381755, + -0.41255740977839533, + 189.27888640993027 + ], + [ + 0.41451764744533487, + -0.08839881389776462, + 0.9057376871750649, + 3933.568385173406 + ], + [ + 6.9388938506663996e-18, + -0.9952710055447292, + -0.09713714875218904, + 4.455333433898463 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18927.888640993027, + -393356.8385173406, + 445.5333433898463 + ], + "rotation_deg": [ + -3.9945837163676443e-16, + -5.574338436126711, + -114.48894500732428 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9543272434762662, + -0.29876330490706476, + -0.0, + 1006.6577365853891 + ], + [ + -0.09290164047612635, + -0.2967518601308266, + -0.9504249674254875, + 1191.6255110928455 + ], + [ + 0.2839520952018218, + 0.907016441355098, + -0.31095398814298875, + -3625.118751892425 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9543272434762662, + -0.09290164047612635, + 0.2839520952018218, + 179.3831581570366 + ], + [ + -0.29876330490706476, + -0.2967518601308266, + 0.907016441355098, + 3942.4117757763124 + ], + [ + -0.0, + -0.9504249674254875, + -0.31095398814298875, + 5.3055146232443375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 17938.31581570366, + -394241.17757763126, + 530.5514623244337 + ], + "rotation_deg": [ + 0.0, + -18.116731643676765, + -72.61666107177733 + ] + } + } + ] + }, + { + "frame": 41, + "time": 1502.2656945884228, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.005893299352639428, + 0.9999826343605873, + -0.0, + -3948.7732330919644 + ], + [ + 0.06632656588840528, + 0.0003908890958520242, + -0.9977978922924049, + -10.91555425233225 + ], + [ + -0.9977805650027316, + -0.0058802974361441785, + -0.06632771822467817, + 213.602913459761 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.005893299352639428, + 0.06632656588840528, + -0.9977805650027316, + 190.58161964367537 + ], + [ + 0.9999826343605873, + 0.0003908890958520242, + -0.0058802974361441785, + 3949.964981295193 + ], + [ + -0.0, + -0.9977978922924049, + -0.06632771822467817, + 3.276283068465946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19058.161964367537, + -394996.4981295193, + 327.6283068465946 + ], + "rotation_deg": [ + 0.0, + -3.8030903339386004, + 179.66233825683594 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5105144941193656, + 0.8598691477742693, + -0.0, + -3488.4754587841244 + ], + [ + 0.4608923759447295, + -0.2736372606901165, + -0.8442161259760625, + 993.6326727658334 + ], + [ + -0.725915407460327, + 0.4309845526279721, + -0.5360029259321019, + -1556.3095923645835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5105144941193656, + 0.4608923759447295, + -0.725915407460327, + 193.2104129277588 + ], + [ + 0.8598691477742693, + -0.2736372606901165, + 0.4309845526279721, + 3942.2727880679913 + ], + [ + -0.0, + -0.8442161259760625, + -0.5360029259321019, + 4.654202041822116 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19321.04129277588, + -394227.27880679915, + 465.4202041822116 + ], + "rotation_deg": [ + 0.0, + -32.41195297241213, + -149.3018951416016 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.909667611796773, + 0.4153370150226865, + -0.0, + -1805.9007588845172 + ], + [ + 0.04028534629052823, + -0.08823262417029967, + -0.9952849315177411, + 343.8665244019277 + ], + [ + -0.41337868654386367, + 0.9053784602431456, + -0.09699435673801074, + -3482.586809597923 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.909667611796773, + 0.04028534629052823, + -0.41337868654386367, + 189.28952444584735 + ], + [ + 0.4153370150226865, + -0.08823262417029967, + 0.9053784602431456, + 3933.4568077311387 + ], + [ + -0.0, + -0.9952849315177411, + -0.09699435673801074, + 4.453902692960424 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18928.952444584735, + -393345.68077311385, + 445.39026929604245 + ], + "rotation_deg": [ + 0.0, + -5.566118240356447, + -114.5405426025391 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9549918620743824, + -0.2966319999118504, + -0.0, + 998.0761144417551 + ], + [ + -0.09223890269287695, + -0.29695852593295763, + -0.9504249674254875, + 1192.2846951068059 + ], + [ + 0.2819264497008965, + 0.9076481114490452, + -0.31095398814298875, + -3627.124547148236 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9549918620743824, + -0.09223890269287695, + 0.2819264497008965, + 179.40284254295213 + ], + [ + -0.2966319999118504, + -0.29695852593295763, + 0.9076481114490452, + 3942.2731514158822 + ], + [ + -0.0, + -0.9504249674254875, + -0.31095398814298875, + 5.308309518416456 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 17940.284254295213, + -394227.3151415882, + 530.8309518416456 + ], + "rotation_deg": [ + 0.0, + -18.116731643676765, + -72.74457550048827 + ] + } + } + ] + }, + { + "frame": 42, + "time": 1502.3323612585664, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.00602352561709126, + 0.9999818584050114, + -0.0, + -3948.6131759253803 + ], + [ + 0.0663972136669129, + 0.00039995257320372946, + -0.9977931900224662, + -10.961541623662878 + ], + [ + -0.997775088574338, + -0.006010208605226767, + -0.06639841875371379, + 214.13700224127408 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.00602352561709126, + 0.0663972136669129, + -0.997775088574338, + 190.6039050485069 + ], + [ + 0.9999818584050114, + 0.00039995257320372946, + -0.006010208605226767, + 3949.8329396996223 + ], + [ + -0.0, + -0.9977931900224662, + -0.06639841875371379, + 3.281013005786114 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19060.39050485069, + -394983.2939699622, + 328.1013005786114 + ], + "rotation_deg": [ + 0.0, + -3.807150125503541, + 179.65487670898438 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5352410624930134, + 0.8446993577725449, + -5.5511150951170717e-17, + -3433.3382439807287 + ], + [ + 0.44744679009117777, + -0.28352323597004464, + -0.8481780147481869, + 1035.185547250649 + ], + [ + -0.7164554314614212, + 0.4539796862698936, + -0.5297112979574043, + -1648.7558440714101 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5352410624930134, + 0.44744679009117777, + -0.7164554314614212, + 193.2130465986066 + ], + [ + 0.8446993577725449, + -0.28352323597004464, + 0.4539796862698936, + 3942.1394807410734 + ], + [ + -5.5511150951170717e-17, + -0.8481780147481869, + -0.5297112979574043, + 4.656997070508639 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19321.30465986066, + -394213.94807410735, + 465.69970705086394 + ], + "rotation_deg": [ + 3.749866932117682e-15, + -31.98595046997071, + -147.63973999023438 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9092924917098516, + 0.41615761980298915, + -0.0, + -1809.0208053206725 + ], + [ + 0.04030537072772966, + -0.08806608177847756, + -0.995298870857737, + 343.19602992538205 + ], + [ + -0.41420122307975454, + 0.9050177837949117, + -0.09685121483069487, + -3480.907797058382 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9092924917098516, + 0.04030537072772966, + -0.41420122307975454, + 189.30016247750532 + ], + [ + 0.41615761980298915, + -0.08806608177847756, + 0.9050177837949117, + 3933.345230288787 + ], + [ + -0.0, + -0.995298870857737, + -0.09685121483069487, + 4.4524720855367885 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18930.016247750533, + -393334.5230288787, + 445.2472085536789 + ], + "rotation_deg": [ + 0.0, + -5.557878017425537, + -114.59223937988283 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9556517208222448, + -0.2944992164496918, + -0.0, + 989.4900826582829 + ], + [ + -0.09157570517443829, + -0.2971637116406803, + -0.9504249674254875, + 1192.9378910392907 + ], + [ + 0.27989939902809774, + 0.9082752576623898, + -0.31095398814298864, + -3629.1120395167654 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9556517208222448, + -0.09157570517443829, + 0.27989939902809774, + 179.4225387527201 + ], + [ + -0.2944992164496918, + -0.2971637116406803, + 0.9082752576623898, + 3942.1345651353795 + ], + [ + -0.0, + -0.9504249674254875, + -0.31095398814298864, + 5.31110454710298 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 17942.25387527201, + -394213.45651353797, + 531.110454710298 + ], + "rotation_deg": [ + 0.0, + -18.116731643676758, + -72.8724899291992 + ] + } + } + ] + }, + { + "frame": 43, + "time": 1502.39902792871, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.006153219157257584, + 0.9999810687678056, + -0.0, + -3948.4531606722185 + ], + [ + 0.06646754039601353, + 0.00040899708571933937, + -0.9977885040403544, + -11.010182482621119 + ], + [ + -0.9977696147893748, + -0.006139587103650092, + -0.06646879924640808, + 214.66876691616525 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.006153219157257584, + 0.06646754039601353, + -0.9977696147893748, + 190.6261904489662 + ], + [ + 0.9999810687678056, + 0.00040899708571933937, + -0.006139587103650092, + 3949.700898103965 + ], + [ + -0.0, + -0.9977885040403544, + -0.06646879924640808, + 3.2829479144197586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19062.619044896623, + -394970.0898103965, + 328.29479144197586 + ], + "rotation_deg": [ + 0.0, + -3.8111915588378897, + 179.64744567871094 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5594169972496996, + 0.8288863753181913, + -0.0, + -3375.563344238572 + ], + [ + 0.4335086690119113, + -0.2925758283905466, + -0.852331871123629, + 1073.5443563502472 + ], + [ + -0.7064862827864358, + 0.4768089208128897, + -0.5230013243461739, + -1740.643866021429 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5594169972496996, + 0.4335086690119113, + -0.7064862827864358, + 193.2156802650822 + ], + [ + 0.8288863753181913, + -0.2925758283905466, + 0.4768089208128897, + 3942.0061734140695 + ], + [ + -0.0, + -0.852331871123629, + -0.5230013243461739, + 4.656997070508639 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19321.56802650822, + -394200.61734140693, + 465.69970705086394 + ], + "rotation_deg": [ + 0.0, + -31.533790588378924, + -145.98451232910156 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9089160205967136, + 0.4169792171111581, + -0.0, + -1812.1443087299244 + ], + [ + 0.040325113775489856, + -0.0878992056171405, + -0.9953128226094895, + 342.52153075175465 + ], + [ + -0.41502477554415296, + 0.9046557634763369, + -0.09670773130195517, + -3479.223640836555 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9089160205967136, + 0.040325113775489856, + -0.41502477554415296, + 189.31080050479116 + ], + [ + 0.4169792171111581, + -0.0878992056171405, + 0.9046557634763369, + 3933.2336528463497 + ], + [ + -0.0, + -0.9953128226094895, + -0.09670773130195517, + 4.448246449426631 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18931.080050479115, + -393323.365284635, + 444.8246449426631 + ], + "rotation_deg": [ + 0.0, + -5.549618244171144, + -114.64402008056643 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9563068164309992, + -0.2923649651507636, + -2.7755575422866557e-17, + 980.8996844472522 + ], + [ + -0.09091205122630566, + -0.2973674162313124, + -0.9504249674254874, + 1193.5824394482866 + ], + [ + 0.2778709532866088, + 0.9088978768693224, + -0.31095398814298864, + -3631.0820894536655 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9563068164309992, + -0.09091205122630566, + 0.2778709532866088, + 179.44224670118194 + ], + [ + -0.2923649651507636, + -0.2973674162313124, + 0.9088978768693224, + 3941.9960169611154 + ], + [ + -2.7755575422866557e-17, + -0.9504249674254874, + -0.31095398814298864, + 5.31110454710298 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 17944.224670118194, + -394199.60169611155, + 531.110454710298 + ], + "rotation_deg": [ + 1.6732276576381467e-15, + -18.116731643676758, + -73.00040435791011 + ] + } + } + ] + }, + { + "frame": 44, + "time": 1502.4656945988536, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.006282379972218525, + 0.9999802656562202, + -0.0, + -3948.293188192241 + ], + [ + 0.06653755439529158, + 0.00041802244853208744, + -0.997783833859983, + -11.055900116799897 + ], + [ + -0.99776414336871, + -0.0062684329412692795, + -0.0665388680108499, + 215.19857906241043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.006282379972218525, + 0.06653755439529158, + -0.99776414336871, + 190.6484758449402 + ], + [ + 0.9999802656562202, + 0.00041802244853208744, + -0.0062684329412692795, + 3949.5688565082196 + ], + [ + -0.0, + -0.997783833859983, + -0.0665388680108499, + 3.287677699152036 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19064.847584494022, + -394956.88565082196, + 328.7677699152036 + ], + "rotation_deg": [ + 0.0, + -3.815215110778808, + 179.64004516601562 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5830170380306383, + 0.8124599272370183, + -0.0, + -3315.2633110376373 + ], + [ + 0.4191084913600943, + -0.3007500838560968, + -0.8566781539939117, + 1108.5311009354295 + ], + [ + -0.6960166786463671, + 0.4994579450420949, + -0.515851281068883, + -1831.9127925546502 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5830170380306383, + 0.4191084913600943, + -0.6960166786463671, + 193.21831392707244 + ], + [ + 0.8124599272370183, + -0.3007500838560968, + 0.4994579450420949, + 3941.8728660869765 + ], + [ + -0.0, + -0.8566781539939117, + -0.515851281068883, + 4.659791946607272 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19321.831392707245, + -394187.2866086977, + 465.9791946607272 + ], + "rotation_deg": [ + 0.0, + -31.054372787475607, + -144.33697509765628 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9085380282534711, + 0.417802167559354, + -1.3877787701320715e-17, + -1815.2726548452315 + ], + [ + 0.04034460898194633, + -0.08773198020785175, + -0.995326786625831, + 341.8485234359607 + ], + [ + -0.4158497028746496, + 0.9042922296746532, + -0.0965639061404917, + -3477.5330652971666 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9085380282534711, + 0.04034460898194633, + -0.4158497028746496, + 189.3214385275916 + ], + [ + 0.417802167559354, + -0.08773198020785175, + 0.9042922296746532, + 3933.122075403824 + ], + [ + -1.3877787701320715e-17, + -0.995326786625831, + -0.0965639061404917, + 4.4468156894151045 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18932.14385275916, + -393312.2075403824, + 444.6815689415105 + ], + "rotation_deg": [ + 7.988719695962388e-16, + -5.541338920593261, + -114.69590759277352 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9569571842818868, + -0.29022912922600147, + -8.326672626859967e-17, + 972.304453807014 + ], + [ + -0.090247904532454, + -0.29756965070679187, + -0.9504249674254874, + 1194.2236905582238 + ], + [ + 0.2758410014771866, + 0.9095160026970573, + -0.3109539881429887, + -3633.03307318843 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9569571842818868, + -0.090247904532454, + 0.2758410014771866, + 179.46196630312053 + ], + [ + -0.29022912922600147, + -0.29756965070679187, + 0.9095160026970573, + 3941.8575069192093 + ], + [ + -8.326672626859967e-17, + -0.9504249674254874, + -0.3109539881429887, + 5.313899423201613 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 17946.196630312053, + -394185.7506919209, + 531.3899423201613 + ], + "rotation_deg": [ + 5.01968297291444e-15, + -18.11673164367676, + -73.12832641601561 + ] + } + } + ] + }, + { + "frame": 45, + "time": 1502.5323612689972, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.006411008061102504, + 0.9999794492766542, + -0.0, + -3948.1332593417255 + ], + [ + 0.06660725568044054, + 0.0004270284288383217, + -0.9977791795469785, + -11.101482133035212 + ], + [ + -0.9977586745840598, + -0.006396746131222077, + -0.06660862505106623, + 215.72625342642058 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.006411008061102504, + 0.06660725568044054, + -0.9977586745840598, + 190.67076123631585 + ], + [ + 0.9999794492766542, + 0.0004270284288383217, + -0.006396746131222077, + 3949.436814912383 + ], + [ + -0.0, + -0.9977791795469785, + -0.06660862505106623, + 3.29240765554569 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19067.076123631585, + -394943.6814912383, + 329.240765554569 + ], + "rotation_deg": [ + 0.0, + -3.819220781326295, + 179.63267517089844 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.6060102780353153, + 0.795456813985247, + -0.0, + -3252.577471138587 + ], + [ + 0.4042639608124399, + -0.30798418089375773, + -0.8612295828102046, + 1139.896721570704 + ], + [ + -0.685070948451734, + 0.521913964442257, + -0.5082161049274299, + -1922.509260287602 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.6060102780353153, + 0.4042639608124399, + -0.685070948451734, + 193.2209475844643 + ], + [ + 0.795456813985247, + -0.30798418089375773, + 0.521913964442257, + 3941.7395587597935 + ], + [ + -0.0, + -0.8612295828102046, + -0.5082161049274299, + 4.662586994367282 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19322.09475844643, + -394173.9558759793, + 466.2586994367282 + ], + "rotation_deg": [ + 0.0, + -30.5450782775879, + -142.69842529296878 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9081586776180505, + 0.41862610557278135, + -2.081668155197653e-17, + -1818.404436204873 + ], + [ + 0.04036381619872678, + -0.08756441477174129, + -0.9953407635616845, + 341.17427040768985 + ], + [ + -0.4166756415608815, + 0.9039273450857658, + -0.09641973105141098, + -3475.837050317882 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9081586776180505, + 0.04036381619872678, + -0.4166756415608815, + 189.33207654579368 + ], + [ + 0.41862610557278135, + -0.08756441477174129, + 0.9039273450857658, + 3933.0104979612065 + ], + [ + -2.081668155197653e-17, + -0.9953407635616845, + -0.09641973105141098, + 4.445385101064956 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18933.207654579368, + -393301.0497961207, + 444.53851010649566 + ], + "rotation_deg": [ + 1.1982911273193654e-15, + -5.5330395698547346, + -114.74787902832031 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9576027435562617, + -0.2880919740873052, + -0.0, + 963.7054521823818 + ], + [ + -0.08958334762377122, + -0.2977703899362387, + -0.9504249674254875, + 1194.858904547869 + ], + [ + 0.2738097958539299, + 0.9101295583335375, + -0.31095398814298875, + -3634.9656040270274 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9576027435562617, + -0.08958334762377122, + 0.2738097958539299, + 179.4816974732607 + ], + [ + -0.2880919740873052, + -0.2977703899362387, + 0.9101295583335375, + 3941.7190350355913 + ], + [ + -0.0, + -0.9504249674254875, + -0.31095398814298875, + 5.316694470961623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 17948.169747326072, + -394171.9035035591, + 531.6694470961622 + ], + "rotation_deg": [ + 0.0, + -18.116731643676765, + -73.25624084472655 + ] + } + } + ] + }, + { + "frame": 46, + "time": 1502.5990279391408, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.006538837112672403, + 0.9999786215760885, + -0.0, + -3947.9734326344674 + ], + [ + 0.06667664438328479, + 0.0004359970377713801, + -0.9977745411666746, + -11.149646498048035 + ], + [ + -0.9977532104435443, + -0.006524260968922417, + -0.0666780703710737, + 216.2505548695869 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.006538837112672403, + 0.06667664438328479, + -0.9977532104435443, + 190.6930466229798 + ], + [ + 0.9999786215760885, + 0.0004359970377713801, + -0.006524260968922417, + 3949.304773316454 + ], + [ + -0.0, + -0.9977745411666746, + -0.0666780703710737, + 3.2943425641793347 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19069.304662297982, + -394930.4773316454, + 329.43425641793345 + ], + "rotation_deg": [ + 0.0, + -3.8232085704803467, + 179.62535095214844 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.628357529410809, + 0.777924684807433, + -2.7755575465626747e-17, + -3187.686292910729 + ], + [ + 0.3889789357031726, + -0.3141921677055337, + -0.8660130884298022, + 1167.2997707599502 + ], + [ + -0.6736929676568295, + 0.5441658305595867, + -0.5000213337260013, + -2012.382678717165 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.628357529410809, + 0.3889789357031726, + -0.6736929676568295, + 193.22358123714454 + ], + [ + 0.777924684807433, + -0.3141921677055337, + 0.5441658305595867, + 3941.6062514325167 + ], + [ + -2.7755575465626747e-17, + -0.8660130884298022, + -0.5000213337260013, + 4.662586994367282 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19322.358123714454, + -394160.6251432517, + 466.2586994367282 + ], + "rotation_deg": [ + 1.836320219293134e-15, + -30.00141143798828, + -141.07095336914062 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9077778536754159, + 0.4194512705624515, + -2.0816681551971978e-17, + -1821.5405722368814 + ], + [ + 0.04038275717819378, + -0.08739649921088562, + -0.9953547532655722, + 340.49594572153325 + ], + [ + -0.41750282991154314, + 0.9035609950197419, + -0.09627520602308155, + -3474.1353692416574 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9077778536754159, + 0.04038275717819378, + -0.41750282991154314, + 189.3427145592841 + ], + [ + 0.4194512705624515, + -0.08739649921088562, + 0.9035609950197419, + 3932.898920518497 + ], + [ + -2.0816681551971978e-17, + -0.9953547532655722, + -0.09627520602308155, + 4.441159464954797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18934.27145592841, + -393289.8920518497, + 444.11594649547976 + ], + "rotation_deg": [ + 1.1982742853459404e-15, + -5.524720191955565, + -114.79994964599611 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9582435299672827, + -0.2859533830466808, + -0.0, + 955.1022138823922 + ], + [ + -0.08891834421566072, + -0.2979696450248018, + -0.9504249674254875, + 1195.485462626462 + ], + [ + 0.2717772255136546, + 0.9107385777214396, + -0.31095398814298875, + -3636.880666858905 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9582435299672827, + -0.08891834421566072, + 0.2717772255136546, + 179.50144012626947 + ], + [ + -0.2859533830466808, + -0.2979696450248018, + 0.9107385777214396, + 3941.5806013359997 + ], + [ + -0.0, + -0.9504249674254875, + -0.31095398814298875, + 5.316694470961623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 17950.144012626948, + -394158.06013359997, + 531.6694470961622 + ], + "rotation_deg": [ + 0.0, + -18.116731643676765, + -73.38415527343749 + ] + } + } + ] + }, + { + "frame": 47, + "time": 1502.6656946092844, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.0066663997472025, + 0.9999777793103256, + 2.7105054103110145e-20, + -3947.813593737622 + ], + [ + 0.06674572444152209, + 0.00044496356794117026, + -0.9977699185063655, + -11.19495578959183 + ], + [ + -0.9977477474976313, + -0.00665150890267285, + -0.06674720812678817, + 216.7739543761833 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.0066663997472025, + 0.06674572444152209, + -0.9977477474976313, + 190.71533200481903 + ], + [ + 0.9999777793103256, + 0.00044496356794117026, + -0.00665150890267285, + 3949.1727317204286 + ], + [ + 2.7105054103110145e-20, + -0.9977699185063655, + -0.06674720812678817, + 3.2990723965953275 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19071.533200481903, + -394917.27317204286, + 329.90723965953276 + ], + "rotation_deg": [ + -1.5564762845696136e-18, + -3.827178716659547, + 179.6180419921875 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.6500306908935762, + 0.7599079555422616, + -0.0, + -3120.759616740527 + ], + [ + 0.37328860455357926, + -0.31931373760590587, + -0.8710306278694154, + 1190.5010038785922 + ], + [ + -0.6619031128293905, + 0.5661966270734778, + -0.4912287132460604, + -2101.459883984627 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.6500306908935762, + 0.37328860455357926, + -0.6619031128293905, + 193.22621488500002 + ], + [ + 0.7599079555422616, + -0.31931373760590587, + 0.5661966270734778, + 3941.4729441051445 + ], + [ + -0.0, + -0.8710306278694154, + -0.4912287132460604, + 4.665381918149631 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19322.6214885, + -394147.29441051447, + 466.53819181496306 + ], + "rotation_deg": [ + 0.0, + -29.421373367309574, + -139.45608520507812 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9073956084182326, + 0.4202775390421252, + -0.0, + -1824.680586683297 + ], + [ + 0.0404014186464304, + -0.08722823955139541, + -0.9953687555856472, + 339.8191396809396 + ], + [ + -0.4183311450315752, + 0.9031932310142524, + -0.09613033104388068, + -3472.427709894438 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9073956084182326, + 0.0404014186464304, + -0.4183311450315752, + 189.3533525679498 + ], + [ + 0.4202775390421252, + -0.08722823955139541, + 0.9031932310142524, + 3932.7873430756918 + ], + [ + -0.0, + -0.9953687555856472, + -0.09613033104388068, + 4.439728752626987 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18935.33525679498, + -393278.73430756916, + 443.9728752626987 + ], + "rotation_deg": [ + 0.0, + -5.516380786895752, + -114.85211181640628 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9588795781131823, + -0.28381323908071304, + -0.0, + 946.4942721559964 + ], + [ + -0.08825285791922505, + -0.29816742673093954, + -0.9504249674254875, + 1196.1087141037062 + ], + [ + 0.26974317923438434, + 0.9113430937437873, + -0.31095398814298875, + -3638.776634903029 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9588795781131823, + -0.08825285791922505, + 0.26974317923438434, + 179.52119417675667 + ], + [ + -0.28381323908071304, + -0.29816742673093954, + 0.9113430937437873, + 3941.4422058459854 + ], + [ + -0.0, + -0.9504249674254875, + -0.31095398814298875, + 5.319489394743971 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 17952.119417675665, + -394144.22058459854, + 531.9489394743971 + ], + "rotation_deg": [ + 0.0, + -18.116731643676765, + -73.51207733154295 + ] + } + } + ] + }, + { + "frame": 48, + "time": 1502.732361279428, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.0067931633433668155, + 0.999976926199695, + -0.0, + -3947.6538589574275 + ], + [ + 0.06681449610542453, + 0.00045389225876823363, + -0.9977653116299422, + -11.240057484346757 + ], + [ + -0.9977422895223743, + -0.00677795851153059, + -0.06681603832214796, + 217.29416800201741 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.0067931633433668155, + 0.06681449610542453, + -0.9977422895223743, + 190.73761738172033 + ], + [ + 0.999976926199695, + 0.00045389225876823363, + -0.00677795851153059, + 3949.040690124306 + ], + [ + -0.0, + -0.9977653116299422, + -0.06681603832214796, + 3.303802276695036 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19073.761738172034, + -394904.0690124306, + 330.3802276695036 + ], + "rotation_deg": [ + 0.0, + -3.831131219863893, + 179.61077880859375 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.6709908637249068, + 0.741465616733307, + -2.7755575460040796e-17, + -3052.0226165091035 + ], + [ + 0.35721130108201987, + -0.3232591155087009, + -0.8763011072798107, + 1209.141165092246 + ], + [ + -0.6497471505214183, + 0.5879900234879804, + -0.4817638141951944, + -2189.6695331697847 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.6709908637249068, + 0.35721130108201987, + -0.6497471505214183, + 193.2288485279176 + ], + [ + 0.741465616733307, + -0.3232591155087009, + 0.5879900234879804, + 3941.339636777675 + ], + [ + -2.7755575460040796e-17, + -0.8763011072798107, + -0.4817638141951944, + 4.668176889615695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19322.884852791758, + -394133.9636777675, + 466.8176889615695 + ], + "rotation_deg": [ + 1.814761308555893e-15, + -28.80066299438476, + -137.85641479492188 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9070118821289271, + 0.42110502927053833, + -0.0, + -1827.8249328941938 + ], + [ + 0.040419814090972575, + -0.0870596385834219, + -0.9953827695708695, + 339.14107897033824 + ], + [ + -0.4191607043108246, + 0.9028239926906747, + -0.0959851143861464, + -3470.7140824776625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9070118821289271, + 0.040419814090972575, + -0.4191607043108246, + 189.36399057167756 + ], + [ + 0.42110502927053833, + -0.0870596385834219, + 0.9028239926906747, + 3932.6757656327886 + ], + [ + -0.0, + -0.9953827695708695, + -0.0959851143861464, + 4.4382980879828935 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18936.399057167757, + -393267.57656327885, + 443.8298087982894 + ], + "rotation_deg": [ + 0.0, + -5.508021831512452, + -114.90437316894533 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9595108089547684, + -0.2816718081366434, + -0.0, + 937.8826901204666 + ], + [ + -0.08758697143181893, + -0.2983637104771001, + -0.9504249674254875, + 1196.7259212226497 + ], + [ + 0.26770790977902026, + 0.9119430312797606, + -0.31095398814298875, + -3640.6541283268525 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9595108089547684, + -0.08758697143181893, + 0.26770790977902026, + 179.5409595392753 + ], + [ + -0.2816718081366434, + -0.2983637104771001, + 0.9119430312797606, + 3941.303848590906 + ], + [ + -0.0, + -0.9504249674254875, + -0.31095398814298875, + 5.322284366210035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 17954.095953927528, + -394130.3848590906, + 532.2284366210035 + ], + "rotation_deg": [ + 0.0, + -18.116731643676765, + -73.6399917602539 + ] + } + } + ] + }, + { + "frame": 49, + "time": 1502.7990279495716, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.006919660520635991, + 0.9999760588625506, + -2.7105054103114027e-20, + -3947.4941133953494 + ], + [ + 0.06688296745483147, + 0.00046281850980173646, + -0.9977607200443716, + -11.287881669297839 + ], + [ + -0.9977368326508016, + -0.006904141235921007, + -0.06688456926482352, + 217.81310701505373 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.006919660520635991, + 0.06688296745483147, + -0.9977368326508016, + 190.75990275357063 + ], + [ + 0.9999760588625506, + 0.00046281850980173646, + -0.006904141235921007, + 3948.908648528083 + ], + [ + -2.7105054103114027e-20, + -0.9977607200443716, + -0.06688456926482352, + 3.3057371853286805 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19075.990275357064, + -394890.8648528083, + 330.57371853286804 + ], + "rotation_deg": [ + 1.5564906338899294e-18, + -3.835066556930542, + 179.60353088378906 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.6911819153852791, + 0.7226808146369575, + -5.5511150914132723e-17, + -2981.792306775418 + ], + [ + 0.34074532977055677, + -0.32589354099252693, + -0.8818650804850513, + 1222.6876635625001 + ], + [ + -0.637306984699097, + 0.6095291824594837, + -0.4715018377313269, + -2276.9314446635435 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.6911819153852791, + 0.34074532977055677, + -0.637306984699097, + 193.23148216578412 + ], + [ + 0.7226808146369575, + -0.32589354099252693, + 0.6095291824594837, + 3941.206329450105 + ], + [ + -5.5511150914132723e-17, + -0.8818650804850513, + -0.4715018377313269, + 4.668176889615695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19323.14821657841, + -394120.6329450105, + 466.8176889615695 + ], + "rotation_deg": [ + 3.606622779736252e-15, + -28.131828308105465, + -136.27626037597656 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9066267270133317, + 0.4219336178418274, + 6.938893850652772e-18, + -1830.973134998231 + ], + [ + 0.040437926804119756, + -0.08689069482813168, + -0.9953967958699026, + 338.45897891060184 + ], + [ + -0.4199913852655067, + 0.9024533325269306, + -0.09583954775455537, + -3468.994984922033 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9066267270133317, + 0.040437926804119756, + -0.4199913852655067, + 189.37462857035433 + ], + [ + 0.4219336178418274, + -0.08689069482813168, + 0.9024533325269306, + 3932.5641881897855 + ], + [ + 6.938893850652772e-18, + -0.9953967958699026, + -0.09583954775455537, + 4.434072451872734 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18937.462857035433, + -393256.41881897853, + 443.4072451872735 + ], + "rotation_deg": [ + -3.9940789126607127e-16, + -5.499642848968507, + -114.95672607421876 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9601372574228613, + -0.27952897328990156, + -0.0, + 929.2670013264246 + ], + [ + -0.08692064839528117, + -0.2985585071251613, + -0.9504249674254875, + 1197.334464405299 + ], + [ + 0.26567130601953043, + 0.9125384235284824, + -0.3109539881429887, + -3642.5141289696026 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9601372574228613, + -0.08692064839528117, + 0.26567130601953043, + 179.5607361283219 + ], + [ + -0.27952897328990156, + -0.2985585071251613, + 0.9125384235284824, + 3941.165529595931 + ], + [ + -0.0, + -0.9504249674254875, + -0.3109539881429887, + 5.322284366210035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 17956.07361283219, + -394116.5529595931, + 532.2284366210035 + ], + "rotation_deg": [ + 0.0, + -18.11673164367676, + -73.76790618896483 + ] + } + } + ] + }, + { + "frame": 50, + "time": 1502.8656946197152, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.0070453586586851575, + 0.9999751811526977, + -0.0, + -3947.3344739071244 + ], + [ + 0.06695113044592536, + 0.00047170643380591194, + -0.9977561443684789, + -11.33270760142833 + ], + [ + -0.9977313813470241, + -0.007029525664470599, + -0.06695279265491441, + 218.3290476088961 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.0070453586586851575, + 0.06695113044592536, + -0.9977313813470241, + 190.78218812025673 + ], + [ + 0.9999751811526977, + 0.00047170643380591194, + -0.007029525664470599, + 3948.776606931759 + ], + [ + -0.0, + -0.9977561443684789, + -0.06695279265491441, + 3.310467103575362 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19078.218812025672, + -394877.6606931759, + 331.0467103575362 + ], + "rotation_deg": [ + 0.0, + -3.838984251022339, + 179.59632873535156 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.7105608307758975, + 0.7036357763552578, + -0.0, + -2910.384569449899 + ], + [ + 0.32392590130988563, + -0.32711392069463785, + -0.8877322193929654, + 1230.7328851373154 + ], + [ + -0.6246401596768956, + 0.6307877307289507, + -0.46036019558672014, + -2363.128389777198 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7105608307758975, + 0.32392590130988563, + -0.6246401596768956, + 193.23411579848644 + ], + [ + 0.7036357763552578, + -0.32711392069463785, + 0.6307877307289507, + 3941.073022122434 + ], + [ + -0.0, + -0.8877322193929654, + -0.46036019558672014, + 4.670971899228732 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19323.411579848645, + -394107.3022122434, + 467.0971899228732 + ], + "rotation_deg": [ + 0.0, + -27.410352706909183, + -134.71943664550784 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9062400831266738, + 0.4227634228910526, + 1.3877787701302505e-17, + -1834.125645789929 + ], + [ + 0.040455763233892855, + -0.08672139605957384, + -0.9954108351262011, + 337.77835453918505 + ], + [ + -0.4208233058373962, + 0.9020811913621135, + -0.09569362285332685, + -3467.269626570035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9062400831266738, + 0.040455763233892855, + -0.4208233058373962, + 189.38526656386685 + ], + [ + 0.4227634228910526, + -0.08672139605957384, + 0.9020811913621135, + 3932.452610746681 + ], + [ + 1.3877787701302505e-17, + -0.9954108351262011, + -0.09569362285332685, + 4.432641825375614 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18938.526656386686, + -393245.2610746681, + 443.2641825375614 + ], + "rotation_deg": [ + -7.988045160487121e-16, + -5.491243362426757, + -115.00917816162108 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9607589203951296, + -0.2773847452207591, + -0.0, + 920.6472491141949 + ], + [ + -0.08625389213068485, + -0.29875181570422177, + -0.9504249674254875, + 1197.9396538704711 + ], + [ + 0.26363337810671145, + 0.9131292675224107, + -0.31095398814298875, + -3644.354890539025 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9607589203951296, + -0.08625389213068485, + 0.26363337810671145, + 179.5805238583372 + ], + [ + -0.2773847452207591, + -0.29875181570422177, + 0.9131292675224107, + 3941.0272488860373 + ], + [ + -0.0, + -0.9504249674254875, + -0.31095398814298875, + 5.325079375823073 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 17958.05238583372, + -394102.7248886037, + 532.5079375823072 + ], + "rotation_deg": [ + 0.0, + -18.116731643676765, + -73.89582061767577 + ] + } + } + ] + }, + { + "frame": 51, + "time": 1502.9323612898588, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.007170524066892397, + 0.9999742914618387, + -0.0, + -3947.1748833866654 + ], + [ + 0.06701899742869075, + 0.00048057368884844577, + -0.9977515838286516, + -11.354388721001945 + ], + [ + -0.9977259332328743, + -0.007154377519205845, + -0.06702072095182796, + 218.84439762105865 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.007170524066892397, + 0.06701899742869075, + -0.9977259332328743, + 190.8044734816654 + ], + [ + 0.9999742914618387, + 0.00048057368884844577, + -0.007154377519205845, + 3948.64456533533 + ], + [ + -0.0, + -0.9977515838286516, + -0.06702072095182796, + 3.338256270746299 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19080.44734816654, + -394864.456533533, + 333.8256270746299 + ], + "rotation_deg": [ + 0.0, + -3.842885017395022, + 179.5891571044922 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.7292074525803736, + 0.6842926940288359, + -2.7755575450822152e-17, + -2837.665932235849 + ], + [ + 0.3069583442589814, + -0.3271060968772359, + -0.8937439097837391, + 1233.9875352550187 + ], + [ + -0.6115824384265655, + 0.6517247075218466, + -0.4485775591954858, + -2448.1206897644397 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7292074525803736, + 0.3069583442589814, + -0.6115824384265655, + 193.2367494259114 + ], + [ + 0.6842926940288359, + -0.3271060968772359, + 0.6517247075218466, + 3940.939714794658 + ], + [ + -2.7755575450822152e-17, + -0.8937439097837391, + -0.4485775591954858, + 4.696826157766025 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19323.67494259114, + -394093.9714794658, + 469.68261577660246 + ], + "rotation_deg": [ + 1.7793434183990135e-15, + -26.65245819091796, + -133.18000793457028 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9058520028886793, + 0.4235943210933873, + -1.3877787701299458e-17, + -1837.2819897872878 + ], + [ + 0.0404733171858186, + -0.0865517633515199, + -0.9954248855924378, + 337.11946166422285 + ], + [ + -0.4216563426092233, + 0.9017076197155737, + -0.09554735623912976, + -3465.536294866086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9058520028886793, + 0.0404733171858186, + -0.4216563426092233, + 189.39590455210202 + ], + [ + 0.4235943210933873, + -0.0865517633515199, + 0.9017076197155737, + 3932.3410333034712 + ], + [ + -1.3877787701299458e-17, + -0.9954248855924378, + -0.09554735623912976, + 4.454270447802747 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18939.590455210204, + -393234.1033303471, + 445.42704478027474 + ], + "rotation_deg": [ + 7.987932408875027e-16, + -5.482824325561521, + -115.06172180175781 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9613758314233924, + -0.2752390066015009, + -0.0, + 912.0229657664834 + ], + [ + -0.0855866661545092, + -0.29894364664735323, + -0.9504249674254875, + 1198.5607844118751 + ], + [ + 0.26159401452937314, + 0.9137155951500318, + -0.3109539881429886, + -3646.1702192388284 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9613758314233924, + -0.0855866661545092, + 0.26159401452937314, + 179.60032264370605 + ], + [ + -0.2752390066015009, + -0.29894364664735323, + 0.9137155951500318, + 3940.8890064860116 + ], + [ + -0.0, + -0.9504249674254875, + -0.3109539881429886, + 5.350933634360365 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 17960.032264370606, + -394088.9006486012, + 535.0933634360365 + ], + "rotation_deg": [ + 0.0, + -18.116731643676754, + -74.02374267578121 + ] + } + } + ] + }, + { + "frame": 52, + "time": 1502.9990279600024, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.007295156744718303, + 0.9999733899899886, + -0.0, + -3947.034632584878 + ], + [ + 0.06708656426691574, + 0.0004894200252635402, + -0.997747038764285, + -11.377662278298317 + ], + [ + -0.997720488847427, + -0.007278696815037068, + -0.06708835000747715, + 219.34686487464919 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.007295156744718303, + 0.06708656426691574, + -0.997720488847427, + 190.81600857262066 + ], + [ + 0.9999733899899886, + 0.0004894200252635402, + -0.007278696815037068, + 3948.5317357458352 + ], + [ + -0.0, + -0.997747038764285, + -0.06708835000747715, + 3.363596698802743 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19081.600857262067, + -394853.17357458355, + 336.3596698802743 + ], + "rotation_deg": [ + 0.0, + -3.8467686176300053, + 179.58201599121094 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.7470352926307495, + 0.6647843797533832, + -0.0, + -2764.147923393744 + ], + [ + 0.28980869649280644, + -0.325665480394943, + -0.8999738409066517, + 1231.6396153592336 + ], + [ + -0.5982885625766635, + 0.6723122098135209, + -0.4359439051364408, + -2531.800943531351 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7470352926307495, + 0.28980869649280644, + -0.5982885625766635, + 193.22863278288293 + ], + [ + 0.6647843797533832, + -0.325665480394943, + 0.6723122098135209, + 3940.825619473816 + ], + [ + -0.0, + -0.8999738409066517, + -0.4359439051364408, + 4.720231677188824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19322.863278288292, + -394082.5619473816, + 472.0231677188824 + ], + "rotation_deg": [ + 0.0, + -25.845371246337898, + -131.66578674316406 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9054624261268688, + 0.4244264304593254, + -0.0, + -1840.4410393482206 + ], + [ + 0.04049059154970765, + -0.08638177697895259, + -0.9954389487065054, + 336.4589264821507 + ], + [ + -0.4224906137375311, + 0.901332558917641, + -0.09540073133190033, + -3463.81903916065 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9054624261268688, + 0.04049059154970765, + -0.4224906137375311, + 189.39579226988374 + ], + [ + 0.4244264304593254, + -0.08638177697895259, + 0.901332558917641, + 3932.2486678671958 + ], + [ + -0.0, + -0.9954389487065054, + -0.09540073133190033, + 4.473450331115389 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18939.579226988375, + -393224.8667867196, + 447.3450331115389 + ], + "rotation_deg": [ + 0.0, + -5.474384784698487, + -115.11436462402345 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9619879138465526, + -0.27309202407459293, + -0.0, + 903.4108048264039 + ], + [ + -0.08491905338029195, + -0.2991339761164823, + -0.9504249674254875, + 1199.178368200483 + ], + [ + 0.2595534687111747, + 0.9142973335507262, + -0.3109539881429887, + -3647.982582280081 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9619879138465526, + -0.08491905338029195, + 0.2595534687111747, + 179.6093821336956 + ], + [ + -0.27309202407459293, + -0.2991339761164823, + 0.9142973335507262, + 3940.7700144274904 + ], + [ + -0.0, + -0.9504249674254875, + -0.3109539881429887, + 5.374339153783165 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 17960.938213369558, + -394077.00144274905, + 537.4339153783164 + ], + "rotation_deg": [ + 0.0, + -18.11673164367676, + -74.15165710449217 + ] + } + } + ] + }, + { + "frame": 53, + "time": 1503.065694630146, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.0074192566916672234, + 0.9999724769363122, + -0.0, + -3946.879183962055 + ], + [ + 0.06715383097616891, + 0.0004982452230760377, + -0.9977425092361866, + -11.414446256482282 + ], + [ + -0.9977150484503211, + -0.0074024835649709984, + -0.06715567982563653, + 219.8397372380055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.0074192566916672234, + 0.06715383097616891, + -0.9977150484503211, + 190.821123450961 + ], + [ + 0.9999724769363122, + 0.0004982452230760377, + -0.0074024835649709984, + 3948.4036070230713 + ], + [ + -0.0, + -0.9977425092361866, + -0.06715567982563653, + 3.3748150642387555 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19082.112345096102, + -394840.36070230714, + 337.48150642387554 + ], + "rotation_deg": [ + 0.0, + -3.850635051727295, + 179.5749053955078 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.763294940172672, + 0.646050179403115, + -0.0, + -2693.3668449384577 + ], + [ + 0.27274608036319303, + -0.32224385927033833, + -0.9065144625482116, + 1221.4541462971342 + ], + [ + -0.5856538424242794, + 0.6919378910556614, + -0.4221747644934752, + -2611.5637756029582 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.763294940172672, + 0.27274608036319303, + -0.5856538424242794, + 193.2140959272395 + ], + [ + 0.646050179403115, + -0.32224385927033833, + 0.6919378910556614, + 3940.696225019705 + ], + [ + -0.0, + -0.9065144625482116, + -0.4221747644934752, + 4.7295151339911925 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19321.40959272395, + -394069.6225019705, + 472.9515133991192 + ], + "rotation_deg": [ + 0.0, + -24.971965789794922, + -130.24446105957028 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9050714054755881, + 0.4252596277457379, + -0.0, + -1843.591622832698 + ], + [ + 0.040507576677024086, + -0.08621145051983314, + -0.9954530235179464, + 335.78202406122654 + ], + [ + -0.42332599621805433, + 0.9009560604251851, + -0.09525375640425846, + -3462.0862755755675 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9050714054755881, + 0.040507576677024086, + -0.42332599621805433, + 189.38925977505056 + ], + [ + 0.4252596277457379, + -0.08621145051983314, + 0.9009560604251851, + 3932.141003297652 + ], + [ + -0.0, + -0.9954530235179464, + -0.09525375640425846, + 4.478508151807598 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18938.925977505056, + -393214.1003297652, + 447.8508151807598 + ], + "rotation_deg": [ + 0.0, + -5.465925216674805, + -115.16709899902348 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9625952015498853, + -0.2709436804081911, + -0.0, + 894.7966759614817 + ], + [ + -0.08425101735432382, + -0.29932281464837013, + -0.9504249674254875, + 1199.7714134592372 + ], + [ + 0.25751162923204424, + 0.914874514929905, + -0.31095398814298875, + -3649.7653590503387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9625952015498853, + -0.08425101735432382, + 0.25751162923204424, + 179.61203230053255 + ], + [ + -0.2709436804081911, + -0.29932281464837013, + 0.914874514929905, + 3940.6357615946786 + ], + [ + -0.0, + -0.9504249674254875, + -0.31095398814298875, + 5.383622610585532 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 17961.203230053256, + -394063.57615946786, + 538.3622610585533 + ], + "rotation_deg": [ + 0.0, + -18.116731643676765, + -74.27957153320311 + ] + } + } + ] + }, + { + "frame": 54, + "time": 1503.1323613002896, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.00754282390728673, + 0.9999715524991217, + -0.0, + -3946.72127630827 + ], + [ + 0.06722080587534295, + 0.0005070491259040715, + -0.9977379947454408, + -11.460036964884317 + ], + [ + -0.9977096117406352, + -0.007525737777815776, + -0.06722271871362384, + 220.32518536923408 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.00754282390728673, + 0.06722080587534295, + -0.9977096117406352, + 190.82157982747344 + ], + [ + 0.9999715524991217, + 0.0005070491259040715, + -0.007525737777815776, + 3948.2729283802164 + ], + [ + -0.0, + -0.9977379947454408, + -0.06722271871362384, + 3.3767499728723998 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19082.157982747343, + -394827.29283802165, + 337.67499728724 + ], + "rotation_deg": [ + 0.0, + -3.854484796524048, + 179.5678253173828 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.7686856617743238, + 0.6396267297280263, + 2.7755575442790155e-17, + -2668.996394108252 + ], + [ + 0.2659931933867875, + -0.3196632416736688, + -0.9094300594298498, + 1212.5661866553944 + ], + [ + -0.5816957862102099, + 0.6990658358029858, + -0.41585690990815405, + -2640.3664012571194 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7686856617743238, + 0.2659931933867875, + -0.5816957862102099, + 193.19490056976818 + ], + [ + 0.6396267297280263, + -0.3196632416736688, + 0.6990658358029858, + 3940.5642806455025 + ], + [ + 2.7755575442790155e-17, + -0.9094300594298498, + -0.41585690990815405, + 4.7295151339911925 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19319.490056976818, + -394056.4280645503, + 472.9515133991192 + ], + "rotation_deg": [ + -1.7486527156851326e-15, + -24.57329177856445, + -129.76399230957028 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9046788805341466, + 0.42609403083765796, + -0.0, + -1846.7411874411355 + ], + [ + 0.04052427888982832, + -0.08604077177150474, + -0.9954671106638445, + 335.09455511176276 + ], + [ + -0.4241626077480993, + 0.9005780646129706, + -0.09510642315999517, + -3460.34804927372 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9046788805341466, + 0.04052427888982832, + -0.4241626077480993, + 189.37806877838943 + ], + [ + 0.42609403083765796, + -0.08604077177150474, + 0.9005780646129706, + 3932.030788808016 + ], + [ + -0.0, + -0.9954671106638445, + -0.09510642315999517, + 4.47428251569744 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18937.806877838942, + -393203.0788808016, + 447.428251569744 + ], + "rotation_deg": [ + 0.0, + -5.457445144653319, + -115.21993255615234 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.96319769150656, + -0.2687939863100246, + -2.7755575422866557e-17, + 886.1824626535142 + ], + [ + -0.08358256140621585, + -0.29951016130181146, + -0.9504249674254874, + 1200.3484863730541 + ], + [ + 0.2554685062688745, + 0.9154471364107928, + -0.3109539881429886, + -3651.529171411203 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.96319769150656, + -0.08358256140621585, + 0.2554685062688745, + 179.61003476933817 + ], + [ + -0.2687939863100246, + -0.29951016130181146, + 0.9154471364107928, + 3940.498997224968 + ], + [ + -2.7755575422866557e-17, + -0.9504249674254874, + -0.3109539881429886, + 5.383622610585532 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 17961.003476933816, + -394049.8997224968, + 538.3622610585533 + ], + "rotation_deg": [ + 1.6732276576381467e-15, + -18.116731643676754, + -74.40748596191402 + ] + } + } + ] + }, + { + "frame": 55, + "time": 1503.1990279704332, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.007665858391167088, + 0.9999706168758793, + -0.0, + -3946.5637335097917 + ], + [ + 0.06728748482824881, + 0.0005158314869317651, + -0.9977334956306545, + -11.505355273383522 + ], + [ + -0.9977041792540914, + -0.007648459468548137, + -0.06728946252332357, + 220.80659202678405 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.007665858391167088, + 0.06728748482824881, + -0.9977041792540914, + 190.82012272263796 + ], + [ + 0.9999706168758793, + 0.0005158314869317651, + -0.007648459468548137, + 3948.142542311136 + ], + [ + -0.0, + -0.9977334956306545, + -0.06728946252332357, + 3.3786848815060444 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19082.012272263797, + -394814.2542311136, + 337.86848815060443 + ], + "rotation_deg": [ + 0.0, + -3.8583176136016872, + 179.56077575683594 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.7740870750803867, + 0.6330791421248149, + 2.7755575441324436e-17, + -2644.1390436930674 + ], + [ + 0.2591993389093851, + -0.3169317148022198, + -0.9123431321939469, + 1203.0924916623117 + ], + [ + -0.5775854189495923, + 0.7062330155388761, + -0.4094264422087192, + -2669.3528640153545 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7740870750803867, + 0.2591993389093851, + -0.5775854189495923, + 193.17379173094898 + ], + [ + 0.6330791421248149, + -0.3169317148022198, + 0.7062330155388761, + 3940.432628845075 + ], + [ + 2.7755575441324436e-17, + -0.9123431321939469, + -0.4094264422087192, + 4.7295151339911925 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19317.379173094898, + -394043.26288450754, + 472.9515133991192 + ], + "rotation_deg": [ + -1.7430693419476038e-15, + -24.16880989074707, + -129.2776641845703 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9042848473031199, + 0.42692963698714187, + 6.938893850643628e-18, + -1849.8934161913664 + ], + [ + 0.0405407000292074, + -0.08586974892206305, + -0.9954812091954338, + 334.4059270353705 + ], + [ + -0.42500044526891756, + 0.9001985665635922, + -0.09495873987198544, + -3458.604863103359 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9042848473031199, + 0.0405407000292074, + -0.42500044526891756, + 189.36496430038045 + ], + [ + 0.42692963698714187, + -0.08586974892206305, + 0.9001985665635922, + 3931.9208668921556 + ], + [ + 6.938893850643628e-18, + -0.9954812091954338, + -0.09495873987198544, + 4.470056879587281 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18936.496430038045, + -393192.08668921556, + 447.0056879587281 + ], + "rotation_deg": [ + -3.9937402287301917e-16, + -5.4489450454711905, + -115.27286529541018 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9637954162193078, + -0.2666428241574329, + -0.0, + 877.5658330937702 + ], + [ + -0.082913648960733, + -0.29969602618366065, + -0.9504249674254875, + 1200.9195314339258 + ], + [ + 0.2534239880301514, + 0.9160152288847955, + -0.3109539881429887, + -3653.2745597534263 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9637954162193078, + -0.082913648960733, + 0.2534239880301514, + 179.60613447487265 + ], + [ + -0.2666428241574329, + -0.29969602618366065, + 0.9160152288847955, + 3940.362563836251 + ], + [ + -0.0, + -0.9504249674254875, + -0.3109539881429887, + 5.383622610585532 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 17960.613447487263, + -394036.2563836251, + 538.3622610585533 + ], + "rotation_deg": [ + 0.0, + -18.11673164367676, + -74.53540802001952 + ] + } + } + ] + }, + { + "frame": 56, + "time": 1503.2656946405768, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.007788360142940733, + 0.9999696702631955, + -1.0842021641250954e-19, + -3946.4065202186625 + ], + [ + 0.06735387615363313, + 0.0005245921552495209, + -0.9977290113904433, + -11.550426023353854 + ], + [ + -0.9976987506855938, + -0.0077706486457621874, + -0.06735591956190304, + 221.28431623002845 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.007788360142940733, + 0.06735387615363313, + -0.9976987506855938, + 190.81711189890734 + ], + [ + 0.9999696702631955, + 0.0005245921552495209, + -0.0077706486457621874, + 3948.0124147850083 + ], + [ + -1.0842021641250954e-19, + -0.9977290113904433, + -0.06735591956190304, + 3.3806197901396886 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19081.711189890735, + -394801.24147850083, + 338.0619790139689 + ], + "rotation_deg": [ + 6.226160401806182e-18, + -3.8621339797973637, + 179.5537567138672 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.7794847707962763, + 0.6264211778800877, + -2.775557543986915e-17, + -2618.84650485179 + ], + [ + 0.2523749055159949, + -0.31404173793518303, + -0.9152511643808173, + 1193.001244270018 + ], + [ + -0.5733327240589564, + 0.7134243330968487, + -0.4028837406355004, + -2698.4614734072443 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7794847707962763, + 0.2523749055159949, + -0.5733327240589564, + 193.1511291732346 + ], + [ + 0.6264211778800877, + -0.31404173793518303, + 0.7134243330968487, + 3940.3012355876003 + ], + [ + -2.775557543986915e-17, + -0.9152511643808173, + -0.4028837406355004, + 4.7295151339911925 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19315.112917323462, + -394030.12355876004, + 472.9515133991192 + ], + "rotation_deg": [ + 1.7375310787571477e-15, + -23.758579254150387, + -128.7865753173828 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9038893587399184, + 0.42776632307457185, + -0.0, + -1853.0481483139135 + ], + [ + 0.040556823462662796, + -0.0856983805754238, + -0.9954953197465912, + 333.7161200343272 + ], + [ + -0.4258393865660829, + 0.8998176194916075, + -0.09481069824380696, + -3456.8567706654835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9038893587399184, + 0.040556823462662796, + -0.4258393865660829, + 189.3503061034763 + ], + [ + 0.42776632307457185, + -0.0856983805754238, + 0.8998176194916075, + 3931.8112035192466 + ], + [ + -0.0, + -0.9954953197465912, + -0.09481069824380696, + 4.4658312434771235 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18935.03061034763, + -393181.1203519247, + 446.5831243477123 + ], + "rotation_deg": [ + 0.0, + -5.44042444229126, + -115.32588958740234 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9643883014112372, + -0.2644904612668455, + -2.7755575422866557e-17, + 868.947499868288 + ], + [ + -0.08224436314098447, + -0.2998803861972218, + -0.9504249674254874, + 1201.4844965626585 + ], + [ + 0.2513783285800868, + 0.9165787217573036, + -0.31095398814298864, + -3655.001364897953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9643883014112372, + -0.08224436314098447, + 0.2513783285800868, + 179.6006910938155 + ], + [ + -0.2644904612668455, + -0.2998803861972218, + 0.9165787217573036, + 3940.2264274215368 + ], + [ + -2.7755575422866557e-17, + -0.9504249674254874, + -0.31095398814298864, + 5.383622610585532 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 17960.06910938155, + -394022.64274215366, + 538.3622610585533 + ], + "rotation_deg": [ + 1.6732276576381467e-15, + -18.116731643676758, + -74.66332244873044 + ] + } + } + ] + }, + { + "frame": 57, + "time": 1503.3323613107204, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.007910595470055704, + 0.999968710750146, + -0.0, + -3946.249522819869 + ], + [ + 0.06741997557325784, + 0.000533348841446239, + -0.9977245423626275, + -11.595344372872525 + ], + [ + -0.9976933244664873, + -0.00789257102624189, + -0.06742208568120946, + 221.7597969119754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.007910595470055704, + 0.06741997557325784, + -0.9976933244664873, + 190.81293857634012 + ], + [ + 0.999968710750146, + 0.000533348841446239, + -0.00789257102624189, + 3947.882493069119 + ], + [ + -0.0, + -0.9977245423626275, + -0.06742208568120946, + 3.3825546987733333 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19081.293857634013, + -394788.2493069119, + 338.2554698773333 + ], + "rotation_deg": [ + 0.0, + -3.8659336566925044, + 179.54675292968753 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.7848651409616983, + 0.6196666123837664, + 2.7755575438425452e-17, + -2593.170714716215 + ], + [ + 0.24552999334076886, + -0.3109864707611215, + -0.9181516418182912, + 1182.2634438614386 + ], + [ + -0.5689479292645055, + 0.7206252069300788, + -0.3962291823208031, + -2727.63250460491 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7848651409616983, + 0.24552999334076886, + -0.5689479292645055, + 193.12730411668363 + ], + [ + 0.6196666123837664, + -0.3109864707611215, + 0.7206252069300788, + 3940.170048140364 + ], + [ + 2.7755575438425452e-17, + -0.9181516418182912, + -0.3962291823208031, + 4.7295151339911925 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19312.730411668363, + -394017.0048140364, + 472.9515133991192 + ], + "rotation_deg": [ + -1.7320421491032376e-15, + -23.342657089233395, + -128.2917938232422 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9034923541003542, + 0.42860420679480027, + -0.0, + -1856.2061681128644 + ], + [ + 0.04057266249827655, + -0.08552666952762106, + -0.9955094413702532, + 333.0251222376703 + ], + [ + -0.42667954847590234, + 0.8994351619940707, + -0.09466230654859109, + -3455.103298164431 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9034923541003542, + 0.04057266249827655, + -0.42667954847590234, + 189.3344854077355 + ], + [ + 0.42860420679480027, + -0.08552666952762106, + 0.8994351619940707, + 3931.7017459565773 + ], + [ + -0.0, + -0.9955094413702532, + -0.09466230654859109, + 4.461605607366964 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18933.448540773552, + -393170.17459565774, + 446.1605607366964 + ], + "rotation_deg": [ + 0.0, + -5.4318838119506845, + -115.37901306152347 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9649763799193788, + -0.2623367801084909, + 2.7755575422866557e-17, + 860.3266039773678 + ], + [ + -0.08157466740061932, + -0.3000632515533006, + -0.9504249674254874, + 1202.0434354010933 + ], + [ + 0.24933141621545032, + 0.9171376462374493, + -0.3109539881429887, + -3656.709750800043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9649763799193788, + -0.08157466740061932, + 0.24933141621545032, + 179.5940957603991 + ], + [ + -0.2623367801084909, + -0.3000632515533006, + 0.9171376462374493, + 3940.090535271753 + ], + [ + 2.7755575422866557e-17, + -0.9504249674254874, + -0.3109539881429887, + 5.383622610585532 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 17959.40957603991, + -394009.05352717533, + 538.3622610585533 + ], + "rotation_deg": [ + -1.6732276576381467e-15, + -18.11673164367676, + -74.7912368774414 + ] + } + } + ] + }, + { + "frame": 58, + "time": 1503.399027980864, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.008032031756421944, + 0.9999677427126655, + 5.4210108206262305e-20, + -3946.0927561222406 + ], + [ + 0.0674857875359048, + 0.0005420654741572858, + -0.9977200883242154, + -11.640008048516869 + ], + [ + -0.9976879047398621, + -0.008013695215570472, + -0.06748796503655916, + 222.2315211823396 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.008032031756421944, + 0.0674857875359048, + -0.9976879047398621, + 190.80818883233377 + ], + [ + 0.9999677427126655, + 0.0005420654741572858, + -0.008013695215570472, + 3947.752677346766 + ], + [ + 5.4210108206262305e-20, + -0.9977200883242154, + -0.06748796503655916, + 3.384489607406978 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19080.818883233376, + -394775.2677346766, + 338.44896074069777 + ], + "rotation_deg": [ + -3.1131080426009398e-18, + -3.869716882705689, + 179.539794921875 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.7902095050218293, + 0.6128367957075975, + -0.0, + -2567.1926044197294 + ], + [ + 0.2386771736505371, + -0.3077572570240856, + -0.9210421692448191, + 1170.8424128084696 + ], + [ + -0.5644485435470071, + 0.7278162659570243, + -0.3894628669026566, + -2756.7858257868065 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7902095050218293, + 0.2386771736505371, + -0.5644485435470071, + 193.10290263869354 + ], + [ + 0.6128367957075975, + -0.3077572570240856, + 0.7278162659570243, + 3940.038966686664 + ], + [ + -0.0, + -0.9210421692448191, + -0.3894628669026566, + 4.7295151339911925 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19310.290263869352, + -394003.8966686664, + 472.9515133991192 + ], + "rotation_deg": [ + 0.0, + -22.921081542968743, + -127.79490661621092 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9030938865582772, + 0.4294431651115957, + -6.9388938506390375e-18, + -1859.3674899245218 + ], + [ + 0.040588196973430274, + -0.08535460692127408, + -0.9955235754836548, + 332.3328703857156 + ], + [ + -0.42752080920009883, + 0.8990512482092848, + -0.09451354820457904, + -3453.3443445251883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9030938865582772, + 0.040588196973430274, + -0.42752080920009883, + 189.3180882905556 + ], + [ + 0.4294431651115957, + -0.08535460692127408, + 0.8990512482092848, + 3931.5923943874436 + ], + [ + -6.9388938506390375e-18, + -0.9955235754836548, + -0.09451354820457904, + 4.457379971256806 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18931.80882905556, + -393159.2394387444, + 445.73799712568064 + ], + "rotation_deg": [ + 3.9935702679613993e-16, + -5.4233222007751465, + -115.43222808837893 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9655596488126437, + -0.2601817914167024, + -0.0, + 851.7025973624611 + ], + [ + -0.08090456507752136, + -0.30024462134046326, + -0.9504249674254875, + 1202.5963654704856 + ], + [ + 0.24728326113842025, + 0.9176919995394526, + -0.3109539881429887, + -3658.3997710130757 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9655596488126437, + -0.08090456507752136, + 0.24728326113842025, + 179.5869344661422 + ], + [ + -0.2601817914167024, + -0.30024462134046326, + 0.9176919995394526, + 3939.9547875936487 + ], + [ + -0.0, + -0.9504249674254875, + -0.3109539881429887, + 5.383622610585532 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 17958.69344661422, + -393995.47875936487, + 538.3622610585533 + ], + "rotation_deg": [ + 0.0, + -18.11673164367676, + -74.91915130615233 + ] + } + } + ] + }, + { + "frame": 59, + "time": 1503.4656946510077, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.008152935309823363, + 0.99996676427061, + -5.4210108206266036e-20, + -3945.9359901757402 + ], + [ + 0.06755131606880642, + 0.0005507598149065773, + -0.9977156490508696, + -11.68454811567047 + ], + [ + -0.9976824894056159, + -0.008134286927501474, + -0.067553561783185, + 222.7014281193062 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.008152935309823363, + 0.06755131606880642, + -0.9976824894056159, + 190.8037562470976 + ], + [ + 0.99996676427061, + 0.0005507598149065773, + -0.008134286927501474, + 3947.6228029805075 + ], + [ + -5.4210108206266036e-20, + -0.9977156490508696, + -0.067553561783185, + 3.386424516040622 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19080.37562470976, + -394762.2802980507, + 338.6424516040622 + ], + "rotation_deg": [ + 3.1131218941805793e-18, + -3.8734838962554954, + 179.53286743164062 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.7954920985386451, + 0.6059639602835984, + -0.0, + -2541.0348241205706 + ], + [ + 0.23183231764729897, + -0.30434281403140956, + -0.9239205745310171, + 1158.6904213687337 + ], + [ + -0.5598625822746272, + 0.7349715061555431, + -0.38258433594207564, + -2785.8129452084327 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7954920985386451, + 0.23183231764729897, + -0.5598625822746272, + 193.0788183194736 + ], + [ + 0.6059639602835984, + -0.30434281403140956, + 0.7349715061555431, + 3939.9078265890585 + ], + [ + -0.0, + -0.9239205745310171, + -0.38258433594207564, + 4.7295151339911925 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19307.88183194736, + -393990.78265890584, + 472.9515133991192 + ], + "rotation_deg": [ + 0.0, + -22.49385452270508, + -127.29824066162115 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9026938951400321, + 0.43028331559208344, + -0.0, + -1862.5333008835971 + ], + [ + 0.04060344370465375, + -0.08518220304084516, + -0.9955377203523887, + 331.63935148626905 + ], + [ + -0.428363285111894, + 0.8986658157930737, + -0.09436443977004863, + -3451.5791136681964 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9026938951400321, + 0.04060344370465375, + -0.428363285111894, + 189.30200833214593 + ], + [ + 0.43028331559208344, + -0.08518220304084516, + 0.8986658157930737, + 3931.482984174405 + ], + [ + -0.0, + -0.9955377203523887, + -0.09436443977004863, + 4.453154335146647 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18930.200833214592, + -393148.2984174405, + 445.31543351466473 + ], + "rotation_deg": [ + 0.0, + -5.414740562438965, + -115.48554229736331 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9661381395420808, + -0.25802537728325636, + 2.7755575422866557e-17, + 843.0741046104672 + ], + [ + -0.08023401950765842, + -0.30042450533853887, + -0.9504249674254874, + 1203.1433427861573 + ], + [ + 0.24523375128607625, + 0.918241811555175, + -0.31095398814298875, + -3660.071596746809 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9661381395420808, + -0.08023401950765842, + 0.24523375128607625, + 179.58010070532325 + ], + [ + -0.25802537728325636, + -0.30042450533853887, + 0.918241811555175, + 3939.819019773039 + ], + [ + 2.7755575422866557e-17, + -0.9504249674254874, + -0.31095398814298875, + 5.383622610585532 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 17958.010070532324, + -393981.9019773039, + 538.3622610585533 + ], + "rotation_deg": [ + -1.6732276576381467e-15, + -18.116731643676765, + -75.0470733642578 + ] + } + } + ] + }, + { + "frame": 60, + "time": 1503.5323613211513, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.00827330613005636, + 0.9999657756171849, + 5.421010820626977e-20, + -3945.7790462910225 + ], + [ + 0.06761656118729373, + 0.0005594316563673347, + -0.9977112245982935, + -11.729029356082918 + ], + [ + -0.9976770787123082, + -0.00825434617474333, + -0.06761887592457182, + 223.17048480501515 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.00827330613005636, + 0.06761656118729373, + -0.9976770787123082, + 190.80061129416413 + ], + [ + 0.9999657756171849, + 0.0005594316563673347, + -0.00825434617474333, + 3947.49269865934 + ], + [ + 5.421010820626977e-20, + -0.9977112245982935, + -0.06761887592457182, + 3.3883594246742668 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19080.061129416412, + -394749.269865934, + 338.83594246742666 + ], + "rotation_deg": [ + -3.1131356996385697e-18, + -3.87723469734192, + 179.52597045898438 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.8006860406039369, + 0.5990841880587325, + -0.0, + -2514.835041172825 + ], + [ + 0.22501195327689136, + -0.3007322402242561, + -0.9267846246956293, + 1145.7611291460573 + ], + [ + -0.5552220264418292, + 0.7420635012245056, + -0.37559321280376873, + -2814.598982047579 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8006860406039369, + 0.22501195327689136, + -0.5552220264418292, + 193.0560216325564 + ], + [ + 0.5990841880587325, + -0.3007322402242561, + 0.7420635012245056, + 3939.7764565365437 + ], + [ + -0.0, + -0.9267846246956293, + -0.37559321280376873, + 4.7295151339911925 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19305.60216325564, + -393977.64565365436, + 472.9515133991192 + ], + "rotation_deg": [ + 0.0, + -22.06098175048828, + -126.80433654785153 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9022923758289136, + 0.43112465543159784, + 6.938893850635975e-18, + -1865.704390151882 + ], + [ + 0.040618393863036326, + -0.0850094436476701, + -0.9955518773879642, + 330.94445737098926 + ], + [ + -0.42920697410533165, + 0.8982788619426226, + -0.09421496466279344, + -3449.8070244467417 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9022923758289136, + 0.040618393863036326, + -0.42920697410533165, + 189.2872160060389 + ], + [ + 0.43112465543159784, + -0.0850094436476701, + 0.8982788619426226, + 3931.373344006457 + ], + [ + 6.938893850635975e-18, + -0.9955518773879642, + -0.09421496466279344, + 4.44892869903649 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18928.72160060389, + -393137.3344006457, + 444.89286990364894 + ], + "rotation_deg": [ + -3.993456737317844e-16, + -5.406137943267822, + -115.53895568847656 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9667117802209313, + -0.25586780567722456, + -0.0, + 834.4412124759739 + ], + [ + -0.07956311401708148, + -0.300602881194053, + -0.9504249674254875, + 1203.6843199075713 + ], + [ + 0.24318314134291735, + 0.918787013961648, + -0.3109539881429887, + -3661.7250830001417 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9667117802209313, + -0.07956311401708148, + 0.24318314134291735, + 179.5745648654921 + ], + [ + -0.25586780567722456, + -0.300602881194053, + 0.918787013961648, + 3939.683060521986 + ], + [ + -0.0, + -0.9504249674254875, + -0.3109539881429887, + 5.383622610585532 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 17957.45648654921, + -393968.30605219863, + 538.3622610585533 + ], + "rotation_deg": [ + 0.0, + -18.11673164367676, + -75.17498779296872 + ] + } + } + ] + }, + { + "frame": 61, + "time": 1503.5990279912949, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.008393144216956458, + 0.9999647769447448, + -5.42101082062735e-20, + -3945.621812086717 + ], + [ + 0.06768152290669928, + 0.0005680807921202993, + -0.9977068150219499, + -11.773501501542341 + ], + [ + -0.9976716729074051, + -0.00837387297002013, + -0.06768390746419561, + 223.63943269566147 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.008393144216956458, + 0.06768152290669928, + -0.9976716729074051, + 190.799497853129 + ], + [ + 0.9999647769447448, + 0.0005680807921202993, + -0.00837387297002013, + 3947.362257947645 + ], + [ + -5.42101082062735e-20, + -0.9977068150219499, + -0.06768390746419561, + 3.390294333307911 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19079.9497853129, + -394736.2257947645, + 339.0294333307911 + ], + "rotation_deg": [ + 3.1131494588006227e-18, + -3.8809692859649667, + 179.51910400390625 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.8057718313507823, + 0.5922261019252751, + -0.0, + -2488.7028254293073 + ], + [ + 0.21822930859503292, + -0.29691874280681724, + -0.9296317706705988, + 1132.0251232804728 + ], + [ + -0.5505522119246323, + 0.7490710840649234, + -0.3684898546265492, + -2843.0551980169093 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8057718313507823, + 0.21822930859503292, + -0.5505522119246323, + 193.0352564575375 + ], + [ + 0.5922261019252751, + -0.29691874280681724, + 0.7490710840649234, + 3939.6447500935024 + ], + [ + -0.0, + -0.9296317706705988, + -0.3684898546265492, + 4.7295151339911925 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19303.52564575375, + -393964.4750093502, + 472.9515133991192 + ], + "rotation_deg": [ + 0.0, + -21.62251281738281, + -126.31513977050781 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9018893246046574, + 0.4319671818137977, + -6.9388938506344415e-18, + -1868.881368362199 + ], + [ + 0.04063305287767677, + -0.08483634442458632, + -0.9955660448601652, + 330.2482095673084 + ], + [ + -0.4300518727103842, + 0.8978903810154814, + -0.09406513944158562, + -3448.027637345198 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9018893246046574, + 0.04063305287767677, + -0.4300518727103842, + 189.2744551918302 + ], + [ + 0.4319671818137977, + -0.08483634442458632, + 0.8978903810154814, + 3931.2633674479816 + ], + [ + -6.9388938506344415e-18, + -0.9955660448601652, + -0.09406513944158562, + 4.44470306292633 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18927.44551918302, + -393126.3367447982, + 444.47030629263304 + ], + "rotation_deg": [ + 3.9933999081516803e-16, + -5.397515296936036, + -115.59246826171878 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9672806026353598, + -0.2537089587802834, + -0.0, + 825.8027040423799 + ], + [ + -0.07889181196971319, + -0.30077975879104046, + -0.9504249674254875, + 1204.219353773346 + ], + [ + 0.24113131933146614, + 0.9193276369692348, + -0.3109539881429887, + -3663.3604038048666 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9672806026353598, + -0.07889181196971319, + 0.24113131933146614, + 179.57107074021053 + ], + [ + -0.2537089587802834, + -0.30077975879104046, + 0.9193276369692348, + 3939.5468034277474 + ], + [ + -0.0, + -0.9504249674254875, + -0.3109539881429887, + 5.383622610585532 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 17957.107074021053, + -393954.6803427747, + 538.3622610585533 + ], + "rotation_deg": [ + 0.0, + -18.11673164367676, + -75.30290222167967 + ] + } + } + ] + }, + { + "frame": 62, + "time": 1503.6656946614385, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.008512715876855847, + 0.999963766177755, + -5.4210108206277194e-20, + -3945.464216325625 + ], + [ + 0.06774620524024522, + 0.0005767250938999069, + -0.9977024200951465, + -11.818056049024795 + ], + [ + -0.9976662696935513, + -0.008493133018272587, + -0.06774866055715177, + 224.10961165230535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.008512715876855847, + 0.06774620524024522, + -0.9976662696935513, + 190.8007081157489 + ], + [ + 0.999963766177755, + 0.0005767250938999069, + -0.008493133018272587, + 3947.231471826427 + ], + [ + -5.4210108206277194e-20, + -0.9977024200951465, + -0.06774866055715177, + 3.3922292419415556 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19080.07081157489, + -394723.1471826427, + 339.22292419415555 + ], + "rotation_deg": [ + 3.1131631723728617e-18, + -3.884687900543212, + 179.5122528076172 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.8107427614064358, + 0.5854025750089137, + -2.7755575431415542e-17, + -2462.687863410323 + ], + [ + 0.21149165418017188, + -0.29290156047201654, + -0.9324590908373364, + 1117.4780507100236 + ], + [ + -0.5458639651221566, + 0.755984448078888, + -0.36127558157724443, + -2871.1407505852317 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8107427614064358, + 0.21149165418017188, + -0.5458639651221566, + 193.01681498617367 + ], + [ + 0.5854025750089137, + -0.29290156047201654, + 0.755984448078888, + 3939.5126982409365 + ], + [ + -2.7755575431415542e-17, + -0.9324590908373364, + -0.36127558157724443, + 4.7295151339911925 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19301.681498617367, + -393951.2698240937, + 472.9515133991192 + ], + "rotation_deg": [ + 1.705466071511976e-15, + -21.1785545349121, + -125.83143615722653 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9014847950757191, + 0.43281077187067374, + 6.938893850632904e-18, + -1872.064018511148 + ], + [ + 0.04064740061401667, + -0.08466289656911914, + -0.9955802241747521, + 329.55056483411397 + ], + [ + -0.43089785928732977, + 0.8975004275727134, + -0.09391494752377146, + -3446.241051736199 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9014847950757191, + 0.04064740061401667, + -0.43089785928732977, + 189.2640180812766 + ], + [ + 0.43281077187067374, + -0.08466289656911914, + 0.8975004275727134, + 3931.153045479983 + ], + [ + 6.938893850632904e-18, + -0.9955802241747521, + -0.09391494752377146, + 4.440477426816171 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18926.40180812766, + -393115.3045479983, + 444.04774268161714 + ], + "rotation_deg": [ + -3.9933430331022625e-16, + -5.388871669769288, + -115.64607238769531 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9678446374459994, + -0.2515487184762069, + -8.326672626859967e-17, + 817.157822435446 + ], + [ + -0.07822007663684238, + -0.3009551476635472, + -0.9504249674254874, + 1204.748491834414 + ], + [ + 0.23907817299111145, + 0.9198637097185663, + -0.31095398814298864, + -3664.9777041938582 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9678446374459994, + -0.07822007663684238, + 0.23907817299111145, + 179.56991043515052 + ], + [ + -0.2515487184762069, + -0.3009551476635472, + 0.9198637097185663, + 3939.410239494007 + ], + [ + -8.326672626859967e-17, + -0.9504249674254874, + -0.31095398814298864, + 5.383622610585532 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 17956.991043515052, + -393941.0239494007, + 538.3622610585533 + ], + "rotation_deg": [ + 5.01968297291444e-15, + -18.116731643676758, + -75.43082427978513 + ] + } + } + ] + }, + { + "frame": 63, + "time": 1503.732361331582, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.008631488496481326, + 0.9999627480093122, + -5.4210108206280896e-20, + -3945.306393764664 + ], + [ + 0.06781060850808311, + 0.000585328291920998, + -0.9976980398720617, + -11.86256408617532 + ], + [ + -0.9976608738073184, + -0.008611594941512944, + -0.06781313520684351, + 224.57912733334885 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.008631488496481326, + 0.06781060850808311, + -0.9976608738073184, + 190.80444462287676 + ], + [ + 0.9999627480093122, + 0.000585328291920998, + -0.008611594941512944, + 3947.1003574792644 + ], + [ + -5.4210108206280896e-20, + -0.9976980398720617, + -0.06781313520684351, + 3.3941641505752 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19080.444462287676, + -394710.03574792645, + 339.41641505752 + ], + "rotation_deg": [ + 3.1131768401850272e-18, + -3.88839054107666, + 179.5054473876953 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.8155947374255355, + 0.5786235600835588, + -0.0, + -2436.828782380339 + ], + [ + 0.2048050408672299, + -0.2886814935524101, + -0.9352635406748848, + 1102.1219798253708 + ], + [ + -0.5411655318753743, + 0.7627960118997991, + -0.3539521314242998, + -2898.824139517904 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8155947374255355, + 0.2048050408672299, + -0.5411655318753743, + 193.0008997593178 + ], + [ + 0.5786235600835588, + -0.2886814935524101, + 0.7627960118997991, + 3939.380318162427 + ], + [ + -0.0, + -0.9352635406748848, + -0.3539521314242998, + 4.7295151339911925 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19300.08997593178, + -393938.0318162427, + 472.9515133991192 + ], + "rotation_deg": [ + 0.0, + -20.729236602783203, + -125.35379028320311 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9010787258075517, + 0.4336555429105443, + -0.0, + -1875.252976072932 + ], + [ + 0.04066145025198078, + -0.08448910288712722, + -0.995594414386066, + 328.8515251042027 + ], + [ + -0.43174505029280147, + 0.8971089395210551, + -0.09376439718290586, + -3444.4469244446004 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9010787258075517, + 0.04066145025198078, + -0.43174505029280147, + 189.2561072152309 + ], + [ + 0.4336555429105443, + -0.08448910288712722, + 0.8971089395210551, + 3931.04239528604 + ], + [ + -0.0, + -0.995594414386066, + -0.09376439718290586, + 4.436251790706013 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18925.61072152309, + -393104.239528604, + 443.62517907060135 + ], + "rotation_deg": [ + 0.0, + -5.380207538604737, + -115.6997756958008 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9684038145624716, + -0.24938735320952904, + -0.0, + 808.507444544512 + ], + [ + -0.07754799149236664, + -0.3011290260166909, + -0.9504249674254875, + 1205.2716798523275 + ], + [ + 0.23702395745824373, + 0.9203951655939983, + -0.3109539881429887, + -3666.5768183883292 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9684038145624716, + -0.07754799149236664, + 0.23702395745824373, + 179.5712864050298 + ], + [ + -0.24938735320952904, + -0.3011290260166909, + 0.9203951655939983, + 3939.273385926835 + ], + [ + -0.0, + -0.9504249674254875, + -0.3109539881429887, + 5.383622610585532 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 17957.128640502982, + -393927.3385926835, + 538.3622610585533 + ], + "rotation_deg": [ + 0.0, + -18.11673164367676, + -75.55873870849607 + ] + } + } + ] + }, + { + "frame": 64, + "time": 1503.7990280017257, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.008749994688422469, + 0.999961718063723, + -5.421010820628457e-20, + -3945.1482713075848 + ], + [ + 0.06787473656744879, + 0.0005939263210928285, + -0.9976936741241894, + -11.907170078272422 + ], + [ + -0.9976554806546728, + -0.008729790137696482, + -0.0678773355682573, + 225.05009704895684 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.008749994688422469, + 0.06787473656744879, + -0.9976554806546728, + 190.81072761939373 + ], + [ + 0.999961718063723, + 0.0005939263210928285, + -0.008729790137696482, + 3946.96896177503 + ], + [ + -5.421010820628457e-20, + -0.9976936741241894, + -0.0678773355682573, + 3.3960990592088445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19081.072761939373, + -394696.896177503, + 339.60990592088444 + ], + "rotation_deg": [ + 3.1131904629489368e-18, + -3.892077445983887, + 179.4986572265625 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.8203289630496337, + 0.5718919411758767, + -5.55111508574587e-17, + -2411.1372503827033 + ], + [ + 0.19817292878498988, + -0.28426173105437186, + -0.9380419812325836, + 1085.9689374580255 + ], + [ + -0.5364586620006635, + 0.7695029959247649, + -0.346521634573181, + -2926.0941615511547 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8203289630496337, + 0.19817292878498988, + -0.5364586620006635, + 192.987531021851 + ], + [ + 0.5718919411758767, + -0.28426173105437186, + 0.7695029959247649, + 3939.2476567268454 + ], + [ + -5.55111508574587e-17, + -0.9380419812325836, + -0.346521634573181, + 4.7295151339911925 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19298.7531021851, + -393924.76567268453, + 472.9515133991192 + ], + "rotation_deg": [ + 3.3906314944507175e-15, + -20.27470970153808, + -124.88226318359374 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.900671112769868, + 0.4345014920824636, + -2.081668155188949e-17, + -1878.448263411714 + ], + [ + 0.04067519647760395, + -0.08431495665995015, + -0.99560861611124, + 328.15106827590756 + ], + [ + -0.4325934432344098, + 0.8967159133249303, + -0.0936134801213654, + -3442.6452698493285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.900671112769868, + 0.04067519647760395, + -0.4325934432344098, + 189.25074283857433 + ], + [ + 0.4345014920824636, + -0.08431495665995015, + 0.8967159133249303, + 3930.931463735025 + ], + [ + -2.081668155188949e-17, + -0.99560861611124, + -0.0936134801213654, + 4.432026154595855 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18925.074283857433, + -393093.1463735025, + 443.20261545958545 + ], + "rotation_deg": [ + 1.1979687462819225e-15, + -5.371522426605225, + -115.75357818603517 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9689581649811198, + -0.24722474495167593, + 2.7755575422866557e-17, + 799.8510900377426 + ], + [ + -0.07687551983483068, + -0.3013014034889078, + -0.9504249674254874, + 1205.7889602354685 + ], + [ + 0.23496856055555793, + 0.9209220340552287, + -0.31095398814298875, + -3668.1578760086973 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9689581649811198, + -0.07687551983483068, + 0.23496856055555793, + 179.57521880854438 + ], + [ + -0.24722474495167593, + -0.3013014034889078, + 0.9209220340552287, + 3939.1362896174 + ], + [ + 2.7755575422866557e-17, + -0.9504249674254874, + -0.31095398814298875, + 5.383622610585532 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 17957.521880854438, + -393913.62896174, + 538.3622610585533 + ], + "rotation_deg": [ + -1.6732276576381467e-15, + -18.116731643676765, + -75.68665313720703 + ] + } + } + ] + }, + { + "frame": 65, + "time": 1503.8656946718693, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.008867701840567595, + 0.9999606811590479, + -0.0, + -3944.9900421093516 + ], + [ + 0.06793858559618683, + 0.0006024828094626268, + -0.9976893231871602, + -11.955867431742806 + ], + [ + -0.9976500953782558, + -0.008847187237014005, + -0.06794125749315023, + 225.51987968679015 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.008867701840567595, + 0.06793858559618683, + -0.9976500953782558, + 190.8192939989542 + ], + [ + 0.9999606811590479, + 0.0006024828094626268, + -0.008847187237014005, + 3946.837355784218 + ], + [ + -0.0, + -0.9976893231871602, + -0.06794125749315023, + 3.3938693007129723 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19081.92939989542, + -394683.7355784218, + 339.38693007129723 + ], + "rotation_deg": [ + 0.0, + -3.8957483768463144, + 179.49191284179688 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.8249535961509108, + 0.5652004637274105, + -0.0, + -2385.5861159859132 + ], + [ + 0.19147889685519695, + -0.2794781934642695, + -0.9408654374760852, + 1068.3916859602998 + ], + [ + -0.5317775941099081, + 0.7761703164467058, + -0.3387805045596611, + -2953.202562584694 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8249535961509108, + 0.19147889685519695, + -0.5317775941099081, + 192.97644566742773 + ], + [ + 0.5652004637274105, + -0.2794781934642695, + 0.7761703164467058, + 3939.1147850046864 + ], + [ + -0.0, + -0.9408654374760852, + -0.3387805045596611, + 4.725350466861675 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19297.644566742772, + -393911.47850046866, + 472.53504668616756 + ], + "rotation_deg": [ + 0.0, + -19.802593231201172, + -124.41621398925778 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9002619519289431, + 0.4353486165236878, + 6.93889385062829e-18, + -1881.6496583917778 + ], + [ + 0.040688641161240595, + -0.08414046610657298, + -0.9956228284063298, + 327.44509670039275 + ], + [ + -0.4334430349304111, + 0.8963213440386198, + -0.09346220461296642, + -3440.8366304347905 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9002619519289431, + 0.040688641161240595, + -0.4334430349304111, + 189.24766184496127 + ], + [ + 0.4353486165236878, + -0.08414046610657298, + 0.8963213440386198, + 3930.820321897433 + ], + [ + 6.93889385062829e-18, + -0.9956228284063298, + -0.09346220461296642, + 4.42363585135618 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18924.766184496126, + -393082.0321897433, + 442.363585135618 + ], + "rotation_deg": [ + -3.993172151811536e-16, + -5.362816810607911, + -115.80747985839845 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9695076859389624, + -0.2450609044814752, + -0.0, + 791.1890723499149 + ], + [ + -0.07620266501595388, + -0.30147227922103786, + -0.9504249674254875, + 1206.2963687041845 + ], + [ + 0.23291199252752173, + 0.9214443124762507, + -0.3109539881429887, + -3669.722153503539 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9695076859389624, + -0.07620266501595388, + 0.23291199252752173, + 179.5814444531139 + ], + [ + -0.2450609044814752, + -0.30147227922103786, + 0.9214443124762507, + 3938.9990216583033 + ], + [ + -0.0, + -0.9504249674254875, + -0.3109539881429887, + 5.379457943456016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 17958.14444531139, + -393899.9021658303, + 537.9457943456016 + ], + "rotation_deg": [ + 0.0, + -18.11673164367676, + -75.81456756591795 + ] + } + } + ] + }, + { + "frame": 66, + "time": 1503.9323613420129, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.008985142564485222, + 0.9999596327917923, + -0.0, + -3944.8317621107785 + ], + [ + 0.06800216774511089, + 0.0006110338376140048, + -0.9976849862655122, + -12.027221037225232 + ], + [ + -0.9976447126896265, + -0.008964317626548306, + -0.06800491343956704, + 225.98763617765204 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.008985142564485222, + 0.06800216774511089, + -0.9976447126896265, + 190.8284669381588 + ], + [ + 0.9999596327917923, + 0.0006110338376140048, + -0.008964317626548306, + 3946.70570058233 + ], + [ + -0.0, + -0.9976849862655122, + -0.06800491343956704, + 3.3688981577108748 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19082.84669381588, + -394670.570058233, + 336.88981577108746 + ], + "rotation_deg": [ + 0.0, + -3.899404048919678, + 179.4851837158203 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.8295137570897027, + 0.5584862816568781, + -0.0, + -2359.935258950121 + ], + [ + 0.18419903187405262, + -0.27358887048904384, + -0.9440444092314677, + 1046.552994967833 + ], + [ + -0.5272358644743297, + 0.7830978152132987, + -0.3298183667113834, + -2981.31988029782 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8295137570897027, + 0.18419903187405262, + -0.5272358644743297, + 192.9659668726486 + ], + [ + 0.5584862816568781, + -0.27358887048904384, + 0.7830978152132987, + 3938.981864071451 + ], + [ + -0.0, + -0.9440444092314677, + -0.3298183667113834, + 4.698444415225933 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19296.59668726486, + -393898.1864071451, + 469.84444152259334 + ], + "rotation_deg": [ + 0.0, + -19.25775146484375, + -123.9511795043945 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8998512973307682, + 0.43619679353719804, + 6.9388938506267524e-18, + -1884.8552466090032 + ], + [ + 0.04070176779015763, + -0.08396562994566271, + -0.9956370518851655, + 326.71519452732804 + ], + [ + -0.43429370356383, + 0.8959252859457062, + -0.09331056235987487, + -3439.023841669052 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8998512973307682, + 0.04070176779015763, + -0.43429370356383, + 189.24518741099237 + ], + [ + 0.43619679353719804, + -0.08396562994566271, + 0.8959252859457062, + 3930.7091308487643 + ], + [ + 6.9388938506267524e-18, + -0.9956370518851655, + -0.09331056235987487, + 4.392504163610279 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18924.518741099237, + -393070.91308487643, + 439.2504163610279 + ], + "rotation_deg": [ + -3.9931151061236895e-16, + -5.354090213775635, + -115.8614730834961 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9700524070406172, + -0.24289571341360586, + -5.5511150845733115e-17, + 782.5225836124341 + ], + [ + -0.07552939022334881, + -0.3016416624187549, + -0.9504249674254874, + 1206.7761969631517 + ], + [ + 0.23085414085776934, + 0.9219620289940319, + -0.31095398814298864, + -3671.2752668529315 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9700524070406172, + -0.07552939022334881, + 0.23085414085776934, + 179.58828642905527 + ], + [ + -0.24289571341360586, + -0.3016416624187549, + 0.9219620289940319, + 3938.8617431469556 + ], + [ + -5.5511150845733115e-17, + -0.9504249674254874, + -0.31095398814298864, + 5.352551891820274 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 17958.828642905526, + -393886.1743146956, + 535.2551891820274 + ], + "rotation_deg": [ + 3.3464553152762934e-15, + -18.116731643676758, + -75.94248962402341 + ] + } + } + ] + }, + { + "frame": 67, + "time": 1503.9990280121565, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.009102050554318415, + 0.999958575479858, + -0.0, + -3944.673524280786 + ], + [ + 0.06806547488473151, + 0.0006195610584240604, + -0.9976806639766107, + -12.071600660810663 + ], + [ + -0.9976393357182856, + -0.00908091563211631, + -0.06806829510763752, + 226.45534492918316 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.009102050554318415, + 0.06806547488473151, + -0.9976393357182856, + 190.83789651462564 + ], + [ + 0.999958575479858, + 0.0006195610584240604, + -0.00908091563211631, + 3946.5740253977488 + ], + [ + -0.0, + -0.9976806639766107, + -0.06806829510763752, + 3.370833066344519 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19083.789651462565, + -394657.4025397749, + 337.0833066344519 + ], + "rotation_deg": [ + 0.0, + -3.903043985366822, + 179.47848510742188 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.8340178776590395, + 0.551737419199669, + -0.0, + -2334.1388801686576 + ], + [ + 0.17771000233667275, + -0.2686301741190724, + -0.9467085003432982, + 1028.2515634780736 + ], + [ + -0.522334517444495, + 0.7895718048151509, + -0.32209162815412035, + -3007.7032777347067 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8340178776590395, + 0.17771000233667275, + -0.522334517444495, + 192.9557447151317 + ], + [ + 0.551737419199669, + -0.2686301741190724, + 0.7895718048151509, + 3938.848923155523 + ], + [ + -0.0, + -0.9467085003432982, + -0.32209162815412035, + 4.698444415225933 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19295.57447151317, + -393884.89231555234, + 469.84444152259334 + ], + "rotation_deg": [ + 0.0, + -18.78946495056152, + -123.48628997802734 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8994390288816998, + 0.4370462599363418, + 6.938893850625209e-18, + -1888.065632982323 + ], + [ + 0.04071460062966263, + -0.08379044556286547, + -0.9956512856055292, + 326.01079425765596 + ], + [ + -0.43514568457975866, + 0.8955276185498092, + -0.09315856163617008, + -3437.201927330517 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8994390288816998, + 0.04071460062966263, + -0.43514568457975866, + 189.24296961428564 + ], + [ + 0.4370462599363418, + -0.08379044556286547, + 0.8955276185498092, + 3930.5979198174027 + ], + [ + 6.938893850625209e-18, + -0.9956512856055292, + -0.09315856163617008, + 4.388278527500121 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18924.296961428565, + -393059.7919817403, + 438.8278527500121 + ], + "rotation_deg": [ + -3.9930580209920713e-16, + -5.3453431129455575, + -115.9155731201172 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9705922605957443, + -0.24072944080781372, + -5.5511150845733115e-17, + 773.853042207611 + ], + [ + -0.07485577912221582, + -0.3018095320334781, + -0.9504249674254874, + 1207.2755452802023 + ], + [ + 0.22879526126740282, + 0.9224751192739843, + -0.31095398814298864, + -3672.8015154520303 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9705922605957443, + -0.07485577912221582, + 0.22879526126740282, + 179.59539472765383 + ], + [ + -0.24072944080781372, + -0.3018095320334781, + 0.9224751192739843, + 3938.724483333463 + ], + [ + -5.5511150845733115e-17, + -0.9504249674254874, + -0.31095398814298864, + 5.352551891820274 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 17959.539472765384, + -393872.4483333463, + 535.2551891820274 + ], + "rotation_deg": [ + 3.3464553152762934e-15, + -18.116731643676758, + -76.07040405273436 + ] + } + } + ] + }, + { + "frame": 68, + "time": 1504.0656946823, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.00921842581015863, + 0.9999575094100662, + -0.0, + -3944.5153021897227 + ], + [ + 0.06812851533293884, + 0.0006280643509777408, + -0.9976763558056794, + -12.115874004558702 + ], + [ + -0.9976339641359349, + -0.009196981261104235, + -0.06813141080370728, + 226.92150992008447 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.00921842581015863, + 0.06812851533293884, + -0.9976339641359349, + 190.84791555425016 + ], + [ + 0.9999575094100662, + 0.0006280643509777408, + -0.009196981261104235, + 3946.442306202013 + ], + [ + -0.0, + -0.9976763558056794, + -0.06813141080370728, + 3.3727679749781636 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19084.791555425018, + -394644.23062020127, + 337.27679749781635 + ], + "rotation_deg": [ + 0.0, + -3.9066686630249046, + 179.47181701660156 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.8384571497755824, + 0.5449675292989539, + 2.7755575423377986e-17, + -2308.249340611981 + ], + [ + 0.17126666479086092, + -0.26350149667970496, + -0.9493338141976037, + 1009.2726997867426 + ], + [ + -0.517356116018228, + 0.7959757147801967, + -0.314269487380956, + -3033.8238054137896 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8384571497755824, + 0.17126666479086092, + -0.517356116018228, + 192.94611202077246 + ], + [ + 0.5449675292989539, + -0.26350149667970496, + 0.7959757147801967, + 3938.71593822844 + ], + [ + 2.7755575423377986e-17, + -0.9493338141976037, + -0.314269487380956, + 4.698444415225933 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19294.611202077245, + -393871.593822844, + 469.84444152259334 + ], + "rotation_deg": [ + -1.6751508460483925e-15, + -18.316719055175778, + -123.02244567871091 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8990252588175408, + 0.43789677323320547, + 6.938893850623667e-18, + -1891.2801735649591 + ], + [ + 0.04072710836315404, + -0.0836149096663362, + -0.9956655309519687, + 325.30508515658926 + ], + [ + -0.43599873722878735, + 0.8951284547634167, + -0.09300618585750292, + -3435.373724840251 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8990252588175408, + 0.04072710836315404, + -0.43599873722878735, + 189.24134128073663 + ], + [ + 0.43789677323320547, + -0.0836149096663362, + 0.8951284547634167, + 3930.486664774886 + ], + [ + 6.938893850623667e-18, + -0.9956655309519687, + -0.09300618585750292, + 4.3840528913899615 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18924.134128073663, + -393048.6664774886, + 438.4052891389962 + ], + "rotation_deg": [ + -3.993000890867569e-16, + -5.33657455444336, + -115.96976470947268 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9711272765454411, + -0.23856196836343108, + -0.0, + 765.1796479571955 + ], + [ + -0.07418179492649071, + -0.30197589737551095, + -0.9504249674254875, + 1207.7688890556617 + ], + [ + 0.22673524132051412, + 0.9229836117728738, + -0.31095398814298864, + -3674.309411283189 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9711272765454411, + -0.07418179492649071, + 0.22673524132051412, + 179.60310208842427 + ], + [ + -0.23856196836343108, + -0.30197589737551095, + 0.9229836117728738, + 3938.5872182108874 + ], + [ + -0.0, + -0.9504249674254875, + -0.31095398814298864, + 5.352551891820274 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 17960.310208842428, + -393858.72182108875, + 535.2551891820274 + ], + "rotation_deg": [ + 0.0, + -18.116731643676758, + -76.1983184814453 + ] + } + } + ] + }, + { + "frame": 69, + "time": 1504.1323613524437, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.009334268332133062, + 0.9999564347683874, + -0.0, + -3944.356982125002 + ], + [ + 0.06819128495347525, + 0.000636543482832947, + -0.9976720620869306, + -12.160151497587272 + ], + [ + -0.9976285984623774, + -0.009312514528572867, + -0.0681942563794634, + 227.387770392454 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.009334268332133062, + 0.06819128495347525, + -0.9976285984623774, + 190.86016778947734 + ], + [ + 0.9999564347683874, + 0.000636543482832947, + -0.009312514528572867, + 3946.3104440735765 + ], + [ + -0.0, + -0.9976720620869306, + -0.0681942563794634, + 3.374702883611808 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19086.016778947735, + -394631.04440735764, + 337.4702883611808 + ], + "rotation_deg": [ + 0.0, + -3.9102778434753422, + 179.46517944335938 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.8427908745256754, + 0.5382411558179542, + -0.0, + -2282.51435039384 + ], + [ + 0.1648911801318344, + -0.258190553440105, + -0.9519183456731062, + 989.5635190128745 + ], + [ + -0.5123616435157731, + 0.8022680859140018, + -0.30635186400232656, + -3059.5055194381384 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8427908745256754, + 0.1648911801318344, + -0.5123616435157731, + 192.9387125220159 + ], + [ + 0.5382411558179542, + -0.258190553440105, + 0.8022680859140018, + 3938.5828103686567 + ], + [ + -0.0, + -0.9519183456731062, + -0.30635186400232656, + 4.698444415225933 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19293.87125220159, + -393858.28103686566, + 469.84444152259334 + ], + "rotation_deg": [ + 0.0, + -17.83951377868652, + -122.56398773193357 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8986099250084653, + 0.4387484503406024, + -2.0816681551866372e-17, + -1894.5007485972155 + ], + [ + 0.040739307676709746, + -0.08343903252044635, + -0.9956797862074301, + 324.59802929996766 + ], + [ + -0.4368529772396901, + 0.8947277311035483, + -0.09285345158428521, + -3433.538155180065 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8986099250084653, + 0.040739307676709746, + -0.4368529772396901, + 189.24194614279025 + ], + [ + 0.4387484503406024, + -0.08343903252044635, + 0.8947277311035483, + 3930.3752667996696 + ], + [ + -2.0816681551866372e-17, + -0.9956797862074301, + -0.09285345158428521, + 4.379827255279804 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18924.194614279026, + -393037.52667996695, + 437.9827255279804 + ], + "rotation_deg": [ + 1.1978831167919887e-15, + -5.327785491943357, + -116.02405548095703 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9716574522230919, + -0.23639330688352825, + 2.7755575422866557e-17, + 756.5008231261877 + ], + [ + -0.07350744099543137, + -0.3021407576156587, + -0.9504249674254874, + 1208.2563159624783 + ], + [ + 0.22467409128461052, + 0.9234875039562828, + -0.3109539881429887, + -3675.799222317097 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9716574522230919, + -0.07350744099543137, + 0.22467409128461052, + 179.61305215738292 + ], + [ + -0.23639330688352825, + -0.3021407576156587, + 0.9234875039562828, + 3938.44984887902 + ], + [ + 2.7755575422866557e-17, + -0.9504249674254874, + -0.3109539881429887, + 5.352551891820274 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 17961.30521573829, + -393844.984887902, + 535.2551891820274 + ], + "rotation_deg": [ + -1.6732276576381467e-15, + -18.11673164367676, + -76.32623291015622 + ] + } + } + ] + }, + { + "frame": 70, + "time": 1504.1990280225873, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.009449844424620204, + 0.9999553492233294, + -5.421010820630639e-20, + -3944.1984556046805 + ], + [ + 0.0682537918922878, + 0.0006450165152608952, + -0.9976677823033171, + -12.204650901760688 + ], + [ + -0.9976232358546054, + -0.009427781124821625, + -0.06825684014110944, + 227.8572867151003 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.009449844424620204, + 0.0682537918922878, + -0.9976232358546054, + 190.87677081269712 + ], + [ + 0.9999553492233294, + 0.0006450165152608952, + -0.009427781124821625, + 3946.178411324081 + ], + [ + -5.421010820630639e-20, + -0.9976677823033171, + -0.06825684014110944, + 3.3766377922454525 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19087.67708126971, + -394617.8411324081, + 337.66377922454524 + ], + "rotation_deg": [ + 3.113271257550595e-18, + -3.913872003555297, + 179.45855712890625 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.8469682889607614, + 0.5316434119735522, + -0.0, + -2257.2611254433336 + ], + [ + 0.15860968701269745, + -0.25268323127162, + -0.9544601363178387, + 969.0631615102961 + ], + [ + -0.5074324564392687, + 0.8083974595676189, + -0.2983384814545889, + -3084.529035450915 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8469682889607614, + 0.15860968701269745, + -0.5074324564392687, + 192.9356638112519 + ], + [ + 0.5316434119735522, + -0.25268323127162, + 0.8083974595676189, + 3938.449511887814 + ], + [ + -0.0, + -0.9544601363178387, + -0.2983384814545889, + 4.698444415225933 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19293.56638112519, + -393844.9511887814, + 469.84444152259334 + ], + "rotation_deg": [ + 0.0, + -17.357835769653317, + -122.11656188964842 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8981929648680272, + 0.4396014079385809, + -0.0, + -1897.7296911135018 + ], + [ + 0.04075120428946248, + -0.0832628020331748, + -0.995694051979092, + 323.8894895916122 + ], + [ + -0.437708521132103, + 0.8943253857193911, + -0.09270035051826421, + -3431.6939965582706 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8981929648680272, + 0.04075120428946248, + -0.437708521132103, + 189.2469017928365 + ], + [ + 0.4396014079385809, + -0.0832628020331748, + 0.8943253857193911, + 3930.2636982033937 + ], + [ + -0.0, + -0.995694051979092, + -0.09270035051826421, + 4.375601619169645 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18924.69017928365, + -393026.3698203394, + 437.5601619169645 + ], + "rotation_deg": [ + 0.0, + -5.318975448608399, + -116.07845306396484 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9721828161749394, + -0.23422333772313203, + -0.0, + 747.8140279882145 + ], + [ + -0.07283268043591049, + -0.30230412163048925, + -0.9504249674254875, + 1208.73799621268 + ], + [ + 0.2226116983965461, + 0.9239868229552712, + -0.31095398814298875, + -3677.2714688035667 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9721828161749394, + -0.07283268043591049, + 0.2226116983965461, + 179.62736244044362 + ], + [ + -0.23422333772313203, + -0.30230412163048925, + 0.9239868229552712, + 3938.312347670641 + ], + [ + -0.0, + -0.9504249674254875, + -0.31095398814298875, + 5.352551891820274 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 17962.73624404436, + -393831.2347670641, + 535.2551891820274 + ], + "rotation_deg": [ + 0.0, + -18.116731643676765, + -76.4541549682617 + ] + } + } + ] + }, + { + "frame": 71, + "time": 1504.265694692731, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.009564621479094513, + 0.9999542579618138, + -0.0, + -3944.039991389807 + ], + [ + 0.06831603235439095, + 0.00065344688041548, + -0.9976635167883651, + -12.256960706788824 + ], + [ + -0.9976178818210133, + -0.009542249697194458, + -0.06831915794029846, + 228.32867594120577 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.009564621479094513, + 0.06831603235439095, + -0.9976178818210133, + 190.89896256016246 + ], + [ + 0.9999542579618138, + 0.00065344688041548, + -0.009542249697194458, + 3946.046367911092 + ], + [ + -0.0, + -0.9976635167883651, + -0.06831915794029846, + 3.370906752011299 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19089.896256016247, + -394604.6367911092, + 337.0906752011299 + ], + "rotation_deg": [ + 0.0, + -3.9174509048461927, + 179.4519805908203 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.8509620379220404, + 0.5252271984727823, + -1.3877787709886743e-17, + -2232.693872986637 + ], + [ + 0.15224172247726642, + -0.24665883029804636, + -0.9570694224418387, + 946.5366240682025 + ], + [ + -0.5026789045449226, + 0.8144297373222218, + -0.2898587964695461, + -3109.136202147975 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8509620379220404, + 0.15224172247726642, + -0.5026789045449226, + 192.93820382473353 + ], + [ + 0.5252271984727823, + -0.24665883029804636, + 0.8144297373222218, + 3938.3162027434782 + ], + [ + -1.3877787709886743e-17, + -0.9570694224418387, + -0.2898587964695461, + 4.690778466358136 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19293.820382473354, + -393831.62027434784, + 469.07784663581356 + ], + "rotation_deg": [ + 8.308056367382177e-16, + -16.84950256347656, + -121.68354034423827 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8977744913021917, + 0.4404554038345889, + -0.0, + -1900.9672461385253 + ], + [ + 0.040762770605323934, + -0.08308622240903646, + -0.995708328868637, + 323.1718176182481 + ], + [ + -0.43856512809961073, + 0.8939215314897788, + -0.0925468743607264, + -3429.8420373075114 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8977744913021917, + 0.040762770605323934, + -0.43856512809961073, + 189.25744616712834 + ], + [ + 0.4404554038345889, + -0.08308622240903646, + 0.8939215314897788, + 3930.152118943625 + ], + [ + -0.0, + -0.995708328868637, + -0.0925468743607264, + 4.363710034191689 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18925.744616712833, + -393015.21189436247, + 436.3710034191689 + ], + "rotation_deg": [ + 0.0, + -5.310143947601319, + -116.13294219970709 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9727033031160787, + -0.23205233053574406, + -0.0, + 739.1191640093186 + ], + [ + -0.07215759709775908, + -0.30246596911940116, + -0.9504249674254875, + 1209.2067084301648 + ], + [ + 0.22054831894174468, + 0.9244815067214386, + -0.3109539881429887, + -3678.7287317441724 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9727033031160787, + -0.07215759709775908, + 0.22054831894174468, + 179.64727078733623 + ], + [ + -0.23205233053574406, + -0.30246596911940116, + 0.9244815067214386, + 3938.174874564265 + ], + [ + -0.0, + -0.9504249674254875, + -0.3109539881429887, + 5.344885942952476 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 17964.727078733624, + -393817.4874564265, + 534.4885942952476 + ], + "rotation_deg": [ + 0.0, + -18.11673164367676, + -76.58206939697263 + ] + } + } + ] + }, + { + "frame": 72, + "time": 1504.3323613628745, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.009679132103923965, + 0.999953156103682, + -5.421010820631358e-20, + -3943.881702690084 + ], + [ + 0.0683780101602945, + 0.0006618707979519807, + -0.997659265307332, + -12.32957439606978 + ], + [ + -0.997612531258174, + -0.009656451620235094, + -0.06838121393164402, + 228.80321871891675 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.009679132103923965, + 0.0683780101602945, + -0.997612531258174, + 190.92677313859306 + ], + [ + 0.999953156103682, + 0.0006618707979519807, + -0.009656451620235094, + 3945.9145501615358 + ], + [ + -5.421010820631358e-20, + -0.997659265307332, + -0.06838121393164402, + 3.3451341209274106 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19092.677313859305, + -394591.4550161536, + 334.5134120927411 + ], + "rotation_deg": [ + 3.1132978354816935e-18, + -3.921014785766602, + 179.44541931152344 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.8547750733710046, + 0.5189986261480792, + -0.0, + -2208.8373697240504 + ], + [ + 0.14548629321057915, + -0.2396115339967524, + -0.959906272124299, + 920.0391583032604 + ], + [ + -0.49819004959538277, + 0.8205039454891357, + -0.2803211549650001, + -3133.8636719984065 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8547750733710046, + 0.14548629321057915, + -0.49819004959538277, + 192.94636266918033 + ], + [ + 0.5189986261480792, + -0.2396115339967524, + 0.8205039454891357, + 3938.1831192625746 + ], + [ + -0.0, + -0.959906272124299, + -0.2803211549650001, + 4.663070926640603 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19294.636266918034, + -393818.31192625745, + 466.3070926640603 + ], + "rotation_deg": [ + 0.0, + -16.279373168945302, + -121.26510620117185 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.897354441831604, + 0.4413105547401853, + -6.9388938506174856e-18, + -1904.2139843987636 + ], + [ + 0.04077401962016003, + -0.08290929646815412, + -0.9957226159343625, + 322.43271726903555 + ], + [ + -0.43942291401192324, + 0.8935161052787826, + -0.09239303138605824, + -3427.9833312687533 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.897354441831604, + 0.04077401962016003, + -0.43942291401192324, + 189.27360937238535 + ], + [ + 0.4413105547401853, + -0.08290929646815412, + 0.8935161052787826, + 3930.040765347287 + ], + [ + -6.9388938506174856e-18, + -0.9957226159343625, + -0.09239303138605824, + 4.331776858363997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18927.360937238536, + -393004.0765347287, + 433.17768583639975 + ], + "rotation_deg": [ + 3.9927719713015697e-16, + -5.3012914657592765, + -116.18753051757815 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.973218941929974, + -0.22988016675803477, + -5.5511150845733115e-17, + 730.4157760037593 + ], + [ + -0.07148215411323736, + -0.3026263090638228, + -0.9504249674254874, + 1209.6507821941407 + ], + [ + 0.21848384023465653, + 0.9249715827063487, + -0.31095398814298864, + -3680.175139668364 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.973218941929974, + -0.07148215411323736, + 0.21848384023465653, + 179.67280721821078 + ], + [ + -0.22988016675803477, + -0.3026263090638228, + 0.9249715827063487, + 3938.037665907572 + ], + [ + -5.5511150845733115e-17, + -0.9504249674254874, + -0.31095398814298864, + 5.317178403234943 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 17967.280721821076, + -393803.7665907572, + 531.7178403234943 + ], + "rotation_deg": [ + 3.3464553152762934e-15, + -18.116731643676758, + -76.70998382568357 + ] + } + } + ] + }, + { + "frame": 73, + "time": 1504.399028033018, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.009793109995151433, + 0.9999520463485351, + 5.4210108206317133e-20, + -3943.723811118039 + ], + [ + 0.06843972964799566, + 0.0006702699423724522, + -0.9976550276242351, + -12.376609645010447 + ], + [ + -0.9976071866234686, + -0.009770121220367306, + -0.06844301226968111, + 229.28216769084608 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.009793109995151433, + 0.06843972964799566, + -0.9976071866234686, + 190.9593641810663 + ], + [ + 0.9999520463485351, + 0.0006702699423724522, + -0.009770121220367306, + 3945.783111884172 + ], + [ + 5.4210108206317133e-20, + -0.9976550276242351, + -0.06844301226968111, + 3.345181791203962 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19095.93641810663, + -394578.3111884172, + 334.5181791203962 + ], + "rotation_deg": [ + -3.1133110596618475e-18, + -3.924563884735108, + 179.4388885498047 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.8584321664141662, + 0.5129271056061288, + 1.3877787708679424e-17, + -2185.5752728536345 + ], + [ + 0.13949132362799788, + -0.23345196194390982, + -0.9623109435608889, + 896.9149553090264 + ], + [ + -0.4935953801743831, + 0.8260786594815707, + -0.27195155638392277, + -3156.6279718272826 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8584321664141662, + 0.13949132362799788, + -0.4935953801743831, + 192.95930197766987 + ], + [ + 0.5129271056061288, + -0.23345196194390982, + 0.8260786594815707, + 3938.050415253864 + ], + [ + 1.3877787708679424e-17, + -0.9623109435608889, + -0.27195155638392277, + 4.66118368828351 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19295.930197766986, + -393805.0415253864, + 466.118368828351 + ], + "rotation_deg": [ + -8.262803994548822e-16, + -15.780428886413565, + -120.85900115966795 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8969328123966173, + 0.4421668576977407, + -1.3877787701231876e-17, + -1907.4692025889146 + ], + [ + 0.04078494958172424, + -0.08273202501485694, + -0.9957369130069231, + 321.71790429423504 + ], + [ + -0.4402818759247521, + 0.8931091028118017, + -0.0922388215822372, + -3426.1141148887064 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8969328123966173, + 0.04078494958172424, + -0.4402818759247521, + 189.29455304168508 + ], + [ + 0.4421668576977407, + -0.08273202501485694, + 0.8931091028118017, + 3929.929791223143 + ], + [ + -1.3877787701231876e-17, + -0.9957369130069231, + -0.0922388215822372, + 4.325663983896747 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18929.455304168507, + -392992.9791223143, + 432.56639838967465 + ], + "rotation_deg": [ + 7.985429283900157e-16, + -5.292418003082273, + -116.24221801757812 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9737297300465897, + -0.22770685721645695, + -0.0, + 721.7047489400419 + ], + [ + -0.07080635484887385, + -0.3027851406645915, + -0.9504249674254875, + 1210.1137797752147 + ], + [ + 0.21641827256501253, + 0.9254570484673756, + -0.31095398814298875, + -3681.596352117996 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9737297300465897, + -0.07080635484887385, + 0.21641827256501253, + 179.70313327952897 + ], + [ + -0.22770685721645695, + -0.3027851406645915, + 0.9254570484673756, + 3937.9008755298833 + ], + [ + -0.0, + -0.9504249674254875, + -0.31095398814298875, + 5.31529116487785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 17970.313327952896, + -393790.0875529883, + 531.529116487785 + ], + "rotation_deg": [ + 0.0, + -18.116731643676765, + -76.83789825439452 + ] + } + } + ] + }, + { + "frame": 74, + "time": 1504.4656947031617, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.00990655515306932, + 0.9999509288785121, + -0.0, + -3943.5663726427647 + ], + [ + 0.06850118668119809, + 0.0006786440857343645, + -0.9976508040719821, + -12.423758839795516 + ], + [ + -0.9976018484315539, + -0.009883258512671852, + -0.06850454880603872, + 229.76279002748922 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.00990655515306932, + 0.06850118668119809, + -0.9976018484315539, + 190.99576365934809 + ], + [ + 0.9999509288785121, + 0.0006786440857343645, + -0.009883258512671852, + 3945.6521002830204 + ], + [ + -0.0, + -0.9976508040719821, + -0.06850454880603872, + 3.3452296841261564 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19099.57636593481, + -394565.21002830204, + 334.5229684126156 + ], + "rotation_deg": [ + 0.0, + -3.9280979633331317, + 179.43238830566406 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.8619604111217984, + 0.5069755907918447, + -0.0, + -2162.7660896176135 + ], + [ + 0.13358803441210956, + -0.22712651092918693, + -0.9646594140395062, + 873.1209502178688 + ], + [ + -0.4890587896118503, + 0.8314982166838101, + -0.2634999353985418, + -3178.767551455118 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8619604111217984, + 0.13358803441210956, + -0.4890587896118503, + 192.9760497219679 + ], + [ + 0.5069755907918447, + -0.22712651092918693, + 0.8314982166838101, + 3937.918137921365 + ], + [ + -0.0, + -0.9646594140395062, + -0.2634999353985418, + 4.65929667257206 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19297.60497219679, + -393791.8137921365, + 465.929667257206 + ], + "rotation_deg": [ + 0.0, + -15.277837753295888, + -120.46258544921872 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8965095989344285, + 0.44302430973754675, + -1.3877787701228779e-17, + -1910.7320321945372 + ], + [ + 0.040795558735909926, + -0.08255440885919604, + -0.9957512199165679, + 321.00171626880376 + ], + [ + -0.4411420108809226, + 0.8927005198106871, + -0.09208424493725603, + -3424.2372200862546 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8965095989344285, + 0.040795558735909926, + -0.4411420108809226, + 189.31930514679334 + ], + [ + 0.44302430973754675, + -0.08255440885919604, + 0.8927005198106871, + 3929.819243775211 + ], + [ + -1.3877787701228779e-17, + -0.9957512199165679, + -0.09208424493725603, + 4.319551332075138 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18931.930514679334, + -392981.9243775211, + 431.95513320751377 + ], + "rotation_deg": [ + 7.985314549602344e-16, + -5.283523559570312, + -116.29700469970702 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9742356949515142, + -0.22553228301584752, + -0.0, + 712.9865582613443 + ], + [ + -0.07013016233374379, + -0.3029424724684603, + -0.9504249674254875, + 1210.5711253430127 + ], + [ + 0.21435150293188074, + 0.9259379301275084, + -0.31095398814298875, + -3683.000288579764 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9742356949515142, + -0.07013016233374379, + 0.21435150293188074, + 179.73727685639523 + ], + [ + -0.22553228301584752, + -0.3029424724684603, + 0.9259379301275084, + 3937.764550655586 + ], + [ + -0.0, + -0.9504249674254875, + -0.31095398814298875, + 5.3134041491664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 17973.727685639522, + -393776.4550655586, + 531.34041491664 + ], + "rotation_deg": [ + 0.0, + -18.116731643676765, + -76.9658203125 + ] + } + } + ] + }, + { + "frame": 75, + "time": 1504.5323613733053, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.01001973388074157, + 0.9999498012065203, + -0.0, + -3943.4092843591206 + ], + [ + 0.06856238524310083, + 0.0006870113415052036, + -0.9976465944136697, + -12.471020293945823 + ], + [ + -0.997596513964356, + -0.009996129182681064, + -0.06856582769520059, + 230.24506137569384 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.01001973388074157, + 0.06856238524310083, + -0.997596513964356, + 191.0348970366626 + ], + [ + 0.9999498012065203, + 0.0006870113415052036, + -0.009996129182681064, + 3945.5214636064843 + ], + [ + -0.0, + -0.9976465944136697, + -0.06856582769520059, + 3.3452787027947943 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19103.489703666262, + -394552.14636064845, + 334.52787027947943 + ], + "rotation_deg": [ + 0.0, + -3.9316172599792503, + 179.4259033203125 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.8653890155991242, + 0.5011006402713717, + -0.0, + -2140.243416770846 + ], + [ + 0.12776568702898972, + -0.22064833536330247, + -0.9669489341839175, + 848.7112496164615 + ], + [ + -0.4845387433583488, + 0.8367869779814707, + -0.2549701152397079, + -3200.3869311468798 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8653890155991242, + 0.12776568702898972, + -0.4845387433583488, + 192.9955313652987 + ], + [ + 0.5011006402713717, + -0.22064833536330247, + 0.8367869779814707, + 3937.786235513482 + ], + [ + -0.0, + -0.9669489341839175, + -0.2549701152397079, + 4.657410782607053 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19299.55313652987, + -393778.6235513482, + 465.7410782607053 + ], + "rotation_deg": [ + 0.0, + -14.771814346313473, + -120.07284545898436 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8960847973791094, + 0.4438829078777872, + -6.938893850612839e-18, + -1914.001470643879 + ], + [ + 0.040805841648249186, + -0.08237644139098696, + -0.9957655372582116, + 320.28416852115487 + ], + [ + -0.4420033162499408, + 0.8922903526793456, + -0.09192929315198521, + -3422.35305203216 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8960847973791094, + 0.040805841648249186, + -0.4420033162499408, + 189.34679115093434 + ], + [ + 0.4438829078777872, + -0.08237644139098696, + 0.8922903526793456, + 3929.709071251895 + ], + [ + -6.938893850612839e-18, + -0.9957655372582116, + -0.09192929315198521, + 4.3134398059999715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18934.679115093433, + -392970.9071251895, + 431.34398059999717 + ], + "rotation_deg": [ + 3.9925998674728214e-16, + -5.274607658386231, + -116.35189056396487 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9747367737704865, + -0.22335671438195817, + -5.5511150845733115e-17, + 704.263307419898 + ], + [ + -0.06945366059562173, + -0.30309828492442714, + -0.9504249674254874, + 1211.0226606098388 + ], + [ + 0.2122837881645644, + 0.9264141679294813, + -0.31095398814298864, + -3684.386462346051 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9747367737704865, + -0.06945366059562173, + 0.2122837881645644, + 179.77416332532704 + ], + [ + -0.22335671438195817, + -0.30309828492442714, + 0.9264141679294813, + 3937.6286395532593 + ], + [ + -5.5511150845733115e-17, + -0.9504249674254874, + -0.31095398814298864, + 5.311518259201393 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 17977.416332532703, + -393762.8639553259, + 531.1518259201393 + ], + "rotation_deg": [ + 3.3464553152762934e-15, + -18.116731643676758, + -77.09373474121091 + ] + } + } + ] + }, + { + "frame": 76, + "time": 1504.599028043449, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.01013237987518368, + 0.999948666121449, + -5.4210108206327786e-20, + -3943.252492169743 + ], + [ + 0.06862332967828516, + 0.000695353339784246, + -0.9976423984111731, + -12.51824597991838 + ], + [ + -0.9975911857661525, + -0.010108467560914347, + -0.0686268530915725, + 230.72681568772393 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.01013237987518368, + 0.06862332967828516, + -0.9975911857661525, + 191.0756443327283 + ], + [ + 0.999948666121449, + 0.000695353339784246, + -0.010108467560914347, + 3945.3910754093195 + ], + [ + -5.4210108206327786e-20, + -0.9976423984111731, + -0.0686268530915725, + 3.345328768076787 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19107.56443327283, + -394539.10754093196, + 334.5328768076787 + ], + "rotation_deg": [ + 3.1133504712479766e-18, + -3.9351220130920415, + 179.41944885253906 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.8687467824507096, + 0.4952565274497039, + -0.0, + -2117.83170797484 + ], + [ + 0.12201421473915487, + -0.2140293980853298, + -0.9691769436778916, + 823.7350961994482 + ], + [ + -0.4799912209993539, + 0.8419693432658486, + -0.24636568909656478, + -3221.5911937766755 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8687467824507096, + 0.12201421473915487, + -0.4799912209993539, + 193.0166269273806 + ], + [ + 0.4952565274497039, + -0.2140293980853298, + 0.8419693432658486, + 3937.65458158497 + ], + [ + -0.0, + -0.9691769436778916, + -0.24636568909656478, + 4.655525939255401 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19301.66269273806, + -393765.458158497, + 465.5525939255401 + ], + "rotation_deg": [ + 0.0, + -14.262556076049801, + -119.68666839599607 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8956583444405679, + 0.4447427683886279, + -0.0, + -1917.2769004629956 + ], + [ + 0.04081580748477572, + -0.08219811800711435, + -0.9957798648574161, + 319.5652763252043 + ], + [ + -0.44286590780981483, + 0.8918785381570313, + -0.0917739662140911, + -3420.4617163411535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8956583444405679, + 0.04081580748477572, + -0.44286590780981483, + 189.37589107382647 + ], + [ + 0.4447427683886279, + -0.08219811800711435, + 0.8918785381570313, + 3929.5991472079495 + ], + [ + -0.0, + -0.9957798648574161, + -0.0917739662140911, + 4.307329326538162 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18937.589107382646, + -392959.91472079494, + 430.7329326538162 + ], + "rotation_deg": [ + 0.0, + -5.26567029953003, + -116.4068832397461 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9752329943270334, + -0.22118003249825352, + -5.5511150845733115e-17, + 695.5355820593097 + ], + [ + -0.06877681268803237, + -0.30325258668432875, + -0.9504249674254874, + 1211.468292762084 + ], + [ + 0.21021501533686157, + 0.9268857883174679, + -0.31095398814298864, + -3685.754589988308 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9752329943270334, + -0.06877681268803237, + 0.21021501533686157, + 179.8126726192913 + ], + [ + -0.22118003249825352, + -0.30325258668432875, + 0.9268857883174679, + 3937.493015797638 + ], + [ + -5.5511150845733115e-17, + -0.9504249674254874, + -0.31095398814298864, + 5.309633415849742 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 17981.26726192913, + -393749.30157976376, + 530.9633415849742 + ], + "rotation_deg": [ + 3.3464553152762934e-15, + -18.116731643676758, + -77.22164916992185 + ] + } + } + ] + }, + { + "frame": 77, + "time": 1504.6656947135925, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.010244226834647773, + 0.9999475265315477, + -5.4210108206331313e-20, + -3943.095887815851 + ], + [ + 0.06868402018898469, + 0.0007036516057718231, + -0.997638216110979, + -12.565281082156961 + ], + [ + -0.9975858667848478, + -0.01022000798636583, + -0.06868762499812138, + 231.2058003911926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.010244226834647773, + 0.06868402018898469, + -0.9975858667848478, + 191.1167992504601 + ], + [ + 0.9999475265315477, + 0.0007036516057718231, + -0.01022000798636583, + 3945.2607531749522 + ], + [ + -5.4210108206331313e-20, + -0.997638216110979, + -0.06868762499812138, + 3.3453791427378654 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19111.67992504601, + -394526.0753174952, + 334.53791427378655 + ], + "rotation_deg": [ + 3.1133635230399704e-18, + -3.9386122226715092, + 179.4130401611328 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.8720631938272024, + 0.4893932835377891, + 1.387778770662517e-17, + -2095.338755128015 + ], + [ + 0.11632398310685976, + -0.20728086722717906, + -0.9713410178900629, + 798.2384894378337 + ], + [ + -0.4753677836266575, + 0.8470707423038316, + -0.23769019294601756, + -3242.4902920535837 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8720631938272024, + 0.11632398310685976, + -0.4753677836266575, + 193.03813011112868 + ], + [ + 0.4893932835377891, + -0.20728086722717906, + 0.8470707423038316, + 3937.522993619256 + ], + [ + 1.387778770662517e-17, + -0.9713410178900629, + -0.23769019294601756, + 4.653641405282835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19303.813011112867, + -393752.2993619256, + 465.36414052828354 + ], + "rotation_deg": [ + -8.185988814255862e-16, + -13.750253677368162, + -119.3007125854492 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8952303543742371, + 0.44560364967870003, + -0.0, + -1920.5562307337934 + ], + [ + 0.040825436242726734, + -0.08201945783301355, + -0.9957942017768378, + 318.8451521260608 + ], + [ + -0.4437295446482967, + 0.8914651890954043, + -0.09161827239863195, + -3418.5640706286026 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8952303543742371, + 0.040825436242726734, + -0.4437295446482967, + 189.4053986183847 + ], + [ + 0.44560364967870003, + -0.08201945783301355, + 0.8914651890954043, + 3929.4892891268014 + ], + [ + -0.0, + -0.9957942017768378, + -0.09161827239863195, + 4.301219156455437 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18940.53986183847, + -392948.92891268013, + 430.1219156455437 + ], + "rotation_deg": [ + 0.0, + -5.256711959838867, + -116.46196746826172 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9757243833098076, + -0.21900211828814797, + -0.0, + 686.8040423854168 + ], + [ + -0.06809958158363681, + -0.30340538604710804, + -0.9504249674254875, + 1211.907907003217 + ], + [ + 0.20814507127541051, + 0.927352816657029, + -0.3109539881429887, + -3687.104323003999 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9757243833098076, + -0.06809958158363681, + 0.20814507127541051, + 179.85159835440712 + ], + [ + -0.21900211828814797, + -0.30340538604710804, + 0.927352816657029, + 3937.3574968919356 + ], + [ + -0.0, + -0.9504249674254875, + -0.3109539881429887, + 5.307748881877176 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 17985.15983544071, + -393735.74968919356, + 530.7748881877176 + ], + "rotation_deg": [ + 0.0, + -18.11673164367676, + -77.34957122802733 + ] + } + } + ] + }, + { + "frame": 78, + "time": 1504.7323613837361, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.010356073665945927, + 0.9999463744312619, + 5.4210108206334834e-20, + -3942.939113740636 + ], + [ + 0.06874445622783684, + 0.0007119608321254158, + -0.9976340475593805, + -12.612262991807716 + ], + [ + -0.9975805490801485, + -0.010331547490780904, + -0.06874814341780655, + 231.6840094340685 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.010356073665945927, + 0.06874445622783684, + -0.9975805490801485, + 191.15721172204834 + ], + [ + 0.9999463744312619, + 0.0007119608321254158, + -0.010331547490780904, + 3945.130311763721 + ], + [ + 5.4210108206334834e-20, + -0.9976340475593805, + -0.06874814341780655, + 3.345428967491031 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19115.721172204834, + -394513.0311763721, + 334.5428967491031 + ], + "rotation_deg": [ + -3.1133765320353277e-18, + -3.9420878887176523, + 179.40663146972656 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.8753643055515871, + 0.483463889619677, + -1.3877787706152513e-17, + -2072.583368232999 + ], + [ + 0.11068765589746384, + -0.20041211994971914, + -0.973438865573583, + 772.2598991125627 + ], + [ + -0.4706225537584023, + 0.8521136286350082, + -0.22894710259883078, + -3263.181902106728 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8753643055515871, + 0.11068765589746384, + -0.4706225537584023, + 193.05889084873317 + ], + [ + 0.483463889619677, + -0.20041211994971914, + 0.8521136286350082, + 3937.391286476677 + ], + [ + -1.3877787706152513e-17, + -0.973438865573583, + -0.22894710259883078, + 4.651756321402356 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19305.889084873317, + -393739.1286476677, + 465.1756321402356 + ], + "rotation_deg": [ + 8.168347277073143e-16, + -13.23509120941162, + -118.91188049316405 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8948007639984186, + 0.446465668050575, + -0.0, + -1923.8387939188015 + ], + [ + 0.04083472972959455, + -0.08184044143696859, + -0.9958085493674539, + 318.1237502811982 + ], + [ + -0.44459434325162167, + 0.8910502437083628, + -0.0914621951186729, + -3416.6601958103215 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8948007639984186, + 0.04083472972959455, + -0.44459434325162167, + 189.43416371679945 + ], + [ + 0.446465668050575, + -0.08184044143696859, + 0.8910502437083628, + 3929.3793118687895 + ], + [ + -0.0, + -0.9958085493674539, + -0.0914621951186729, + 4.2951084364648 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18943.416371679945, + -392937.93118687894, + 429.51084364648 + ], + "rotation_deg": [ + 0.0, + -5.247731685638429, + -116.51715087890625 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9762108796558395, + -0.21682324239244274, + -0.0, + 678.070847377244 + ], + [ + -0.06742205143927096, + -0.3035566640249912, + -0.9504249674254875, + 1212.3413089243465 + ], + [ + 0.20607421320398947, + 0.9278151949123961, + -0.31095398814298875, + -3688.4350699494416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9762108796558395, + -0.06742205143927096, + 0.20607421320398947, + 179.88979037602488 + ], + [ + -0.21682324239244274, + -0.3035566640249912, + 0.9278151949123961, + 3937.2218977160837 + ], + [ + -0.0, + -0.9504249674254875, + -0.31095398814298875, + 5.305863797996697 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 17988.979037602487, + -393722.1897716084, + 530.5863797996697 + ], + "rotation_deg": [ + 0.0, + -18.116731643676765, + -77.47748565673827 + ] + } + } + ] + }, + { + "frame": 79, + "time": 1504.7990280538797, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.010467121463129165, + 0.9999452181836144, + 5.421010820633834e-20, + -3942.782175656545 + ], + [ + 0.06880464252294344, + 0.0007202260058036371, + -0.9976298925161526, + -12.658882662953804 + ], + [ + -0.9975752407551337, + -0.01044228906379779, + -0.06880841250490631, + 232.1569455096761 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.010467121463129165, + 0.06880464252294344, + -0.9975752407551337, + 191.19552590093605 + ], + [ + 0.9999452181836144, + 0.0007202260058036371, + -0.01044228906379779, + 3944.999556690713 + ], + [ + 5.421010820633834e-20, + -0.9976298925161526, + -0.06880841250490631, + 3.345477563669442 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19119.552590093605, + -394499.9556690713, + 334.5477563669442 + ], + "rotation_deg": [ + -3.1133894989826622e-18, + -3.945549249649048, + 179.4002685546875 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.8786788893239682, + 0.4774132480947687, + -1.3877787705696893e-17, + -2049.35290469729 + ], + [ + 0.10509780259800709, + -0.1934324630197007, + -0.9754682640348697, + 745.83753134959 + ], + [ + -0.46570148589957866, + 0.8571233630182378, + -0.2201401067484774, + -3283.77677652494 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8786788893239682, + 0.10509780259800709, + -0.46570148589957866, + 193.07755329363715 + ], + [ + 0.4774132480947687, + -0.1934324630197007, + 0.8571233630182378, + 3937.2592656723223 + ], + [ + -1.3877787705696893e-17, + -0.9754682640348697, + -0.2201401067484774, + 4.649870008947124 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19307.755329363714, + -393725.92656723224, + 464.9870008947124 + ], + "rotation_deg": [ + 8.151353560037356e-16, + -12.717262268066404, + -118.51659393310545 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.894369509669568, + 0.44732893956619485, + -0.0, + -1927.1237345074271 + ], + [ + 0.04084370442734578, + -0.08166107906454477, + -0.9958229059298975, + 317.4011469692649 + ], + [ + -0.4454604185132933, + 0.8906336370157082, + -0.0913057509368002, + -3414.7502480394323 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.894369509669568, + 0.04084370442734578, + -0.4454604185132933, + 189.46083052251362 + ], + [ + 0.44732893956619485, + -0.08166107906454477, + 0.8906336370157082, + 3929.2690209490015 + ], + [ + -0.0, + -0.9958229059298975, + -0.0913057509368002, + 4.288996487899409 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18946.08305225136, + -392926.90209490014, + 428.8996487899409 + ], + "rotation_deg": [ + 0.0, + -5.2387304306030265, + -116.57244110107422 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.976692510392239, + -0.2146432858109152, + -0.0, + 669.3368087943941 + ], + [ + -0.06674418525134125, + -0.30370642902216566, + -0.9504249674254875, + 1212.7683767889505 + ], + [ + 0.2040023280218139, + 0.9282729487708079, + -0.31095398814298875, + -3689.7464609218005 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.976692510392239, + -0.06674418525134125, + 0.2040023280218139, + 179.92589275070424 + ], + [ + -0.2146432858109152, + -0.30370642902216566, + 0.9282729487708079, + 3937.0860238045702 + ], + [ + -0.0, + -0.9504249674254875, + -0.31095398814298875, + 5.3039774855414645 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 17992.589275070422, + -393708.60238045704, + 530.3977485541465 + ], + "rotation_deg": [ + 0.0, + -18.116731643676765, + -77.60540008544923 + ] + } + } + ] + }, + { + "frame": 80, + "time": 1504.8656947240233, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.010577902830015085, + 0.9999440524207935, + 5.421010820634184e-20, + -3942.624802513852 + ], + [ + 0.0688645745565616, + 0.0007284835349799119, + -0.9976257513130276, + -12.70516568222087 + ], + [ + -0.9975699367864677, + -0.010552764062672526, + -0.06886842811100347, + 232.62501561910074 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.010577902830015085, + 0.0688645745565616, + -0.9975699367864677, + 191.2300510205695 + ], + [ + 0.9999440524207935, + 0.0007284835349799119, + -0.010552764062672526, + 3944.868321244588 + ], + [ + 5.421010820634184e-20, + -0.9976257513130276, + -0.06886842811100347, + 3.3455251521304263 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19123.00510205695, + -394486.8321244588, + 334.5525152130426 + ], + "rotation_deg": [ + -3.1134024228456505e-18, + -3.9489960670471196, + 179.3939208984375 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.8820400679787297, + 0.47117440346444694, + -2.7755575410517282e-17, + -2025.388611779145 + ], + [ + 0.09954656361213307, + -0.1863515018852678, + -0.9774270302268709, + 719.0108620568844 + ], + [ + -0.4605386114999373, + 0.8621297965241477, + -0.21127328572950602, + -3304.4057837150176 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8820400679787297, + 0.09954656361213307, + -0.4605386114999373, + 193.09242667928683 + ], + [ + 0.47117440346444694, + -0.1863515018852678, + 0.8621297965241477, + 3937.1267644948502 + ], + [ + -2.7755575410517282e-17, + -0.9774270302268709, + -0.21127328572950602, + 4.647982688774463 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19309.242667928684, + -393712.676449485, + 464.7982688774463 + ], + "rotation_deg": [ + 1.6270036454071453e-15, + -12.19698047637939, + -118.11055755615232 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8939366466418766, + 0.4481933419749524, + -0.0, + -1930.408997825054 + ], + [ + 0.04085234393477275, + -0.08148136958837793, + -0.9958372720505277, + 316.6773969438474 + ], + [ + -0.44632764903161054, + 0.8902154244825204, + -0.09114893155336908, + -3412.8350807772417 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8939366466418766, + 0.04085234393477275, + -0.44632764903161054, + 189.48370826897354 + ], + [ + 0.4481933419749524, + -0.08148136958837793, + 0.8902154244825204, + 3929.158249656096 + ], + [ + -0.0, + -0.9958372720505277, + -0.09114893155336908, + 4.28288353161659 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18948.370826897353, + -392915.8249656096, + 428.28835316165896 + ], + "rotation_deg": [ + 0.0, + -5.229707717895508, + -116.6278305053711 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9771692731184718, + -0.21246225940886, + -0.0, + 660.6035924628065 + ], + [ + -0.06606598639845433, + -0.30385468029217577, + -0.9504249674254875, + 1213.1889508244963 + ], + [ + 0.20192942605553194, + 0.9287260759507371, + -0.31095398814298875, + -3691.03800686912 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9771692731184718, + -0.06606598639845433, + 0.20192942605553194, + 179.95821462496494 + ], + [ + -0.21246225940886, + -0.30385468029217577, + 0.9287260759507371, + 3936.9497084652585 + ], + [ + -0.0, + -0.9504249674254875, + -0.31095398814298875, + 5.302090165368803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 17995.821462496493, + -393694.97084652586, + 530.2090165368803 + ], + "rotation_deg": [ + 0.0, + -18.116731643676765, + -77.73331451416016 + ] + } + } + ] + }, + { + "frame": 81, + "time": 1504.932361394167, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.010688151465280737, + 0.999942880077785, + -0.0, + -3942.467081437868 + ], + [ + 0.06892426498626955, + 0.0007367150649135972, + -0.9976216231352524, + -12.750951591645416 + ], + [ + -0.9975646392875125, + -0.010662706818646972, + -0.06892820269291125, + 233.08590309844743 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.010688151465280737, + 0.06892426498626955, + -0.9975646392875125, + 191.25951461300744 + ], + [ + 0.999942880077785, + 0.0007367150649135972, + -0.010662706818646972, + 3944.7366151478436 + ], + [ + -0.0, + -0.9976216231352524, + -0.06892820269291125, + 3.3455738015113106 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19125.951461300745, + -394473.6615147844, + 334.55738015113104 + ], + "rotation_deg": [ + 0.0, + -3.952429056167603, + 179.38760375976562 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.8854682948228425, + 0.4646997943441843, + -5.551115081935216e-17, + -2000.5061156710603 + ], + [ + 0.09403239098901378, + -0.17917524802149495, + -0.9793130959715206, + 691.8039571436951 + ], + [ + -0.4550866079459975, + 0.8671506896635505, + -0.20235083564007073, + -3325.1484982941997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8854682948228425, + 0.09403239098901378, + -0.4550866079459975, + 193.10223853774104 + ], + [ + 0.4646997943441843, + -0.17917524802149495, + 0.8671506896635505, + 3936.993792666759 + ], + [ + -5.551115081935216e-17, + -0.9793130959715206, + -0.20235083564007073, + 4.6460964295217035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19310.223853774103, + -393699.3792666759, + 464.60964295217036 + ], + "rotation_deg": [ + 3.2477403759678678e-15, + -11.67446327209472, + -117.69079589843749 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8935021708309012, + 0.4490588722210783, + -0.0, + -1933.6934416930155 + ], + [ + 0.040860646463310654, + -0.08130131386992862, + -0.9958516475527985, + 315.9525592675416 + ], + [ + -0.44719603175772665, + 0.889795601801812, + -0.0909917369561278, + -3410.915266092289 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8935021708309012, + 0.040860646463310654, + -0.44719603175772665, + 189.50152448823792 + ], + [ + 0.4490588722210783, + -0.08130131386992862, + 0.889795601801812, + 3929.0470077125715 + ], + [ + -0.0, + -0.9958516475527985, + -0.0909917369561278, + 4.276771636253671 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18950.152448823792, + -392904.70077125716, + 427.67716362536714 + ], + "rotation_deg": [ + 0.0, + -5.22066354751587, + -116.68331909179688 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9776411934587574, + -0.21028004387610524, + -0.0, + 651.8719794242086 + ], + [ + -0.06538741778063675, + -0.3040014258029748, + -0.9504249674254875, + 1213.6029855225024 + ], + [ + 0.19985539390977608, + 0.9291746008060803, + -0.31095398814298875, + -3692.309562043041 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9776411934587574, + -0.06538741778063675, + 0.19985539390977608, + 179.98548344389664 + ], + [ + -0.21028004387610524, + -0.3040014258029748, + 0.9291746008060803, + 3936.812961439658 + ], + [ + -0.0, + -0.9504249674254875, + -0.31095398814298875, + 5.300203906116044 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 17998.548344389663, + -393681.2961439658, + 530.0203906116044 + ], + "rotation_deg": [ + 0.0, + -18.116731643676765, + -77.86123657226564 + ] + } + } + ] + }, + { + "frame": 82, + "time": 1504.9990280643106, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.010797867369459157, + 0.9999417013307683, + -5.4210108206348797e-20, + -3942.309202809063 + ], + [ + 0.06898370137356391, + 0.0007449202859474749, + -0.9976175088873341, + -12.796216268436735 + ], + [ + -0.9975593493385183, + -0.010772117352925336, + -0.06898772379957845, + 233.53936820489145 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.010797867369459157, + 0.06898370137356391, + -0.9975593493385183, + 191.28367375568953 + ], + [ + 0.9999417013307683, + 0.0007449202859474749, + -0.010772117352925336, + 3944.6046237484297 + ], + [ + -5.4210108206348797e-20, + -0.9976175088873341, + -0.06898772379957845, + 3.345626489213237 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19128.367375568952, + -394460.46237484296, + 334.56264892132367 + ], + "rotation_deg": [ + 3.1134281461196444e-18, + -3.95584750175476, + 179.38131713867188 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.8889598303584294, + 0.4579851744424835, + -1.3877787704435326e-17, + -1974.6878992407978 + ], + [ + 0.08856350725402246, + -0.1719038186778045, + -0.9811246517679876, + 664.215702013295 + ], + [ + -0.4493405584830602, + 0.8721803966135544, + -0.193376364287766, + -3345.9838089669865 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8889598303584294, + 0.08856350725402246, + -0.4493405584830602, + 193.10674594643936 + ], + [ + 0.4579851744424835, + -0.1719038186778045, + 0.8721803966135544, + 3936.8605355359973 + ], + [ + -1.3877787704435326e-17, + -0.9811246517679876, + -0.193376364287766, + 4.644214208589984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19310.674594643937, + -393686.05355359975, + 464.42142085899843 + ], + "rotation_deg": [ + 8.104359310198621e-16, + -11.1498908996582, + -117.25717163085935 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8930660781493048, + 0.4499255272364744, + -1.3877787701203918e-17, + -1936.976924641876 + ], + [ + 0.04086860649364924, + -0.08112090537491894, + -0.9958660330156964, + 315.22663775838106 + ], + [ + -0.44806556396972774, + 0.8893741653384332, + -0.09083415884486798, + -3408.9910779202387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8930660781493048, + 0.04086860649364924, + -0.44806556396972774, + 189.51403625774648 + ], + [ + 0.4499255272364744, + -0.08112090537491894, + 0.8893741653384332, + 3928.9354804663762 + ], + [ + -1.3877787701203918e-17, + -0.9958660330156964, + -0.09083415884486798, + 4.2706637792117945 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18951.40362577465, + -392893.5480466376, + 427.0663779211794 + ], + "rotation_deg": [ + 7.984393925045622e-16, + -5.211597442626951, + -116.73890686035158 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.978108212769418, + -0.2080969103879612, + 2.7755575422866557e-17, + 643.1433348920843 + ], + [ + -0.06470856372093203, + -0.30414664731907726, + -0.9504249674254874, + 1214.0104784422128 + ], + [ + 0.19778048931633457, + 0.9296184676004247, + -0.31095398814298875, + -3693.561109408401 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.978108212769418, + -0.06470856372093203, + 0.19778048931633457, + 180.00745619792758 + ], + [ + -0.2080969103879612, + -0.30414664731907726, + 0.9296184676004247, + 3936.675968094534 + ], + [ + 2.7755575422866557e-17, + -0.9504249674254874, + -0.31095398814298875, + 5.298321685184325 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18000.745619792757, + -393667.5968094534, + 529.8321685184325 + ], + "rotation_deg": [ + -1.6732276576381467e-15, + -18.116731643676765, + -77.98915100097655 + ] + } + } + ] + }, + { + "frame": 83, + "time": 1505.0656947344542, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.01090731684337761, + 0.9999405134503143, + -1.0842021641270449e-19, + -3942.15129955571 + ], + [ + 0.06904290013670435, + 0.0007531175879435278, + -0.9976134074653424, + -12.841167551112594 + ], + [ + -0.997554063112741, + -0.010881261329904886, + -0.06904700803895877, + 233.9883829015592 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.01090731684337761, + 0.06904290013670435, + -0.997554063112741, + 191.30445535985436 + ], + [ + 0.9999405134503143, + 0.0007531175879435278, + -0.010881261329904886, + 3944.4725609268494 + ], + [ + -1.0842021641270449e-19, + -0.9976134074653424, + -0.06904700803895877, + 3.345683299585222 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19130.445535985436, + -394447.2560926849, + 334.5683299585222 + ], + "rotation_deg": [ + 6.226881892301939e-18, + -3.9592523574829093, + 179.37504577636722 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.8924676762342589, + 0.4511113464290402, + -6.938893852025318e-17, + -1948.2448480585608 + ], + [ + 0.08316299765118904, + -0.1645276445603807, + -0.9828604020902872, + 636.2037931547627 + ], + [ + -0.4433794930727577, + 0.8771711318774381, + -0.18435137787225353, + -3366.7075668956304 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8924676762342589, + 0.08316299765118904, + -0.4433794930727577, + 193.10787581662046 + ], + [ + 0.4511113464290402, + -0.1645276445603807, + 0.8771711318774381, + 3936.7272069830706 + ], + [ + -6.938893852025318e-17, + -0.9828604020902872, + -0.18435137787225353, + 4.642336110328325 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19310.787581662047, + -393672.72069830704, + 464.2336110328325 + ], + "rotation_deg": [ + 4.0450234279915725e-15, + -10.623318672180169, + -116.81501007080075 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.892628364506889, + 0.45079330394068196, + 6.9388938506004e-18, + -1940.2612559863053 + ], + [ + 0.04087622594817217, + -0.08094015238552031, + -0.995880427503243, + 314.49960362985973 + ], + [ + -0.44893624225235085, + 0.8889511101007452, + -0.09067620549510745, + -3407.0618370127277 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.892628364506889, + 0.04087622594817217, + -0.44893624225235085, + 189.52317048873778 + ], + [ + 0.45079330394068196, + -0.08094015238552031, + 0.8889511101007452, + 3928.823881798016 + ], + [ + 6.9388938506004e-18, + -0.995880427503243, + -0.09067620549510745, + 4.2645600448399765 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18952.317048873778, + -392882.3881798016, + 426.4560044839976 + ], + "rotation_deg": [ + -3.9921392591793503e-16, + -5.202509880065919, + -116.79459381103521 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9785703570137982, + -0.2059127397075944, + -0.0, + 634.4153530571846 + ], + [ + -0.06402938714217166, + -0.30429035291388873, + -0.9504249674254875, + 1214.4116545170648 + ], + [ + 0.19570459894954334, + 0.93005770100998, + -0.3109539881429887, + -3694.793336198708 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9785703570137982, + -0.06402938714217166, + 0.19570459894954334, + 180.02605971124322 + ], + [ + -0.2059127397075944, + -0.30429035291388873, + 0.93005770100998, + 3936.538942329014 + ], + [ + -0.0, + -0.9504249674254875, + -0.3109539881429887, + 5.296443586922666 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18002.60597112432, + -393653.8942329014, + 529.6443586922666 + ], + "rotation_deg": [ + 0.0, + -18.11673164367676, + -78.11706542968749 + ] + } + } + ] + }, + { + "frame": 84, + "time": 1505.1323614045978, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.011016233586728852, + 0.9999393194577173, + 5.421010820635568e-20, + -3941.993471834834 + ], + [ + 0.06910184903344156, + 0.0007612883056144839, + -0.9976093197741662, + -12.885934115285913 + ], + [ + -0.9975487845291464, + -0.010989873103373711, + -0.0691060429600379, + 234.43481307556783 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.011016233586728852, + 0.06910184903344156, + -0.9975487845291464, + 191.32477891210345 + ], + [ + 0.9999393194577173, + 0.0007612883056144839, + -0.010989873103373711, + 3944.3404950104436 + ], + [ + 5.421010820635568e-20, + -0.9976093197741662, + -0.0691060429600379, + 3.3457407619482966 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19132.477891210347, + -394434.0495010444, + 334.5740761948297 + ], + "rotation_deg": [ + -3.113453703434836e-18, + -3.962642908096314, + 179.36880493164062 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.8786872170461496, + 0.47739792060679576, + -6.938893852107619e-17, + -2049.00374266765 + ], + [ + 0.08988026326040707, + -0.1654314670899264, + -0.9821170846557524, + 638.4373267692919 + ], + [ + -0.46886066770284823, + 0.8629737201742473, + -0.1882711676541553, + -3305.7623942589235 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8786872170461496, + 0.08988026326040707, + -0.46886066770284823, + 193.1085476348858 + ], + [ + 0.47739792060679576, + -0.1654314670899264, + 0.8629737201742473, + 3936.5938753353175 + ], + [ + -6.938893852107619e-17, + -0.9821170846557524, + -0.1882711676541553, + 4.640458664057757 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19310.85476348858, + -393659.38753353176, + 464.04586640577566 + ], + "rotation_deg": [ + 4.048084912748593e-15, + -10.851908683776848, + -118.51559448242185 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8921889656681611, + 0.4516623180430007, + -0.0, + -1943.5495175642666 + ], + [ + 0.04088351378673641, + -0.08075905033723815, + -0.9958948308376125, + 313.7713201938469 + ], + [ + -0.4498081818315039, + 0.8885263718764468, + -0.09051787689464713, + -3405.1260264938846 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8921889656681611, + 0.04088351378673641, + -0.4498081818315039, + 189.53184666781334 + ], + [ + 0.4516623180430007, + -0.08075905033723815, + 0.8885263718764468, + 3928.7122800348297 + ], + [ + -0.0, + -0.9958948308376125, + -0.09051787689464713, + 4.258456962459248 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18953.184666781333, + -392871.228003483, + 425.84569624592484 + ], + "rotation_deg": [ + 0.0, + -5.193400859832765, + -116.85038757324222 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9790276238884884, + -0.20372754272130283, + -8.326672626859967e-17, + 625.6852385203218 + ], + [ + -0.06334989142949332, + -0.30443254187115476, + -0.9504249674254874, + 1214.8067214448672 + ], + [ + 0.1936277331560114, + 0.9304922988455279, + -0.31095398814298864, + -3696.0068883997424 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9790276238884884, + -0.06334989142949332, + 0.1936277331560114, + 180.04421338335047 + ], + [ + -0.20372754272130283, + -0.30443254187115476, + 0.9304922988455279, + 3936.4019524888663 + ], + [ + -8.326672626859967e-17, + -0.9504249674254874, + -0.31095398814298864, + 5.294566140652097 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18004.421338335047, + -393640.19524888665, + 529.4566140652097 + ], + "rotation_deg": [ + 5.01968297291444e-15, + -18.116731643676758, + -78.24497985839841 + ] + } + } + ] + }, + { + "frame": 85, + "time": 1505.1990280747414, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.011124617600127165, + 0.9999381195270292, + -0.0, + -3941.8357205546235 + ], + [ + 0.06916056053138094, + 0.0007694324017630007, + -0.9976052449946142, + -12.93068496835545 + ], + [ + -0.9975435129422544, + -0.011097952675850906, + -0.0691648410193433, + 234.88101889995826 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.011124617600127165, + 0.06916056053138094, + -0.9975435129422544, + 191.34701018148743 + ], + [ + 0.9999381195270292, + 0.0007694324017630007, + -0.011097952675850906, + 3944.2084523563476 + ], + [ + -0.0, + -0.9976052449946142, + -0.0691648410193433, + 3.345795655242938 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19134.701018148742, + -394420.84523563477, + 334.5795655242938 + ], + "rotation_deg": [ + 0.0, + -3.966019868850707, + 179.3625946044922 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.8641052585518303, + 0.503311138504876, + -0.0, + -2148.132790103806 + ], + [ + 0.09651818871261253, + -0.16570639517380442, + -0.9814405890557714, + 638.2104434397471 + ], + [ + -0.49396999389244567, + 0.8480679656828161, + -0.1917664483597358, + -3242.105478942033 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8641052585518303, + 0.09651818871261253, + -0.49396999389244567, + 193.111127170286 + ], + [ + 0.503311138504876, + -0.16570639517380442, + 0.8480679656828161, + 3936.4605669498746 + ], + [ + -0.0, + -0.9814405890557714, + -0.1917664483597358, + 4.638578648718753 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19311.1127170286, + -393646.05669498746, + 463.85786487187534 + ], + "rotation_deg": [ + 0.0, + -11.055890083312983, + -120.21930694580077 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8917479374480535, + 0.45253244751856464, + -0.0, + -1946.8433623026692 + ], + [ + 0.040890453660983164, + -0.08057759816659567, + -0.9959092435925581, + 313.0416886890783 + ], + [ + -0.45068126151766935, + 0.8881000066793121, + -0.0903591647429729, + -3403.1828486422783 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8917479374480535, + 0.040890453660983164, + -0.45068126151766935, + 189.54243056402373 + ], + [ + 0.45253244751856464, + -0.08057759816659567, + 0.8881000066793121, + 3928.6007015339537 + ], + [ + -0.0, + -0.9959092435925581, + -0.0903591647429729, + 4.252351311010087 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18954.243056402374, + -392860.07015339535, + 425.23513110100873 + ], + "rotation_deg": [ + 0.0, + -5.184269905090332, + -116.90628051757812 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9794800379512315, + -0.2015411998948452, + -5.5511150845733115e-17, + 616.9502055876303 + ], + [ + -0.06267003941324818, + -0.3045732218272035, + -0.9504249674254874, + 1215.1958573588595 + ], + [ + 0.19154977832741066, + 0.9309222844473596, + -0.31095398814298864, + -3697.2023208309834 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9794800379512315, + -0.06267003941324818, + 0.19154977832741066, + 180.0642828961646 + ], + [ + -0.2015411998948452, + -0.3045732218272035, + 0.9309222844473596, + 3936.26502494946 + ], + [ + -5.5511150845733115e-17, + -0.9504249674254874, + -0.31095398814298864, + 5.292686125313094 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18006.42828961646, + -393626.502494946, + 529.2686125313094 + ], + "rotation_deg": [ + 3.3464553152762934e-15, + -18.116731643676758, + -78.37290191650388 + ] + } + } + ] + }, + { + "frame": 86, + "time": 1505.265694744885, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.011232735183522639, + 0.9999369108400274, + -0.0, + -3941.678023793826 + ], + [ + 0.06921902613604518, + 0.0007775680463623942, + -0.9976011837446419, + -12.975528627689307 + ], + [ + -0.9975382461585527, + -0.011205765726135412, + -0.06922339391715572, + 235.32859527868018 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.011232735183522639, + 0.06921902613604518, + -0.9975382461585527, + 191.37169730961276 + ], + [ + 0.9999369108400274, + 0.0007775680463623942, + -0.011205765726135412, + 3944.076479863308 + ], + [ + -0.0, + -0.9976011837446419, + -0.06922339391715572, + 3.345847807343498 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19137.169730961275, + -394407.6479863308, + 334.5847807343498 + ], + "rotation_deg": [ + 0.0, + -3.9693827629089364, + 179.3563995361328 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.8487317177203381, + 0.5288236675258436, + -1.3877787704497902e-17, + -2245.5268669316865 + ], + [ + 0.10301528512969074, + -0.1653336362735694, + -0.9808428211218184, + 635.4612641510599 + ], + [ + -0.5186929114983503, + 0.8324724035829751, + -0.19480082349453476, + -3175.812655837435 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8487317177203381, + 0.10301528512969074, + -0.5186929114983503, + 193.1161625644276 + ], + [ + 0.5288236675258436, + -0.1653336362735694, + 0.8324724035829751, + 3936.3273287254874 + ], + [ + -1.3877787704497902e-17, + -0.9808428211218184, + -0.19480082349453476, + 4.636695892185668 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19311.61625644276, + -393632.73287254875, + 463.6695892185668 + ], + "rotation_deg": [ + 8.10668797775661e-16, + -11.233088493347163, + -121.9260101318359 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8913052757475404, + 0.45340368924899677, + -0.0, + -1950.1432841111439 + ], + [ + 0.04089704750968503, + -0.08039580416352055, + -0.9959236648347558, + 312.31072256822506 + ], + [ + -0.4515554778548272, + 0.8876720095122315, + -0.0902000773160164, + -3401.2320740503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8913052757475404, + 0.04089704750968503, + -0.4515554778548272, + 189.55547031897558 + ], + [ + 0.45340368924899677, + -0.08039580416352055, + 0.8876720095122315, + 3928.489193194133 + ], + [ + -0.0, + -0.9959236648347558, + -0.0902000773160164, + 4.2462429183668435 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18955.547031897557, + -392848.9193194133, + 424.6242918366844 + ], + "rotation_deg": [ + 0.0, + -5.175117492675781, + -116.96227264404297 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.979927542982318, + -0.19935398291641318, + -0.0, + 608.2108038364462 + ], + [ + -0.061989915575962375, + -0.3047123753002922, + -0.9504249674254875, + 1215.579053486433 + ], + [ + 0.18947099268298445, + 0.9313476043828615, + -0.3109539881429887, + -3698.3796072326622 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.979927542982318, + -0.061989915575962375, + 0.18947099268298445, + 180.08681630411604 + ], + [ + -0.19935398291641318, + -0.3047123753002922, + 0.9313476043828615, + 3936.1282066275803 + ], + [ + -0.0, + -0.9504249674254875, + -0.3109539881429887, + 5.290803368780008 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18008.681630411604, + -393612.820662758, + 529.0803368780008 + ], + "rotation_deg": [ + 0.0, + -18.11673164367676, + -78.50081634521483 + ] + } + } + ] + }, + { + "frame": 87, + "time": 1505.3323614150286, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.011340320037635465, + 0.9999356965032521, + 5.421010820636597e-20, + -3941.5204859860432 + ], + [ + 0.0692772543666477, + 0.0007856767576092918, + -0.9975971354908008, + -13.020388400669509 + ], + [ + -0.9975329867437537, + -0.011313046596411542, + -0.06928170995864545, + 235.77642082620497 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.011340320037635465, + 0.0692772543666477, + -0.9975329867437537, + 191.3987653442339 + ], + [ + 0.9999356965032521, + 0.0007856767576092918, + -0.011313046596411542, + 3943.944618669816 + ], + [ + 5.421010820636597e-20, + -0.9975971354908008, + -0.06928170995864545, + 3.345897911074336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19139.87653442339, + -394394.4618669816, + 334.5897911074336 + ], + "rotation_deg": [ + -3.113491730010302e-18, + -3.9727320671081556, + 179.35023498535156 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.8325781583258585, + 0.5539075827958322, + -0.0, + -2341.078289355142 + ], + [ + 0.10930379363800202, + -0.16429446722107982, + -0.9803366813176393, + 630.1294647724827 + ], + [ + -0.5430159349498386, + 0.8162068993411559, + -0.197332186574945, + -3106.965086511856 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8325781583258585, + 0.10930379363800202, + -0.5430159349498386, + 193.12357886506504 + ], + [ + 0.5539075827958322, + -0.16429446722107982, + 0.8162068993411559, + 3936.1942018006484 + ], + [ + -0.0, + -0.9803366813176393, + -0.197332186574945, + 4.634811087282863 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19312.357886506503, + -393619.42018006486, + 463.48110872828624 + ], + "rotation_deg": [ + 0.0, + -11.380995750427243, + -123.63550567626952 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8908609764648713, + 0.45427604010343275, + -1.3877787701188319e-17, + -1953.4492183151615 + ], + [ + 0.04090328976841653, + -0.08021366184186253, + -0.9959380951344515, + 311.5784045049514 + ], + [ + -0.4524308280541831, + 0.8872423767161836, + -0.0900406063130607, + -3399.2737532182837 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8908609764648713, + 0.04090328976841653, + -0.4524308280541831, + 189.57089098042317 + ], + [ + 0.45427604010343275, + -0.08021366184186253, + 0.8872423767161836, + 3928.377796153861 + ], + [ + -1.3877787701188319e-17, + -0.9959380951344515, + -0.0900406063130607, + 4.240132477353879 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18957.089098042317, + -392837.7796153861, + 424.01324773538795 + ], + "rotation_deg": [ + 7.983816206053886e-16, + -5.1659431457519505, + -117.01836395263672 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9803701638792566, + -0.19716577232207316, + -0.0, + 599.4666369206648 + ], + [ + -0.061309482769849655, + -0.3048500100324003, + -0.9504249674254875, + 1215.9563378400635 + ], + [ + 0.18739126268122658, + 0.931768282315247, + -0.31095398814298875, + -3699.5388309963223 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9803701638792566, + -0.061309482769849655, + 0.18739126268122658, + 180.11173856774334 + ], + [ + -0.19716577232207316, + -0.3048500100324003, + 0.931768282315247, + 3935.9915386795633 + ], + [ + -0.0, + -0.9504249674254875, + -0.31095398814298875, + 5.2889185638772025 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18011.173856774334, + -393599.1538679563, + 528.8918563877203 + ], + "rotation_deg": [ + 0.0, + -18.116731643676765, + -78.62873077392578 + ] + } + } + ] + }, + { + "frame": 88, + "time": 1505.3990280851722, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.011447638461817216, + 0.999934473639972, + -0.0, + -3941.363076787359 + ], + [ + 0.06933524502627218, + 0.0007937768310286861, + -0.9975931002746006, + -13.065324891608963 + ], + [ + -0.9975277318695838, + -0.011420060956216456, + -0.06933978914649384, + 236.22538125737134 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.011447638461817216, + 0.06933524502627218, + -0.9975277318695838, + 191.42805178047652 + ], + [ + 0.999934473639972, + 0.0007937768310286861, + -0.011420060956216456, + 3943.812899619536 + ], + [ + -0.0, + -0.9975931002746006, + -0.06933978914649384, + 3.345946647188664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19142.805178047653, + -394381.2899619536, + 334.5946647188664 + ], + "rotation_deg": [ + 0.0, + -3.9760677814483656, + 179.34408569335938 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.8156584514961434, + 0.5785337418879847, + -1.3877787704699382e-17, + -2434.6749620929863 + ], + [ + 0.1153083417301685, + -0.16256998797215824, + -0.9799362149334879, + 622.1555250240388 + ], + [ + -0.5669261786033565, + 0.7992932457772924, + -0.19931135258433222, + -3035.6514764689614 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8156584514961434, + 0.1153083417301685, + -0.5669261786033565, + 193.13321356732388 + ], + [ + 0.5785337418879847, + -0.16256998797215824, + 0.7992932457772924, + 3936.061217019021 + ], + [ + -1.3877787704699382e-17, + -0.9799362149334879, + -0.19931135258433222, + 4.632924914763546 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19313.321356732387, + -393606.1217019021, + 463.2924914763546 + ], + "rotation_deg": [ + 8.114188030812039e-16, + -11.496691703796381, + -125.34748077392582 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8904149748887753, + 0.4551496155044202, + -0.0, + -1956.7614720697868 + ], + [ + 0.040909189271302916, + -0.08003116666891613, + -0.9959525343081248, + 310.8447248393614 + ], + [ + -0.453307427059305, + 0.8868110435954374, + -0.08988075172162172, + -3397.307705258501 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8904149748887753, + 0.040909189271302916, + -0.453307427059305, + 189.58853004349226 + ], + [ + 0.4551496155044202, + -0.08003116666891613, + 0.8868110435954374, + 3928.2665412568 + ], + [ + -0.0, + -0.9959525343081248, + -0.08988075172162172, + 4.234020668724404 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18958.853004349225, + -392826.65412568, + 423.4020668724404 + ], + "rotation_deg": [ + 0.0, + -5.1567468643188485, + -117.0745620727539 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9808078984359457, + -0.19497657901825896, + -5.5511150845733115e-17, + 590.7179102660484 + ], + [ + -0.06062874438630905, + -0.30498612533753167, + -0.9504249674254874, + 1216.3277043175258 + ], + [ + 0.18531059868788446, + 0.9321843161477822, + -0.31095398814298864, + -3700.6799712813877 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9808078984359457, + -0.06062874438630905, + 0.18531059868788446, + 180.1388870949164 + ], + [ + -0.19497657901825896, + -0.30498612533753167, + 0.9321843161477822, + 3935.855051966723 + ], + [ + -5.5511150845733115e-17, + -0.9504249674254874, + -0.31095398814298864, + 5.2870323913578865 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18013.888709491643, + -393585.5051966723, + 528.7032391357886 + ], + "rotation_deg": [ + 3.3464553152762934e-15, + -18.116731643676758, + -78.75664520263668 + ] + } + } + ] + }, + { + "frame": 89, + "time": 1505.4656947553158, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.011554157859150456, + 0.9999332484902009, + 1.0842021641274553e-19, + -3941.2059411370365 + ], + [ + 0.06939300270089814, + 0.0008018312309719025, + -0.9975890778486048, + -13.110176317013655 + ], + [ + -0.9975224875136366, + -0.01152627749724212, + -0.06939763563453226, + 236.67314696551435 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.011554157859150456, + 0.06939300270089814, + -0.9975224875136366, + 191.45932023328908 + ], + [ + 0.9999332484902009, + 0.0008018312309719025, + -0.01152627749724212, + 3943.681339030164 + ], + [ + 1.0842021641274553e-19, + -0.9975890778486048, + -0.06939763563453226, + 3.3459946041922684 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19145.932023328907, + -394368.1339030164, + 334.59946041922683 + ], + "rotation_deg": [ + -6.22703375608596e-18, + -3.9793901443481468, + 179.33798217773438 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.7979891602284106, + 0.6026718013628611, + -0.0, + -2526.200534179879 + ], + [ + 0.12094432897699857, + -0.16014066577612263, + -0.9796567952365174, + 611.479248848816 + ], + [ + -0.590411538742776, + 0.7817554929497159, + -0.20068025354362715, + -2961.9693449630618 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7979891602284106, + 0.12094432897699857, + -0.590411538742776, + 193.14483028615268 + ], + [ + 0.6026718013628611, + -0.16014066577612263, + 0.7817554929497159, + 3935.9283906983023 + ], + [ + -0.0, + -0.9796567952365174, + -0.20068025354362715, + 4.6310379631335055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19314.48302861527, + -393592.83906983025, + 463.1037963133506 + ], + "rotation_deg": [ + 0.0, + -11.57674121856689, + -127.06149291992183 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8899672665627407, + 0.45602441211720596, + -0.0, + -1960.079825402406 + ], + [ + 0.04091474412093543, + -0.07984831956334866, + -0.9959669821718125, + 310.1096991184182 + ], + [ + -0.4541852715412981, + 0.8863780054621208, + -0.08972051352923423, + -3395.3340286368125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8899672665627407, + 0.04091474412093543, + -0.4541852715412981, + 189.60815112313125 + ], + [ + 0.45602441211720596, + -0.07984831956334866, + 0.8863780054621208, + 3928.155444820648 + ], + [ + -0.0, + -0.9959669821718125, + -0.08972051352923423, + 4.2279080809842045 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18960.815112313125, + -392815.5444820648, + 422.7908080984205 + ], + "rotation_deg": [ + 0.0, + -5.147528648376464, + -117.13086700439459 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9812407701416935, + -0.19278628325619016, + 2.7755575422866557e-17, + 581.9643802150865 + ], + [ + -0.05994766318897991, + -0.3051207285197806, + -0.9504249674254874, + 1216.6931624491845 + ], + [ + 0.18322888689072653, + 0.9325957282052904, + -0.31095398814298875, + -3701.803055324647 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9812407701416935, + -0.05994766318897991, + 0.18322888689072653, + 180.16802541328903 + ], + [ + -0.19278628325619016, + -0.3051207285197806, + 0.9325957282052904, + 3935.7187628242104 + ], + [ + 2.7755575422866557e-17, + -0.9504249674254874, + -0.31095398814298875, + 5.285145439727846 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18016.802541328903, + -393571.87628242106, + 528.5145439727846 + ], + "rotation_deg": [ + -1.6732276576381467e-15, + -18.116731643676765, + -78.88456726074219 + ] + } + } + ] + }, + { + "frame": 90, + "time": 1505.5323614254594, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.011660677125368465, + 0.9999320119933045, + -1.0842021641275228e-19, + -3941.048893404704 + ], + [ + 0.0694505226134347, + 0.0008098951835425247, + -0.9975850685422833, + -13.155139203020152 + ], + [ + -0.9975172449666049, + -0.011632493203520625, + -0.06945524527423791, + 237.122568824239 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.011660677125368465, + 0.0694505226134347, + -0.9975172449666049, + 191.49227921911057 + ], + [ + 0.9999320119933045, + 0.0008098951835425247, + -0.011632493203520625, + 3943.5499371442093 + ], + [ + -1.0842021641275228e-19, + -0.9975850685422833, + -0.06945524527423791, + 3.346042227972541 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19149.227921911057, + -394354.99371442094, + 334.6042227972541 + ], + "rotation_deg": [ + 6.2270587826094894e-18, + -3.982698917388916, + 179.33187866210938 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.7795905274001487, + 0.6262895573039343, + -0.0, + -2615.5320153619905 + ], + [ + 0.1261155715410672, + -0.15698570059880212, + -0.9795153660981399, + 598.0377243095872 + ], + [ + -0.6134602581030131, + 0.7636208899257311, + -0.20136943213213676, + -2886.0288222729077 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7795905274001487, + 0.1261155715410672, + -0.6134602581030131, + 193.15813753799046 + ], + [ + 0.6262895573039343, + -0.15698570059880212, + 0.7636208899257311, + 3935.7957230810007 + ], + [ + -0.0, + -0.9795153660981399, + -0.20136943213213676, + 4.6291506782801335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19315.813753799044, + -393579.57230810006, + 462.9150678280133 + ], + "rotation_deg": [ + 0.0, + -11.61705112457275, + -128.77690124511716 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8895179687066205, + 0.4569001897001656, + 6.938893850589468e-18, + -1963.4030949388189 + ], + [ + 0.040919931201841384, + -0.07966513234797068, + -0.9959814385411088, + 309.37339057359094 + ], + [ + -0.4550641222154457, + 0.8859433788153556, + -0.08955989172345297, + -3393.353354223109 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8895179687066205, + 0.040919931201841384, + -0.4550641222154457, + 189.62946273577924 + ], + [ + 0.4569001897001656, + -0.07966513234797068, + 0.8859433788153556, + 3928.0445070879127 + ], + [ + 6.938893850589468e-18, + -0.9959814385411088, + -0.08955989172345297, + 4.221795160020674 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18962.946273577923, + -392804.45070879126, + 422.17951600206743 + ], + "rotation_deg": [ + -3.9917343820194624e-16, + -5.138288497924805, + -117.18726348876953 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9816687252052413, + -0.19059515721527684, + -5.5511150845733115e-17, + 573.2074109146872 + ], + [ + -0.059266323813134826, + -0.3052538028525404, + -0.9504249674254874, + 1217.052641482486 + ], + [ + 0.18114638597586155, + 0.9330024673632191, + -0.3109539881429886, + -3702.907865438348 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9816687252052413, + -0.059266323813134826, + 0.18114638597586155, + 180.19886195196662 + ], + [ + -0.19059515721527684, + -0.3052538028525404, + 0.9330024673632191, + 3935.5826715117937 + ], + [ + -5.5511150845733115e-17, + -0.9504249674254874, + -0.3109539881429886, + 5.283258154874473 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18019.88619519666, + -393558.2671511794, + 528.3258154874474 + ], + "rotation_deg": [ + 3.3464553152762934e-15, + -18.116731643676754, + -79.01248168945308 + ] + } + } + ] + }, + { + "frame": 91, + "time": 1505.599028095603, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.011766397366253753, + 0.9999307735503591, + 5.4210108206379515e-20, + -3940.8921124501226 + ], + [ + 0.06950780956978966, + 0.0008179131286780538, + -0.997581072107387, + -13.19997283536407 + ], + [ + -0.9975120133586616, + -0.01173791111456891, + -0.06951262221939522, + 237.5701827029458 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.011766397366253753, + 0.06950780956978966, + -0.9975120133586616, + 191.52660491373106 + ], + [ + 0.9999307735503591, + 0.0008179131286780538, + -0.01173791111456891, + 3943.4186794643742 + ], + [ + 5.4210108206379515e-20, + -0.997581072107387, + -0.06951262221939522, + 3.34608980629972 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19152.660491373106, + -394341.86794643744, + 334.608980629972 + ], + "rotation_deg": [ + -3.113541864494194e-18, + -3.9859943389892583, + 179.32582092285156 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.7604877803828, + 0.6493522433074688, + -1.3877787704789592e-17, + -2702.5372902551435 + ], + [ + 0.1307111501456543, + -0.15308214219640964, + -0.9795307309973272, + 581.7624598509344 + ], + [ + -0.6360604904988245, + 0.7449211399708122, + -0.20129467864546394, + -2807.957680517724 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7604877803828, + 0.1307111501456543, + -0.6360604904988245, + 193.17281149862717 + ], + [ + 0.6493522433074688, + -0.15308214219640964, + 0.7449211399708122, + 3935.663199669819 + ], + [ + -1.3877787704789592e-17, + -0.9795307309973272, + -0.20129467864546394, + 4.627263347973668 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19317.281149862716, + -393566.3199669819, + 462.7263347973668 + ], + "rotation_deg": [ + 8.11754695856086e-16, + -11.612678527832026, + -130.4927825927734 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8890669556441093, + 0.45777718202386947, + 6.9388938505879025e-18, + -1966.731878251779 + ], + [ + 0.040924769926585544, + -0.07948159505942308, + -0.9959959032311656, + 308.6357687968379 + ], + [ + -0.4559442118965501, + 0.8855070382373084, + -0.08939888629185246, + -3391.3652758062376 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8890669556441093, + 0.040924769926585544, + -0.4559442118965501, + 189.65214105722615 + ], + [ + 0.45777718202386947, + -0.07948159505942308, + 0.8855070382373084, + 3927.9337135612977 + ], + [ + 6.9388938505879025e-18, + -0.9959959032311656, + -0.08939888629185246, + 4.215682193604051 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18965.214105722614, + -392793.37135612976, + 421.5682193604051 + ], + "rotation_deg": [ + -3.9916764106951475e-16, + -5.129026412963868, + -117.24376678466797 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9820917874562785, + -0.1884030812140083, + -0.0, + 564.4468397656808 + ], + [ + -0.05858468904333087, + -0.30538535574574843, + -0.9504249674254875, + 1217.4061379547384 + ], + [ + 0.17906298219499395, + 0.9334045562698983, + -0.31095398814298875, + -3703.9943901133843 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9820917874562785, + -0.05858468904333087, + 0.17906298219499395, + 180.23107279936724 + ], + [ + -0.1884030812140083, + -0.30538535574574843, + 0.9334045562698983, + 3935.446763549242 + ], + [ + -0.0, + -0.9504249674254875, + -0.31095398814298875, + 5.281370824568008 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18023.107279936725, + -393544.6763549242, + 528.1370824568008 + ], + "rotation_deg": [ + 0.0, + -18.116731643676765, + -79.14039611816405 + ] + } + } + ] + }, + { + "frame": 92, + "time": 1505.6656947657466, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.011871851178272231, + 0.999929527091585, + 5.4210108206382856e-20, + -3940.7354504635177 + ], + [ + 0.06956486315082316, + 0.0008259219076824047, + -0.9975770885840398, + -13.244799447224029 + ], + [ + -0.9975067866748428, + -0.011843062550560451, + -0.06956976647260814, + 238.01775242025892 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.011871851178272231, + 0.06956486315082316, + -0.9975067866748428, + 191.5619662661191 + ], + [ + 0.999929527091585, + 0.0008259219076824047, + -0.011843062550560451, + 3943.287540560146 + ], + [ + 5.4210108206382856e-20, + -0.9975770885840398, + -0.06956976647260814, + 3.346137483729545 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19156.19662661191, + -394328.75405601464, + 334.6137483729545 + ], + "rotation_deg": [ + -3.113554297485131e-18, + -3.98927640914917, + 179.3197784423828 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.740713403338876, + 0.6718211474150986, + -0.0, + -2787.070141369961 + ], + [ + 0.13460081872054377, + -0.14840353107415802, + -0.9797239466117387, + 562.5749252680921 + ], + [ + -0.6581992787238082, + 0.7256946468305412, + -0.20035216257618732, + -2727.910381028422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.740713403338876, + 0.13460081872054377, + -0.6581992787238082, + 193.18852111703146 + ], + [ + 0.6718211474150986, + -0.14840353107415802, + 0.7256946468305412, + 3935.5307950342435 + ], + [ + -0.0, + -0.9797239466117387, + -0.20035216257618732, + 4.625376116769848 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19318.852111703145, + -393553.07950342435, + 462.53761167698485 + ], + "rotation_deg": [ + 0.0, + -11.557553291320794, + -132.20777893066406 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8886142229091335, + 0.45865538571306064, + 6.938893850586336e-18, + -1970.0658534060112 + ], + [ + 0.04092925839222849, + -0.07929770863567462, + -0.9960103760566922, + 307.8968495502299 + ], + [ + -0.4568255372124395, + 0.8850689790293829, + -0.08923749722202759, + -3389.369900963599 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8886142229091335, + 0.04092925839222849, + -0.4568255372124395, + 189.67585503644062 + ], + [ + 0.45865538571306064, + -0.07929770863567462, + 0.8850689790293829, + 3927.823038810289 + ], + [ + 6.938893850586336e-18, + -0.9960103760566922, + -0.08923749722202759, + 4.209569326290072 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18967.585503644063, + -392782.3038810289, + 420.95693262900727 + ], + "rotation_deg": [ + -3.991618408450857e-16, + -5.119742393493653, + -117.30037689208986 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.982509954786186, + -0.18621006617808478, + -0.0, + 555.6830286688651 + ], + [ + -0.05790276227695813, + -0.3055153865437208, + -0.9504249674254875, + 1217.7536209511636 + ], + [ + 0.1769786859321814, + 0.933801992921245, + -0.31095398814298875, + -3705.062534394456 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.982509954786186, + -0.05790276227695813, + 0.1769786859321814, + 180.2643268170498 + ], + [ + -0.18621006617808478, + -0.3055153865437208, + 0.933801992921245, + 3935.31101352291 + ], + [ + -0.0, + -0.9504249674254875, + -0.31095398814298875, + 5.279483593364189 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18026.43268170498, + -393531.101352291, + 527.9483593364189 + ], + "rotation_deg": [ + 0.0, + -18.116731643676765, + -79.268310546875 + ] + } + } + ] + }, + { + "frame": 93, + "time": 1505.7323614358902, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.011977038561246881, + 0.9999282727012484, + -5.4210108206386214e-20, + -3940.5788802009906 + ], + [ + 0.06962168751528816, + 0.0008339214510027382, + -0.9975731177224739, + -13.289597865942778 + ], + [ + -0.9975015647495079, + -0.011947947515596769, + -0.06962668218756445, + 238.46496552875885 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.011977038561246881, + 0.06962168751528816, + -0.9975015647495079, + 191.5980502900353 + ], + [ + 0.9999282727012484, + 0.0008339214510027382, + -0.011947947515596769, + 3943.1564894011135 + ], + [ + -5.4210108206386214e-20, + -0.9975731177224739, + -0.06962668218756445, + 3.3461852988598877 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19159.80502900353, + -394315.64894011134, + 334.6185298859888 + ], + "rotation_deg": [ + 3.1135666910561547e-18, + -3.992545366287231, + 179.31375122070312 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.7203101680001821, + 0.6936521187710376, + -0.0, + -2868.9649850198452 + ], + [ + 0.13762847690670305, + -0.14291773734925942, + -0.98011883090537, + 540.3793112519968 + ], + [ + -0.679861516274548, + 0.7059895472189448, + -0.1984113855262901, + -2646.080224272827 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7203101680001821, + 0.13762847690670305, + -0.679861516274548, + 193.20495340696394 + ], + [ + 0.6936521187710376, + -0.14291773734925942, + 0.7059895472189448, + 3935.3984781438635 + ], + [ + -0.0, + -0.98011883090537, + -0.1984113855262901, + 4.623489023266547 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19320.495340696394, + -393539.84781438636, + 462.34890232665475 + ], + "rotation_deg": [ + 0.0, + -11.44407653808593, + -133.91990661621088 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8881598884136703, + 0.45953456084718614, + 6.938893850584767e-18, + -1973.4038065709237 + ], + [ + 0.04093336981552344, + -0.07911347756026652, + -0.9960248575732767, + 307.15666598328886 + ], + [ + -0.45770785952562165, + 0.8846293190425805, + -0.08907571621229818, + -3387.367851268414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8881598884136703, + 0.04093336981552344, + -0.45770785952562165, + 189.70029168718335 + ], + [ + 0.45953456084718614, + -0.07911347756026652, + 0.8846293190425805, + 3927.712451804475 + ], + [ + 6.938893850584767e-18, + -0.9960248575732767, + -0.08907571621229818, + 4.203456596676613 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18970.029168718334, + -392771.2451804475, + 420.34565966766127 + ], + "rotation_deg": [ + -3.9915603730628444e-16, + -5.110435962677002, + -117.3570785522461 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9829232496139639, + -0.18401599215374043, + -0.0, + 546.915802086417 + ], + [ + -0.057220506213915, + -0.30564390221773513, + -0.9504249674254875, + 1218.0950823413511 + ], + [ + 0.17489338318036926, + 0.9341947986248345, + -0.31095398814298875, + -3706.112273306985 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9829232496139639, + -0.057220506213915, + 0.17489338318036926, + 180.29831093132776 + ], + [ + -0.18401599215374043, + -0.30564390221773513, + 0.9341947986248345, + 3935.1753904190623 + ], + [ + -0.0, + -0.9504249674254875, + -0.31095398814298875, + 5.277596499860888 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18029.831093132776, + -393517.53904190625, + 527.7596499860888 + ], + "rotation_deg": [ + 0.0, + -18.116731643676765, + -79.39623260498047 + ] + } + } + ] + }, + { + "frame": 94, + "time": 1505.7990281060338, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.012081693218346803, + 0.9999270136809877, + -0.0, + -3940.4224378261924 + ], + [ + 0.06967827874452961, + 0.0008418930344474481, + -0.9975691598517458, + -13.3342746694069 + ], + [ + -0.9974963512053422, + -0.012052300371314772, + -0.06968336521573128, + 238.91050387735802 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.012081693218346803, + 0.06967827874452961, + -0.9974963512053422, + 191.63458514569834 + ], + [ + 0.9999270136809877, + 0.0008418930344474481, + -0.012052300371314772, + 3943.0254950106005 + ], + [ + -0.0, + -0.9975691598517458, + -0.06968336521573128, + 3.3462332284426095 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19163.458514569833, + -394302.54950106004, + 334.62332284426094 + ], + "rotation_deg": [ + 0.0, + -3.995800971984863, + 179.30775451660156 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.6993370722449787, + 0.7147920392560492, + -1.3877787704520141e-17, + -2948.024158447127 + ], + [ + 0.1396020310936032, + -0.13658360801844466, + -0.9807426731488768, + 515.051300082584 + ], + [ + -0.7010270676894653, + 0.6858696966032205, + -0.1953044025313215, + -2562.723490306423 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.6993370722449787, + 0.1396020310936032, + -0.7010270676894653, + 193.22183652864322 + ], + [ + 0.7147920392560492, + -0.13658360801844466, + 0.6858696966032205, + 3935.266218022003 + ], + [ + -1.3877787704520141e-17, + -0.9807426731488768, + -0.1953044025313215, + 4.621602044215624 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19322.18365286432, + -393526.62180220033, + 462.1602044215624 + ], + "rotation_deg": [ + 8.107515787541187e-16, + -11.262506484985343, + -135.62615966796872 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8877037644643421, + 0.460415059002022, + 6.938893850583201e-18, + -1976.7468262173993 + ], + [ + 0.04093713776179591, + -0.0789288938035843, + -0.9960393468507224, + 306.4151889314359 + ], + [ + -0.45859152865625213, + 0.8841878704197315, + -0.08891355153935547, + -3385.3584181865012 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8877037644643421, + 0.04093713776179591, + -0.45859152865625213, + 189.7251791696728 + ], + [ + 0.460415059002022, + -0.0789288938035843, + 0.8841878704197315, + 3927.6019215671818 + ], + [ + 6.938893850583201e-18, + -0.9960393468507224, + -0.08891355153935547, + 4.197343981515531 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18972.51791696728, + -392760.19215671817, + 419.73439815155314 + ], + "rotation_deg": [ + -3.9915023082617225e-16, + -5.101107597351074, + -117.41389465332031 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9833316205810951, + -0.18182113178989218, + -0.0, + 538.1465031167647 + ], + [ + -0.05653800563546894, + -0.3057708867976557, + -0.9504249674254875, + 1218.4304488454752 + ], + [ + 0.17280733307189788, + 0.9345829245682528, + -0.31095398814298875, + -3707.143382947351 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9833316205810951, + -0.05653800563546894, + 0.17280733307189788, + 180.33275321493545 + ], + [ + -0.18182113178989218, + -0.3057708867976557, + 0.9345829245682528, + 3935.039863277502 + ], + [ + -0.0, + -0.9504249674254875, + -0.31095398814298875, + 5.275709520809965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18033.275321493544, + -393503.9863277502, + 527.5709520809964 + ], + "rotation_deg": [ + 0.0, + -18.116731643676765, + -79.5241470336914 + ] + } + } + ] + }, + { + "frame": 95, + "time": 1505.8656947761774, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.012185815150437327, + 0.9999257501980433, + -0.0, + -3940.266100466965 + ], + [ + 0.06973464515438477, + 0.000849836595631594, + -0.997565214431093, + -13.378816525653352 + ], + [ + -0.9974911456684625, + -0.012156121122391663, + -0.06973982386180767, + 239.35415610372073 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.012185815150437327, + 0.06973464515438477, + -0.9974911456684625, + 191.671359063751 + ], + [ + 0.9999257501980433, + 0.000849836595631594, + -0.012156121122391663, + 3942.894531356238 + ], + [ + -0.0, + -0.997565214431093, + -0.06973982386180767, + 3.346281227620723 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19167.1359063751, + -394289.45313562383, + 334.6281227620723 + ], + "rotation_deg": [ + 0.0, + -3.9990437030792254, + 179.30178833007812 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.6778795203786376, + 0.7351730108288987, + -1.3877787704323833e-17, + -3023.9970350915187 + ], + [ + 0.14027758651509778, + -0.12934547605265462, + -0.9816271932593409, + 486.41952234362543 + ], + [ + -0.7216658313255564, + 0.665424957366563, + -0.1908089463597072, + -2478.2009298587795 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.6778795203786376, + 0.14027758651509778, + -0.7216658313255564, + 193.23895871271216 + ], + [ + 0.7351730108288987, + -0.12934547605265462, + 0.665424957366563, + 3935.1339886362944 + ], + [ + -1.3877787704323833e-17, + -0.9816271932593409, + -0.1908089463597072, + 4.619715134760094 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19323.895871271216, + -393513.39886362944, + 461.97151347600936 + ], + "rotation_deg": [ + 8.100210304439553e-16, + -10.999997138977042, + -137.32183837890622 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8872459690843851, + 0.4612966402907242, + 6.938893850581634e-18, + -1980.0937916474686 + ], + [ + 0.040940539278068684, + -0.07874396922491045, + -0.9960538437024009, + 305.67247600775994 + ], + [ + -0.4594763056560367, + 0.8837447504643501, + -0.08875100319085726, + -3383.3421812832557 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8872459690843851, + 0.040940539278068684, + -0.4594763056560367, + 189.75030571455198 + ], + [ + 0.4612966402907242, + -0.07874396922491045, + 0.8837447504643501, + 3927.4914220660394 + ], + [ + 6.938893850581634e-18, + -0.9960538437024009, + -0.08875100319085726, + 4.191231435949842 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18975.030571455198, + -392749.14220660395, + 419.1231435949842 + ], + "rotation_deg": [ + -3.9914442147979997e-16, + -5.091757297515868, + -117.47080993652342 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.983735090447547, + -0.17962536519700212, + -0.0, + 529.3748592740661 + ], + [ + -0.05585522326149026, + -0.3058963473607852, + -0.9504249674254875, + 1218.7597214494492 + ], + [ + 0.1707204216607566, + 0.9349663923831399, + -0.31095398814298875, + -3708.1558664732306 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.983735090447547, + -0.05585522326149026, + 0.1707204216607566, + 180.36744181099493 + ], + [ + -0.17962536519700212, + -0.3058963473607852, + 0.9349663923831399, + 3934.9044060821448 + ], + [ + -0.0, + -0.9504249674254875, + -0.31095398814298875, + 5.273822611354434 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18036.744181099493, + -393490.44060821447, + 527.3822611354434 + ], + "rotation_deg": [ + 0.0, + -18.116731643676765, + -79.65206146240233 + ] + } + } + ] + }, + { + "frame": 96, + "time": 1505.932361446321, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.012289404358408335, + 0.9999244824188053, + -5.421010820639619e-20, + -3940.1098528709326 + ], + [ + 0.06979078675904012, + 0.0008577519743276603, + -0.9975612814985877, + -13.423213236259409 + ], + [ + -0.9974859483429287, + -0.012259409780377926, + -0.06979605812827232, + 239.79578479941017 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.012289404358408335, + 0.06979078675904012, + -0.9974859483429287, + 191.70823420710295 + ], + [ + 0.9999244824188053, + 0.0008577519743276603, + -0.012259409780377926, + 3942.7635808487885 + ], + [ + -5.421010820639619e-20, + -0.9975612814985877, + -0.06979605812827232, + 3.3463292580944084 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19170.823420710294, + -394276.3580848788, + 334.63292580944085 + ], + "rotation_deg": [ + 3.113603634022662e-18, + -4.002273559570311, + 179.2958526611328 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.6560680877355896, + 0.7547017054803616, + 6.938893852030901e-18, + -3096.541762544551 + ], + [ + 0.13933317105908197, + -0.12112341396748885, + -0.9828099440031529, + 454.2322994893488 + ], + [ + -0.7417283528191422, + 0.6447902264564055, + -0.184620189823594, + -2393.0545499637064 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.6560680877355896, + 0.13933317105908197, + -0.7417283528191422, + 193.2561821220803 + ], + [ + 0.7547017054803616, + -0.12112341396748885, + 0.6447902264564055, + 3935.001772397497 + ], + [ + 6.938893852030901e-18, + -0.9828099440031529, + -0.184620189823594, + 4.617828256600135 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19325.61821220803, + -393500.1772397497, + 461.7828256600135 + ], + "rotation_deg": [ + -4.045231102068371e-16, + -10.638989448547362, + -138.99931335449216 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8867864981473413, + 0.46217930146597314, + -2.0816681551740185e-17, + -1983.4445582310314 + ], + [ + 0.04094356869675712, + -0.07855869743860756, + -0.9960683486785044, + 304.9285075558844 + ], + [ + -0.46036218761184783, + 0.8832999554710118, + -0.08858806286482544, + -3381.319174303575 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8867864981473413, + 0.04094356869675712, + -0.46036218761184783, + 189.77553348473032 + ], + [ + 0.46217930146597314, + -0.07855869743860756, + 0.8832999554710118, + 3927.380935711809 + ], + [ + -2.0816681551740185e-17, + -0.9960683486785044, + -0.08858806286482544, + 4.1851189216797255 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18977.553348473033, + -392738.0935711809, + 418.5118921679725 + ], + "rotation_deg": [ + 1.1974158271408657e-15, + -5.082384586334228, + -117.52782440185547 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9841336808284059, + -0.17742857227383954, + -5.5511150845733115e-17, + 520.6005268260251 + ], + [ + -0.05517212174602261, + -0.3060202906284207, + -0.9504249674254874, + 1219.082906950772 + ], + [ + 0.16863253479973644, + 0.9353452226130127, + -0.31095398814298864, + -3709.14974478422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9841336808284059, + -0.05517212174602261, + 0.16863253479973644, + 180.4022387948589 + ], + [ + -0.17742857227383954, + -0.3060202906284207, + 0.9353452226130127, + 3934.7690012598387 + ], + [ + -5.5511150845733115e-17, + -0.9504249674254874, + -0.31095398814298864, + 5.271935733194475 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18040.22387948589, + -393476.90012598387, + 527.1935733194475 + ], + "rotation_deg": [ + 3.3464553152762934e-15, + -18.116731643676758, + -79.7799835205078 + ] + } + } + ] + }, + { + "frame": 97, + "time": 1505.9990281164646, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.012392993434485383, + 0.9999232039080466, + 5.4210108206399503e-20, + -3939.953561171641 + ], + [ + 0.0698466989608768, + 0.0008656761621887765, + -0.9975573613828183, + -13.467605954963934 + ], + [ + -0.9974807531378113, + -0.01236269765081133, + -0.06985206386657308, + 240.2374290665962 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.012392993434485383, + 0.0698466989608768, + -0.9974807531378113, + 191.74515585558194 + ], + [ + 0.9999232039080466, + 0.0008656761621887765, + -0.01236269765081133, + 3942.6326364077377 + ], + [ + 5.4210108206399503e-20, + -0.9975573613828183, + -0.06985206386657308, + 3.346377303321721 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19174.515585558194, + -394263.2636407738, + 334.6377303321721 + ], + "rotation_deg": [ + -3.113615869596643e-18, + -4.005490303039553, + 179.2899169921875 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.6341188406715658, + 0.7732356018092733, + -1.3877787703724417e-17, + -3165.1395713261413 + ], + [ + 0.1363220544488163, + -0.11179565829972206, + -0.9843363389899742, + 418.0975378324221 + ], + [ + -0.76112391314352, + 0.6241862034848166, + -0.1763008003961034, + -2308.172452970211 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.6341188406715658, + 0.1363220544488163, + -0.76112391314352, + 193.27345203657558 + ], + [ + 0.7732356018092733, + -0.11179565829972206, + 0.6241862034848166, + 3934.8695622251 + ], + [ + -1.3877787703724417e-17, + -0.9843363389899742, + -0.1763008003961034, + 4.615941393193802 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19327.345203657558, + -393486.95622250997, + 461.59413931938025 + ], + "rotation_deg": [ + 8.077916450562876e-16, + -10.154365539550778, + -140.64533996582028 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8863252858637997, + 0.46306315728899594, + 6.9388938505784925e-18, + -1986.799511811514 + ], + [ + 0.04094623459390789, + -0.0783730739753975, + -0.996082861587442, + 304.1832661992615 + ], + [ + -0.4612492888151629, + 0.8828534196540861, + -0.08842473054859938, + -3379.2891363648187 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8863252858637997, + 0.04094623459390789, + -0.4612492888151629, + 189.8008077600358 + ], + [ + 0.46306315728899594, + -0.0783730739753975, + 0.8828534196540861, + 3927.270455423978 + ], + [ + 6.9388938505784925e-18, + -0.996082861587442, + -0.08842473054859938, + 4.179006422163235 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18980.080776003582, + -392727.0455423978, + 417.9006422163235 + ], + "rotation_deg": [ + -3.9913279360468643e-16, + -5.0729894638061515, + -117.58494567871095 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9845273421924188, + -0.17523102600718862, + -0.0, + 511.82464198622813 + ], + [ + -0.05448878597539451, + -0.30614270119862197, + -0.9504249674254875, + 1219.399955280573 + ], + [ + 0.16654393194229394, + 0.9357193681821334, + -0.31095398814298875, + -3710.1248648989645 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9845273421924188, + -0.05448878597539451, + 0.16654393194229394, + 180.43708935876256 + ], + [ + -0.17523102600718862, + -0.30614270119862197, + 0.9357193681821334, + 3934.633641745966 + ], + [ + -0.0, + -0.9504249674254875, + -0.31095398814298875, + 5.270048869788143 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18043.708935876257, + -393463.3641745966, + 527.0048869788143 + ], + "rotation_deg": [ + 0.0, + -18.116731643676765, + -79.90789794921874 + ] + } + } + ] + }, + { + "frame": 98, + "time": 1506.0656947866082, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.012495783491618045, + 0.9999219246495851, + 5.421010820640281e-20, + -3939.79741711567 + ], + [ + 0.06990239491148363, + 0.0008735533953469303, + -0.997553453249551, + -13.511776846108738 + ], + [ + -0.9974755691783914, + -0.012465187794709068, + -0.06990785353225068, + 240.67594173679146 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.012495783491618045, + 0.06990239491148363, + -0.9974755691783914, + 191.78211697423015 + ], + [ + 0.9999219246495851, + 0.0008735533953469303, + -0.012465187794709068, + 3942.5016971284595 + ], + [ + 5.421010820640281e-20, + -0.997553453249551, + -0.06990785353225068, + 3.346425361365316 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19178.211697423016, + -394250.16971284593, + 334.6425361365316 + ], + "rotation_deg": [ + -3.11362806786623e-18, + -4.008694648742676, + 179.28402709960938 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.6124267942437993, + 0.7905273061016064, + -1.387778770329991e-17, + -3228.893764590265 + ], + [ + 0.130583532667723, + -0.10116393662238043, + -0.9862625405656855, + 377.3635993280352 + ], + [ + -0.7796674807496923, + 0.6040135908782672, + -0.16518535496759248, + -2225.1701450470296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.6124267942437993, + 0.130583532667723, + -0.7796674807496923, + 193.29076142124006 + ], + [ + 0.7905273061016064, + -0.10116393662238043, + 0.6040135908782672, + 3934.737357214474 + ], + [ + -1.387778770329991e-17, + -0.9862625405656855, + -0.16518535496759248, + 4.614054542603753 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19329.076142124006, + -393473.7357214474, + 461.40545426037534 + ], + "rotation_deg": [ + 8.062140026944639e-16, + -9.508002281188961, + -142.2348175048828 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8858623895275175, + 0.46394808634220763, + -0.0, + -1990.1581792105335 + ], + [ + 0.040948528468539865, + -0.07818711262022553, + -0.9960973815026184, + 303.436808039058 + ], + [ + -0.462137487965399, + 0.8824051991761095, + -0.08826101451943989, + -3377.2523138162337 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8858623895275175, + 0.040948528468539865, + -0.462137487965399, + 189.82612150551049 + ], + [ + 0.46394808634220763, + -0.07818711262022553, + 0.8824051991761095, + 3927.1599802979185 + ], + [ + -0.0, + -0.9960973815026184, + -0.08826101451943989, + 4.172893935463026 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18982.61215055105, + -392715.99802979187, + 417.2893935463027 + ], + "rotation_deg": [ + 0.0, + -5.063572406768799, + -117.64216613769533 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9849160964960619, + -0.17303260635776138, + -0.0, + 503.046735818378 + ], + [ + -0.053805178622911, + -0.30626358589884256, + -0.9504249674254875, + 1219.7108864124161 + ], + [ + 0.16445449900009398, + 0.9360888499584846, + -0.31095398814298875, + -3711.081287872516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9849160964960619, + -0.053805178622911, + 0.16445449900009398, + 180.47198638012017 + ], + [ + -0.17303260635776138, + -0.30626358589884256, + 0.9360888499584846, + 3934.498326651596 + ], + [ + -0.0, + -0.9504249674254875, + -0.31095398814298875, + 5.268162019198094 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18047.198638012018, + -393449.8326651596, + 526.8162019198094 + ], + "rotation_deg": [ + 0.0, + -18.116731643676765, + -80.03581237792969 + ] + } + } + ] + }, + { + "frame": 99, + "time": 1506.1323614567518, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.012598307121731194, + 0.9999206381796841, + -0.0, + -3939.6412923602543 + ], + [ + 0.06995785755905, + 0.0008814205262446626, + -0.9975495582995381, + -13.555867458669962 + ], + [ + -0.997470391217404, + -0.012567411527104961, + -0.06996341052369795, + 241.11341006847053 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.012598307121731194, + 0.06995785755905, + -0.997470391217404, + 191.81911092134308 + ], + [ + 0.9999206381796841, + 0.0008814205262446626, + -0.012567411527104961, + 3942.370762151503 + ], + [ + -0.0, + -0.9975495582995381, + -0.06996341052369795, + 3.346473430138821 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19181.91109213431, + -394237.0762151503, + 334.6473430138821 + ], + "rotation_deg": [ + 0.0, + -4.011885643005373, + 179.2781524658203 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5918241305879682, + 0.8060671178343621, + -0.0, + -3285.960238690168 + ], + [ + 0.12105584510028311, + -0.08888065111941311, + -0.988658541774482, + 330.869051353291 + ], + [ + -0.7969251525178402, + 0.5851119663460029, + -0.15018085138635723, + -2147.4398106743593 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5918241305879682, + 0.12105584510028311, + -0.7969251525178402, + 193.30810363436922 + ], + [ + 0.8060671178343621, + -0.08888065111941311, + 0.5851119663460029, + 3934.6051565061707 + ], + [ + -0.0, + -0.988658541774482, + -0.15018085138635723, + 4.612167702743614 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19330.81036343692, + -393460.5156506171, + 461.21677027436135 + ], + "rotation_deg": [ + 0.0, + -8.637407302856447, + -143.71343994140625 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8853977431081866, + 0.46483420323694885, + -2.0816681551726047e-17, + -1993.5209911718032 + ], + [ + 0.040950451159101744, + -0.078000794225223, + -0.9961119097019672, + 302.6890580666134 + ], + [ + -0.46302689988765466, + 0.8819552293118964, + -0.08809689818505313, + -3375.2084334215288 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8853977431081866, + 0.040950451159101744, + -0.46302689988765466, + 189.8514680794499 + ], + [ + 0.46483420323694885, + -0.078000794225223, + 0.8819552293118964, + 3927.0495094741823 + ], + [ + -2.0816681551726047e-17, + -0.9961119097019672, + -0.08809689818505313, + 4.166781459492729 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18985.146807944988, + -392704.9509474182, + 416.6781459492729 + ], + "rotation_deg": [ + 1.1973634628841563e-15, + -5.054132461547851, + -117.69949340820314 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9852999418017143, + -0.1708333242828755, + -0.0, + 494.2668587896967 + ], + [ + -0.05312130309579366, + -0.3063829441265715, + -0.9504249674254875, + 1220.0156984846246 + ], + [ + 0.1623642463872434, + 0.9364536661005033, + -0.3109539881429887, + -3712.0190080214074 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9852999418017143, + -0.05312130309579366, + 0.1623642463872434, + 180.50692312956448 + ], + [ + -0.1708333242828755, + -0.3063829441265715, + 0.9364536661005033, + 3934.3630551327806 + ], + [ + -0.0, + -0.9504249674254875, + -0.3109539881429887, + 5.266275179337954 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18050.69231295645, + -393436.30551327806, + 526.6275179337954 + ], + "rotation_deg": [ + 0.0, + -18.11673164367676, + -80.1637268066406 + ] + } + } + ] + }, + { + "frame": 100, + "time": 1506.1990281268954, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.012700564324774835, + 0.9999193445802679, + 5.421010820640936e-20, + -3939.485186507177 + ], + [ + 0.07001311181540722, + 0.0008892777552598414, + -0.9975456748234625, + -13.599882909354168 + ], + [ + -0.9974652176274268, + -0.012669368833407392, + -0.07001875974932312, + 241.54982755333273 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.012700564324774835, + 0.07001311181540722, + -0.9974652176274268, + 191.85613136345853 + ], + [ + 0.9999193445802679, + 0.0008892777552598414, + -0.012669368833407392, + 3942.2398306528867 + ], + [ + 5.421010820640936e-20, + -0.9975456748234625, + -0.07001875974932312, + 3.3465215075558654 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19185.61313634585, + -394223.9830652887, + 334.65215075558655 + ], + "rotation_deg": [ + -3.1136523465802584e-18, + -4.015064716339113, + 179.2722930908203 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5745160974525636, + 0.8184932826650907, + 6.938893851065414e-18, + -3331.4082839034036 + ], + [ + 0.10586650088349535, + -0.07430972278783031, + -0.9915998936516078, + 276.47445765339 + ], + [ + -0.8116178631019971, + 0.5696900851567409, + -0.12934315276755937, + -2083.927520208085 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5745160974525636, + 0.10586650088349535, + -0.8116178631019971, + 193.32547234250092 + ], + [ + 0.8184932826650907, + -0.07430972278783031, + 0.5696900851567409, + 3934.4729592762073 + ], + [ + 6.938893851065414e-18, + -0.9915998936516078, + -0.12934315276755937, + 4.610280871527014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19332.54723425009, + -393447.2959276207, + 461.02808715270135 + ], + "rotation_deg": [ + -4.009372507806338e-16, + -7.431637287139893, + -144.9342498779297 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8849313421152375, + 0.46572150448752525, + 6.938893850573776e-18, + -1996.8879266050672 + ], + [ + 0.04095200842586415, + -0.07781413447612269, + -0.9961264445248, + 301.94007711517116 + ], + [ + -0.46391752041011264, + 0.8815035040308521, + -0.08793239811276568, + -3373.157474820981 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8849313421152375, + 0.04095200842586415, + -0.46391752041011264, + 189.87684114839175 + ], + [ + 0.46572150448752525, + -0.07781413447612269, + 0.8815035040308521, + 3926.9390421287853 + ], + [ + 6.938893850573776e-18, + -0.9961264445248, + -0.08793239811276568, + 4.16066899216597 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18987.684114839176, + -392693.90421287855, + 416.066899216597 + ], + "rotation_deg": [ + -3.9911533058088356e-16, + -5.044670581817627, + -117.75692749023438 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9856788986510816, + -0.16863305949306268, + -0.0, + 485.4845406694484 + ], + [ + -0.05243712198955287, + -0.30650078226933425, + -0.9504249674254875, + 1220.3144098130049 + ], + [ + 0.16027305977762807, + 0.9368138361315373, + -0.31095398814298875, + -3712.9380813342505 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9856788986510816, + -0.05243712198955287, + 0.16027305977762807, + 180.5418931859363 + ], + [ + -0.16863305949306268, + -0.30650078226933425, + 0.9368138361315373, + 3934.2278263808425 + ], + [ + -0.0, + -0.9504249674254875, + -0.31095398814298875, + 5.264388348121354 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18054.189318593628, + -393422.78263808426, + 526.4388348121354 + ], + "rotation_deg": [ + 0.0, + -18.116731643676765, + -80.2916488647461 + ] + } + } + ] + }, + { + "frame": 101, + "time": 1506.265694797039, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.012802288806431871, + 0.9999180473425394, + 5.4210108206412623e-20, + -3939.3291637333264 + ], + [ + 0.07006813302335356, + 0.0008971059953127985, + -0.9975418046054283, + -13.643742781403658 + ], + [ + -0.9974600536750705, + -0.012770794103365353, + -0.07007387630561869, + 241.9841421396387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.012802288806431871, + 0.07006813302335356, + -0.9974600536750705, + 191.89317227520246 + ], + [ + 0.9999180473425394, + 0.0008971059953127985, + -0.012770794103365353, + 3942.1089018452813 + ], + [ + 5.4210108206412623e-20, + -0.9975418046054283, + -0.07007387630561869, + 3.34656959182813 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19189.317227520245, + -394210.89018452814, + 334.656959182813 + ], + "rotation_deg": [ + -3.1136644267894234e-18, + -4.018230438232423, + 179.26646423339844 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5711174701384586, + 0.8208683422465789, + 6.938893850821404e-18, + -3339.99726732379 + ], + [ + 0.09095600520352433, + -0.06328245458165467, + -0.9938422088337447, + 235.96906295374808 + ], + [ + -0.8158136174821986, + 0.567600631959403, + -0.11080462142841785, + -2074.891933779514 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5711174701384586, + 0.09095600520352433, + -0.8158136174821986, + 193.3428615202611 + ], + [ + 0.8208683422465789, + -0.06328245458165467, + 0.567600631959403, + 3934.340764737255 + ], + [ + 6.938893850821404e-18, + -0.9938422088337447, + -0.11080462142841785, + 4.608394047165635 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19334.28615202611, + -393434.0764737255, + 460.8394047165634 + ], + "rotation_deg": [ + -4.000326527564209e-16, + -6.3617005348205575, + -145.17181396484375 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8844632441878436, + 0.46660986882053235, + -1.3877787701144403e-17, + -2000.2585139857993 + ], + [ + 0.04095318027667641, + -0.07762712515892028, + -0.9961409872426628, + 301.18983705418884 + ], + [ + -0.46480922938995384, + 0.8810500817885832, + -0.08776749770984615, + -3371.099692958408 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8844632441878436, + 0.04095318027667641, + -0.46480922938995384, + 189.90223468696217 + ], + [ + 0.46660986882053235, + -0.07762712515892028, + 0.8810500817885832, + 3926.8285774744 + ], + [ + -1.3877787701144403e-17, + -0.9961409872426628, + -0.08776749770984615, + 4.154556531694432 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18990.22346869622, + -392682.85774744, + 415.45565316944317 + ], + "rotation_deg": [ + 7.982190077476182e-16, + -5.035185813903808, + -117.81446075439455 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9860529199526915, + -0.16643208540654328, + -0.0, + 476.7008721045588 + ], + [ + -0.05175272032467405, + -0.30661708568384954, + -0.9504249674254875, + 1220.6069781187969 + ], + [ + 0.1581811990347539, + 0.9371693152946793, + -0.31095398814298875, + -3713.8383785925867 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9860529199526915, + -0.05175272032467405, + 0.1581811990347539, + 180.5768904361304 + ], + [ + -0.16643208540654328, + -0.30661708568384954, + 0.9371693152946793, + 3934.092639623565 + ], + [ + -0.0, + -0.9504249674254875, + -0.31095398814298875, + 5.262501523759974 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18057.68904361304, + -393409.2639623565, + 526.2501523759975 + ], + "rotation_deg": [ + 0.0, + -18.116731643676765, + -80.41956329345703 + ] + } + } + ] + }, + { + "frame": 102, + "time": 1506.3323614671826, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.012903746861657085, + 0.9999167431926173, + -0.0, + -3939.1731594015405 + ], + [ + 0.07012294585972786, + 0.0009049240836577423, + -0.997537945933064, + -13.687525662015133 + ], + [ + -0.9974548943822821, + -0.012871952964439506, + -0.07012878510078681, + 242.41739454980134 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.012903746861657085, + 0.07012294585972786, + -0.9974548943822821, + 191.93022793818488 + ], + [ + 0.9999167431926173, + 0.0009049240836577423, + -0.012871952964439506, + 3941.977974978925 + ], + [ + -0.0, + -0.997537945933064, + -0.07012878510078681, + 3.346617681018271 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19193.022793818487, + -394197.7974978925, + 334.6617681018271 + ], + "rotation_deg": [ + 0.0, + -4.021384239196778, + 179.26065063476562 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5947311722318764, + 0.8039246437171197, + -3.4694469253686943e-18, + -3277.8046019998324 + ], + [ + 0.08330839462967812, + -0.06163027788994888, + -0.9946162175590306, + 230.9395410732286 + ], + [ + -0.799596499746285, + 0.5915292534263639, + -0.10362711968562266, + -2172.111908982249 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5947311722318764, + 0.08330839462967812, + -0.799596499746285, + 193.3602654492598 + ], + [ + 0.8039246437171197, + -0.06163027788994888, + 0.5915292534263639, + 3934.2085721395515 + ], + [ + -3.4694469253686943e-18, + -0.9946162175590306, + -0.10362711968562266, + 4.606507227722131 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19336.02654492598, + -393420.85721395514, + 460.65072277221304 + ], + "rotation_deg": [ + 1.9986067399542188e-16, + -5.948074817657469, + -143.50653076171875 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8839933829332703, + 0.467499410620155, + -0.0, + -2003.6331839499549 + ], + [ + 0.040953982884481405, + -0.07743977650499988, + -0.9961555361994194, + 300.4383752985474 + ], + [ + -0.46570214006479643, + 0.880594894898462, + -0.08760221354415185, + -3369.034802888503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8839933829332703, + 0.040953982884481405, + -0.46570214006479643, + 189.92764297677107 + ], + [ + 0.467499410620155, + -0.07743977650499988, + 0.880594894898462, + 3926.718114761263 + ], + [ + -0.0, + -0.9961555361994194, + -0.08760221354415185, + 4.14844407614077 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18992.764297677106, + -392671.8114761263, + 414.844407614077 + ], + "rotation_deg": [ + 0.0, + -5.025679111480713, + -117.87210083007814 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9864220265901793, + -0.16423028179274182, + -0.0, + 467.91538244590885 + ], + [ + -0.051068060714980525, + -0.3067318608639672, + -0.9504249674254875, + 1220.8934222304745 + ], + [ + 0.15608854988847864, + 0.9375201234382556, + -0.31095398814298875, + -3714.7199573515086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9864220265901793, + -0.051068060714980525, + 0.15608854988847864, + 180.6119090739923 + ], + [ + -0.16423028179274182, + -0.3067318608639672, + 0.9375201234382556, + 3933.957494126098 + ], + [ + -0.0, + -0.9504249674254875, + -0.31095398814298875, + 5.26061470431647 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18061.190907399232, + -393395.7494126098, + 526.0614704316471 + ], + "rotation_deg": [ + 0.0, + -18.116731643676765, + -80.54747772216795 + ] + } + } + ] + }, + { + "frame": 103, + "time": 1506.3990281373262, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.01300467219686221, + 0.9999154356749635, + 5.421010820641912e-20, + -3939.017237989974 + ], + [ + 0.0701775339729007, + 0.0009127130078611969, + -0.9975341000088405, + -13.731153068612588 + ], + [ + -0.9974497444871813, + -0.012972579801929052, + -0.07018346953335709, + 242.84853332188013 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.01300467219686221, + 0.0701775339729007, + -0.9974497444871813, + 191.967292939046 + ], + [ + 0.9999154356749635, + 0.0009127130078611969, + -0.012972579801929052, + 3941.84704934229 + ], + [ + 5.421010820641912e-20, + -0.9975341000088405, + -0.07018346953335709, + 3.346665773337968 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19196.7292939046, + -394184.704934229, + 334.6665773337968 + ], + "rotation_deg": [ + -3.113688475620125e-18, + -4.024525165557862, + 179.25486755371094 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.6177440822534251, + 0.7863792016838146, + -0.0, + -3213.1337603410952 + ], + [ + 0.07546122569317032, + -0.05927894012421913, + -0.9953851569491245, + 223.19873237314346 + ], + [ + -0.7827501968257224, + 0.6148932752126199, + -0.0959603536237229, + -2267.2288336295014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.6177440822534251, + 0.07546122569317032, + -0.7827501968257224, + 193.37767871613713 + ], + [ + 0.7863792016838146, + -0.05927894012421913, + 0.6148932752126199, + 3934.07638077157 + ], + [ + -0.0, + -0.9953851569491245, + -0.0959603536237229, + 4.604620411408183 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19337.767871613712, + -393407.63807715697, + 460.4620411408183 + ], + "rotation_deg": [ + 0.0, + -5.506596565246583, + -141.84841918945312 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8835218162220708, + 0.4683900087103196, + -0.0, + -2007.0114660230113 + ], + [ + 0.04095439627401904, + -0.0772520803292329, + -0.9961700926602023, + 299.68566381237036 + ], + [ + -0.46659613238327763, + 0.8801380020414195, + -0.08743652902251489, + -3366.9630602448674 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8835218162220708, + 0.04095439627401904, + -0.46659613238327763, + 189.9530606044586 + ], + [ + 0.4683900087103196, + -0.0772520803292329, + 0.8801380020414195, + 3926.607653277848 + ], + [ + -0.0, + -0.9961700926602023, + -0.08743652902251489, + 4.142331623716664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18995.306060445862, + -392660.7653277848, + 414.23316237166637 + ], + "rotation_deg": [ + 0.0, + -5.016149520874023, + -117.92984008789062 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9867862167238516, + -0.16202765962584081, + 2.7755575422866557e-17, + 459.1281210682968 + ], + [ + -0.05038314657293806, + -0.3068451072376271, + -0.9504249674254874, + 1221.1737405842093 + ], + [ + 0.1539951227689397, + 0.9378662588137764, + -0.31095398814298875, + -3715.58281283696 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9867862167238516, + -0.05038314657293806, + 0.1539951227689397, + 180.64694359836452 + ], + [ + -0.16202765962584081, + -0.3068451072376271, + 0.9378662588137764, + 3933.8223891916336 + ], + [ + 2.7755575422866557e-17, + -0.9504249674254874, + -0.31095398814298875, + 5.258727888002523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18064.694359836452, + -393382.23891916336, + 525.8727888002524 + ], + "rotation_deg": [ + -1.6732276576381467e-15, + -18.116731643676765, + -80.67539215087889 + ] + } + } + ] + }, + { + "frame": 104, + "time": 1506.4656948074698, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.013105064813108297, + 0.9999141249508601, + 5.421010820642235e-20, + -3938.8613995860537 + ], + [ + 0.07023191397917851, + 0.0009204728302953148, + -0.9975302657005398, + -13.774628071470312 + ], + [ + -0.9974446030185196, + -0.01307267461206044, + -0.07023794620940649, + 243.27755341338244 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.013105064813108297, + 0.07023191397917851, + -0.9974446030185196, + 192.00436216672998 + ], + [ + 0.9999141249508601, + 0.0009204728302953148, + -0.01307267461206044, + 3941.7161242625148 + ], + [ + 5.421010820642235e-20, + -0.9975302657005398, + -0.07023794620940649, + 3.346713866998905 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19200.436216673, + -394171.61242625146, + 334.6713866998905 + ], + "rotation_deg": [ + -3.113700444020647e-18, + -4.027654170989991, + 179.24911499023438 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.6401355349979816, + 0.7682619975196273, + -0.0, + -3146.0988948880154 + ], + [ + 0.06745120206587417, + -0.05620206577976965, + -0.9961383754990845, + 212.63601799270901 + ], + [ + -0.7652952702076871, + 0.637663557387893, + -0.08779713535850901, + -2360.124387500277 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.6401355349979816, + 0.06745120206587417, + -0.7652952702076871, + 193.3950962098374 + ], + [ + 0.7682619975196273, + -0.05620206577976965, + 0.637663557387893, + 3933.9441899604467 + ], + [ + -0.0, + -0.9961383754990845, + -0.08779713535850901, + 4.602733596435476 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19339.50962098374, + -393394.41899604467, + 460.27335964354756 + ], + "rotation_deg": [ + 0.0, + -5.0368905067443865, + -140.19807434082034 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.883048414930825, + 0.4692818949076957, + -0.0, + -2010.394240582717 + ], + [ + 0.040954439075295605, + -0.07706402676569095, + -0.9961846564260486, + 298.93166061668035 + ], + [ + -0.4674914372504129, + 0.8796792743258952, + -0.08727044413207394, + -3364.88391731463 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.883048414930825, + 0.040954439075295605, + -0.4674914372504129, + 189.9784824589691 + ], + [ + 0.4692818949076957, + -0.07706402676569095, + 0.8796792743258952, + 3926.4971923512912 + ], + [ + -0.0, + -0.9961846564260486, + -0.08727044413207394, + 4.136219172633798 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18997.84824589691, + -392649.71923512913, + 413.6219172633797 + ], + "rotation_deg": [ + 0.0, + -5.006597042083741, + -117.98769378662112 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9871455098203945, + -0.1598240984377303, + -0.0, + 450.33861616052565 + ], + [ + -0.049697940438507796, + -0.30695683085807296, + -0.9504249674254875, + 1221.4479503350926 + ], + [ + 0.15190080318023705, + 0.9382077399228643, + -0.31095398814298875, + -3716.4269974888953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9871455098203945, + -0.049697940438507796, + 0.15190080318023705, + 180.68198881036105 + ], + [ + -0.1598240984377303, + -0.30695683085807296, + 0.9382077399228643, + 3933.687324161831 + ], + [ + -0.0, + -0.9504249674254875, + -0.31095398814298875, + 5.256841073029816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18068.198881036104, + -393368.7324161831, + 525.6841073029816 + ], + "rotation_deg": [ + 0.0, + -18.116731643676765, + -80.80331420898436 + ] + } + } + ] + }, + { + "frame": 105, + "time": 1506.5323614776134, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.0132051910043644, + 0.9999128076640175, + -0.0, + -3938.7055794488974 + ], + [ + 0.0702860690430266, + 0.0009282219004949243, + -0.9975264442121734, + -13.818019493375935 + ], + [ + -0.9974394678322132, + -0.013172503055637594, + -0.07029219852758074, + 243.70549805374395 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.0132051910043644, + 0.0702860690430266, + -0.9974394678322132, + 192.0414319803858 + ], + [ + 0.9999128076640175, + 0.0009282219004949243, + -0.013172503055637594, + 3941.5851992599473 + ], + [ + -0.0, + -0.9975264442121734, + -0.07029219852758074, + 3.3467619609578945 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19204.14319803858, + -394158.51992599474, + 334.67619609578946 + ], + "rotation_deg": [ + 0.0, + -4.0307703018188485, + 179.24337768554688 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.6618857351351219, + 0.7496047449320468, + -1.0408340775740986e-17, + -3076.8211244956747 + ], + [ + 0.05931643500246135, + -0.05237520500321524, + -0.9968642828587397, + 199.14808889872427 + ], + [ + -0.747254208807848, + 0.6598102346596488, + -0.0791302828083938, + -2450.6770366706583 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.6618857351351219, + 0.05931643500246135, + -0.747254208807848, + 193.41251428950946 + ], + [ + 0.7496047449320468, + -0.05237520500321524, + 0.6598102346596488, + 3933.811999226533 + ], + [ + -1.0408340775740986e-17, + -0.9968642828587397, + -0.0791302828083938, + 4.600846781760821 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19341.251428950945, + -393381.19992265326, + 460.0846781760821 + ], + "rotation_deg": [ + 5.982298825004272e-16, + -4.538576126098631, + -138.55615234374997 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8825732994130834, + 0.47017483042279473, + -0.0, + -2013.7805889067163 + ], + [ + 0.0409540926678107, + -0.07687563508620025, + -0.9961992265726015, + 298.1764451717122 + ], + [ + -0.46838781642551425, + 0.8792188307416654, + -0.08710396715073893, + -3362.797888302324 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8825732994130834, + 0.0409540926678107, + -0.46838781642551425, + 190.00390489945138 + ], + [ + 0.47017483042279473, + -0.07687563508620025, + 0.8792188307416654, + 3926.386731501944 + ], + [ + -0.0, + -0.9961992265726015, + -0.08710396715073893, + 4.130106721848985 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19000.390489945137, + -392638.6731501944, + 413.01067218489845 + ], + "rotation_deg": [ + 0.0, + -4.9970221519470215, + -118.04564666748047 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9874998612318728, + -0.15761987205625969, + -0.0, + 441.54795713618796 + ], + [ + -0.049012527459550835, + -0.30706701784185125, + -0.9504249674254875, + 1221.7160125105913 + ], + [ + 0.1498058513751981, + 0.9385445243310104, + -0.3109539881429887, + -3717.2523921918764 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9874998612318728, + -0.049012527459550835, + 0.1498058513751981, + 180.71704098126816 + ], + [ + -0.15761987205625969, + -0.30706701784185125, + 0.9385445243310104, + 3933.552298571366 + ], + [ + -0.0, + -0.9504249674254875, + -0.3109539881429887, + 5.254954258355161 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18071.704098126815, + -393355.2298571366, + 525.4954258355161 + ], + "rotation_deg": [ + 0.0, + -18.11673164367676, + -80.9312286376953 + ] + } + } + ] + }, + { + "frame": 106, + "time": 1506.599028147757, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.013305050770678978, + 0.9999114838944444, + -5.4210108206428795e-20, + -3938.5497784669265 + ], + [ + 0.07034002407538495, + 0.0009359604391068021, + -0.9975226338239801, + -13.861333294376562 + ], + [ + -0.9974343372884891, + -0.013272065116732209, + -0.07034625139557797, + 244.13237161718015 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.013305050770678978, + 0.07034002407538495, + -0.9974343372884891, + 192.0785069469457 + ], + [ + 0.9999114838944444, + 0.0009359604391068021, + -0.013272065116732209, + 3941.4542749364546 + ], + [ + -5.4210108206428795e-20, + -0.9975226338239801, + -0.07034625139557797, + 3.346810056556176 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19207.85069469457, + -394145.42749364546, + 334.6810056556176 + ], + "rotation_deg": [ + 3.1137242664152436e-18, + -4.033874988555907, + 179.23765563964844 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.682976682773444, + 0.7304401760498817, + -1.0408340775629844e-17, + -3005.4259094131444 + ], + [ + 0.051096183975194144, + -0.04777598957176826, + -0.9975503169282295, + 182.6396078420657 + ], + [ + -0.7286508417002376, + 0.6813035928405625, + -0.06995259303325577, + -2538.7655911124916 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.682976682773444, + 0.051096183975194144, + -0.7286508417002376, + 193.42993752208565 + ], + [ + 0.7304401760498817, + -0.04777598957176826, + 0.6813035928405625, + 3933.6798091716923 + ], + [ + -1.0408340775629844e-17, + -0.9975503169282295, + -0.06995259303325577, + 4.598959968725458 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19342.993752208564, + -393367.98091716925, + 459.89599687254577 + ], + "rotation_deg": [ + 5.978184685795597e-16, + -4.011264324188231, + -136.92330932617188 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8820964655177641, + 0.47106881187472804, + -0.0, + -2017.1705007647795 + ], + [ + 0.04095335517737833, + -0.07668690633390048, + -0.9962138029041009, + 297.42002193049314 + ], + [ + -0.46928526651123625, + 0.8787566668966612, + -0.08693709806606165, + -3360.7049554725063 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8820964655177641, + 0.04095335517737833, + -0.46928526651123625, + 190.02933249283774 + ], + [ + 0.47106881187472804, + -0.07668690633390048, + 0.8787566668966612, + 3926.2762713316706 + ], + [ + -0.0, + -0.9962138029041009, + -0.08693709806606165, + 4.123994272703463 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19002.933249283775, + -392627.62713316706, + 412.39942727034634 + ], + "rotation_deg": [ + 0.0, + -4.987424850463866, + -118.10369873046878 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.987849290767415, + -0.15541486006915425, + -0.0, + 432.7556629750435 + ], + [ + -0.048326870193390464, + -0.30717567434868964, + -0.9504249674254875, + 1221.9779455780272 + ], + [ + 0.1477101529109891, + 0.938876630865303, + -0.31095398814298875, + -3718.059053386597 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.987849290767415, + -0.048326870193390464, + 0.1477101529109891, + 180.752104590124 + ], + [ + -0.15541486006915425, + -0.30717567434868964, + 0.938876630865303, + 3933.4173130362346 + ], + [ + -0.0, + -0.9504249674254875, + -0.31095398814298875, + 5.253067445319798 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18075.2104590124, + -393341.73130362347, + 525.3067445319798 + ], + "rotation_deg": [ + 0.0, + -18.116731643676765, + -81.05914306640624 + ] + } + } + ] + }, + { + "frame": 107, + "time": 1506.6656948179007, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.013404377819933772, + 0.9999101572917742, + -0.0, + -3938.3940627306465 + ], + [ + 0.07039375443210347, + 0.0009436692623737533, + -0.9975188363260494, + -13.90448941312596 + ], + [ + -0.997429216817877, + -0.013371095194304891, + -0.0704000799103351, + 244.55713270588987 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.013404377819933772, + 0.07039375443210347, + -0.997429216817877, + 192.11559142640894 + ], + [ + 0.9999101572917742, + 0.0009436692623737533, + -0.013371095194304891, + 3941.3233518671514 + ], + [ + -0.0, + -0.9975188363260494, + -0.0704000799103351, + 3.346858155433041 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19211.559142640894, + -394132.3351867151, + 334.6858155433041 + ], + "rotation_deg": [ + 0.0, + -4.036966800689697, + 179.23196411132812 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.7033916491892687, + 0.7108024956700705, + -3.4694469251758247e-18, + -2932.0447302006337 + ], + [ + 0.04283071761737652, + -0.04238416337079115, + -0.9981829052451953, + 163.0233551202829 + ], + [ + -0.7095109130069217, + 0.7021135069144013, + -0.06025684801286536, + -2624.2668889175384 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7033916491892687, + 0.04283071761737652, + -0.7095109130069217, + 193.4473702675651 + ], + [ + 0.7108024956700705, + -0.04238416337079115, + 0.7021135069144013, + 3933.5476203710423 + ], + [ + -3.4694469251758247e-18, + -0.9981829052451953, + -0.06025684801286536, + 4.597073158968678 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19344.73702675651, + -393354.7620371042, + 459.70731589686784 + ], + "rotation_deg": [ + 1.9914653572257342e-16, + -3.454555749893188, + -135.30024719238276 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8816177834001815, + 0.47196407065850937, + -0.0, + -2020.564863606549 + ], + [ + 0.040952241187990845, + -0.07649782334289043, + -0.9962283859464557, + 296.6623207353796 + ], + [ + -0.4701840183403944, + 0.8782926538155769, + -0.0867698285746299, + -3358.6045675313953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8816177834001815, + 0.040952241187990845, + -0.4701840183403944, + 190.05476959912744 + ], + [ + 0.47196407065850937, + -0.07649782334289043, + 0.8782926538155769, + 3926.165812415587 + ], + [ + -0.0, + -0.9962283859464557, + -0.0867698285746299, + 4.117881826836525 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19005.476959912743, + -392616.5812415587, + 411.7881826836525 + ], + "rotation_deg": [ + 0.0, + -4.977804660797118, + -118.161865234375 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.988193796685402, + -0.153209073466588, + -0.0, + 423.9617736469381 + ], + [ + -0.04764097205746505, + -0.30728279983702445, + -0.9504249674254875, + 1222.2337489948036 + ], + [ + 0.14561371823294664, + 0.9392040578704643, + -0.31095398814298864, + -3718.8469794093553 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.988193796685402, + -0.04764097205746505, + 0.14561371823294664, + 180.78718390900212 + ], + [ + -0.153209073466588, + -0.30728279983702445, + 0.9392040578704643, + 3933.2823681454856 + ], + [ + -0.0, + -0.9504249674254875, + -0.31095398814298864, + 5.251180635563019 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18078.718390900212, + -393328.23681454855, + 525.1180635563019 + ], + "rotation_deg": [ + 0.0, + -18.116731643676758, + -81.18705749511719 + ] + } + } + ] + }, + { + "frame": 108, + "time": 1506.7323614880443, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.013503438445094282, + 0.9999088244185865, + -0.0, + -3938.2383680748662 + ], + [ + 0.07044727647572303, + 0.0009513672029723331, + -0.9975150505819941, + -13.94756550137056 + ], + [ + -0.9974241018552022, + -0.01346985891416367, + -0.07045370067765079, + 244.9808317498752 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.013503438445094282, + 0.07044727647572303, + -0.9974241018552022, + 192.15268958094308 + ], + [ + 0.9999088244185865, + 0.0009513672029723331, + -0.01346985891416367, + 3941.192430602004 + ], + [ + -0.0, + -0.9975150505819941, + -0.07045370067765079, + 3.346906258929729 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19215.268958094308, + -394119.2430602004, + 334.6906258929729 + ], + "rotation_deg": [ + 0.0, + -4.040046691894534, + 179.22628784179688 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.7231152930273087, + 0.6907273506891338, + -0.0, + -2856.814989064454 + ], + [ + 0.03456109193580002, + -0.03618164837046889, + -0.9987474251508242, + 140.22052932841035 + ], + [ + -0.6898621760222161, + 0.7222095245152469, + -0.05003579512063323, + -2707.056106631222 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7231152930273087, + 0.03456109193580002, + -0.6898621760222161, + 193.4648166881155 + ], + [ + 0.6907273506891338, + -0.03618164837046889, + 0.7222095245152469, + 3933.415433374548 + ], + [ + -0.0, + -0.9987474251508242, + -0.05003579512063323, + 4.595186353831722 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19346.48166881155, + -393341.5433374548, + 459.5186353831722 + ], + "rotation_deg": [ + 0.0, + -2.868037462234497, + -133.68771362304688 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8811373741195537, + 0.4728603683220843, + -1.3877787701122337e-17, + -2023.962767619909 + ], + [ + 0.04095072832677262, + -0.07630839808837168, + -0.9962429754987951, + 295.9033928716652 + ], + [ + -0.47108383433572704, + 0.8778269118353226, + -0.08660215866368265, + -3356.4972410878017 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8811373741195537, + 0.04095072832677262, + -0.47108383433572704, + 190.08022038048802 + ], + [ + 0.4728603683220843, + -0.07630839808837168, + 0.8778269118353226, + 3926.0553553036593 + ], + [ + -1.3877787701122337e-17, + -0.9962429754987951, + -0.08660215866368265, + 4.111769385589411 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19008.022038048803, + -392605.53553036595, + 411.17693855894106 + ], + "rotation_deg": [ + 7.981372917728224e-16, + -4.9681615829467765, + -118.22013092041017 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9885333973759474, + -0.1510023916114146, + -0.0, + 415.1658079470176 + ], + [ + -0.04695479553917317, + -0.3073884000253352, + -0.9504249674254875, + 1222.4834394104805 + ], + [ + 0.14351643268451375, + 0.9395268228249162, + -0.31095398814298875, + -3719.6162211448923 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9885333973759474, + -0.04695479553917317, + 0.14351643268451375, + 180.82228301211376 + ], + [ + -0.1510023916114146, + -0.3073884000253352, + 0.9395268228249162, + 3933.147464462822 + ], + [ + -0.0, + -0.9504249674254875, + -0.31095398814298875, + 5.249293830426062 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18082.228301211377, + -393314.7464462822, + 524.9293830426062 + ], + "rotation_deg": [ + 0.0, + -18.116731643676765, + -81.31497955322266 + ] + } + } + ] + }, + { + "frame": 109, + "time": 1506.7990281581879, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.013601966354783406, + 0.9999074889764971, + -0.0, + -3938.0827607665865 + ], + [ + 0.07050059877016193, + 0.0009590354938189357, + -0.9975112760385068, + -13.990489507208808 + ], + [ + -0.9974189955396299, + -0.013568090646647562, + -0.07050712200139925, + 245.40242659274614 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.013601966354783406, + 0.07050059877016193, + -0.9974189955396299, + 192.18980538337783 + ], + [ + 0.9999074889764971, + 0.0009590354938189357, + -0.013568090646647562, + 3941.061511667276 + ], + [ + -0.0, + -0.9975112760385068, + -0.07050712200139925, + 3.346954368387478 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19218.980538337782, + -394106.1511667276, + 334.6954368387478 + ], + "rotation_deg": [ + 0.0, + -4.043115139007571, + 179.22064208984378 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.7421337736223037, + 0.6702517900379822, + -0.0, + -2779.8798733201847 + ], + [ + 0.02632892441394169, + -0.02915260253109905, + -0.9992281588830796, + 114.16101710354864 + ], + [ + -0.6697344753825551, + 0.7415609522925466, + -0.03928213994967205, + -2787.0070831143203 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7421337736223037, + 0.02632892441394169, + -0.6697344753825551, + 193.4822807565665 + ], + [ + 0.6702517900379822, + -0.02915260253109905, + 0.7415609522925466, + 3933.283248708473 + ], + [ + -0.0, + -0.9992281588830796, + -0.03928213994967205, + 4.593299554655826 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19348.22807565665, + -393328.3248708473, + 459.32995546558266 + ], + "rotation_deg": [ + 0.0, + -2.251280069351196, + -132.0865020751953 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8806551704334152, + 0.47375781871003697, + -0.0, + -2027.3646502262786 + ], + [ + 0.04094882482849131, + -0.07611862619296351, + -0.996257571359767, + 295.1432196091924 + ], + [ + -0.47198482788334606, + 0.87735937370278, + -0.08643408832048495, + -3354.3826895857665 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8806551704334152, + 0.04094882482849131, + -0.47198482788334606, + 190.10568880974927 + ], + [ + 0.47375781871003697, + -0.07611862619296351, + 0.87735937370278, + 3925.9449005221504 + ], + [ + -0.0, + -0.996257571359767, + -0.08643408832048495, + 4.105656950303357 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19010.568880974926, + -392594.49005221506, + 410.56569503033563 + ], + "rotation_deg": [ + 0.0, + -4.958495616912841, + -118.27850341796875 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9888680506382145, + -0.14879508871927635, + 2.7755575422866557e-17, + 406.368848825786 + ], + [ + -0.04626842590696167, + -0.307492461791103, + -0.9504249674254874, + 1222.726981542783 + ], + [ + 0.14141855688708574, + 0.9398448856199328, + -0.31095398814298864, + -3720.366670749309 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9888680506382145, + -0.04626842590696167, + 0.14141855688708574, + 180.8574057843016 + ], + [ + -0.14879508871927635, + -0.307492461791103, + 0.9398448856199328, + 3933.0126025280483 + ], + [ + 2.7755575422866557e-17, + -0.9504249674254874, + -0.31095398814298864, + 5.247407031250167 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18085.74057843016, + -393301.26025280484, + 524.7407031250167 + ], + "rotation_deg": [ + -1.6732276576381467e-15, + -18.116731643676758, + -81.4428939819336 + ] + } + } + ] + }, + { + "frame": 110, + "time": 1506.8656948283315, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.013700227841292666, + 0.9999061474744002, + -0.0, + -3937.927176366045 + ], + [ + 0.07055370446987064, + 0.0009666925528220174, + -0.997507513902069, + -14.033345531147186 + ], + [ + -0.997413895595115, + -0.01366605604619312, + -0.0705603272804191, + 245.8229666403086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.013700227841292666, + 0.07055370446987064, + -0.997413895595115, + 192.2269426251223 + ], + [ + 0.9999061474744002, + 0.0009666925528220174, + -0.01366605604619312, + 3940.9305955668515 + ], + [ + -0.0, + -0.997507513902069, + -0.0705603272804191, + 3.3469879488277785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19222.69426251223, + -394093.05955668516, + 334.69879488277786 + ], + "rotation_deg": [ + 0.0, + -4.046171188354494, + 179.2150115966797 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.7604346874219303, + 0.6494144178916194, + 1.7347234625495348e-18, + -2701.3889448509644 + ], + [ + 0.01817610690114288, + -0.02128339283687552, + -0.9996082464282042, + 84.78332633595403 + ], + [ + -0.6491600208811434, + 0.7601367729591367, + -0.027988456278681358, + -2863.991941079275 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7604346874219303, + 0.01817610690114288, + -0.6491600208811434, + 193.49976626432723 + ], + [ + 0.6494144178916194, + -0.02128339283687552, + 0.7601367729591367, + 3933.151066876701 + ], + [ + 1.7347234625495348e-18, + -0.9996082464282042, + -0.027988456278681358, + 4.591398226462482 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19349.976626432723, + -393315.1066876701, + 459.13982264624826 + ], + "rotation_deg": [ + -9.943128635791729e-17, + -1.6038298606872556, + -130.49746704101562 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8801711678231513, + 0.474656418194076, + 6.9388938505580106e-18, + -2030.7704993603884 + ], + [ + 0.04094652871479732, + -0.0759285087397079, + -0.9962721733275359, + 294.3817911207125 + ], + [ + -0.4728869953401429, + 0.8768900346508319, + -0.0862656175323282, + -3352.260895352809 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8801711678231513, + 0.04094652871479732, + -0.4728869953401429, + 190.13117867832017 + ], + [ + 0.474656418194076, + -0.0759285087397079, + 0.8768900346508319, + 3925.834448574946 + ], + [ + 6.9388938505580106e-18, + -0.9962721733275359, + -0.0862656175323282, + 4.099529985999854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19013.117867832018, + -392583.44485749456, + 409.9529985999854 + ], + "rotation_deg": [ + -3.9905695034931676e-16, + -4.948806762695312, + -118.33698272705077 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9891977752052448, + -0.14658704420580196, + -0.0, + 397.57041553576437 + ], + [ + -0.045581825664639815, + -0.30759499095944237, + -0.9504249674254875, + 1222.9643785982623 + ], + [ + 0.13931997623426506, + 0.9401582640598625, + -0.31095398814298875, + -3721.0983847665334 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9891977752052448, + -0.045581825664639815, + 0.13931997623426506, + 180.89255592895785 + ], + [ + -0.14658704420580196, + -0.30759499095944237, + 0.9401582640598625, + 3932.8777828583934 + ], + [ + -0.0, + -0.9504249674254875, + -0.31095398814298875, + 5.245505703056823 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18089.255592895785, + -393287.77828583936, + 524.5505703056823 + ], + "rotation_deg": [ + 0.0, + -18.116731643676765, + -81.57080841064453 + ] + } + } + ] + }, + { + "frame": 111, + "time": 1506.932361498475, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.013797956613989448, + 0.9999048036654682, + -5.421010820644471e-20, + -3937.7716813203456 + ], + [ + 0.07060660214287931, + 0.0009743195846817872, + -0.9975037636195584, + -14.076061361959312 + ], + [ + -0.9974088052124032, + -0.013763489485921192, + -0.0706133248186049, + 246.24140947182687 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.013797956613989448, + 0.07060660214287931, + -0.9974088052124032, + 192.2641049235361 + ], + [ + 0.9999048036654682, + 0.0009743195846817872, + -0.013763489485921192, + 3940.799682783433 + ], + [ + -5.421010820644471e-20, + -0.9975037636195584, + -0.0706133248186049, + 3.3470070316953904 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19226.41049235361, + -394079.9682783433, + 334.70070316953905 + ], + "rotation_deg": [ + 3.113783170067014e-18, + -4.04921531677246, + 179.20941162109375 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.7780075351383189, + 0.6282549444835251, + -2.6020851938137607e-18, + -2621.496462912705 + ], + [ + 0.010144570385623518, + -0.012562658312612943, + -0.9998696251551058, + 52.034906843560584 + ], + [ + -0.6281730494003237, + 0.7779060915758864, + -0.016147219458081445, + -2937.8829062630807 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7780075351383189, + 0.010144570385623518, + -0.6281730494003237, + 193.51727682875728 + ], + [ + 0.6282549444835251, + -0.012562658312612943, + 0.7779060915758864, + 3933.0188883619358 + ], + [ + -2.6020851938137607e-18, + -0.9998696251551058, + -0.016147219458081445, + 4.5894824006964505 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19351.727682875728, + -393301.8888361936, + 458.948240069645 + ], + "rotation_deg": [ + 1.4910794061853415e-16, + -0.9252077341079709, + -128.9214935302734 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8796854250915543, + 0.4755560459940458, + -1.387778770111286e-17, + -2034.1798549243058 + ], + [ + 0.040943831863656445, + -0.07573805956471578, + -0.996286780483256, + 293.6191633257628 + ], + [ + -0.47379021600428156, + 0.8764189523679589, + -0.08609675457800621, + -3350.132106913083 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8796854250915543, + 0.040943831863656445, + -0.47379021600428156, + 190.15669360356046 + ], + [ + 0.4755560459940458, + -0.07573805956471578, + 0.8764189523679589, + 3925.723999944747 + ], + [ + -1.387778770111286e-17, + -0.996286780483256, + -0.08609675457800621, + 4.093388524123663 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19015.669360356045, + -392572.3999944747, + 409.3388524123663 + ], + "rotation_deg": [ + 7.981021990737205e-16, + -4.939095497131346, + -118.39556121826172 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9895225886587525, + -0.14437813731337984, + -0.0, + 388.7700270791779 + ], + [ + -0.04489495726214684, + -0.307695992997457, + -0.9504249674254875, + 1223.1956461768634 + ], + [ + 0.13722057595500148, + 0.9404669748548047, + -0.31095398814298875, + -3721.811410776382 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9895225886587525, + -0.04489495726214684, + 0.13722057595500148, + 180.92773697539556 + ], + [ + -0.14437813731337984, + -0.307695992997457, + 0.9404669748548047, + 3932.7430059497083 + ], + [ + -0.0, + -0.9504249674254875, + -0.31095398814298875, + 5.24358987729079 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18092.773697539556, + -393274.3005949708, + 524.358987729079 + ], + "rotation_deg": [ + 0.0, + -18.116731643676765, + -81.69873046874999 + ] + } + } + ] + }, + { + "frame": 112, + "time": 1506.9990281686187, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.013895685254878231, + 0.9999034503047269, + -0.0, + -3937.6161451308003 + ], + [ + 0.07065929127987564, + 0.000981954079325045, + -0.9975000252240657, + -14.118770368375525 + ], + [ + -0.9974037171977106, + -0.013860922226327508, + -0.07066611461814802, + 246.65985190906258 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.013895685254878231, + 0.07065929127987564, + -0.9974037171977106, + 192.30129572878542 + ], + [ + 0.9999034503047269, + 0.000981954079325045, + -0.013860922226327508, + 3940.6687737796333 + ], + [ + -0.0, + -0.9975000252240657, + -0.07066611461814802, + 3.347026158675041 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19230.12957287854, + -394066.87737796333, + 334.7026158675041 + ], + "rotation_deg": [ + 0.0, + -4.052247524261476, + 179.2038116455078 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.7948433881833085, + 0.6068146242974688, + -2.16840432817399e-19, + -2540.3630423353534 + ], + [ + 0.002276049129959278, + -0.002981310155837077, + -0.9999929656703154, + 15.872194700332582 + ], + [ + -0.6068103694495571, + 0.7948377865441393, + -0.003750814592224719, + -3008.5508299385083 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7948433881833085, + 0.002276049129959278, + -0.6068103694495571, + 193.53481590002283 + ], + [ + 0.6068146242974688, + -0.002981310155837077, + 0.7948377865441393, + 3932.8867136267886 + ], + [ + -2.16840432817399e-19, + -0.9999929656703154, + -0.003750814592224719, + 4.587566619042456 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19353.481590002284, + -393288.67136267887, + 458.7566619042456 + ], + "rotation_deg": [ + 1.242412911988849e-17, + -0.21490634977817527, + -127.35953521728513 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8791978111863247, + 0.47645693279159623, + -0.0, + -2037.5936003135307 + ], + [ + 0.04094074461058846, + -0.07554725426927943, + -0.9963013940585967, + 292.8552530036105 + ], + [ + -0.47469472035011273, + 0.8759459972856332, + -0.08592748286203497, + -3347.995769794085 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8791978111863247, + 0.04094074461058846, + -0.47469472035011273, + 190.1822370356362 + ], + [ + 0.47645693279159623, + -0.07554725426927943, + 0.8759459972856332, + 3925.6135550941667 + ], + [ + -0.0, + -0.9963013940585967, + -0.08592748286203497, + 4.08724710635951 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19018.22370356362, + -392561.35550941667, + 408.72471063595106 + ], + "rotation_deg": [ + 0.0, + -4.929360866546632, + -118.45425415039064 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.989842450635452, + -0.1421686425341487, + -0.0, + 379.9687675235549 + ], + [ + -0.0442079060539074, + -0.3077954553540223, + -0.9504249674254875, + 1223.4207650201495 + ], + [ + 0.13512061693347857, + 0.9407709796424879, + -0.31095398814298875, + -3722.5056431510707 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.989842450635452, + -0.0442079060539074, + 0.13512061693347857, + 180.9629522857053 + ], + [ + -0.1421686425341487, + -0.3077954553540223, + 0.9407709796424879, + 3932.6082722775545 + ], + [ + -0.0, + -0.9504249674254875, + -0.31095398814298875, + 5.241674095636797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18096.295228570532, + -393260.82722775545, + 524.1674095636797 + ], + "rotation_deg": [ + 0.0, + -18.116731643676765, + -81.82664489746092 + ] + } + } + ] + }, + { + "frame": 113, + "time": 1507.0656948387623, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.01399261489292725, + 0.9999020985718844, + -2.1684043282580401e-19, + -3937.460765897964 + ], + [ + 0.07071178097371879, + 0.0009895395968979803, + -0.9974962981600035, + -14.161252104006916 + ], + [ + -0.9973986421472621, + -0.013957557392221667, + -0.07071870498277551, + 247.075159189552 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.01399261489292725, + 0.07071178097371879, + -0.9973986421472621, + 192.3385183302099 + ], + [ + 0.9999020985718844, + 0.0009895395968979803, + -0.013957557392221667, + 3940.5378689989534 + ], + [ + -2.1684043282580401e-19, + -0.9974962981600035, + -0.07071870498277551, + 3.3470453349826808 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19233.851833020988, + -394053.78689989535, + 334.70453349826806 + ], + "rotation_deg": [ + 1.2455225896945542e-17, + -4.055268287658691, + 179.19825744628906 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.8109347891945738, + 0.585136537633698, + -0.0, + -2458.1567406827476 + ], + [ + -0.005388297573804932, + 0.0074675869239027555, + -0.9999575997985065, + -23.7398120908648 + ], + [ + -0.5851117415194858, + 0.8109003954429365, + 0.009208615885334809, + -3075.8646675926016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8109347891945738, + -0.005388297573804932, + -0.5851117415194858, + 193.5523867674636 + ], + [ + 0.585136537633698, + 0.0074675869239027555, + 0.8109003954429365, + 3932.754543114762 + ], + [ + -0.0, + -0.9999575997985065, + 0.009208615885334809, + 4.585650886716452 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19355.238676746358, + -393275.4543114762, + 458.5650886716451 + ], + "rotation_deg": [ + 0.0, + 0.5276222825050354, + -125.81263732910156 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8787084483493157, + 0.47735884070533097, + -2.0816681551659804e-17, + -2041.0108274853117 + ], + [ + 0.04093724480512392, + -0.07535610487333921, + -0.9963160138460504, + 292.0901116007711 + ], + [ + -0.47560027134608235, + 0.8754712909216137, + -0.08575780237142258, + -3345.852405354804 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8787084483493157, + 0.04093724480512392, + -0.47560027134608235, + 190.20781226388718 + ], + [ + 0.47735884070533097, + -0.07535610487333921, + 0.8754712909216137, + 3925.503114466707 + ], + [ + -2.0816681551659804e-17, + -0.9963160138460504, + -0.08575780237142258, + 4.081105737923347 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19020.781226388717, + -392550.3114466707, + 408.1105737923347 + ], + "rotation_deg": [ + 1.197118172388824e-15, + -4.919602870941162, + -118.51304626464848 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9901573790603307, + -0.13995843916097436, + -0.0, + 371.166156282275 + ], + [ + -0.04352063450555698, + -0.30789338360298485, + -0.9504249674254875, + 1223.639751083535 + ], + [ + 0.13301998444662314, + 0.941070295459266, + -0.31095398814298875, + -3723.181130641237 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9901573790603307, + -0.04352063450555698, + 0.13301998444662314, + 180.99820506112246 + ], + [ + -0.13995843916097436, + -0.30789338360298485, + 0.941070295459266, + 3932.473582298191 + ], + [ + -0.0, + -0.9504249674254875, + -0.31095398814298875, + 5.239758363310791 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18099.820506112246, + -393247.3582298191, + 523.9758363310791 + ], + "rotation_deg": [ + 0.0, + -18.116731643676765, + -81.95455932617186 + ] + } + } + ] + }, + { + "frame": 114, + "time": 1507.132361508906, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.014089278109812899, + 0.9999007411950172, + -0.0, + -3937.3054129720854 + ], + [ + 0.0707640624122327, + 0.0009971135278033058, + -0.9974925830478791, + -14.203652424170203 + ], + [ + -0.9973935734277619, + -0.014053926250850878, + -0.07077108761306389, + 247.48942686657907 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.014089278109812899, + 0.0707640624122327, + -0.9973935734277619, + 192.37577586222548 + ], + [ + 0.9999007411950172, + 0.0009971135278033058, + -0.014053926250850878, + 3940.406968866675 + ], + [ + -0.0, + -0.9974925830478791, + -0.07077108761306389, + 3.347064565685232 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19237.57758622255, + -394040.6968866675, + 334.7064565685232 + ], + "rotation_deg": [ + 0.0, + -4.058277130126954, + 179.19271850585938 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.8262759979522117, + 0.5632654571408371, + -1.734723462545954e-18, + -2375.052579865304 + ], + [ + -0.012808270822070282, + 0.01878895043425703, + -0.9997414283404122, + -66.82800005025135 + ], + [ + -0.5631198265347557, + 0.8260623369308063, + 0.02273931546643415, + -3139.6923615835676 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8262759979522117, + -0.012808270822070282, + -0.5631198265347557, + 193.56999256549545 + ], + [ + 0.5632654571408371, + 0.01878895043425703, + 0.8260623369308063, + 3932.622377251136 + ], + [ + -1.734723462545954e-18, + -0.9997414283404122, + 0.02273931546643415, + 4.583735208785359 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19356.999256549545, + -393262.23772511363, + 458.3735208785358 + ], + "rotation_deg": [ + 9.941804048385403e-17, + 1.3029791116714478, + -124.28192901611325 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8782172050431908, + 0.47826200012767706, + -0.0, + -2044.4324182459316 + ], + [ + 0.04093335846534627, + -0.0751646161620004, + -0.9963306382130213, + 291.3237529966732 + ], + [ + -0.47650709782000883, + 0.8749947007016149, + -0.08558772967688624, + -3343.7014488690324 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8782172050431908, + 0.04093335846534627, + -0.47650709782000883, + 190.23342242272923 + ], + [ + 0.47826200012767706, + -0.0751646161620004, + 0.8749947007016149, + 3925.392678487647 + ], + [ + -0.0, + -0.9963306382130213, + -0.08558772967688624, + 4.074964423882095 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19023.342242272924, + -392539.2678487647, + 407.4964423882095 + ], + "rotation_deg": [ + 0.0, + -4.909822463989257, + -118.57195281982422 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9904673723637291, + -0.13774753820990554, + 2.7755575422866557e-17, + 362.3622344843825 + ], + [ + -0.04283314604257983, + -0.30798977725625243, + -0.9504249674254874, + 1223.852603870124 + ], + [ + 0.1309186889643621, + 0.9413649208132959, + -0.3109539881429887, + -3723.83787171184 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9904673723637291, + -0.04283314604257983, + 0.1309186889643621, + 181.03349834793033 + ], + [ + -0.13774753820990554, + -0.30798977725625243, + 0.9413649208132959, + 3932.3389364494546 + ], + [ + 2.7755575422866557e-17, + -0.9504249674254874, + -0.3109539881429887, + 5.237842685379698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18103.349834793033, + -393233.89364494546, + 523.7842685379699 + ], + "rotation_deg": [ + -1.6732276576381467e-15, + -18.11673164367676, + -82.08247375488281 + ] + } + } + ] + }, + { + "frame": 115, + "time": 1507.1990281790495, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.014185674905716258, + 0.9998993782513667, + -0.0, + -3937.1500870448044 + ], + [ + 0.07081615220431006, + 0.0010046760055005479, + -0.9974888787415627, + -14.245975248230238 + ], + [ + -0.997388509970257, + -0.014150028792571578, + -0.07082327911414733, + 247.9026578414128 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.014185674905716258, + 0.07081615220431006, + -0.997388509970257, + 192.4130713097917 + ], + [ + 0.9998993782513667, + 0.0010046760055005479, + -0.014150028792571578, + 3940.2760737906583 + ], + [ + -0.0, + -0.9974888787415627, + -0.07082327911414733, + 3.347083855551565 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19241.30713097917, + -394027.6073790658, + 334.7083855551565 + ], + "rotation_deg": [ + 0.0, + -4.061275005340577, + 179.18719482421875 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.8408628515381723, + 0.5412482470208039, + 1.734723462557267e-18, + -2291.2340879408134 + ], + [ + -0.019945040541397993, + 0.03098586232102797, + -0.9993208051942201, + -113.41177952966513 + ], + [ + -0.5408806479644873, + 0.8402917328705027, + 0.03685007906374428, + -3199.9000527374424 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8408628515381723, + -0.019945040541397993, + -0.5408806479644873, + 193.58763627907788 + ], + [ + 0.5412482470208039, + 0.03098586232102797, + 0.8402917328705027, + 3932.4902164437726 + ], + [ + 1.734723462557267e-18, + -0.9993208051942201, + 0.03685007906374428, + 4.581819590018046 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19358.76362790779, + -393249.02164437727, + 458.18195900180467 + ], + "rotation_deg": [ + -9.945988643503148e-17, + 2.1118321418762207, + -122.7686538696289 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8777242039850738, + 0.4791661734083159, + -1.3877787701100205e-17, + -2047.8574653162693 + ], + [ + 0.04092905563830105, + -0.07497278558805114, + -0.9963452683812597, + 290.55617294951264 + ], + [ + -0.4774149636428594, + 0.8745163498773773, + -0.085417248182296, + -3341.543428476336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8777242039850738, + 0.04092905563830105, + -0.4774149636428594, + 190.2590704971219 + ], + [ + 0.4791661734083159, + -0.07497278558805114, + 0.8745163498773773, + 3925.2822475648504 + ], + [ + -1.3877787701100205e-17, + -0.9963452683812597, + -0.085417248182296, + 4.0688231690046255 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19025.90704971219, + -392528.224756485, + 406.88231690046257 + ], + "rotation_deg": [ + 7.980553485268044e-16, + -4.900018692016602, + -118.6309585571289 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9907724470482798, + -0.1355358187711397, + -0.0, + 353.5565213605298 + ], + [ + -0.04214540306759102, + -0.30808464144538483, + -0.9504249674254875, + 1224.0593375327494 + ], + [ + 0.12881661557099955, + 0.9416548713890899, + -0.31095398814298875, + -3724.4759096053967 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9907724470482798, + -0.04214540306759102, + 0.12881661557099955, + 181.06883504292796 + ], + [ + -0.1355358187711397, + -0.30808464144538483, + 0.9416548713890899, + 3932.2043351515686 + ], + [ + -0.0, + -0.9504249674254875, + -0.31095398814298875, + 5.235927066612387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18106.883504292797, + -393220.43351515685, + 523.5927066612387 + ], + "rotation_deg": [ + 0.0, + -18.116731643676765, + -82.21039581298825 + ] + } + } + ] + }, + { + "frame": 116, + "time": 1507.265694849193, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.014281805280830307, + 0.9998980098179617, + -0.0, + -3936.9947887911403 + ], + [ + 0.07086802545549699, + 0.0010122265773652229, + -0.9974851870405871, + -14.288214181996484 + ], + [ + -0.9973834536509499, + -0.01424586504936334, + -0.07087525458366264, + 248.314855462848 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.014281805280830307, + 0.07086802545549699, + -0.9973834536509499, + 192.4504075134591 + ], + [ + 0.9998980098179617, + 0.0010122265773652229, + -0.01424586504936334, + 3940.1451841620537 + ], + [ + -0.0, + -0.9974851870405871, + -0.07087525458366264, + 3.3471032092015207 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19245.04075134591, + -394014.51841620536, + 334.71032092015207 + ], + "rotation_deg": [ + 0.0, + -4.064260482788088, + 179.1816864013672 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.8546927539854937, + 0.5191341794610448, + -0.0, + -2206.894540164778 + ], + [ + -0.02676164961522454, + 0.04405987684066071, + -0.9986703867456259, + -163.50419957328535 + ], + [ + -0.5184439457596435, + 0.8535563346532525, + 0.05155054489020488, + -3256.3517233023786 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8546927539854937, + -0.02676164961522454, + -0.5184439457596435, + 193.60532074876156 + ], + [ + 0.5191341794610448, + 0.04405987684066071, + 0.8535563346532525, + 3932.3580610838208 + ], + [ + -0.0, + -0.9986703867456259, + 0.05155054489020488, + 4.579904035034358 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19360.532074876155, + -393235.80610838206, + 457.9904035034358 + ], + "rotation_deg": [ + 0.0, + 2.954938411712646, + -121.2741928100586 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.877229377076941, + 0.480071473838221, + -0.0, + -2051.286402590945 + ], + [ + 0.04092434434802434, + -0.07478060883866963, + -0.9963599041417724, + 289.7873530634058 + ], + [ + -0.4783239816531204, + 0.8740361703296929, + -0.0852463578747448, + -3339.378054693788 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.877229377076941, + 0.04092434434802434, + -0.4783239816531204, + 190.28475932761575 + ], + [ + 0.480071473838221, + -0.07478060883866963, + 0.8740361703296929, + 3925.171822089465 + ], + [ + -0.0, + -0.9963599041417724, + -0.0852463578747448, + 4.062681977910778 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19028.475932761576, + -392517.1822089465, + 406.2681977910778 + ], + "rotation_deg": [ + 0.0, + -4.890191555023193, + -118.69007110595702 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9910725652035558, + -0.1333235556863185, + 2.7755575422866557e-17, + 344.7501023155494 + ], + [ + -0.04145749104369437, + -0.30817796438198336, + -0.9504249674254874, + 1224.2599219528631 + ], + [ + 0.1267140254828965, + 0.9419401111556349, + -0.31095398814298875, + -3725.0951522502955 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9910725652035558, + -0.04145749104369437, + 0.1267140254828965, + 181.1042178984782 + ], + [ + -0.1333235556863185, + -0.30817796438198336, + 0.9419401111556349, + 3932.069778807846 + ], + [ + 2.7755575422866557e-17, + -0.9504249674254874, + -0.31095398814298875, + 5.234011511628698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18110.42178984782, + -393206.9778807846, + 523.4011511628698 + ], + "rotation_deg": [ + -1.6732276576381467e-15, + -18.116731643676765, + -82.3383102416992 + ] + } + } + ] + }, + { + "frame": 117, + "time": 1507.3323615193367, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.01437740294677987, + 0.9998966398005878, + -0.0, + -3936.8395852136323 + ], + [ + 0.07091970734678646, + 0.0010197466106054757, + -0.9974815062078576, + -14.330300839347949 + ], + [ + -0.9973784066288767, + -0.014341169385104874, + -0.07092703892812076, + 248.72497642542746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.01437740294677987, + 0.07091970734678646, + -0.9973784066288767, + 192.487787174022 + ], + [ + 0.9998966398005878, + 0.0010197466106054757, + -0.014341169385104874, + 3940.0143003559388 + ], + [ + -0.0, + -0.9974815062078576, + -0.07092703892812076, + 3.347122630956887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19248.7787174022, + -394001.43003559386, + 334.7122630956887 + ], + "rotation_deg": [ + 0.0, + -4.067234992980957, + 179.17620849609375 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.867764574657473, + 0.49697549534110286, + 3.4694469251984756e-18, + -2122.239142661512 + ], + [ + -0.03322358780909565, + 0.058011416687591875, + -0.9977629321371835, + -217.113396227833 + ], + [ + -0.49586374143832673, + 0.8658233183534838, + 0.06685156185270343, + -3308.908283590359 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.867764574657473, + -0.03322358780909565, + -0.49586374143832673, + 193.62304867534073 + ], + [ + 0.49697549534110286, + 0.058011416687591875, + 0.8658233183534838, + 3932.225911546359 + ], + [ + 3.4694469251984756e-18, + -0.9977629321371835, + 0.06685156185270343, + 4.57798854815608 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19362.304867534072, + -393222.5911546359, + 457.79885481560797 + ], + "rotation_deg": [ + -1.992303594327566e-16, + 3.833171129226685, + -119.80010223388672 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8767327197824835, + 0.48097789768637933, + -0.0, + -2054.719216550658 + ], + [ + 0.04091922657112141, + -0.07458809432962199, + -0.9963745445770362, + 289.0173260561228 + ], + [ + -0.4792341477566748, + 0.8735541566458079, + -0.08507506703356064, + -3337.205306445062 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8767327197824835, + 0.04091922657112141, + -0.4792341477566748, + 190.31049161500516 + ], + [ + 0.48097789768637933, + -0.07458809432962199, + 0.8735541566458079, + 3925.06140243657 + ], + [ + -0.0, + -0.9963745445770362, + -0.08507506703356064, + 4.056540854922341 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19031.049161500516, + -392506.140243657, + 405.6540854922341 + ], + "rotation_deg": [ + 0.0, + -4.880341529846191, + -118.74929046630858 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9913677436759004, + -0.13111062809304935, + -0.0, + 335.94249694118486 + ], + [ + -0.04076937238824726, + -0.3082697513044857, + -0.9504249674254875, + 1224.454371671426 + ], + [ + 0.12461080382941653, + 0.9422206561241145, + -0.31095398814298875, + -3725.695644076802 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9913677436759004, + -0.04076937238824726, + 0.12461080382941653, + 181.13964952716066 + ], + [ + -0.13111062809304935, + -0.3082697513044857, + 0.9422206561241145, + 3931.9352678053333 + ], + [ + -0.0, + -0.9504249674254875, + -0.31095398814298875, + 5.23209602475042 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18113.964952716065, + -393193.5267805333, + 523.209602475042 + ], + "rotation_deg": [ + 0.0, + -18.116731643676765, + -82.46622467041014 + ] + } + } + ] + }, + { + "frame": 118, + "time": 1507.3990281894803, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.014472467904880217, + 0.9998952683520123, + -0.0, + -3936.6844772841914 + ], + [ + 0.07097118959101661, + 0.0010272358476303511, + -0.9974778368638318, + -14.372232783364915 + ], + [ + -0.9973733696767851, + -0.014435941819086605, + -0.0709786238481079, + 249.13302370112456 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.014472467904880217, + 0.07097118959101661, + -0.9973733696767851, + 192.52521285678992 + ], + [ + 0.9998952683520123, + 0.0010272358476303511, + -0.014435941819086605, + 3939.883422731884 + ], + [ + -0.0, + -0.9974778368638318, + -0.0709786238481079, + 3.3471421251394515 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19252.52128567899, + -393988.3422731884, + 334.71421251394514 + ], + "rotation_deg": [ + 0.0, + -4.070198059082032, + 179.17076110839844 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.8800785567406358, + 0.474828109914861, + -0.0, + -2037.487787659225 + ], + [ + -0.03929954836593742, + 0.07284044285553057, + -0.9965690218860124, + -274.24508182322927 + ], + [ + -0.47319899907010377, + 0.8770590188556355, + 0.08276584273141643, + -3357.4264014823834 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8800785567406358, + -0.03929954836593742, + -0.47319899907010377, + 193.6408226241249 + ], + [ + 0.474828109914861, + 0.07284044285553057, + 0.8770590188556355, + 3932.093768190957 + ], + [ + -0.0, + -0.9965690218860124, + 0.08276584273141643, + 4.576073133705 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19364.08226241249, + -393209.3768190957, + 457.6073133705 + ], + "rotation_deg": [ + 0.0, + 4.7475643157959, + -118.34815979003909 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8762342275629696, + 0.481885441206855, + 6.938893850545351e-18, + -2058.1558934876334 + ], + [ + 0.04091369632112883, + -0.0743952359359643, + -0.9963891901879376, + 288.2460690956155 + ], + [ + -0.48014545852453594, + 0.8730703046549149, + -0.08490336735393275, + -3335.025167512607 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8762342275629696, + 0.04091369632112883, + -0.48014545852453594, + 190.33626992459952 + ], + [ + 0.481885441206855, + -0.0743952359359643, + 0.8730703046549149, + 3924.9509889657347 + ], + [ + 6.938893850545351e-18, + -0.9963891901879376, + -0.08490336735393275, + 4.050399804361103 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19033.62699245995, + -392495.0988965735, + 405.0399804361103 + ], + "rotation_deg": [ + -3.9901008473431765e-16, + -4.870468139648436, + -118.80861663818361 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9916579809940905, + -0.12889704702095856, + 2.7755575422866557e-17, + 327.1337469107521 + ], + [ + -0.04008105053095587, + -0.3083600017554092, + -0.9504249674254874, + 1224.642686238651 + ], + [ + 0.1225069610933915, + 0.9424965048962421, + -0.31095398814298875, + -3726.277383696253 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9916579809940905, + -0.04008105053095587, + 0.1225069610933915, + 181.17513240604356 + ], + [ + -0.12889704702095856, + -0.3083600017554092, + 0.9424965048962421, + 3931.8008025153704 + ], + [ + 2.7755575422866557e-17, + -0.9504249674254874, + -0.31095398814298875, + 5.23018061029934 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18117.513240604356, + -393180.08025153703, + 523.018061029934 + ], + "rotation_deg": [ + -1.6732276576381467e-15, + -18.116731643676765, + -82.5941390991211 + ] + } + } + ] + }, + { + "frame": 119, + "time": 1507.465694859624, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.014567532732160637, + 0.9998938878651562, + 1.0842021641293931e-19, + -3936.5293328346343 + ], + [ + 0.07102247165051608, + 0.001034731978107032, + -0.9974741790394299, + -14.414158564487277 + ], + [ + -0.9973683352377084, + -0.014530713592739632, + -0.07103000934568472, + 249.5410914382076 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.014567532732160637, + 0.07102247165051608, + -0.9973683352377084, + 192.5626869955083 + ], + [ + 0.9998938878651562, + 0.001034731978107032, + -0.014530713592739632, + 3939.7525516344444 + ], + [ + 1.0842021641293931e-19, + -0.9974741790394299, + -0.07103000934568472, + 3.3471616957729475 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19256.26869955083, + -393975.25516344444, + 334.71616957729475 + ], + "rotation_deg": [ + -6.227751046607765e-18, + -4.07314968109131, + 179.16531372070312 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.8916358295861083, + 0.4527532963969361, + 6.9388938506896325e-18, + -1952.8815765223262 + ], + [ + -0.04496243434017075, + 0.08854737836731602, + -0.9950566522979888, + -334.9059840432019 + ], + [ + -0.4505151934199176, + 0.8872281564670984, + 0.09930890629650421, + -3401.7551621781263 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8916358295861083, + -0.04496243434017075, + -0.4505151934199176, + 193.6586450288595 + ], + [ + 0.4527532963969361, + 0.08854737836731602, + 0.8872281564670984, + 3931.9616313621705 + ], + [ + 6.9388938506896325e-18, + -0.9950566522979888, + 0.09930890629650421, + 4.574157795704852 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19365.86450288595, + -393196.16313621704, + 457.41577957048514 + ], + "rotation_deg": [ + -3.9954442221492127e-16, + 5.699375629425049, + -116.92047119140629 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8757338958772913, + 0.48279410063875194, + -0.0, + -2061.5964195093825 + ], + [ + 0.04090775158333427, + -0.07420203481827359, + -0.9964038407639865, + 287.4735871925561 + ], + [ + -0.4810579101709961, + 0.8725846095595406, + -0.08473125882304264, + -3332.83761929546 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8757338958772913, + 0.04090775158333427, + -0.4810579101709961, + 190.36209669014434 + ], + [ + 0.48279410063875194, + -0.07420203481827359, + 0.8725846095595406, + 3924.8405820215144 + ], + [ + -0.0, + -0.9964038407639865, + -0.08473125882304264, + 4.044258830250796 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19036.209669014435, + -392484.05820215144, + 404.4258830250796 + ], + "rotation_deg": [ + 0.0, + -4.8605713844299325, + -118.86804962158205 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9919432925803617, + -0.12668269141769384, + -0.0, + 318.3233716520479 + ], + [ + -0.03939248783010886, + -0.30844872053035943, + -0.9504249674254875, + 1224.8248783989682 + ], + [ + 0.12040238222364387, + 0.9427676721296937, + -0.31095398814298875, + -3726.840410048811 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9919432925803617, + -0.03939248783010886, + 0.12040238222364387, + 181.21066888060508 + ], + [ + -0.12668269141769384, + -0.30844872053035943, + 0.9427676721296937, + 3931.6663832940853 + ], + [ + -0.0, + -0.9504249674254875, + -0.31095398814298875, + 5.228265272299192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18121.066888060508, + -393166.63832940854, + 522.8265272299192 + ], + "rotation_deg": [ + 0.0, + -18.116731643676765, + -82.72206115722656 + ] + } + } + ] + }, + { + "frame": 120, + "time": 1507.5323615297675, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.0146620648528047, + 0.9998925061496623, + -0.0, + -3936.3742854920565 + ], + [ + 0.0710735623823262, + 0.0010421972107605233, + -0.997470532173888, + -14.455931149731539 + ], + [ + -0.9973633105408695, + -0.014624953472440395, + -0.07108120372423392, + 249.94709050376088 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.0146620648528047, + 0.0710735623823262, + -0.9973633105408695, + 192.60021189592516 + ], + [ + 0.9998925061496623, + 0.0010421972107605233, + -0.014624953472440395, + 3939.6216873935905 + ], + [ + -0.0, + -0.997470532173888, + -0.07108120372423392, + 3.3471813468811082 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19260.021189592517, + -393962.16873935907, + 334.7181346881108 + ], + "rotation_deg": [ + 0.0, + -4.076090335845949, + 179.15989685058594 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.9024381971935007, + 0.43081933597059463, + -0.0, + -1868.6892628572948 + ], + [ + -0.05019074740308206, + 0.10513466741270702, + -0.993190611405051, + -399.1097093874692 + ], + [ + -0.42788573365084054, + 0.8962931380479848, + 0.11650068508887715, + -3441.733052379616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9024381971935007, + -0.05019074740308206, + -0.42788573365084054, + 193.67651819529263 + ], + [ + 0.43081933597059463, + 0.10513466741270702, + 0.8962931380479848, + 3931.829501389969 + ], + [ + -0.0, + -0.993190611405051, + 0.11650068508887715, + 4.572242538179368 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19367.651819529263, + -393182.95013899694, + 457.22425381793676 + ], + "rotation_deg": [ + 0.0, + 6.690189838409424, + -115.51956939697266 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8752316557729286, + 0.48370398875032805, + 6.938893850542184e-18, + -2065.0412256837562 + ], + [ + 0.04090140019640055, + -0.07400848669826594, + -0.9964184960941893, + 286.6998621393421 + ], + [ + -0.481971615020956, + 0.8720970023811494, + -0.08455874142810185, + -3330.642369234779 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8752316557729286, + 0.04090140019640055, + -0.481971615020956, + 190.38797421738767 + ], + [ + 0.48370398875032805, + -0.07400848669826594, + 0.8720970023811494, + 3924.73018193388 + ], + [ + 6.938893850542184e-18, + -0.9964184960941893, + -0.08455874142810185, + 4.038117936615154 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19038.797421738767, + -392473.018193388, + 403.81179366151537 + ], + "rotation_deg": [ + -3.9899834935168066e-16, + -4.850651264190674, + -118.92759704589842 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9922236429801686, + -0.12446783645248392, + 2.7755575422866557e-17, + 309.51245775553554 + ], + [ + -0.03870376985067457, + -0.3085358966046042, + -0.9504249674254874, + 1225.0009210051192 + ], + [ + 0.11829732874788028, + 0.9430341241275877, + -0.3109539881429887, + -3727.3846401464702 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9922236429801686, + -0.03870376985067457, + 0.11829732874788028, + 181.24626116830038 + ], + [ + -0.12446783645248392, + -0.3085358966046042, + 0.9430341241275877, + 3931.532010482825 + ], + [ + 2.7755575422866557e-17, + -0.9504249674254874, + -0.3109539881429887, + 5.226350014773708 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18124.626116830037, + -393153.2010482825, + 522.6350014773708 + ], + "rotation_deg": [ + -1.6732276576381467e-15, + -18.11673164367676, + -82.84997558593749 + ] + } + } + ] + }, + { + "frame": 121, + "time": 1507.5990281999111, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.01475606426817525, + 0.999891123356595, + -0.0, + -3936.2193361808754 + ], + [ + 0.07112445349936211, + 0.0010496312872067934, + -0.9974668968886025, + -14.497548072973148 + ], + [ + -0.997358296358248, + -0.014718661477654113, + -0.07113219868441786, + 250.3510234866295 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.01475606426817525, + 0.07112445349936211, + -0.997358296358248, + 192.63778973902987 + ], + [ + 0.999891123356595, + 0.0010496312872067934, + -0.014718661477654113, + 3939.490830325074 + ], + [ + -0.0, + -0.9974668968886025, + -0.07113219868441786, + 3.3472010821896117 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19263.778973902987, + -393949.0830325074, + 334.7201082189612 + ], + "rotation_deg": [ + 0.0, + -4.079019546508791, + 179.15451049804688 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.9124871320154091, + 0.40910540684069807, + -0.0, + -1785.222343613264 + ], + [ + -0.05497082297843634, + 0.1226094003290747, + -0.9909314525092126, + -466.8866337204658 + ], + [ + -0.4053954289272078, + 0.9042121927395801, + 0.13436836199792443, + -3477.1799729556233 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9124871320154091, + -0.05497082297843634, + -0.4053954289272078, + 193.6944443044136 + ], + [ + 0.40910540684069807, + 0.1226094003290747, + 0.9042121927395801, + 3931.697378590106 + ], + [ + -0.0, + -0.9909314525092126, + 0.13436836199792443, + 4.5703273648542275 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19369.44443044136, + -393169.7378590106, + 457.03273648542273 + ], + "rotation_deg": [ + 0.0, + 7.722096920013431, + -114.14865112304686 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8747276314010004, + 0.48461486859525416, + -0.0, + -2068.489407174529 + ], + [ + 0.040894620407268746, + -0.07381460364512538, + -0.9964331559670514, + 285.92494552539137 + ], + [ + -0.48288633693773925, + 0.8716076065519678, + -0.08438581515635293, + -3328.4399463199356 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8747276314010004, + 0.040894620407268746, + -0.48288633693773925, + 190.41390468731888 + ], + [ + 0.48461486859525416, + -0.07381460364512538, + 0.8716076065519678, + 3924.619789018583 + ], + [ + -0.0, + -0.9964331559670514, + -0.08438581515635293, + 4.031977127179855 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19041.390468731886, + -392461.9789018583, + 403.1977127179855 + ], + "rotation_deg": [ + 0.0, + -4.840707778930665, + -118.98724365234376 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9924990479598665, + -0.122252361117314, + -0.0, + 300.70052497115034 + ], + [ + -0.038014858964728594, + -0.3086215348807546, + -0.9504249674254875, + 1225.1708271960779 + ], + [ + 0.1161916856570611, + 0.9432958758746592, + -0.31095398814298875, + -3727.910114136262 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9924990479598665, + -0.038014858964728594, + 0.1161916856570611, + 181.2819113618007 + ], + [ + -0.122252361117314, + -0.3086215348807546, + 0.9432958758746592, + 3931.3976844085205 + ], + [ + -0.0, + -0.9504249674254875, + -0.31095398814298875, + 5.224434841448567 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18128.19113618007, + -393139.76844085206, + 522.4434841448567 + ], + "rotation_deg": [ + 0.0, + -18.116731643676765, + -82.97789001464844 + ] + } + } + ] + }, + { + "frame": 122, + "time": 1507.6656948700547, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.014850063553134625, + 0.999889731726688, + -0.0, + -3936.064352037207 + ], + [ + 0.07117515275235456, + 0.0010570721032921264, + -0.997463272621728, + -14.539160256130558 + ], + [ + -0.997353284388453, + -0.014812368832982122, + -0.07118300252954837, + 250.75498376969205 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.014850063553134625, + 0.07117515275235456, + -0.997353284388453, + 192.67542258396628 + ], + [ + 0.999889731726688, + 0.0010570721032921264, + -0.014812368832982122, + 3939.3599807307355 + ], + [ + -0.0, + -0.997463272621728, + -0.07118300252954837, + 3.347220905275111 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19267.54225839663, + -393935.99807307357, + 334.7220905275111 + ], + "rotation_deg": [ + 0.0, + -4.081937789916994, + 179.1491241455078 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.9217818969107558, + 0.38770882699212383, + -0.0, + -1702.8631634177887 + ], + [ + -0.059300828946899364, + 0.14098835721417197, + -0.9882336236013525, + -538.3029617226249 + ], + [ + -0.38314691282383956, + 0.91093585814273, + 0.15295197136136873, + -3507.882206826518 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9217818969107558, + -0.059300828946899364, + -0.38314691282383956, + 193.71242541536628 + ], + [ + 0.38770882699212383, + 0.14098835721417197, + 0.91093585814273, + 3931.56526326442 + ], + [ + -0.0, + -0.9882336236013525, + 0.15295197136136873, + 4.568412279306083 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19371.242541536627, + -393156.526326442, + 456.8412279306082 + ], + "rotation_deg": [ + 0.0, + 8.798036575317386, + -112.81201171875001 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8742217539255932, + 0.4855268529785551, + -0.0, + -2071.941394995982 + ], + [ + 0.040887420077547476, + -0.07362038139477499, + -0.9964478201705746, + 285.1488192009428 + ], + [ + -0.48380218827876714, + 0.8711163532099235, + -0.08421247999506942, + -3326.2300585201574 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8742217539255932, + 0.040887420077547476, + -0.48380218827876714, + 190.43989015908173 + ], + [ + 0.4855268529785551, + -0.07362038139477499, + 0.8711163532099235, + 3924.5094035774646 + ], + [ + -0.0, + -0.9964478201705746, + -0.08421247999506942, + 4.025836405521551 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19043.989015908173, + -392450.94035774644, + 402.58364055215515 + ], + "rotation_deg": [ + 0.0, + -4.830740928649903, + -119.0469970703125 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9927695061467874, + -0.12003627645450994, + -0.0, + 291.8876154595068 + ], + [ + -0.037325758605926095, + -0.30870563493197395, + -0.9504249674254875, + 1225.3345965813487 + ], + [ + 0.11408546344609004, + 0.9435529260662917, + -0.31095398814298875, + -3728.4168308131516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9927695061467874, + -0.037325758605926095, + 0.11408546344609004, + 181.31762143190713 + ], + [ + -0.12003627645450994, + -0.30870563493197395, + 0.9435529260662917, + 3931.2634053839947 + ], + [ + -0.0, + -0.9504249674254875, + -0.31095398814298875, + 5.222519755900423 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18131.762143190714, + -393126.34053839947, + 522.2519755900423 + ], + "rotation_deg": [ + 0.0, + -18.116731643676765, + -83.10580444335938 + ] + } + } + ] + }, + { + "frame": 123, + "time": 1507.7323615401983, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.01494353013411443, + 0.9998883392195004, + 1.0842021641296378e-19, + -3935.909467296595 + ], + [ + 0.0712256524093822, + 0.001064481543941587, + -0.9974596599952802, + -14.580616182351356 + ], + [ + -0.997348283192808, + -0.014905544330173395, + -0.07123360696033812, + 251.15688236512545 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.01494353013411443, + 0.0712256524093822, + -0.997348283192808, + 192.71311237065623 + ], + [ + 0.9998883392195004, + 0.001064481543941587, + -0.014905544330173395, + 3939.229138898761 + ], + [ + 1.0842021641296378e-19, + -0.9974596599952802, + -0.07123360696033812, + 3.3472408195652306 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19271.311237065624, + -393922.9138898761, + 334.72408195652304 + ], + "rotation_deg": [ + -6.227841697886637e-18, + -4.084844589233399, + 179.14376831054688 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.9303152958827199, + 0.36676075341651193, + -0.0, + -1622.1257996343863 + ], + [ + -0.06319911767494937, + 0.16030915334206078, + -0.9850415457633548, + -613.5029367091043 + ], + [ + -0.36127459320242516, + 0.9163992114416413, + 0.1723170147593102, + -3533.5592345197165 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9303152958827199, + -0.06319911767494937, + -0.36127459320242516, + 193.73046346807246 + ], + [ + 0.36676075341651193, + 0.16030915334206078, + 0.9163992114416413, + 3931.4331557010987 + ], + [ + -0.0, + -0.9850415457633548, + 0.1723170147593102, + 4.566497284962557 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19373.046346807245, + -393143.3155701099, + 456.6497284962557 + ], + "rotation_deg": [ + 0.0, + 9.922562599182132, + -111.515983581543 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8737140187965181, + 0.48643993807913954, + 6.938893850537426e-18, + -2075.397174547835 + ], + [ + 0.04087979718687318, + -0.07342582113789899, + -0.9964624884922587, + 284.3714883098131 + ], + [ + -0.4847191651935361, + 0.870623237547165, + -0.08403873593155643, + -3324.012687368711 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8737140187965181, + 0.04087979718687318, + -0.4847191651935361, + 190.4659325725981 + ], + [ + 0.48643993807913954, + -0.07342582113789899, + 0.870623237547165, + 3924.3990258987096 + ], + [ + 6.938893850537426e-18, + -0.9964624884922587, + -0.08403873593155643, + 4.019695775067868 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19046.59325725981, + -392439.90258987097, + 401.9695775067868 + ], + "rotation_deg": [ + -3.9898073414319164e-16, + -4.820750713348389, + -119.10685729980469 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9930350318815382, + -0.1178194612788231, + -0.0, + 283.0732488356158 + ], + [ + -0.036636431091231, + -0.3087882012175312, + -0.9504249674254875, + 1225.4922405078023 + ], + [ + 0.11197854693747929, + 0.9438052883321543, + -0.31095398814298875, + -3728.9048248475992 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9930350318815382, + -0.036636431091231, + 0.11197854693747929, + 181.35339323017436 + ], + [ + -0.1178194612788231, + -0.3087882012175312, + 0.9438052883321543, + 3931.129173708217 + ], + [ + -0.0, + -0.9504249674254875, + -0.31095398814298875, + 5.2206047615568965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18135.339323017437, + -393112.9173708217, + 522.0604761556897 + ], + "rotation_deg": [ + 0.0, + -18.116731643676765, + -83.23372650146484 + ] + } + } + ] + }, + { + "frame": 124, + "time": 1507.799028210342, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.01503646401252301, + 0.9998869459843951, + -0.0, + -3935.754682838988 + ], + [ + 0.07127596908436282, + 0.0010718597221404773, + -0.997456057853087, + -14.621919628420482 + ], + [ + -0.9973432917642139, + -0.014998187962285754, + -0.07128402858123513, + 251.55672114086633 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.01503646401252301, + 0.07127596908436282, + -0.9973432917642139, + 192.75086092210756 + ], + [ + 0.9998869459843951, + 0.0010718597221404773, + -0.014998187962285754, + 3939.0983051038806 + ], + [ + -0.0, + -0.997456057853087, + -0.07128402858123513, + 3.347260828338567 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19275.086092210757, + -393909.83051038807, + 334.7260828338567 + ], + "rotation_deg": [ + 0.0, + -4.087740898132326, + 179.13844299316406 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.938060014222225, + 0.3464728123784012, + 1.3877787704401108e-17, + -1543.836710456076 + ], + [ + -0.06672804200175372, + 0.1806632607029008, + -0.9812788363369546, + -692.83407745358 + ], + [ + -0.3399864517763222, + 0.9204984338302336, + 0.1925924347544148, + -3553.763683611044 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.938060014222225, + -0.06672804200175372, + -0.3399864517763222, + 193.74856028554004 + ], + [ + 0.3464728123784012, + 0.1806632607029008, + 0.9204984338302336, + 3931.301056174871 + ], + [ + 1.3877787704401108e-17, + -0.9812788363369546, + 0.1925924347544148, + 4.564582385102249 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19374.856028554004, + -393130.1056174871, + 456.45823851022493 + ], + "rotation_deg": [ + -8.103085903374454e-16, + 11.104114532470705, + -110.27172851562504 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8732043565662945, + 0.4873542363349717, + -0.0, + -2078.8571749905846 + ], + [ + 0.04087175946482059, + -0.07323091863036713, + -0.9964771607191016, + 283.59293481404745 + ], + [ + -0.48563737967981885, + 0.8701281900868476, + -0.08386458295315116, + -3321.787538590352 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8732043565662945, + 0.04087175946482059, + -0.48563737967981885, + 190.49203375087592 + ], + [ + 0.4873542363349717, + -0.07323091863036713, + 0.8701281900868476, + 3924.288656257049 + ], + [ + -0.0, + -0.9964771607191016, + -0.08386458295315116, + 4.013555239097402 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19049.203375087593, + -392428.8656257049, + 401.35552390974016 + ], + "rotation_deg": [ + 0.0, + -4.810737133026122, + -119.16683197021486 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9932955921682842, + -0.11560219106512368, + -0.0, + 274.25851274433734 + ], + [ + -0.0359469620806522, + -0.30886922347724005, + -0.9504249674254874, + 1225.6437348114343 + ], + [ + 0.1098711979494259, + 0.9440529313121846, + -0.3109539881429888, + -3729.374022372252 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9932955921682842, + -0.0359469620806522, + 0.1098711979494259, + 181.38922849121934 + ], + [ + -0.11560219106512368, + -0.30886922347724005, + 0.9440529313121846, + 3930.9949896665057 + ], + [ + -0.0, + -0.9504249674254874, + -0.3109539881429888, + 5.218689861696589 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18138.922849121933, + -393099.4989666506, + 521.8689861696589 + ], + "rotation_deg": [ + 0.0, + -18.11673164367677, + -83.36164093017578 + ] + } + } + ] + }, + { + "frame": 125, + "time": 1507.8656948804855, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.015129131475410852, + 0.999885548140786, + -0.0, + -3935.5999323214983 + ], + [ + 0.07132608590252765, + 0.001079225250582229, + -0.9974524674101938, + -14.663140771243452 + ], + [ + -0.9973383074468486, + -0.015090565365058926, + -0.07133425079173535, + 251.9555477788467 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.015129131475410852, + 0.07132608590252765, + -0.9973383074468486, + 192.7886699464378 + ], + [ + 0.999885548140786, + 0.001079225250582229, + -0.015090565365058926, + 3938.9674796075124 + ], + [ + -0.0, + -0.9974524674101938, + -0.07133425079173535, + 3.347280934873719 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19278.86699464378, + -393896.74796075124, + 334.7280934873719 + ], + "rotation_deg": [ + 0.0, + -4.090625762939454, + 179.1331329345703 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.9413682720057827, + 0.33738075887763197, + -0.0, + -1508.7066087667113 + ], + [ + -0.06845775502488055, + 0.19101254845579624, + -0.9791974990314138, + -733.1700152349167 + ], + [ + -0.3303624088794739, + 0.921785452412739, + 0.2029094835624827, + -3560.606931808629 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9413682720057827, + -0.06845775502488055, + -0.3303624088794739, + 193.76671757588653 + ], + [ + 0.33738075887763197, + 0.19101254845579624, + 0.921785452412739, + 3931.168964947156 + ], + [ + -0.0, + -0.9791974990314138, + 0.2029094835624827, + 4.562667583003756 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19376.671757588654, + -393116.8964947156, + 456.2667583003756 + ], + "rotation_deg": [ + 0.0, + 11.707149505615238, + -109.71737670898436 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8726928273318258, + 0.48826962748422503, + -0.0, + -2082.3209368428484 + ], + [ + 0.040863291035764755, + -0.07303567328532416, + -0.9964918373340974, + 282.81315953226755 + ], + [ + -0.4865567121976302, + 0.8696312710457581, + -0.08369001275404112, + -3319.554871051714 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8726928273318258, + 0.040863291035764755, + -0.4865567121976302, + 190.5181954020326 + ], + [ + 0.48826962748422503, + -0.07303567328532416, + 0.8696312710457581, + 3924.1782949138997 + ], + [ + -0.0, + -0.9964918373340974, + -0.08369001275404112, + 4.00741480088875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19051.81954020326, + -392417.82949139, + 400.741480088875 + ], + "rotation_deg": [ + 0.0, + -4.800699710845947, + -119.22691345214844 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9935512016921343, + -0.11338434466942697, + -0.0, + 265.442927093368 + ], + [ + -0.03525731390398478, + -0.30894870627749343, + -0.9504249674254875, + 1225.7890912386258 + ], + [ + 0.10776330134366192, + 0.9442958689634755, + -0.31095398814298875, + -3729.8244592791566 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9935512016921343, + -0.03525731390398478, + 0.10776330134366192, + 181.4251288347451 + ], + [ + -0.11338434466942697, + -0.30894870627749343, + 0.9442958689634755, + 3930.860853530669 + ], + [ + -0.0, + -0.9504249674254875, + -0.31095398814298875, + 5.216775059598096 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18142.51288347451, + -393086.0853530669, + 521.6775059598097 + ], + "rotation_deg": [ + 0.0, + -18.116731643676765, + -83.48955535888672 + ] + } + } + ] + }, + { + "frame": 126, + "time": 1507.9323615506291, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.015221532523098808, + 0.999884145762722, + 2.1684043282596394e-19, + -3935.445216274811 + ], + [ + 0.07137601947169905, + 0.0010865782864564215, + -0.9974488875085292, + -14.70428353912822 + ], + [ + -0.9973333291566356, + -0.015182676527306998, + -0.07138429019615712, + 252.35336378291677 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.015221532523098808, + 0.07137601947169905, + -0.9973333291566356, + 192.82654103860486 + ], + [ + 0.999884145762722, + 0.0010865782864564215, + -0.015182676527306998, + 3938.836662657862 + ], + [ + 2.1684043282596394e-19, + -0.9974488875085292, + -0.07138429019615712, + 3.347301142002201 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19282.654103860485, + -393883.66626578616, + 334.7301142002201 + ], + "rotation_deg": [ + -1.2455817917640127e-17, + -4.093500137329104, + 179.12783813476562 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.9438470528426957, + 0.33038271873716063, + -0.0, + -1481.6499942296741 + ], + [ + -0.06974905402121855, + 0.19926114576491138, + -0.9774610300424258, + -765.3286389604482 + ], + [ + -0.3229362460822783, + 0.9225737073740087, + 0.21111592888378627, + -3565.053937796461 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9438470528426957, + -0.06974905402121855, + -0.3229362460822783, + 193.7849369340698 + ], + [ + 0.33038271873716063, + 0.19926114576491138, + 0.9225737073740087, + 3931.0368822661576 + ], + [ + -0.0, + -0.9774610300424258, + 0.21111592888378627, + 4.560752881498594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19378.49369340698, + -393103.6882266158, + 456.0752881498594 + ], + "rotation_deg": [ + 0.0, + 12.187756538391115, + -109.29200744628905 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8721794916752053, + 0.4891859915218141, + -0.0, + -2085.788001674222 + ], + [ + 0.040854380153015894, + -0.07284009176900982, + -0.9965065181188704, + 282.0321909602945 + ], + [ + -0.48747704311446355, + 0.8691325405149481, + -0.08351502532126223, + -3317.314943132621 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8721794916752053, + 0.040854380153015894, + -0.48747704311446355, + 190.54441912102612 + ], + [ + 0.4891859915218141, + -0.07284009176900982, + 0.8691325405149481, + 3924.067942117468 + ], + [ + -0.0, + -0.9965065181188704, + -0.08351502532126223, + 4.001274463273429 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19054.44191210261, + -392406.79421174683, + 400.1274463273429 + ], + "rotation_deg": [ + 0.0, + -4.790638446807862, + -119.28709411621102 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9938018739817156, + -0.11116580081315401, + -0.0, + 256.6260116427858 + ], + [ + -0.03456744884917123, + -0.3090266538250721, + -0.9504249674254875, + 1225.9283200933971 + ], + [ + 0.10565474185399597, + 0.9445341141439707, + -0.31095398814298875, + -3730.2561670532396 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9938018739817156, + -0.03456744884917123, + 0.10565474185399597, + 181.46109576727216 + ], + [ + -0.11116580081315401, + -0.3090266538250721, + 0.9445341141439707, + 3930.726765559103 + ], + [ + -0.0, + -0.9504249674254875, + -0.31095398814298875, + 5.214860358092934 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18146.109576727216, + -393072.6765559103, + 521.4860358092934 + ], + "rotation_deg": [ + 0.0, + -18.116731643676765, + -83.61747741699219 + ] + } + } + ] + }, + { + "frame": 127, + "time": 1507.9990282207727, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.015313667155918203, + 0.999882738924039, + -1.0842021641298799e-19, + -3935.290535216787 + ], + [ + 0.07142576149893601, + 0.001093918612026163, + -0.9974453187700902, + -14.745345569776005 + ], + [ + -0.9973283575891497, + -0.015274521464668749, + -0.07143413849522341, + 252.7501709107739 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.015313667155918203, + 0.07142576149893601, + -0.9973283575891497, + 192.86447568188797 + ], + [ + 0.999882738924039, + 0.001093918612026163, + -0.015274521464668749, + 3938.705854489971 + ], + [ + -1.0842021641298799e-19, + -0.9974453187700902, + -0.07143413849522341, + 3.347321452704557 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19286.447568188796, + -393870.5854489971, + 334.7321452704557 + ], + "rotation_deg": [ + 6.22793124152371e-18, + -4.096363544464113, + 179.12255859375 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.9462468966788897, + 0.3234452202855539, + 1.3877787705650953e-17, + -1454.8180670069464 + ], + [ + -0.07090875579727954, + 0.20744529803624917, + -0.9756733042745064, + -797.2574375234195 + ], + [ + -0.31557688029572967, + 0.9232278313419219, + 0.219229569306942, + -3568.960338084133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9462468966788897, + -0.07090875579727954, + -0.31557688029572967, + 193.8032198433692 + ], + [ + 0.3234452202855539, + 0.20744529803624917, + 0.9232278313419219, + 3930.9048083669204 + ], + [ + 1.3877787705650953e-17, + -0.9756733042745064, + 0.219229569306942, + 4.558838283567305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19380.32198433692, + -393090.48083669203, + 455.88382835673053 + ], + "rotation_deg": [ + -8.149640532217169e-16, + 12.663785934448248, + -108.8714065551758 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8716642148815005, + 0.4901035569091669, + -1.3877787701062155e-17, + -2089.2592411567744 + ], + [ + 0.04084504825701944, + -0.07264417166299073, + -0.996521202160937, + 281.2500156208647 + ], + [ + -0.4883985997040755, + 0.8686318633667676, + -0.08333962893531013, + -3315.0671810619606 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8716642148815005, + 0.04084504825701944, + -0.4883985997040755, + 190.57070639113567 + ], + [ + 0.4901035569091669, + -0.07264417166299073, + 0.8686318633667676, + 3923.9575981027974 + ], + [ + -1.3877787701062155e-17, + -0.996521202160937, + -0.08333962893531013, + 3.9951342292319816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19057.070639113568, + -392395.75981027976, + 399.51342292319816 + ], + "rotation_deg": [ + 7.979144534854006e-16, + -4.7805538177490225, + -119.3473892211914 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9940475778869723, + -0.10894683518599133, + -0.0, + 247.80885475294724 + ], + [ + -0.03387745264301842, + -0.30910305643374203, + -0.9504249674254875, + 1226.0613994557302 + ], + [ + 0.10354578150279312, + 0.9447676372478822, + -0.31095398814298875, + -3730.6690786868094 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9940475778869723, + -0.03387745264301842, + 0.10354578150279312, + 181.49713068362001 + ], + [ + -0.10894683518599133, + -0.30910305643374203, + 0.9447676372478822, + 3930.5927259968485 + ], + [ + -0.0, + -0.9504249674254875, + -0.31095398814298875, + 5.212945760161646 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18149.713068362, + -393059.27259968483, + 521.2945760161646 + ], + "rotation_deg": [ + 0.0, + -18.116731643676765, + -83.74539184570312 + ] + } + } + ] + }, + { + "frame": 128, + "time": 1508.0656948909163, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.015405535374210726, + 0.9998813276983596, + -0.0, + -3935.1358896524994 + ], + [ + 0.07147531199156548, + 0.0011012461346822855, + -0.9974417612235108, + -14.78632658831186 + ], + [ + -0.9973233928464564, + -0.015366100183864416, + -0.07148379569085908, + 253.14597068800435 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.015405535374210726, + 0.07147531199156548, + -0.9973233928464564, + 192.90247524906945 + ], + [ + 0.9998813276983596, + 0.0011012461346822855, + -0.015366100183864416, + 3938.575055325721 + ], + [ + -0.0, + -0.9974417612235108, + -0.07148379569085908, + 3.3473418696632757 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19290.247524906947, + -393857.5055325721, + 334.73418696632757 + ], + "rotation_deg": [ + 0.0, + -4.099215984344483, + 179.11729431152344 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.9485691954608879, + 0.3165698681534361, + -0.0, + -1428.217377655766 + ], + [ + -0.07193987007733262, + 0.21556045456525083, + -0.9738369193663172, + -828.9379603512557 + ], + [ + -0.3082874385841033, + 0.9237516982101451, + 0.22724800387489866, + -3572.340794253939 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9485691954608879, + -0.07193987007733262, + -0.3082874385841033, + 193.82156767656696 + ], + [ + 0.3165698681534361, + 0.21556045456525083, + 0.9237516982101451, + 3930.772743471323 + ], + [ + -0.0, + -0.9738369193663172, + 0.22724800387489866, + 4.5569237918923795 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19382.156767656696, + -393077.2743471323, + 455.69237918923795 + ], + "rotation_deg": [ + 0.0, + 13.135104179382326, + -108.4556121826172 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8711470574067646, + 0.49102220354229886, + 6.93889385052949e-18, + -2092.7341962235705 + ], + [ + 0.04083528359545516, + -0.07244791963768502, + -0.9965358892452644, + 280.4666620313182 + ], + [ + -0.48932126223483763, + 0.868129299569973, + -0.08316382358365434, + -3312.8118428405523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8711470574067646, + 0.04083528359545516, + -0.48932126223483763, + 190.59705858514369 + ], + [ + 0.49102220354229886, + -0.07244791963768502, + 0.868129299569973, + 3923.847263091767 + ], + [ + 6.93889385052949e-18, + -0.9965358892452644, + -0.08316382358365434, + 3.988994101446898 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19059.705858514368, + -392384.7263091767, + 398.8994101446898 + ], + "rotation_deg": [ + -3.98951346855597e-16, + -4.770445823669434, + -119.40779113769531 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9942883272813017, + -0.10672732654831567, + -0.0, + 238.99097646013533 + ], + [ + -0.03318728758558226, + -0.3091779184174913, + -0.9504249674254875, + 1226.188340032027 + ], + [ + 0.10143630506088669, + 0.9449964514608321, + -0.31095398814298875, + -3731.0632268951495 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9942883272813017, + -0.03318728758558226, + 0.10143630506088669, + 181.53323486808895 + ], + [ + -0.10672732654831567, + -0.3091779184174913, + 0.9449964514608321, + 3930.45873507558 + ], + [ + -0.0, + -0.9504249674254875, + -0.31095398814298875, + 5.21103126848672 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18153.323486808895, + -393045.873507558, + 521.103126848672 + ], + "rotation_deg": [ + 0.0, + -18.116731643676765, + -83.87330627441405 + ] + } + } + ] + }, + { + "frame": 129, + "time": 1508.13236156106, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.01549687089420216, + 0.9998799162861952, + -0.0, + -3934.9813462457882 + ], + [ + 0.07152467955220028, + 0.0011085418425909952, + -0.9974382143019879, + -14.827152635140052 + ], + [ + -0.997318438551565, + -0.015457147080423063, + -0.07153327008604224, + 253.53970736399702 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.01549687089420216, + 0.07152467955220028, + -0.997318438551565, + 192.94052921953062 + ], + [ + 0.9998799162861952, + 0.0011085418425909952, + -0.015457147080423063, + 3938.444263731164 + ], + [ + -0.0, + -0.9974382143019879, + -0.07153327008604224, + 3.3473623760382885 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19294.05292195306, + -393844.4263731164, + 334.73623760382884 + ], + "rotation_deg": [ + 0.0, + -4.102057933807375, + 179.112060546875 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.9508154334041686, + 0.30975798875968175, + -1.3877787706486768e-17, + -1401.8533884813025 + ], + [ + -0.07284543309915927, + 0.22360218156448308, + -0.9719545294283061, + -860.3522138001456 + ], + [ + -0.301070693567216, + 0.9241493623384132, + 0.23516886180882932, + -3575.2107458736314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9508154334041686, + -0.07284543309915927, + -0.301070693567216, + 193.83996991304437 + ], + [ + 0.30975798875968175, + 0.22360218156448308, + 0.9241493623384132, + 3930.640686145419 + ], + [ + -1.3877787706486768e-17, + -0.9719545294283061, + 0.23516886180882932, + 4.555009389633748 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19383.996991304437, + -393064.0686145419, + 455.5009389633748 + ], + "rotation_deg": [ + 8.180821701477728e-16, + 13.60157680511476, + -108.0446472167969 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8706279491820572, + 0.4919420434391078, + -0.0, + -2096.213282599133 + ], + [ + 0.04082508560091079, + -0.07225131705235606, + -0.9965505805376254, + 279.68205761286134 + ], + [ + -0.49024514296776805, + 0.8676247802246883, + -0.08298759266645642, + -3310.548641041187 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8706279491820572, + 0.04082508560091079, + -0.49024514296776805, + 190.6234651824313 + ], + [ + 0.4919420434391078, + -0.07225131705235606, + 0.8676247802246883, + 3923.7369356504296 + ], + [ + -0.0, + -0.9965505805376254, + -0.08298759266645642, + 3.9828540630781073 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19062.34651824313, + -392373.693565043, + 398.2854063078107 + ], + "rotation_deg": [ + 0.0, + -4.760313510894776, + -119.4683074951172 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.994524120964766, + -0.10450728596255465, + -0.0, + 230.1724312443344 + ], + [ + -0.03249695711676871, + -0.30925123940319454, + -0.9504249674254875, + 1226.3091406476196 + ], + [ + 0.09932632304228474, + 0.9452205556423695, + -0.31095398814298875, + -3731.4386081420666 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.994524120964766, + -0.03249695711676871, + 0.09932632304228474, + 181.56939771155655 + ], + [ + -0.10450728596255465, + -0.30925123940319454, + 0.9452205556423695, + 3930.324791370953 + ], + [ + -0.0, + -0.9504249674254875, + -0.31095398814298875, + 5.209116866228088 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18156.939771155656, + -393032.4791370953, + 520.9116866228088 + ], + "rotation_deg": [ + 0.0, + -18.116731643676765, + -84.00122070312499 + ] + } + } + ] + }, + { + "frame": 130, + "time": 1508.1990282312036, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.015587940001135912, + 0.9998785006822186, + -0.0, + -3934.8268249963285 + ], + [ + 0.07157385559668121, + 0.0011158245386112375, + -0.9974346786284426, + -14.867888793138725 + ], + [ + -0.9973134913322316, + -0.015547927774773153, + -0.07158255338157052, + 253.9323223178299 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.015587940001135912, + 0.07157385559668121, + -0.9973134913322316, + 192.97853330097914 + ], + [ + 0.9998785006822186, + 0.0011158245386112375, + -0.015547927774773153, + 3938.313465194162 + ], + [ + -0.0, + -0.9974346786284426, + -0.07158255338157052, + 3.347382800448364 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19297.853330097914, + -393831.3465194162, + 334.7382800448364 + ], + "rotation_deg": [ + 0.0, + -4.104888916015626, + 179.10684204101562 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.9529885488772102, + 0.3030063129852398, + 1.3877787706921686e-17, + -1375.7136868904802 + ], + [ + -0.0736274437012448, + 0.23156649786965244, + -0.9700288431785956, + -891.4841903223163 + ], + [ + -0.2939248765737479, + 0.9244263749121407, + 0.2429898028681567, + -3577.5924090730255 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9529885488772102, + -0.0736274437012448, + -0.2939248765737479, + 193.8583222605091 + ], + [ + 0.3030063129852398, + 0.23156649786965244, + 0.9244263749121407, + 3930.50862187707 + ], + [ + 1.3877787706921686e-17, + -0.9700288431785956, + 0.2429898028681567, + 4.5530949054101795 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19385.832226050912, + -393050.862187707, + 455.30949054101796 + ], + "rotation_deg": [ + -8.197062142390223e-16, + 14.063068389892576, + -107.63825988769528 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8701070165320496, + 0.492862840739384, + -0.0, + -2099.6955004285833 + ], + [ + 0.04081444110525687, + -0.0720543904836531, + -0.996565274434793, + 278.89631233412945 + ], + [ + -0.49117000612680606, + 0.8671184297341902, + -0.08281095275810751, + -3308.2781476970545 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8701070165320496, + 0.04081444110525687, + -0.49117000612680606, + 190.64982189070625 + ], + [ + 0.492862840739384, + -0.0720543904836531, + 0.8671184297341902, + 3923.626601266647 + ], + [ + -0.0, + -0.996565274434793, + -0.08281095275810751, + 3.9767139427443805 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19064.982189070626, + -392362.6601266647, + 397.67139427443806 + ], + "rotation_deg": [ + 0.0, + -4.750157833099365, + -119.52892303466798 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9947549713824195, + -0.10228659203415286, + -0.0, + 221.3528424870055 + ], + [ + -0.031806423488456914, + -0.309323023260691, + -0.9504249674254875, + 1226.4238021777278 + ], + [ + 0.09721572007056944, + 0.9454399616205836, + -0.31095398814298875, + -3731.7952256537965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9947549713824195, + -0.031806423488456914, + 0.09721572007056944, + 181.60551483320566 + ], + [ + -0.10228659203415286, + -0.309323023260691, + 0.9454399616205836, + 3930.1908803802294 + ], + [ + -0.0, + -0.9504249674254875, + -0.31095398814298875, + 5.207202382004521 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18160.551483320567, + -393019.0880380229, + 520.7202382004521 + ], + "rotation_deg": [ + 0.0, + -18.116731643676765, + -84.12914276123047 + ] + } + } + ] + }, + { + "frame": 131, + "time": 1508.2656949013472, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.01567847641201487, + 0.999877085134667, + -0.0, + -3934.6723684653953 + ], + [ + 0.07162285703137636, + 0.0011230753171789173, + -0.9974311530388926, + -14.908449120789477 + ], + [ + -0.997308554261932, + -0.015638176655604213, + -0.07163166218135299, + 254.32256040425517 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.01567847641201487, + 0.07162285703137636, + -0.997308554261932, + 193.0162775324731 + ], + [ + 0.999877085134667, + 0.0011230753171789173, + -0.015638176655604213, + 3938.1826308075456 + ], + [ + -0.0, + -0.9974311530388926, + -0.07163166218135299, + 3.3474028023664517 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19301.62775324731, + -393818.26308075455, + 334.74028023664516 + ], + "rotation_deg": [ + 0.0, + -4.1077098846435565, + 179.1016540527344 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.9550928521716228, + 0.2963066717620023, + -0.0, + -1349.766763874001 + ], + [ + -0.07428660109981067, + 0.23944989594949892, + -0.9680626261904816, + -922.3200020299792 + ], + [ + -0.28684342808279334, + 0.9245896901002447, + 0.2507085015033305, + -3579.514454314483 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9550928521716228, + -0.07428660109981067, + -0.28684342808279334, + 193.87641475801934 + ], + [ + 0.2963066717620023, + 0.23944989594949892, + 0.9245896901002447, + 3930.3765217591067 + ], + [ + -0.0, + -0.9680626261904816, + 0.2507085015033305, + 4.551179998694622 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19387.641475801935, + -393037.65217591065, + 455.11799986946227 + ], + "rotation_deg": [ + 0.0, + 14.519441604614263, + -107.23590850830075 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8695841237551215, + 0.4937848232915195, + -1.3877787701049446e-17, + -2103.1815205487374 + ], + [ + 0.04080335910239916, + -0.0718571158886704, + -0.9965799720956279, + 278.1093364476337 + ], + [ + -0.49209607940272193, + 0.8666101137841885, + -0.08263388725834972, + -3305.9998714422472 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8695841237551215, + 0.04080335910239916, + -0.49209607940272193, + 190.67591874902666 + ], + [ + 0.4937848232915195, + -0.0718571158886704, + 0.8666101137841885, + 3923.5162310332503 + ], + [ + -1.3877787701049446e-17, + -0.9965799720956279, + -0.08263388725834972, + 3.9705733999186656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19067.591874902668, + -392351.623103325, + 397.05733999186657 + ], + "rotation_deg": [ + 7.978673991773056e-16, + -4.739977836608885, + -119.5896530151367 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9949808498473923, + -0.10006552071997869, + -5.5511150845733115e-17, + 212.533506640429 + ], + [ + -0.031115772510535045, + -0.3093932610696839, + -0.9504249674254874, + 1226.5322900486537 + ], + [ + 0.09510475842204132, + 0.9456546421307598, + -0.31095398814298864, + -3732.132974851604 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9949808498473923, + -0.031115772510535045, + 0.09510475842204132, + 181.64137618354877 + ], + [ + -0.10006552071997869, + -0.3093932610696839, + 0.9456546421307598, + 3930.0569732054455 + ], + [ + -5.5511150845733115e-17, + -0.9504249674254874, + -0.31095398814298864, + 5.205287475288962 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18164.13761835488, + -393005.69732054457, + 520.5287475288962 + ], + "rotation_deg": [ + 3.3464553152762934e-15, + -18.116731643676758, + -84.25705718994138 + ] + } + } + ] + }, + { + "frame": 132, + "time": 1508.3323615714908, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.015769012694349313, + 0.9998756613892779, + -0.0, + -3934.517806215613 + ], + [ + 0.07167166666721769, + 0.001130331965406762, + -0.9974276387522011, + -14.948957752744981 + ], + [ + -0.9973036203263166, + -0.015728424948068243, + -0.07168057988517855, + 254.71220944574588 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.015769012694349313, + 0.07167166666721769, + -0.9973036203263166, + 193.05345879592718 + ], + [ + 0.9998756613892779, + 0.001130331965406762, + -0.015728424948068243, + 3938.0517205379374 + ], + [ + -0.0, + -0.9974276387522011, + -0.07168057988517855, + 3.347421914592414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19305.345879592718, + -393805.17205379374, + 334.7421914592414 + ], + "rotation_deg": [ + 0.0, + -4.110519886016847, + 179.09646606445312 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.9571338207782107, + 0.28964607562075495, + -0.0, + -1323.9623027011526 + ], + [ + -0.07482215440918438, + 0.2472493866006595, + -0.9660586866413272, + -952.8480848404831 + ], + [ + -0.2798151206094349, + 0.9246474372988273, + 0.2583226954315847, + -3581.0110830482026 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9571338207782107, + -0.07482215440918438, + -0.2798151206094349, + 193.8939442874897 + ], + [ + 0.28964607562075495, + 0.2472493866006595, + 0.9246474372988273, + 3930.244345758151 + ], + [ + -0.0, + -0.9660586866413272, + 0.2583226954315847, + 4.54926420228694 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19389.39442874897, + -393024.4345758151, + 454.92642022869404 + ], + "rotation_deg": [ + 0.0, + 14.970560073852539, + -106.83676910400392 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8690593317884526, + 0.494707871204217, + -0.0, + -2106.670600728334 + ], + [ + 0.04079183609952689, + -0.07165951440551233, + -0.9965946719217373, + 277.3212227388238 + ], + [ + -0.4930232425844199, + 0.8660998916229252, + -0.08245641274213387, + -3303.7141837248696 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8690593317884526, + 0.04079183609952689, + -0.4930232425844199, + 190.70145263930723 + ], + [ + 0.494707871204217, + -0.07165951440551233, + 0.8660998916229252, + 3923.4057849168616 + ], + [ + -0.0, + -0.9965946719217373, + -0.08245641274213387, + 3.964431967400825 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19070.145263930724, + -392340.57849168614, + 396.4431967400825 + ], + "rotation_deg": [ + 0.0, + -4.729774475097658, + -119.65048980712892 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9952017691498438, + -0.0978439506613505, + -0.0, + 203.71424312069777 + ], + [ + -0.030424966446037212, + -0.3094619568073248, + -0.9504249674254875, + 1226.6345921184536 + ], + [ + 0.09299332275437906, + 0.9458646093289832, + -0.31095398814298875, + -3732.451820126336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9952017691498438, + -0.030424966446037212, + 0.09299332275437906, + 181.67667855593464 + ], + [ + -0.0978439506613505, + -0.3094619568073248, + 0.9458646093289832, + 3929.923029822231 + ], + [ + -0.0, + -0.9504249674254875, + -0.31095398814298875, + 5.203371678881281 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18167.667855593463, + -392992.3029822231, + 520.3371678881281 + ], + "rotation_deg": [ + 0.0, + -18.116731643676765, + -84.38497161865233 + ] + } + } + ] + }, + { + "frame": 133, + "time": 1508.3990282416344, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.015859016282168924, + 0.9998742378932274, + -0.0, + -3934.36323491155 + ], + [ + 0.07172029341152576, + 0.0011375563624600351, + -0.9974241351995082, + -14.988283353510514 + ], + [ + -0.9972986973820409, + -0.015818141452057274, + -0.07172931479588875, + 255.09886940601416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.015859016282168924, + 0.07172029341152576, + -0.9972986973820409, + 193.0896983214248 + ], + [ + 0.9998742378932274, + 0.0011375563624600351, + -0.015818141452057274, + 3937.9206887832734 + ], + [ + -0.0, + -0.9974241351995082, + -0.07172931479588875, + 3.3483982203473066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19308.96983214248, + -393792.0688783273, + 334.8398220347307 + ], + "rotation_deg": [ + 0.0, + -4.113319396972656, + 179.09130859375 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.9591172619152156, + 0.2830089714059602, + -5.551115083314068e-17, + -1298.2399068758061 + ], + [ + -0.07521878957085106, + 0.25491644006679015, + -0.964033060781201, + -982.8797399327468 + ], + [ + -0.27283001808215307, + 0.9246207451947968, + 0.2657823522898224, + -3582.167376160144 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9591172619152156, + -0.07521878957085106, + -0.27283001808215307, + 193.91053207900356 + ], + [ + 0.2830089714059602, + 0.25491644006679015, + 0.9246207451947968, + 3930.11204827214 + ], + [ + -5.551115083314068e-17, + -0.964033060781201, + 0.2657823522898224, + 4.548305599408189 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19391.053207900357, + -393011.204827214, + 454.8305599408189 + ], + "rotation_deg": [ + 3.2992174362915267e-15, + 15.413445472717282, + -106.4398727416992 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8685325700640413, + 0.49563209615394266, + -0.0, + -2110.162814249803 + ], + [ + 0.040779871357539084, + -0.07146156746483871, + -0.9966093750650407, + 276.53286568987005 + ], + [ + -0.4939516075936206, + 0.8655876938349827, + -0.08227851260878385, + -3301.4208619409264 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8685325700640413, + 0.040779871357539084, + -0.4939516075936206, + 190.72604479163132 + ], + [ + 0.49563209615394266, + -0.07146156746483871, + 0.8655876938349827, + 3923.295217315417 + ], + [ + -0.0, + -0.9966093750650407, + -0.08227851260878385, + 3.9592477284119143 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19072.604479163132, + -392329.5217315417, + 395.92477284119144 + ], + "rotation_deg": [ + 0.0, + -4.719546794891357, + -119.71144104003906 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9954177281886722, + -0.09562189293097151, + -0.0, + 194.89546974144605 + ], + [ + -0.02973400873806474, + -0.3095291101312213, + -0.9504249674254875, + 1226.7315946302413 + ], + [ + 0.09088142359135508, + 0.9460698621687401, + -0.31095398814298875, + -3732.7513891539793 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9954177281886722, + -0.02973400873806474, + 0.09088142359135508, + 181.71104309186077 + ], + [ + -0.09562189293097151, + -0.3095291101312213, + 0.9460698621687401, + 3929.789004637332 + ], + [ + -0.0, + -0.9504249674254875, + -0.31095398814298875, + 5.202413076002529 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18171.104309186077, + -392978.9004637332, + 520.2413076002529 + ], + "rotation_deg": [ + 0.0, + -18.116731643676765, + -84.51288604736328 + ] + } + } + ] + }, + { + "frame": 134, + "time": 1508.465694911778, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.015948487177019435, + 0.9998728147903436, + -0.0, + -3934.2086191007934 + ], + [ + 0.0717687455771053, + 0.0011447485136269436, + -0.9974206418102289, + -15.026395169692895 + ], + [ + -0.9972937850020004, + -0.015907326168510812, + -0.07177787521620366, + 255.48211213447746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.015948487177019435, + 0.0717687455771053, + -0.9972937850020004, + 193.12456710320532 + ], + [ + 0.9998728147903436, + 0.0011447485136269436, + -0.015907326168510812, + 3937.7894923649756 + ], + [ + -0.0, + -0.9974206418102289, + -0.07177787521620366, + 3.3503331289809513 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19312.456710320534, + -393778.9492364976, + 335.0333128980951 + ], + "rotation_deg": [ + 0.0, + -4.1161088943481445, + 179.086181640625 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.9610491227337837, + 0.276377610693458, + 2.7755575417506294e-17, + -1272.5305391604036 + ], + [ + -0.0754749689960672, + 0.26244945297859784, + -0.9619895080957367, + -1012.4090304257772 + ], + [ + -0.2658723748529048, + 0.9245191684603312, + 0.2730864102065404, + -3583.02404001124 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9610491227337837, + -0.0754749689960672, + -0.2658723748529048, + 193.92574912680033 + ], + [ + 0.276377610693458, + 0.26244945297859784, + 0.9245191684603312, + 3929.9795861224957 + ], + [ + 2.7755575417506294e-17, + -0.9619895080957367, + 0.2730864102065404, + 4.548305599408189 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19392.574912680033, + -392997.9586122496, + 454.8305599408189 + ], + "rotation_deg": [ + -1.6531129792122183e-15, + 15.84800910949707, + -106.04412841796876 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.868003899760574, + 0.496557378356656, + -0.0, + -2113.657309644379 + ], + [ + 0.04076745734596639, + -0.07126328900142777, + -0.9966240806152757, + 275.74433744702065 + ], + [ + -0.49488105465978216, + 0.8650735805102782, + -0.08210019513952943, + -3299.120343366557 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.868003899760574, + 0.04076745734596639, + -0.49488105465978216, + 190.7492662002383 + ], + [ + 0.496557378356656, + -0.07126328900142777, + 0.8650735805102782, + 3923.18448505034 + ], + [ + -0.0, + -0.9966240806152757, + -0.08210019513952943, + 3.955022092301756 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19074.92662002383, + -392318.448505034, + 395.5022092301756 + ], + "rotation_deg": [ + 0.0, + -4.709295272827148, + -119.77249908447267 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9956287383243674, + -0.09339922602799115, + -0.0, + 186.07713202855504 + ], + [ + -0.029042861605443823, + -0.3095947245739631, + -0.9504249674254875, + 1226.823282643584 + ], + [ + 0.08876894545552826, + 0.9462704114473218, + -0.31095398814298875, + -3733.031631737039 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9956287383243674, + -0.029042861605443823, + 0.08876894545552826, + 181.74404069696124 + ], + [ + -0.09339922602799115, + -0.3095947245739631, + 0.9462704114473218, + 3929.65485448078 + ], + [ + -0.0, + -0.9504249674254875, + -0.31095398814298875, + 5.202413076002529 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18174.404069696124, + -392965.485448078, + 520.2413076002529 + ], + "rotation_deg": [ + 0.0, + -18.116731643676765, + -84.64080810546875 + ] + } + } + ] + }, + { + "frame": 135, + "time": 1508.5323615819216, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.016037957944169352, + 0.9998713836814119, + -0.0, + -3934.053798914149 + ], + [ + 0.07181701426337536, + 0.0011519464135387447, + -0.9974171592075977, + -15.064364892208845 + ], + [ + -0.997288875431794, + -0.015996510305475973, + -0.07182625284695679, + 255.8635131718901 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.016037957944169352, + 0.07181701426337536, + -0.997288875431794, + 193.1576183124707 + ], + [ + 0.9998713836814119, + 0.0011519464135387447, + -0.015996510305475973, + 3937.6580997618903 + ], + [ + -0.0, + -0.9974171592075977, + -0.07182625284695679, + 3.3522680376145955 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19315.76183124707, + -393765.80997618905, + 335.22680376145956 + ], + "rotation_deg": [ + 0.0, + -4.118887901306153, + 179.0810546875 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.9629349551660816, + 0.26973370593846135, + -5.5511150836916904e-17, + -1246.7629609672451 + ], + [ + -0.07560120303981789, + 0.26989226580476977, + -0.9599180292908868, + -1041.6072581082017 + ], + [ + -0.25892226047431083, + 0.9243386202060498, + 0.28028089165415826, + -3583.5689272510053 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9629349551660816, + -0.07560120303981789, + -0.25892226047431083, + 193.93914860208196 + ], + [ + 0.26973370593846135, + 0.26989226580476977, + 0.9243386202060498, + 3929.846927788063 + ], + [ + -5.5511150836916904e-17, + -0.9599180292908868, + 0.28028089165415826, + 4.548305599408189 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19393.914860208195, + -392984.6927788063, + 454.8305599408189 + ], + "rotation_deg": [ + 3.313360710452263e-15, + 16.276969909667976, + -105.64842224121092 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8674733163036662, + 0.49748371380490336, + -1.3877787701036725e-17, + -2117.153668257302 + ], + [ + 0.04075459200617908, + -0.07106468031246455, + -0.996638788349368, + 274.95470431113364 + ], + [ + -0.49581157973126905, + 0.8645575468082733, + -0.08192146032172135, + -3296.812887750683 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8674733163036662, + 0.04075459200617908, + -0.49581157973126905, + 190.77067003633013 + ], + [ + 0.49748371380490336, + -0.07106468031246455, + 0.8645575468082733, + 3923.0735566004732 + ], + [ + -1.3877787701036725e-17, + -0.996638788349368, + -0.08192146032172135, + 3.9507964561915974 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19077.067003633012, + -392307.3556600473, + 395.07964561915975 + ], + "rotation_deg": [ + 7.978203133397098e-16, + -4.6990199089050275, + -119.8336639404297 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9958347733355329, + -0.09117622615445047, + -0.0, + 177.26076470642576 + ], + [ + -0.02835161093430001, + -0.30965879198190244, + -0.9504249674254875, + 1226.9087096316503 + ], + [ + 0.08665615085621542, + 0.9464662322432613, + -0.31095398814298875, + -3733.292737614687 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9958347733355329, + -0.02835161093430001, + 0.08665615085621542, + 181.7752244538137 + ], + [ + -0.09117622615445047, + -0.30965879198190244, + 0.9464662322432613, + 3929.5205478398357 + ], + [ + -0.0, + -0.9504249674254875, + -0.31095398814298875, + 5.202413076002529 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18177.52244538137, + -392952.05478398356, + 520.2413076002529 + ], + "rotation_deg": [ + 0.0, + -18.116731643676765, + -84.76872253417969 + ] + } + } + ] + }, + { + "frame": 136, + "time": 1508.5990282520652, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.01612689601995781, + 0.99986995315629, + 1.0842021641304136e-19, + -3933.8989071157584 + ], + [ + 0.07186510008914888, + 0.0011591117354242642, + -0.9974136874181952, + -15.102010802594615 + ], + [ + -0.997283977265665, + -0.016085162679988677, + -0.07187444768994719, + 256.2405574464894 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.01612689601995781, + 0.07186510008914888, + -0.997283977265665, + 193.18842581494266 + ], + [ + 0.99986995315629, + 0.0011591117354242642, + -0.016085162679988677, + 3937.5264996644414 + ], + [ + 1.0842021641304136e-19, + -0.9974136874181952, + -0.07187444768994719, + 3.35420294624824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19318.842581494268, + -393752.6499664441, + 335.420294624824 + ], + "rotation_deg": [ + -6.2281287502307e-18, + -4.1216564178466815, + 179.07595825195312 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.9647792013756448, + 0.263061005458759, + -2.7755575419425623e-17, + -1220.8737520616307 + ], + [ + -0.0755941720727233, + 0.27724247778110456, + -0.9578215541855556, + -1070.4656856885542 + ], + [ + -0.25196551407318873, + 0.9240863098960764, + 0.28736365737595787, + -3583.833196049188 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9647792013756448, + -0.0755941720727233, + -0.25196551407318873, + 193.9503043705702 + ], + [ + 0.263061005458759, + 0.27724247778110456, + 0.9240863098960764, + 3929.714061959267 + ], + [ + -2.7755575419425623e-17, + -0.9578215541855556, + 0.28736365737595787, + 4.548305599408189 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19395.03043705702, + -392971.4061959267, + 454.8305599408189 + ], + "rotation_deg": [ + 1.6603064890946588e-15, + 16.70018768310548, + -105.25177001953124 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8669408151173252, + 0.4984110984756535, + -0.0, + -2120.6515002378733 + ], + [ + 0.040741269144385694, + -0.07086573551225485, + -0.9966534987240108, + 274.1639611217472 + ], + [ + -0.49674317907867493, + 0.8640395884763238, + -0.08174229984822028, + -3294.498687004202 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8669408151173252, + 0.040741269144385694, + -0.49674317907867493, + 190.7898301656286 + ], + [ + 0.4984110984756535, + -0.07086573551225485, + 0.8640395884763238, + 3922.962420656244 + ], + [ + -0.0, + -0.9966534987240108, + -0.08174229984822028, + 3.946570820081439 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19078.98301656286, + -392296.2420656244, + 394.6570820081439 + ], + "rotation_deg": [ + 0.0, + -4.688720226287843, + -119.89493560791017 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9960358449280695, + -0.08895277184229029, + -0.0, + 168.44631464432302 + ], + [ + -0.027660218953656165, + -0.3097213159950359, + -0.9504249674254875, + 1226.9878720858037 + ], + [ + 0.08454292434714039, + 0.9466573356821378, + -0.31095398814298875, + -3733.5346960628412 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9960358449280695, + -0.027660218953656165, + 0.08454292434714039, + 181.80416813949716 + ], + [ + -0.08895277184229029, + -0.3097213159950359, + 0.9466573356821378, + 3929.386073413139 + ], + [ + -0.0, + -0.9504249674254875, + -0.31095398814298875, + 5.202413076002529 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18180.416813949716, + -392938.6073413139, + 520.2413076002529 + ], + "rotation_deg": [ + 0.0, + -18.116731643676765, + -84.89663696289064 + ] + } + } + ] + }, + { + "frame": 137, + "time": 1508.6656949222088, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.016215567687058955, + 0.9998685190386716, + 1.0842021641304719e-19, + -3933.7438964227263 + ], + [ + 0.07191300275671869, + 0.001166263505228059, + -0.9974102264685019, + -15.141995349149694 + ], + [ + -0.9972790863645542, + -0.016173548893976663, + -0.07192245974696931, + 256.61373439429207 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.016215567687058955, + 0.07191300275671869, + -0.9972790863645542, + 193.21662117291632 + ], + [ + 0.9998685190386716, + 0.001166263505228059, + -0.016173548893976663, + 3937.394706062703 + ], + [ + 1.0842021641304719e-19, + -0.9974102264685019, + -0.07192245974696931, + 3.353516661949756 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19321.66211729163, + -393739.4706062703, + 335.35166619497556 + ], + "rotation_deg": [ + -6.2281503614394586e-18, + -4.1244144439697275, + 179.0708770751953 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.9665850266721834, + 0.25634622332528156, + -0.0, + -1194.810967536123 + ], + [ + -0.07548346701341421, + 0.2846197148139308, + -0.9556640958761984, + -1099.4513906226932 + ], + [ + -0.24498089466559483, + 0.9237306014702792, + 0.29445905853989546, + -3583.6965289228 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9665850266721834, + -0.07548346701341421, + -0.24498089466559483, + 193.9588479945601 + ], + [ + 0.25634622332528156, + 0.2846197148139308, + 0.9237306014702792, + 3929.5810026261815 + ], + [ + -0.0, + -0.9556640958761984, + 0.29445905853989546, + 4.5456844064760595 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19395.88479945601, + -392958.10026261816, + 454.568440647606 + ], + "rotation_deg": [ + 0.0, + 17.12510299682618, + -104.85337066650389 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8664063251329094, + 0.4993396436992432, + -0.0, + -2124.150919074086 + ], + [ + 0.04072750022819853, + -0.07066645769030233, + -0.9966682108318026, + 273.36952151384384 + ], + [ + -0.4976759632619561, + 0.8635196338075439, + -0.08156272200073456, + -3292.1778551060384 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8664063251329094, + 0.04072750022819853, + -0.4976759632619561, + 190.80637815042869 + ], + [ + 0.4993396436992432, + -0.07066645769030233, + 0.8635196338075439, + 3922.851091207725 + ], + [ + -0.0, + -0.9966682108318026, + -0.08156272200073456, + 3.9397239910391515 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19080.637815042868, + -392285.1091207725, + 393.97239910391517 + ], + "rotation_deg": [ + 0.0, + -4.678396701812743, + -119.95632171630862 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9962319520998002, + -0.0867288741736053, + -0.0, + 159.63419700533552 + ], + [ + -0.026968689109533785, + -0.30978229630173243, + -0.9504249674254875, + 1227.0582777838422 + ], + [ + 0.08242927646100266, + 0.9468437208114578, + -0.31095398814298875, + -3733.7583191718527 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9962319520998002, + -0.026968689109533785, + 0.08242927646100266, + 181.83050322764552 + ], + [ + -0.0867288741736053, + -0.30978229630173243, + 0.9468437208114578, + 3929.2514451987813 + ], + [ + -0.0, + -0.9504249674254875, + -0.31095398814298875, + 5.1997918830704 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18183.050322764553, + -392925.14451987814, + 519.97918830704 + ], + "rotation_deg": [ + 0.0, + -18.116731643676765, + -85.02455139160156 + ] + } + } + ] + }, + { + "frame": 138, + "time": 1508.7323615923524, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.016303972945921175, + 0.9998670813994123, + 1.0842021641305302e-19, + -3933.588812255622 + ], + [ + 0.07196073887262927, + 0.0011734019066872098, + -0.9974067751869696, + -15.17907463966155 + ], + [ + -0.9972742016277311, + -0.016261668934435917, + -0.07197030562140616, + 256.98316276361595 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.016303972945921175, + 0.07196073887262927, + -0.9972742016277311, + 193.24194497038295 + ], + [ + 0.9998670813994123, + 0.0011734019066872098, + -0.016261668934435917, + 3937.2627591545292 + ], + [ + 1.0842021641305302e-19, + -0.9974067751869696, + -0.07197030562140616, + 3.3554515705834 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19324.194497038294, + -393726.2759154529, + 335.54515705834 + ], + "rotation_deg": [ + -6.22817191242667e-18, + -4.127162933349609, + 179.06581115722656 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.9683537567813949, + 0.2495816534270084, + -0.0, + -1168.5443481604811 + ], + [ + -0.07520182315087173, + 0.2917761260294476, + -0.9535257616205411, + -1127.5981408765617 + ], + [ + -0.23798254903173133, + 0.9233502494005333, + 0.3013115054031842, + -3583.466092997032 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9683537567813949, + -0.07520182315087173, + -0.23798254903173133, + 193.96452005804295 + ], + [ + 0.2495816534270084, + 0.2917761260294476, + 0.9233502494005333, + 3929.447789986661 + ], + [ + -0.0, + -0.9535257616205411, + 0.3013115054031842, + 4.5456844064760595 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19396.452005804294, + -392944.7789986661, + 454.568440647606 + ], + "rotation_deg": [ + 0.0, + 17.536392211914062, + -104.45275878906251 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8658699080148895, + 0.5002692299095426, + -0.0, + -2127.651266158339 + ], + [ + 0.0407132695832287, + -0.07046684641266039, + -0.996682925125387, + 272.5766251941307 + ], + [ + -0.4986098133940859, + 0.8629977445632341, + -0.08138271847195593, + -3289.8504012455883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8658699080148895, + 0.0407132695832287, + -0.4986098133940859, + 190.82005457472175 + ], + [ + 0.5002692299095426, + -0.07046684641266039, + 0.8629977445632341, + 3922.7396084527713 + ], + [ + -0.0, + -0.996682925125387, + -0.08138271847195593, + 3.9354983549289932 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19082.005457472176, + -392273.9608452771, + 393.5498354928993 + ], + "rotation_deg": [ + 0.0, + -4.668048858642579, + -120.0178146362305 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9964231051257438, + -0.08450441155093842, + -5.5511150845733115e-17, + 150.82419725633454 + ], + [ + -0.02627698359071899, + -0.3098417360970502, + -0.9504249674254874, + 1227.1249265324254 + ], + [ + 0.08031509162854247, + 0.947025397396854, + -0.3109539881429887, + -3733.962029715474 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9964231051257438, + -0.02627698359071899, + 0.08031509162854247, + 181.85397021357159 + ], + [ + -0.08450441155093842, + -0.3098417360970502, + 0.947025397396854, + 3929.116703402438 + ], + [ + -5.5511150845733115e-17, + -0.9504249674254874, + -0.3109539881429887, + 5.1997918830704 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18185.39702135716, + -392911.6703402438, + 519.97918830704 + ], + "rotation_deg": [ + 3.3464553152762934e-15, + -18.11673164367676, + -85.15247344970702 + ] + } + } + ] + }, + { + "frame": 139, + "time": 1508.799028262496, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.016392111797001955, + 0.9998656403091543, + -0.0, + -3933.4337171668462 + ], + [ + 0.07200829184448716, + 0.001180526585413029, + -0.9974033347962198, + -15.215849077995072 + ], + [ + -0.9972693243481064, + -0.01634952282718564, + -0.07201796871333511, + 257.3485301674515 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.016392111797001955, + 0.07200829184448716, + -0.9972693243481064, + 193.26427149986702 + ], + [ + 0.9998656403091543, + 0.001180526585413029, + -0.01634952282718564, + 3937.1307183777785 + ], + [ + -0.0, + -0.9974033347962198, + -0.07201796871333511, + 3.3573864792170447 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19326.427149986703, + -393713.07183777785, + 335.73864792170446 + ], + "rotation_deg": [ + 0.0, + -4.129900932312013, + 179.06076049804688 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.9700848771739636, + 0.2427660006639649, + -0.0, + -1142.0686049003616 + ], + [ + -0.07478324984105952, + 0.29883138305331275, + -0.9513712577357244, + -1155.3723508645512 + ], + [ + -0.23096060818879438, + 0.9229108657334891, + 0.3080466383132989, + -3583.0085331945374 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9700848771739636, + -0.07478324984105952, + -0.23096060818879438, + 193.9671948535433 + ], + [ + 0.2427660006639649, + 0.29883138305331275, + 0.9229108657334891, + 3929.314483478563 + ], + [ + -0.0, + -0.9513712577357244, + 0.3080466383132989, + 4.5456844064760595 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19396.71948535433, + -392931.4483478563, + 454.568440647606 + ], + "rotation_deg": [ + 0.0, + 17.941551208496104, + -104.04985046386722 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8653314924435114, + 0.501199968261656, + -0.0, + -2131.152888678662 + ], + [ + 0.040698588637212055, + -0.0702669047804039, + -0.9966976406992847, + 271.78267911382386 + ], + [ + -0.4995448398613165, + 0.8624738487870348, + -0.08120229754391448, + -3287.5163592723497 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8653314924435114, + 0.040698588637212055, + -0.4995448398613165, + 190.8307337310323 + ], + [ + 0.501199968261656, + -0.0702669047804039, + 0.8624738487870348, + 3922.6280318292397 + ], + [ + -0.0, + -0.9966976406992847, + -0.08120229754391448, + 3.9312727188188346 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19083.07337310323, + -392262.803182924, + 393.1272718818835 + ], + "rotation_deg": [ + 0.0, + -4.657677173614502, + -120.07942199707031 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9966092802520686, + -0.08227966039947748, + -5.5511150845733115e-17, + 142.01753902773007 + ], + [ + -0.025585188352725604, + -0.30989962799464044, + -0.9504249674254874, + 1227.1853354419902 + ], + [ + 0.07820063257116147, + 0.9472023428620944, + -0.31095398814298864, + -3734.1466683090935 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9966092802520686, + -0.025585188352725604, + 0.07820063257116147, + 181.8744433011039 + ], + [ + -0.08227966039947748, + -0.30989962799464044, + 0.9472023428620944, + 3928.981907469587 + ], + [ + -5.5511150845733115e-17, + -0.9504249674254874, + -0.31095398814298864, + 5.1997918830704 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18187.44433011039, + -392898.1907469587, + 519.97918830704 + ], + "rotation_deg": [ + 3.3464553152762934e-15, + -18.116731643676758, + -85.28038787841797 + ] + } + } + ] + }, + { + "frame": 140, + "time": 1508.8656949326396, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.01647971796082705, + 0.9998642002271768, + -0.0, + -3933.2787483276907 + ], + [ + 0.07205567029534185, + 0.0011876184022548042, + -0.9973999047226842, + -15.252244937211486 + ], + [ + -0.997264458399857, + -0.0164368449812796, + -0.07206545732527639, + 257.7087972970236 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.01647971796082705, + 0.07205567029534185, + -0.997264458399857, + 193.28360508681294 + ], + [ + 0.9998642002271768, + 0.0011876184022548042, + -0.0164368449812796, + 3936.9986511484044 + ], + [ + -0.0, + -0.9973999047226842, + -0.07206545732527639, + 3.359321387850689 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19328.360508681293, + -393699.86511484045, + 335.9321387850689 + ], + "rotation_deg": [ + 0.0, + -4.132628917694092, + 179.0557403564453 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.9625360528363598, + 0.2711537331297517, + -0.0, + -1252.1122489920424 + ], + [ + -0.0820233993436319, + 0.2911650086213666, + -0.9531500929626113, + -1123.7975214632925 + ], + [ + -0.25845021885939135, + 0.9174413238531489, + 0.3024977713275168, + -3556.037434055776 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9625360528363598, + -0.0820233993436319, + -0.25845021885939135, + 193.96687670650547 + ], + [ + 0.2711537331297517, + 0.2911650086213666, + 0.9174413238531489, + 3929.181150517842 + ], + [ + -0.0, + -0.9531500929626113, + 0.3024977713275168, + 4.5456844064760595 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19396.687670650546, + -392918.1150517842, + 454.568440647606 + ], + "rotation_deg": [ + 0.0, + 17.60768699645997, + -105.73293304443362 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8647911403270813, + 0.5021317392993457, + 6.938893850510412e-18, + -2134.6553716023313 + ], + [ + 0.04068343758591145, + -0.07006662520763669, + -0.9967123586763663, + 270.9876618978613 + ], + [ + -0.5004809242184064, + 0.8619480090644778, + -0.08102144261411731, + -3285.176062476217 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8647911403270813, + 0.04068343758591145, + -0.5004809242184064, + 190.8384199448047 + ], + [ + 0.5021317392993457, + -0.07006662520763669, + 0.8619480090644778, + 3922.5164287530856 + ], + [ + 6.938893850510412e-18, + -0.9967123586763663, + -0.08102144261411731, + 3.9270470827086763 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19083.84199448047, + -392251.6428753086, + 392.7047082708676 + ], + "rotation_deg": [ + -3.988807119149372e-16, + -4.647280693054199, + -120.1411361694336 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9967904880994836, + -0.0800544991514725, + -0.0, + 133.2137463969207 + ], + [ + -0.024893265593577237, + -0.3099559752970552, + -0.9504249674254875, + 1227.2395384401611 + ], + [ + 0.07608578374783528, + 0.9473745673013646, + -0.31095398814298875, + -3734.3123386518473 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9967904880994836, + -0.024893265593577237, + 0.07608578374783528, + 181.89192672697408 + ], + [ + -0.0800544991514725, + -0.3099559752970552, + 0.9473745673013646, + 3928.847124823608 + ], + [ + -0.0, + -0.9504249674254875, + -0.31095398814298875, + 5.1997918830704 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18189.19267269741, + -392884.7124823608, + 519.97918830704 + ], + "rotation_deg": [ + 0.0, + -18.116731643676765, + -85.4083023071289 + ] + } + } + ] + }, + { + "frame": 141, + "time": 1508.9323616027832, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.016567323998138775, + 0.9998627524693281, + -0.0, + -3933.1238312973815 + ], + [ + 0.0721028736015431, + 0.0011947156399250466, + -0.9973964849912693, + -15.290923108868073 + ], + [ + -0.9972595951463018, + -0.01652416657953915, + -0.07211277145892085, + 258.0660035125662 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.016567323998138775, + 0.0721028736015431, + -0.9972595951463018, + 193.3000754612434 + ], + [ + 0.9998627524693281, + 0.0011947156399250466, + -0.01652416657953915, + 3936.866621498798 + ], + [ + -0.0, + -0.9973964849912693, + -0.07211277145892085, + 3.358748476354939 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19330.00754612434, + -393686.6621498798, + 335.8748476354939 + ], + "rotation_deg": [ + 0.0, + -4.135346889495851, + 179.05072021484375 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.9541370952829674, + 0.29937001086445103, + -2.7755575420827968e-17, + -1361.3070559479697 + ], + [ + -0.08899182110289101, + 0.2836302722703233, + -0.9547954359069032, + -1092.7979261696707 + ], + [ + -0.2858371330433474, + 0.9110057389912615, + 0.29726364880110345, + -3525.293639457751 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9541370952829674, + -0.08899182110289101, + -0.2858371330433474, + 193.9636953469522 + ], + [ + 0.29937001086445103, + 0.2836302722703233, + 0.9110057389912615, + 3929.0478551368883 + ], + [ + -2.7755575420827968e-17, + -0.9547954359069032, + 0.29726364880110345, + 4.543176586346665 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19396.36953469522, + -392904.7855136888, + 454.31765863466654 + ], + "rotation_deg": [ + 1.6655686465225382e-15, + 17.293325424194347, + -107.4197692871094 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8642487800943477, + 0.503064654001284, + -0.0, + -2138.1592852925673 + ], + [ + 0.04066783196675633, + -0.06986601798953136, + -0.9967270774757802, + 270.18911054609555 + ], + [ + -0.5014181763378472, + 0.8614201526029046, + -0.08084017025969077, + -3282.82940621151 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8642487800943477, + 0.04066783196675633, + -0.5014181763378472, + 190.84324294606162 + ], + [ + 0.503064654001284, + -0.06986601798953136, + 0.8614201526029046, + 3922.404863256698 + ], + [ + -0.0, + -0.9967270774757802, + -0.08084017025969077, + 3.9203136264691225 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19084.324294606162, + -392240.4863256698, + 392.03136264691227 + ], + "rotation_deg": [ + 0.0, + -4.636860370635987, + -120.20296478271486 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9969667381283573, + -0.07782880614337515, + -0.0, + 124.41221736089909 + ], + [ + -0.024201177481508695, + -0.3100107809460335, + -0.9504249674254875, + 1227.2851865238783 + ], + [ + 0.07397042952648812, + 0.9475420797060345, + -0.31095398814298875, + -3734.4599259839533 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9969667381283573, + -0.024201177481508695, + 0.07397042952648812, + 181.9065501324759 + ], + [ + -0.07782880614337515, + -0.3100107809460335, + 0.9475420797060345, + 3928.712419504115 + ], + [ + -0.0, + -0.9504249674254875, + -0.31095398814298875, + 5.197284062941005 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18190.65501324759, + -392871.2419504115, + 519.7284062941005 + ], + "rotation_deg": [ + 0.0, + -18.116731643676765, + -85.53622436523439 + ] + } + } + ] + }, + { + "frame": 142, + "time": 1508.9990282729268, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.016654397349925992, + 0.9998613059064296, + -1.0842021641307612e-19, + -3932.969151478807 + ], + [ + 0.07214990240456307, + 0.0012017798231672193, + -0.9973930756267904, + -15.326746730254735 + ], + [ + -0.9972547434599682, + -0.016610956454423162, + -0.07215991111595492, + 258.4186627831055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.016654397349925992, + 0.07214990240456307, + -0.9972547434599682, + 193.31392413730907 + ], + [ + 0.9998613059064296, + 0.0012017798231672193, + -0.016610956454423162, + 3936.7346802327647 + ], + [ + -1.0842021641307612e-19, + -0.9973930756267904, + -0.07215991111595492, + 3.3606833849885835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19331.392413730908, + -393673.4680232765, + 336.06833849885834 + ], + "rotation_deg": [ + 6.2282574586564665e-18, + -4.138054847717285, + 179.0457305908203 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.9448896962953748, + 0.3273888541701359, + -0.0, + -1469.5516787257327 + ], + [ + -0.0957185383804547, + 0.2762569938106194, + -0.9563054087377258, + -1062.4801193338942 + ], + [ + -0.3130837451130129, + 0.903603121974361, + 0.29236957178235606, + -3490.7827653106624 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9448896962953748, + -0.0957185383804547, + -0.3130837451130129, + 193.9578922890341 + ], + [ + 0.3273888541701359, + 0.2762569938106194, + 0.903603121974361, + 3928.9146481395082 + ], + [ + -0.0, + -0.9563054087377258, + 0.29236957178235606, + 4.543176586346665 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19395.78922890341, + -392891.4648139508, + 454.31765863466654 + ], + "rotation_deg": [ + 0.0, + 16.999872207641612, + -109.11036682128905 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8637044738982361, + 0.5039985930220153, + -0.0, + -2141.664412056992 + ], + [ + 0.04065175617627558, + -0.0696650827351333, + -0.9967417975420172, + 269.39201937306154 + ], + [ + -0.5023564775398601, + 0.8608903416466362, + -0.08065847217299393, + -3280.476182434119 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8637044738982361, + 0.04065175617627558, + -0.5023564775398601, + 190.84544424895375 + ], + [ + 0.5039985930220153, + -0.0696650827351333, + 0.8608903416466362, + 3922.293386143885 + ], + [ + -0.0, + -0.9967417975420172, + -0.08065847217299393, + 3.9160879903589647 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19084.544424895375, + -392229.3386143885, + 391.6087990358965 + ], + "rotation_deg": [ + 0.0, + -4.626415729522705, + -120.26490020751955 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9971380084367948, + -0.07560285795326974, + -0.0, + 115.61380699785127 + ], + [ + -0.023509010019577642, + -0.3100640381310939, + -0.9504249674254875, + 1227.3270635698061 + ], + [ + 0.07185483277383951, + 0.9477048592599986, + -0.31095398814298875, + -3734.5879222866724 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9971380084367948, + -0.023509010019577642, + 0.07185483277383951, + 181.91855494301498 + ], + [ + -0.07560285795326974, + -0.3100640381310939, + 0.9477048592599986, + 3928.577842321944 + ], + [ + -0.0, + -0.9504249674254875, + -0.31095398814298875, + 5.197284062941005 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18191.855494301497, + -392857.7842321944, + 519.7284062941005 + ], + "rotation_deg": [ + 0.0, + -18.116731643676765, + -85.6641387939453 + ] + } + } + ] + }, + { + "frame": 143, + "time": 1509.0656949430704, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.016741204296624772, + 0.9998598562192098, + -0.0, + -3932.814666637353 + ], + [ + 0.07219676469461993, + 0.0012088301973421677, + -0.9973896760530377, + -15.362318048096892 + ], + [ + -0.9972498984566802, + -0.016697480189801512, + -0.0722068845987153, + 258.76797076467943 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.016741204296624772, + 0.07219676469461993, + -0.9972498984566802, + 193.32548303874023 + ], + [ + 0.9998598562192098, + 0.0012088301973421677, + -0.016697480189801512, + 3936.6028584527016 + ], + [ + -0.0, + -0.9973896760530377, + -0.0722068845987153, + 3.3626182936222277 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19332.548303874024, + -393660.28584527015, + 336.2618293622228 + ], + "rotation_deg": [ + 0.0, + -4.140753269195558, + 179.04075622558594 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.9347963899901466, + 0.35518404984090923, + -8.326672625847707e-17, + -1576.7441180154071 + ], + [ + -0.10223774651348513, + 0.26907592388887114, + -0.9576771848442431, + -1032.9606411869306 + ], + [ + -0.34015167413325237, + 0.8952331694640145, + 0.287844421303872, + -3452.5109477053165 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9347963899901466, + -0.10223774651348513, + -0.34015167413325237, + 193.94979945648151 + ], + [ + 0.35518404984090923, + 0.26907592388887114, + 0.8952331694640145, + 3928.7815606280974 + ], + [ + -8.326672625847707e-17, + -0.9576771848442431, + 0.287844421303872, + 4.543176586346665 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19394.979945648152, + -392878.15606280975, + 454.31765863466654 + ], + "rotation_deg": [ + 4.981670338334757e-15, + 16.728948593139645, + -110.80472564697261 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8631582171515959, + 0.5049335522261105, + -0.0, + -2145.171041180841 + ], + [ + 0.040635203935457255, + -0.06946381366000867, + -0.996756519312982, + 268.59385592165324 + ], + [ + -0.5032958239723249, + 0.8603585719133793, + -0.08047634004593657, + -3278.1164458870257 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8631582171515959, + 0.040635203935457255, + -0.5032958239723249, + 190.84535577721138 + ], + [ + 0.5049335522261105, + -0.06946381366000867, + 0.8603585719133793, + 3922.182028517041 + ], + [ + -0.0, + -0.996756519312982, + -0.08047634004593657, + 3.9118623542488056 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19084.535577721137, + -392218.2028517041, + 391.1862354248806 + ], + "rotation_deg": [ + 0.0, + -4.615946292877198, + -120.32694244384767 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9973043088310466, + -0.07337653294499724, + -0.0, + 106.81770779737104 + ], + [ + -0.022816725384535604, + -0.3101157499015291, + -0.9504249674254875, + 1227.3628144800932 + ], + [ + 0.06973887788384658, + 0.9478629152833611, + -0.31095398814298875, + -3734.697194171601 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9973043088310466, + -0.022816725384535604, + 0.06973887788384658, + 181.92827299356122 + ], + [ + -0.07337653294499724, + -0.3101157499015291, + 0.9478629152833611, + 3928.4434243863197 + ], + [ + -0.0, + -0.9504249674254875, + -0.31095398814298875, + 5.197284062941005 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18192.827299356122, + -392844.342438632, + 519.7284062941005 + ], + "rotation_deg": [ + 0.0, + -18.116731643676765, + -85.79205322265624 + ] + } + } + ] + }, + { + "frame": 144, + "time": 1509.132361613214, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.01682747856034046, + 0.9998584079584977, + -0.0, + -3932.6604495111774 + ], + [ + 0.07224344420350186, + 0.0012158471627415073, + -0.9973862874961197, + -15.397584906523264 + ], + [ + -0.9972450659012905, + -0.01678347222965085, + -0.07225367530754302, + 259.1132762869916 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.01682747856034046, + 0.07224344420350186, + -0.9972450659012905, + 193.33514604928212 + ], + [ + 0.9998584079584977, + 0.0012158471627415073, + -0.01678347222965085, + 3936.471165524924 + ], + [ + -0.0, + -0.9973862874961197, + -0.07225367530754302, + 3.3645532022558724 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19333.514604928212, + -393647.11655249237, + 336.45532022558723 + ], + "rotation_deg": [ + 0.0, + -4.143441200256349, + 179.03581237792972 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.9238607849071756, + 0.38272868994980913, + -0.0, + -1682.7799184733092 + ], + [ + -0.10858846268347842, + 0.2621194203647966, + -0.9589066457375619, + -1004.358986243043 + ], + [ + -0.3670010975401006, + 0.885896240217489, + 0.28372177564099493, + -3410.487900352391 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9238607849071756, + -0.10858846268347842, + -0.3670010975401006, + 193.93981073303968 + ], + [ + 0.38272868994980913, + 0.2621194203647966, + 0.885896240217489, + 3928.648601968973 + ], + [ + -0.0, + -0.9589066457375619, + 0.28372177564099493, + 4.543176586346665 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19393.981073303967, + -392864.8601968973, + 454.31765863466654 + ], + "rotation_deg": [ + 0.0, + 16.482458114624034, + -112.50280761718751 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.862609937905445, + 0.5058696423257322, + -0.0, + -2148.6799414075244 + ], + [ + 0.04061819074524229, + -0.06926222106450113, + -0.9967712412152525, + 267.79464220156336 + ], + [ + -0.5042363252438329, + 0.8598247702402639, + -0.08029379045650163, + -3275.7497049915705 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.862609937905445, + 0.04061819074524229, + -0.5042363252438329, + 190.84337141457974 + ], + [ + 0.5058696423257322, + -0.06926222106450113, + 0.8598247702402639, + 3922.070799742483 + ], + [ + -0.0, + -0.9967712412152525, + -0.08029379045650163, + 3.9076367181386478 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19084.337141457974, + -392207.0799742483, + 390.7636718138648 + ], + "rotation_deg": [ + 0.0, + -4.60545301437378, + -120.38909912109376 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9974656384822418, + -0.07114984221495993, + -0.0, + 98.02357174440169 + ], + [ + -0.022124327026853095, + -0.3101659159995984, + -0.9504249674254875, + 1227.3924558833853 + ], + [ + 0.06762257540280675, + 0.9480162469883425, + -0.31095398814298875, + -3734.7877924638756 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9974656384822418, + -0.022124327026853095, + 0.06762257540280675, + 181.93609807908442 + ], + [ + -0.07114984221495993, + -0.3101659159995984, + 0.9480162469883425, + 3928.30917507019 + ], + [ + -0.0, + -0.9504249674254875, + -0.31095398814298875, + 5.197284062941005 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18193.60980790844, + -392830.917507019, + 519.7284062941005 + ], + "rotation_deg": [ + 0.0, + -18.116731643676765, + -85.91996765136719 + ] + } + } + ] + }, + { + "frame": 145, + "time": 1509.1990282833576, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.016913752698770636, + 0.9998569522534937, + -2.1684043282618658e-19, + -3932.5063457410993 + ], + [ + 0.07228996519083158, + 0.0012228695225699378, + -0.9973829081766135, + -15.435234554534036 + ], + [ + -0.9972402351669967, + -0.01686946371609174, + -0.07230030814599038, + 259.45690731496865 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.016913752698770636, + 0.07228996519083158, + -0.9972402351669967, + 193.3433346049482 + ], + [ + 0.9998569522534937, + 0.0012228695225699378, + -0.01686946371609174, + 3936.3395915966244 + ], + [ + -2.1684043282618658e-19, + -0.9973829081766135, + -0.07230030814599038, + 3.3639819406166898 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19334.33346049482, + -393633.9591596624, + 336.39819406166896 + ], + "rotation_deg": [ + 1.2456641900636717e-17, + -4.146120071411135, + 179.03086853027344 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.9120875544798618, + 0.40999547919817964, + -0.0, + -1787.5533347711212 + ], + [ + -0.11481556735589059, + 0.2554219628242112, + -0.959988024091849, + -976.8042245232356 + ], + [ + -0.39359076322912284, + 0.8755931225850891, + 0.28004105910100036, + -3364.7245512716845 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9120875544798618, + -0.11481556735589059, + -0.39359076322912284, + 193.92834755472202 + ], + [ + 0.40999547919817964, + 0.2554219628242112, + 0.8755931225850891, + 3928.515762309326 + ], + [ + -0.0, + -0.959988024091849, + 0.28004105910100036, + 4.540670416073838 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19392.834755472202, + -392851.5762309326, + 454.0670416073838 + ], + "rotation_deg": [ + 0.0, + 16.26265525817872, + -114.20455169677741 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8620596311958877, + 0.5068068589338646, + -0.0, + -2152.1914560085 + ], + [ + 0.04060070604772721, + -0.06906029203200602, + -0.9967859643538727, + 266.9918135976941 + ], + [ + -0.5051779775918276, + 0.8592889325424222, + -0.08011080680117391, + -3273.3759297371735 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8620596311958877, + 0.04060070604772721, + -0.5051779775918276, + 190.8399125970723 + ], + [ + 0.5068068589338646, + -0.06906029203200602, + 0.8592889325424222, + 3921.959689967403 + ], + [ + -0.0, + -0.9967859643538727, + -0.08011080680117391, + 3.900904911755662 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19083.99125970723, + -392195.9689967403, + 390.09049117556617 + ], + "rotation_deg": [ + 0.0, + -4.594934940338134, + -120.45137023925783 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9976220057639009, + -0.06892266401997936, + -0.0, + 89.23049811679286 + ], + [ + -0.02143177709000354, + -0.31021453902908136, + -0.9504249674254875, + 1227.4136197463035 + ], + [ + 0.06550580962296296, + 0.9481648623333446, + -0.31095398814298875, + -3734.860538932105 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9976220057639009, + -0.02143177709000354, + 0.06550580962296296, + 181.94245154680797 + ], + [ + -0.06892266401997936, + -0.31021453902908136, + 0.9481648623333446, + 3928.175084527179 + ], + [ + -0.0, + -0.9504249674254875, + -0.31095398814298875, + 5.194777892668178 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18194.245154680797, + -392817.5084527179, + 519.4777892668178 + ], + "rotation_deg": [ + 0.0, + -18.116731643676765, + -86.04788970947266 + ] + } + } + ] + }, + { + "frame": 146, + "time": 1509.2656949535012, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.016999494156026484, + 0.9998554981588286, + 1.0842021641309896e-19, + -3932.3524643891874 + ], + [ + 0.07233630341472014, + 0.0012298582839535051, + -0.9973795399229395, + -15.470139082786535 + ], + [ + -0.9972354171128811, + -0.016954923522246573, + -0.0723467582138487, + 259.79754713335075 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.016999494156026484, + 0.07233630341472014, + -0.9972354171128811, + 193.35045979748963 + ], + [ + 0.9998554981588286, + 0.0012298582839535051, + -0.016954923522246573, + 3936.2081137202463 + ], + [ + 1.0842021641309896e-19, + -0.9973795399229395, + -0.0723467582138487, + 3.365916849250334 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19335.045979748964, + -393620.81137202465, + 336.5916849250334 + ], + "rotation_deg": [ + -6.228341984001534e-18, + -4.14878845214844, + 179.0259552001953 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.8994827879366906, + 0.4369561925475349, + -0.0, + -1890.9552300303005 + ], + [ + -0.12097112426098983, + 0.24902140298257414, + -0.960913278059796, + -950.4300453959246 + ], + [ + -0.41987702063131854, + 0.8643249471936176, + 0.2768495497639787, + -3315.2357305755504 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8994827879366906, + -0.12097112426098983, + -0.41987702063131854, + 193.91582101327967 + ], + [ + 0.4369561925475349, + 0.24902140298257414, + 0.8643249471936176, + 3928.3830187016015 + ], + [ + -0.0, + -0.960913278059796, + 0.2768495497639787, + 4.540670416073838 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19391.582101327967, + -392838.30187016015, + 454.0670416073838 + ], + "rotation_deg": [ + 0.0, + 16.07226562500001, + -115.90983581542969 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.861507359667406, + 0.5077450829293128, + -0.0, + -2155.705474684615 + ], + [ + 0.040582742688579865, + -0.06885804053481606, + -0.9968006878255944, + 266.19040415729495 + ], + [ + -0.5061206618708339, + 0.8587511203941713, + -0.07992739736275767, + -3270.994759202335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.861507359667406, + 0.040582742688579865, + -0.5061206618708339, + 190.83539041644016 + ], + [ + 0.5077450829293128, + -0.06885804053481606, + 0.8587511203941713, + 3921.8486762442444 + ], + [ + -0.0, + -0.9968006878255944, + -0.07992739736275767, + 3.896679275645503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19083.539041644017, + -392184.86762442446, + 389.6679275645503 + ], + "rotation_deg": [ + 0.0, + -4.584392547607421, + -120.51374816894531 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9977733912448796, + -0.066695275122697, + -0.0, + 80.43916588732131 + ], + [ + -0.020739161634433418, + -0.3102616129477862, + -0.9504249674254875, + 1227.4310669514934 + ], + [ + 0.06338884358644233, + 0.9483087428505254, + -0.31095398814298875, + -3734.9138658883517 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9977733912448796, + -0.020739161634433418, + 0.06338884358644233, + 181.9477443996789 + ], + [ + -0.066695275122697, + -0.3102616129477862, + 0.9483087428505254, + 3928.0411298159665 + ], + [ + -0.0, + -0.9504249674254875, + -0.31095398814298875, + 5.194777892668178 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18194.77443996789, + -392804.11298159667, + 519.4777892668178 + ], + "rotation_deg": [ + 0.0, + -18.116731643676765, + -86.1758041381836 + ] + } + } + ] + }, + { + "frame": 147, + "time": 1509.3323616236448, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.017084969211037776, + 0.9998540412615524, + -1.0842021641310463e-19, + -3932.1987025626645 + ], + [ + 0.07238248345646266, + 0.0012368330278605326, + -0.9973761809531726, + -15.504906062095065 + ], + [ + -0.9972306055558489, + -0.017040117206166425, + -0.07239305041449325, + 260.13642079589835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.017084969211037776, + 0.07238248345646266, + -0.9972306055558489, + 193.35688485162282 + ], + [ + 0.9998540412615524, + 0.0012368330278605326, + -0.017040117206166425, + 3936.076703777213 + ], + [ + -1.0842021641310463e-19, + -0.9973761809531726, + -0.07239305041449325, + 3.3678517578839786 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19335.68848516228, + -393607.6703777213, + 336.78517578839785 + ], + "rotation_deg": [ + 6.228362959851114e-18, + -4.151447772979737, + 179.02105712890625 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.8860542592709497, + 0.46358154582317934, + -0.0, + -1992.8725859938156 + ], + [ + -0.12711635706211039, + 0.24296046857924367, + -0.9616712756836467, + -925.3947203104258 + ], + [ + -0.4458130698316192, + 0.8520929222259506, + 0.27420495739455203, + -3262.0350775350385 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8860542592709497, + -0.12711635706211039, + -0.4458130698316192, + 193.9025943334291 + ], + [ + 0.46358154582317934, + 0.24296046857924367, + 0.8520929222259506, + 3928.250343027221 + ], + [ + -0.0, + -0.9616712756836467, + 0.27420495739455203, + 4.540670416073838 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19390.25943334291, + -392825.0343027221, + 454.0670416073838 + ], + "rotation_deg": [ + 0.0, + 15.91464042663574, + -117.61846160888669 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8609530509920271, + 0.5086844247542084, + -0.0, + -2159.2227168978648 + ], + [ + 0.04056430349575602, + -0.06865545543863001, + -0.9968154120600354, + 265.3878549189771 + ], + [ + -0.5070644884352444, + 0.8582112619804129, + -0.07974355383283954, + -3268.605887158831 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8609530509920271, + 0.04056430349575602, + -0.5070644884352444, + 190.8301680973998 + ], + [ + 0.5086844247542084, + -0.06865545543863001, + 0.8582112619804129, + 3921.7377304544307 + ], + [ + -0.0, + -0.9968154120600354, + -0.07974355383283954, + 3.892453639535345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19083.01680973998, + -392173.77304544306, + 389.2453639535345 + ], + "rotation_deg": [ + 0.0, + -4.5738253593444815, + -120.57624053955077 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.997919803644811, + -0.06446755380423409, + -0.0, + 71.64873091391931 + ], + [ + -0.020046442811172238, + -0.31030714046711766, + -0.9504249674254875, + 1227.4424207361371 + ], + [ + 0.061271561608581986, + 0.9484478968272406, + -0.31095398814298875, + -3734.9485684198557 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.997919803644811, + -0.020046442811172238, + 0.061271561608581986, + 181.9523397735957 + ], + [ + -0.06446755380423409, + -0.31030714046711766, + 0.9484478968272406, + 3927.907282824011 + ], + [ + -0.0, + -0.9504249674254875, + -0.31095398814298875, + 5.194777892668178 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18195.23397735957, + -392790.7282824011, + 519.4777892668178 + ], + "rotation_deg": [ + 0.0, + -18.116731643676765, + -86.30371856689453 + ] + } + } + ] + }, + { + "frame": 148, + "time": 1509.3990282937884, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.017170177864343827, + 0.9998525816299656, + -0.0, + -3932.0450302545905 + ], + [ + 0.07242848872422028, + 0.0012437933918349672, + -0.9973728324950123, + -15.539551177558188 + ], + [ + -0.9972258017915273, + -0.017125044794532782, + -0.07243916814838956, + 260.4738098468845 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.017170177864343827, + 0.07242848872422028, + -0.9972258017915273, + 193.36289210237274 + ], + [ + 0.9998525816299656, + 0.0012437933918349672, + -0.017125044794532782, + 3935.9453361503524 + ], + [ + -0.0, + -0.9973728324950123, + -0.07243916814838956, + 3.369786666517623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19336.289210237275, + -393594.53361503524, + 336.9786666517623 + ], + "rotation_deg": [ + 0.0, + -4.154097080230714, + 179.01617431640625 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.8718121223852103, + 0.48984040591012384, + -0.0, + -2093.185510242954 + ], + [ + -0.13332459853785428, + 0.23728953311125892, + -0.9622464491493647, + -901.8818069490999 + ], + [ + -0.47134720448646944, + 0.8388981109794211, + 0.27217966900183643, + -3205.1373900243325 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8718121223852103, + -0.13332459853785428, + -0.47134720448646944, + 193.8889498501953 + ], + [ + 0.48984040591012384, + 0.23728953311125892, + 0.8388981109794211, + 3928.1177096690135 + ], + [ + -0.0, + -0.9622464491493647, + 0.27217966900183643, + 4.540670416073838 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19388.89498501953, + -392811.7709669013, + 454.0670416073838 + ], + "rotation_deg": [ + 0.0, + 15.794011116027832, + -119.33009338378903 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8603967680611811, + 0.5096247654008526, + -0.0, + -2162.742958826245 + ], + [ + 0.040545381382581916, + -0.06845255071923768, + -0.9968301361558902, + 264.5842088619885 + ], + [ + -0.5080093382467967, + 0.8576694191264871, + -0.07955928449455438, + -3266.2094159117332 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8603967680611811, + 0.040545381382581916, + -0.5080093382467967, + 190.82452797497623 + ], + [ + 0.5096247654008526, + -0.06845255071923768, + 0.8576694191264871, + 3921.6268269807897 + ], + [ + -0.0, + -0.9968301361558902, + -0.07955928449455438, + 3.888228003425186 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19082.452797497623, + -392162.682698079, + 388.82280034251863 + ], + "rotation_deg": [ + 0.0, + -4.563233852386475, + -120.63883972167966 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9980612422339494, + -0.062239511167952344, + -0.0, + 62.85895343632882 + ], + [ + -0.019353624072854573, + -0.31035112136015824, + -0.9504249674254875, + 1227.4476804348633 + ], + [ + 0.05915397424229503, + 0.948582323569922, + -0.3109539881429887, + -3734.9646444929253 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9980612422339494, + -0.019353624072854573, + 0.05915397424229503, + 181.95651991475228 + ], + [ + -0.062239511167952344, + -0.31035112136015824, + 0.948582323569922, + 3927.7735179399797 + ], + [ + -0.0, + -0.9504249674254875, + -0.3109539881429887, + 5.194777892668178 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18195.651991475228, + -392777.351793998, + 519.4777892668178 + ], + "rotation_deg": [ + 0.0, + -18.11673164367676, + -86.43163299560545 + ] + } + } + ] + }, + { + "frame": 149, + "time": 1509.465694963932, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.017255120116491954, + 0.9998511193321563, + -0.0, + -3931.891427638385 + ], + [ + 0.0724743275242213, + 0.0012507394377152027, + -0.9973694939693969, + -15.576893350134894 + ], + [ + -0.997221005308832, + -0.017209706283263813, + -0.07248511971768101, + 260.8096853482914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.017255120116491954, + 0.0724743275242213, + -0.997221005308832, + 193.36865717616172 + ], + [ + 0.9998511193321563, + 0.0012507394377152027, + -0.017209706283263813, + 3935.813993660609 + ], + [ + -0.0, + -0.9973694939693969, + -0.07248511971768101, + 3.3689097617967754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19336.865717616172, + -393581.3993660609, + 336.8909761796775 + ], + "rotation_deg": [ + 0.0, + -4.156736850738528, + 179.0113067626953 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.8567697617146547, + 0.5156991132544376, + -1.3877787708609337e-17, + -2191.7647253850464 + ], + [ + -0.13968598831028092, + 0.23207084876337158, + -0.9626167180264574, + -880.1209880574664 + ], + [ + -0.49642060109032915, + 0.8247408875089853, + 0.2708672281469426, + -3144.555500466467 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8567697617146547, + -0.13968598831028092, + -0.49642060109032915, + 193.87506319000056 + ], + [ + 0.5156991132544376, + 0.23207084876337158, + 0.8247408875089853, + 3927.9851014479227 + ], + [ + -1.3877787708609337e-17, + -0.9626167180264574, + 0.2708672281469426, + 4.537858602719346 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19387.506319000055, + -392798.51014479226, + 453.7858602719346 + ], + "rotation_deg": [ + 8.260179321126499e-16, + 15.7158784866333, + -121.04419708251947 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8598384382939221, + 0.5105662151300935, + -0.0, + -2166.266761766663 + ], + [ + 0.04052597910551963, + -0.06824931527352104, + -0.9968448605386068, + 263.77661073805746 + ], + [ + -0.5089553214794, + 0.857125519759289, + -0.07937458103933036, + -3263.8051626978186 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8598384382939221, + 0.04052597910551963, + -0.5089553214794, + 190.81864567559165 + ], + [ + 0.5105662151300935, + -0.06824931527352104, + 0.857125519759289, + 3921.515948644266 + ], + [ + -0.0, + -0.9968448605386068, + -0.07937458103933036, + 3.881190553960536 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19081.864567559165, + -392151.5948644266, + 388.11905539605357 + ], + "rotation_deg": [ + 0.0, + -4.55261754989624, + -120.70155334472659 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9981977142983, + -0.06001102540075002, + -0.0, + 54.069177257678376 + ], + [ + -0.018660667541210922, + -0.3103935578925205, + -0.9504249674254875, + 1227.4441750746325 + ], + [ + 0.0570359657133674, + 0.9487120300033693, + -0.31095398814298875, + -3734.9629728674468 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9981977142983, + -0.018660667541210922, + 0.0570359657133674, + 181.96046036072698 + ], + [ + -0.06001102540075002, + -0.3103935578925205, + 0.9487120300033693, + 3927.6398179904563 + ], + [ + -0.0, + -0.9504249674254875, + -0.31095398814298875, + 5.191966079313686 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18196.046036072697, + -392763.98179904564, + 519.1966079313686 + ], + "rotation_deg": [ + 0.0, + -18.116731643676765, + -86.55955505371094 + ] + } + } + ] + }, + { + "frame": 150, + "time": 1509.5323616340756, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.017339795968037388, + 0.9998496544359992, + 1.0842021641312149e-19, + -3931.7378888393773 + ], + [ + 0.07251999986331933, + 0.0012576710865008845, + -0.997366165399279, + -15.61132729297291 + ], + [ + -0.997216216198391, + -0.017294101678510067, + -0.07253090512393705, + 261.1445085295216 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.017339795968037388, + 0.07251999986331933, + -0.997216216198391, + 193.37423388732066 + ], + [ + 0.9998496544359992, + 0.0012576710865008845, + -0.017294101678510067, + 3935.6826710313635 + ], + [ + 1.0842021641312149e-19, + -0.997366165399279, + -0.07253090512393705, + 3.3708446704304196 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19337.423388732066, + -393568.26710313634, + 337.08446704304197 + ], + "rotation_deg": [ + -6.228425505090791e-18, + -4.159367084503176, + 179.00645446777344 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.8409460842483777, + 0.541118917972122, + -1.3877787708578821e-17, + -2288.4619407236037 + ], + [ + -0.14631503137653765, + 0.2273863445097976, + -0.9627498958315989, + -860.4064252611164 + ], + [ + -0.5209621950371803, + 0.8096207458813854, + 0.2703934895305584, + -3080.3036428527757 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8409460842483777, + -0.14631503137653765, + -0.5209621950371803, + 193.86098816717572 + ], + [ + 0.541118917972122, + 0.2273863445097976, + 0.8096207458813854, + 3927.85251308733 + ], + [ + -1.3877787708578821e-17, + -0.9627498958315989, + 0.2703934895305584, + 4.537858602719346 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19386.09881671757, + -392785.251308733, + 453.7858602719346 + ], + "rotation_deg": [ + 8.259036685251586e-16, + 15.687683105468748, + -122.75984191894528 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8592780567178965, + 0.5115087694684378, + -0.0, + -2169.7941509142292 + ], + [ + 0.0405060944631291, + -0.06804575055805918, + -0.9968595849678802, + 262.97067005338215 + ], + [ + -0.5099024336004927, + 0.8565795586246956, + -0.07918944345439226, + -3261.3926302698096 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8592780567178965, + 0.0405060944631291, + -0.5099024336004927, + 190.81257501357703 + ], + [ + 0.5115087694684378, + -0.06804575055805918, + 0.8565795586246956, + 3921.4050901682403 + ], + [ + -0.0, + -0.9968595849678802, + -0.07918944345439226, + 3.876964917850377 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19081.257501357704, + -392140.509016824, + 387.6964917850377 + ], + "rotation_deg": [ + 0.0, + -4.541976451873779, + -120.76438140869142 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9983292028790179, + -0.057782373427756564, + -0.0, + 45.2804390492056 + ], + [ + -0.01796765932721405, + -0.3104344447907839, + -0.9504249674254875, + 1227.4372449017378 + ], + [ + 0.05491779921835815, + 0.9488370000094761, + -0.31095398814298875, + -3734.941790828276 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9983292028790179, + -0.01796765932721405, + 0.05491779921835815, + 181.9642148369944 + ], + [ + -0.057782373427756564, + -0.3104344447907839, + 0.9488370000094761, + 3927.5061777042633 + ], + [ + -0.0, + -0.9504249674254875, + -0.31095398814298875, + 5.191966079313686 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18196.42148369944, + -392750.6177704263, + 519.1966079313686 + ], + "rotation_deg": [ + 0.0, + -18.116731643676765, + -86.68746948242186 + ] + } + } + ] + }, + { + "frame": 151, + "time": 1509.5990283042192, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.017423939143865884, + 0.9998481916494679, + 1.0842021641312711e-19, + -3931.584482507059 + ], + [ + 0.07256551438431247, + 0.0012645690787215598, + -0.9973628462035193, + -15.645584269299391 + ], + [ + -0.9972114385746863, + -0.017377965402427132, + -0.07257653266915437, + 261.47704495221944 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.017423939143865884, + 0.07256551438431247, + -0.9972114385746863, + 193.37963580125663 + ], + [ + 0.9998481916494679, + 0.0012645690787215598, + -0.017377965402427132, + 3935.551367074393 + ], + [ + 1.0842021641312711e-19, + -0.9973628462035193, + -0.07257653266915437, + 3.3727795790640642 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19337.963580125663, + -393555.1367074393, + 337.2779579064064 + ], + "rotation_deg": [ + -6.228446233117633e-18, + -4.161988258361819, + 179.0016326904297 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.8243691305340825, + 0.5660525917461032, + 1.3877787708613837e-17, + -2383.0973207619586 + ], + [ + -0.1533646111524025, + 0.2233521283957164, + -0.9625970718775202, + -843.1672500471316 + ], + [ + -0.5448805803719557, + 0.7935353015538154, + 0.27093703755931264, + -3012.39058037696 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8243691305340825, + -0.1533646111524025, + -0.5448805803719557, + 193.84673834712794 + ], + [ + 0.5660525917461032, + 0.2233521283957164, + 0.7935353015538154, + 3927.7199433990127 + ], + [ + 1.3877787708613837e-17, + -0.9625970718775202, + 0.27093703755931264, + 4.537858602719346 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19384.673834712794, + -392771.99433990126, + 453.7858602719346 + ], + "rotation_deg": [ + -8.26034790746497e-16, + 15.720033645629883, + -124.4754180908203 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8587156865962003, + 0.5124523095797463, + -0.0, + -2173.3246834312176 + ], + [ + 0.04048572047077643, + -0.06784187055360415, + -0.9968743085453401, + 262.1636395070892 + ], + [ + -0.5108505557339349, + 0.8560315979259072, + -0.07900388002337469, + -3258.972302157223 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8587156865962003, + 0.04048572047077643, + -0.5108505557339349, + 190.80632955433947 + ], + [ + 0.5124523095797463, + -0.06784187055360415, + 0.8560315979259072, + 3921.2942503644886 + ], + [ + -0.0, + -0.9968743085453401, + -0.07900388002337469, + 3.872739281740219 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19080.632955433946, + -392129.42503644887, + 387.2739281740219 + ], + "rotation_deg": [ + 0.0, + -4.531311035156249, + -120.8273162841797 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.998455715608424, + -0.05555343345707812, + -0.0, + 36.492245375700435 + ], + [ + -0.017274561559189126, + -0.3104737844282491, + -0.9504249674254875, + 1227.4242208081441 + ], + [ + 0.05279935900320972, + 0.9489572408421891, + -0.31095398814298875, + -3734.9019828356527 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.998455715608424, + -0.017274561559189126, + 0.05279935900320972, + 181.96779682009335 + ], + [ + -0.05555343345707812, + -0.3104737844282491, + 0.9489572408421891, + 3927.372595898421 + ], + [ + -0.0, + -0.9504249674254875, + -0.31095398814298875, + 5.191966079313686 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18196.779682009335, + -392737.2595898421, + 519.1966079313686 + ], + "rotation_deg": [ + 0.0, + -18.116731643676765, + -86.81538391113283 + ] + } + } + ] + }, + { + "frame": 152, + "time": 1509.6656949743629, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.01750808219629432, + 0.999846721781798, + 1.0842021641313269e-19, + -3931.4310680755384 + ], + [ + 0.07261085382394691, + 0.0012714716860073, + -0.9973595376125446, + -15.679812511095072 + ], + [ + -0.9972066645014108, + -0.017461828630363975, + -0.072621985754005, + 261.8093969952561 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.01750808219629432, + 0.07261085382394691, + -0.9972066645014108, + 193.38487633245975 + ], + [ + 0.999846721781798, + 0.0012714716860073, + -0.017461828630363975, + 3935.4200805637124 + ], + [ + 1.0842021641313269e-19, + -0.9973595376125446, + -0.072621985754005, + 3.3747144876977084 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19338.487633245975, + -393542.00805637124, + 337.47144876977086 + ], + "rotation_deg": [ + -6.2284668950560176e-18, + -4.1645994186401385, + 178.99681091308594 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.8070858511083641, + 0.590434102115289, + -0.0, + -2475.4208635027153 + ], + [ + -0.16105333090487636, + 0.22014965629783068, + -0.962078974635862, + -829.0738939677162 + ], + [ + -0.5680442484556281, + 0.7764803179151603, + 0.272771053608796, + -2940.826763998226 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8070858511083641, + -0.16105333090487636, + -0.5680442484556281, + 193.83232714434732 + ], + [ + 0.590434102115289, + 0.22014965629783068, + 0.7764803179151603, + 3927.587391156985 + ], + [ + -0.0, + -0.962078974635862, + 0.272771053608796, + 4.537858602719346 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19383.232714434733, + -392758.7391156985, + 453.7858602719346 + ], + "rotation_deg": [ + 0.0, + 15.829227447509771, + -126.18782043457033 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8581512549675454, + 0.5133969454502303, + -0.0, + -2176.858787612201 + ], + [ + 0.04046485977744851, + -0.06763766420474251, + -0.9968890316901464, + 261.35547469290873 + ], + [ + -0.5117997977801001, + 0.8554815652019168, + -0.07881788243747194, + -3256.5438665208917 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8581512549675454, + 0.04046485977744851, + -0.5117997977801001, + 190.79992271236907 + ], + [ + 0.5133969454502303, + -0.06763766420474251, + 0.8554815652019168, + 3921.183428007028 + ], + [ + -0.0, + -0.9968890316901464, + -0.07881788243747194, + 3.86851364563006 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19079.992271236908, + -392118.3428007028, + 386.85136456300603 + ], + "rotation_deg": [ + 0.0, + -4.520620822906493, + -120.89036560058595 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.998577251855956, + -0.0533242165981515, + -0.0, + 27.704626452868496 + ], + [ + -0.016581377691659807, + -0.31051157660884016, + -0.9504249674254875, + 1227.40510347894 + ], + [ + 0.0506806556266089, + 0.9490727519022067, + -0.31095398814298875, + -3734.843550983541 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.998577251855956, + -0.016581377691659807, + 0.0506806556266089, + 181.97121963563433 + ], + [ + -0.0533242165981515, + -0.31051157660884016, + 0.9490727519022067, + 3927.239071351989 + ], + [ + -0.0, + -0.9504249674254875, + -0.31095398814298875, + 5.191966079313686 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18197.121963563433, + -392723.9071351989, + 519.1966079313686 + ], + "rotation_deg": [ + 0.0, + -18.116731643676765, + -86.94329833984375 + ] + } + } + ] + }, + { + "frame": 153, + "time": 1509.7323616445065, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.01759169257493797, + 0.9998452542030437, + -1.0842021641313827e-19, + -3931.2777839642304 + ], + [ + 0.07265603546274581, + 0.001278340457387275, + -0.9973562384406641, + -15.713864982012105 + ], + [ + -0.9972019021383499, + -0.017545160201687192, + -0.07266728098088138, + 262.1394891995374 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.01759169257493797, + 0.07265603546274581, + -0.9972019021383499, + 193.38996871135691 + ], + [ + 0.9998452542030437, + 0.001278340457387275, + -0.017545160201687192, + 3935.2888102440716 + ], + [ + -1.0842021641313827e-19, + -0.9973562384406641, + -0.07266728098088138, + 3.376649396331353 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19338.996871135692, + -393528.88102440716, + 337.6649396331353 + ], + "rotation_deg": [ + 6.228487498309265e-18, + -4.167201519012453, + 178.9920196533203 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.7891881953700168, + 0.6141514408422537, + -0.0, + -2565.0107524985046 + ], + [ + -0.16972954123037853, + 0.21810345370334858, + -0.9610529466769231, + -819.3337449716885 + ], + [ + -0.5902320646733459, + 0.758451629964385, + 0.27636431541681966, + -2865.6411774002454 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7891881953700168, + -0.16972954123037853, + -0.5902320646733459, + 193.81776778926073 + ], + [ + 0.6141514408422537, + 0.21810345370334858, + 0.758451629964385, + 3927.454855105997 + ], + [ + -0.0, + -0.9610529466769231, + 0.27636431541681966, + 4.537858602719346 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19381.776778926072, + -392745.4855105997, + 453.7858602719346 + ], + "rotation_deg": [ + 0.0, + 16.0433349609375, + -127.8902893066406 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8575847568550549, + 0.5143426725538688, + -0.0, + -2180.3964554593804 + ], + [ + 0.040443505911675316, + -0.06743312587970719, + -0.996903754814708, + 260.5461542232119 + ], + [ + -0.5127501554862736, + 0.8549294557546101, + -0.0786314423874338, + -3254.107299061301 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8575847568550549, + 0.040443505911675316, + -0.5127501554862736, + 190.79336771809267 + ], + [ + 0.5143426725538688, + -0.06743312587970719, + 0.8549294557546101, + 3921.0726218406066 + ], + [ + -0.0, + -0.996903754814708, + -0.0786314423874338, + 3.864288009519902 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19079.336771809267, + -392107.26218406064, + 386.4288009519902 + ], + "rotation_deg": [ + 0.0, + -4.5099053382873535, + -120.95352935791016 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9986938178195222, + -0.0510946009776668, + 2.7755575422866557e-17, + 18.917089192348357 + ], + [ + -0.015888069827634584, + -0.3105478232598214, + -0.9504249674254874, + 1227.3798943633687 + ], + [ + 0.048561573257117886, + 0.9491835390801739, + -0.31095398814298875, + -3734.7664997015186 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9986938178195222, + -0.015888069827634584, + 0.048561573257117886, + 181.97449642515335 + ], + [ + -0.0510946009776668, + -0.3105478232598214, + 0.9491835390801739, + 3927.105602814563 + ], + [ + 2.7755575422866557e-17, + -0.9504249674254874, + -0.31095398814298875, + 5.191966079313686 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18197.449642515334, + -392710.56028145633, + 519.1966079313686 + ], + "rotation_deg": [ + -1.6732276576381467e-15, + -18.116731643676765, + -87.07122039794923 + ] + } + } + ] + }, + { + "frame": 154, + "time": 1509.79902831465, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.017675036556062, + 0.9998437843397048, + 1.0842021641314382e-19, + -3931.124559217415 + ], + [ + 0.0727010506715843, + 0.0012851944957911366, + -0.9973529493145119, + -15.747816119867267 + ], + [ + -0.9971971475505877, + -0.01762822570652739, + -0.07271241005090646, + 262.46837908653515 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.017675036556062, + 0.0727010506715843, + -0.9971971475505877, + 193.3949259536222 + ], + [ + 0.9998437843397048, + 0.0012851944957911366, + -0.01762822570652739, + 3935.157554839197 + ], + [ + 1.0842021641314382e-19, + -0.9973529493145119, + -0.07271241005090646, + 3.3785843049649973 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19339.49259536222, + -393515.7554839197, + 337.85843049649975 + ], + "rotation_deg": [ + -6.2285080389628535e-18, + -4.169794082641603, + 178.98724365234375 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.7709136586848808, + 0.6369396602921592, + -0.0, + -2650.872789556701 + ], + [ + -0.1800628799980811, + 0.2179373373436739, + -0.9592083591370264, + -816.6606809209708 + ], + [ + -0.6109578589716081, + 0.7394668143974389, + 0.2827000618424634, + -2787.001877596181 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7709136586848808, + -0.1800628799980811, + -0.6109578589716081, + 193.80307329754226 + ], + [ + 0.6369396602921592, + 0.2179373373436739, + 0.7394668143974389, + 3927.322333969775 + ], + [ + -0.0, + -0.9592083591370264, + 0.2827000618424634, + 4.537858602719346 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19380.307329754225, + -392732.23339697754, + 453.7858602719346 + ], + "rotation_deg": [ + 0.0, + 16.421419143676765, + -129.56399536132812 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8570162558952448, + 0.5152893722281648, + -0.0, + -2183.937244315239 + ], + [ + 0.04042165624308746, + -0.06722827668798946, + -0.9969184763661112, + 259.7357608326676 + ], + [ + -0.5137015098035611, + 0.8543753316022947, + -0.07844457645376447, + -3251.662858924467 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8570162558952448, + 0.04042165624308746, + -0.5137015098035611, + 190.78667758718439 + ], + [ + 0.5152893722281648, + -0.06722827668798946, + 0.8543753316022947, + 3920.9618305889517 + ], + [ + -0.0, + -0.9969184763661112, + -0.07844457645376447, + 3.8600623734097432 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19078.66775871844, + -392096.18305889517, + 386.00623734097434 + ], + "rotation_deg": [ + 0.0, + -4.4991655349731445, + -121.0167999267578 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9988053990139304, + -0.0488648636611559, + -0.0, + 10.130711170246713 + ], + [ + -0.015194724121745013, + -0.31058251987696467, + -0.9504249674254875, + 1227.3485921805752 + ], + [ + 0.0464423752247385, + 0.9492895886090056, + -0.31095398814298875, + -3734.670825074685 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9988053990139304, + -0.015194724121745013, + 0.0464423752247385, + 181.97764011542316 + ], + [ + -0.0488648636611559, + -0.31058251987696467, + 0.9492895886090056, + 3926.9721890145183 + ], + [ + -0.0, + -0.9504249674254875, + -0.31095398814298875, + 5.191966079313686 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18197.764011542316, + -392697.21890145185, + 519.1966079313686 + ], + "rotation_deg": [ + 0.0, + -18.116731643676765, + -87.19913482666016 + ] + } + } + ] + }, + { + "frame": 155, + "time": 1509.8656949847937, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.017758114140261638, + 0.9998423122583788, + -0.0, + -3930.9713926196596 + ], + [ + 0.07274590775629351, + 0.0012920338710764327, + -0.9973496696511152, + -15.78166872068714 + ], + [ + -0.9971924002216433, + -0.01771102514026613, + -0.07275738126595165, + 262.7960793897944 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.017758114140261638, + 0.07274590775629351, + -0.9971924002216433, + 193.39976083192988 + ], + [ + 0.9998423122583788, + 0.0012920338710764327, + -0.01771102514026613, + 3935.0263130597386 + ], + [ + -0.0, + -0.9973496696511152, + -0.07275738126595165, + 3.380519213598642 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19339.97608319299, + -393502.63130597386, + 338.0519213598642 + ], + "rotation_deg": [ + 0.0, + -4.172377586364749, + 178.98248291015625 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.7562954010978282, + 0.6542302853569796, + -1.3877787710109616e-17, + -2715.847687949029 + ], + [ + -0.1917009868436338, + 0.22160786191156837, + -0.9561070479722237, + -828.8080621710612 + ], + [ + -0.6255141991784418, + 0.7230993517612662, + 0.29301760033927976, + -2719.860784155948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7562954010978282, + -0.1917009868436338, + -0.6255141991784418, + 193.78825644186622 + ], + [ + 0.6542302853569796, + 0.22160786191156837, + 0.7230993517612662, + 3927.1898264589695 + ], + [ + -1.3877787710109616e-17, + -0.9561070479722237, + 0.29301760033927976, + 4.537858602719346 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19378.82564418662, + -392718.98264589696, + 453.7858602719346 + ], + "rotation_deg": [ + 8.316418884408639e-16, + 17.038702011108406, + -130.86131286621088 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8564456787456929, + 0.5162371541819024, + -0.0, + -2187.481580602589 + ], + [ + 0.0403993090298463, + -0.06702309851710529, + -0.996933197408471, + 258.9242233142801 + ], + [ + -0.5146539706921113, + 0.8538191204530585, + -0.07825726803057373, + -3249.210235121172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8564456787456929, + 0.0403993090298463, + -0.5146539706921113, + 190.77986509231857 + ], + [ + 0.5162371541819024, + -0.06702309851710529, + 0.8538191204530585, + 3920.851052962713 + ], + [ + -0.0, + -0.996933197408471, + -0.07825726803057373, + 3.855836737299585 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19077.986509231858, + -392085.1052962713, + 385.5836737299585 + ], + "rotation_deg": [ + 0.0, + -4.488400459289551, + -121.08018493652345 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9989120019835801, + -0.04663488279342392, + -0.0, + 1.344999734138156 + ], + [ + -0.014501302682632469, + -0.31061566849527694, + -0.9504249674254875, + 1227.3111987136097 + ], + [ + 0.04432294571525014, + 0.9493909067086611, + -0.31095398814298875, + -3734.556532552899 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9989120019835801, + -0.014501302682632469, + 0.04432294571525014, + 181.9806633902066 + ], + [ + -0.04663488279342392, + -0.31061566849527694, + 0.9493909067086611, + 3926.8388286669533 + ], + [ + -0.0, + -0.9504249674254875, + -0.31095398814298875, + 5.191966079313686 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18198.066339020657, + -392683.88286669535, + 519.1966079313686 + ], + "rotation_deg": [ + 0.0, + -18.116731643676765, + -87.32704925537111 + ] + } + } + ] + }, + { + "frame": 156, + "time": 1509.9323616549373, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.017840925328139412, + 0.9998408380254509, + -1.0842021641315486e-19, + -3930.818282949513 + ], + [ + 0.07279059842459534, + 0.001298858359945016, + -0.997346400077701, + -15.8154211956487 + ], + [ + -0.9971876608448326, + -0.017793558519674596, + -0.07280218632718705, + 263.1226028360263 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.017840925328139412, + 0.07279059842459534, + -0.9971876608448326, + 193.40448585010827 + ], + [ + 0.9998408380254509, + 0.001298858359945016, + -0.017793558519674596, + 3934.895083610843 + ], + [ + -1.0842021641315486e-19, + -0.997346400077701, + -0.07280218632718705, + 3.3824541222322866 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19340.44858501083, + -393489.50836108427, + 338.24541222322864 + ], + "rotation_deg": [ + 6.228548939471198e-18, + -4.1749515533447275, + 178.9777374267578 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.7582278060615694, + 0.6519897193323366, + -0.0, + -2707.325333893848 + ], + [ + -0.1940581900873268, + 0.2256788893371974, + -0.9546781959213063, + -844.3184405684574 + ], + [ + -0.622440381347415, + 0.7238635424616948, + 0.29763995626073325, + -2723.3919340559714 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7582278060615694, + -0.1940581900873268, + -0.622440381347415, + 193.77332972606087 + ], + [ + 0.6519897193323366, + 0.2256788893371974, + 0.7238635424616948, + 3927.057331278727 + ], + [ + -0.0, + -0.9546781959213063, + 0.29763995626073325, + 4.537858602719346 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19377.332972606087, + -392705.7331278727, + 453.7858602719346 + ], + "rotation_deg": [ + 0.0, + 17.315908432006847, + -130.6917877197266 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8558730204254904, + 0.5171860138361707, + -6.938893850484954e-18, + -2191.029455381448 + ], + [ + 0.04037647062367443, + -0.06681760709359012, + -0.9969479163939617, + 258.11160160121074 + ], + [ + -0.5156075328328255, + 0.853260815925632, + -0.0780695336989497, + -3246.7493970685637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8558730204254904, + 0.04037647062367443, + -0.5156075328328255, + 190.77294273732343 + ], + [ + 0.5171860138361707, + -0.06681760709359012, + 0.853260815925632, + 3920.7402876670362 + ], + [ + -6.938893850484954e-18, + -0.9969479163939617, + -0.0780695336989497, + 3.851611101189426 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19077.294273732343, + -392074.0287667036, + 385.1611101189426 + ], + "rotation_deg": [ + 3.987864648334146e-16, + -4.477611064910888, + -121.14368438720705 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9990136321099731, + -0.044404536462384986, + 2.7755575422866557e-17, + -7.440537444645059 + ], + [ + -0.01380776760124793, + -0.31064727078815774, + -0.9504249674254874, + 1227.2677142795453 + ], + [ + 0.04220316886036157, + 0.9494874984938528, + -0.31095398814298875, + -3734.4236231052805 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9990136321099731, + -0.01380776760124793, + 0.04220316886036157, + 181.98357866441063 + ], + [ + -0.044404536462384986, + -0.31064727078815774, + 0.9494874984938528, + 3926.705520481266 + ], + [ + 2.7755575422866557e-17, + -0.9504249674254874, + -0.31095398814298875, + 5.191966079313686 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18198.357866441063, + -392670.5520481266, + 519.1966079313686 + ], + "rotation_deg": [ + -1.6732276576381467e-15, + -18.116731643676765, + -87.45497131347656 + ] + } + } + ] + }, + { + "frame": 157, + "time": 1509.9990283250809, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.017923470120305082, + 0.9998393617070928, + -3.252606492394811e-19, + -3930.665228987264 + ], + [ + 0.07283513928116508, + 0.0013056681829222289, + -0.9973431394041316, + -15.84907850469185 + ], + [ + -0.9971829282961812, + -0.017875825829148803, + -0.07284684183668898, + 263.4479614650862 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.017923470120305082, + 0.07283513928116508, + -0.9971829282961812, + 193.4091132196207 + ], + [ + 0.9998393617070928, + 0.0013056681829222289, + -0.017875825829148803, + 3934.7638651993493 + ], + [ + -3.252606492394811e-19, + -0.9973431394041316, + -0.07284684183668898, + 3.384389030865931 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19340.91132196207, + -393476.3865199349, + 338.4389030865931 + ], + "rotation_deg": [ + 1.868570790851714e-17, + -4.17751693725586, + 178.97300720214844 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.7600999291472265, + 0.6498062001169129, + -0.0, + -2699.01578723909 + ], + [ + -0.19632359450475742, + 0.22964623951902324, + -0.9532678799348602, + -859.4384021951753 + ], + [ + -0.6194393910739974, + 0.7245788365194529, + 0.3021263815921935, + -2726.7161169481546 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7600999291472265, + -0.19632359450475742, + -0.6194393910739974, + 193.75830536158955 + ], + [ + 0.6498062001169129, + 0.22964623951902324, + 0.7245788365194529, + 3926.924847135886 + ], + [ + -0.0, + -0.9532678799348602, + 0.3021263815921935, + 4.537858602719346 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19375.830536158956, + -392692.4847135886, + 453.7858602719346 + ], + "rotation_deg": [ + 0.0, + 17.585363388061516, + -130.5269927978515 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8552982759523495, + 0.5181359465940754, + -0.0, + -2194.5808593619977 + ], + [ + 0.040353125943874066, + -0.06661178263341547, + -0.99696263502749, + 257.2978205109346 + ], + [ + -0.5165621925678767, + 0.8527004144226994, + -0.0778813485555068, + -3244.280325052558 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8552982759523495, + 0.040353125943874066, + -0.5165621925678767, + 190.76592273366234 + ], + [ + 0.5181359465940754, + -0.06661178263341547, + 0.8527004144226994, + 3920.629533408762 + ], + [ + -0.0, + -0.99696263502749, + -0.0778813485555068, + 3.847385465079268 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19076.592273366234, + -392062.9533408762, + 384.7385465079268 + ], + "rotation_deg": [ + 0.0, + -4.466795921325684, + -121.2072982788086 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9991102767639355, + -0.04217410182437219, + -0.0, + -16.224822085948574 + ], + [ + -0.013114205060457948, + -0.31067732282851507, + -0.9504249674254875, + 1227.2181397480322 + ], + [ + 0.04008330807637433, + 0.9495793519615014, + -0.31095398814298875, + -3734.2720993899115 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9991102767639355, + -0.013114205060457948, + 0.04008330807637433, + 181.98639806056818 + ], + [ + -0.04217410182437219, + -0.31067732282851507, + 0.9495793519615014, + 3926.5722631683475 + ], + [ + -0.0, + -0.9504249674254875, + -0.31095398814298875, + 5.191966079313686 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18198.639806056817, + -392657.22631683474, + 519.1966079313686 + ], + "rotation_deg": [ + 0.0, + -18.116731643676765, + -87.58288574218749 + ] + } + } + ] + }, + { + "frame": 158, + "time": 1510.0656949952245, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.01800574851737509, + 0.9998378833692637, + -0.0, + -3930.5122295222272 + ], + [ + 0.07287951373478067, + 0.001312462968451456, + -0.9973398888637405, + -15.882636828975633 + ], + [ + -0.9971782038745876, + -0.017957827096320406, + -0.07289133119535343, + 263.77216752999584 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.01800574851737509, + 0.07287951373478067, + -0.9971782038745876, + 193.41365483832087 + ], + [ + 0.9998378833692637, + 0.001312462968451456, + -0.017957827096320406, + 3934.632656540536 + ], + [ + -0.0, + -0.9973398888637405, + -0.07289133119535343, + 3.3863239394995754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19341.365483832087, + -393463.2656540536, + 338.63239394995753 + ], + "rotation_deg": [ + 0.0, + -4.180072784423831, + 178.96829223632815 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.7619114332086954, + 0.647681224018322, + -0.0, + -2690.9248460103076 + ], + [ + -0.1984987613076454, + 0.23350758075052752, + -0.9518783806197966, + -874.1585133030629 + ], + [ + -0.6165137669803393, + 0.7252470097885649, + 0.3064760185013787, + -2729.839824103358 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7619114332086954, + -0.1984987613076454, + -0.6165137669803393, + 193.74319524630596 + ], + [ + 0.647681224018322, + 0.23350758075052752, + 0.7252470097885649, + 3926.792372745726 + ], + [ + -0.0, + -0.9518783806197966, + 0.3064760185013787, + 4.537858602719346 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19374.319524630595, + -392679.2372745726, + 453.7858602719346 + ], + "rotation_deg": [ + 0.0, + 17.846986770629876, + -130.36700439453122 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8547215094632606, + 0.519086834027646, + -6.938893850481773e-18, + -2198.1353498695253 + ], + [ + 0.040329276813022764, + -0.06640565333882587, + -0.99697735111505, + 256.4829897759762 + ], + [ + -0.5175178307347628, + 0.852137977920618, + -0.0776927374787744, + -3241.8032784114553 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8547215094632606, + 0.040329276813022764, + -0.5175178307347628, + 190.75881697918894 + ], + [ + 0.519086834027646, + -0.06640565333882587, + 0.852137977920618, + 3920.5187889031686 + ], + [ + -6.938893850481773e-18, + -0.99697735111505, + -0.0776927374787744, + 3.843159828969109 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19075.881697918892, + -392051.8788903169, + 384.3159828969109 + ], + "rotation_deg": [ + 3.987746910769343e-16, + -4.455956459045409, + -121.27101898193361 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.999201941673574, + -0.03994345698309159, + -0.0, + -25.008345936383307 + ], + [ + -0.012420577156123986, + -0.31070582639752653, + -0.9504249674254875, + 1227.162475786909 + ], + [ + 0.037963247510006244, + 0.9496664725557413, + -0.31095398814298875, + -3734.1019634480217 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.999201941673574, + -0.012420577156123986, + 0.037963247510006244, + 181.98913338759354 + ], + [ + -0.03994345698309159, + -0.31070582639752653, + 0.9496664725557413, + 3926.4390554473302 + ], + [ + -0.0, + -0.9504249674254875, + -0.31095398814298875, + 5.191966079313686 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18198.913338759354, + -392643.90554473305, + 519.1966079313686 + ], + "rotation_deg": [ + 0.0, + -18.116731643676765, + -87.71080017089847 + ] + } + } + ] + }, + { + "frame": 159, + "time": 1510.132361665368, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.01808776051997468, + 0.9998364030777096, + 1.0842021641317135e-19, + -3930.3592833595503 + ], + [ + 0.07292373009109399, + 0.0013192427901712054, + -0.9973366478717512, + -15.916098900753484 + ], + [ + -0.9971734870609167, + -0.018039562316335172, + -0.07293566270492788, + 264.09523255644604 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.01808776051997468, + 0.07292373009109399, + -0.9971734870609167, + 193.41812227139732 + ], + [ + 0.9998364030777096, + 0.0013192427901712054, + -0.018039562316335172, + 3934.501456364427 + ], + [ + 1.0842021641317135e-19, + -0.9973366478717512, + -0.07293566270492788, + 3.388258848133219 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19341.812227139733, + -393450.1456364427, + 338.8258848133219 + ], + "rotation_deg": [ + -6.228609843773771e-18, + -4.182619571685794, + 178.96359252929688 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.7636624950154618, + 0.6456156702766435, + -1.3877787711412918e-17, + -2683.055983894758 + ], + [ + -0.20058507125866368, + 0.23726080860863966, + -0.9505119346365574, + -888.4702689877137 + ], + [ + -0.613665412074107, + 0.7258703041625723, + 0.3106880486257102, + -2732.7714996867853 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7636624950154618, + -0.20058507125866368, + -0.613665412074107, + 193.72801094539867 + ], + [ + 0.6456156702766435, + 0.23726080860863966, + 0.7258703041625723, + 3926.6599068382698 + ], + [ + -1.3877787711412918e-17, + -0.9505119346365574, + 0.3106880486257102, + 4.537858602719346 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19372.801094539867, + -392665.99068382697, + 453.7858602719346 + ], + "rotation_deg": [ + 8.365372827285403e-16, + 18.100700378417965, + -130.2118530273437 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8541426471062877, + 0.5200387854711063, + -6.938893850480183e-18, + -2201.693350571433 + ], + [ + 0.04030492131357965, + -0.06619920118266698, + -0.9969920657059826, + 255.66703862052003 + ], + [ + -0.5184745569194187, + 0.8515734336010137, + -0.07750368386207432, + -3239.317944670776 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8541426471062877, + 0.04030492131357965, + -0.5184745569194187, + 190.75163703909186 + ], + [ + 0.5200387854711063, + -0.06619920118266698, + 0.8515734336010137, + 3920.4080528802792 + ], + [ + -6.938893850480183e-18, + -0.9969920657059826, + -0.07750368386207432, + 3.8389341928589507 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19075.163703909187, + -392040.8052880279, + 383.89341928589505 + ], + "rotation_deg": [ + 3.9876880556716307e-16, + -4.44509172439575, + -121.33485412597655 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9992886263820141, + -0.03771261305647828, + -0.0, + -33.791076960102515 + ], + [ + -0.011726887345412296, + -0.31073278135312515, + -0.9504249674254875, + 1227.1007230060936 + ], + [ + 0.03584299772802109, + 0.9497488598423479, + -0.3109539881429887, + -3733.9132171438173 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9992886263820141, + -0.011726887345412296, + 0.03584299772802109, + 181.99179612172765 + ], + [ + -0.03771261305647828, + -0.31073278135312515, + 0.9497488598423479, + 3926.305896051893 + ], + [ + -0.0, + -0.9504249674254875, + -0.3109539881429887, + 5.191966079313686 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18199.179612172764, + -392630.5896051893, + 519.1966079313686 + ], + "rotation_deg": [ + 0.0, + -18.11673164367676, + -87.83871459960936 + ] + } + } + ] + }, + { + "frame": 160, + "time": 1510.1990283355117, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.018169239856589046, + 0.9998349257367608, + -0.0, + -3930.2064598671586 + ], + [ + 0.07296778870991304, + 0.0013259881413908241, + -0.9973334164492004, + -15.949388853773838 + ], + [ + -0.9971687827674242, + -0.01812076593303281, + -0.07297983636686224, + 264.4161239665634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.018169239856589046, + 0.07296778870991304, + -0.9971687827674242, + 193.42252673445392 + ], + [ + 0.9998349257367608, + 0.0013259881413908241, + -0.01812076593303281, + 3934.370263421609 + ], + [ + -0.0, + -0.9973334164492004, + -0.07297983636686224, + 3.390193756766864 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19342.252673445393, + -393437.0263421609, + 339.01937567668637 + ], + "rotation_deg": [ + 0.0, + -4.18515729904175, + 178.95892333984375 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.7653532820357458, + 0.6436104051964293, + -1.3877787711727248e-17, + -2675.412621378273 + ], + [ + -0.20258385747252966, + 0.24090384330679326, + -0.9491707533271164, + -902.3652715370742 + ], + [ + -0.6108961854210823, + 0.7264509399315401, + 0.3147616280783808, + -2735.5195107514764 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7653532820357458, + -0.20258385747252966, + -0.6108961854210823, + 193.71276367447155 + ], + [ + 0.6436104051964293, + 0.24090384330679326, + 0.7264509399315401, + 3926.5274481641045 + ], + [ + -1.3877787711727248e-17, + -0.9491707533271164, + 0.3147616280783808, + 4.537858602719346 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19371.276367447153, + -392652.7448164105, + 453.7858602719346 + ], + "rotation_deg": [ + 8.377193126028522e-16, + 18.3464241027832, + -130.06156921386716 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8535616838957727, + 0.5209917962741957, + -0.0, + -2205.2548510533334 + ], + [ + 0.040280057212116575, + -0.06599242772586279, + -0.997006778549592, + 254.8499731403826 + ], + [ + -0.5194323663975874, + 0.8510067761892469, + -0.07731418769273339, + -3236.824298081151 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8535616838957727, + 0.040280057212116575, + -0.5194323663975874, + 190.74439412897493 + ], + [ + 0.5209917962741957, + -0.06599242772586279, + 0.8510067761892469, + 3920.297324090681 + ], + [ + -0.0, + -0.997006778549592, + -0.07731418769273339, + 3.834708556748792 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19074.439412897493, + -392029.7324090681, + 383.4708556748792 + ], + "rotation_deg": [ + 0.0, + -4.434201717376708, + -121.39880371093756 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9993703351818536, + -0.035481448089246984, + -0.0, + -42.57350610493668 + ], + [ + -0.011033097705840841, + -0.31075818903011143, + -0.9504249674254875, + 1227.0328802532565 + ], + [ + 0.03372244282106898, + 0.9498265179011115, + -0.31095398814298875, + -3733.7058569552146 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9993703351818536, + -0.011033097705840841, + 0.03372244282106898, + 181.99439738961868 + ], + [ + -0.035481448089246984, + -0.31075818903011143, + 0.9498265179011115, + 3926.172783736079 + ], + [ + -0.0, + -0.9504249674254875, + -0.31095398814298875, + 5.191966079313686 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18199.439738961868, + -392617.2783736079, + 519.1966079313686 + ], + "rotation_deg": [ + 0.0, + -18.116731643676765, + -87.96663665771484 + ] + } + } + ] + }, + { + "frame": 161, + "time": 1510.2656950056553, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.018250719072540306, + 0.9998334417558433, + -1.0842021641318222e-19, + -3930.053616904752 + ], + [ + 0.07301168889343376, + 0.0013327378014739053, + -0.9973301946170489, + -15.982659914159619 + ], + [ + -0.9971640814500408, + -0.01820196907783233, + -0.07302385218260272, + 264.73694052149096 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.018250719072540306, + 0.07301168889343376, + -0.9971640814500408, + 193.42687907863976 + ], + [ + 0.9998334417558433, + 0.0013327378014739053, + -0.01820196907783233, + 3934.2390764885668 + ], + [ + -1.0842021641318222e-19, + -0.9973301946170489, + -0.07302385218260272, + 3.392128665400508 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19342.687907863976, + -393423.9076488567, + 339.2128665400508 + ], + "rotation_deg": [ + 6.228650146179739e-18, + -4.187685966491699, + 178.95425415039062 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.7669834392581557, + 0.6416668948167192, + -1.3877787712035887e-17, + -2668.0004319188515 + ], + [ + -0.2044966993223746, + 0.24443458596693848, + -0.9478569687191342, + -915.8350020546533 + ], + [ + -0.6082084501039006, + 0.7269905864959029, + 0.3186960438545708, + -2738.0899636355375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7669834392581557, + -0.2044966993223746, + -0.6082084501039006, + 193.6974642846736 + ], + [ + 0.6416668948167192, + 0.24443458596693848, + 0.7269905864959029, + 3926.3949954997156 + ], + [ + -1.3877787712035887e-17, + -0.9478569687191342, + 0.3186960438545708, + 4.537858602719346 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19369.74642846736, + -392639.49954997154, + 453.7858602719346 + ], + "rotation_deg": [ + 8.388804400648132e-16, + 18.58408546447753, + -129.91622924804688 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8529786148449094, + 0.5219458617684977, + -0.0, + -2208.819840504357 + ], + [ + 0.040254686605383456, + -0.0657853416163406, + -0.9970214887527367, + 254.03182640292314 + ], + [ + -0.5203912540903494, + 0.8504379998618519, + -0.07712425725571846, + -3234.322310951655 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8529786148449094, + 0.040254686605383456, + -0.5203912540903494, + 190.7370990999872 + ], + [ + 0.5219458617684977, + -0.0657853416163406, + 0.8504379998618519, + 3920.1866013108584 + ], + [ + -0.0, + -0.9970214887527367, + -0.07712425725571846, + 3.8304829206386337 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19073.70990999872, + -392018.66013108584, + 383.04829206386336 + ], + "rotation_deg": [ + 0.0, + -4.42328691482544, + -121.46286773681639 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9994470579194622, + -0.03325023933946075, + -0.0, + -51.35455392662308 + ], + [ + -0.010339294451909417, + -0.3107820462711735, + -0.9504249674254875, + 1226.9589513041087 + ], + [ + 0.03160184630213858, + 0.9498994370817716, + -0.31095398814298875, + -3733.479894422617 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9994470579194622, + -0.010339294451909417, + 0.03160184630213858, + 181.99694795345255 + ], + [ + -0.03325023933946075, + -0.3107820462711735, + 0.9498994370817716, + 3926.039717279631 + ], + [ + -0.0, + -0.9504249674254875, + -0.31095398814298875, + 5.191966079313686 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18199.694795345255, + -392603.97172796313, + 519.1966079313686 + ], + "rotation_deg": [ + 0.0, + -18.116731643676765, + -88.0945510864258 + ] + } + } + ] + }, + { + "frame": 162, + "time": 1510.332361675799, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.018331665624578667, + 0.9998319608991447, + 1.0842021641318761e-19, + -3929.900894526901 + ], + [ + 0.0730554313563714, + 0.0013394528201318933, + -0.9973269823961832, + -16.015759738459618 + ], + [ + -0.997159392867745, + -0.01828264063370596, + -0.07306771015359206, + 265.0556050610005 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.018331665624578667, + 0.0730554313563714, + -0.997159392867745, + 193.4311897777752 + ], + [ + 0.9998319608991447, + 0.0013394528201318933, + -0.01828264063370596, + 3934.1078943725097 + ], + [ + 1.0842021641318761e-19, + -0.9973269823961832, + -0.07306771015359206, + 3.3940635740341527 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19343.118977777518, + -393410.789437251, + 339.40635740341526 + ], + "rotation_deg": [ + -6.228670207604554e-18, + -4.190205574035646, + 178.94961547851565 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.7685531184990588, + 0.6397859830016374, + -1.3877787712338289e-17, + -2660.82274339342 + ], + [ + -0.20632493444419037, + 0.2478511189745627, + -0.9465726830252696, + -928.8717014482456 + ], + [ + -0.6056039467313188, + 0.7274913761689481, + 0.32249055382020153, + -2740.4909022747333 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7685531184990588, + -0.20632493444419037, + -0.6056039467313188, + 193.68212324982528 + ], + [ + 0.6397859830016374, + 0.2478511189745627, + 0.7274913761689481, + 3926.2625476523117 + ], + [ + -1.3877787712338289e-17, + -0.9465726830252696, + 0.32249055382020153, + 4.537858602719346 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19368.212324982527, + -392626.25476523116, + 453.7858602719346 + ], + "rotation_deg": [ + 8.400186116861629e-16, + 18.813610076904297, + -129.7758636474609 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8523934349657929, + 0.5229009772674138, + -0.0, + -2212.388307709565 + ], + [ + 0.04022879860476254, + -0.06557793027363994, + -0.997036197348844, + 253.21255075805084 + ], + [ + -0.521351215904362, + 0.8498671004382797, + -0.07693387594339897, + -3231.8119621258365 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8523934349657929, + 0.04022879860476254, + -0.521351215904362, + 190.72976242594908 + ], + [ + 0.5229009772674138, + -0.06557793027363994, + 0.8498671004382797, + 3920.075883348021 + ], + [ + -0.0, + -0.997036197348844, + -0.07693387594339897, + 3.826257284528475 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19072.97624259491, + -392007.5883348021, + 382.6257284528475 + ], + "rotation_deg": [ + 0.0, + -4.412346363067628, + -121.52704620361328 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9995187992341695, + -0.03101886486453484, + -0.0, + -60.13471066114954 + ], + [ + -0.009645439665085258, + -0.31080435451892935, + -0.9504249674254875, + 1226.8789353791224 + ], + [ + 0.029481092273951775, + 0.9499676217936616, + -0.31095398814298875, + -3733.235327163407 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9995187992341695, + -0.009645439665085258, + 0.029481092273951775, + 181.99945819807948 + ], + [ + -0.03101886486453484, + -0.31080435451892935, + 0.9499676217936616, + 3925.906695492819 + ], + [ + -0.0, + -0.9504249674254875, + -0.31095398814298875, + 5.191966079313686 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18199.94581980795, + -392590.6695492819, + 519.1966079313686 + ], + "rotation_deg": [ + 0.0, + -18.116731643676765, + -88.22246551513672 + ] + } + } + ] + }, + { + "frame": 163, + "time": 1510.3990283459425, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.018412612056462333, + 0.9998304734890103, + -0.0, + -3929.748150321609 + ], + [ + 0.07309902369242867, + 0.0013461721768271667, + -0.997323779198954, + -16.04884388371159 + ], + [ + -0.9971547067811722, + -0.018363311715859133, + -0.07311141858137503, + 265.37421527325546 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.018412612056462333, + 0.07309902369242867, + -0.9971547067811722, + 193.43546891738688 + ], + [ + 0.9998304734890103, + 0.0013461721768271667, + -0.018363311715859133, + 3933.976715915708 + ], + [ + -0.0, + -0.997323779198954, + -0.07311141858137503, + 3.395998482667797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19343.54689173869, + -393397.67159157083, + 339.5998482667797 + ], + "rotation_deg": [ + 0.0, + -4.192716598510745, + 178.94497680664062 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.7700622905121031, + 0.6379687051347058, + -2.7755575425267875e-17, + -2653.8835999031953 + ], + [ + -0.20806998996289885, + 0.2511515874808131, + -0.9453199243550865, + -941.4678411251496 + ], + [ + -0.603084540302505, + 0.727955214998792, + 0.3261445112280426, + -2742.7294579655663 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7700622905121031, + -0.20806998996289885, + -0.603084540302505, + 193.66675065545326 + ], + [ + 0.6379687051347058, + 0.2511515874808131, + 0.727955214998792, + 3926.130103464163 + ], + [ + -2.7755575425267875e-17, + -0.9453199243550865, + 0.3261445112280426, + 4.537858602719346 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19366.675065545325, + -392613.01034641627, + 453.7858602719346 + ], + "rotation_deg": [ + 1.6822636455363619e-15, + 19.034929275512702, + -129.64051818847656 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8518062090252745, + 0.5238570246412565, + -2.081668155142148e-17, + -2215.959809726221 + ], + [ + 0.0402023909400106, + -0.06537021479059793, + -0.9970509028033309, + 252.39222892535867 + ], + [ + -0.52231213329614, + 0.8492941410968922, + -0.07674306033855581, + -3229.2935163899465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8518062090252745, + 0.0402023909400106, + -0.52231213329614, + 190.7223941923873 + ], + [ + 0.5238570246412565, + -0.06537021479059793, + 0.8492941410968922, + 3919.9651690444384 + ], + [ + -2.081668155142148e-17, + -0.9970509028033309, + -0.07674306033855581, + 3.8220316484183168 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19072.23941923873, + -391996.51690444385, + 382.20316484183166 + ], + "rotation_deg": [ + 1.1962358213106293e-15, + -4.401381015777586, + -121.59133148193357 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.999585558768404, + -0.028787335786038072, + -0.0, + -68.91394279502481 + ], + [ + -0.008951536803664522, + -0.31082511366219073, + -0.9504249674254875, + 1226.7928331064134 + ], + [ + 0.027360191306725283, + 0.9500310716969367, + -0.31095398814298875, + -3732.9721570974107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.999585558768404, + -0.008951536803664522, + 0.027360191306725283, + 182.00193812004937 + ], + [ + -0.028787335786038072, + -0.31082511366219073, + 0.9500310716969367, + 3925.773717220772 + ], + [ + -0.0, + -0.9504249674254875, + -0.31095398814298875, + 5.191966079313686 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18200.193812004938, + -392577.3717220772, + 519.1966079313686 + ], + "rotation_deg": [ + 0.0, + -18.116731643676765, + -88.35037994384766 + ] + } + } + ] + }, + { + "frame": 164, + "time": 1510.465695016086, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.0184930258265339, + 0.9998289893755729, + -1.0842021641319842e-19, + -3929.595524764894 + ], + [ + 0.07314245832469524, + 0.0013528567236878466, + -0.9973205856538333, + -16.081757579782163 + ], + [ + -0.9971500336424376, + -0.018443451223344242, + -0.0731549691672279, + 265.6906935233675 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.0184930258265339, + 0.07314245832469524, + -0.9971500336424376, + 193.4397261855919 + ], + [ + 0.9998289893755729, + 0.0013528567236878466, + -0.018443451223344242, + 3933.8455399993168 + ], + [ + -1.0842021641319842e-19, + -0.9973205856538333, + -0.0731549691672279, + 3.3979333913014416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19343.97261855919, + -393384.55399993167, + 339.79333913014415 + ], + "rotation_deg": [ + 6.228710157846926e-18, + -4.195218563079835, + 178.94036865234375 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.7715110856674817, + 0.6362158790003464, + 2.7755575425844628e-17, + -2647.1862214207167 + ], + [ + -0.2097331871191177, + 0.2543342350225803, + -0.9441006763668458, + -953.6163005188348 + ], + [ + -0.6006518538875724, + 0.7283841266240785, + 0.3296572682400638, + -2744.8132699977923 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7715110856674817, + -0.2097331871191177, + -0.6006518538875724, + 193.65135618967452 + ], + [ + 0.6362158790003464, + 0.2543342350225803, + 0.7283841266240785, + 3925.997661816424 + ], + [ + 2.7755575425844628e-17, + -0.9441006763668458, + 0.3296572682400638, + 4.537858602719346 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19365.13561896745, + -392599.7661816424, + 453.7858602719346 + ], + "rotation_deg": [ + -1.6844361856583e-15, + 19.24797439575195, + -129.51022338867185 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8512167926493157, + 0.5248142260951125, + -0.0, + -2219.535197492939 + ], + [ + 0.04017547448103002, + -0.06516217897780283, + -0.9970656055050182, + 251.57079499579913 + ], + [ + -0.5232742280548901, + 0.8487189781335371, + -0.07655180213112896, + -3226.7663629431886 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8512167926493157, + 0.04017547448103002, + -0.5232742280548901, + 190.71500408741875 + ], + [ + 0.5248142260951125, + -0.06516217897780283, + 0.8487189781335371, + 3919.8544572812666 + ], + [ + -0.0, + -0.9970656055050182, + -0.07655180213112896, + 3.817806012308158 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19071.500408741875, + -391985.4457281267, + 381.7806012308158 + ], + "rotation_deg": [ + 0.0, + -4.390390396118164, + -121.65573883056642 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9996473397255153, + -0.0265555301152173, + -5.5511150845733115e-17, + -77.69273960718692 + ], + [ + -0.00825754793475824, + -0.3108443246970518, + -0.9504249674254874, + 1226.7006419081108 + ], + [ + 0.02523902745930223, + 0.9500897898361393, + -0.31095398814298864, + -3732.690376345411 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9996473397255153, + -0.00825754793475824, + 0.02523902745930223, + 182.00439731849627 + ], + [ + -0.0265555301152173, + -0.3108443246970518, + 0.9500897898361393, + 3925.640781347308 + ], + [ + -5.5511150845733115e-17, + -0.9504249674254874, + -0.31095398814298864, + 5.191966079313686 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18200.439731849627, + -392564.0781347308, + 519.1966079313686 + ], + "rotation_deg": [ + 3.3464553152762934e-15, + -18.116731643676758, + -88.47830200195311 + ] + } + } + ] + }, + { + "frame": 165, + "time": 1510.5323616862297, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.018573173206814154, + 0.9998275037410354, + -0.0, + -3929.4429461581185 + ], + [ + 0.07318574320170253, + 0.0013595259979032462, + -0.9973174011723025, + -16.11457990676512 + ], + [ + -0.9971453680581822, + -0.018523324710384613, + -0.07319837021263544, + 266.0060928569815 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.018573173206814154, + 0.07318574320170253, + -0.9971453680581822, + 193.44397086574773 + ], + [ + 0.9998275037410354, + 0.0013595259979032462, + -0.018523324710384613, + 3933.7143655467144 + ], + [ + -0.0, + -0.9973174011723025, + -0.07319837021263544, + 3.3998682999350858 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19344.397086574772, + -393371.43655467144, + 339.9868299935086 + ], + "rotation_deg": [ + 0.0, + -4.19771194458008, + 178.93577575683594 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.7728992840529545, + 0.6345287201620038, + -0.0, + -2640.735321064986 + ], + [ + -0.2113160193621768, + 0.2573973326727392, + -0.9429168325435088, + -965.3100352438604 + ], + [ + -0.5983078231656856, + 0.728779733651321, + 0.3330282999353783, + -2746.74834269402 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7728992840529545, + -0.2113160193621768, + -0.5983078231656856, + 193.63594913584657 + ], + [ + 0.6345287201620038, + 0.2573973326727392, + 0.728779733651321, + 3925.8652216324745 + ], + [ + -0.0, + -0.9429168325435088, + 0.3330282999353783, + 4.537858602719346 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19363.594913584657, + -392586.52216324746, + 453.7858602719346 + ], + "rotation_deg": [ + 0.0, + 19.452684402465824, + -129.3850402832031 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.850625320486378, + 0.5257723501168987, + -0.0, + -2223.113596261984 + ], + [ + 0.04014802960984438, + -0.06495383514590954, + -0.9970803052002806, + 250.74830061347149 + ], + [ + -0.5242372692541255, + 0.8481417454960595, + -0.07636010130870036, + -3224.231065897599 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.850625320486378, + 0.04014802960984438, + -0.5242372692541255, + 190.70760139440102 + ], + [ + 0.5257723501168987, + -0.06495383514590954, + 0.8481417454960595, + 3919.7437469818838 + ], + [ + -0.0, + -0.9970803052002806, + -0.07636010130870036, + 3.813580376198 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19070.760139440103, + -391974.3746981884, + 381.3580376198 + ], + "rotation_deg": [ + 0.0, + -4.3793745040893555, + -121.72025299072264 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9997041344282286, + -0.02432372518975168, + -0.0, + -86.47002035984636 + ], + [ + -0.007563559297623014, + -0.3108619852362338, + -0.9504249674254875, + 1226.6023685070472 + ], + [ + 0.02311786432033893, + 0.950143768914598, + -0.31095398814298875, + -3732.3900054556207 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9997041344282286, + -0.007563559297623014, + 0.02311786432033893, + 182.00684498778892 + ], + [ + -0.02432372518975168, + -0.3108619852362338, + 0.950143768914598, + 3925.507886798269 + ], + [ + -0.0, + -0.9504249674254875, + -0.31095398814298875, + 5.191966079313686 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18200.684498778894, + -392550.7886798269, + 519.1966079313686 + ], + "rotation_deg": [ + 0.0, + -18.116731643676765, + -88.60621643066406 + ] + } + } + ] + }, + { + "frame": 166, + "time": 1510.5990283563733, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.018653054197975014, + 0.9998260166494406, + 1.0842021641320916e-19, + -3929.2904135632043 + ], + [ + 0.07322887832995822, + 0.0013661799289071274, + -0.997314225773872, + -16.14731123906617 + ], + [ + -0.9971407101117593, + -0.018602932182738948, + -0.07324162171894656, + 266.32042224569915 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.018653054197975014, + 0.07322887832995822, + -0.9971407101117593, + 193.44821183079438 + ], + [ + 0.9998260166494406, + 0.0013661799289071274, + -0.018602932182738948, + 3933.583191526351 + ], + [ + 1.0842021641320916e-19, + -0.997314225773872, + -0.07324162171894656, + 3.4018032085687304 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19344.82118307944, + -393358.3191526351, + 340.18032085687304 + ], + "rotation_deg": [ + -6.2287498783768346e-18, + -4.200196743011476, + 178.9311981201172 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.7742271620351686, + 0.6329078144303236, + -0.0, + -2634.5332349491628 + ], + [ + -0.21281965048352536, + 0.26033926310024386, + -0.9417702822113746, + -976.5425038847125 + ], + [ + -0.5960537831874091, + 0.7291441217769934, + 0.3362569511936287, + -2748.542613677922 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7742271620351686, + -0.21281965048352536, + -0.5960537831874091, + 193.6205383669095 + ], + [ + 0.6329078144303236, + 0.26033926310024386, + 0.7291441217769934, + 3925.7327818807644 + ], + [ + -0.0, + -0.9417702822113746, + 0.3362569511936287, + 4.537858602719346 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19362.05383669095, + -392573.27818807645, + 453.7858602719346 + ], + "rotation_deg": [ + 0.0, + 19.648990631103505, + -129.26498413085935 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8500316476508329, + 0.5267316185611131, + -1.3877787700938125e-17, + -2226.695854756576 + ], + [ + 0.040120071415333226, + -0.06474517421643643, + -0.997095001634905, + 249.92470698152223 + ], + [ + -0.5252014780019961, + 0.8475622984183067, + -0.07616795785890487, + -3221.6870108599246 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8500316476508329, + 0.040120071415333226, + -0.5252014780019961, + 190.70019498627414 + ], + [ + 0.5267316185611131, + -0.06474517421643643, + 0.8475622984183067, + 3919.6330371147405 + ], + [ + -1.3877787700938125e-17, + -0.997095001634905, + -0.07616795785890487, + 3.809354740087841 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19070.019498627415, + -391963.30371147406, + 380.9354740087841 + ], + "rotation_deg": [ + 7.974552766767344e-16, + -4.36833333969116, + -121.78488922119139 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9997559464267252, + -0.022091799030489103, + -0.0, + -95.2462735560315 + ], + [ + -0.006869532962355458, + -0.31087809638367936, + -0.9504249674254875, + 1226.4980107177273 + ], + [ + 0.020996585957803134, + 0.950193012306493, + -0.31095398814298875, + -3732.07103774812 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9997559464267252, + -0.006869532962355458, + 0.020996585957803134, + 182.00928991187354 + ], + [ + -0.022091799030489103, + -0.31087809638367936, + 0.950193012306493, + 3925.3750325443693 + ], + [ + -0.0, + -0.9504249674254875, + -0.31095398814298875, + 5.191966079313686 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18200.928991187353, + -392537.50325443695, + 519.1966079313686 + ], + "rotation_deg": [ + 0.0, + -18.116731643676765, + -88.73413085937501 + ] + } + } + ] + }, + { + "frame": 167, + "time": 1510.665695026517, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.018732668800694248, + 0.9998245281646193, + -1.0842021641321451e-19, + -3929.1379273792977 + ], + [ + 0.07327185541742012, + 0.0013728182908920327, + -0.9973110600878888, + -16.17994900831499 + ], + [ + -0.9971360604960365, + -0.018682273657586006, + -0.0732847153875069, + 266.63368091203796 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.018732668800694248, + 0.07327185541742012, + -0.9971360604960365, + 193.4524480204761 + ], + [ + 0.9998245281646193, + 0.0013728182908920327, + -0.018682273657586006, + 3933.45201806174 + ], + [ + -1.0842021641321451e-19, + -0.9973110600878888, + -0.0732847153875069, + 3.4037381172023746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19345.24480204761, + -393345.201806174, + 340.3738117202375 + ], + "rotation_deg": [ + 6.228769649807513e-18, + -4.202672481536866, + 178.92663574218753 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.7754944763351619, + 0.6313543515124079, + -0.0, + -2628.5845619917745 + ], + [ + -0.2142455592389746, + 0.26315847411387844, + -0.9406627758386288, + -987.3073636815949 + ], + [ + -0.5938915489943283, + 0.7294787756812171, + 0.3393428117166328, + -2750.2015752065427 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7754944763351619, + -0.2142455592389746, + -0.5938915489943283, + 193.60512282260748 + ], + [ + 0.6313543515124079, + 0.26315847411387844, + 0.7294787756812171, + 3925.600342684806 + ], + [ + -0.0, + -0.9406627758386288, + 0.3393428117166328, + 4.537858602719346 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19360.512282260748, + -392560.0342684806, + 453.7858602719346 + ], + "rotation_deg": [ + 0.0, + 19.836839675903324, + -129.15011596679685 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8494359092998303, + 0.5276918001939868, + -0.0, + -2230.2810912655063 + ], + [ + 0.04009158038945316, + -0.06453620850440203, + -0.9971096945540908, + 249.1000662318643 + ], + [ + -0.5261666236396865, + 0.8469807713591312, + -0.07597537176943076, + -3219.134770257949 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8494359092998303, + 0.04009158038945316, + -0.5261666236396865, + 190.69278380278237 + ], + [ + 0.5276918001939868, + -0.06453620850440203, + 0.8469807713591312, + 3919.522327803348 + ], + [ + -0.0, + -0.9971096945540908, + -0.07597537176943076, + 3.805129103977683 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19069.278380278236, + -391952.23278033483, + 380.5129103977683 + ], + "rotation_deg": [ + 0.0, + -4.357266902923584, + -121.8496322631836 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9998027754627647, + -0.01985976276174896, + -0.0, + -104.02145451608378 + ], + [ + -0.006175472388106977, + -0.3108926580590877, + -0.9504249674254875, + 1226.387569511419 + ], + [ + 0.018875202944525778, + 0.9502375197663865, + -0.31095398814298875, + -3731.7334761915677 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9998027754627647, + -0.006175472388106977, + 0.018875202944525778, + 182.01173094149544 + ], + [ + -0.01985976276174896, + -0.3108926580590877, + 0.9502375197663865, + 3925.242218711189 + ], + [ + -0.0, + -0.9504249674254875, + -0.31095398814298875, + 5.191966079313686 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18201.173094149544, + -392524.2218711189, + 519.1966079313686 + ], + "rotation_deg": [ + 0.0, + -18.116731643676765, + -88.86204528808595 + ] + } + } + ] + }, + { + "frame": 168, + "time": 1510.7323616966605, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.01881228328463568, + 0.99982303334021, + -1.0842021641321982e-19, + -3928.985417761589 + ], + [ + 0.0733146824018338, + 0.0013794606928175107, + -0.9973079035245408, + -16.212571279668868 + ], + [ + -0.9971314136882379, + -0.018761614681523327, + -0.07332765951971155, + 266.9469041816855 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.01881228328463568, + 0.0733146824018338, + -0.9971314136882379, + 193.45667117484888 + ], + [ + 0.99982303334021, + 0.0013794606928175107, + -0.018761614681523327, + 3933.3208461150516 + ], + [ + -1.0842021641321982e-19, + -0.9973079035245408, + -0.07332765951971155, + 3.4056730258360193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19345.66711748489, + -393332.08461150515, + 340.56730258360193 + ], + "rotation_deg": [ + 6.228789364387349e-18, + -4.20513963699341, + 178.92207336425784 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.7767016438294656, + 0.6298686819271188, + -0.0, + -2622.8907290208017 + ], + [ + -0.21559481292133567, + 0.2658535825035404, + -0.9395960564580119, + -997.5990175870207 + ], + [ + -0.5918221417736894, + 0.7297857905421173, + 0.3422853377362523, + -2751.7332732953028 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7767016438294656, + -0.21559481292133567, + -0.5918221417736894, + 193.58969424299653 + ], + [ + 0.6298686819271188, + 0.2658535825035404, + 0.7297857905421173, + 3925.4679050067707 + ], + [ + -0.0, + -0.9395960564580119, + 0.3422853377362523, + 4.537858602719346 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19358.969424299652, + -392546.7905006771, + 453.7858602719346 + ], + "rotation_deg": [ + 0.0, + 20.016170501708988, + -129.0404357910156 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8488380304297001, + 0.5286530034873796, + -0.0, + -2233.869709882605 + ], + [ + 0.04006255855633114, + -0.06432692725587151, + -0.9971243843331372, + 248.27433631233183 + ], + [ + -0.5271328145556631, + 0.8463970897643492, + -0.07578233472957344, + -3216.574037133996 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8488380304297001, + 0.04006255855633114, + -0.5271328145556631, + 190.68535958398158 + ], + [ + 0.5286530034873796, + -0.06432692725587151, + 0.8463970897643492, + 3919.4116200098797 + ], + [ + -0.0, + -0.9971243843331372, + -0.07578233472957344, + 3.800903467867524 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19068.53595839816, + -391941.16200098797, + 380.09034678675243 + ], + "rotation_deg": [ + 0.0, + -4.346174716949462, + -121.91448974609374 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9998446236501946, + -0.017627494371035335, + -5.5511150845733115e-17, + -112.79603436226154 + ], + [ + -0.005481339634605698, + -0.31090567091976806, + -0.9504249674254874, + 1226.271041443425 + ], + [ + 0.016753599316784076, + 0.9502772933033302, + -0.31095398814298864, + -3731.377310257307 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9998446236501946, + -0.005481339634605698, + 0.016753599316784076, + 182.01415972770744 + ], + [ + -0.017627494371035335, + -0.31090567091976806, + 0.9502772933033302, + 3925.109446262765 + ], + [ + -5.5511150845733115e-17, + -0.9504249674254874, + -0.31095398814298864, + 5.191966079313686 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18201.415972770745, + -392510.9446262765, + 519.1966079313686 + ], + "rotation_deg": [ + 3.3464553152762934e-15, + -18.116731643676758, + -88.98996734619142 + ] + } + } + ] + }, + { + "frame": 169, + "time": 1510.7990283668041, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.018891365112135648, + 0.9998215422385138, + -0.0, + -3928.8330284116364 + ], + [ + 0.07335736002266736, + 0.00138606802644786, + -0.9973047561031335, + -16.245023780652282 + ], + [ + -0.9971267797428517, + -0.0188404241547462, + -0.07337045411689944, + 267.2579970613944 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.018891365112135648, + 0.07335736002266736, + -0.9971267797428517, + 193.46087323098334 + ], + [ + 0.9998215422385138, + 0.00138606802644786, + -0.0188404241547462, + 3933.189676627947 + ], + [ + -0.0, + -0.9973047561031335, + -0.07337045411689944, + 3.407607934469664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19346.087323098334, + -393318.9676627947, + 340.7607934469664 + ], + "rotation_deg": [ + 0.0, + -4.207598209381106, + 178.91754150390625 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.7778482268160158, + 0.6284521748225397, + -0.0, + -2617.456995788774 + ], + [ + -0.21686883268127624, + 0.2684230299631382, + -0.9385717800982878, + -1007.411113939767 + ], + [ + -0.5898474885645286, + 0.7300663838741277, + 0.34508407000479363, + -2753.1421326294126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7778482268160158, + -0.21686883268127624, + -0.5898474885645286, + 193.5742445651472 + ], + [ + 0.6284521748225397, + 0.2684230299631382, + 0.7300663838741277, + 3925.3354697883187 + ], + [ + -0.0, + -0.9385717800982878, + 0.34508407000479363, + 4.537858602719346 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19357.42445651472, + -392533.5469788319, + 453.7858602719346 + ], + "rotation_deg": [ + 0.0, + 20.186927795410153, + -128.9360198974609 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8482379355243743, + 0.5296153365767906, + -0.0, + -2237.462113419735 + ], + [ + 0.04003301658617668, + -0.06411733383961009, + -0.997139070082158, + 247.4475288622639 + ], + [ + -0.5281001581407264, + 0.8458111774904012, + -0.07558885502533143, + -3214.0044983727907 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8482379355243743, + 0.04003301658617668, + -0.5281001581407264, + 190.6779142669425 + ], + [ + 0.5296153365767906, + -0.06411733383961009, + 0.8458111774904012, + 3919.3009146759946 + ], + [ + -0.0, + -0.997139070082158, + -0.07558885502533143, + 3.7966778317573655 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19067.79142669425, + -391930.09146759944, + 379.66778317573653 + ], + "rotation_deg": [ + 0.0, + -4.335057258605956, + -121.9794692993164 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9998814857887062, + -0.015395271253528652, + -0.0, + -121.56891535976325 + ], + [ + -0.004787220958988466, + -0.31091713334866405, + -0.9504249674254875, + 1226.148436764843 + ], + [ + 0.014632038717885373, + 0.9503123279748237, + -0.31095398814298875, + -3731.00257127763 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9998814857887062, + -0.004787220958988466, + 0.014632038717885373, + 182.01656811857305 + ], + [ + -0.015395271253528652, + -0.31091713334866405, + 0.9503123279748237, + 3924.976716142427 + ], + [ + -0.0, + -0.9504249674254875, + -0.31095398814298875, + 5.191966079313686 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18201.656811857305, + -392497.6716142427, + 519.1966079313686 + ], + "rotation_deg": [ + 0.0, + -18.116731643676765, + -89.11788177490234 + ] + } + } + ] + }, + { + "frame": 170, + "time": 1510.8656950369477, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.018970180553265114, + 0.9998200499338751, + -1.0842021641323044e-19, + -3928.680689526519 + ], + [ + 0.07339988792079544, + 0.0013926597356584336, + -0.9973016178429046, + -16.2773823476323 + ], + [ + -0.9971221537666793, + -0.018918967636392375, + -0.07341309918040619, + 267.56799543233376 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.018970180553265114, + 0.07339988792079544, + -0.9971221537666793, + 193.46504630757303 + ], + [ + 0.9998200499338751, + 0.0013926597356584336, + -0.018918967636392375, + 3933.0585105247615 + ], + [ + -1.0842021641323044e-19, + -0.9973016178429046, + -0.07341309918040619, + 3.409542843103308 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19346.504630757303, + -393305.85105247615, + 340.9542843103308 + ], + "rotation_deg": [ + 6.228828622508292e-18, + -4.210048198699951, + 178.91302490234375 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.7789346119139027, + 0.6271051509615736, + -0.0, + -2612.284665875726 + ], + [ + -0.21806868561290832, + 0.27086565424954384, + -0.9375915132417876, + -1016.738925553088 + ], + [ + -0.5879684795730975, + 0.7303224705139163, + 0.3477386318644363, + -2754.435515390416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7789346119139027, + -0.21806868561290832, + -0.5879684795730975, + 193.55876590775316 + ], + [ + 0.6271051509615736, + 0.27086565424954384, + 0.7303224705139163, + 3925.2030379537864 + ], + [ + -0.0, + -0.9375915132417876, + 0.3477386318644363, + 4.537858602719346 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19355.876590775315, + -392520.30379537866, + 453.7858602719346 + ], + "rotation_deg": [ + 0.0, + 20.349061965942383, + -128.83686828613284 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8476357605065155, + 0.5305785686498665, + -0.0, + -2241.0574167251293 + ], + [ + 0.04000293513671286, + -0.06390744057639566, + -0.9971537515445761, + 246.6196963192005 + ], + [ + -0.5290684241414805, + 0.8452231697652245, + -0.0753949326445563, + -3211.42673362981 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8476357605065155, + 0.04000293513671286, + -0.5290684241414805, + 190.67043997035864 + ], + [ + 0.5305785686498665, + -0.06390744057639566, + 0.8452231697652245, + 3919.190212726029 + ], + [ + -0.0, + -0.9971537515445761, + -0.0753949326445563, + 3.7924521956472073 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19067.043997035864, + -391919.0212726029, + 379.24521956472074 + ], + "rotation_deg": [ + 0.0, + -4.323914527893067, + -122.0445556640625 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.99991336433905, + -0.01316297140323596, + -0.0, + -130.3405690923762 + ], + [ + -0.004093078423005632, + -0.31092704611095545, + -0.9504249674254875, + 1226.0197524900327 + ], + [ + 0.012510405190287009, + 0.9503426261196251, + -0.31095398814298875, + -3730.6092501269895 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.99991336433905, + -0.004093078423005632, + 0.012510405190287009, + 182.0189481437752 + ], + [ + -0.01316297140323596, + -0.31092704611095545, + 0.9503426261196251, + 3924.8440292759815 + ], + [ + -0.0, + -0.9504249674254875, + -0.31095398814298875, + 5.191966079313686 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18201.89481437752, + -392484.40292759816, + 519.1966079313686 + ], + "rotation_deg": [ + 0.0, + -18.116731643676765, + -89.2457962036133 + ] + } + } + ] + }, + { + "frame": 171, + "time": 1510.9323617070913, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.01904872960872703, + 0.9998185564892731, + 1.0842021641323571e-19, + -3928.528402421279 + ], + [ + 0.073442266102692, + 0.0013992357510893712, + -0.9972984887630252, + -16.30964614429551 + ], + [ + -0.9971175358416667, + -0.01899724513220262, + -0.07345559471156428, + 267.8768917629762 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.01904872960872703, + 0.073442266102692, + -0.9971175358416667, + 193.46918269003015 + ], + [ + 0.9998185564892731, + 0.0013992357510893712, + -0.01899724513220262, + 3932.927348715548 + ], + [ + 1.0842021641323571e-19, + -0.9972984887630252, + -0.07345559471156428, + 3.411477751736953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19346.918269003014, + -393292.73487155477, + 341.14777517369527 + ], + "rotation_deg": [ + -6.228848165807352e-18, + -4.212489604949951, + 178.9085235595703 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.7799608338092242, + 0.625828329275385, + -0.0, + -2607.3765374848067 + ], + [ + -0.2191955157354789, + 0.2731802144818812, + -0.9366567654680613, + -1025.5774026254455 + ], + [ + -0.5861863507458214, + 0.730555580827121, + 0.3502486338612118, + -2755.619206599116 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7799608338092242, + -0.2191955157354789, + -0.5861863507458214, + 193.54325055622652 + ], + [ + 0.625828329275385, + 0.2731802144818812, + 0.730555580827121, + 3925.0706104132255 + ], + [ + -0.0, + -0.9366567654680613, + 0.3502486338612118, + 4.537858602719346 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19354.325055622652, + -392507.06104132254, + 453.7858602719346 + ], + "rotation_deg": [ + 0.0, + 20.502523422241218, + -128.74301147460935 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8470314299869869, + 0.5315428078849338, + 6.938893850461134e-18, + -2244.6560231437848 + ], + [ + 0.03997231612320906, + -0.06369723676717126, + -0.9971684290890747, + 245.79079683804258 + ], + [ + -0.5300377206531156, + 0.8446329916415621, + -0.07520055927634207, + -3208.840434249407 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8470314299869869, + 0.03997231612320906, + -0.5300377206531156, + 190.66292897964223 + ], + [ + 0.5315428078849338, + -0.06369723676717126, + 0.8446329916415621, + 3919.0795150700346 + ], + [ + 6.938893850461134e-18, + -0.9971684290890747, + -0.07520055927634207, + 3.7882265595370486 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19066.292897964224, + -391907.95150700345, + 378.82265595370484 + ], + "rotation_deg": [ + -3.9869827764563917e-16, + -4.312746047973633, + -122.10975646972656 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9999402605978274, + -0.010930472796241045, + -0.0, + -139.11146711249285 + ], + [ + -0.0033988740828340366, + -0.31093540960982585, + -0.9504249674254874, + 1225.8849842286754 + ], + [ + 0.010388582759411678, + 0.9503681889700546, + -0.3109539881429888, + -3730.1973333864457 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9999402605978274, + -0.0033988740828340366, + 0.010388582759411678, + 182.0212919997124 + ], + [ + -0.010930472796241045, + -0.31093540960982585, + 0.9503681889700546, + 3924.7113865747506 + ], + [ + -0.0, + -0.9504249674254874, + -0.3109539881429888, + 5.191966079313686 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18202.129199971238, + -392471.13865747506, + 519.1966079313686 + ], + "rotation_deg": [ + 0.0, + -18.11673164367677, + -89.37371826171876 + ] + } + } + ] + }, + { + "frame": 172, + "time": 1510.999028377235, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.019127012279229756, + 0.9998170619674734, + -0.0, + -3928.3761683981475 + ], + [ + 0.07348449457482359, + 0.0014057960036206792, + -0.9972953688825987, + -16.341814345224638 + ], + [ + -0.9971129260494799, + -0.019075256647911824, + -0.07349794071170276, + 268.18467867371703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.019127012279229756, + 0.07348449457482359, + -0.9971129260494799, + 193.47327481600553 + ], + [ + 0.9998170619674734, + 0.0014057960036206792, + -0.019075256647911824, + 3932.7961920989665 + ], + [ + -0.0, + -0.9972953688825987, + -0.07349794071170276, + 3.413412660370597 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19347.327481600554, + -393279.61920989666, + 341.3412660370597 + ], + "rotation_deg": [ + 0.0, + -4.214922428131104, + 178.90403747558594 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.7809267446735474, + 0.6246226216313142, + 2.7755575429819735e-17, + -2602.7361304665865 + ], + [ + -0.22025049432804586, + 0.27536546963210023, + -0.9357689767685954, + -1033.9214905346673 + ], + [ + -0.5845024836066113, + 0.730767009858855, + 0.3526137035902766, + -2756.698038695697 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7809267446735474, + -0.22025049432804586, + -0.5845024836066113, + 193.52769094821818 + ], + [ + 0.6246226216313142, + 0.27536546963210023, + 0.730767009858855, + 3924.9381880652973 + ], + [ + 2.7755575429819735e-17, + -0.9357689767685954, + 0.3526137035902766, + 4.537858602719346 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19352.76909482182, + -392493.81880652974, + 453.7858602719346 + ], + "rotation_deg": [ + -1.6994337084096397e-15, + 20.647264480590824, + -128.6544952392578 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8464248680628143, + 0.5325081621204012, + -0.0, + -2248.2583346903825 + ], + [ + 0.03994116573568386, + -0.0634867187828331, + -0.9971831024530369, + 244.96081545938208 + ], + [ + -0.5310081551034391, + 0.8440405671201533, + -0.07500573490828576, + -3206.245287522758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8464248680628143, + 0.03994116573568386, + -0.5310081551034391, + 190.6553737324441 + ], + [ + 0.5325081621204012, + -0.0634867187828331, + 0.8440405671201533, + 3918.968822606673 + ], + [ + -0.0, + -0.9971831024530369, + -0.07500573490828576, + 3.78400092342689 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19065.53737324441, + -391896.8822606673, + 378.400092342689 + ], + "rotation_deg": [ + 0.0, + -4.301551818847656, + -122.17507934570312 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.999962171222746, + -0.008698052856332244, + -5.5511150845733115e-17, + -147.88051256007387 + ], + [ + -0.002704694204506471, + -0.31094222280597583, + -0.9504249674254874, + 1225.7441445559787 + ], + [ + 0.008266835095756537, + 0.950389013349518, + -0.31095398814298864, + -3729.7668594919023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.999962171222746, + -0.002704694204506471, + 0.008266835095756537, + 182.0235920350191 + ], + [ + -0.008698052856332244, + -0.31094222280597583, + 0.950389013349518, + 3924.5787889384687 + ], + [ + -5.5511150845733115e-17, + -0.9504249674254874, + -0.31095398814298864, + 5.191966079313686 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18202.35920350191, + -392457.8788938469, + 519.1966079313686 + ], + "rotation_deg": [ + 3.3464553152762934e-15, + -18.116731643676758, + -89.50163269042969 + ] + } + } + ] + }, + { + "frame": 173, + "time": 1511.0656950473785, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.019205028565486965, + 0.9998155664310289, + -1.0842021641324624e-19, + -3928.223988749534 + ], + [ + 0.07352658164196214, + 0.00141234058377096, + -0.9972922576086326, + -16.373888369396422 + ], + [ + -0.9971083238595878, + -0.01915300217749795, + -0.07354014548199095, + 268.49134878660357 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.019205028565486965, + 0.07352658164196214, + -0.9971083238595878, + 193.47731526129346 + ], + [ + 0.9998155664310289, + 0.00141234058377096, + -0.01915300217749795, + 3932.6650415650843 + ], + [ + -1.0842021641324624e-19, + -0.9972922576086326, + -0.07354014548199095, + 3.4153475690042416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19347.731526129344, + -393266.5041565084, + 341.53475690042416 + ], + "rotation_deg": [ + 6.228887084103285e-18, + -4.217347145080568, + 178.89956665039065 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.7818325132979925, + 0.6234885092366534, + -0.0, + -2598.365335296763 + ], + [ + -0.22123461790717877, + 0.2774203770950944, + -0.9349295044076211, + -1041.7669483393672 + ], + [ + -0.582917815028924, + 0.7309582732751974, + 0.35483351540186725, + -2757.6777955590733 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7818325132979925, + -0.22123461790717877, + -0.582917815028924, + 193.51207965952233 + ], + [ + 0.6234885092366534, + 0.2774203770950944, + 0.7309582732751974, + 3924.8057718000678 + ], + [ + -0.0, + -0.9349295044076211, + 0.35483351540186725, + 4.537858602719346 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19351.20796595223, + -392480.5771800068, + 453.7858602719346 + ], + "rotation_deg": [ + 0.0, + 20.783241271972656, + -128.5713348388672 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8458162114251394, + 0.5334744009701158, + -0.0, + -2251.8634685453303 + ], + [ + 0.03990946920178006, + -0.0632759059832167, + -0.9971977707506344, + 244.12983130217674 + ], + [ + -0.5319794973163021, + 0.843446031669238, + -0.07481046782709835, + -3203.6418737678437 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8458162114251394, + 0.03990946920178006, + -0.5319794973163021, + 190.64776680455844 + ], + [ + 0.5334744009701158, + -0.0632759059832167, + 0.843446031669238, + 3918.8581362260097 + ], + [ + -0.0, + -0.9971977707506344, + -0.07481046782709835, + 3.7797752873167316 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19064.776680455845, + -391885.813622601, + 377.97752873167315 + ], + "rotation_deg": [ + 0.0, + -4.290332317352295, + -122.24050903320311 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9999790978573466, + -0.0064655895637720055, + -5.5511150845733115e-17, + -156.6481773711813 + ], + [ + -0.0020105008454990936, + -0.31094748621047136, + -0.9504249674254874, + 1225.5972295420506 + ], + [ + 0.006145046228716003, + 0.9504051008200752, + -0.3109539881429887, + -3729.3178164317064 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9999790978573466, + -0.0020105008454990936, + 0.006145046228716003, + 182.0258407364711 + ], + [ + -0.0064655895637720055, + -0.31094748621047136, + 0.9504051008200752, + 3924.446237258075 + ], + [ + -5.5511150845733115e-17, + -0.9504249674254874, + -0.3109539881429887, + 5.191966079313686 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18202.58407364711, + -392444.6237258075, + 519.1966079313686 + ], + "rotation_deg": [ + 3.3464553152762934e-15, + -18.11673164367676, + -89.62954711914062 + ] + } + } + ] + }, + { + "frame": 174, + "time": 1511.1323617175221, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.019282778468219828, + 0.9998140699422796, + -1.0842021641325148e-19, + -3928.0718647609065 + ], + [ + 0.07356851901217024, + 0.0014188692647909974, + -0.9972891555714246, + -16.405865180836013 + ], + [ + -0.9971037299643133, + -0.01923048173833479, + -0.073582200723856, + 268.7968951199183 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.019282778468219828, + 0.07356851901217024, + -0.9971037299643133, + 193.4812967260579 + ], + [ + 0.9998140699422796, + 0.0014188692647909974, + -0.01923048173833479, + 3932.533897998061 + ], + [ + -1.0842021641325148e-19, + -0.9972891555714246, + -0.073582200723856, + 3.417282477637886 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19348.12967260579, + -393253.3897998061, + 341.7282477637886 + ], + "rotation_deg": [ + 6.228906458865048e-18, + -4.2197632789611825, + 178.89511108398438 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.7826781242780793, + 0.6224266653803862, + -2.7755575430604106e-17, + -2594.2667604853045 + ], + [ + -0.22214890389838948, + 0.27934389235616086, + -0.9341396331919835, + -1049.109524482815 + ], + [ + -0.5814334289607165, + 0.731130645029964, + 0.35690775781012707, + -2758.5632831935495 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7826781242780793, + -0.22214890389838948, + -0.5814334289607165, + 193.49640939030306 + ], + [ + 0.6224266653803862, + 0.27934389235616086, + 0.731130645029964, + 3924.6733625016977 + ], + [ + -2.7755575430604106e-17, + -0.9341396331919835, + 0.35690775781012707, + 4.537858602719346 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19349.640939030305, + -392467.3362501698, + 453.7858602719346 + ], + "rotation_deg": [ + 1.7023978920747245e-15, + 20.910411834716786, + -128.4935607910156 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8452053131334654, + 0.5344417448618332, + -0.0, + -2255.4722546653124 + ], + [ + 0.0398772367253535, + -0.06306478241527183, + -0.9972124343438886, + 243.29778033014654 + ], + [ + -0.5329519673227223, + 0.8428492389809766, + -0.07461474972167817, + -3201.029583217314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8452053131334654, + 0.0398772367253535, + -0.5329519673227223, + 190.6401008961494 + ], + [ + 0.5344417448618332, + -0.06306478241527183, + 0.8428492389809766, + 3918.7474568122066 + ], + [ + -0.0, + -0.9972124343438886, + -0.07461474972167817, + 3.775549651206573 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19064.010089614938, + -391874.74568122067, + 377.5549651206573 + ], + "rotation_deg": [ + 0.0, + -4.27908706665039, + -122.30606079101562 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9999910404172636, + -0.004233094045556672, + 2.7755575422866557e-17, + -165.41441072641413 + ], + [ + -0.0013162974657957398, + -0.3109511997970784, + -0.9504249674254874, + 1225.4442407029944 + ], + [ + 0.004023226733664622, + 0.9504164513015438, + -0.31095398814298875, + -3728.8502088398022 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9999910404172636, + -0.0013162974657957398, + 0.004023226733664622, + 182.0280307152123 + ], + [ + -0.004233094045556672, + -0.3109511997970784, + 0.9504164513015438, + 3924.3137324184063 + ], + [ + 2.7755575422866557e-17, + -0.9504249674254874, + -0.31095398814298875, + 5.191966079313686 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18202.80307152123, + -392431.3732418406, + 519.1966079313686 + ], + "rotation_deg": [ + -1.6732276576381467e-15, + -18.116731643676765, + -89.75746154785158 + ] + } + } + ] + }, + { + "frame": 175, + "time": 1511.1990283876657, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.019360261988152442, + 0.9998125725633531, + 1.0842021641325666e-19, + -3927.9197977136146 + ], + [ + 0.07361031499012849, + 0.0014253821389598603, + -0.9972860621771525, + -16.43774622048843 + ], + [ + -0.9970991438318713, + -0.01930769532428096, + -0.07362411473840928, + 269.1013105302027 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.019360261988152442, + 0.07361031499012849, + -0.9970991438318713, + 193.48521202133455 + ], + [ + 0.9998125725633531, + 0.0014253821389598603, + -0.01930769532428096, + 3932.402762278778 + ], + [ + 1.0842021641325666e-19, + -0.9972860621771525, + -0.07362411473840928, + 3.41921738627153 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19348.521202133456, + -393240.2762278778, + 341.921738627153 + ], + "rotation_deg": [ + -6.2289257797646265e-18, + -4.222171306610109, + 178.8906707763672 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.7834635445171664, + 0.6214377478175893, + 2.7755575430960646e-17, + -2590.4429498796767 + ], + [ + -0.22299433549364367, + 0.28113505030335284, + -0.9334005623678824, + -1055.9452866352322 + ], + [ + -0.5800503553525166, + 0.7312853021766477, + 0.35883616327765644, + -2759.35893727794 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7834635445171664, + -0.22299433549364367, + -0.5800503553525166, + 193.48067295159595 + ], + [ + 0.6214377478175893, + 0.28113505030335284, + 0.7312853021766477, + 3924.5409610510674 + ], + [ + 2.7755575430960646e-17, + -0.9334005623678824, + 0.35883616327765644, + 4.537858602719346 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19348.067295159595, + -392454.09610510676, + 453.7858602719346 + ], + "rotation_deg": [ + -1.7037458585150706e-15, + 21.02873802185059, + -128.42120361328122 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8445923103929007, + 0.5354099636962147, + -0.0, + -2259.0838117431686 + ], + [ + 0.03984444921847301, + -0.06285336042206463, + -0.9972270929683622, + 242.4647149716768 + ], + [ + -0.5339253355547839, + 0.8422503255666927, + -0.07441858057979465, + -3198.409000082183 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8445923103929007, + 0.03984444921847301, + -0.5339253355547839, + 190.6323688182525 + ], + [ + 0.5354099636962147, + -0.06285336042206463, + 0.8422503255666927, + 3918.636785246143 + ], + [ + -0.0, + -0.9972270929683622, + -0.07441858057979465, + 3.7713240150964147 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19063.23688182525, + -391863.6785246143, + 377.13240150964145 + ], + "rotation_deg": [ + 0.0, + -4.267816066741943, + -122.37171936035155 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9999979991093573, + -0.0020004442710569183, + 2.7755575422866557e-17, + -174.17968452005917 + ], + [ + -0.0006220461194859877, + -0.31095336363012094, + -0.9504249674254874, + 1225.2851723922893 + ], + [ + 0.0019012606296459876, + 0.9504230649905275, + -0.3109539881429887, + -3728.3640194577015 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9999979991093573, + -0.0006220461194859877, + 0.0019012606296459876, + 182.03015469325675 + ], + [ + -0.0020004442710569183, + -0.31095336363012094, + 0.9504230649905275, + 3924.181275300818 + ], + [ + 2.7755575422866557e-17, + -0.9504249674254874, + -0.3109539881429887, + 5.191966079313686 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18203.015469325674, + -392418.1275300818, + 519.1966079313686 + ], + "rotation_deg": [ + -1.6732276576381467e-15, + -18.11673164367676, + -89.88538360595703 + ] + } + } + ] + }, + { + "frame": 176, + "time": 1511.2656950578094, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.01943747912601621, + 0.9998110743561633, + -1.0842021641326189e-19, + -3927.7677794988817 + ], + [ + 0.07365196128396075, + 0.001431878978705089, + -0.9972829780566878, + -16.45268922077181 + ], + [ + -0.997094566154729, + -0.019384642952809537, + -0.07366587922712337, + 269.4058998705095 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.01943747912601621, + 0.07365196128396075, + -0.997094566154729, + 193.4891218100508 + ], + [ + 0.9998110743561633, + 0.001431878978705089, + -0.019384642952809537, + 3932.271627214088 + ], + [ + -1.0842021641326189e-19, + -0.9972829780566878, + -0.07366587922712337, + 3.4380424058747177 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19348.91218100508, + -393227.16272140876, + 343.8042405874718 + ], + "rotation_deg": [ + 6.2289450428606515e-18, + -4.224570751190186, + 178.88624572753906 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.784188887980305, + 0.6205221897468393, + 2.775557543129259e-17, + -2586.8956423797313 + ], + [ + -0.22377178389512092, + 0.2827930238009314, + -0.9327134042255, + -1062.2550954742107 + ], + [ + -0.5787693760494441, + 0.7314234764120887, + 0.3606185068747751, + -2760.075501277433 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.784188887980305, + -0.22377178389512092, + -0.5787693760494441, + 193.46493100632844 + ], + [ + 0.6205221897468393, + 0.2827930238009314, + 0.7314234764120887, + 3924.4085602550304 + ], + [ + 2.775557543129259e-17, + -0.9327134042255, + 0.3606185068747751, + 4.554748713688889 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19346.493100632844, + -392440.856025503, + 455.47487136888896 + ], + "rotation_deg": [ + -1.7050010595799893e-15, + 21.13818550109864, + -128.35427856445315 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8439770557471485, + 0.5363792775381749, + -0.0, + -2262.699021242888 + ], + [ + 0.03981112118324282, + -0.0626416311167705, + -0.9972417463590078, + 241.6474383709509 + ], + [ + -0.5348998213522825, + 0.8416491440697059, + -0.07422196038927587, + -3195.778213908451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8439770557471485, + 0.03981112118324282, + -0.5348998213522825, + 190.62463123379518 + ], + [ + 0.5363792775381749, + -0.0626416311167705, + 0.8416491440697059, + 3918.5261143346725 + ], + [ + -0.0, + -0.9972417463590078, + -0.07422196038927587, + 3.7839884899557994 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19062.46312337952, + -391852.61143346725, + 378.39884899557995 + ], + "rotation_deg": [ + 0.0, + -4.256519317626953, + -122.43750000000003 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9999999730688985, + 0.00023208231715463975, + 2.7755575422866557e-17, + -182.9429706939379 + ], + [ + 7.21669215564522e-05, + -0.31095397744070824, + -0.9504249674254874, + 1225.136090554495 + ], + [ + -0.00022058839499031378, + 0.950424941065169, + -0.31095398814298875, + -3727.8540364655914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9999999730688985, + 7.21669215564522e-05, + -0.00022058839499031378, + 182.0322732445095 + ], + [ + 0.00023208231715463975, + -0.31095397744070824, + 0.950424941065169, + 3924.04885871244 + ], + [ + 2.7755575422866557e-17, + -0.9504249674254874, + -0.31095398814298875, + 5.208856190283229 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18203.22732445095, + -392404.885871244, + 520.8856190283229 + ], + "rotation_deg": [ + -1.6732276576381467e-15, + -18.116731643676765, + -90.01329803466797 + ] + } + } + ] + }, + { + "frame": 177, + "time": 1511.332361727953, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.019514429882547084, + 0.9998095753824122, + 1.0842021641326708e-19, + -3927.615781168806 + ], + [ + 0.07369346619825597, + 0.0014383598780574529, + -0.9972799026153827, + -16.484400254305548 + ], + [ + -0.9970899963998526, + -0.019461324617663252, + -0.07370750249105178, + 269.708386441585 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.019514429882547084, + 0.07369346619825597, + -0.9970899963998526, + 193.49323823997184 + ], + [ + 0.9998095753824122, + 0.0014383598780574529, + -0.019461324617663252, + 3932.1404677440582 + ], + [ + 1.0842021641326708e-19, + -0.9972799026153827, + -0.07370750249105178, + 3.4399773145083623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19349.323823997183, + -393214.0467744058, + 343.9977314508362 + ], + "rotation_deg": [ + -6.228964251866187e-18, + -4.226962089538574, + 178.88183593750003 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.7848544140761168, + 0.6196801987357959, + -0.0, + -2583.6258273814697 + ], + [ + -0.22448192706821077, + 0.28431702626489097, + -0.9320792310719255, + -1068.067241144528 + ], + [ + -0.5775910551923382, + 0.7315464879406728, + 0.36225448091565204, + -2760.7057618488843 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7848544140761168, + -0.22448192706821077, + -0.5775910551923382, + 193.44939570226572 + ], + [ + 0.6196801987357959, + 0.28431702626489097, + 0.7315464879406728, + 3924.2761350536534 + ], + [ + -0.0, + -0.9320792310719255, + 0.36225448091565204, + 4.554748713688889 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19344.939570226572, + -392427.6135053653, + 455.47487136888896 + ], + "rotation_deg": [ + 0.0, + 21.23871612548829, + -128.29278564453125 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8433596153641656, + 0.5373495688774732, + 3.4694469252258153e-18, + -2266.3176004749566 + ], + [ + 0.03977724195694699, + -0.06242960154808919, + -0.9972563942501672, + 240.81228346453238 + ], + [ + -0.5358753074175462, + 0.8410457601630578, + -0.0740248891380093, + -3193.139880979065 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8433596153641656, + 0.03977724195694699, + -0.5358753074175462, + 190.61710029054268 + ], + [ + 0.5373495688774732, + -0.06242960154808919, + 0.8410457601630578, + 3918.4154190178624 + ], + [ + 3.4694469252258153e-18, + -0.9972563942501672, + -0.0740248891380093, + 3.779762853845641 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19061.71002905427, + -391841.54190178623, + 377.9762853845641 + ], + "rotation_deg": [ + -1.9933155479981054e-16, + -4.245196819305421, + -122.5033950805664 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9999969628497104, + 0.002464607748626169, + -5.5511150845733115e-17, + -191.70496046762622 + ], + [ + 0.0007663796029058904, + -0.31095304140105345, + -0.9504249674254874, + 1224.9648760640378 + ], + [ + -0.002342436320174583, + 0.9504220800518349, + -0.3109539881429887, + -3727.3307225146496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9999969628497104, + 0.0007663796029058904, + -0.002342436320174583, + 182.03459842771306 + ], + [ + 0.002464607748626169, + -0.31095304140105345, + 0.9504220800518349, + 3923.9164575934205 + ], + [ + -5.5511150845733115e-17, + -0.9504249674254874, + -0.3109539881429887, + 5.208856190283229 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18203.459842771306, + -392391.64575934206, + 520.8856190283229 + ], + "rotation_deg": [ + 3.3464553152762934e-15, + -18.11673164367676, + -90.14121246337889 + ] + } + } + ] + }, + { + "frame": 178, + "time": 1511.3990283980966, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.019590847993493064, + 0.9998080809209817, + -0.0, + -3927.463827964843 + ], + [ + 0.07373482182597606, + 0.0014448049718595519, + -0.9972768364846767, + -16.515981426186816 + ], + [ + -0.997085440463028, + -0.019537474796501638, + -0.07374897623171218, + 270.0093223832702 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.019590847993493064, + 0.07373482182597606, + -0.997085440463028, + 193.497914572696 + ], + [ + 0.9998080809209817, + 0.0014448049718595519, + -0.019537474796501638, + 3932.009243789054 + ], + [ + -0.0, + -0.9972768364846767, + -0.07374897623171218, + 3.4419122231420065 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19349.7914572696, + -393200.9243789054, + 344.1912223142007 + ], + "rotation_deg": [ + 0.0, + -4.229344844818118, + 178.87745666503906 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.7854597022073873, + 0.6189128017808992, + -0.0, + -2580.6376803112753 + ], + [ + -0.22512579996572238, + 0.2857062308154915, + -0.931498966109463, + -1073.3624677675953 + ], + [ + -0.5765166470067027, + 0.7316548897075009, + 0.36374397327138464, + -2761.2574850343526 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7854597022073873, + -0.22512579996572238, + -0.5765166470067027, + 193.43442030100613 + ], + [ + 0.6189128017808992, + 0.2857062308154915, + 0.7316548897075009, + 3924.1436453673023 + ], + [ + -0.0, + -0.931498966109463, + 0.36374397327138464, + 4.554748713688889 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19343.442030100614, + -392414.3645367302, + 455.47487136888896 + ], + "rotation_deg": [ + 0.0, + 21.330305099487312, + -128.23678588867188 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8427399842465498, + 0.5383208327309326, + 3.4694469252250257e-18, + -2269.939804364148 + ], + [ + 0.039742809274311584, + -0.06221727346466567, + -0.9972710363755725, + 239.97608440178757 + ], + [ + -0.5368517886646047, + 0.8404401685527257, + -0.07382736681394225, + -3190.4925014358932 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8427399842465498, + 0.039742809274311584, + -0.5368517886646047, + 190.6101292500933 + ], + [ + 0.5383208327309326, + -0.06221727346466567, + 0.8404401685527257, + 3918.304659216077 + ], + [ + 3.4694469252250257e-18, + -0.9972710363755725, + -0.07382736681394225, + 3.7755372177354825 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19061.01292500933, + -391830.46592160774, + 377.55372177354826 + ], + "rotation_deg": [ + -1.9932862817549136e-16, + -4.233848571777344, + -122.56940460205078 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9999889684667965, + 0.004697120896051878, + -5.5511150845733115e-17, + -200.4659632305636 + ], + [ + 0.0014605884644823977, + -0.3109505555158222, + -0.9504249674254874, + 1224.7875695588184 + ], + [ + -0.004464272570237075, + 0.9504144819647842, + -0.31095398814298864, + -3726.788788435721 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9999889684667965, + 0.0014605884644823977, + -0.004464272570237075, + 182.03748341544306 + ], + [ + 0.004697120896051878, + -0.3109505555158222, + 0.9504144819647842, + 3923.7840318640037 + ], + [ + -5.5511150845733115e-17, + -0.9504249674254874, + -0.31095398814298864, + 5.208856190283229 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18203.748341544306, + -392378.40318640036, + 520.8856190283229 + ], + "rotation_deg": [ + 3.3464553152762934e-15, + -18.116731643676758, + -90.26912689208982 + ] + } + } + ] + }, + { + "frame": 179, + "time": 1511.4656950682402, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.01966726598998962, + 0.9998065806187111, + -1.0842021641327738e-19, + -3927.311718520403 + ], + [ + 0.07377604400186455, + 0.0014512537816823946, + -0.9972737784549915, + -16.429816368846875 + ], + [ + -0.9970808868099058, + -0.01961362455191122, + -0.07379031704979022, + 270.3199815012873 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.01966726598998962, + 0.07377604400186455, + -0.9970808868099058, + 193.5036238729273 + ], + [ + 0.9998065806187111, + 0.0014512537816823946, + -0.01961362455191122, + 3931.8779071532435 + ], + [ + -1.0842021641327738e-19, + -0.9972737784549915, + -0.07379031704979022, + 3.5619789260832135 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19350.36238729273, + -393187.79071532434, + 356.19789260832135 + ], + "rotation_deg": [ + 6.229002503324878e-18, + -4.231719970703125, + 178.87307739257812 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.7860051371492313, + 0.618219964393757, + -0.0, + -2577.931456517779 + ], + [ + -0.22570390039823704, + 0.2869600391530549, + -0.9309735148081818, + -1078.0282782740032 + ], + [ + -0.5755464252045908, + 0.7317499543837112, + 0.36508672489376126, + -2761.778443759157 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7860051371492313, + -0.22570390039823704, + -0.5755464252045908, + 193.4204778672537 + ], + [ + 0.618219964393757, + 0.2869600391530549, + 0.7317499543837112, + 3924.0110430001446 + ], + [ + -0.0, + -0.9309735148081818, + 0.36508672489376126, + 4.672880507996452 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19342.047786725372, + -392401.10430001444, + 467.2880507996452 + ], + "rotation_deg": [ + 0.0, + 21.41291999816895, + -128.1862640380859 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8421181573968194, + 0.5392930640964941, + -3.469446925224235e-18, + -2273.565983237561 + ], + [ + 0.039707820869958936, + -0.062004648625092834, + -0.9972856724683442, + 239.2566380638008 + ], + [ + -0.5378292599869696, + 0.8398323639445364, + -0.07362939340508266, + -3187.8270618575034 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8421181573968194, + 0.039707820869958936, + -0.5378292599869696, + 190.6041911771511 + ], + [ + 0.5392930640964941, + -0.062004648625092834, + 0.8398323639445364, + 3918.1937867334864 + ], + [ + -3.469446925224235e-18, + -0.9972856724683442, + -0.07362939340508266, + 3.8894433759328866 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19060.41911771511, + -391819.37867334863, + 388.94433759328865 + ], + "rotation_deg": [ + 1.9932570284284103e-16, + -4.222474575042725, + -122.63552856445312 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9999759890372598, + 0.006929743787043641, + -0.0, + -209.22693002968455 + ], + [ + 0.0021548314512582407, + -0.31094651951047425, + -0.9504249674254875, + 1224.7164219053188 + ], + [ + -0.006586213123267754, + 0.9504021459648885, + -0.31095398814298875, + -3726.1914256693426 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9999759890372598, + 0.0021548314512582407, + -0.006586213123267754, + 182.0414011833813 + ], + [ + 0.006929743787043641, + -0.31094651951047425, + 0.9504021459648885, + 3923.6515333280386 + ], + [ + -0.0, + -0.9504249674254875, + -0.31095398814298875, + 5.326987984590792 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18204.14011833813, + -392365.15333280386, + 532.6987984590792 + ], + "rotation_deg": [ + 0.0, + -18.116731643676765, + -90.3970489501953 + ] + } + } + ] + }, + { + "frame": 180, + "time": 1511.5323617383838, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.01974368387159078, + 0.9998050744756093, + -1.0842021641328255e-19, + -3927.159596383601 + ], + [ + 0.07381711613085347, + 0.0014577059492966492, + -0.997270729771755, + -16.448824055994063 + ], + [ + -0.9970763366856965, + -0.01968977390989521, + -0.07383150834710778, + 270.6227557915871 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.01974368387159078, + 0.07381711613085347, + -0.9970763366856965, + 193.50924746601208 + ], + [ + 0.9998050744756093, + 0.0014577059492966492, + -0.01968977390989521, + 3931.746579555591 + ], + [ + -1.0842021641328255e-19, + -0.997270729771755, + -0.07383150834710778, + 3.5765623218079226 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19350.92474660121, + -393174.6579555591, + 357.65623218079224 + ], + "rotation_deg": [ + 6.229021545552068e-18, + -4.234086513519286, + 178.8686981201172 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.7864907527139975, + 0.6176020530206885, + -2.7755575432362837e-17, + -2575.5077705455583 + ], + [ + -0.22621690822779109, + 0.2880779064099853, + -0.9305036433406902, + -1082.2709778992055 + ], + [ + -0.5746809724920252, + 0.7318325000611352, + 0.3662826391052252, + -2762.1909970697984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7864907527139975, + -0.22621690822779109, + -0.5746809724920252, + 193.40644972635477 + ], + [ + 0.6176020530206885, + 0.2880779064099853, + 0.7318325000611352, + 3923.878449671145 + ], + [ + -2.7755575432362837e-17, + -0.9305036433406902, + 0.3662826391052252, + 4.685528995087516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19340.644972635477, + -392387.8449671145, + 468.55289950875164 + ], + "rotation_deg": [ + 1.7090500976877962e-15, + 21.486539840698246, + -128.14123535156253 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.841494129817474, + 0.5402662579531803, + -0.0, + -2277.195238334231 + ], + [ + 0.039672269994284956, + -0.06179172181361319, + -0.9973003028721135, + 238.43097124980952 + ], + [ + -0.5388077165877562, + 0.8392223415584871, + -0.07343096059958898, + -3185.160737880609 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.841494129817474, + 0.039672269994284956, + -0.5388077165877562, + 190.59816739706235 + ], + [ + 0.5402662579531803, + -0.06179172181361319, + 0.8392223415584871, + 3918.0829232890537 + ], + [ + -0.0, + -0.9973003028721135, + -0.07343096059958898, + 3.8978662269137927 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 19059.816739706235, + -391808.2923289054, + 389.78662269137925 + ], + "rotation_deg": [ + 0.0, + -4.211074352264404, + -122.70176696777344 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.9999580261740029, + 0.009162198982368601, + -0.0, + -217.985654388937 + ], + [ + 0.0028490222923980343, + -0.31094093388654787, + -0.9504249674254875, + 1224.5389609013178 + ], + [ + -0.00870799429409047, + 0.9503850735850939, + -0.31095398814298875, + -3725.6083429724663 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9999580261740029, + 0.0028490222923980343, + -0.00870799429409047, + 182.0452329678529 + ], + [ + 0.009162198982368601, + -0.31094093388654787, + 0.9503850735850939, + 3923.5190837039722 + ], + [ + -0.0, + -0.9504249674254875, + -0.31095398814298875, + 5.339636471681856 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 18204.52329678529, + -392351.9083703972, + 533.9636471681856 + ], + "rotation_deg": [ + 0.0, + -18.116731643676765, + -90.52496337890626 + ] + } + } + ] + } + ] +} \ No newline at end of file diff --git a/clips/clip_00243/caption.txt b/clips/clip_00243/caption.txt new file mode 100644 index 0000000000000000000000000000000000000000..6db5e8c2c31cbfe5ab5232958e5c6a312d7618b0 --- /dev/null +++ b/clips/clip_00243/caption.txt @@ -0,0 +1 @@ +A dark-suited man carrying a briefcase walks steadily along a wide waterfront avenue, crossing successive marked crosswalks past a corner and continuing toward a riverside pier warehouse under an overcast sky, with light traffic and other pedestrians nearby. diff --git a/clips/clip_00243/depth.zip b/clips/clip_00243/depth.zip new file mode 100644 index 0000000000000000000000000000000000000000..54c983c6aebf74f4cbf19b6f6fbfa8719b6014d0 --- /dev/null +++ b/clips/clip_00243/depth.zip @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a7aca48d17854d67c2629113412c8394486996913a6a56679ec45e615ddd3230 +size 149119890 diff --git a/clips/clip_00243/meta.json b/clips/clip_00243/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5f1f1d91a5ba8dcfb39993e4d301c2cc17dc1fde --- /dev/null +++ b/clips/clip_00243/meta.json @@ -0,0 +1,359 @@ +{ + "mode": "pie", + "clip": "clip_00228", + "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": [ + 20076.8515625, + -396150.09375, + 57.9988899230957 + ], + "intrinsics_mode": "per_camera", + "clip_index": 15, + "target": { + "tracked": true, + "kind": "pedestrian", + "aim_z_cm": 110.0, + "moving_at_acquire": true, + "motion_kinds": [ + "translation", + "pan_tilt", + "translation", + "arc" + ], + "model_id": "arch_b83ca610", + "identity": { + "model_id": "arch_b83ca610", + "primary_mesh": "/Game/Crowd/Character/Male/NormalWeight/Meshes/m_tal_nrw_base.m_tal_nrw_base", + "meshes": [ + "/Game/Crowd/Character/Accessories/briefcaseC.briefcaseC", + "/Game/Crowd/Character/Male/NormalWeight/Meshes/m_tal_nrw_base.m_tal_nrw_base", + "/Game/Crowd/Character/Male/NormalWeight/Meshes/m_tal_nrw_body.m_tal_nrw_body", + "/Game/Crowd/Character/Male/NormalWeight/Meshes/m_tal_nrw_buttonDown_tie_vest_blazer.m_tal_nrw_buttonDown_tie_vest_blazer", + "/Game/Crowd/Character/Male/NormalWeight/Meshes/m_tal_nrw_oxfords.m_tal_nrw_oxfords", + "/Game/Crowd/Character/Male/NormalWeight/Meshes/m_tal_nrw_slacks.m_tal_nrw_slacks", + "/Game/Crowd/Character/Male/m_005/Face/m_005_nrw_FaceMesh.m_005_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": [ + 65.936, + 42.897, + 30.807, + 62.832 + ], + "hfov_range_deg": [ + 25.0, + 90.0 + ], + "bench": { + "mode": true, + "clip_id": 243, + "bg_ratio": 0.0, + "placement_fallbacks": [], + "target_reacquires": 0, + "motion_gate": { + "enabled": true, + "required_travel_m": 2.23, + "travel_m": 24.04, + "retries": 0, + "probe_rejects": 1, + "rejects": [ + { + "attempt": 1, + "reason": "probe_static", + "frames_captured": 0, + "clip_frames": 181, + "target_class": "pedestrian", + "probe_disp_cm": 0.0, + "probe_min_cm": 150.0, + "probe_samples": 77 + } + ], + "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": [ + 29, + 29, + 29, + 29 + ], + "open_frames_est": [ + 14, + 15, + 15, + 14 + ], + "per_cam": [ + null, + { + "windows": [ + 33, + 99 + ], + "target_out_frames": [ + 12, + 24 + ], + "opened_at": 101, + "left_at": 116, + "out_run_max": 24, + "returned_at": 155, + "cycles_live": 1, + "forced_returns": 0, + "aim_offset": { + "applied": true, + "reason": null, + "deg": 24.31, + "cm": 636.6, + "frac": 1.15, + "need_frac": 1.115, + "radius_cm": 61.1, + "dist_cm": 1408.9, + "clamped": false + }, + "events": [ + { + "window": 0, + "opened_at": 33, + "left_at": 72, + "out_run": 12, + "return_at": 83, + "forced": false + }, + { + "window": 1, + "opened_at": 101, + "left_at": 116, + "out_run": 24, + "return_at": 139, + "forced": false + } + ] + }, + null, + null + ] + }, + "pan_tilt_scale_half_fov": 1.5, + "allowed": [ + false, + true, + false, + false + ], + "reasons": [ + "none", + "sampled", + "none", + "none" + ], + "effective": [ + false, + true, + false, + false + ], + "departed": [ + false, + true, + false, + false + ], + "cycles": [ + 0, + 1, + 0, + 0 + ], + "segments": [ + { + "cam": 1, + "cam_name": "cam02", + "start": 72, + "end": 85, + "kind": "out_of_frustum", + "len": 14 + }, + { + "cam": 1, + "cam_name": "cam02", + "start": 116, + "end": 180, + "kind": "out_of_frustum", + "len": 65 + } + ], + "num_allowed": 1, + "num_effective": 1, + "num_departed": 1 + }, + "visibility": { + "frames": 181, + "states": [ + "visible", + "occluded", + "out_of_frustum", + "target_absent" + ], + "per_cam_ratio": [ + { + "visible": 0.9669, + "occluded": 0.0331, + "out_of_frustum": 0.0, + "target_absent": 0.0 + }, + { + "visible": 0.5635, + "occluded": 0.0, + "out_of_frustum": 0.4365, + "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": [ + 0.9669, + 0.5635, + 1.0, + 1.0 + ], + "non_oos_cams": [ + 1, + 3, + 4 + ], + "min_visible_ratio_non_oos": 0.9669, + "gate1_cams": [ + 1, + 3, + 4 + ], + "min_visible_ratio_gate1": 0.9669, + "target_absent_frames": 0, + "bbox_sources": { + "colliding": 181 + } + }, + "smoothing": { + "rot_cap_frac_hfov": 0.06, + "rot_cap_deg_per_cam": [ + 3.95616, + 2.57382, + 1.84842, + 3.76992 + ], + "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": 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": 0.8301, + "render_lod_natural": 1, + "render_lod_forced": 1, + "sample_log": "ok=1 n=256 comps=7 skinned=6 static=1 tris=166060 area_m2=4.408 half_cm=89.9 centre_off_cm=4.0", + "npz_written": true + } +} \ No newline at end of file diff --git a/clips/clip_00243/points_target.npz b/clips/clip_00243/points_target.npz new file mode 100644 index 0000000000000000000000000000000000000000..51ecb4b8bb340767e080e644989b3d6b1c850536 --- /dev/null +++ b/clips/clip_00243/points_target.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:84c02cd4dcfbc89ae7813b4721d0f8f930273ec93dbf2043f001e735004b0ac6 +size 528981 diff --git a/clips/clip_00243/videos/cam01.mp4 b/clips/clip_00243/videos/cam01.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..c53808c12f63d4aa9cf889c58707028476a820ea --- /dev/null +++ b/clips/clip_00243/videos/cam01.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ef735e1ea7c995b4c75114c88e35fdb0f7ea8005e7208461f749c30be008c428 +size 40345832 diff --git a/clips/clip_00243/videos/cam02.mp4 b/clips/clip_00243/videos/cam02.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..d3974bd9a2beac075755a456a2226f73b04d2bd1 --- /dev/null +++ b/clips/clip_00243/videos/cam02.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9322051d98cd5db3682fb73d63df5e85c604d955830b4cbec7f046f268c825a5 +size 43826283 diff --git a/clips/clip_00243/videos/cam03.mp4 b/clips/clip_00243/videos/cam03.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..6737b8cc703df37c8776681ad7806e4075e316ae --- /dev/null +++ b/clips/clip_00243/videos/cam03.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:345c03975e91b93a079729bffb1deb519912feb80e9c09e89766672880ff826c +size 43417053 diff --git a/clips/clip_00243/videos/cam04.mp4 b/clips/clip_00243/videos/cam04.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..b550dd4751a4eed4613d830b7c9bc80a71610c8e --- /dev/null +++ b/clips/clip_00243/videos/cam04.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:23e404cddcc4e83e9dd63401332a8f60ea20ed77df727f5b8442451f448d0a7c +size 43417207 diff --git a/clips/clip_00243/videos_depth/cam01.mp4 b/clips/clip_00243/videos_depth/cam01.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..e555f82e03ef8bc63d5dbc8fd2f3e59706e3b7bc --- /dev/null +++ b/clips/clip_00243/videos_depth/cam01.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fadbf8ad89e6486c727f3cdd9860ef53f58a262c56272e87d415aa735ef24ab1 +size 2853526 diff --git a/clips/clip_00243/videos_depth/cam02.mp4 b/clips/clip_00243/videos_depth/cam02.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..f4e272a9279527e3f799f9a67027bd9110ae9536 --- /dev/null +++ b/clips/clip_00243/videos_depth/cam02.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5a287423397632a63e71454852c7aa276b3c22e61b2bc7b9f310d3d5a80e6bcb +size 1736284 diff --git a/clips/clip_00243/videos_depth/cam03.mp4 b/clips/clip_00243/videos_depth/cam03.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..3bcce8c726ebad20255ffcc2023c45c45b0a26c1 --- /dev/null +++ b/clips/clip_00243/videos_depth/cam03.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e035580390e34509f3831639c1c89f9d968343eab9a3358aa257cbf75c0d5329 +size 2897044 diff --git a/clips/clip_00243/videos_depth/cam04.mp4 b/clips/clip_00243/videos_depth/cam04.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..d1f25c20415cc60188f71728765ef78eaef1bb0b --- /dev/null +++ b/clips/clip_00243/videos_depth/cam04.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b2fa053c0ba4de07eefa829383f8436904131960820627842366123791fbec89 +size 1564156 diff --git a/clips/clip_00243/views/cam01/frame_0000.png b/clips/clip_00243/views/cam01/frame_0000.png new file mode 100644 index 0000000000000000000000000000000000000000..f8b1b10331159a49fc158aa2e3080c9134a8a221 --- /dev/null +++ b/clips/clip_00243/views/cam01/frame_0000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:54e932d777b81a9a2e249e954f00402f76ae195cc3aa16f6b66944a8ff65ac3a +size 3362909 diff --git a/clips/clip_00243/views/cam01/frame_0090.png b/clips/clip_00243/views/cam01/frame_0090.png new file mode 100644 index 0000000000000000000000000000000000000000..2c51c89b0ab8073e3d179fd225b0b70f90ff3b18 --- /dev/null +++ b/clips/clip_00243/views/cam01/frame_0090.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b78c18c05bc4f00b587b2d191d8eb84b84a5fd639c58fa56da0c36877e0eda0f +size 3356200 diff --git a/clips/clip_00243/views/cam01/frame_0180.png b/clips/clip_00243/views/cam01/frame_0180.png new file mode 100644 index 0000000000000000000000000000000000000000..ebbdff8b7b3e801e828c8511c07b1158f720ccef --- /dev/null +++ b/clips/clip_00243/views/cam01/frame_0180.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fcd6631e5f009d76f529743a351ce400ff1b679e1ff8cd1116fde3cd60443100 +size 3307161 diff --git a/clips/clip_00243/views/cam02/frame_0000.png b/clips/clip_00243/views/cam02/frame_0000.png new file mode 100644 index 0000000000000000000000000000000000000000..19cb5e83b7747cf331bc59d3114060f17f267523 --- /dev/null +++ b/clips/clip_00243/views/cam02/frame_0000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d322366b5144cecfdeb0dd45d8e49f73f020a082d535f6ad621aedd642cdf2e2 +size 4238045 diff --git a/clips/clip_00243/views/cam02/frame_0090.png b/clips/clip_00243/views/cam02/frame_0090.png new file mode 100644 index 0000000000000000000000000000000000000000..7c7e7f8763b98e9e1479e8d8d9a7e357bdc65633 --- /dev/null +++ b/clips/clip_00243/views/cam02/frame_0090.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8abac36cef55f5cf7e5ee6d09e27f85c93e11fb1db5dca7aca692bbe9fb3233a +size 3725134 diff --git a/clips/clip_00243/views/cam03/frame_0000.png b/clips/clip_00243/views/cam03/frame_0000.png new file mode 100644 index 0000000000000000000000000000000000000000..b562e19cfff8dbbc9c68f2c879cb958091e65c4c --- /dev/null +++ b/clips/clip_00243/views/cam03/frame_0000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:48a25261654d541d4d26f48a412ef4d77600978a5e5cb005df7821b9fe90f6f3 +size 3862050 diff --git a/clips/clip_00243/views/cam03/frame_0090.png b/clips/clip_00243/views/cam03/frame_0090.png new file mode 100644 index 0000000000000000000000000000000000000000..42513ad2fc7213665572ce19482ad43c90a89124 --- /dev/null +++ b/clips/clip_00243/views/cam03/frame_0090.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a07751d402c7d421d8beacb438c97a1e8a47f18e7e292624f89721e2db494e0d +size 3643267 diff --git a/clips/clip_00243/views/cam04/frame_0000.png b/clips/clip_00243/views/cam04/frame_0000.png new file mode 100644 index 0000000000000000000000000000000000000000..6c8a9a9da45feb97cfd1e08d77253acd89cc1a84 --- /dev/null +++ b/clips/clip_00243/views/cam04/frame_0000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:445c3ad0d71068c637c4b580dbffb313ede4b7d91ee2d3aa3949ef7a66ba3b93 +size 3890665 diff --git a/clips/clip_00243/views/cam04/frame_0090.png b/clips/clip_00243/views/cam04/frame_0090.png new file mode 100644 index 0000000000000000000000000000000000000000..0f1940bee13f7ed09e93e0ad5bfafe0855a8132a --- /dev/null +++ b/clips/clip_00243/views/cam04/frame_0090.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:36ad047e600d446909f94ab1e7e92e447f0363dba91c57912571dc5afdee0220 +size 3731266 diff --git a/clips/clip_00243/visibility.json b/clips/clip_00243/visibility.json new file mode 100644 index 0000000000000000000000000000000000000000..30350aa26965b8141c5969157fec3bd03aa9f4de --- /dev/null +++ b/clips/clip_00243/visibility.json @@ -0,0 +1,12195 @@ +{ + "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": 243, + "target_class": "pedestrian", + "target_lost_frame": null, + "target_bbox_extent_cm": [ + 40.8, + 40.8, + 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": 65.936, + "motion_kind": "translation", + "ratio": { + "visible": 0.9669, + "occluded": 0.0331, + "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": [ + 33, + 99 + ], + "target_out_frames": [ + 12, + 24 + ], + "opened_at": 101, + "left_at": 116, + "out_run_max": 24, + "returned_at": 155, + "cycles_live": 1, + "forced_returns": 0, + "aim_offset": { + "applied": true, + "reason": null, + "deg": 24.31, + "cm": 636.6, + "frac": 1.15, + "need_frac": 1.115, + "radius_cm": 61.1, + "dist_cm": 1408.9, + "clamped": false + }, + "events": [ + { + "window": 0, + "opened_at": 33, + "left_at": 72, + "out_run": 12, + "return_at": 83, + "forced": false + }, + { + "window": 1, + "opened_at": 101, + "left_at": 116, + "out_run": 24, + "return_at": 139, + "forced": false + } + ] + }, + "name": "cam02", + "hfov_deg": 42.897, + "motion_kind": "pan_tilt", + "ratio": { + "visible": 0.5635, + "occluded": 0.0, + "out_of_frustum": 0.4365, + "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": 30.807, + "motion_kind": "translation", + "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": 62.832, + "motion_kind": "arc", + "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": 0.9669, + "occluded": 0.0331, + "out_of_frustum": 0.0, + "target_absent": 0.0 + }, + { + "visible": 0.5635, + "occluded": 0.0, + "out_of_frustum": 0.4365, + "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": [ + 0.9669, + 0.5635, + 1.0, + 1.0 + ], + "non_oos_cams": [ + 1, + 3, + 4 + ], + "min_visible_ratio_non_oos": 0.9669, + "gate1_cams": [ + 1, + 3, + 4 + ], + "min_visible_ratio_gate1": 0.9669, + "target_absent_frames": 0, + "bbox_sources": { + "colliding": 181 + } + }, + "oos_segments": [ + { + "cam": 1, + "cam_name": "cam02", + "start": 72, + "end": 85, + "kind": "out_of_frustum", + "len": 14 + }, + { + "cam": 1, + "cam_name": "cam02", + "start": 116, + "end": 180, + "kind": "out_of_frustum", + "len": 65 + } + ], + "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, + 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", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "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", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "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" + ], + [ + "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" + ], + [ + "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_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, + 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, + 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, + 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, + 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, + 1.0, + 1.0 + ], + [ + 1.0, + 1.0, + 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, + 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, + 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, + 0.667, + 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, + 0.556, + 1.0 + ], + [ + 1.0, + 1.0, + 0.556, + 1.0 + ], + [ + 1.0, + 1.0, + 0.556, + 1.0 + ], + [ + 1.0, + 0.0, + 0.556, + 1.0 + ], + [ + 1.0, + 0.0, + 0.444, + 1.0 + ], + [ + 1.0, + 0.0, + 0.444, + 1.0 + ], + [ + 1.0, + 0.0, + 0.444, + 1.0 + ], + [ + 1.0, + 0.0, + 0.444, + 1.0 + ], + [ + 1.0, + 0.0, + 0.444, + 1.0 + ], + [ + 1.0, + 0.0, + 0.444, + 1.0 + ], + [ + 1.0, + 0.0, + 0.444, + 1.0 + ], + [ + 1.0, + 0.0, + 0.444, + 1.0 + ], + [ + 1.0, + 0.0, + 0.444, + 1.0 + ], + [ + 1.0, + 0.0, + 0.444, + 1.0 + ], + [ + 1.0, + 0.0, + 0.444, + 1.0 + ], + [ + 1.0, + 0.0, + 0.444, + 1.0 + ], + [ + 1.0, + 0.0, + 0.444, + 1.0 + ], + [ + 1.0, + 0.0, + 0.444, + 1.0 + ], + [ + 1.0, + 0.0, + 0.444, + 1.0 + ], + [ + 1.0, + 0.0, + 0.444, + 1.0 + ], + [ + 1.0, + 0.0, + 0.444, + 1.0 + ], + [ + 1.0, + 0.0, + 0.444, + 1.0 + ], + [ + 1.0, + 0.0, + 0.444, + 1.0 + ], + [ + 1.0, + 0.0, + 0.333, + 1.0 + ], + [ + 1.0, + 0.0, + 0.333, + 1.0 + ], + [ + 1.0, + 0.0, + 0.333, + 1.0 + ], + [ + 1.0, + 0.0, + 0.222, + 1.0 + ], + [ + 1.0, + 0.0, + 0.222, + 1.0 + ], + [ + 0.778, + 0.0, + 0.222, + 1.0 + ], + [ + 0.667, + 0.0, + 0.222, + 1.0 + ], + [ + 0.556, + 0.0, + 0.222, + 1.0 + ], + [ + 0.222, + 0.0, + 0.222, + 1.0 + ], + [ + 0.222, + 0.0, + 0.444, + 1.0 + ], + [ + 0.111, + 0.0, + 0.444, + 1.0 + ], + [ + 0.111, + 0.0, + 0.556, + 1.0 + ], + [ + 0.0, + 0.0, + 0.778, + 1.0 + ], + [ + 0.0, + 0.0, + 0.889, + 1.0 + ], + [ + 0.0, + 0.0, + 0.889, + 1.0 + ], + [ + 0.0, + 0.0, + 0.889, + 1.0 + ], + [ + 0.0, + 0.0, + 1.0, + 1.0 + ], + [ + 0.0, + 0.0, + 1.0, + 1.0 + ], + [ + 0.111, + 0.0, + 1.0, + 1.0 + ], + [ + 0.111, + 0.0, + 1.0, + 1.0 + ], + [ + 0.222, + 0.0, + 1.0, + 1.0 + ], + [ + 0.333, + 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 + ], + [ + 0.556, + 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 + ], + [ + 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 + ] + ], + "target_world_cm": [ + [ + 18166.8, + -395537.9, + 151.3 + ], + [ + 18167.1, + -395524.5, + 151.4 + ], + [ + 18167.3, + -395511.2, + 151.6 + ], + [ + 18167.6, + -395497.9, + 151.8 + ], + [ + 18167.8, + -395484.5, + 152.0 + ], + [ + 18168.1, + -395471.2, + 152.2 + ], + [ + 18168.4, + -395457.9, + 152.4 + ], + [ + 18168.6, + -395444.6, + 152.6 + ], + [ + 18168.9, + -395431.2, + 152.8 + ], + [ + 18169.2, + -395417.9, + 153.0 + ], + [ + 18169.4, + -395404.6, + 153.2 + ], + [ + 18169.7, + -395391.2, + 153.4 + ], + [ + 18170.0, + -395377.9, + 153.6 + ], + [ + 18170.2, + -395364.6, + 153.8 + ], + [ + 18170.5, + -395351.2, + 153.9 + ], + [ + 18170.7, + -395337.9, + 154.1 + ], + [ + 18171.0, + -395324.6, + 154.3 + ], + [ + 18171.3, + -395311.2, + 154.6 + ], + [ + 18171.5, + -395297.9, + 154.9 + ], + [ + 18171.8, + -395284.6, + 154.9 + ], + [ + 18172.1, + -395271.3, + 155.2 + ], + [ + 18172.3, + -395257.9, + 155.5 + ], + [ + 18172.6, + -395244.6, + 155.5 + ], + [ + 18172.8, + -395231.3, + 155.7 + ], + [ + 18173.1, + -395217.9, + 156.0 + ], + [ + 18173.4, + -395204.6, + 156.0 + ], + [ + 18173.6, + -395191.3, + 156.3 + ], + [ + 18173.9, + -395177.9, + 156.6 + ], + [ + 18174.2, + -395164.6, + 156.6 + ], + [ + 18174.4, + -395151.3, + 156.9 + ], + [ + 18174.7, + -395137.9, + 157.1 + ], + [ + 18175.0, + -395124.6, + 157.1 + ], + [ + 18175.2, + -395111.3, + 157.4 + ], + [ + 18175.5, + -395098.0, + 157.7 + ], + [ + 18175.7, + -395084.6, + 157.7 + ], + [ + 18176.0, + -395071.3, + 158.0 + ], + [ + 18176.3, + -395058.0, + 158.3 + ], + [ + 18176.5, + -395044.6, + 158.3 + ], + [ + 18176.8, + -395031.3, + 158.5 + ], + [ + 18177.1, + -395018.0, + 158.8 + ], + [ + 18177.3, + -395004.6, + 158.8 + ], + [ + 18177.6, + -394991.3, + 159.1 + ], + [ + 18177.9, + -394978.0, + 159.4 + ], + [ + 18178.1, + -394964.6, + 159.4 + ], + [ + 18178.4, + -394951.3, + 159.7 + ], + [ + 18178.6, + -394938.0, + 159.9 + ], + [ + 18178.9, + -394924.7, + 159.9 + ], + [ + 18179.2, + -394911.3, + 160.2 + ], + [ + 18179.4, + -394898.0, + 160.5 + ], + [ + 18179.7, + -394884.7, + 160.5 + ], + [ + 18180.0, + -394871.3, + 160.8 + ], + [ + 18180.2, + -394858.0, + 163.4 + ], + [ + 18179.4, + -394846.6, + 165.7 + ], + [ + 18178.0, + -394833.7, + 166.6 + ], + [ + 18176.0, + -394820.5, + 166.6 + ], + [ + 18173.9, + -394807.3, + 166.6 + ], + [ + 18171.7, + -394794.2, + 166.6 + ], + [ + 18169.3, + -394781.0, + 166.6 + ], + [ + 18166.8, + -394767.9, + 166.6 + ], + [ + 18164.4, + -394754.8, + 166.6 + ], + [ + 18162.2, + -394741.7, + 166.6 + ], + [ + 18160.1, + -394728.5, + 166.6 + ], + [ + 18158.2, + -394715.3, + 166.6 + ], + [ + 18156.6, + -394702.1, + 166.6 + ], + [ + 18155.3, + -394688.8, + 166.6 + ], + [ + 18154.2, + -394675.5, + 166.2 + ], + [ + 18153.1, + -394662.2, + 163.5 + ], + [ + 18152.1, + -394648.9, + 163.5 + ], + [ + 18151.2, + -394635.6, + 163.5 + ], + [ + 18150.4, + -394622.3, + 163.5 + ], + [ + 18150.1, + -394609.0, + 163.5 + ], + [ + 18150.4, + -394595.7, + 162.7 + ], + [ + 18151.2, + -394582.3, + 160.0 + ], + [ + 18152.5, + -394569.1, + 159.8 + ], + [ + 18154.2, + -394555.8, + 159.6 + ], + [ + 18156.1, + -394542.7, + 159.4 + ], + [ + 18158.2, + -394529.5, + 159.2 + ], + [ + 18160.4, + -394516.3, + 159.0 + ], + [ + 18162.4, + -394503.2, + 158.8 + ], + [ + 18164.3, + -394490.0, + 158.7 + ], + [ + 18165.8, + -394476.7, + 158.5 + ], + [ + 18166.8, + -394463.4, + 158.3 + ], + [ + 18167.2, + -394450.1, + 158.1 + ], + [ + 18167.3, + -394436.8, + 157.9 + ], + [ + 18167.4, + -394423.4, + 157.7 + ], + [ + 18167.7, + -394410.1, + 157.5 + ], + [ + 18168.2, + -394396.8, + 157.3 + ], + [ + 18168.9, + -394383.5, + 157.2 + ], + [ + 18169.9, + -394370.2, + 157.0 + ], + [ + 18171.0, + -394356.9, + 156.8 + ], + [ + 18172.4, + -394343.6, + 156.6 + ], + [ + 18173.8, + -394330.3, + 156.4 + ], + [ + 18175.4, + -394317.1, + 156.2 + ], + [ + 18177.0, + -394303.9, + 156.0 + ], + [ + 18178.7, + -394290.7, + 155.8 + ], + [ + 18180.4, + -394277.4, + 155.6 + ], + [ + 18182.2, + -394264.2, + 155.5 + ], + [ + 18183.9, + -394251.0, + 155.3 + ], + [ + 18185.6, + -394237.8, + 155.1 + ], + [ + 18187.4, + -394224.5, + 154.9 + ], + [ + 18189.1, + -394211.3, + 154.7 + ], + [ + 18190.8, + -394198.1, + 154.5 + ], + [ + 18192.6, + -394184.9, + 154.3 + ], + [ + 18194.3, + -394171.7, + 154.1 + ], + [ + 18196.1, + -394158.4, + 153.9 + ], + [ + 18197.8, + -394145.2, + 153.8 + ], + [ + 18199.5, + -394132.0, + 153.6 + ], + [ + 18201.3, + -394118.8, + 153.4 + ], + [ + 18203.0, + -394105.6, + 153.2 + ], + [ + 18204.8, + -394092.4, + 153.0 + ], + [ + 18206.5, + -394079.1, + 152.8 + ], + [ + 18208.3, + -394065.9, + 152.6 + ], + [ + 18210.0, + -394052.7, + 152.4 + ], + [ + 18211.8, + -394039.5, + 152.2 + ], + [ + 18213.5, + -394026.3, + 152.0 + ], + [ + 18215.3, + -394013.1, + 151.9 + ], + [ + 18217.1, + -393999.8, + 151.7 + ], + [ + 18218.9, + -393986.6, + 151.5 + ], + [ + 18220.6, + -393973.4, + 151.3 + ], + [ + 18222.4, + -393960.2, + 151.1 + ], + [ + 18224.2, + -393947.0, + 150.9 + ], + [ + 18226.0, + -393933.8, + 150.7 + ], + [ + 18227.8, + -393920.6, + 150.5 + ], + [ + 18229.6, + -393907.3, + 150.3 + ], + [ + 18231.4, + -393894.1, + 150.1 + ], + [ + 18233.2, + -393880.9, + 149.9 + ], + [ + 18235.0, + -393867.7, + 149.7 + ], + [ + 18236.9, + -393854.5, + 149.6 + ], + [ + 18238.7, + -393841.3, + 149.4 + ], + [ + 18240.5, + -393828.1, + 149.2 + ], + [ + 18242.4, + -393814.9, + 149.0 + ], + [ + 18244.2, + -393801.7, + 148.8 + ], + [ + 18245.9, + -393788.5, + 148.6 + ], + [ + 18247.6, + -393775.2, + 148.5 + ], + [ + 18249.1, + -393762.0, + 148.5 + ], + [ + 18250.5, + -393748.7, + 148.5 + ], + [ + 18251.6, + -393735.4, + 148.5 + ], + [ + 18252.4, + -393722.1, + 148.2 + ], + [ + 18253.0, + -393708.8, + 148.2 + ], + [ + 18253.3, + -393695.5, + 148.2 + ], + [ + 18253.2, + -393682.1, + 148.2 + ], + [ + 18252.9, + -393668.8, + 148.0 + ], + [ + 18252.3, + -393655.5, + 148.0 + ], + [ + 18251.5, + -393642.2, + 148.0 + ], + [ + 18250.5, + -393628.9, + 148.0 + ], + [ + 18249.4, + -393615.6, + 147.7 + ], + [ + 18248.1, + -393602.3, + 147.7 + ], + [ + 18246.8, + -393589.1, + 147.7 + ], + [ + 18245.4, + -393575.8, + 147.7 + ], + [ + 18244.1, + -393562.5, + 147.5 + ], + [ + 18242.6, + -393549.3, + 147.5 + ], + [ + 18241.2, + -393536.0, + 147.5 + ], + [ + 18239.8, + -393522.8, + 147.5 + ], + [ + 18238.3, + -393509.5, + 147.5 + ], + [ + 18236.9, + -393496.3, + 147.5 + ], + [ + 18235.4, + -393483.0, + 147.5 + ], + [ + 18233.9, + -393469.8, + 147.5 + ], + [ + 18232.4, + -393456.5, + 147.5 + ], + [ + 18230.9, + -393443.3, + 147.5 + ], + [ + 18229.3, + -393430.0, + 147.5 + ], + [ + 18227.8, + -393416.8, + 147.5 + ], + [ + 18226.3, + -393403.5, + 147.5 + ], + [ + 18224.8, + -393390.3, + 147.5 + ], + [ + 18223.2, + -393377.0, + 147.5 + ], + [ + 18221.7, + -393363.8, + 147.5 + ], + [ + 18220.1, + -393350.6, + 147.5 + ], + [ + 18218.6, + -393337.3, + 147.5 + ], + [ + 18217.1, + -393324.1, + 147.5 + ], + [ + 18215.5, + -393310.8, + 147.5 + ], + [ + 18214.0, + -393297.6, + 147.5 + ], + [ + 18212.4, + -393284.3, + 147.5 + ], + [ + 18210.9, + -393271.1, + 147.5 + ], + [ + 18209.3, + -393257.8, + 147.5 + ], + [ + 18207.8, + -393244.6, + 147.5 + ], + [ + 18206.2, + -393231.4, + 147.5 + ], + [ + 18204.6, + -393218.1, + 147.5 + ], + [ + 18203.0, + -393204.9, + 149.1 + ], + [ + 18201.5, + -393191.6, + 149.1 + ], + [ + 18200.0, + -393178.4, + 149.1 + ], + [ + 18198.6, + -393165.1, + 161.0 + ], + [ + 18197.2, + -393151.9, + 162.2 + ] + ], + "target_bbox_cm": [ + [ + 18166.8, + -395537.9, + 151.3, + 40.8, + 40.8, + 88.0 + ], + [ + 18167.1, + -395524.5, + 151.4, + 40.8, + 40.8, + 88.0 + ], + [ + 18167.3, + -395511.2, + 151.6, + 40.8, + 40.8, + 88.0 + ], + [ + 18167.6, + -395497.9, + 151.8, + 40.8, + 40.8, + 88.0 + ], + [ + 18167.8, + -395484.5, + 152.0, + 40.8, + 40.8, + 88.0 + ], + [ + 18168.1, + -395471.2, + 152.2, + 40.8, + 40.8, + 88.0 + ], + [ + 18168.4, + -395457.9, + 152.4, + 40.9, + 40.8, + 88.0 + ], + [ + 18169.5, + -395444.6, + 152.6, + 41.7, + 40.8, + 88.0 + ], + [ + 18170.2, + -395431.2, + 152.8, + 42.2, + 40.8, + 88.0 + ], + [ + 18170.6, + -395417.9, + 153.0, + 42.3, + 40.8, + 88.0 + ], + [ + 18171.0, + -395404.6, + 153.2, + 42.4, + 40.8, + 88.0 + ], + [ + 18171.1, + -395390.7, + 153.4, + 42.2, + 41.4, + 88.0 + ], + [ + 18171.4, + -395377.9, + 153.6, + 42.3, + 40.8, + 88.0 + ], + [ + 18171.5, + -395364.6, + 153.8, + 42.2, + 40.8, + 88.0 + ], + [ + 18171.8, + -395351.2, + 153.9, + 42.2, + 40.8, + 88.0 + ], + [ + 18172.2, + -395337.9, + 154.1, + 42.3, + 40.8, + 88.0 + ], + [ + 18173.6, + -395324.6, + 154.3, + 43.4, + 40.8, + 88.0 + ], + [ + 18175.1, + -395311.2, + 154.6, + 44.7, + 40.8, + 88.0 + ], + [ + 18175.3, + -395297.9, + 154.9, + 44.6, + 40.8, + 88.0 + ], + [ + 18174.6, + -395284.6, + 154.9, + 43.6, + 40.8, + 88.0 + ], + [ + 18174.7, + -395271.3, + 155.2, + 43.5, + 40.8, + 88.0 + ], + [ + 18173.9, + -395257.9, + 155.5, + 42.5, + 40.8, + 88.0 + ], + [ + 18174.1, + -395244.6, + 155.5, + 42.3, + 40.8, + 88.0 + ], + [ + 18174.2, + -395231.3, + 155.7, + 42.2, + 40.8, + 88.0 + ], + [ + 18173.9, + -395217.9, + 156.0, + 41.6, + 40.8, + 88.0 + ], + [ + 18173.8, + -395204.6, + 156.0, + 41.3, + 40.8, + 88.0 + ], + [ + 18174.1, + -395190.7, + 156.3, + 41.3, + 41.4, + 88.0 + ], + [ + 18174.2, + -395176.4, + 156.6, + 41.1, + 42.4, + 88.0 + ], + [ + 18174.2, + -395164.6, + 156.6, + 40.8, + 40.8, + 88.0 + ], + [ + 18174.4, + -395151.3, + 156.9, + 40.8, + 40.8, + 88.0 + ], + [ + 18174.7, + -395137.9, + 157.1, + 40.8, + 40.8, + 88.0 + ], + [ + 18175.0, + -395124.6, + 157.1, + 40.8, + 40.8, + 88.0 + ], + [ + 18175.4, + -395111.3, + 157.4, + 41.1, + 40.8, + 88.0 + ], + [ + 18176.3, + -395098.0, + 157.7, + 41.7, + 40.8, + 88.0 + ], + [ + 18175.7, + -395084.6, + 157.7, + 40.8, + 40.8, + 88.0 + ], + [ + 18176.0, + -395071.3, + 158.0, + 40.8, + 40.8, + 88.0 + ], + [ + 18176.3, + -395058.0, + 158.3, + 40.8, + 40.8, + 88.0 + ], + [ + 18176.5, + -395044.6, + 158.3, + 40.8, + 40.8, + 88.0 + ], + [ + 18176.8, + -395031.3, + 158.5, + 40.8, + 40.8, + 88.0 + ], + [ + 18177.4, + -395018.0, + 158.8, + 41.2, + 40.8, + 88.0 + ], + [ + 18177.9, + -395004.6, + 158.8, + 41.4, + 40.8, + 88.0 + ], + [ + 18178.4, + -394991.3, + 159.1, + 41.6, + 40.8, + 88.0 + ], + [ + 18178.7, + -394978.0, + 159.4, + 41.7, + 40.8, + 88.0 + ], + [ + 18178.8, + -394964.6, + 159.4, + 41.5, + 40.8, + 88.0 + ], + [ + 18178.7, + -394951.3, + 159.7, + 41.1, + 40.8, + 88.0 + ], + [ + 18178.6, + -394938.0, + 159.9, + 40.8, + 40.8, + 88.0 + ], + [ + 18178.9, + -394924.7, + 159.9, + 40.8, + 40.8, + 88.0 + ], + [ + 18179.2, + -394911.3, + 160.2, + 40.8, + 40.8, + 88.0 + ], + [ + 18179.6, + -394898.0, + 160.5, + 41.0, + 40.8, + 88.0 + ], + [ + 18180.4, + -394884.7, + 160.5, + 41.5, + 40.8, + 88.0 + ], + [ + 18180.0, + -394871.3, + 160.8, + 40.8, + 40.8, + 88.0 + ], + [ + 18180.2, + -394858.0, + 163.4, + 40.8, + 40.8, + 88.0 + ], + [ + 18179.4, + -394846.6, + 165.7, + 40.8, + 40.8, + 88.0 + ], + [ + 18178.0, + -394833.7, + 166.6, + 40.5, + 40.5, + 88.0 + ], + [ + 18176.1, + -394820.5, + 166.6, + 40.2, + 40.1, + 88.0 + ], + [ + 18174.1, + -394807.3, + 166.6, + 40.9, + 40.7, + 88.0 + ], + [ + 18171.7, + -394794.2, + 166.6, + 41.3, + 41.2, + 88.0 + ], + [ + 18169.3, + -394781.0, + 166.6, + 41.7, + 41.7, + 88.0 + ], + [ + 18166.8, + -394767.9, + 166.6, + 42.1, + 42.1, + 88.0 + ], + [ + 18164.4, + -394754.8, + 166.6, + 42.5, + 42.5, + 88.0 + ], + [ + 18162.2, + -394741.7, + 166.6, + 42.7, + 42.7, + 88.0 + ], + [ + 18160.1, + -394728.5, + 166.6, + 42.9, + 42.9, + 88.0 + ], + [ + 18158.2, + -394715.3, + 166.6, + 43.0, + 43.0, + 88.0 + ], + [ + 18156.6, + -394702.1, + 166.6, + 42.9, + 42.9, + 88.0 + ], + [ + 18155.7, + -394688.8, + 166.6, + 43.3, + 42.8, + 88.0 + ], + [ + 18154.2, + -394675.5, + 166.2, + 42.7, + 42.7, + 88.0 + ], + [ + 18153.4, + -394662.2, + 163.5, + 42.7, + 42.5, + 88.0 + ], + [ + 18152.4, + -394648.9, + 163.5, + 42.6, + 42.3, + 88.0 + ], + [ + 18152.0, + -394635.6, + 163.5, + 42.9, + 42.1, + 88.0 + ], + [ + 18151.6, + -394622.3, + 163.5, + 43.1, + 41.9, + 88.0 + ], + [ + 18151.5, + -394609.0, + 163.5, + 43.1, + 41.8, + 88.0 + ], + [ + 18151.7, + -394595.7, + 162.7, + 42.7, + 41.4, + 88.0 + ], + [ + 18152.6, + -394582.3, + 160.0, + 42.4, + 41.0, + 88.0 + ], + [ + 18153.9, + -394569.1, + 159.8, + 41.9, + 40.4, + 88.0 + ], + [ + 18155.8, + -394555.8, + 159.6, + 41.8, + 40.2, + 88.0 + ], + [ + 18156.9, + -394542.7, + 159.4, + 41.6, + 40.8, + 88.0 + ], + [ + 18158.2, + -394529.5, + 159.2, + 41.4, + 41.4, + 88.0 + ], + [ + 18160.4, + -394516.3, + 159.0, + 41.9, + 41.9, + 88.0 + ], + [ + 18162.4, + -394503.2, + 158.8, + 42.4, + 42.4, + 88.0 + ], + [ + 18164.3, + -394490.0, + 158.7, + 42.7, + 42.7, + 88.0 + ], + [ + 18165.8, + -394476.7, + 158.5, + 42.9, + 42.9, + 88.0 + ], + [ + 18166.8, + -394463.4, + 158.3, + 42.9, + 42.9, + 88.0 + ], + [ + 18167.2, + -394450.1, + 158.1, + 42.7, + 42.7, + 88.0 + ], + [ + 18167.3, + -394436.8, + 157.9, + 42.4, + 42.4, + 88.0 + ], + [ + 18167.4, + -394423.4, + 157.7, + 42.1, + 42.1, + 88.0 + ], + [ + 18167.7, + -394410.1, + 157.5, + 41.8, + 41.8, + 88.0 + ], + [ + 18168.2, + -394396.8, + 157.3, + 41.6, + 41.6, + 88.0 + ], + [ + 18168.9, + -394383.5, + 157.2, + 41.5, + 41.5, + 88.0 + ], + [ + 18169.9, + -394370.2, + 157.0, + 41.5, + 41.5, + 88.0 + ], + [ + 18171.0, + -394356.9, + 156.8, + 41.6, + 41.6, + 88.0 + ], + [ + 18172.4, + -394343.6, + 156.6, + 41.8, + 41.8, + 88.0 + ], + [ + 18173.8, + -394330.3, + 156.4, + 42.0, + 42.0, + 88.0 + ], + [ + 18175.4, + -394317.1, + 156.2, + 42.2, + 42.2, + 88.0 + ], + [ + 18177.0, + -394303.9, + 156.0, + 42.3, + 42.3, + 88.0 + ], + [ + 18178.7, + -394290.7, + 155.8, + 42.5, + 42.5, + 88.0 + ], + [ + 18180.4, + -394277.4, + 155.6, + 42.7, + 42.7, + 88.0 + ], + [ + 18182.2, + -394264.2, + 155.5, + 42.8, + 42.8, + 88.0 + ], + [ + 18183.9, + -394251.0, + 155.3, + 42.9, + 42.9, + 88.0 + ], + [ + 18185.6, + -394237.8, + 155.1, + 43.0, + 43.0, + 88.0 + ], + [ + 18187.4, + -394224.5, + 154.9, + 43.1, + 43.1, + 88.0 + ], + [ + 18189.1, + -394211.3, + 154.7, + 43.1, + 43.1, + 88.0 + ], + [ + 18190.8, + -394198.1, + 154.5, + 43.2, + 43.2, + 88.0 + ], + [ + 18192.6, + -394184.9, + 154.3, + 43.2, + 43.2, + 88.0 + ], + [ + 18194.3, + -394171.7, + 154.1, + 43.2, + 43.2, + 88.0 + ], + [ + 18196.1, + -394158.4, + 153.9, + 43.3, + 43.3, + 88.0 + ], + [ + 18197.8, + -394145.2, + 153.8, + 43.3, + 43.3, + 88.0 + ], + [ + 18199.5, + -394132.0, + 153.6, + 43.3, + 43.3, + 88.0 + ], + [ + 18201.3, + -394118.8, + 153.4, + 43.3, + 43.3, + 88.0 + ], + [ + 18203.0, + -394105.6, + 153.2, + 43.3, + 43.3, + 88.0 + ], + [ + 18204.8, + -394092.4, + 153.0, + 43.3, + 43.3, + 88.0 + ], + [ + 18206.5, + -394079.1, + 152.8, + 43.3, + 43.3, + 88.0 + ], + [ + 18208.3, + -394065.9, + 152.6, + 43.3, + 43.3, + 88.0 + ], + [ + 18210.0, + -394052.7, + 152.4, + 43.4, + 43.4, + 88.0 + ], + [ + 18211.8, + -394039.5, + 152.2, + 43.4, + 43.4, + 88.0 + ], + [ + 18213.5, + -394026.3, + 152.0, + 43.4, + 43.4, + 88.0 + ], + [ + 18215.8, + -394013.1, + 151.9, + 43.9, + 43.4, + 88.0 + ], + [ + 18217.3, + -393999.8, + 151.7, + 43.6, + 43.4, + 88.0 + ], + [ + 18218.9, + -393986.6, + 151.5, + 43.4, + 43.4, + 88.0 + ], + [ + 18220.6, + -393973.4, + 151.3, + 43.4, + 43.4, + 88.0 + ], + [ + 18222.4, + -393959.8, + 151.1, + 43.4, + 43.8, + 88.0 + ], + [ + 18224.2, + -393947.0, + 150.9, + 43.4, + 43.4, + 88.0 + ], + [ + 18226.0, + -393933.8, + 150.7, + 43.4, + 43.4, + 88.0 + ], + [ + 18227.8, + -393920.6, + 150.5, + 43.4, + 43.4, + 88.0 + ], + [ + 18230.0, + -393907.3, + 150.3, + 43.8, + 43.4, + 88.0 + ], + [ + 18233.3, + -393894.1, + 150.1, + 45.3, + 43.4, + 88.0 + ], + [ + 18236.4, + -393880.9, + 149.9, + 46.6, + 43.4, + 88.0 + ], + [ + 18238.3, + -393867.7, + 149.7, + 46.7, + 43.4, + 88.0 + ], + [ + 18240.1, + -393854.5, + 149.6, + 46.7, + 43.5, + 88.0 + ], + [ + 18241.8, + -393841.3, + 149.4, + 46.6, + 43.5, + 88.0 + ], + [ + 18243.1, + -393828.1, + 149.2, + 46.0, + 43.5, + 88.0 + ], + [ + 18244.4, + -393814.9, + 149.0, + 45.5, + 43.5, + 88.0 + ], + [ + 18245.8, + -393801.7, + 148.8, + 45.1, + 43.5, + 88.0 + ], + [ + 18246.8, + -393788.5, + 148.6, + 44.4, + 43.5, + 88.0 + ], + [ + 18247.9, + -393775.2, + 148.5, + 43.8, + 43.5, + 88.0 + ], + [ + 18249.3, + -393762.0, + 148.5, + 43.6, + 43.4, + 88.0 + ], + [ + 18250.8, + -393748.7, + 148.5, + 43.6, + 43.3, + 88.0 + ], + [ + 18252.1, + -393735.4, + 148.5, + 43.8, + 43.2, + 88.0 + ], + [ + 18253.3, + -393722.1, + 148.2, + 43.9, + 43.0, + 88.0 + ], + [ + 18254.3, + -393708.8, + 148.2, + 44.1, + 42.8, + 88.0 + ], + [ + 18255.6, + -393695.5, + 148.2, + 44.8, + 42.5, + 88.0 + ], + [ + 18257.3, + -393682.1, + 148.2, + 46.3, + 42.2, + 88.0 + ], + [ + 18258.1, + -393668.8, + 148.0, + 47.0, + 41.8, + 88.0 + ], + [ + 18257.1, + -393655.5, + 148.0, + 46.2, + 41.4, + 88.0 + ], + [ + 18256.4, + -393642.2, + 148.0, + 45.9, + 41.0, + 88.0 + ], + [ + 18254.6, + -393628.9, + 148.0, + 44.7, + 40.6, + 88.0 + ], + [ + 18252.5, + -393615.6, + 147.7, + 43.3, + 40.2, + 88.0 + ], + [ + 18250.7, + -393602.3, + 147.7, + 42.7, + 40.2, + 88.0 + ], + [ + 18248.1, + -393589.1, + 147.7, + 41.8, + 40.5, + 88.0 + ], + [ + 18245.5, + -393575.8, + 147.7, + 40.8, + 40.8, + 88.0 + ], + [ + 18244.1, + -393562.5, + 147.5, + 41.0, + 41.1, + 88.0 + ], + [ + 18242.6, + -393548.0, + 147.5, + 41.3, + 42.5, + 88.0 + ], + [ + 18241.2, + -393536.0, + 147.5, + 41.4, + 41.4, + 88.0 + ], + [ + 18239.8, + -393522.8, + 147.5, + 41.6, + 41.6, + 88.0 + ], + [ + 18238.6, + -393509.5, + 147.5, + 42.0, + 41.7, + 88.0 + ], + [ + 18238.3, + -393496.3, + 147.5, + 43.2, + 41.8, + 88.0 + ], + [ + 18239.0, + -393483.0, + 147.5, + 45.4, + 41.9, + 88.0 + ], + [ + 18238.4, + -393469.8, + 147.5, + 46.5, + 41.9, + 88.0 + ], + [ + 18236.8, + -393456.5, + 147.5, + 46.4, + 42.0, + 88.0 + ], + [ + 18235.6, + -393443.3, + 147.5, + 46.7, + 42.1, + 88.0 + ], + [ + 18233.6, + -393430.0, + 147.5, + 46.4, + 42.1, + 88.0 + ], + [ + 18231.4, + -393416.8, + 147.5, + 45.8, + 42.1, + 88.0 + ], + [ + 18229.0, + -393403.5, + 147.5, + 44.8, + 42.2, + 88.0 + ], + [ + 18226.4, + -393390.3, + 147.5, + 43.8, + 42.2, + 88.0 + ], + [ + 18223.9, + -393377.0, + 147.5, + 42.9, + 42.2, + 88.0 + ], + [ + 18221.7, + -393363.8, + 147.5, + 42.2, + 42.2, + 88.0 + ], + [ + 18220.1, + -393350.0, + 147.5, + 42.3, + 42.8, + 88.0 + ], + [ + 18218.6, + -393337.2, + 147.5, + 42.3, + 42.4, + 88.0 + ], + [ + 18217.4, + -393324.1, + 147.5, + 42.7, + 42.3, + 88.0 + ], + [ + 18216.6, + -393310.8, + 147.5, + 43.4, + 42.3, + 88.0 + ], + [ + 18216.4, + -393297.6, + 147.5, + 44.7, + 42.3, + 88.0 + ], + [ + 18216.7, + -393284.3, + 147.5, + 46.6, + 42.3, + 88.0 + ], + [ + 18216.7, + -393271.1, + 147.5, + 48.2, + 42.3, + 88.0 + ], + [ + 18215.5, + -393257.8, + 147.5, + 48.5, + 42.3, + 88.0 + ], + [ + 18213.4, + -393244.6, + 147.5, + 47.9, + 42.3, + 88.0 + ], + [ + 18211.7, + -393231.4, + 147.5, + 47.8, + 42.3, + 88.0 + ], + [ + 18208.4, + -393218.1, + 147.5, + 46.2, + 42.3, + 88.0 + ], + [ + 18205.4, + -393204.9, + 149.1, + 44.7, + 42.4, + 88.0 + ], + [ + 18203.0, + -393191.6, + 149.1, + 43.9, + 42.4, + 88.0 + ], + [ + 18200.3, + -393178.4, + 149.1, + 42.7, + 42.4, + 88.0 + ], + [ + 18198.6, + -393165.1, + 161.0, + 42.3, + 42.3, + 88.0 + ], + [ + 18197.2, + -393151.9, + 162.2, + 42.3, + 42.3, + 88.0 + ] + ], + "target_bbox_format": "[cx,cy,cz,ex,ey,ez] (\uc911\uc2ec + \ubc18\ud06c\uae30, cm, UE)", + "target_world_cam01_m": [ + [ + 0.00031352782070825924, + 1.097349445392279, + 8.08531541529021 + ], + [ + -0.00037844176858925493, + 1.098286737764786, + 8.104837341265778 + ], + [ + -7.256827393575804e-05, + 1.0981627980066317, + 8.125293823409777 + ], + [ + 0.00023490525336455903, + 1.0981021688740622, + 8.144751993845603 + ], + [ + -0.00045741847270619473, + 1.0979781534141662, + 8.165208460384918 + ], + [ + -0.0001506845178482763, + 1.097917596059455, + 8.18466616648243 + ], + [ + 0.00015769403535159654, + 1.0978571411650435, + 8.204123565704464 + ], + [ + 0.00046444114650512347, + 1.0977330593403032, + 8.224578628803187 + ], + [ + -0.00022818460092821624, + 1.09767261652736, + 8.244036657865735 + ], + [ + 7.854273508201004e-05, + 1.0976123489204692, + 8.263493298561087 + ], + [ + 0.0003861216791847255, + 1.0974882096755323, + 8.283947591752508 + ], + [ + -0.0003062424966628896, + 1.097427896006371, + 8.303405329281702 + ], + [ + 6.167333594930824e-07, + 1.097367788192587, + 8.322861229094713 + ], + [ + 0.0003086475016971235, + 1.0972435654767505, + 8.34331477010062 + ], + [ + -0.00038382853563234676, + 1.098181349672469, + 8.362836509447163 + ], + [ + -7.492203621950466e-05, + 1.0980570262090765, + 8.38328968537553 + ], + [ + 0.00023089151181920897, + 1.0979970879903007, + 8.40274464409768 + ], + [ + -0.00046206985689423163, + 1.0979281126379572, + 8.422201315670208 + ], + [ + -0.00015334040608649957, + 1.0976769264616788, + 8.442645551439824 + ], + [ + 0.00015172651319517172, + 1.0976950377848915, + 8.462104839714044 + ], + [ + 0.0004579017622745596, + 1.097508539387837, + 8.481550569464474 + ], + [ + -0.0002316808631803724, + 1.0972572576945279, + 8.501997059929721 + ], + [ + 7.451650617440464e-05, + 1.09727554397033, + 8.52145565346487 + ], + [ + 0.00038291255668809754, + 1.098022231399952, + 8.541963539285206 + ], + [ + -0.00031102372622626717, + 1.0978357248898405, + 8.561411896739571 + ], + [ + -4.033136065118015e-06, + 1.0978541626265201, + 8.580869886845136 + ], + [ + 0.00030545966865247465, + 1.097602822800603, + 8.601312101531676 + ], + [ + -0.0003879056635014422, + 1.097416622736354, + 8.620760174457985 + ], + [ + -8.272583272628253e-05, + 1.097435228682313, + 8.64021749415329 + ], + [ + 0.00022752574341211584, + 1.097183874272348, + 8.660658991426942 + ], + [ + -0.0004678881605286733, + 1.0979954187834409, + 8.68017227940831 + ], + [ + -0.00016030236838560086, + 1.0980141585414742, + 8.699629018655457 + ], + [ + 0.0001480772948525555, + 1.097762752244659, + 8.720069874623192 + ], + [ + 0.0004548462279672094, + 1.0975770767871822, + 8.739512615807854 + ], + [ + -0.00023509293168899603, + 1.0975298524196404, + 8.75997134389442 + ], + [ + 7.070828178257216e-05, + 1.0973440633554343, + 8.779413665892179 + ], + [ + 0.00037474148393812357, + 1.0971585416336307, + 8.798855724938477 + ], + [ + -0.0003130107993456477, + 1.0971112083585055, + 8.819314205820064 + ], + [ + -7.850289421185153e-06, + 1.0979234234561748, + 8.83882197421778 + ], + [ + 0.00029775791881547775, + 1.0977379200559962, + 8.858263426750199 + ], + [ + -0.0003927778143406613, + 1.0976905044917267, + 8.878721733677338 + ], + [ + -8.623995927337091e-05, + 1.097505063225448, + 8.898162789236437 + ], + [ + 0.00021830241621501045, + 1.0973198091876988, + 8.917603591073458 + ], + [ + -0.00047066935621842276, + 1.0972723062893355, + 8.938061658555995 + ], + [ + -0.00016540041542612016, + 1.0970869834887065, + 8.957502060888231 + ], + [ + 0.00014653111156803789, + 1.0978330762792226, + 8.978006581300235 + ], + [ + 0.00045002916021985584, + 1.0978525098469198, + 8.997460203008103 + ], + [ + -0.00024389492773480015, + 1.0976669493170146, + 9.01690655851371 + ], + [ + 6.672980043731513e-05, + 1.0974151475073146, + 9.037343876215772 + ], + [ + 0.00037319218699849444, + 1.0974346933919978, + 9.056796908922962 + ], + [ + -0.00032261626120089204, + 1.09724936084943, + 9.076243014289332 + ], + [ + -1.1222688044654205e-05, + 1.0970566178660714, + 9.096683664634497 + ], + [ + 8.297008298541186e-05, + 1.0974640722811735, + 9.116414030675486 + ], + [ + 0.000473225822133827, + 1.0977781673225895, + 9.135714616649722 + ], + [ + 0.00042345313659097883, + 1.097719105912196, + 9.156337766818183 + ], + [ + 7.433305927406764e-05, + 1.0977212942020742, + 9.176051629391651 + ], + [ + 0.0004622994633791677, + 1.0977611592595249, + 9.195207233856593 + ], + [ + -0.0003466560760898574, + 1.0977440511331498, + 9.215207691833058 + ], + [ + -0.00026068317356475745, + 1.097698823363503, + 9.235623639399392 + ], + [ + -0.00012159423977209372, + 1.0976996748278847, + 9.255357687697142 + ], + [ + 0.0002413924858046812, + 1.0977488503775632, + 9.274378953771162 + ], + [ + -5.090732383905561e-05, + 1.097727975535161, + 9.294434667702518 + ], + [ + 7.259847734530922e-06, + 1.0976853435931968, + 9.314810327848988 + ], + [ + 0.0003870054470098694, + 1.0976749838827509, + 9.334710358749334 + ], + [ + 4.6391839532589074e-05, + 1.0976949782721395, + 9.354163991609738 + ], + [ + -8.426901376878959e-05, + 1.097531660083753, + 9.373887238056 + ], + [ + -0.00015813764275662834, + 1.0975851094402387, + 9.394232644994446 + ], + [ + -0.0002190125269407872, + 1.0975954220378377, + 9.413829755688226 + ], + [ + -0.00024008990521906526, + 1.0976337486785201, + 9.433016783532366 + ], + [ + -0.0001072833479156543, + 1.0975881975516497, + 9.453432627469795 + ], + [ + 0.00019219909472667496, + 1.097586977121379, + 9.473199031775493 + ], + [ + 0.0004954374771841685, + 1.0979471797515075, + 9.492577660803335 + ], + [ + -0.0004190400327388488, + 1.0972251772411408, + 9.512514101381555 + ], + [ + 0.00028429908843463636, + 1.0973376243879418, + 9.532271837301693 + ], + [ + -0.0004414343184180325, + 1.0974625110055705, + 9.551852308893103 + ], + [ + 0.0004670625958169694, + 1.0975393577622672, + 9.572148801627492 + ], + [ + 0.00012273338325030636, + 1.0976428261374949, + 9.59207251807507 + ], + [ + -0.000296772149795288, + 1.0977872366085428, + 9.61140594833509 + ], + [ + 0.0004201511701467098, + 1.097845524074021, + 9.63198227553778 + ], + [ + 0.0004362120685073023, + 1.0969799497128445, + 9.651400974770155 + ], + [ + -6.33503304925398e-05, + 1.0970961955759506, + 9.671104150572148 + ], + [ + -9.372550903208321e-05, + 1.0972180438274801, + 9.690741014634028 + ], + [ + 0.00016787110916993697, + 1.0972962587905926, + 9.711068829805669 + ], + [ + 0.0004986283920516144, + 1.0974045891567563, + 9.731019378670396 + ], + [ + -0.00017331347908111638, + 1.0975445275387266, + 9.750523815259584 + ], + [ + 0.0001294583130402316, + 1.0976890316635792, + 9.769925227766578 + ], + [ + 0.0003687844823616615, + 1.097799309405131, + 9.78978180209549 + ], + [ + 0.0005002255420549773, + 1.0968834663068492, + 9.809950026105383 + ], + [ + 0.00048231467235382297, + 1.0970179030700358, + 9.82940920228711 + ], + [ + 0.00031365363065560814, + 1.0970833153925703, + 9.849849643214867 + ], + [ + -2.464780618538498e-05, + 1.097239174054641, + 9.868985617309676 + ], + [ + -0.0004948412192788965, + 1.097299957509966, + 9.889486566205306 + ], + [ + -9.363132130602025e-05, + 1.09742859216035, + 9.909015139173306 + ], + [ + 0.00022996338930170168, + 1.0975070143044778, + 9.929265456077019 + ], + [ + 0.0004891405860689702, + 1.0976237764499697, + 9.948968497626765 + ], + [ + -0.00028059323494744604, + 1.0977230618443965, + 9.968922388465927 + ], + [ + -7.573754328404902e-05, + 1.0968883606796354, + 9.987897934083946 + ], + [ + 0.0001399347383994609, + 1.0969782813462992, + 10.007987026284752 + ], + [ + 0.0003471378595349961, + 1.097065364565017, + 10.02811541972784 + ], + [ + -0.00046060904332989594, + 1.0972193237041026, + 10.047291557623282 + ], + [ + -0.00025763142093637725, + 1.097302252530806, + 10.067479052560145 + ], + [ + -5.830413601870532e-05, + 1.0973838610022941, + 10.087686846443546 + ], + [ + 0.00012778398104273947, + 1.097534430129187, + 10.10691179807688 + ], + [ + 0.00032429892280561035, + 1.0976143261128737, + 10.127143394977622 + ], + [ + -0.0004940042003909184, + 1.097763129508584, + 10.146394716209699 + ], + [ + -0.0002981045322485443, + 1.0968451738871572, + 10.166560661589159 + ], + [ + -0.00010147908460567123, + 1.096924219529912, + 10.186801874339011 + ], + [ + 7.92456671661057e-05, + 1.0970730902366181, + 10.206055015983054 + ], + [ + 0.0002729527900555695, + 1.0971506014910197, + 10.226319126916366 + ], + [ + 0.00044954967097510234, + 1.0972972398056111, + 10.245603332536575 + ], + [ + -0.00036153618111711694, + 1.0973565038454804, + 10.265918886366109 + ], + [ + -0.00019094693061560974, + 1.0974710729916843, + 10.285247344562947 + ], + [ + -6.096779088693438e-06, + 1.097513097588834, + 10.305601570937768 + ], + [ + 0.00015676512612117222, + 1.0976235374840932, + 10.324990049469847 + ], + [ + 0.000330562686031044, + 1.097660897451858, + 10.345410706185362 + ], + [ + 0.00048684303010304575, + 1.0967687916618978, + 10.364800927322364 + ], + [ + -0.00036065420499653555, + 1.09687054488211, + 10.384316763835926 + ], + [ + -0.0002152145202671818, + 1.0969702402905792, + 10.403861775527332 + ], + [ + -6.260572126848274e-05, + 1.0969958150089951, + 10.424450041236724 + ], + [ + 7.35021262698865e-05, + 1.0970889954422063, + 10.444089242345797 + ], + [ + 0.00020168644869045238, + 1.097178618772718, + 10.463779071677124 + ], + [ + 0.00032164692902370007, + 1.0972646238920998, + 10.48352170089882 + ], + [ + 0.0004386346140563546, + 1.0973467836883906, + 10.503319198030454 + ], + [ + -0.00045303154865905526, + 1.0974239890350912, + 10.523188399658835 + ], + [ + -0.00035383624799578683, + 1.0974980621762942, + 10.543101428911172 + ], + [ + -0.00026113481135325856, + 1.0975680049088758, + 10.563074788528695 + ], + [ + -0.00017515011722935014, + 1.0976335325011526, + 10.583110092236694 + ], + [ + -0.00011140676542709116, + 1.096768611945988, + 10.60214005234559 + ], + [ + -3.956831596951815e-05, + 1.0968252416583297, + 10.622303522721552 + ], + [ + 2.361026827202295e-05, + 1.0968779992215794, + 10.64252127999481 + ], + [ + 7.822008319635643e-05, + 1.0970058599811772, + 10.661691752205229 + ], + [ + 0.00017811181032811874, + 1.0970802973379854, + 10.681599715501363 + ], + [ + 0.0003643471059149306, + 1.0971226960989284, + 10.701942166293378 + ], + [ + -0.0003447541234891105, + 1.0971889076695192, + 10.721356130935533 + ], + [ + 0.00011850053806483629, + 1.0971699685581608, + 10.741376203329793 + ], + [ + -0.00023151117784436792, + 1.0972088425106268, + 10.760593602555133 + ], + [ + -0.0003641300058916386, + 1.0971937073801303, + 10.780561878345566 + ], + [ + -0.00029630128210555995, + 1.0975287747088327, + 10.800940999451512 + ], + [ + -8.866479220159817e-05, + 1.0975487519277145, + 10.820421125834827 + ], + [ + 0.00021343383832572727, + 1.0975687581614562, + 10.83990231448277 + ], + [ + -0.00044360396213960485, + 1.097515080321994, + 10.860403672578684 + ], + [ + -0.00014908646335243247, + 1.097018232066164, + 10.879991684674849 + ], + [ + 6.10261777183041e-05, + 1.0970005261937157, + 10.899994888668374 + ], + [ + 0.00014739858261236805, + 1.0970035226652186, + 10.919710994953533 + ], + [ + 0.00010431871487526223, + 1.0969989847231894, + 10.939532975841303 + ], + [ + -6.2371806052397e-05, + 1.0975210061055218, + 10.958919460394299 + ], + [ + -0.00031165266682364745, + 1.0974828125503535, + 10.979205874489708 + ], + [ + 0.0003595903085624741, + 1.0974962928299465, + 10.998778175175943 + ], + [ + -9.158616194326896e-07, + 1.0974664227971722, + 11.018948705017209 + ], + [ + -0.00040748593983153114, + 1.0967168336645958, + 11.0378220760891 + ], + [ + 0.00019762665124289924, + 1.0966468653556696, + 11.058543891191533 + ], + [ + -0.00023860451938162441, + 1.0966607120593004, + 11.078111707151123 + ], + [ + 0.0003080119631704292, + 1.0966876666898315, + 11.097501417130701 + ], + [ + -0.0001490429990553821, + 1.0966514242522614, + 11.117758258533712 + ], + [ + 0.0003591976096686267, + 1.0966989785617685, + 11.136865769222737 + ], + [ + -0.00013022195616940735, + 1.0966814164962955, + 11.156866249736169 + ], + [ + 0.0003662641447590431, + 1.0966731815379198, + 11.176739600161198 + ], + [ + -0.00014955841106711887, + 1.0966706331255978, + 11.196533501239287 + ], + [ + 0.0003234495011383842, + 1.0966757187778509, + 11.216224110253307 + ], + [ + -0.0001948593849192548, + 1.0966119825020524, + 11.236855956003097 + ], + [ + 0.00025754620219231583, + 1.0966270616683733, + 11.256409853413942 + ], + [ + -0.00029367712159000803, + 1.0966446583855465, + 11.275929941082723 + ], + [ + 0.00014655337827207404, + 1.0966666838173005, + 11.295390320305415 + ], + [ + -0.0003957450180678279, + 1.0966165515260187, + 11.315834676206208 + ], + [ + 3.765742212635814e-05, + 1.096642501783439, + 11.335241680328352 + ], + [ + 0.0004880408114331658, + 1.0965961935075441, + 11.355633167102894 + ], + [ + -8.030885646803654e-05, + 1.0966219508443515, + 11.375042272826278 + ], + [ + 0.00035059534639003687, + 1.0966495385886859, + 11.394427956980678 + ], + [ + -0.00019820865509245778, + 1.096603422144561, + 11.41481642669612 + ], + [ + 0.00022825389987701783, + 1.0966335410110268, + 11.434167948771915 + ], + [ + -0.00033004751094267704, + 1.0965910465024855, + 11.45450654242768 + ], + [ + 8.758789090279606e-05, + 1.096626052376596, + 11.473792525076874 + ], + [ + -0.0004815271863662929, + 1.0965894926134823, + 11.494050530107529 + ], + [ + -7.699124716964434e-05, + 1.0966315621238074, + 11.513240879418447 + ], + [ + 0.0003386566181688977, + 1.096604497197223, + 11.533369522689554 + ], + [ + -0.00025457277206442086, + 1.0965808050505217, + 11.5534515150203 + ], + [ + 0.00015128688755794428, + 1.0974466778034113, + 11.573574229484734 + ], + [ + -0.00043372456548240734, + 1.0974818792626237, + 11.592859215267652 + ], + [ + 5.333616263669683e-05, + 1.0974774544200123, + 11.612681690149259 + ], + [ + -0.00034309272132304613, + 1.0966033735692768, + 11.632490240703362 + ], + [ + 0.0002525721911297296, + 1.0972497129526317, + 11.65230571322121 + ] + ], + "target_bbox_centre_cam01_m": [ + [ + 0.00031352782070825924, + 1.097349445392279, + 8.08531541529021 + ], + [ + -0.00037844176858925493, + 1.098286737764786, + 8.104837341265778 + ], + [ + -7.256827393575804e-05, + 1.0981627980066317, + 8.125293823409777 + ], + [ + 0.00023490525336455903, + 1.0981021688740622, + 8.144751993845603 + ], + [ + -0.00045741847270619473, + 1.0979781534141662, + 8.165208460384918 + ], + [ + -0.0001506845178482763, + 1.097917596059455, + 8.18466616648243 + ], + [ + 0.00015769403535159654, + 1.0978571411650435, + 8.204123565704464 + ], + [ + 0.0004546426271190285, + 1.0983065324337389, + 8.215596923363819 + ], + [ + -0.00024432180498479283, + 1.0985020436275192, + 8.231063154473219 + ], + [ + 5.9039006828243146e-05, + 1.0985067323678415, + 8.249521910016853 + ], + [ + 0.0003614156871662999, + 1.0985116749357395, + 8.267980378204811 + ], + [ + -0.005329959618393332, + 1.098324028594094, + 8.289442549613653 + ], + [ + -2.520293901397963e-05, + 1.098265601075191, + 8.308890070754103 + ], + [ + 0.0002827367761710775, + 1.0980783001272325, + 8.330341622961129 + ], + [ + -0.00041166765231537283, + 1.0990171305383338, + 8.349863433661739 + ], + [ + -0.0001092571751541982, + 1.0990225901611979, + 8.368320834138274 + ], + [ + 0.00016756203649492818, + 1.0996728046477138, + 8.376798778085998 + ], + [ + -0.000560184189453139, + 1.1003802515569738, + 8.384280643360967 + ], + [ + -0.00025698024592202273, + 1.1001320656879283, + 8.404725087963499 + ], + [ + 7.131126130843768e-05, + 1.0995062879824058, + 8.43416359947372 + ], + [ + 0.00037948447061353363, + 1.0991924478911859, + 8.455605275036817 + ], + [ + -0.00028223435720065027, + 1.0982947544811967, + 8.48603081288212 + ], + [ + 2.498143521734164e-05, + 1.0982493592647167, + 8.506487379346936 + ], + [ + 0.00033469258414697833, + 1.0989322051810433, + 8.527993227099273 + ], + [ + -0.00033970930007853894, + 1.0983563238651417, + 8.553428905204328 + ], + [ + -1.8939444089483004e-05, + 1.0981147676579983, + 8.576878413079584 + ], + [ + -0.005713828768875828, + 1.0979274459454444, + 8.596345937220804 + ], + [ + -0.015399803911350318, + 1.0976086073335516, + 8.617826566600087 + ], + [ + -8.272583272628253e-05, + 1.097435228682313, + 8.64021749415329 + ], + [ + 0.00022752574341211584, + 1.097183874272348, + 8.660658991426942 + ], + [ + -0.0004678881605286733, + 1.0979954187834409, + 8.68017227940831 + ], + [ + -0.00016030236838560086, + 1.0980141585414742, + 8.699629018655457 + ], + [ + 0.00013868963787899702, + 1.0978941044701287, + 8.718074214715926 + ], + [ + 0.00041620904266892467, + 1.0981030744890106, + 8.731530020140013 + ], + [ + -0.00023509293168899603, + 1.0975298524196404, + 8.75997134389442 + ], + [ + 7.070828178257216e-05, + 1.0973440633554343, + 8.779413665892179 + ], + [ + 0.00037474148393812357, + 1.0971585416336307, + 8.798855724938477 + ], + [ + -0.0003130107993456477, + 1.0971112083585055, + 8.819314205820064 + ], + [ + -7.850289421185153e-06, + 1.0979234234561748, + 8.83882197421778 + ], + [ + 0.00028086497195545235, + 1.0979364730025676, + 8.855270052173296 + ], + [ + -0.0004273514587112004, + 1.0980880380995188, + 8.872735017406967 + ], + [ + -0.00013338635426407564, + 1.0980356757525591, + 8.890180544716372 + ], + [ + 0.00017011421141432947, + 1.0978509868970328, + 8.909621390364862 + ], + [ + -0.0005137418902450008, + 1.097737579072108, + 8.931077271252462 + ], + [ + -0.00018424755535306758, + 1.097286596151891, + 8.95450876845814 + ], + [ + 0.00014653111156803789, + 1.0978330762792226, + 8.978006581300235 + ], + [ + 0.00045002916021985584, + 1.0978525098469198, + 8.997460203008103 + ], + [ + -0.00024389492773480015, + 1.0976669493170146, + 9.01690655851371 + ], + [ + 5.314347345120041e-05, + 1.097548776499524, + 9.035348391636745 + ], + [ + 0.00032475456328029395, + 1.0979028741641823, + 9.049812751094379 + ], + [ + -0.00032261626120089204, + 1.09724936084943, + 9.076243014289332 + ], + [ + -1.1222688044654205e-05, + 1.0970566178660714, + 9.096683664634497 + ], + [ + 8.297008298541186e-05, + 1.0974640722811735, + 9.116414030675486 + ], + [ + 0.000473225822133827, + 1.0977781673225895, + 9.135714616649722 + ], + [ + 0.00041591031276766444, + 1.097786326718074, + 9.155340057206445 + ], + [ + 5.9001342378905974e-05, + 1.0978558691717275, + 9.174056221033112 + ], + [ + 0.0004622994633791677, + 1.0977611592595249, + 9.195207233856593 + ], + [ + -0.0003466560760898574, + 1.0977440511331498, + 9.215207691833058 + ], + [ + -0.00026068317356475745, + 1.097698823363503, + 9.235623639399392 + ], + [ + -0.00012159423977209372, + 1.0976996748278847, + 9.255357687697142 + ], + [ + 0.0002413924858046812, + 1.0977488503775632, + 9.274378953771162 + ], + [ + -5.090732383905561e-05, + 1.097727975535161, + 9.294434667702518 + ], + [ + 7.259847734530922e-06, + 1.0976853435931968, + 9.314810327848988 + ], + [ + 0.0003870054470098694, + 1.0976749838827509, + 9.334710358749334 + ], + [ + 1.1391860880394233e-05, + 1.0979664772184101, + 9.350173369687099 + ], + [ + -8.426901376878959e-05, + 1.097531660083753, + 9.373887238056 + ], + [ + -0.0001850930707405496, + 1.0977891159434776, + 9.391239710856325 + ], + [ + -0.00024631867881907965, + 1.097799618462492, + 9.410836837681046 + ], + [ + -0.0003138373112960835, + 1.0981787768011841, + 9.425035711819277 + ], + [ + -0.0002192945676142699, + 1.0984064929710904, + 9.441461084288278 + ], + [ + 5.990127283439506e-05, + 1.0985425302078706, + 9.459232306473524 + ], + [ + 0.00037109739787410945, + 1.0988352881721148, + 9.47960862833969 + ], + [ + -0.000554547882074985, + 1.0981824693833833, + 9.498547525943962 + ], + [ + 0.0001471955483793863, + 1.0982957806030154, + 9.51830533668894 + ], + [ + -0.0005999392010380689, + 1.09855852999247, + 9.535890679318186 + ], + [ + 0.00038690472501912154, + 1.0980878568442147, + 9.564168029515741 + ], + [ + 0.00012273338325030636, + 1.0976428261374949, + 9.59207251807507 + ], + [ + -0.000296772149795288, + 1.0977872366085428, + 9.61140594833509 + ], + [ + 0.0004201511701467098, + 1.097845524074021, + 9.63198227553778 + ], + [ + 0.0004362120685073023, + 1.0969799497128445, + 9.651400974770155 + ], + [ + -6.33503304925398e-05, + 1.0970961955759506, + 9.671104150572148 + ], + [ + -9.372550903208321e-05, + 1.0972180438274801, + 9.690741014634028 + ], + [ + 0.00016787110916993697, + 1.0972962587905926, + 9.711068829805669 + ], + [ + 0.0004986283920516144, + 1.0974045891567563, + 9.731019378670396 + ], + [ + -0.00017331347908111638, + 1.0975445275387266, + 9.750523815259584 + ], + [ + 0.0001294583130402316, + 1.0976890316635792, + 9.769925227766578 + ], + [ + 0.0003687844823616615, + 1.097799309405131, + 9.78978180209549 + ], + [ + 0.0005002255420549773, + 1.0968834663068492, + 9.809950026105383 + ], + [ + 0.00048231467235382297, + 1.0970179030700358, + 9.82940920228711 + ], + [ + 0.00031365363065560814, + 1.0970833153925703, + 9.849849643214867 + ], + [ + -2.464780618538498e-05, + 1.097239174054641, + 9.868985617309676 + ], + [ + -0.0004948412192788965, + 1.097299957509966, + 9.889486566205306 + ], + [ + -9.363132130602025e-05, + 1.09742859216035, + 9.909015139173306 + ], + [ + 0.00022996338930170168, + 1.0975070143044778, + 9.929265456077019 + ], + [ + 0.0004891405860689702, + 1.0976237764499697, + 9.948968497626765 + ], + [ + -0.00028059323494744604, + 1.0977230618443965, + 9.968922388465927 + ], + [ + -7.573754328404902e-05, + 1.0968883606796354, + 9.987897934083946 + ], + [ + 0.0001399347383994609, + 1.0969782813462992, + 10.007987026284752 + ], + [ + 0.0003471378595349961, + 1.097065364565017, + 10.02811541972784 + ], + [ + -0.00046060904332989594, + 1.0972193237041026, + 10.047291557623282 + ], + [ + -0.00025763142093637725, + 1.097302252530806, + 10.067479052560145 + ], + [ + -5.830413601870532e-05, + 1.0973838610022941, + 10.087686846443546 + ], + [ + 0.00012778398104273947, + 1.097534430129187, + 10.10691179807688 + ], + [ + 0.00032429892280561035, + 1.0976143261128737, + 10.127143394977622 + ], + [ + -0.0004940042003909184, + 1.097763129508584, + 10.146394716209699 + ], + [ + -0.0002981045322485443, + 1.0968451738871572, + 10.166560661589159 + ], + [ + -0.00010147908460567123, + 1.096924219529912, + 10.186801874339011 + ], + [ + 7.92456671661057e-05, + 1.0970730902366181, + 10.206055015983054 + ], + [ + 0.0002729527900555695, + 1.0971506014910197, + 10.226319126916366 + ], + [ + 0.00044954967097510234, + 1.0972972398056111, + 10.245603332536575 + ], + [ + -0.00036153618111711694, + 1.0973565038454804, + 10.265918886366109 + ], + [ + -0.00019094693061560974, + 1.0974710729916843, + 10.285247344562947 + ], + [ + -6.096779088693438e-06, + 1.097513097588834, + 10.305601570937768 + ], + [ + 0.00015676512612117222, + 1.0976235374840932, + 10.324990049469847 + ], + [ + 0.000330562686031044, + 1.097660897451858, + 10.345410706185362 + ], + [ + 0.00041591465515011805, + 1.0971228724229185, + 10.3598139847725 + ], + [ + -0.0003892178156092996, + 1.0970122809330203, + 10.382321996928596 + ], + [ + -0.0002152145202671818, + 1.0969702402905792, + 10.403861775527332 + ], + [ + -6.260572126848274e-05, + 1.0969958150089951, + 10.424450041236724 + ], + [ + -0.003926073425645882, + 1.097084856514293, + 10.444147365200195 + ], + [ + 0.00020168644869045238, + 1.097178618772718, + 10.463779071677124 + ], + [ + 0.00032164692902370007, + 1.0972646238920998, + 10.48352170089882 + ], + [ + 0.0004386346140563546, + 1.0973467836883906, + 10.503319198030454 + ], + [ + -0.0005128056691319216, + 1.0977088916447304, + 10.519199006526037 + ], + [ + -0.0006395290643013141, + 1.0988523055888937, + 10.524151906367678 + ], + [ + -0.0007452670183738519, + 1.0998504396577573, + 10.531159962690396 + ], + [ + -0.0006774606908948044, + 1.0999889411437174, + 10.55019809237453 + ], + [ + -0.0006014441141815041, + 1.0990542363139522, + 10.570225544902769 + ], + [ + -0.0005171399125174503, + 1.0990409763300697, + 10.59138649754334 + ], + [ + -0.00037930837515887106, + 1.0987376408899365, + 10.616591000592479 + ], + [ + -0.00023353871665676706, + 1.0984373370931095, + 10.641745482378553 + ], + [ + -7.274381232491578e-05, + 1.0982262630504884, + 10.665642778633185 + ], + [ + 0.00022242599152377807, + 1.0977677410989344, + 10.692966433710467 + ], + [ + -0.000392331172406557, + 1.0974040685497535, + 10.718364234843364 + ], + [ + 8.660356388645596e-05, + 1.097313506049316, + 10.739381615759783 + ], + [ + -0.00027962505191680975, + 1.0974242935534146, + 10.757601735928858 + ], + [ + -0.00044476448601926677, + 1.0975530328805778, + 10.77557545845923 + ], + [ + -0.00044224139128345996, + 1.0981759917336422, + 10.791965487674219 + ], + [ + -0.0003006164401995193, + 1.0984842415330576, + 10.807456561213684 + ], + [ + -0.0001635847334000573, + 1.0992249488738768, + 10.816965120022786 + ], + [ + -0.001119272398227622, + 1.1004693628041018, + 10.819515829784336 + ], + [ + -0.0010105873111569963, + 1.1007675814934448, + 10.828134185727293 + ], + [ + -0.000738384895157651, + 1.1004637215091346, + 10.852126660982293 + ], + [ + -0.0006729204278599354, + 1.1005411641352545, + 10.870845749929089 + ], + [ + -0.0005856079060322372, + 1.0999609659355336, + 10.89864592813936 + ], + [ + -0.00058669814006862, + 1.0997619950264355, + 10.928005013104126 + ], + [ + -0.0007536395146416908, + 1.0993635564391369, + 10.953277753644755 + ], + [ + 0.00013748570881944033, + 1.09843726511488, + 10.985814177303723 + ], + [ + -1.8086039290210465e-05, + 1.0975388512859006, + 11.017951479215412 + ], + [ + -0.00040748593983153114, + 1.0967168336645958, + 11.0378220760891 + ], + [ + -0.012800418856386386, + 1.0966305156315457, + 11.058768714513349 + ], + [ + -0.00023860451938162441, + 1.0966607120593004, + 11.078111707151123 + ], + [ + 0.0003080119631704292, + 1.0966876666898315, + 11.097501417130701 + ], + [ + -0.00020181807667540852, + 1.096869392358652, + 11.114766652827257 + ], + [ + 0.00011174709788974724, + 1.097716793271168, + 11.122905009157108 + ], + [ + -0.000769514065268595, + 1.0993002691755187, + 11.120967323328188 + ], + [ + -0.000436577494838275, + 1.0999487584670256, + 11.131866155423182 + ], + [ + -0.0009381910963384144, + 1.0998753792539695, + 11.152657452394266 + ], + [ + -0.0005228206791798584, + 1.1001010559233837, + 11.169356734671254 + ], + [ + -0.0009726330872581457, + 1.0997477028959661, + 11.193977496059489 + ], + [ + -0.0003965464325119683, + 1.0992539020619336, + 11.220511777234265 + ], + [ + -0.0007864465364946227, + 1.0986159739856696, + 11.24900651088359 + ], + [ + -0.0001467532715651032, + 1.0978355707190026, + 11.279435770019518 + ], + [ + -0.0005246333025752392, + 1.0971282446918664, + 11.308854593258701 + ], + [ + 3.765742212635814e-05, + 1.096642501783439, + 11.335241680328352 + ], + [ + -0.0055109242107391765, + 1.0965880363515552, + 11.355744307051168 + ], + [ + -0.001080134872609051, + 1.096620584664425, + 11.375060875758436 + ], + [ + 0.00029439733998515294, + 1.09686935415494, + 11.391436548799163 + ], + [ + -0.00040514377133149537, + 1.0974098836509825, + 11.40384798114556 + ], + [ + -0.00022513886278829887, + 1.0983941176515728, + 11.41023690605806 + ], + [ + -0.0011457652749413683, + 1.0997472416830796, + 11.411630289815719 + ], + [ + -0.0010172384263569256, + 1.1008857038105546, + 11.41595970799807 + ], + [ + -0.0016674019475431123, + 1.1011455312771226, + 11.43222952869246 + ], + [ + -0.0011524728465701628, + 1.1007490506957573, + 11.457402813282329 + ], + [ + -0.0007218961977741856, + 1.1006507657428912, + 11.47852881754153 + ], + [ + -0.0009902627275550913, + 1.0993779970201487, + 11.51556174755467 + ], + [ + -0.0003152126114400744, + 1.0992143248742252, + 11.549643959897026 + ], + [ + -0.0007264410137395316, + 1.0985872812555968, + 11.577902865321619 + ], + [ + -5.436381343315588e-06, + 1.0976986588854878, + 11.609690433827893 + ], + [ + -0.00034309272132304613, + 1.0966033735692768, + 11.632490240703362 + ], + [ + 0.0002525721911297296, + 1.0972497129526317, + 11.65230571322121 + ] + ], + "target_bbox_half_world_m": [ + [ + 0.408, + 0.408, + 0.88 + ], + [ + 0.408, + 0.408, + 0.88 + ], + [ + 0.408, + 0.408, + 0.88 + ], + [ + 0.408, + 0.408, + 0.88 + ], + [ + 0.408, + 0.408, + 0.88 + ], + [ + 0.408, + 0.408, + 0.88 + ], + [ + 0.409, + 0.408, + 0.88 + ], + [ + 0.41700000000000004, + 0.408, + 0.88 + ], + [ + 0.42200000000000004, + 0.408, + 0.88 + ], + [ + 0.423, + 0.408, + 0.88 + ], + [ + 0.424, + 0.408, + 0.88 + ], + [ + 0.42200000000000004, + 0.414, + 0.88 + ], + [ + 0.423, + 0.408, + 0.88 + ], + [ + 0.42200000000000004, + 0.408, + 0.88 + ], + [ + 0.42200000000000004, + 0.408, + 0.88 + ], + [ + 0.423, + 0.408, + 0.88 + ], + [ + 0.434, + 0.408, + 0.88 + ], + [ + 0.447, + 0.408, + 0.88 + ], + [ + 0.446, + 0.408, + 0.88 + ], + [ + 0.436, + 0.408, + 0.88 + ], + [ + 0.435, + 0.408, + 0.88 + ], + [ + 0.425, + 0.408, + 0.88 + ], + [ + 0.423, + 0.408, + 0.88 + ], + [ + 0.42200000000000004, + 0.408, + 0.88 + ], + [ + 0.41600000000000004, + 0.408, + 0.88 + ], + [ + 0.413, + 0.408, + 0.88 + ], + [ + 0.413, + 0.414, + 0.88 + ], + [ + 0.41100000000000003, + 0.424, + 0.88 + ], + [ + 0.408, + 0.408, + 0.88 + ], + [ + 0.408, + 0.408, + 0.88 + ], + [ + 0.408, + 0.408, + 0.88 + ], + [ + 0.408, + 0.408, + 0.88 + ], + [ + 0.41100000000000003, + 0.408, + 0.88 + ], + [ + 0.41700000000000004, + 0.408, + 0.88 + ], + [ + 0.408, + 0.408, + 0.88 + ], + [ + 0.408, + 0.408, + 0.88 + ], + [ + 0.408, + 0.408, + 0.88 + ], + [ + 0.408, + 0.408, + 0.88 + ], + [ + 0.408, + 0.408, + 0.88 + ], + [ + 0.41200000000000003, + 0.408, + 0.88 + ], + [ + 0.414, + 0.408, + 0.88 + ], + [ + 0.41600000000000004, + 0.408, + 0.88 + ], + [ + 0.41700000000000004, + 0.408, + 0.88 + ], + [ + 0.415, + 0.408, + 0.88 + ], + [ + 0.41100000000000003, + 0.408, + 0.88 + ], + [ + 0.408, + 0.408, + 0.88 + ], + [ + 0.408, + 0.408, + 0.88 + ], + [ + 0.408, + 0.408, + 0.88 + ], + [ + 0.41, + 0.408, + 0.88 + ], + [ + 0.415, + 0.408, + 0.88 + ], + [ + 0.408, + 0.408, + 0.88 + ], + [ + 0.408, + 0.408, + 0.88 + ], + [ + 0.408, + 0.408, + 0.88 + ], + [ + 0.405, + 0.405, + 0.88 + ], + [ + 0.402, + 0.401, + 0.88 + ], + [ + 0.409, + 0.40700000000000003, + 0.88 + ], + [ + 0.413, + 0.41200000000000003, + 0.88 + ], + [ + 0.41700000000000004, + 0.41700000000000004, + 0.88 + ], + [ + 0.42100000000000004, + 0.42100000000000004, + 0.88 + ], + [ + 0.425, + 0.425, + 0.88 + ], + [ + 0.42700000000000005, + 0.42700000000000005, + 0.88 + ], + [ + 0.429, + 0.429, + 0.88 + ], + [ + 0.43, + 0.43, + 0.88 + ], + [ + 0.429, + 0.429, + 0.88 + ], + [ + 0.433, + 0.428, + 0.88 + ], + [ + 0.42700000000000005, + 0.42700000000000005, + 0.88 + ], + [ + 0.42700000000000005, + 0.425, + 0.88 + ], + [ + 0.426, + 0.423, + 0.88 + ], + [ + 0.429, + 0.42100000000000004, + 0.88 + ], + [ + 0.431, + 0.419, + 0.88 + ], + [ + 0.431, + 0.418, + 0.88 + ], + [ + 0.42700000000000005, + 0.414, + 0.88 + ], + [ + 0.424, + 0.41, + 0.88 + ], + [ + 0.419, + 0.40399999999999997, + 0.88 + ], + [ + 0.418, + 0.402, + 0.88 + ], + [ + 0.41600000000000004, + 0.408, + 0.88 + ], + [ + 0.414, + 0.414, + 0.88 + ], + [ + 0.419, + 0.419, + 0.88 + ], + [ + 0.424, + 0.424, + 0.88 + ], + [ + 0.42700000000000005, + 0.42700000000000005, + 0.88 + ], + [ + 0.429, + 0.429, + 0.88 + ], + [ + 0.429, + 0.429, + 0.88 + ], + [ + 0.42700000000000005, + 0.42700000000000005, + 0.88 + ], + [ + 0.424, + 0.424, + 0.88 + ], + [ + 0.42100000000000004, + 0.42100000000000004, + 0.88 + ], + [ + 0.418, + 0.418, + 0.88 + ], + [ + 0.41600000000000004, + 0.41600000000000004, + 0.88 + ], + [ + 0.415, + 0.415, + 0.88 + ], + [ + 0.415, + 0.415, + 0.88 + ], + [ + 0.41600000000000004, + 0.41600000000000004, + 0.88 + ], + [ + 0.418, + 0.418, + 0.88 + ], + [ + 0.42, + 0.42, + 0.88 + ], + [ + 0.42200000000000004, + 0.42200000000000004, + 0.88 + ], + [ + 0.423, + 0.423, + 0.88 + ], + [ + 0.425, + 0.425, + 0.88 + ], + [ + 0.42700000000000005, + 0.42700000000000005, + 0.88 + ], + [ + 0.428, + 0.428, + 0.88 + ], + [ + 0.429, + 0.429, + 0.88 + ], + [ + 0.43, + 0.43, + 0.88 + ], + [ + 0.431, + 0.431, + 0.88 + ], + [ + 0.431, + 0.431, + 0.88 + ], + [ + 0.43200000000000005, + 0.43200000000000005, + 0.88 + ], + [ + 0.43200000000000005, + 0.43200000000000005, + 0.88 + ], + [ + 0.43200000000000005, + 0.43200000000000005, + 0.88 + ], + [ + 0.433, + 0.433, + 0.88 + ], + [ + 0.433, + 0.433, + 0.88 + ], + [ + 0.433, + 0.433, + 0.88 + ], + [ + 0.433, + 0.433, + 0.88 + ], + [ + 0.433, + 0.433, + 0.88 + ], + [ + 0.433, + 0.433, + 0.88 + ], + [ + 0.433, + 0.433, + 0.88 + ], + [ + 0.433, + 0.433, + 0.88 + ], + [ + 0.434, + 0.434, + 0.88 + ], + [ + 0.434, + 0.434, + 0.88 + ], + [ + 0.434, + 0.434, + 0.88 + ], + [ + 0.439, + 0.434, + 0.88 + ], + [ + 0.436, + 0.434, + 0.88 + ], + [ + 0.434, + 0.434, + 0.88 + ], + [ + 0.434, + 0.434, + 0.88 + ], + [ + 0.434, + 0.43799999999999994, + 0.88 + ], + [ + 0.434, + 0.434, + 0.88 + ], + [ + 0.434, + 0.434, + 0.88 + ], + [ + 0.434, + 0.434, + 0.88 + ], + [ + 0.43799999999999994, + 0.434, + 0.88 + ], + [ + 0.45299999999999996, + 0.434, + 0.88 + ], + [ + 0.466, + 0.434, + 0.88 + ], + [ + 0.467, + 0.434, + 0.88 + ], + [ + 0.467, + 0.435, + 0.88 + ], + [ + 0.466, + 0.435, + 0.88 + ], + [ + 0.46, + 0.435, + 0.88 + ], + [ + 0.455, + 0.435, + 0.88 + ], + [ + 0.451, + 0.435, + 0.88 + ], + [ + 0.444, + 0.435, + 0.88 + ], + [ + 0.43799999999999994, + 0.435, + 0.88 + ], + [ + 0.436, + 0.434, + 0.88 + ], + [ + 0.436, + 0.433, + 0.88 + ], + [ + 0.43799999999999994, + 0.43200000000000005, + 0.88 + ], + [ + 0.439, + 0.43, + 0.88 + ], + [ + 0.441, + 0.428, + 0.88 + ], + [ + 0.44799999999999995, + 0.425, + 0.88 + ], + [ + 0.46299999999999997, + 0.42200000000000004, + 0.88 + ], + [ + 0.47, + 0.418, + 0.88 + ], + [ + 0.462, + 0.414, + 0.88 + ], + [ + 0.45899999999999996, + 0.41, + 0.88 + ], + [ + 0.447, + 0.406, + 0.88 + ], + [ + 0.433, + 0.402, + 0.88 + ], + [ + 0.42700000000000005, + 0.402, + 0.88 + ], + [ + 0.418, + 0.405, + 0.88 + ], + [ + 0.408, + 0.408, + 0.88 + ], + [ + 0.41, + 0.41100000000000003, + 0.88 + ], + [ + 0.413, + 0.425, + 0.88 + ], + [ + 0.414, + 0.414, + 0.88 + ], + [ + 0.41600000000000004, + 0.41600000000000004, + 0.88 + ], + [ + 0.42, + 0.41700000000000004, + 0.88 + ], + [ + 0.43200000000000005, + 0.418, + 0.88 + ], + [ + 0.45399999999999996, + 0.419, + 0.88 + ], + [ + 0.465, + 0.419, + 0.88 + ], + [ + 0.46399999999999997, + 0.42, + 0.88 + ], + [ + 0.467, + 0.42100000000000004, + 0.88 + ], + [ + 0.46399999999999997, + 0.42100000000000004, + 0.88 + ], + [ + 0.45799999999999996, + 0.42100000000000004, + 0.88 + ], + [ + 0.44799999999999995, + 0.42200000000000004, + 0.88 + ], + [ + 0.43799999999999994, + 0.42200000000000004, + 0.88 + ], + [ + 0.429, + 0.42200000000000004, + 0.88 + ], + [ + 0.42200000000000004, + 0.42200000000000004, + 0.88 + ], + [ + 0.423, + 0.428, + 0.88 + ], + [ + 0.423, + 0.424, + 0.88 + ], + [ + 0.42700000000000005, + 0.423, + 0.88 + ], + [ + 0.434, + 0.423, + 0.88 + ], + [ + 0.447, + 0.423, + 0.88 + ], + [ + 0.466, + 0.423, + 0.88 + ], + [ + 0.48200000000000004, + 0.423, + 0.88 + ], + [ + 0.485, + 0.423, + 0.88 + ], + [ + 0.479, + 0.423, + 0.88 + ], + [ + 0.478, + 0.423, + 0.88 + ], + [ + 0.462, + 0.423, + 0.88 + ], + [ + 0.447, + 0.424, + 0.88 + ], + [ + 0.439, + 0.424, + 0.88 + ], + [ + 0.42700000000000005, + 0.424, + 0.88 + ], + [ + 0.423, + 0.423, + 0.88 + ], + [ + 0.423, + 0.423, + 0.88 + ] + ], + "w2c_cam01": [ + [ + [ + -2.4335928950132557e-08, + 0.9999999999999996, + 7.703719718111554e-34, + -3955.378682051118 + ], + [ + 0.06312775221799087, + 1.5362724927585996e-09, + -0.9980054543437644, + -8.860966868663526 + ], + [ + -0.9980054543128739, + -1.222204185155861e-16, + -0.063127752706351, + 189.4864825792466 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.00015794978669054168, + 0.9999999875259321, + -8.470329407191615e-22, + -3955.216634208076 + ], + [ + 0.06321350421138278, + 9.984559630697641e-06, + -0.9980000264457038, + -8.914293125339057 + ], + [ + -0.9980000139694452, + -0.00015760960525307042, + -0.06321350548893405, + 190.13158772954827 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.0003148099691379806, + 0.9999999504473402, + -0.0, + -3955.0546841104315 + ], + [ + 0.06329883474122414, + 1.9927105198795968e-05, + -0.9979946177827381, + -8.96738049827417 + ], + [ + -0.9979945683060368, + -0.00031415437012309605, + -0.06329883836752999, + 190.7724377893639 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.0004711375116847742, + 0.9999998890147164, + -0.0, + -3954.892731771708 + ], + [ + 0.06338374382333564, + 2.9862462660485416e-05, + -0.9979892284624975, + -9.020360637878696 + ], + [ + -0.9979891176806784, + -0.0004701658784214044, + -0.0633837513483344, + 191.41113564782052 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.0006266660945540089, + 0.9999998036447837, + -0.0, + -3954.7308294213008 + ], + [ + 0.06346823148421982, + 3.977339656217971e-05, + -0.9979838585920828, + -9.07316535964291 + ], + [ + -0.9979836626167377, + -0.0006253783650574399, + -0.06346824443752766, + 192.0466305489692 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.0007813957141880503, + 0.9999996947103222, + -3.38813176287778e-21, + -3954.568978597016 + ], + [ + 0.0635523102061008, + 4.9659517982334894e-05, + -0.9979785074847052, + -9.125795477782379 + ], + [ + -0.9979782027998327, + -0.0007797918478900555, + -0.06355233009960684, + 192.6789228541234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.0009355926831338469, + 0.9999995623330699, + -0.0, + -3954.4071292964713 + ], + [ + 0.06363597584411042, + 5.953737944137402e-05, + -0.9979731755080736, + -9.1783156450759 + ], + [ + -0.9979727387195423, + -0.0009336721215786942, + -0.06363600418776615, + 193.3090640624885 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.0010887243660384935, + 0.9999994073394517, + 6.776263525756681e-21, + -3954.2453859395505 + ], + [ + 0.06371923260391883, + 6.937272223563645e-05, + -0.9979678625004879, + -9.230591161313372 + ], + [ + -0.9979672710392666, + -0.0010864876503490011, + -0.06371927086074028, + 193.93495258514884 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.0012413233916099254, + 0.9999992295578218, + -0.0, + -3954.083646810152 + ], + [ + 0.06380208462774241, + 7.919908110020524e-05, + -0.9979625682983605, + -9.282755409826152 + ], + [ + -0.9979617994244863, + -0.0012387700032092017, + -0.06380213427716035, + 194.55869078360692 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.001393123440730194, + 0.9999990296030686, + -0.0, + -3953.921964949904 + ], + [ + 0.0638845319552528, + 8.899912533141793e-05, + -0.9979572930020674, + -9.334739845204021 + ], + [ + -0.9979563245895545, + -0.0013902534222599826, + -0.0638845944428659, + 195.1792281423626 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.001544124510380441, + 0.9999988078390375, + -1.3552527051516695e-20, + -3953.7603418602466 + ], + [ + 0.06396657876296775, + 9.877247986577416e-05, + -0.9979520364453184, + -9.386543761172248 + ], + [ + -0.9979508467316226, + -0.0015409379254861253, + -0.06396665551634902, + 195.79656509457573 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.0016945929133736473, + 0.9999985641763982, + -0.0, + -3953.5987266737466 + ], + [ + 0.06404823335108585, + 0.00010853583818916989, + -0.9979467981934591, + -9.438234723803326 + ], + [ + -0.9979453653272264, + -0.0016910892992611495, + -0.06404832580864528, + 196.41175277835347 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.0018442623310384026, + 0.999998299346781, + 6.776263525759452e-21, + -3953.4371729107334 + ], + [ + 0.06412949161442975, + 0.00011827180683246493, + -0.9979415786092161, + -9.4897431595518 + ], + [ + -0.9979398814695416, + -0.0018404417904097283, + -0.06412960117273087, + 197.0237408611561 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.001993132760656574, + 0.9999980137089265, + -0.0, + -3953.2756820518634 + ], + [ + 0.06421035772943176, + 0.00012798002176958332, + -0.99793637752182, + -9.541068407197127 + ], + [ + -0.9979343953461149, + -0.0019889954167728804, + -0.06421048576685874, + 197.63252977393225 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.002141470515109681, + 0.9999977070493877, + -0.0, + -3953.1142027208266 + ], + [ + 0.06429083583579777, + 0.00013767724502124104, + -0.9979311947586921, + -9.592277507455954 + ], + [ + -0.9979289065716787, + -0.0021370159606426092, + -0.06429098374918142, + 198.2391705466361 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.0022890092762144465, + 0.999997380214835, + -0.0, + -3952.9527889098276 + ], + [ + 0.06437093014134913, + 0.00014734604222707583, + -0.9979260301454619, + -9.64330231360453 + ], + [ + -0.997923415817081, + -0.0022842376722064035, + -0.06437109927775103, + 198.84261291154655 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.002435749041542508, + 0.9999970335589032, + 1.3552527051523258e-20, + -3952.7914420787492 + ], + [ + 0.06445064066981909, + 0.00015698605192818852, + -0.9979208837741743, + -9.69414138629988 + ], + [ + -0.9979179235275605, + -0.0024306605696789384, + -0.06445083235798278, + 199.44285733706005 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.002581956123984243, + 0.9999966667457315, + -2.7105054103048677e-20, + -3952.6301103492515 + ], + [ + 0.06452997155309481, + 0.00016661411059923747, + -0.9979157554679127, + -9.74387309021534 + ], + [ + -0.9979124291913335, + -0.0025765504308002366, + -0.0645301871477944, + 200.04101865724706 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.002727364205883953, + 0.9999962807353279, + -0.0, + -3952.4688481785897 + ], + [ + 0.06460892700662277, + 0.0001762127302802145, + -0.9979106450480056, + -9.79353587769777 + ], + [ + -0.9979069335880153, + -0.0027216415099770115, + -0.06460916780500496, + 200.63597532378338 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.002871973285092247, + 0.9999958758762205, + 1.355252705152649e-20, + -3952.3076570058806 + ], + [ + 0.06468750705407983, + 0.00018578155832467606, + -0.9979055526032214, + -9.845799557783458 + ], + [ + -0.9979014371544469, + -0.0028659338253705646, + -0.06468777433486127, + 201.22755461687123 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.003016049674451083, + 0.999995451711837, + -1.3552527051527562e-20, + -3952.146484457597 + ], + [ + 0.06476571166713896, + 0.00019533749204047, + -0.9979004782219082, + -9.89515285245168 + ], + [ + -0.9978959395236332, + -0.003009693150967068, + -0.0647660067425971, + 201.8171686819416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.0031595933716474056, + 0.9999950084724052, + -1.3552527051528627e-20, + -3951.9853314874385 + ], + [ + 0.06484354916671616, + 0.00020488027080677436, + -0.9978954214523374, + -9.944385103075415 + ], + [ + -0.9978904404738629, + -0.0031529194989478367, + -0.06484387333829598, + 202.40463719743425 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.0033023380597770116, + 0.9999945472668033, + -2.7105054103059375e-20, + -3951.82425316373 + ], + [ + 0.06492101962591289, + 0.00021439232301431925, + -0.9978903823800805, + -9.996216203495944 + ], + [ + -0.9978849411975054, + -0.0032953471301811416, + -0.06492137412703906, + 202.98872879758622 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.0034442837370366, + 0.9999940684371775, + -1.3552527051530745e-20, + -3951.663250899626 + ], + [ + 0.06499812722073041, + 0.00022387332044286213, + -0.9978853608198358, + -10.045067360111949 + ], + [ + -0.9978794418509296, + -0.0034369760618866443, + -0.06499851326628431, + 203.56980660320994 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.0035856967161087033, + 0.9999935713688665, + -0.0, + -3951.5022716728463 + ], + [ + 0.06507487191260321, + 0.00023334025457664108, + -0.9978803568554118, + -10.093794919957466 + ], + [ + -0.9978739419048315, + -0.0035780720620558434, + -0.06507529076102446, + 204.1487399507775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.003726576994959565, + 0.9999930562878426, + -4.0657581154598547e-20, + -3951.3413164196772 + ], + [ + 0.06515125786989152, + 0.00024279286465438203, + -0.9978753702991148, + -10.14518752701962 + ], + [ + -0.9978684413972597, + -0.003718635143421048, + -0.0651517107685879, + 204.72534702855032 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.0038666582575001005, + 0.9999925244490179, + -0.0, + -3951.180440808138 + ], + [ + 0.06522728517577857, + 0.0002522135062741626, + -0.9978704012330183, + -10.193597472997928 + ], + [ + -0.9978629416627615, + -0.0038583995726820084, + -0.06522777329387994, + 205.2989421076901 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.004006206816226021, + 0.9999919751212735, + -2.7105054103069878e-20, + -3951.019591337861 + ], + [ + 0.06530296208870608, + 0.00026161927130244843, + -0.9978654491953299, + -10.241882653191432 + ], + [ + -0.9978574415102194, + -0.003997631111289566, + -0.06530348664640721, + 205.8703936725128 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.004144956355478412, + 0.9999914096315085, + -0.0, + -3950.858823972587 + ], + [ + 0.0653782845445343, + 0.0002709924639582673, + -0.9978605145375271, + -10.292761681475506 + ], + [ + -0.997851942615392, + -0.004136064029861209, + -0.06537884667864018, + 206.43846940220354 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.004283173187605582, + 0.9999908271716521, + -0.0, + -3950.6980848959847 + ], + [ + 0.0654532607965794, + 0.00028035022328973995, + -0.9978555967948705, + -10.340725676452337 + ], + [ + -0.9978464437074241, + -0.004273964086739016, + -0.06545386169991713, + 207.0045848158786 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.004420590997393005, + 0.9999902291398821, + -0.0, + -3950.5374303646763 + ], + [ + 0.06552788678571216, + 0.0002896748167752216, + -0.9978506963177904, + -10.388492964778598 + ], + [ + -0.9978409465321284, + -0.004411065555520707, + -0.06552852756266393, + 207.56750790929186 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.0045577424103612615, + 0.9999896134381201, + -0.0, + -3950.3767507582033 + ], + [ + 0.06560217068051584, + 0.0002990009011137067, + -0.9978458126386389, + -10.438990705508909 + ], + [ + -0.9978354485285145, + -0.0045478999310895685, + -0.06560285257605182, + 208.1291552812279 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.004693828484904244, + 0.9999889839264001, + 5.4210108206160417e-20, + -3950.216213456307 + ], + [ + 0.06567611273578161, + 0.0003082758047259481, + -0.9978409458335256, + -10.486432980605308 + ], + [ + -0.9978299536245997, + -0.0046836700079624155, + -0.0656768367446675, + 208.68674440300794 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.004829648159517611, + 0.999988337181317, + -0.0, + -3950.0556528891784 + ], + [ + 0.06574971272857265, + 0.00031755168261605934, + -0.9978360959782117, + -10.533814783819299 + ], + [ + -0.9978244584803359, + -0.004819173018625455, + -0.06575048007308622, + 209.24324178710535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.004964668806563539, + 0.9999876759558797, + -0.0, + -3949.89518138424 + ], + [ + 0.06582297499363318, + 0.0003267932981211268, + -0.9978312628742035, + -10.583786706654188 + ], + [ + -0.9978189656444748, + -0.004953877500361627, + -0.06582378671803608, + 209.79636430098532 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.005099156737809998, + 0.9999869992157713, + 2.7105054103086317e-20, + -3949.734744195791 + ], + [ + 0.06589590361687044, + 0.00033601790941838053, + -0.9978264463214433, + -10.630839915831073 + ], + [ + -0.9978134738850775, + -0.0050880492034492564, + -0.06589676083615315, + 210.34752969407162 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.005232845639445236, + 0.9999863085695292, + 2.7105054103088342e-20, + -3949.574398445164 + ], + [ + 0.06596849870609708, + 0.00034520769718213287, + -0.9978216463928358, + -10.677692646776626 + ], + [ + -0.9978079848802628, + -0.0052214224089568995, + -0.06596940243185727, + 210.89550498515626 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.005366268135280586, + 0.9999856014794914, + -0.0, + -3949.414032705441 + ], + [ + 0.0660407642478336, + 0.0003543975516131419, + -0.9978168628861398, + -10.727272601380138 + ], + [ + -0.9978024958958509, + -0.005354528594997193, + -0.06604171566166192, + 211.44220497821408 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.005498891599345529, + 0.9999848809812971, + -0.0, + -3949.25376046593 + ], + [ + 0.06611270459626624, + 0.0003635520924653064, + -0.9978120955975843, + -10.773863051118678 + ], + [ + -0.9977970097572592, + -0.0054868363102063295, + -0.06611370468198961, + 211.9858998707763 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.005630982342919021, + 0.9999841458932505, + -5.421010820618874e-20, + -3949.0935263752262 + ], + [ + 0.06618431552325704, + 0.0003726886207348191, + -0.9978073448727012, + -10.820320369118377 + ], + [ + -0.9977915256310725, + -0.005618611301761767, + -0.06618536534504253, + 212.5274551843971 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.005762274053185467, + 0.9999833979610541, + -2.7105054103096365e-20, + -3948.933388118814 + ], + [ + 0.06625560129834997, + 0.0003817892707200249, + -0.9978026105064802, + -10.869363546479503 + ], + [ + -0.9977860450543151, + -0.00574958785501386, + -0.06625670180718164, + 213.06563665215123 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.005893299352639428, + 0.9999826343605873, + -0.0, + -3948.7732330919644 + ], + [ + 0.06632656588840528, + 0.0003908890958520242, + -0.9977978922924049, + -10.91555425233225 + ], + [ + -0.9977805650027316, + -0.0058802974361441785, + -0.06632771822467817, + 213.602913459761 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.00602352561709126, + 0.9999818584050114, + -0.0, + -3948.6131759253803 + ], + [ + 0.0663972136669129, + 0.00039995257320372946, + -0.9977931900224662, + -10.961541623662878 + ], + [ + -0.997775088574338, + -0.006010208605226767, + -0.06639841875371379, + 214.13700224127408 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.006153219157257584, + 0.9999810687678056, + -0.0, + -3948.4531606722185 + ], + [ + 0.06646754039601353, + 0.00040899708571933937, + -0.9977885040403544, + -11.010182482621119 + ], + [ + -0.9977696147893748, + -0.006139587103650092, + -0.06646879924640808, + 214.66876691616525 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.006282379972218525, + 0.9999802656562202, + -0.0, + -3948.293188192241 + ], + [ + 0.06653755439529158, + 0.00041802244853208744, + -0.997783833859983, + -11.055900116799897 + ], + [ + -0.99776414336871, + -0.0062684329412692795, + -0.0665388680108499, + 215.19857906241043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.006411008061102504, + 0.9999794492766542, + -0.0, + -3948.1332593417255 + ], + [ + 0.06660725568044054, + 0.0004270284288383217, + -0.9977791795469785, + -11.101482133035212 + ], + [ + -0.9977586745840598, + -0.006396746131222077, + -0.06660862505106623, + 215.72625342642058 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.006538837112672403, + 0.9999786215760885, + -0.0, + -3947.9734326344674 + ], + [ + 0.06667664438328479, + 0.0004359970377713801, + -0.9977745411666746, + -11.149646498048035 + ], + [ + -0.9977532104435443, + -0.006524260968922417, + -0.0666780703710737, + 216.2505548695869 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.0066663997472025, + 0.9999777793103256, + 2.7105054103110145e-20, + -3947.813593737622 + ], + [ + 0.06674572444152209, + 0.00044496356794117026, + -0.9977699185063655, + -11.19495578959183 + ], + [ + -0.9977477474976313, + -0.00665150890267285, + -0.06674720812678817, + 216.7739543761833 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.0067931633433668155, + 0.999976926199695, + -0.0, + -3947.6538589574275 + ], + [ + 0.06681449610542453, + 0.00045389225876823363, + -0.9977653116299422, + -11.240057484346757 + ], + [ + -0.9977422895223743, + -0.00677795851153059, + -0.06681603832214796, + 217.29416800201741 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.006919660520635991, + 0.9999760588625506, + -2.7105054103114027e-20, + -3947.4941133953494 + ], + [ + 0.06688296745483147, + 0.00046281850980173646, + -0.9977607200443716, + -11.287881669297839 + ], + [ + -0.9977368326508016, + -0.006904141235921007, + -0.06688456926482352, + 217.81310701505373 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.0070453586586851575, + 0.9999751811526977, + -0.0, + -3947.3344739071244 + ], + [ + 0.06695113044592536, + 0.00047170643380591194, + -0.9977561443684789, + -11.33270760142833 + ], + [ + -0.9977313813470241, + -0.007029525664470599, + -0.06695279265491441, + 218.3290476088961 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.007170524066892397, + 0.9999742914618387, + -0.0, + -3947.1748833866654 + ], + [ + 0.06701899742869075, + 0.00048057368884844577, + -0.9977515838286516, + -11.354388721001945 + ], + [ + -0.9977259332328743, + -0.007154377519205845, + -0.06702072095182796, + 218.84439762105865 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.007295156744718303, + 0.9999733899899886, + -0.0, + -3947.034632584878 + ], + [ + 0.06708656426691574, + 0.0004894200252635402, + -0.997747038764285, + -11.377662278298317 + ], + [ + -0.997720488847427, + -0.007278696815037068, + -0.06708835000747715, + 219.34686487464919 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.0074192566916672234, + 0.9999724769363122, + -0.0, + -3946.879183962055 + ], + [ + 0.06715383097616891, + 0.0004982452230760377, + -0.9977425092361866, + -11.414446256482282 + ], + [ + -0.9977150484503211, + -0.0074024835649709984, + -0.06715567982563653, + 219.8397372380055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.00754282390728673, + 0.9999715524991217, + -0.0, + -3946.72127630827 + ], + [ + 0.06722080587534295, + 0.0005070491259040715, + -0.9977379947454408, + -11.460036964884317 + ], + [ + -0.9977096117406352, + -0.007525737777815776, + -0.06722271871362384, + 220.32518536923408 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.007665858391167088, + 0.9999706168758793, + -0.0, + -3946.5637335097917 + ], + [ + 0.06728748482824881, + 0.0005158314869317651, + -0.9977334956306545, + -11.505355273383522 + ], + [ + -0.9977041792540914, + -0.007648459468548137, + -0.06728946252332357, + 220.80659202678405 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.007788360142940733, + 0.9999696702631955, + -1.0842021641250954e-19, + -3946.4065202186625 + ], + [ + 0.06735387615363313, + 0.0005245921552495209, + -0.9977290113904433, + -11.550426023353854 + ], + [ + -0.9976987506855938, + -0.0077706486457621874, + -0.06735591956190304, + 221.28431623002845 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.007910595470055704, + 0.999968710750146, + -0.0, + -3946.249522819869 + ], + [ + 0.06741997557325784, + 0.000533348841446239, + -0.9977245423626275, + -11.595344372872525 + ], + [ + -0.9976933244664873, + -0.00789257102624189, + -0.06742208568120946, + 221.7597969119754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.008032031756421944, + 0.9999677427126655, + 5.4210108206262305e-20, + -3946.0927561222406 + ], + [ + 0.0674857875359048, + 0.0005420654741572858, + -0.9977200883242154, + -11.640008048516869 + ], + [ + -0.9976879047398621, + -0.008013695215570472, + -0.06748796503655916, + 222.2315211823396 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.008152935309823363, + 0.99996676427061, + -5.4210108206266036e-20, + -3945.9359901757402 + ], + [ + 0.06755131606880642, + 0.0005507598149065773, + -0.9977156490508696, + -11.68454811567047 + ], + [ + -0.9976824894056159, + -0.008134286927501474, + -0.067553561783185, + 222.7014281193062 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.00827330613005636, + 0.9999657756171849, + 5.421010820626977e-20, + -3945.7790462910225 + ], + [ + 0.06761656118729373, + 0.0005594316563673347, + -0.9977112245982935, + -11.729029356082918 + ], + [ + -0.9976770787123082, + -0.00825434617474333, + -0.06761887592457182, + 223.17048480501515 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.008393144216956458, + 0.9999647769447448, + -5.42101082062735e-20, + -3945.621812086717 + ], + [ + 0.06768152290669928, + 0.0005680807921202993, + -0.9977068150219499, + -11.773501501542341 + ], + [ + -0.9976716729074051, + -0.00837387297002013, + -0.06768390746419561, + 223.63943269566147 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.008512715876855847, + 0.999963766177755, + -5.4210108206277194e-20, + -3945.464216325625 + ], + [ + 0.06774620524024522, + 0.0005767250938999069, + -0.9977024200951465, + -11.818056049024795 + ], + [ + -0.9976662696935513, + -0.008493133018272587, + -0.06774866055715177, + 224.10961165230535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.008631488496481326, + 0.9999627480093122, + -5.4210108206280896e-20, + -3945.306393764664 + ], + [ + 0.06781060850808311, + 0.000585328291920998, + -0.9976980398720617, + -11.86256408617532 + ], + [ + -0.9976608738073184, + -0.008611594941512944, + -0.06781313520684351, + 224.57912733334885 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.008749994688422469, + 0.999961718063723, + -5.421010820628457e-20, + -3945.1482713075848 + ], + [ + 0.06787473656744879, + 0.0005939263210928285, + -0.9976936741241894, + -11.907170078272422 + ], + [ + -0.9976554806546728, + -0.008729790137696482, + -0.0678773355682573, + 225.05009704895684 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.008867701840567595, + 0.9999606811590479, + -0.0, + -3944.9900421093516 + ], + [ + 0.06793858559618683, + 0.0006024828094626268, + -0.9976893231871602, + -11.955867431742806 + ], + [ + -0.9976500953782558, + -0.008847187237014005, + -0.06794125749315023, + 225.51987968679015 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.008985142564485222, + 0.9999596327917923, + -0.0, + -3944.8317621107785 + ], + [ + 0.06800216774511089, + 0.0006110338376140048, + -0.9976849862655122, + -12.027221037225232 + ], + [ + -0.9976447126896265, + -0.008964317626548306, + -0.06800491343956704, + 225.98763617765204 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.009102050554318415, + 0.999958575479858, + -0.0, + -3944.673524280786 + ], + [ + 0.06806547488473151, + 0.0006195610584240604, + -0.9976806639766107, + -12.071600660810663 + ], + [ + -0.9976393357182856, + -0.00908091563211631, + -0.06806829510763752, + 226.45534492918316 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.00921842581015863, + 0.9999575094100662, + -0.0, + -3944.5153021897227 + ], + [ + 0.06812851533293884, + 0.0006280643509777408, + -0.9976763558056794, + -12.115874004558702 + ], + [ + -0.9976339641359349, + -0.009196981261104235, + -0.06813141080370728, + 226.92150992008447 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.009334268332133062, + 0.9999564347683874, + -0.0, + -3944.356982125002 + ], + [ + 0.06819128495347525, + 0.000636543482832947, + -0.9976720620869306, + -12.160151497587272 + ], + [ + -0.9976285984623774, + -0.009312514528572867, + -0.0681942563794634, + 227.387770392454 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.009449844424620204, + 0.9999553492233294, + -5.421010820630639e-20, + -3944.1984556046805 + ], + [ + 0.0682537918922878, + 0.0006450165152608952, + -0.9976677823033171, + -12.204650901760688 + ], + [ + -0.9976232358546054, + -0.009427781124821625, + -0.06825684014110944, + 227.8572867151003 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.009564621479094513, + 0.9999542579618138, + -0.0, + -3944.039991389807 + ], + [ + 0.06831603235439095, + 0.00065344688041548, + -0.9976635167883651, + -12.256960706788824 + ], + [ + -0.9976178818210133, + -0.009542249697194458, + -0.06831915794029846, + 228.32867594120577 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.009679132103923965, + 0.999953156103682, + -5.421010820631358e-20, + -3943.881702690084 + ], + [ + 0.0683780101602945, + 0.0006618707979519807, + -0.997659265307332, + -12.32957439606978 + ], + [ + -0.997612531258174, + -0.009656451620235094, + -0.06838121393164402, + 228.80321871891675 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.009793109995151433, + 0.9999520463485351, + 5.4210108206317133e-20, + -3943.723811118039 + ], + [ + 0.06843972964799566, + 0.0006702699423724522, + -0.9976550276242351, + -12.376609645010447 + ], + [ + -0.9976071866234686, + -0.009770121220367306, + -0.06844301226968111, + 229.28216769084608 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.00990655515306932, + 0.9999509288785121, + -0.0, + -3943.5663726427647 + ], + [ + 0.06850118668119809, + 0.0006786440857343645, + -0.9976508040719821, + -12.423758839795516 + ], + [ + -0.9976018484315539, + -0.009883258512671852, + -0.06850454880603872, + 229.76279002748922 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.01001973388074157, + 0.9999498012065203, + -0.0, + -3943.4092843591206 + ], + [ + 0.06856238524310083, + 0.0006870113415052036, + -0.9976465944136697, + -12.471020293945823 + ], + [ + -0.997596513964356, + -0.009996129182681064, + -0.06856582769520059, + 230.24506137569384 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.01013237987518368, + 0.999948666121449, + -5.4210108206327786e-20, + -3943.252492169743 + ], + [ + 0.06862332967828516, + 0.000695353339784246, + -0.9976423984111731, + -12.51824597991838 + ], + [ + -0.9975911857661525, + -0.010108467560914347, + -0.0686268530915725, + 230.72681568772393 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.010244226834647773, + 0.9999475265315477, + -5.4210108206331313e-20, + -3943.095887815851 + ], + [ + 0.06868402018898469, + 0.0007036516057718231, + -0.997638216110979, + -12.565281082156961 + ], + [ + -0.9975858667848478, + -0.01022000798636583, + -0.06868762499812138, + 231.2058003911926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.010356073665945927, + 0.9999463744312619, + 5.4210108206334834e-20, + -3942.939113740636 + ], + [ + 0.06874445622783684, + 0.0007119608321254158, + -0.9976340475593805, + -12.612262991807716 + ], + [ + -0.9975805490801485, + -0.010331547490780904, + -0.06874814341780655, + 231.6840094340685 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.010467121463129165, + 0.9999452181836144, + 5.421010820633834e-20, + -3942.782175656545 + ], + [ + 0.06880464252294344, + 0.0007202260058036371, + -0.9976298925161526, + -12.658882662953804 + ], + [ + -0.9975752407551337, + -0.01044228906379779, + -0.06880841250490631, + 232.1569455096761 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.010577902830015085, + 0.9999440524207935, + 5.421010820634184e-20, + -3942.624802513852 + ], + [ + 0.0688645745565616, + 0.0007284835349799119, + -0.9976257513130276, + -12.70516568222087 + ], + [ + -0.9975699367864677, + -0.010552764062672526, + -0.06886842811100347, + 232.62501561910074 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.010688151465280737, + 0.999942880077785, + -0.0, + -3942.467081437868 + ], + [ + 0.06892426498626955, + 0.0007367150649135972, + -0.9976216231352524, + -12.750951591645416 + ], + [ + -0.9975646392875125, + -0.010662706818646972, + -0.06892820269291125, + 233.08590309844743 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.010797867369459157, + 0.9999417013307683, + -5.4210108206348797e-20, + -3942.309202809063 + ], + [ + 0.06898370137356391, + 0.0007449202859474749, + -0.9976175088873341, + -12.796216268436735 + ], + [ + -0.9975593493385183, + -0.010772117352925336, + -0.06898772379957845, + 233.53936820489145 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.01090731684337761, + 0.9999405134503143, + -1.0842021641270449e-19, + -3942.15129955571 + ], + [ + 0.06904290013670435, + 0.0007531175879435278, + -0.9976134074653424, + -12.841167551112594 + ], + [ + -0.997554063112741, + -0.010881261329904886, + -0.06904700803895877, + 233.9883829015592 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.011016233586728852, + 0.9999393194577173, + 5.421010820635568e-20, + -3941.993471834834 + ], + [ + 0.06910184903344156, + 0.0007612883056144839, + -0.9976093197741662, + -12.885934115285913 + ], + [ + -0.9975487845291464, + -0.010989873103373711, + -0.0691060429600379, + 234.43481307556783 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.011124617600127165, + 0.9999381195270292, + -0.0, + -3941.8357205546235 + ], + [ + 0.06916056053138094, + 0.0007694324017630007, + -0.9976052449946142, + -12.93068496835545 + ], + [ + -0.9975435129422544, + -0.011097952675850906, + -0.0691648410193433, + 234.88101889995826 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.011232735183522639, + 0.9999369108400274, + -0.0, + -3941.678023793826 + ], + [ + 0.06921902613604518, + 0.0007775680463623942, + -0.9976011837446419, + -12.975528627689307 + ], + [ + -0.9975382461585527, + -0.011205765726135412, + -0.06922339391715572, + 235.32859527868018 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.011340320037635465, + 0.9999356965032521, + 5.421010820636597e-20, + -3941.5204859860432 + ], + [ + 0.0692772543666477, + 0.0007856767576092918, + -0.9975971354908008, + -13.020388400669509 + ], + [ + -0.9975329867437537, + -0.011313046596411542, + -0.06928170995864545, + 235.77642082620497 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.011447638461817216, + 0.999934473639972, + -0.0, + -3941.363076787359 + ], + [ + 0.06933524502627218, + 0.0007937768310286861, + -0.9975931002746006, + -13.065324891608963 + ], + [ + -0.9975277318695838, + -0.011420060956216456, + -0.06933978914649384, + 236.22538125737134 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.011554157859150456, + 0.9999332484902009, + 1.0842021641274553e-19, + -3941.2059411370365 + ], + [ + 0.06939300270089814, + 0.0008018312309719025, + -0.9975890778486048, + -13.110176317013655 + ], + [ + -0.9975224875136366, + -0.01152627749724212, + -0.06939763563453226, + 236.67314696551435 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.011660677125368465, + 0.9999320119933045, + -1.0842021641275228e-19, + -3941.048893404704 + ], + [ + 0.0694505226134347, + 0.0008098951835425247, + -0.9975850685422833, + -13.155139203020152 + ], + [ + -0.9975172449666049, + -0.011632493203520625, + -0.06945524527423791, + 237.122568824239 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.011766397366253753, + 0.9999307735503591, + 5.4210108206379515e-20, + -3940.8921124501226 + ], + [ + 0.06950780956978966, + 0.0008179131286780538, + -0.997581072107387, + -13.19997283536407 + ], + [ + -0.9975120133586616, + -0.01173791111456891, + -0.06951262221939522, + 237.5701827029458 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.011871851178272231, + 0.999929527091585, + 5.4210108206382856e-20, + -3940.7354504635177 + ], + [ + 0.06956486315082316, + 0.0008259219076824047, + -0.9975770885840398, + -13.244799447224029 + ], + [ + -0.9975067866748428, + -0.011843062550560451, + -0.06956976647260814, + 238.01775242025892 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.011977038561246881, + 0.9999282727012484, + -5.4210108206386214e-20, + -3940.5788802009906 + ], + [ + 0.06962168751528816, + 0.0008339214510027382, + -0.9975731177224739, + -13.289597865942778 + ], + [ + -0.9975015647495079, + -0.011947947515596769, + -0.06962668218756445, + 238.46496552875885 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.012081693218346803, + 0.9999270136809877, + -0.0, + -3940.4224378261924 + ], + [ + 0.06967827874452961, + 0.0008418930344474481, + -0.9975691598517458, + -13.3342746694069 + ], + [ + -0.9974963512053422, + -0.012052300371314772, + -0.06968336521573128, + 238.91050387735802 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.012185815150437327, + 0.9999257501980433, + -0.0, + -3940.266100466965 + ], + [ + 0.06973464515438477, + 0.000849836595631594, + -0.997565214431093, + -13.378816525653352 + ], + [ + -0.9974911456684625, + -0.012156121122391663, + -0.06973982386180767, + 239.35415610372073 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.012289404358408335, + 0.9999244824188053, + -5.421010820639619e-20, + -3940.1098528709326 + ], + [ + 0.06979078675904012, + 0.0008577519743276603, + -0.9975612814985877, + -13.423213236259409 + ], + [ + -0.9974859483429287, + -0.012259409780377926, + -0.06979605812827232, + 239.79578479941017 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.012392993434485383, + 0.9999232039080466, + 5.4210108206399503e-20, + -3939.953561171641 + ], + [ + 0.0698466989608768, + 0.0008656761621887765, + -0.9975573613828183, + -13.467605954963934 + ], + [ + -0.9974807531378113, + -0.01236269765081133, + -0.06985206386657308, + 240.2374290665962 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.012495783491618045, + 0.9999219246495851, + 5.421010820640281e-20, + -3939.79741711567 + ], + [ + 0.06990239491148363, + 0.0008735533953469303, + -0.997553453249551, + -13.511776846108738 + ], + [ + -0.9974755691783914, + -0.012465187794709068, + -0.06990785353225068, + 240.67594173679146 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.012598307121731194, + 0.9999206381796841, + -0.0, + -3939.6412923602543 + ], + [ + 0.06995785755905, + 0.0008814205262446626, + -0.9975495582995381, + -13.555867458669962 + ], + [ + -0.997470391217404, + -0.012567411527104961, + -0.06996341052369795, + 241.11341006847053 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.012700564324774835, + 0.9999193445802679, + 5.421010820640936e-20, + -3939.485186507177 + ], + [ + 0.07001311181540722, + 0.0008892777552598414, + -0.9975456748234625, + -13.599882909354168 + ], + [ + -0.9974652176274268, + -0.012669368833407392, + -0.07001875974932312, + 241.54982755333273 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.012802288806431871, + 0.9999180473425394, + 5.4210108206412623e-20, + -3939.3291637333264 + ], + [ + 0.07006813302335356, + 0.0008971059953127985, + -0.9975418046054283, + -13.643742781403658 + ], + [ + -0.9974600536750705, + -0.012770794103365353, + -0.07007387630561869, + 241.9841421396387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.012903746861657085, + 0.9999167431926173, + -0.0, + -3939.1731594015405 + ], + [ + 0.07012294585972786, + 0.0009049240836577423, + -0.997537945933064, + -13.687525662015133 + ], + [ + -0.9974548943822821, + -0.012871952964439506, + -0.07012878510078681, + 242.41739454980134 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.01300467219686221, + 0.9999154356749635, + 5.421010820641912e-20, + -3939.017237989974 + ], + [ + 0.0701775339729007, + 0.0009127130078611969, + -0.9975341000088405, + -13.731153068612588 + ], + [ + -0.9974497444871813, + -0.012972579801929052, + -0.07018346953335709, + 242.84853332188013 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.013105064813108297, + 0.9999141249508601, + 5.421010820642235e-20, + -3938.8613995860537 + ], + [ + 0.07023191397917851, + 0.0009204728302953148, + -0.9975302657005398, + -13.774628071470312 + ], + [ + -0.9974446030185196, + -0.01307267461206044, + -0.07023794620940649, + 243.27755341338244 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.0132051910043644, + 0.9999128076640175, + -0.0, + -3938.7055794488974 + ], + [ + 0.0702860690430266, + 0.0009282219004949243, + -0.9975264442121734, + -13.818019493375935 + ], + [ + -0.9974394678322132, + -0.013172503055637594, + -0.07029219852758074, + 243.70549805374395 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.013305050770678978, + 0.9999114838944444, + -5.4210108206428795e-20, + -3938.5497784669265 + ], + [ + 0.07034002407538495, + 0.0009359604391068021, + -0.9975226338239801, + -13.861333294376562 + ], + [ + -0.9974343372884891, + -0.013272065116732209, + -0.07034625139557797, + 244.13237161718015 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.013404377819933772, + 0.9999101572917742, + -0.0, + -3938.3940627306465 + ], + [ + 0.07039375443210347, + 0.0009436692623737533, + -0.9975188363260494, + -13.90448941312596 + ], + [ + -0.997429216817877, + -0.013371095194304891, + -0.0704000799103351, + 244.55713270588987 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.013503438445094282, + 0.9999088244185865, + -0.0, + -3938.2383680748662 + ], + [ + 0.07044727647572303, + 0.0009513672029723331, + -0.9975150505819941, + -13.94756550137056 + ], + [ + -0.9974241018552022, + -0.01346985891416367, + -0.07045370067765079, + 244.9808317498752 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.013601966354783406, + 0.9999074889764971, + -0.0, + -3938.0827607665865 + ], + [ + 0.07050059877016193, + 0.0009590354938189357, + -0.9975112760385068, + -13.990489507208808 + ], + [ + -0.9974189955396299, + -0.013568090646647562, + -0.07050712200139925, + 245.40242659274614 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.013700227841292666, + 0.9999061474744002, + -0.0, + -3937.927176366045 + ], + [ + 0.07055370446987064, + 0.0009666925528220174, + -0.997507513902069, + -14.033345531147186 + ], + [ + -0.997413895595115, + -0.01366605604619312, + -0.0705603272804191, + 245.8229666403086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.013797956613989448, + 0.9999048036654682, + -5.421010820644471e-20, + -3937.7716813203456 + ], + [ + 0.07060660214287931, + 0.0009743195846817872, + -0.9975037636195584, + -14.076061361959312 + ], + [ + -0.9974088052124032, + -0.013763489485921192, + -0.0706133248186049, + 246.24140947182687 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.013895685254878231, + 0.9999034503047269, + -0.0, + -3937.6161451308003 + ], + [ + 0.07065929127987564, + 0.000981954079325045, + -0.9975000252240657, + -14.118770368375525 + ], + [ + -0.9974037171977106, + -0.013860922226327508, + -0.07066611461814802, + 246.65985190906258 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.01399261489292725, + 0.9999020985718844, + -2.1684043282580401e-19, + -3937.460765897964 + ], + [ + 0.07071178097371879, + 0.0009895395968979803, + -0.9974962981600035, + -14.161252104006916 + ], + [ + -0.9973986421472621, + -0.013957557392221667, + -0.07071870498277551, + 247.075159189552 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.014089278109812899, + 0.9999007411950172, + -0.0, + -3937.3054129720854 + ], + [ + 0.0707640624122327, + 0.0009971135278033058, + -0.9974925830478791, + -14.203652424170203 + ], + [ + -0.9973935734277619, + -0.014053926250850878, + -0.07077108761306389, + 247.48942686657907 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.014185674905716258, + 0.9998993782513667, + -0.0, + -3937.1500870448044 + ], + [ + 0.07081615220431006, + 0.0010046760055005479, + -0.9974888787415627, + -14.245975248230238 + ], + [ + -0.997388509970257, + -0.014150028792571578, + -0.07082327911414733, + 247.9026578414128 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.014281805280830307, + 0.9998980098179617, + -0.0, + -3936.9947887911403 + ], + [ + 0.07086802545549699, + 0.0010122265773652229, + -0.9974851870405871, + -14.288214181996484 + ], + [ + -0.9973834536509499, + -0.01424586504936334, + -0.07087525458366264, + 248.314855462848 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.01437740294677987, + 0.9998966398005878, + -0.0, + -3936.8395852136323 + ], + [ + 0.07091970734678646, + 0.0010197466106054757, + -0.9974815062078576, + -14.330300839347949 + ], + [ + -0.9973784066288767, + -0.014341169385104874, + -0.07092703892812076, + 248.72497642542746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.014472467904880217, + 0.9998952683520123, + -0.0, + -3936.6844772841914 + ], + [ + 0.07097118959101661, + 0.0010272358476303511, + -0.9974778368638318, + -14.372232783364915 + ], + [ + -0.9973733696767851, + -0.014435941819086605, + -0.0709786238481079, + 249.13302370112456 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.014567532732160637, + 0.9998938878651562, + 1.0842021641293931e-19, + -3936.5293328346343 + ], + [ + 0.07102247165051608, + 0.001034731978107032, + -0.9974741790394299, + -14.414158564487277 + ], + [ + -0.9973683352377084, + -0.014530713592739632, + -0.07103000934568472, + 249.5410914382076 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.0146620648528047, + 0.9998925061496623, + -0.0, + -3936.3742854920565 + ], + [ + 0.0710735623823262, + 0.0010421972107605233, + -0.997470532173888, + -14.455931149731539 + ], + [ + -0.9973633105408695, + -0.014624953472440395, + -0.07108120372423392, + 249.94709050376088 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.01475606426817525, + 0.999891123356595, + -0.0, + -3936.2193361808754 + ], + [ + 0.07112445349936211, + 0.0010496312872067934, + -0.9974668968886025, + -14.497548072973148 + ], + [ + -0.997358296358248, + -0.014718661477654113, + -0.07113219868441786, + 250.3510234866295 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.014850063553134625, + 0.999889731726688, + -0.0, + -3936.064352037207 + ], + [ + 0.07117515275235456, + 0.0010570721032921264, + -0.997463272621728, + -14.539160256130558 + ], + [ + -0.997353284388453, + -0.014812368832982122, + -0.07118300252954837, + 250.75498376969205 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.01494353013411443, + 0.9998883392195004, + 1.0842021641296378e-19, + -3935.909467296595 + ], + [ + 0.0712256524093822, + 0.001064481543941587, + -0.9974596599952802, + -14.580616182351356 + ], + [ + -0.997348283192808, + -0.014905544330173395, + -0.07123360696033812, + 251.15688236512545 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.01503646401252301, + 0.9998869459843951, + -0.0, + -3935.754682838988 + ], + [ + 0.07127596908436282, + 0.0010718597221404773, + -0.997456057853087, + -14.621919628420482 + ], + [ + -0.9973432917642139, + -0.014998187962285754, + -0.07128402858123513, + 251.55672114086633 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.015129131475410852, + 0.999885548140786, + -0.0, + -3935.5999323214983 + ], + [ + 0.07132608590252765, + 0.001079225250582229, + -0.9974524674101938, + -14.663140771243452 + ], + [ + -0.9973383074468486, + -0.015090565365058926, + -0.07133425079173535, + 251.9555477788467 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.015221532523098808, + 0.999884145762722, + 2.1684043282596394e-19, + -3935.445216274811 + ], + [ + 0.07137601947169905, + 0.0010865782864564215, + -0.9974488875085292, + -14.70428353912822 + ], + [ + -0.9973333291566356, + -0.015182676527306998, + -0.07138429019615712, + 252.35336378291677 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.015313667155918203, + 0.999882738924039, + -1.0842021641298799e-19, + -3935.290535216787 + ], + [ + 0.07142576149893601, + 0.001093918612026163, + -0.9974453187700902, + -14.745345569776005 + ], + [ + -0.9973283575891497, + -0.015274521464668749, + -0.07143413849522341, + 252.7501709107739 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.015405535374210726, + 0.9998813276983596, + -0.0, + -3935.1358896524994 + ], + [ + 0.07147531199156548, + 0.0011012461346822855, + -0.9974417612235108, + -14.78632658831186 + ], + [ + -0.9973233928464564, + -0.015366100183864416, + -0.07148379569085908, + 253.14597068800435 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.01549687089420216, + 0.9998799162861952, + -0.0, + -3934.9813462457882 + ], + [ + 0.07152467955220028, + 0.0011085418425909952, + -0.9974382143019879, + -14.827152635140052 + ], + [ + -0.997318438551565, + -0.015457147080423063, + -0.07153327008604224, + 253.53970736399702 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.015587940001135912, + 0.9998785006822186, + -0.0, + -3934.8268249963285 + ], + [ + 0.07157385559668121, + 0.0011158245386112375, + -0.9974346786284426, + -14.867888793138725 + ], + [ + -0.9973134913322316, + -0.015547927774773153, + -0.07158255338157052, + 253.9323223178299 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.01567847641201487, + 0.999877085134667, + -0.0, + -3934.6723684653953 + ], + [ + 0.07162285703137636, + 0.0011230753171789173, + -0.9974311530388926, + -14.908449120789477 + ], + [ + -0.997308554261932, + -0.015638176655604213, + -0.07163166218135299, + 254.32256040425517 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.015769012694349313, + 0.9998756613892779, + -0.0, + -3934.517806215613 + ], + [ + 0.07167166666721769, + 0.001130331965406762, + -0.9974276387522011, + -14.948957752744981 + ], + [ + -0.9973036203263166, + -0.015728424948068243, + -0.07168057988517855, + 254.71220944574588 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.015859016282168924, + 0.9998742378932274, + -0.0, + -3934.36323491155 + ], + [ + 0.07172029341152576, + 0.0011375563624600351, + -0.9974241351995082, + -14.988283353510514 + ], + [ + -0.9972986973820409, + -0.015818141452057274, + -0.07172931479588875, + 255.09886940601416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.015948487177019435, + 0.9998728147903436, + -0.0, + -3934.2086191007934 + ], + [ + 0.0717687455771053, + 0.0011447485136269436, + -0.9974206418102289, + -15.026395169692895 + ], + [ + -0.9972937850020004, + -0.015907326168510812, + -0.07177787521620366, + 255.48211213447746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.016037957944169352, + 0.9998713836814119, + -0.0, + -3934.053798914149 + ], + [ + 0.07181701426337536, + 0.0011519464135387447, + -0.9974171592075977, + -15.064364892208845 + ], + [ + -0.997288875431794, + -0.015996510305475973, + -0.07182625284695679, + 255.8635131718901 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.01612689601995781, + 0.99986995315629, + 1.0842021641304136e-19, + -3933.8989071157584 + ], + [ + 0.07186510008914888, + 0.0011591117354242642, + -0.9974136874181952, + -15.102010802594615 + ], + [ + -0.997283977265665, + -0.016085162679988677, + -0.07187444768994719, + 256.2405574464894 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.016215567687058955, + 0.9998685190386716, + 1.0842021641304719e-19, + -3933.7438964227263 + ], + [ + 0.07191300275671869, + 0.001166263505228059, + -0.9974102264685019, + -15.141995349149694 + ], + [ + -0.9972790863645542, + -0.016173548893976663, + -0.07192245974696931, + 256.61373439429207 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.016303972945921175, + 0.9998670813994123, + 1.0842021641305302e-19, + -3933.588812255622 + ], + [ + 0.07196073887262927, + 0.0011734019066872098, + -0.9974067751869696, + -15.17907463966155 + ], + [ + -0.9972742016277311, + -0.016261668934435917, + -0.07197030562140616, + 256.98316276361595 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.016392111797001955, + 0.9998656403091543, + -0.0, + -3933.4337171668462 + ], + [ + 0.07200829184448716, + 0.001180526585413029, + -0.9974033347962198, + -15.215849077995072 + ], + [ + -0.9972693243481064, + -0.01634952282718564, + -0.07201796871333511, + 257.3485301674515 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.01647971796082705, + 0.9998642002271768, + -0.0, + -3933.2787483276907 + ], + [ + 0.07205567029534185, + 0.0011876184022548042, + -0.9973999047226842, + -15.252244937211486 + ], + [ + -0.997264458399857, + -0.0164368449812796, + -0.07206545732527639, + 257.7087972970236 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.016567323998138775, + 0.9998627524693281, + -0.0, + -3933.1238312973815 + ], + [ + 0.0721028736015431, + 0.0011947156399250466, + -0.9973964849912693, + -15.290923108868073 + ], + [ + -0.9972595951463018, + -0.01652416657953915, + -0.07211277145892085, + 258.0660035125662 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.016654397349925992, + 0.9998613059064296, + -1.0842021641307612e-19, + -3932.969151478807 + ], + [ + 0.07214990240456307, + 0.0012017798231672193, + -0.9973930756267904, + -15.326746730254735 + ], + [ + -0.9972547434599682, + -0.016610956454423162, + -0.07215991111595492, + 258.4186627831055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.016741204296624772, + 0.9998598562192098, + -0.0, + -3932.814666637353 + ], + [ + 0.07219676469461993, + 0.0012088301973421677, + -0.9973896760530377, + -15.362318048096892 + ], + [ + -0.9972498984566802, + -0.016697480189801512, + -0.0722068845987153, + 258.76797076467943 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.01682747856034046, + 0.9998584079584977, + -0.0, + -3932.6604495111774 + ], + [ + 0.07224344420350186, + 0.0012158471627415073, + -0.9973862874961197, + -15.397584906523264 + ], + [ + -0.9972450659012905, + -0.01678347222965085, + -0.07225367530754302, + 259.1132762869916 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.016913752698770636, + 0.9998569522534937, + -2.1684043282618658e-19, + -3932.5063457410993 + ], + [ + 0.07228996519083158, + 0.0012228695225699378, + -0.9973829081766135, + -15.435234554534036 + ], + [ + -0.9972402351669967, + -0.01686946371609174, + -0.07230030814599038, + 259.45690731496865 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.016999494156026484, + 0.9998554981588286, + 1.0842021641309896e-19, + -3932.3524643891874 + ], + [ + 0.07233630341472014, + 0.0012298582839535051, + -0.9973795399229395, + -15.470139082786535 + ], + [ + -0.9972354171128811, + -0.016954923522246573, + -0.0723467582138487, + 259.79754713335075 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.017084969211037776, + 0.9998540412615524, + -1.0842021641310463e-19, + -3932.1987025626645 + ], + [ + 0.07238248345646266, + 0.0012368330278605326, + -0.9973761809531726, + -15.504906062095065 + ], + [ + -0.9972306055558489, + -0.017040117206166425, + -0.07239305041449325, + 260.13642079589835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.017170177864343827, + 0.9998525816299656, + -0.0, + -3932.0450302545905 + ], + [ + 0.07242848872422028, + 0.0012437933918349672, + -0.9973728324950123, + -15.539551177558188 + ], + [ + -0.9972258017915273, + -0.017125044794532782, + -0.07243916814838956, + 260.4738098468845 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.017255120116491954, + 0.9998511193321563, + -0.0, + -3931.891427638385 + ], + [ + 0.0724743275242213, + 0.0012507394377152027, + -0.9973694939693969, + -15.576893350134894 + ], + [ + -0.997221005308832, + -0.017209706283263813, + -0.07248511971768101, + 260.8096853482914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.017339795968037388, + 0.9998496544359992, + 1.0842021641312149e-19, + -3931.7378888393773 + ], + [ + 0.07251999986331933, + 0.0012576710865008845, + -0.997366165399279, + -15.61132729297291 + ], + [ + -0.997216216198391, + -0.017294101678510067, + -0.07253090512393705, + 261.1445085295216 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.017423939143865884, + 0.9998481916494679, + 1.0842021641312711e-19, + -3931.584482507059 + ], + [ + 0.07256551438431247, + 0.0012645690787215598, + -0.9973628462035193, + -15.645584269299391 + ], + [ + -0.9972114385746863, + -0.017377965402427132, + -0.07257653266915437, + 261.47704495221944 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.01750808219629432, + 0.999846721781798, + 1.0842021641313269e-19, + -3931.4310680755384 + ], + [ + 0.07261085382394691, + 0.0012714716860073, + -0.9973595376125446, + -15.679812511095072 + ], + [ + -0.9972066645014108, + -0.017461828630363975, + -0.072621985754005, + 261.8093969952561 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.01759169257493797, + 0.9998452542030437, + -1.0842021641313827e-19, + -3931.2777839642304 + ], + [ + 0.07265603546274581, + 0.001278340457387275, + -0.9973562384406641, + -15.713864982012105 + ], + [ + -0.9972019021383499, + -0.017545160201687192, + -0.07266728098088138, + 262.1394891995374 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.017675036556062, + 0.9998437843397048, + 1.0842021641314382e-19, + -3931.124559217415 + ], + [ + 0.0727010506715843, + 0.0012851944957911366, + -0.9973529493145119, + -15.747816119867267 + ], + [ + -0.9971971475505877, + -0.01762822570652739, + -0.07271241005090646, + 262.46837908653515 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.017758114140261638, + 0.9998423122583788, + -0.0, + -3930.9713926196596 + ], + [ + 0.07274590775629351, + 0.0012920338710764327, + -0.9973496696511152, + -15.78166872068714 + ], + [ + -0.9971924002216433, + -0.01771102514026613, + -0.07275738126595165, + 262.7960793897944 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.017840925328139412, + 0.9998408380254509, + -1.0842021641315486e-19, + -3930.818282949513 + ], + [ + 0.07279059842459534, + 0.001298858359945016, + -0.997346400077701, + -15.8154211956487 + ], + [ + -0.9971876608448326, + -0.017793558519674596, + -0.07280218632718705, + 263.1226028360263 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.017923470120305082, + 0.9998393617070928, + -3.252606492394811e-19, + -3930.665228987264 + ], + [ + 0.07283513928116508, + 0.0013056681829222289, + -0.9973431394041316, + -15.84907850469185 + ], + [ + -0.9971829282961812, + -0.017875825829148803, + -0.07284684183668898, + 263.4479614650862 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.01800574851737509, + 0.9998378833692637, + -0.0, + -3930.5122295222272 + ], + [ + 0.07287951373478067, + 0.001312462968451456, + -0.9973398888637405, + -15.882636828975633 + ], + [ + -0.9971782038745876, + -0.017957827096320406, + -0.07289133119535343, + 263.77216752999584 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.01808776051997468, + 0.9998364030777096, + 1.0842021641317135e-19, + -3930.3592833595503 + ], + [ + 0.07292373009109399, + 0.0013192427901712054, + -0.9973366478717512, + -15.916098900753484 + ], + [ + -0.9971734870609167, + -0.018039562316335172, + -0.07293566270492788, + 264.09523255644604 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.018169239856589046, + 0.9998349257367608, + -0.0, + -3930.2064598671586 + ], + [ + 0.07296778870991304, + 0.0013259881413908241, + -0.9973334164492004, + -15.949388853773838 + ], + [ + -0.9971687827674242, + -0.01812076593303281, + -0.07297983636686224, + 264.4161239665634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.018250719072540306, + 0.9998334417558433, + -1.0842021641318222e-19, + -3930.053616904752 + ], + [ + 0.07301168889343376, + 0.0013327378014739053, + -0.9973301946170489, + -15.982659914159619 + ], + [ + -0.9971640814500408, + -0.01820196907783233, + -0.07302385218260272, + 264.73694052149096 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.018331665624578667, + 0.9998319608991447, + 1.0842021641318761e-19, + -3929.900894526901 + ], + [ + 0.0730554313563714, + 0.0013394528201318933, + -0.9973269823961832, + -16.015759738459618 + ], + [ + -0.997159392867745, + -0.01828264063370596, + -0.07306771015359206, + 265.0556050610005 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.018412612056462333, + 0.9998304734890103, + -0.0, + -3929.748150321609 + ], + [ + 0.07309902369242867, + 0.0013461721768271667, + -0.997323779198954, + -16.04884388371159 + ], + [ + -0.9971547067811722, + -0.018363311715859133, + -0.07311141858137503, + 265.37421527325546 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.0184930258265339, + 0.9998289893755729, + -1.0842021641319842e-19, + -3929.595524764894 + ], + [ + 0.07314245832469524, + 0.0013528567236878466, + -0.9973205856538333, + -16.081757579782163 + ], + [ + -0.9971500336424376, + -0.018443451223344242, + -0.0731549691672279, + 265.6906935233675 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.018573173206814154, + 0.9998275037410354, + -0.0, + -3929.4429461581185 + ], + [ + 0.07318574320170253, + 0.0013595259979032462, + -0.9973174011723025, + -16.11457990676512 + ], + [ + -0.9971453680581822, + -0.018523324710384613, + -0.07319837021263544, + 266.0060928569815 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.018653054197975014, + 0.9998260166494406, + 1.0842021641320916e-19, + -3929.2904135632043 + ], + [ + 0.07322887832995822, + 0.0013661799289071274, + -0.997314225773872, + -16.14731123906617 + ], + [ + -0.9971407101117593, + -0.018602932182738948, + -0.07324162171894656, + 266.32042224569915 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.018732668800694248, + 0.9998245281646193, + -1.0842021641321451e-19, + -3929.1379273792977 + ], + [ + 0.07327185541742012, + 0.0013728182908920327, + -0.9973110600878888, + -16.17994900831499 + ], + [ + -0.9971360604960365, + -0.018682273657586006, + -0.0732847153875069, + 266.63368091203796 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.01881228328463568, + 0.99982303334021, + -1.0842021641321982e-19, + -3928.985417761589 + ], + [ + 0.0733146824018338, + 0.0013794606928175107, + -0.9973079035245408, + -16.212571279668868 + ], + [ + -0.9971314136882379, + -0.018761614681523327, + -0.07332765951971155, + 266.9469041816855 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.018891365112135648, + 0.9998215422385138, + -0.0, + -3928.8330284116364 + ], + [ + 0.07335736002266736, + 0.00138606802644786, + -0.9973047561031335, + -16.245023780652282 + ], + [ + -0.9971267797428517, + -0.0188404241547462, + -0.07337045411689944, + 267.2579970613944 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.018970180553265114, + 0.9998200499338751, + -1.0842021641323044e-19, + -3928.680689526519 + ], + [ + 0.07339988792079544, + 0.0013926597356584336, + -0.9973016178429046, + -16.2773823476323 + ], + [ + -0.9971221537666793, + -0.018918967636392375, + -0.07341309918040619, + 267.56799543233376 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.01904872960872703, + 0.9998185564892731, + 1.0842021641323571e-19, + -3928.528402421279 + ], + [ + 0.073442266102692, + 0.0013992357510893712, + -0.9972984887630252, + -16.30964614429551 + ], + [ + -0.9971175358416667, + -0.01899724513220262, + -0.07345559471156428, + 267.8768917629762 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.019127012279229756, + 0.9998170619674734, + -0.0, + -3928.3761683981475 + ], + [ + 0.07348449457482359, + 0.0014057960036206792, + -0.9972953688825987, + -16.341814345224638 + ], + [ + -0.9971129260494799, + -0.019075256647911824, + -0.07349794071170276, + 268.18467867371703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.019205028565486965, + 0.9998155664310289, + -1.0842021641324624e-19, + -3928.223988749534 + ], + [ + 0.07352658164196214, + 0.00141234058377096, + -0.9972922576086326, + -16.373888369396422 + ], + [ + -0.9971083238595878, + -0.01915300217749795, + -0.07354014548199095, + 268.49134878660357 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.019282778468219828, + 0.9998140699422796, + -1.0842021641325148e-19, + -3928.0718647609065 + ], + [ + 0.07356851901217024, + 0.0014188692647909974, + -0.9972891555714246, + -16.405865180836013 + ], + [ + -0.9971037299643133, + -0.01923048173833479, + -0.073582200723856, + 268.7968951199183 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.019360261988152442, + 0.9998125725633531, + 1.0842021641325666e-19, + -3927.9197977136146 + ], + [ + 0.07361031499012849, + 0.0014253821389598603, + -0.9972860621771525, + -16.43774622048843 + ], + [ + -0.9970991438318713, + -0.01930769532428096, + -0.07362411473840928, + 269.1013105302027 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.01943747912601621, + 0.9998110743561633, + -1.0842021641326189e-19, + -3927.7677794988817 + ], + [ + 0.07365196128396075, + 0.001431878978705089, + -0.9972829780566878, + -16.45268922077181 + ], + [ + -0.997094566154729, + -0.019384642952809537, + -0.07366587922712337, + 269.4058998705095 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.019514429882547084, + 0.9998095753824122, + 1.0842021641326708e-19, + -3927.615781168806 + ], + [ + 0.07369346619825597, + 0.0014383598780574529, + -0.9972799026153827, + -16.484400254305548 + ], + [ + -0.9970899963998526, + -0.019461324617663252, + -0.07370750249105178, + 269.708386441585 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.019590847993493064, + 0.9998080809209817, + -0.0, + -3927.463827964843 + ], + [ + 0.07373482182597606, + 0.0014448049718595519, + -0.9972768364846767, + -16.515981426186816 + ], + [ + -0.997085440463028, + -0.019537474796501638, + -0.07374897623171218, + 270.0093223832702 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.01966726598998962, + 0.9998065806187111, + -1.0842021641327738e-19, + -3927.311718520403 + ], + [ + 0.07377604400186455, + 0.0014512537816823946, + -0.9972737784549915, + -16.429816368846875 + ], + [ + -0.9970808868099058, + -0.01961362455191122, + -0.07379031704979022, + 270.3199815012873 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.01974368387159078, + 0.9998050744756093, + -1.0842021641328255e-19, + -3927.159596383601 + ], + [ + 0.07381711613085347, + 0.0014577059492966492, + -0.997270729771755, + -16.448824055994063 + ], + [ + -0.9970763366856965, + -0.01968977390989521, + -0.07383150834710778, + 270.6227557915871 + ], + [ + 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_00248/.capture_done b/clips/clip_00248/.capture_done new file mode 100644 index 0000000000000000000000000000000000000000..3d6a300d138cc21e332be7ff84e74a730b3ec5d7 --- /dev/null +++ b/clips/clip_00248/.capture_done @@ -0,0 +1,73 @@ +{ + "clip": "clip_00248", + "frames": 144, + "frame_count": 144, + "frame_bucket": 144, + "spec_gen": "gen3", + "bucket_retired": false, + "target_class": "vehicle", + "target_model": "SM_Frame_vehVan_vehicle01", + "target_class_fallback": false, + "target_lost_frame": null, + "hfov_deg_per_cam": [ + 26.968, + 71.812, + 40.211, + 38.585 + ], + "oos_allowed": [ + false, + false, + false, + false + ], + "oos_effective": [ + false, + false, + false, + false + ], + "oos_departed": [ + false, + false, + false, + false + ], + "oos_cycles": [ + 0, + 0, + 0, + 0 + ], + "oos_forced_returns": 0, + "visible_ratio": [ + 1.0, + 1.0, + 1.0, + 0.7292 + ], + "min_visible_ratio_non_oos": 0.7292, + "points_ok": true, + "points_n": 256, + "points_track_complete_ratio": 1.0, + "points_track_breaks": 0, + "points_in_frustum_ratio": 0.991, + "num_cams": 4, + "save_errors": 0, + "flush_ok": true, + "quality_ok": true, + "view_blocked": false, + "view_block_ratios": [ + 0.0, + 0.056, + 0.028, + 0.0 + ], + "depth_qc": { + "frames": 576, + "sky": 0, + "near": 0, + "const": 1 + }, + "capture_wall_sec": 23.6 +} \ No newline at end of file diff --git a/clips/clip_00248/cameras.json b/clips/clip_00248/cameras.json new file mode 100644 index 0000000000000000000000000000000000000000..0798661a7d6c840f3e2eca9fb8b5672fe1a3fea9 --- /dev/null +++ b/clips/clip_00248/cameras.json @@ -0,0 +1,39575 @@ +{ + "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": [ + 26.968, + 71.812, + 40.211, + 38.585 + ], + "hfov_range_deg": [ + 26.968, + 71.812 + ], + "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": 2669.0751658223044, + "fy": 2669.0751658223044, + "cx": 640.0, + "cy": 640.0, + "width": 1280, + "height": 1280, + "fov_deg": 26.968, + "hfov_deg": 26.968 + }, + "oos_allowed": false, + "oos_reason": "none", + "pinned": false, + "oos_effective": false, + "oos_cycles": 0, + "oos_departed": false, + "oos_schedule": null + }, + { + "name": "cam02", + "intrinsics": { + "fx": 883.9304298567628, + "fy": 883.9304298567628, + "cx": 640.0, + "cy": 640.0, + "width": 1280, + "height": 1280, + "fov_deg": 71.812, + "hfov_deg": 71.812 + }, + "oos_allowed": false, + "oos_reason": "none", + "pinned": false, + "oos_effective": false, + "oos_cycles": 0, + "oos_departed": false, + "oos_schedule": null + }, + { + "name": "cam03", + "intrinsics": { + "fx": 1748.3621414101865, + "fy": 1748.3621414101865, + "cx": 640.0, + "cy": 640.0, + "width": 1280, + "height": 1280, + "fov_deg": 40.211, + "hfov_deg": 40.211 + }, + "oos_allowed": false, + "oos_reason": "none", + "pinned": false, + "oos_effective": false, + "oos_cycles": 0, + "oos_departed": false, + "oos_schedule": null + }, + { + "name": "cam04", + "intrinsics": { + "fx": 1828.3203034087849, + "fy": 1828.3203034087849, + "cx": 640.0, + "cy": 640.0, + "width": 1280, + "height": 1280, + "fov_deg": 38.585, + "hfov_deg": 38.585 + }, + "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": 1761.7629090473056, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -6.415922495584712e-06, + 0.9999999999794179, + -1.0587911759306398e-22, + -3445.673008900717 + ], + [ + 0.08848196234791436, + 5.676934126931475e-07, + -0.9960777792616093, + -46.3923581571277 + ], + [ + -0.9960777791805373, + -6.366517402086614e-06, + -0.08848196303335491, + 661.8079558121486 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -6.415922495584712e-06, + 0.08848196234791436, + -0.9960777791805373, + 663.2950618548869 + ], + [ + 0.9999999999794179, + 5.676934126931475e-07, + -6.366517402086614e-06, + 3445.677264621345 + ], + [ + -1.0587911759306398e-22, + -0.9960777792616093, + -0.08848196303335491, + 12.34767693430198 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 66329.50618548869, + -344567.7264621345, + 1234.767693430198 + ], + "rotation_deg": [ + 6.09031418022567e-21, + -5.076281547546385, + 179.9996337890625 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5555636064300532, + 0.831474040009929, + -0.0, + -3221.3215134774314 + ], + [ + 0.1832320883704539, + -0.12242965496262995, + -0.9754163118264599, + 314.47639501178065 + ], + [ + -0.8110333518856586, + 0.5419057877217184, + -0.22037018710074602, + -1338.091545277955 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5555636064300532, + 0.1832320883704539, + -0.8110333518856586, + 646.7899228882065 + ], + [ + 0.831474040009929, + -0.12242965496262995, + 0.5419057877217184, + 3442.0660581067177 + ], + [ + -0.0, + -0.9754163118264599, + -0.22037018710074602, + 11.869909623806123 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64678.99228882066, + -344206.60581067175, + 1186.9909623806122 + ], + "rotation_deg": [ + 0.0, + -12.730776786804201, + -146.25045776367188 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9238809651320773, + 0.3826799736942361, + -0.0, + -1911.1554723967567 + ], + [ + 0.055363045481978186, + -0.1336596305230474, + -0.9894796796111593, + 435.3308923714823 + ], + [ + -0.3786540716066452, + 0.9141614354681187, + -0.144671918348303, + -2891.397256163516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9238809651320773, + 0.055363045481978186, + -0.3786540716066452, + 646.739603629101 + ], + [ + 0.3826799736942361, + -0.1336596305230474, + 0.9141614354681187, + 3432.7510021634344 + ], + [ + -0.0, + -0.9894796796111593, + -0.144671918348303, + 12.447083137928969 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64673.960362910104, + -343275.1002163434, + 1244.708313792897 + ], + "rotation_deg": [ + 0.0, + -8.318281173706055, + -112.49978637695312 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.5897240982182868, + -0.8076047845206393, + 3.4694469253714203e-18, + 3160.985815568763 + ], + [ + -0.08407827314263432, + 0.06139510904237798, + -0.9945659779878993, + -147.27622173809138 + ], + [ + 0.8032162394109502, + -0.586519528362227, + -0.10410819178278831, + 1532.4298436310019 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.5897240982182868, + -0.08407827314263432, + 0.8032162394109502, + 620.8542507523086 + ], + [ + -0.8076047845206393, + 0.06139510904237798, + -0.586519528362227, + 3460.6693224059795 + ], + [ + 3.4694469253714203e-18, + -0.9945659779878993, + -0.10410819178278831, + 13.062577729032206 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62085.425075230865, + -346066.93224059796, + 1306.2577729032207 + ], + "rotation_deg": [ + -1.9987076977079118e-16, + -5.975788116455078, + 36.13743209838868 + ] + } + } + ] + }, + { + "frame": 1, + "time": 1761.8295757174492, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.0002178709096862726, + 0.999999976266133, + -0.0, + -3445.2276558614367 + ], + [ + 0.08872400134500405, + -1.933037934282676e-05, + -0.9960562490199374, + -46.505359282043855 + ], + [ + -0.9960562253238924, + 0.00021698744278684322, + -0.08872400413624729, + 661.3017569481699 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.0002178709096862726, + 0.08872400134500405, + -0.9960562253238924, + 663.5704051605279 + ], + [ + 0.999999976266133, + -1.933037934282676e-05, + 0.00021698744278684322, + 3445.083164938769 + ], + [ + -0.0, + -0.9960562490199374, + -0.08872400413624729, + 12.351378233491307 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 66357.04051605279, + -344508.3164938769, + 1235.1378233491307 + ], + "rotation_deg": [ + 0.0, + -5.0902042388916025, + -179.98751831054688 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5541054906441181, + 0.83244645788065, + 6.938893852880555e-18, + -3223.41280121527 + ], + [ + 0.18430831931086925, + -0.122682066497764, + -0.9751818056099287, + 314.52632914926363 + ], + [ + -0.8117866502426454, + 0.5403535765900559, + -0.22140561590474572, + -1331.6823101529785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5541054906441181, + 0.18430831931086925, + -0.8117866502426454, + 647.0989537958797 + ], + [ + 0.83244645788065, + -0.122682066497764, + 0.5403535765900559, + 3441.4846634348346 + ], + [ + 6.938893852880555e-18, + -0.9751818056099287, + -0.22140561590474572, + 11.878399857359652 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64709.895379587964, + -344148.4663434835, + 1187.8399857359652 + ], + "rotation_deg": [ + -4.0768740049490993e-16, + -12.791604995727539, + -146.35087585449222 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9213555770078135, + 0.388720851918956, + -0.0, + -1930.3981916990813 + ], + [ + 0.056236843668327104, + -0.13329392877007892, + -0.9894797349957507, + 433.4154860015509 + ], + [ + -0.384631419393407, + 0.9116626661549188, + -0.14467153954637377, + -2878.3007964005055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9213555770078135, + 0.056236843668327104, + -0.384631419393407, + 647.1243285406615 + ], + [ + 0.388720851918956, + -0.13329392877007892, + 0.9116626661549188, + 3432.19710492625 + ], + [ + -0.0, + -0.9894797349957507, + -0.14467153954637377, + 12.447631654432474 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64712.43285406615, + -343219.710492625, + 1244.7631654432473 + ], + "rotation_deg": [ + 0.0, + -8.318259239196776, + -112.87493133544928 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.5989628598745166, + -0.8007768056649368, + -3.4694469253581533e-18, + 3143.0923956681686 + ], + [ + -0.08147421023409764, + 0.060940858454698765, + -0.9948106175737842, + -147.31777267117178 + ], + [ + 0.7966212655537407, + -0.5958546164504124, + -0.10174396946398392, + 1568.7992660213063 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.5989628598745166, + -0.08147421023409764, + 0.7966212655537407, + 620.8541618273262 + ], + [ + -0.8007768056649368, + 0.060940858454698765, + -0.5958546164504124, + 3460.6694296470673 + ], + [ + -3.4694469253581533e-18, + -0.9948106175737842, + -0.10174396946398392, + 13.06257740363872 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62085.41618273262, + -346066.94296470674, + 1306.257740363872 + ], + "rotation_deg": [ + 1.9982161840243663e-16, + -5.839604854583741, + 36.795654296875014 + ] + } + } + ] + }, + { + "frame": 2, + "time": 1761.8962423875928, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.0004415764268931831, + 0.9999999025051247, + -3.388131762980329e-21, + -3444.781429181298 + ], + [ + 0.08896661918485532, + -3.928556564255626e-05, + -0.9960346073944725, + -46.61855341716108 + ], + [ + -0.9960345102355105, + 0.0004398011669499563, + -0.0889666285459897, + 660.7964351578175 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.0004415764268931831, + 0.08896661918485532, + -0.9960345102355105, + 663.8445999303447 + ], + [ + 0.9999999025051247, + -3.928556564255626e-05, + 0.0004398011669499563, + 3444.4886268748373 + ], + [ + -3.388131762980329e-21, + -0.9960346073944725, + -0.0889666285459897, + 12.355130562079598 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 66384.45999303447, + -344448.8626874837, + 1235.5130562079598 + ], + "rotation_deg": [ + 1.9489850103157934e-19, + -5.104160785675048, + -179.97470092773438 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5526461167176682, + 0.833416024370111, + -0.0, + -3225.490431085059 + ], + [ + 0.18538458569417662, + -0.12293028738034276, + -0.9749465112669438, + 314.5610574629962 + ], + [ + -0.8125360557398057, + 0.5388003871571689, + -0.22243943203057354, + -1325.2742556297062 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5526461167176682, + 0.18538458569417662, + -0.8125360557398057, + 647.4068361677288 + ], + [ + 0.833416024370111, + -0.12293028738034276, + 0.5388003871571689, + 3440.902830381596 + ], + [ + -0.0, + -0.9749465112669438, + -0.22243943203057354, + 11.886941120312146 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64740.683616772876, + -344090.2830381596, + 1188.6941120312147 + ], + "rotation_deg": [ + 0.0, + -12.852353096008303, + -146.45126342773438 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9187908482493105, + 0.3947446987273067, + 1.3877787702593957e-17, + -1949.5471322405922 + ], + [ + 0.05710825784031061, + -0.1329227341932879, + -0.9894797590759624, + 431.48265084281365 + ], + [ + -0.39059190324892507, + 0.909124941036945, + -0.1446713748498762, + -2865.0803759636874 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9187908482493105, + 0.05710825784031061, + -0.39059190324892507, + 647.5076718181969 + ], + [ + 0.3947446987273067, + -0.1329227341932879, + 0.909124941036945, + 3431.643321798226 + ], + [ + 1.3877787702593957e-17, + -0.9894797590759624, + -0.1446713748498762, + 12.448231200334941 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64750.76718181968, + -343164.3321798226, + 1244.8231200334942 + ], + "rotation_deg": [ + -8.035926588727536e-16, + -8.318249702453613, + -113.25005340576175 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.6077468234336841, + -0.7941308447644293, + 3.469446925345697e-18, + 3125.5465096674316 + ], + [ + -0.07899356231914427, + 0.06045362283517876, + -0.9950403894306165, + -147.1687425986517 + ], + [ + 0.7901922619122957, + -0.6047326398164529, + -0.09947172238658449, + 1603.4850812208538 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.6077468234336841, + -0.07899356231914427, + 0.7901922619122957, + 620.8540835733415 + ], + [ + -0.7941308447644293, + 0.06045362283517876, + -0.6047326398164529, + 3460.669524019225 + ], + [ + 3.469446925345697e-18, + -0.9950403894306165, + -0.09947172238658449, + 13.06257711729245 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62085.408357334156, + -346066.9524019225, + 1306.257711729245 + ], + "rotation_deg": [ + -1.9977547616992334e-16, + -5.708750724792482, + 37.42676162719729 + ] + } + } + ] + }, + { + "frame": 3, + "time": 1761.9629090577364, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.0006658145540976945, + 0.999999778345465, + -6.7762635259629566e-21, + -3444.3350787910417 + ], + [ + 0.08920978259006904, + -5.9397184782014465e-05, + -0.9960128569261576, + -46.73168375641386 + ], + [ + -0.9960126361097954, + 0.0006631356224127802, + -0.08920980305303906, + 660.2883597208468 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.0006658145540976945, + 0.08920978259006904, + -0.9960126361097954, + 664.1176784567419 + ], + [ + 0.999999778345465, + -5.9397184782014465e-05, + 0.0006631356224127802, + 3443.89366292974 + ], + [ + -6.7762635259629566e-21, + -0.9960128569261576, + -0.08920980305303906, + 12.358828783250763 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 66411.7678456742, + -344389.366292974, + 1235.8828783250763 + ], + "rotation_deg": [ + 3.898055142700196e-19, + -5.118149280548093, + -179.96185302734375 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5511863795179376, + 0.8343821516750628, + 6.938893852933406e-18, + -3227.5529962702303 + ], + [ + 0.18646016039740843, + -0.12317413612869962, + -0.9747105933422091, + 314.58033217088825 + ], + [ + -0.8132811324526839, + 0.5372471866929134, + -0.22347093767877346, + -1318.8710138404388 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5511863795179376, + 0.18646016039740843, + -0.8132811324526839, + 647.7136022961582 + ], + [ + 0.8343821516750628, + -0.12317413612869962, + 0.5372471866929134, + 3440.320571447192 + ], + [ + 6.938893852933406e-18, + -0.9747105933422091, + -0.22347093767877346, + 11.895428275847516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64771.36022961583, + -344032.0571447192, + 1189.5428275847516 + ], + "rotation_deg": [ + -4.078844921330313e-16, + -12.91298007965088, + -146.55155944824222 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.916186789285011, + 0.40075150297861967, + -2.77555754051879e-17, + -1968.6022889678666 + ], + [ + 0.05797721766122182, + -0.13254588069142426, + -0.9894797783401121, + 429.53177399860135 + ], + [ + -0.39653552219801463, + 0.9065482949391982, + -0.14467124309267515, + -2851.7362389529944 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.916186789285011, + 0.05797721766122182, + -0.39653552219801463, + 647.8896621421547 + ], + [ + 0.40075150297861967, + -0.13254588069142426, + 0.9065482949391982, + 3431.0896637417054 + ], + [ + -2.77555754051879e-17, + -0.9894797783401121, + -0.14467124309267515, + 12.448776638820286 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64788.96621421548, + -343108.96637417056, + 1244.8776638820286 + ], + "rotation_deg": [ + 1.6071852864552678e-15, + -8.318242073059077, + -113.62516784667973 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.6161065384467425, + -0.7876628296950243, + -0.0, + 3108.353033225383 + ], + [ + -0.07663216823760718, + 0.059941358315487886, + -0.9952560195017648, + -146.8592393670652 + ], + [ + 0.7839261693809542, + -0.6131837450291876, + -0.09729057401251145, + 1636.5935060749014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.6161065384467425, + -0.07663216823760718, + 0.7839261693809542, + 620.8540147098352 + ], + [ + -0.7876628296950243, + 0.059941358315487886, + -0.6131837450291876, + 3460.6696070667235 + ], + [ + -0.0, + -0.9952560195017648, + -0.09729057401251145, + 13.062576865307735 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62085.40147098351, + -346066.96070667234, + 1306.2576865307735 + ], + "rotation_deg": [ + 0.0, + -5.583170890808107, + 38.03236770629886 + ] + } + } + ] + }, + { + "frame": 4, + "time": 1762.02957572788, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.0008903189638241995, + 0.9999996036659927, + -6.776263525965268e-21, + -3443.8884573972355 + ], + [ + 0.08945346659492402, + -7.964214925416757e-05, + -0.9959909994429058, + -46.84487326672908 + ], + [ + -0.9959906046573065, + 0.0008867254430591197, + -0.08945350273947439, + 659.7784695285362 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.0008903189638241995, + 0.08945346659492402, + -0.9959906046573065, + 664.389669257528 + ], + [ + 0.9999996036659927, + -7.964214925416757e-05, + 0.0008867254430591197, + 3443.2983033715414 + ], + [ + -6.776263525965268e-21, + -0.9959909994429058, + -0.08945350273947439, + 12.362415069709574 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 66438.9669257528, + -344329.83033715416, + 1236.2415069709573 + ], + "rotation_deg": [ + 3.898140687324964e-19, + -5.132168292999268, + -179.9489898681641 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5497260656834154, + 0.8353449902335162, + -0.0, + -3229.600926264069 + ], + [ + 0.18753506013964732, + -0.12341357402460984, + -0.9744740586413223, + 314.5839629616925 + ], + [ + -0.8140220332909529, + 0.5356937740111469, + -0.22450013319051074, + -1312.4718083564364 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5497260656834154, + 0.18753506013964732, + -0.8140220332909529, + 648.0192806989764 + ], + [ + 0.8353449902335162, + -0.12341357402460984, + 0.5356937740111469, + 3439.7379168996868 + ], + [ + -0.0, + -0.9744740586413223, + -0.22450013319051074, + 11.90380349667053 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64801.92806989764, + -343973.79168996867, + 1190.380349667053 + ], + "rotation_deg": [ + 0.0, + -12.973485946655275, + -146.65177917480466 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9135434599709069, + 0.4067411298902334, + -0.0, + -1987.5632688043047 + ], + [ + 0.05884369083444776, + -0.13216334659066042, + -0.9894797976042444, + 427.56276281934635 + ], + [ + -0.4024621447470618, + 0.9039327915229948, + -0.14467111133547172, + -2838.2688208322684 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9135434599709069, + 0.05884369083444776, + -0.4024621447470618, + 648.2703244285318 + ], + [ + 0.4067411298902334, + -0.13216334659066042, + 0.9039327915229948, + 3430.536159463292 + ], + [ + -0.0, + -0.9894797976042444, + -0.14467111133547172, + 12.449210142593275 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64827.03244285318, + -343053.6159463292, + 1244.9210142593274 + ], + "rotation_deg": [ + 0.0, + -8.31823444366455, + -114.00028228759766 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.6240697334971194, + -0.781368650339156, + 3.469446925323052e-18, + 3091.5149589293183 + ], + [ + -0.07438468792075445, + 0.05941015466492328, + -0.9954583626278004, + -146.41364216369973 + ], + [ + 0.7778199539771582, + -0.6212354390894115, + -0.09519794333050291, + 1668.2215847092064 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.6240697334971194, + -0.07438468792075445, + 0.7778199539771582, + 620.8539541099494 + ], + [ + -0.781368650339156, + 0.05941015466492328, + -0.6212354390894115, + 3460.669680148522 + ], + [ + 3.469446925323052e-18, + -0.9954583626278004, + -0.09519794333050291, + 13.062576643561185 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62085.39541099494, + -346066.9680148522, + 1306.2576643561185 + ], + "rotation_deg": [ + -1.9969159441361287e-16, + -5.46271276473999, + 38.61394119262698 + ] + } + } + ] + }, + { + "frame": 5, + "time": 1762.0962423980236, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.0011156222765015041, + 0.9999993776932745, + -0.0, + -3443.441954407101 + ], + [ + 0.089697695909797, + -0.00010006880998132084, + -0.9959690323171231, + -46.95799531402292 + ], + [ + -0.9959684124835175, + 0.0011111010098797391, + -0.08969775242227336, + 659.2649626336395 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.0011156222765015041, + 0.089697695909797, + -0.9959684124835175, + 664.6605997369185 + ], + [ + 0.9999993776932745, + -0.00010006880998132084, + 0.0011111010098797391, + 3442.702586652695 + ], + [ + -0.0, + -0.9959690323171231, + -0.08969775242227336, + 12.365868308960676 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 66466.05997369185, + -344270.25866526953, + 1236.5868308960676 + ], + "rotation_deg": [ + 0.0, + -5.146219253540041, + -179.9360809326172 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5482656289709915, + 0.8363042509093462, + 6.938893852986577e-18, + -3231.63357688917 + ], + [ + 0.18860918961887324, + -0.12364870304516695, + -0.9742369177087061, + 314.57235309626236 + ], + [ + -0.8147584859380234, + 0.5341406000709752, + -0.2255270027021115, + -1306.0783786722188 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5482656289709915, + 0.18860918961887324, + -0.8147584859380234, + 648.3238987803993 + ], + [ + 0.8363042509093462, + -0.12364870304516695, + 0.5341406000709752, + 3439.1549051915335 + ], + [ + 6.938893852986577e-18, + -0.9742369177087061, + -0.2255270027021115, + 11.912045670285838 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64832.389878039925, + -343915.49051915336, + 1191.2045670285838 + ], + "rotation_deg": [ + -4.080828062645754e-16, + -13.03386974334717, + -146.75189208984375 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9108609736075476, + 0.4127133227298465, + -0.0, + -2006.4292985321492 + ], + [ + 0.059707653819553196, + -0.13177517830094415, + -0.989479812052332, + 425.5757897940059 + ], + [ + -0.4083715148760018, + 0.9012785385079469, + -0.1446710125175674, + -2824.6787896313595 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9108609736075476, + 0.059707653819553196, + -0.4083715148760018, + 648.6496824900319 + ], + [ + 0.4127133227298465, + -0.13177517830094415, + 0.9012785385079469, + 3429.9828458304314 + ], + [ + -0.0, + -0.989479812052332, + -0.1446710125175674, + 12.449510599158558 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64864.968249003185, + -342998.28458304313, + 1244.9510599158557 + ], + "rotation_deg": [ + 0.0, + -8.318228721618652, + -114.37539672851561 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.6316617778944643, + -0.7752440895274239, + 3.469446925312765e-18, + 3075.03344398009 + ], + [ + -0.07224505990415671, + 0.05886461257765889, + -0.9956483358623799, + -145.85162401021614 + ], + [ + 0.7718704842420786, + -0.6289130020338837, + -0.09319008224391259, + 1698.4586995698107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.6316617778944643, + -0.07224505990415671, + 0.7718704842420786, + 620.85390078205 + ], + [ + -0.7752440895274239, + 0.05886461257765889, + -0.6289130020338837, + 3460.6697444605047 + ], + [ + 3.469446925312765e-18, + -0.9956483358623799, + -0.09319008224391259, + 13.062576448424222 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62085.390078205, + -346066.9744460505, + 1306.2576448424222 + ], + "rotation_deg": [ + -1.9965349254839392e-16, + -5.347157001495361, + 39.17283248901369 + ] + } + } + ] + }, + { + "frame": 6, + "time": 1762.1629090681672, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.0013411918484150236, + 0.9999991006018084, + -0.0, + -3442.9952540236213 + ], + [ + 0.08994245388370899, + -0.00012063019446985343, + -0.9959469566386218, + -47.071201154247895 + ], + [ + -0.9959460608554725, + 0.0013357317126877642, + -0.08994253547270512, + 658.7496957359454 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.0013411918484150236, + 0.08994245388370899, + -0.9959460608554725, + 664.9304980433778 + ], + [ + 0.9999991006018084, + -0.00012063019446985343, + 0.0013357317126877642, + 3442.10655048429 + ], + [ + -0.0, + -0.9959469566386218, + -0.08994253547270512, + 12.369190384292063 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 66493.04980433779, + -344210.655048429, + 1236.9190384292062 + ], + "rotation_deg": [ + 0.0, + -5.160301208496095, + -179.92315673828125 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5468046332525712, + 0.8372602301874373, + 6.938893853013278e-18, + -3233.651741474383 + ], + [ + 0.1896825986025229, + -0.12387943440240509, + -0.9739991773710768, + 314.5451777231269 + ], + [ + -0.8154907856864428, + 0.5325872465603746, + -0.22655154658873436, + -1299.6890996772518 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5468046332525712, + 0.1896825986025229, + -0.8154907856864428, + 648.6274846888908 + ], + [ + 0.8372602301874373, + -0.12387943440240509, + 0.5325872465603746, + 3438.571574033822 + ], + [ + 6.938893853013278e-18, + -0.9739991773710768, + -0.22655154658873436, + 11.92015667998143 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64862.74846888908, + -343857.1574033822, + 1192.015667998143 + ], + "rotation_deg": [ + -4.081824138904605e-16, + -13.094131469726562, + -146.8519287109375 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9081395009228481, + 0.41866770458634606, + -1.3877787702593941e-17, + -2025.199232081319 + ], + [ + 0.060569038893157755, + -0.13138137035469524, + -0.9894798265004098, + 423.5709006724583 + ], + [ + -0.4142632615681643, + 0.8985857092365821, + -0.14467091369966162, + -2810.967108577815 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9081395009228481, + 0.060569038893157755, + -0.4142632615681643, + 649.0277608940603 + ], + [ + 0.41866770458634606, + -0.13138137035469524, + 0.8985857092365821, + 3429.429758945727 + ], + [ + -1.3877787702593941e-17, + -0.9894798265004098, + -0.14467091369966162, + 12.449679891804124 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64902.776089406034, + -342942.9758945727, + 1244.9679891804124 + ], + "rotation_deg": [ + 8.035926041148997e-16, + -8.318222999572752, + -114.75050354003912 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.6389059695124518, + -0.7692848380940274, + -3.4694469253030994e-18, + 3058.9080410233355 + ], + [ + -0.07020696367692422, + 0.058308244194263184, + -0.9958268578976209, + -145.18925157978123 + ], + [ + 0.7660744996818999, + -0.6362397281832523, + -0.09126263867776502, + 1727.3874332677976 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.6389059695124518, + -0.07020696367692422, + 0.7660744996818999, + 620.8538538534984 + ], + [ + -0.7692848380940274, + 0.058308244194263184, + -0.6362397281832523, + 3460.66980105505 + ], + [ + -3.4694469253030994e-18, + -0.9958268578976209, + -0.09126263867776502, + 13.062576276703695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62085.385385349844, + -346066.980105505, + 1306.2576276703694 + ], + "rotation_deg": [ + 1.9961770063526784e-16, + -5.236249923706053, + 39.710289001464865 + ] + } + } + ] + }, + { + "frame": 7, + "time": 1762.2295757383108, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.0015672939836463401, + 0.9999987717940301, + -1.3552527051944531e-20, + -3442.5485801592645 + ], + [ + 0.09018774866262495, + -0.0001413508894855467, + -0.9959247712609084, + -47.18439943936181 + ], + [ + -0.9959235480350325, + 0.0015608826774291319, + -0.09018786012862019, + 658.2317783502521 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.0015672939836463401, + 0.09018774866262495, + -0.9959235480350325, + 665.1993855543078 + ], + [ + 0.9999987717940301, + -0.0001413508894855467, + 0.0015608826774291319, + 3441.510244047787 + ], + [ + -1.3552527051944531e-20, + -0.9959247712609084, + -0.09018786012862019, + 12.372395362525651 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 66519.93855543078, + -344151.0244047787, + 1237.2395362525651 + ], + "rotation_deg": [ + 7.796799820987145e-19, + -5.17441463470459, + -179.9102020263672 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5453435332598824, + 0.8382126405224554, + 1.387778770608012e-17, + -3235.6547882550944 + ], + [ + 0.19075519163519794, + -0.1241058714280007, + -0.9737608482277954, + 314.50288142297865 + ], + [ + -0.8162186620416563, + 0.5310341650854739, + -0.22757374902853605, + -1293.3057134883863 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5453435332598824, + 0.19075519163519794, + -0.8162186620416563, + 648.930059801853 + ], + [ + 0.8382126405224554, + -0.1241058714280007, + 0.5310341650854739, + 3437.9879726080126 + ], + [ + 1.387778770608012e-17, + -0.9737608482277954, + -0.22757374902853605, + 11.928150592579222 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64893.0059801853, + -343798.79726080125, + 1192.8150592579223 + ], + "rotation_deg": [ + -8.165646340613163e-16, + -13.154270172119142, + -146.9518585205078 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9053791044011954, + 0.42460414189417567, + -0.0, + -2043.8726881928917 + ], + [ + 0.061427833730585975, + -0.13098194671441651, + -0.9894798385404672, + 421.54821996658694 + ], + [ + -0.42013725163989624, + 0.895854363354093, + -0.14467083135140574, + -2797.1342063373722 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9053791044011954, + 0.061427833730585975, + -0.42013725163989624, + 649.4045774475671 + ], + [ + 0.42460414189417567, + -0.13098194671441651, + 0.895854363354093, + 3428.876946358746 + ], + [ + -0.0, + -0.9894798385404672, + -0.14467083135140574, + 12.44973208735189 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64940.45774475671, + -342887.6946358746, + 1244.973208735189 + ], + "rotation_deg": [ + 0.0, + -8.318218231201172, + -115.12561035156247 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.6458237088659756, + -0.7634865663956344, + 3.4694469252940102e-18, + 3043.137053749395 + ], + [ + -0.0682642145033357, + 0.05774384269980899, + -0.9959948020188166, + -144.44001974630578 + ], + [ + 0.7604286479955051, + -0.6432370611467495, + -0.08941115408617098, + 1755.0840191868497 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.6458237088659756, + -0.0682642145033357, + 0.7604286479955051, + 620.8538125563731 + ], + [ + -0.7634865663956344, + 0.05774384269980899, + -0.6432370611467495, + 3460.669850858249 + ], + [ + 3.4694469252940102e-18, + -0.9959948020188166, + -0.08941115408617098, + 13.062576125589628 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62085.38125563731, + -346066.9850858249, + 1306.2576125589628 + ], + "rotation_deg": [ + -1.995840412027476e-16, + -5.129732131958007, + 40.22746276855471 + ] + } + } + ] + }, + { + "frame": 8, + "time": 1762.2962424084544, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.0017936623544326184, + 0.9999983913863854, + -0.0, + -3442.1017941397845 + ], + [ + 0.09043358845530011, + -0.00016220758411785225, + -0.9959024750284522, + -47.29765904604756 + ], + [ + -0.99590087298618, + 0.0017862885556955191, + -0.09043373462685261, + 657.712149980058 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.0017936623544326184, + 0.09043358845530011, + -0.99590087298618, + 665.4672867921819 + ], + [ + 0.9999983913863854, + -0.00016220758411785225, + 0.0017862885556955191, + 3440.9137056199925 + ], + [ + -0.0, + -0.9959024750284522, + -0.09043373462685261, + 12.375502328662295 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 66546.72867921818, + -344091.37056199927, + 1237.5502328662294 + ], + "rotation_deg": [ + 0.0, + -5.1885600090026855, + -179.89723205566406 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5438821152816923, + 0.8391616320332523, + 6.938893853066915e-18, + -3237.6431497724025 + ], + [ + 0.19182698574175397, + -0.12432797543489452, + -0.9735219371259659, + 314.44535027360297 + ], + [ + -0.8169422677628779, + 0.5294811539731813, + -0.2285936104305519, + -1286.9274309840425 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5438821152816923, + 0.19182698574175397, + -0.8169422677628779, + 649.2316486417592 + ], + [ + 0.8391616320332523, + -0.12432797543489452, + 0.5294811539731813, + 3437.404139190911 + ], + [ + 6.938893853066915e-18, + -0.9735219371259659, + -0.2285936104305519, + 11.936046493080068 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64923.164864175924, + -343740.4139190911, + 1193.6046493080069 + ], + "rotation_deg": [ + -4.0838251321118383e-16, + -13.2142858505249, + -147.05169677734375 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.9025799023561543, + 0.43052238021124356, + 1.3877787702593937e-17, + -2062.4489072147844 + ], + [ + 0.062284001819252394, + -0.13057692436984997, + -0.9894798481725079, + 419.50786717213646 + ], + [ + -0.42599323328234007, + 0.8930846179479139, + -0.1446707654728003, + -2783.180772898272 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.9025799023561543, + 0.062284001819252394, + -0.42599323328234007, + 649.7801531133341 + ], + [ + 0.43052238021124356, + -0.13057692436984997, + 0.8930846179479139, + 3428.3244446910585 + ], + [ + 1.3877787702593937e-17, + -0.9894798481725079, + -0.1446707654728003, + 12.44968627080271 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64978.01531133341, + -342832.44446910586, + 1244.968627080271 + ], + "rotation_deg": [ + -8.035925865141995e-16, + -8.318214416503906, + -115.50071716308595 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.6524349184219841, + -0.7578447579971104, + 3.4694469252854525e-18, + 3027.717221682239 + ], + [ + -0.06641086138168449, + 0.0571736684468275, + -0.9961529848004644, + -143.61543502791747 + ], + [ + 0.7549293140705402, + -0.6499249954919349, + -0.08763122155825442, + 1781.6198397771743 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.6524349184219841, + -0.06641086138168449, + 0.7549293140705402, + 620.8537762149027 + ], + [ + -0.7578447579971104, + 0.0571736684468275, + -0.6499249954919349, + 3460.6698946850647 + ], + [ + 3.4694469252854525e-18, + -0.9961529848004644, + -0.08763122155825442, + 13.062575992609249 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62085.377621490275, + -346066.9894685065, + 1306.257599260925 + ], + "rotation_deg": [ + -1.9955234852121974e-16, + -5.0273475646972665, + 40.72543716430665 + ] + } + } + ] + }, + { + "frame": 9, + "time": 1762.362909078598, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.0020208295799967677, + 0.9999979581218195, + -2.710505410390797e-20, + -3441.6552761284465 + ], + [ + 0.09067996476869841, + -0.00018324912929004925, + -0.9958800682859877, + -47.41078710836944 + ], + [ + -0.9958780348053655, + 0.0020124796799648277, + -0.09068015062702793, + 657.1890138050122 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.0020208295799967677, + 0.09067996476869841, + -0.9958780348053655, + 665.7342278840111 + ], + [ + 0.9999979581218195, + -0.00018324912929004925, + 0.0020124796799648277, + 3440.316965416468 + ], + [ + -2.710505410390797e-20, + -0.9958800682859877, + -0.09068015062702793, + 12.378532843108246 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 66573.42278840112, + -344031.6965416468, + 1237.8532843108246 + ], + "rotation_deg": [ + 1.559429960608317e-18, + -5.202736854553221, + -179.88421630859375 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5424201645704156, + 0.8401073532992095, + 1.387778770618769e-17, + -3239.6172461015244 + ], + [ + 0.19289797104586137, + -0.12454568905877691, + -0.9732824585408207, + 314.37242480506416 + ], + [ + -0.8176617604141223, + 0.5279280148444606, + -0.22961109881463826, + -1280.5534653661894 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5424201645704156, + 0.19289797104586137, + -0.8176617604141223, + 649.5322773356206 + ], + [ + 0.8401073532992095, + -0.12454568905877691, + 0.5279280148444606, + 3436.8201039980795 + ], + [ + 1.387778770618769e-17, + -0.9732824585408207, + -0.22961109881463826, + 11.943865941890227 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64953.22773356207, + -343682.01039980794, + 1194.3865941890226 + ], + "rotation_deg": [ + -8.169659935047324e-16, + -13.274176597595218, + -147.15145874023438 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8997420147645407, + 0.4364221658754798, + -0.0, + -2080.9271328059035 + ], + [ + 0.06313749956997393, + -0.1301663057290541, + -0.9894798578045445, + 417.4499175846275 + ], + [ + -0.4318309565096141, + 0.8902765939183833, + -0.14467069959419418, + -2769.1075011048747 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8997420147645407, + 0.06313749956997393, + -0.4318309565096141, + 650.1545104695928 + ], + [ + 0.4364221658754798, + -0.1301663057290541, + 0.8902765939183833, + 3427.772282479725 + ], + [ + -0.0, + -0.9894798578045445, + -0.14467069959419418, + 12.449564002562843 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65015.45104695928, + -342777.2282479725, + 1244.9564002562843 + ], + "rotation_deg": [ + 0.0, + -8.318210601806639, + -115.8758239746094 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.6587581435186601, + -0.7523547755865237, + -0.0, + 3012.644010959805 + ], + [ + -0.06464127668496931, + 0.056599584139636026, + -0.9963021591985822, + -142.7254278551449 + ], + [ + 0.7495726837008175, + -0.6563221649153916, + -0.0859186108496158, + 1807.0616937718528 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.6587581435186601, + -0.06464127668496931, + 0.7495726837008175, + 620.8537442344089 + ], + [ + -0.7523547755865237, + 0.056599584139636026, + -0.6563221649153916, + 3460.6699332526623 + ], + [ + -0.0, + -0.9963021591985822, + -0.0859186108496158, + 13.062575875586518 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62085.37442344089, + -346066.99332526623, + 1306.2575875586517 + ], + "rotation_deg": [ + 0.0, + -4.928850650787354, + 41.20523071289067 + ] + } + } + ] + }, + { + "frame": 10, + "time": 1762.4295757487416, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.002248263016709684, + 0.9999974726535101, + -0.0, + -3441.208698251386 + ], + [ + 0.09092688585830687, + -0.0002044280713603827, + -0.9958575498721058, + -47.523931369316536 + ], + [ + -0.995855032985337, + 0.00223892548143084, + -0.09092711636504067, + 656.6642248992869 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.002248263016709684, + 0.09092688585830687, + -0.995855032985337, + 666.0002357263439 + ], + [ + 0.9999974726535101, + -0.0002044280713603827, + 0.00223892548143084, + 3439.720047916672 + ], + [ + -0.0, + -0.9958575498721058, + -0.09092711636504067, + 12.38151050051936 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 66600.0235726344, + -343972.00479166716, + 1238.151050051936 + ], + "rotation_deg": [ + 0.0, + -5.216945648193359, + -179.87118530273438 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5409581373062887, + 0.8410495191616902, + -0.0, + -3241.5764378368985 + ], + [ + 0.19396806545000211, + -0.12475912653433799, + -0.9730424193898091, + 314.2845831991257 + ], + [ + -0.8183768690812835, + 0.5263751981957211, + -0.23062621463556876, + -1274.1855333577346 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5409581373062887, + 0.19396806545000211, + -0.8183768690812835, + 649.8319727799857 + ], + [ + 0.8410495191616902, + -0.12475912653433799, + 0.5263751981957211, + 3436.2358915089762 + ], + [ + -0.0, + -0.9730424193898091, + -0.23062621463556876, + 11.951632533665542 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64983.197277998566, + -343623.58915089763, + 1195.1632533665543 + ], + "rotation_deg": [ + 0.0, + -13.33394241333008, + -147.25111389160153 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8968655632612719, + 0.44230324601571847, + -2.775557540518786e-17, + -2099.3066119726536 + ], + [ + 0.06398829040336595, + -0.12975010839667497, + -0.9894798674365766, + 415.37449511260724 + ], + [ + -0.43765017111025273, + 0.8874304116196922, + -0.1446706337155874, + -2754.915075174612 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8968655632612719, + 0.06398829040336595, + -0.43765017111025273, + 650.5276728751767 + ], + [ + 0.44230324601571847, + -0.12975010839667497, + 0.8874304116196922, + 3427.2204825025033 + ], + [ + -2.775557540518786e-17, + -0.9894798674365766, + -0.1446706337155874, + 12.449388877288134 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65052.76728751767, + -342722.04825025034, + 1244.9388877288134 + ], + "rotation_deg": [ + 1.607185141738297e-15, + -8.31820678710937, + -116.25093078613286 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.6648105003003122, + -0.7470120472190852, + -0.0, + 2997.9122265499586 + ], + [ + -0.0629501463228442, + 0.056023083465204244, + -0.9964430205470772, + -141.7784576855041 + ], + [ + 0.7443549369430322, + -0.6624457871673427, + -0.0842692524754683, + 1831.4714853465557 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.6648105003003122, + -0.0629501463228442, + 0.7443549369430322, + 620.8537160915743 + ], + [ + -0.7470120472190852, + 0.056023083465204244, + -0.6624457871673427, + 3460.6699671921483 + ], + [ + -0.0, + -0.9964430205470772, + -0.0842692524754683, + 13.062575772606513 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62085.371609157424, + -346066.99671921483, + 1306.2575772606513 + ], + "rotation_deg": [ + 0.0, + -4.834005355834961, + 41.66778945922853 + ] + } + } + ] + }, + { + "frame": 11, + "time": 1762.4962424188852, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.0024762289677097544, + 0.9999969341403501, + -0.0, + -3440.7622564049975 + ], + [ + 0.09117434326741305, + -0.00022576924208749053, + -0.9958349201338568, + -47.63697810490293 + ], + [ + -0.9958318670392363, + 0.002465891060740864, + -0.09117462350031869, + 656.1369007107994 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.0024762289677097544, + 0.09117434326741305, + -0.9958318670392363, + 666.2653372965879 + ], + [ + 0.9999969341403501, + -0.00022576924208749053, + 0.002465891060740864, + 3439.1229747449624 + ], + [ + -0.0, + -0.9958349201338568, + -0.09117462350031869, + 12.384460544769128 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 66626.53372965878, + -343912.29747449624, + 1238.4460544769129 + ], + "rotation_deg": [ + 0.0, + -5.231185913085938, + -179.85812377929688 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5394960431814307, + 0.841988134947031, + -6.938893853147929e-18, + -3243.520792095449 + ], + [ + 0.19503725304655695, + -0.12496830053099546, + -0.9728018265743789, + 314.1819126091132 + ], + [ + -0.8190876057326397, + 0.524822719692593, + -0.23163895835899911, + -1267.8236708191291 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5394960431814307, + 0.19503725304655695, + -0.8190876057326397, + 650.1307619522618 + ], + [ + 0.841988134947031, + -0.12496830053099546, + 0.524822719692593, + 3435.6515233479604 + ], + [ + -6.938893853147929e-18, + -0.9728018265743789, + -0.23163895835899911, + 11.959371512279516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65013.07619522618, + -343565.15233479603, + 1195.9371512279515 + ], + "rotation_deg": [ + 4.0868481585233363e-16, + -13.393583297729489, + -147.35066223144528 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8939507308109779, + 0.4481652495257954, + -0.0, + -2117.5862265268333 + ], + [ + 0.06483632801611201, + -0.12932837357298838, + -0.9894798746605978, + 413.2818119390289 + ], + [ + -0.4434505088024459, + 0.8845462499379154, + -0.14467058430663207, + -2740.6044528064476 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8939507308109779, + 0.06483632801611201, + -0.4434505088024459, + 650.8996637809951 + ], + [ + 0.4481652495257954, + -0.12932837357298838, + 0.8845462499379154, + 3426.6690646589295 + ], + [ + -0.0, + -0.9894798746605978, + -0.14467058430663207, + 12.449186138852081 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65089.9663780995, + -342666.906465893, + 1244.918613885208 + ], + "rotation_deg": [ + 0.0, + -8.318203926086428, + -116.62602996826175 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.670607971851252, + -0.7418119357960954, + -3.4694469252625648e-18, + 2983.515744426139 + ], + [ + -0.061332482257054524, + 0.05544538925606045, + -0.9965762065343681, + -140.78184494550894 + ], + [ + 0.7392721210930305, + -0.6683119528329413, + -0.08267928806679589, + 1854.9073030275845 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.670607971851252, + -0.061332482257054524, + 0.7392721210930305, + 620.8536913258798 + ], + [ + -0.7418119357960954, + 0.05544538925606045, + -0.6683119528329413, + 3460.669997058896 + ], + [ + -3.4694469252625648e-18, + -0.9965762065343681, + -0.08267928806679589, + 13.062575681984107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62085.36913258798, + -346066.9997058896, + 1306.2575681984108 + ], + "rotation_deg": [ + 1.994676034794424e-16, + -4.74258804321289, + 42.11400604248049 + ] + } + } + ] + }, + { + "frame": 12, + "time": 1762.5629090890288, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.0027047274202892852, + 0.9999963422181013, + -0.0, + -3440.3159699574894 + ], + [ + 0.09142234515737227, + -0.00024727342824656603, + -0.9958121779039346, + -47.74990695576634 + ], + [ + -0.9958085354408303, + 0.0026933762897976246, + -0.09142268026780864, + 655.6070704390856 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.0027047274202892852, + 0.09142234515737227, + -0.9958085354408303, + 666.5295591335025 + ], + [ + 0.9999963422181013, + -0.00024727342824656603, + 0.0026933762897976246, + 3438.5257665597746 + ], + [ + -0.0, + -0.9958121779039346, + -0.09142268026780864, + 12.387408666241987 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 66652.95591335025, + -343852.57665597746, + 1238.7408666241986 + ], + "rotation_deg": [ + 0.0, + -5.245458126068115, + -179.84503173828125 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5380334428907042, + 0.8429234925728284, + -1.3877787706350163e-17, + -3245.4510672897945 + ], + [ + 0.19610557104088333, + -0.12517311059290223, + -0.9725606908523633, + 314.064077362181 + ], + [ + -0.8197942643471252, + 0.5232701603490252, + -0.2326493142733539, + -1261.4662366801765 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5380334428907042, + 0.19610557104088333, + -0.8197942643471252, + 650.4286713912086 + ], + [ + 0.8429234925728284, + -0.12517311059290223, + 0.5232701603490252, + 3435.0670201734656 + ], + [ + -1.3877787706350163e-17, + -0.9725606908523633, + -0.2326493142733539, + 11.967108568116577 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65042.86713912086, + -343506.7020173466, + 1196.7108568116578 + ], + "rotation_deg": [ + 8.175722895143648e-16, + -13.45309829711914, + -147.45013427734375 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8909975237734643, + 0.4540081636155395, + -1.3877787702593927e-17, + -2135.7659715791815 + ], + [ + 0.06568160337295766, + -0.1289010873653221, + -0.9894798818846163, + 411.1718674556959 + ], + [ + -0.44923195798106674, + 0.8816241173317101, + -0.14467053489767615, + -2726.1757743287876 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8909975237734643, + 0.06568160337295766, + -0.44923195798106674, + 651.270506210676 + ], + [ + 0.4540081636155395, + -0.1289010873653221, + 0.8816241173317101, + 3426.118047859566 + ], + [ + -1.3877787702593927e-17, + -0.9894798818846163, + -0.14467053489767615, + 12.448981477639117 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65127.050621067596, + -342611.8047859566, + 1244.8981477639118 + ], + "rotation_deg": [ + 8.035925591353701e-16, + -8.318201065063475, + -117.00113677978513 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.6761653978243235, + -0.7367498590329516, + -3.4694469252557497e-18, + 2969.447920306353 + ], + [ + -0.05978361910683222, + 0.054867488742798745, + -0.996702301374662, + -139.74189508322436 + ], + [ + 0.7343202761214838, + -0.6739356123107224, + -0.08114507093003064, + 1877.4232967680534 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.6761653978243235, + -0.05978361910683222, + 0.7343202761214838, + 620.8536695320687 + ], + [ + -0.7367498590329516, + 0.054867488742798745, + -0.6739356123107224, + 3460.670023341634 + ], + [ + -3.4694469252557497e-18, + -0.996702301374662, + -0.08114507093003064, + 13.062575602236393 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62085.36695320687, + -346067.0023341634, + 1306.2575602236393 + ], + "rotation_deg": [ + 1.9944236842584582e-16, + -4.654387474060057, + 42.54471588134767 + ] + } + } + ] + }, + { + "frame": 13, + "time": 1762.6295757591724, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.0029337583615720113, + 0.999995696521678, + -0.0, + -3439.8698707700396 + ], + [ + 0.09167089968786024, + -0.0002689414258556851, + -0.9957893220058787, + -47.86269857464985 + ], + [ + -0.9957850366539578, + 0.002921381038883876, + -0.09167129490141111, + 655.0747564233479 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.0029337583615720113, + 0.09167089968786024, + -0.9957850366539578, + 666.792921071025 + ], + [ + 0.999995696521678, + -0.0002689414258556851, + 0.002921381038883876, + 3437.9284565129956 + ], + [ + -0.0, + -0.9957893220058787, + -0.09167129490141111, + 12.390378920201075 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 66679.2921071025, + -343792.8456512996, + 1239.0378920201074 + ], + "rotation_deg": [ + 0.0, + -5.259762763977052, + -179.8319091796875 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5365707940436337, + 0.8438553092677583, + -1.387778770640461e-17, + -3247.366637384867 + ], + [ + 0.19717293720663423, + -0.12537367285474935, + -0.972319019143521, + 313.93156470031505 + ], + [ + -0.8204965766536286, + 0.5217179715687377, + -0.23365728287788937, + -1255.1149575870254 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5365707940436337, + 0.19717293720663423, + -0.8204965766536286, + 650.7257209307636 + ], + [ + 0.8438553092677583, + -0.12537367285474935, + 0.5217179715687377, + 3434.48241513738 + ], + [ + -1.387778770640461e-17, + -0.972319019143521, + -0.23365728287788937, + 11.974867756439867 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65072.57209307636, + -343448.241513738, + 1197.4867756439867 + ], + "rotation_deg": [ + 8.177754986376447e-16, + -13.51248741149902, + -147.54949951171875 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8880061888528716, + 0.45983150018131425, + -0.0, + -2153.8443708593945 + ], + [ + 0.06652405343580789, + -0.12846830009532495, + -0.9894798867006277, + 409.0449164863544 + ], + [ + -0.45499403456968934, + 0.8786642557707174, + -0.1446705019583721, + -2711.630300712392 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8880061888528716, + 0.06652405343580789, + -0.45499403456968934, + 651.6402164945437 + ], + [ + 0.45983150018131425, + -0.12846830009532495, + 0.8786642557707174, + 3425.5674634854518 + ], + [ + -0.0, + -0.9894798867006277, + -0.1446705019583721, + 12.448798948912383 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65164.021649454364, + -342556.7463485452, + 1244.8798948912383 + ], + "rotation_deg": [ + 0.0, + -8.318199157714844, + -117.37623596191403 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.6814962696713779, + -0.7318215864703616, + -0.0, + 2955.7024903862384 + ], + [ + -0.05829928518444096, + 0.054290206946926975, + -0.9968218330156311, + -138.66410849237943 + ], + [ + 0.7294957312840462, + -0.6793303649307055, + -0.07966324950357546, + 1899.0687651022909 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.6814962696713779, + -0.05829928518444096, + 0.7294957312840462, + 620.8536503535149 + ], + [ + -0.7318215864703616, + 0.054290206946926975, + -0.6793303649307055, + 3460.6700464704436 + ], + [ + -0.0, + -0.9968218330156311, + -0.07966324950357546, + 13.062575532058403 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62085.36503535149, + -346067.00464704435, + 1306.2575532058404 + ], + "rotation_deg": [ + 0.0, + -4.569209575653075, + 42.96067810058596 + ] + } + } + ] + }, + { + "frame": 14, + "time": 1762.696242429316, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.0031633217785121265, + 0.9999949966851461, + 2.7105054103956052e-20, + -3439.423988308833 + ], + [ + 0.09191999844264907, + -0.00029077398778824473, + -0.9957663527840208, + -47.97532756169784 + ], + [ + -0.995761370662472, + 0.0031499051814861912, + -0.09192045905968102, + 654.5399821020588 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.0031633217785121265, + 0.09191999844264907, + -0.995761370662472, + 667.0554436903194 + ], + [ + 0.9999949966851461, + -0.00029077398778824473, + 0.0031499051814861912, + 3437.3310753459596 + ], + [ + 2.7105054103956052e-20, + -0.9957663527840208, + -0.09192045905968102, + 12.393390562802852 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 66705.54436903194, + -343733.10753459594, + 1239.3390562802851 + ], + "rotation_deg": [ + -1.5596080459222182e-18, + -5.274099349975586, + -179.81875610351562 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.535107881271137, + 0.8447837329171974, + -0.0, + -3249.2679166321627 + ], + [ + 0.19823935562819014, + -0.1255699387208179, + -0.9720768222572589, + 313.78423468169336 + ], + [ + -0.8211946966086077, + 0.5201659521677192, + -0.2346628485025848, + -1248.7690427218797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.535107881271137, + 0.19823935562819014, + -0.8211946966086077, + 651.0219311520901 + ], + [ + 0.8447837329171974, + -0.1255699387208179, + 0.5201659521677192, + 3433.897738981036 + ], + [ + -0.0, + -0.9720768222572589, + -0.2346628485025848, + 11.982668333405849 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65102.19311520901, + -343389.7738981036, + 1198.266833340585 + ], + "rotation_deg": [ + 0.0, + -13.571749687194828, + -147.64877319335938 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.884976794579, + 0.46563512867553064, + -2.7755575405187852e-17, + -2171.8210582871084 + ], + [ + 0.06736365193909077, + -0.12803000695794545, + -0.9894798915166376, + 406.90099585743127 + ], + [ + -0.4607366104729984, + 0.8756667352158898, + -0.1446704690190678, + -2696.9684695244882 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.884976794579, + 0.06736365193909077, + -0.4607366104729984, + 652.0088117218166 + ], + [ + 0.46563512867553064, + -0.12803000695794545, + 0.8756667352158898, + 3425.0173404841744 + ], + [ + -2.7755575405187852e-17, + -0.9894798915166376, + -0.1446704690190678, + 12.44865780882834 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65200.88117218166, + -342501.7340484174, + 1244.865780882834 + ], + "rotation_deg": [ + 1.6071851026257116e-15, + -8.318197250366207, + -117.75133514404295 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.6866132114529736, + -0.7270229005046774, + 3.46944692524316e-18, + 2942.2726967954222 + ], + [ + -0.05687559550129394, + 0.05371431251111255, + -0.9969352733592243, + -137.5535510968537 + ], + [ + 0.7247947700055374, + -0.6845089338685283, + -0.07823081762829044, + 1919.8900073890377 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.6866132114529736, + -0.05687559550129394, + 0.7247947700055374, + 620.8536334763876 + ], + [ + -0.7270229005046774, + 0.05371431251111255, + -0.6845089338685283, + 3460.670066823796 + ], + [ + 3.46944692524316e-18, + -0.9969352733592243, + -0.07823081762829044, + 13.062575470301773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62085.363347638755, + -346067.0066823796, + 1306.2575470301774 + ], + "rotation_deg": [ + -1.9939576110203962e-16, + -4.486880302429198, + 43.362609863281264 + ] + } + } + ] + }, + { + "frame": 15, + "time": 1762.7629090994596, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.003393417657893309, + 0.9999942423417243, + -0.0, + -3438.978351014589 + ], + [ + 0.0921696412922865, + -0.00031277188911659306, + -0.9957432698229982, + -48.08778086676319 + ], + [ + -0.9957375366897604, + 0.003378948588298813, + -0.09217017268859518, + 654.0027699841967 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.003393417657893309, + 0.0921696412922865, + -0.9957375366897604, + 667.3171476807937 + ], + [ + 0.9999942423417243, + -0.00031277188911659306, + 0.003378948588298813, + 3436.733652760191 + ], + [ + -0.0, + -0.9957432698229982, + -0.09217017268859518, + 12.39645595435173 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 66731.71476807937, + -343673.3652760191, + 1239.645595435173 + ], + "rotation_deg": [ + 0.0, + -5.28846788406372, + -179.80557250976562 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5336449386414249, + 0.8457086256284666, + -0.0, + -3251.154629417691 + ], + [ + 0.19930479101084367, + -0.12576198201938224, + -0.9718341032083001, + 313.6223864092313 + ], + [ + -0.8218884937554295, + 0.5186143337268688, + -0.23566602785609034, + -1242.4293728778198 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5336449386414249, + 0.19930479101084367, + -0.8218884937554295, + 651.3173227445967 + ], + [ + 0.8457086256284666, + -0.12576198201938224, + 0.5186143337268688, + 3433.313021405961 + ], + [ + -0.0, + -0.9718341032083001, + -0.23566602785609034, + 11.990522659318934 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65131.73227445967, + -343331.3021405961, + 1199.0522659318933 + ], + "rotation_deg": [ + 0.0, + -13.63088607788086, + -147.74794006347656 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8819094707896682, + 0.47141880035854217, + 1.3877787702593927e-17, + -2189.695303693928 + ], + [ + 0.06820036289948117, + -0.1275862267406385, + -0.9894798963326465, + 404.7402224368337 + ], + [ + -0.4664594395678244, + 0.8726316841385957, + -0.14467043607976343, + -2682.1909945695256 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8819094707896682, + 0.06820036289948117, + -0.4664594395678244, + 652.376309101776 + ], + [ + 0.47141880035854217, + -0.1275862267406385, + 0.8726316841385957, + 3424.4677067406897 + ], + [ + 1.3877787702593927e-17, + -0.9894798963326465, + -0.14467043607976343, + 12.448570417691396 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65237.6309101776, + -342446.77067406895, + 1244.8570417691396 + ], + "rotation_deg": [ + -8.035925474016e-16, + -8.318195343017576, + -118.12643432617195 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.6915280567787259, + -0.722349601431218, + -0.0, + 2929.151352824534 + ], + [ + -0.05550904975648302, + 0.053140564119753896, + -0.9970430411171658, + -136.4150162098931 + ], + [ + 0.7202136392492863, + -0.689483240977008, + -0.07684513160337592, + 1939.930577191357 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.6915280567787259, + -0.05550904975648302, + 0.7202136392492863, + 620.8536186245155 + ], + [ + -0.722349601431218, + 0.053140564119753896, + -0.689483240977008, + 3460.670084734746 + ], + [ + -0.0, + -0.9970430411171658, + -0.07684513160337592, + 13.062575415955939 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62085.36186245155, + -346067.0084734746, + 1306.257541595594 + ], + "rotation_deg": [ + 0.0, + -4.407246589660646, + 43.75119018554692 + ] + } + } + ] + }, + { + "frame": 16, + "time": 1762.8295757696033, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.0036237796719695353, + 0.9999934340888889, + 2.710505410397563e-20, + -3438.5328113734777 + ], + [ + 0.09241983648230225, + -0.00033491132372929697, + -0.9957200719373841, + -48.20014357221987 + ], + [ + -0.9957135341493494, + 0.003608245951755479, + -0.09242044402059515, + 653.4640532797323 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.0036237796719695353, + 0.09241983648230225, + -0.9957135341493494, + 667.578053772845 + ], + [ + 0.9999934340888889, + -0.00033491132372929697, + 0.003608245951755479, + 3436.136216957729 + ], + [ + 2.710505410397563e-20, + -0.9957200719373841, + -0.09242044402059515, + 12.399579375438124 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 66757.8053772845, + -343613.6216957729, + 1239.9579375438125 + ], + "rotation_deg": [ + -1.5596805361571171e-18, + -5.302868843078614, + -179.79237365722656 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5321817502382994, + 0.8466301345412295, + -0.0, + -3253.027184692648 + ], + [ + 0.2003692203049056, + -0.12594973649683527, + -0.971590880685272, + 313.4458220727307 + ], + [ + -0.8225781279982439, + 0.517062918723145, + -0.2366667729538886, + -1236.095167827567 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5321817502382994, + 0.2003692203049056, + -0.8225781279982439, + 651.6119164386802 + ], + [ + 0.8466301345412295, + -0.12594973649683527, + 0.517062918723145, + 3432.728290614193 + ], + [ + -0.0, + -0.971590880685272, + -0.2366667729538886, + 11.998435014769532 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65161.19164386801, + -343272.8290614193, + 1199.8435014769532 + ], + "rotation_deg": [ + 0.0, + -13.689893722534181, + -147.84701538085938 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8788043489483314, + 0.47718226734603125, + -0.0, + -2207.466381587201 + ], + [ + 0.0690341504574271, + -0.12713697846602293, + -0.9894799011486544, + 402.56270549459316 + ], + [ + -0.472162276577327, + 0.8695592326187402, + -0.14467040314045881, + -2667.2985935357174 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8788043489483314, + 0.0690341504574271, + -0.472162276577327, + 652.7427258966583 + ], + [ + 0.47718226734603125, + -0.12713697846602293, + 0.8695592326187402, + 3423.918588617725 + ], + [ + -0.0, + -0.9894799011486544, + -0.14467040314045881, + 12.448541056091969 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65274.27258966583, + -342391.8588617725, + 1244.854105609197 + ], + "rotation_deg": [ + 0.0, + -8.318193435668942, + -118.50153350830077 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.6962516837932409, + -0.7177977380955425, + -0.0, + 2916.3315386878585 + ], + [ + -0.05419654178541073, + 0.05256973026131258, + -0.9971455050887782, + -135.25308701719115 + ], + [ + 0.7157487839311818, + -0.6942642411442753, + -0.0755039189009308, + 1959.23056362785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.6962516837932409, + -0.05419654178541073, + 0.7157487839311818, + 620.8536055548681 + ], + [ + -0.7177977380955425, + 0.05256973026131258, + -0.6942642411442753, + 3460.670100496382 + ], + [ + -0.0, + -0.9971455050887782, + -0.0755039189009308, + 13.062575368131604 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62085.36055548681, + -346067.0100496382, + 1306.2575368131604 + ], + "rotation_deg": [ + 0.0, + -4.330176830291747, + 44.1270446777344 + ] + } + } + ] + }, + { + "frame": 17, + "time": 1762.8962424397469, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.003854940436127151, + 0.9999925696895123, + -0.0, + -3438.087743528208 + ], + [ + 0.09267058370835568, + -0.0003572422347975702, + -0.9956967587037421, + -48.312249553361134 + ], + [ + -0.9956893603943475, + 0.003838327495698291, + -0.09267127300048562, + 652.9220292882458 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.003854940436127151, + 0.09267058370835568, + -0.9956893603943475, + 667.838182730301 + ], + [ + 0.9999925696895123, + -0.0003572422347975702, + 0.003838327495698291, + 3435.5387942327447 + ], + [ + -0.0, + -0.9956967587037421, + -0.09267127300048562, + 12.402757163210088 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 66783.8182730301, + -343553.8794232745, + 1240.2757163210088 + ], + "rotation_deg": [ + 0.0, + -5.3173022270202654, + -179.7791290283203 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5307183248542678, + 0.8475482639141442, + -0.0, + -3254.885645295081 + ], + [ + 0.2014326555300384, + -0.1261332316582717, + -0.971347153780541, + 313.2546415662435 + ], + [ + -0.8232636037816036, + 0.5155117176047929, + -0.2376651167098013, + -1229.7664623878525 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5307183248542678, + 0.2014326555300384, + -0.8232636037816036, + 651.9057329981683 + ], + [ + 0.8475482639141442, + -0.1261332316582717, + 0.5155117176047929, + 3432.1435728999018 + ], + [ + -0.0, + -0.971347153780541, + -0.2376651167098013, + 12.006401736905698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65190.57329981684, + -343214.3572899902, + 1200.6401736905698 + ], + "rotation_deg": [ + 0.0, + -13.74877452850342, + -147.9459991455078 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8756615621384392, + 0.48292528261964957, + -0.0, + -2225.1335709203863 + ], + [ + 0.06986498683230108, + -0.1266822958129072, + -0.9894799035566582, + 400.36859093049753 + ], + [ + -0.477844875918632, + 0.8664495102305882, + -0.14467038667080653, + -2652.291980942217 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8756615621384392, + 0.06986498683230108, + -0.477844875918632, + 653.108079414247 + ], + [ + 0.48292528261964957, + -0.1266822958129072, + 0.8664495102305882, + 3423.3700105474727 + ], + [ + -0.0, + -0.9894799035566582, + -0.14467038667080653, + 12.44856606117811 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65310.8079414247, + -342337.00105474726, + 1244.856606117811 + ], + "rotation_deg": [ + 0.0, + -8.318192481994627, + -118.87663269042967 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7007942836154674, + -0.7133634221432187, + -0.0, + 2903.8061253682035 + ], + [ + -0.052935331029876735, + 0.05200263461165008, + -0.9972429878029749, + -134.07231130000213 + ], + [ + 0.7113966662532526, + -0.6988621894771606, + -0.07420527853830908, + 1977.8276281838646 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7007942836154674, + -0.052935331029876735, + 0.7113966662532526, + 620.8535940535784 + ], + [ + -0.7133634221432187, + 0.05200263461165008, + -0.6988621894771606, + 3460.6701143666223 + ], + [ + -0.0, + -0.9972429878029749, + -0.07420527853830908, + 13.06257532604619 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62085.35940535784, + -346067.01143666223, + 1306.257532604619 + ], + "rotation_deg": [ + 0.0, + -4.255560874938965, + 44.49076461791995 + ] + } + } + ] + }, + { + "frame": 18, + "time": 1762.9629091098905, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.00408663362205881, + 0.9999916496779556, + 2.7105054103995398e-20, + -3437.6429960591313 + ], + [ + 0.092921891207209, + -0.0003797408957914445, + -0.9956733289243652, + -48.424198148895314 + ], + [ + -0.9956650147633274, + 0.004068927903382086, + -0.09292266785913897, + 652.377630043047 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.00408663362205881, + 0.092921891207209, + -0.9956650147633274, + 668.0975553552294 + ], + [ + 0.9999916496779556, + -0.0003797408957914445, + 0.004068927903382086, + 3434.94140899357 + ], + [ + 2.7105054103995398e-20, + -0.9956733289243652, + -0.09292266785913897, + 12.40597906878511 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 66809.75553552294, + -343494.140899357, + 1240.597906878511 + ], + "rotation_deg": [ + -1.5597537571289175e-18, + -5.331768512725831, + -179.76585388183594 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5292548972176113, + 0.8484628770731077, + -0.0, + -3256.729736195616 + ], + [ + 0.20249503409582953, + -0.12631252510088373, + -0.9711029333542185, + 313.0490831902401 + ], + [ + -0.8239447986770843, + 0.5139609664525544, + -0.2386610435243578, + -1223.4441492920225 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5292548972176113, + 0.20249503409582953, + -0.8239447986770843, + 652.198793225129 + ], + [ + 0.8484628770731077, + -0.12631252510088373, + 0.5139609664525544, + 3431.55889267142 + ], + [ + -0.0, + -0.9711029333542185, + -0.2386610435243578, + 12.014412576844926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65219.8793225129, + -343155.889267142, + 1201.4412576844925 + ], + "rotation_deg": [ + 0.0, + -13.80752754211426, + -148.0448760986328 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8724812450577396, + 0.48864760003758945, + 1.3877787702593923e-17, + -2242.69615507067 + ], + [ + 0.0706928286515838, + -0.12622218374518293, + -0.9894799059646612, + 398.15792967440177 + ], + [ + -0.48350699517439416, + 0.8633026523782314, + -0.14467037020115417, + -2637.171888013819 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8724812450577396, + 0.0706928286515838, + -0.48350699517439416, + 653.4723870128286 + ], + [ + 0.48864760003758945, + -0.12622218374518293, + 0.8633026523782314, + 3422.8219950537004 + ], + [ + 1.3877787702593923e-17, + -0.9894799059646612, + -0.14467037020115417, + 12.448635184067312 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65347.238701282855, + -342282.19950537005, + 1244.8635184067311 + ], + "rotation_deg": [ + -8.035925395790912e-16, + -8.318191528320312, + -119.25173187255858 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7051653825570673, + -0.7090428641789894, + -3.469446925221529e-18, + 2891.567913549232 + ], + [ + -0.0517229383975869, + 0.05144008562069494, + -0.9973357785795387, + -132.87702224408872 + ], + [ + 0.7071538126991188, + -0.7032866700980895, + -0.0729475486047381, + 1995.7570734651194 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7051653825570673, + -0.0517229383975869, + 0.7071538126991188, + 620.8535839324435 + ], + [ + -0.7090428641789894, + 0.05144008562069494, + -0.7032866700980895, + 3460.6701265724337 + ], + [ + -3.469446925221529e-18, + -0.9973357785795387, + -0.0729475486047381, + 13.062575289011024 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62085.35839324435, + -346067.01265724335, + 1306.2575289011024 + ], + "rotation_deg": [ + 1.993156887270336e-16, + -4.183302402496336, + 44.842906951904325 + ] + } + } + ] + }, + { + "frame": 19, + "time": 1763.029575780034, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.004318592902233095, + 0.9999906748341931, + -0.0, + -3437.198416006408 + ], + [ + 0.09317374237944973, + -0.00040238321480458246, + -0.9956497837185303, + -48.5360776728177 + ], + [ + -0.9956404991563599, + 0.0042997818922569896, + -0.09317461196781736, + 651.8317877342379 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.004318592902233095, + 0.09317374237944973, + -0.9956404991563599, + 668.3561923900717 + ], + [ + 0.9999906748341931, + -0.00040238321480458246, + 0.0042997818922569896, + 3434.344083525805 + ], + [ + -0.0, + -0.9956497837185303, + -0.09317461196781736, + 12.409230437861856 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 66835.61923900717, + -343434.4083525805, + 1240.9230437861856 + ], + "rotation_deg": [ + 0.0, + -5.346266746520996, + -179.7525634765625 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5277914768017222, + 0.8493739794786844, + 1.387778770673419e-17, + -3258.5595217760774 + ], + [ + 0.20355634067204031, + -0.12648763000909283, + -0.9708582263270426, + 312.8291973210214 + ], + [ + -0.8246217250864651, + 0.5124106802848071, + -0.23965455398444507, + -1217.1282740672398 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5277914768017222, + 0.20355634067204031, + -0.8246217250864651, + 652.4911178620035 + ], + [ + 0.8493739794786844, + -0.12648763000909283, + 0.5124106802848071, + 3430.9742722143483 + ], + [ + 1.387778770673419e-17, + -0.9708582263270426, + -0.23965455398444507, + 12.022452880285876 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65249.11178620035, + -343097.42722143483, + 1202.2452880285875 + ], + "rotation_deg": [ + -8.190059569686257e-16, + -13.866152763366697, + -148.14364624023435 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.869263534012503, + 0.494348974345142, + -0.0, + -2260.15342160033 + ], + [ + 0.0715176322934569, + -0.12575664766771247, + -0.9894799107806669, + 395.93076961930757 + ], + [ + -0.4891483928602471, + 0.8601187960269092, + -0.14467033726184927, + -2621.9390486505044 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.869263534012503, + 0.0715176322934569, + -0.4891483928602471, + 653.8356660034751 + ], + [ + 0.494348974345142, + -0.12575664766771247, + 0.8601187960269092, + 3422.2745625149414 + ], + [ + -0.0, + -0.9894799107806669, + -0.14467033726184927, + 12.448733770458237 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65383.56660034751, + -342227.4562514941, + 1244.8733770458236 + ], + "rotation_deg": [ + 0.0, + -8.31818962097168, + -119.62683105468753 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7093739102988694, + -0.7048323597759196, + -3.4694469252167592e-18, + 2879.6096275278796 + ], + [ + -0.05055714182173494, + 0.0508829041263379, + -0.9974241351995081, + -131.67143673807976 + ], + [ + 0.7030168025597072, + -0.7075466632792768, + -0.07172931479588873, + 2013.052082766617 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7093739102988694, + -0.05055714182173494, + 0.7030168025597072, + 620.8535750258447 + ], + [ + -0.7048323597759196, + 0.0508829041263379, + -0.7075466632792768, + 3460.6701373135475 + ], + [ + -3.4694469252167592e-18, + -0.9974241351995081, + -0.07172931479588873, + 13.06257525642008 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62085.35750258448, + -346067.01373135473, + 1306.257525642008 + ], + "rotation_deg": [ + 1.992980323858498e-16, + -4.113319396972655, + 45.18399810791019 + ] + } + } + ] + }, + { + "frame": 20, + "time": 1763.0962424501777, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.004551350890088139, + 0.9999896425488993, + -0.0, + -3436.7543707584923 + ], + [ + 0.09342616174040227, + -0.0004252196485864156, + -0.9956261203336854, + -48.647749723520235 + ], + [ + -0.9956158082272332, + 0.004531419634533755, + -0.09342713012893432, + 651.2826977912152 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.004551350890088139, + 0.09342616174040227, + -0.9956158082272332, + 668.6141143660336 + ], + [ + 0.9999896425488993, + -0.0004252196485864156, + 0.004531419634533755, + 3433.7468381789154 + ], + [ + -0.0, + -0.9956261203336854, + -0.09342713012893432, + 12.412494801913821 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 66861.41143660336, + -343374.6838178915, + 1241.2494801913822 + ], + "rotation_deg": [ + 0.0, + -5.360798358917238, + -179.73922729492188 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5263278466072274, + 0.850281716777327, + 1.3877787706789589e-17, + -3260.3753976725557 + ], + [ + 0.20461656627346111, + -0.1266584881009258, + -0.9706130476139531, + 312.59478309167844 + ], + [ + -0.8252945383052779, + 0.5108606584602785, + -0.2406456163760506, + -1210.818048971708 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5263278466072274, + 0.20461656627346111, + -0.8252945383052779, + 652.7827274399975 + ], + [ + 0.850281716777327, + -0.1266584881009258, + 0.5108606584602785, + 3430.3897318781515 + ], + [ + 1.3877787706789589e-17, + -0.9706130476139531, + -0.2406456163760506, + 12.030506178702044 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65278.272743999754, + -343038.97318781517, + 1203.0506178702044 + ], + "rotation_deg": [ + -8.192128394437892e-16, + -13.924648284912111, + -148.24232482910153 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8660085669116804, + 0.5000291611852025, + 1.3877787702593923e-17, + -2277.50466217736 + ], + [ + 0.07233937859769149, + -0.12528573622022227, + -0.9894799131886691, + 393.68728839632314 + ], + [ + -0.49476882482248086, + 0.8568980734402802, + -0.14467032079219677, + -2606.5941796230677 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8660085669116804, + 0.07233937859769149, + -0.49476882482248086, + 654.1979334985812 + ], + [ + 0.5000291611852025, + -0.12528573622022227, + 0.8568980734402802, + 3421.7277313511686 + ], + [ + 1.3877787702593923e-17, + -0.9894799131886691, + -0.14467032079219677, + 12.448845351824382 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65419.79334985811, + -342172.77313511685, + 1244.8845351824382 + ], + "rotation_deg": [ + -8.035925337122121e-16, + -8.318188667297363, + -120.00193023681638 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7134282188079345, + -0.700728318686021, + 3.4694469252122167e-18, + 2867.924028049568 + ], + [ + -0.04943585898334901, + 0.05033182744186203, + -0.9975082972050613, + -130.45939609086292 + ], + [ + 0.698982307569644, + -0.7116505719948342, + -0.07054925289498924, + 2029.7437852985386 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7134282188079345, + -0.04943585898334901, + 0.698982307569644, + 620.8535671880378 + ], + [ + -0.700728318686021, + 0.05033182744186203, + -0.7116505719948342, + 3460.6701467657276 + ], + [ + 3.4694469252122167e-18, + -0.9975082972050613, + -0.07054925289498924, + 13.062575227740048 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62085.356718803785, + -346067.01467657275, + 1306.2575227740049 + ], + "rotation_deg": [ + -1.9928121716494818e-16, + -4.04553508758545, + 45.51453399658207 + ] + } + } + ] + }, + { + "frame": 21, + "time": 1763.1629091203213, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.004784641257480882, + 0.9999885535385079, + -0.0, + -3436.3107034871045 + ], + [ + 0.09367913268292113, + -0.00044822617380336837, + -0.9956023398893117, + -48.759303490220475 + ], + [ + -0.9955909438131354, + 0.004763575839423079, + -0.093680205713331, + 650.7312917974257 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.004784641257480882, + 0.09367913268292113, + -0.9955909438131354, + 668.8713414354927 + ], + [ + 0.9999885535385079, + -0.00044822617380336837, + 0.004763575839423079, + 3433.149691486666 + ], + [ + -0.0, + -0.9956023398893117, + -0.093680205713331, + 12.415756378177543 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 66887.13414354926, + -343314.9691486666, + 1241.5756378177543 + ], + "rotation_deg": [ + 0.0, + -5.375362396240235, + -179.72586059570312 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5248642420115078, + 0.851185953512912, + -0.0, + -3262.1770884441607 + ], + [ + 0.205675689531425, + -0.126825183663546, + -0.9703673961569819, + 312.3461371114187 + ], + [ + -0.8259631071814484, + 0.5093111310516413, + -0.24163426363424687, + -1204.5143491993747 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5248642420115078, + 0.205675689531425, + -0.8259631071814484, + 653.0736421114889 + ], + [ + 0.851185953512912, + -0.126825183663546, + 0.5093111310516413, + 3429.8052901965957 + ], + [ + -0.0, + -0.9703673961569819, + -0.24163426363424687, + 12.03855668932997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65307.36421114889, + -342980.52901965956, + 1203.855668932997 + ], + "rotation_deg": [ + 0.0, + -13.983016014099125, + -148.3408966064453 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8627164832609908, + 0.5056879171087523, + -0.0, + -2294.749172458648 + ], + [ + 0.0731580326261392, + -0.12480946942606565, + -0.9894799131886692, + 391.42757639076723 + ], + [ + -0.5003680501319913, + 0.8536406226797034, + -0.14467032079219677, + -2591.1380135348004 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8627164832609908, + 0.0731580326261392, + -0.5003680501319913, + 654.5592062444182 + ], + [ + 0.5056879171087523, + -0.12480946942606565, + 0.8536406226797034, + 3421.1815181443153 + ], + [ + -0.0, + -0.9894799131886692, + -0.14467032079219677, + 12.448954145402283 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65455.92062444182, + -342118.15181443153, + 1244.8954145402283 + ], + "rotation_deg": [ + 0.0, + -8.318188667297363, + -120.37702941894528 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7173360076283014, + -0.6967273872612512, + -3.4694469252078884e-18, + 2856.504289585214 + ], + [ + -0.04835712155152242, + 0.04978748524659121, + -0.9975884898634665, + -129.24429853887787 + ], + [ + 0.6950472176439321, + -0.7156061488549333, + -0.06940608738748967, + 2045.860924728196 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7173360076283014, + -0.04835712155152242, + 0.6950472176439321, + 620.8535602907677 + ], + [ + -0.6967273872612512, + 0.04978748524659121, + -0.7156061488549333, + 3460.670155083646 + ], + [ + -3.4694469252078884e-18, + -0.9975884898634665, + -0.06940608738748967, + 13.062575202501622 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62085.35602907678, + -346067.0155083646, + 1306.257520250162 + ], + "rotation_deg": [ + 1.992651976428857e-16, + -3.9798755645751966, + 45.834972381591825 + ] + } + } + ] + }, + { + "frame": 22, + "time": 1763.2295757904649, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.005018197677220617, + 0.9999874087667665, + -5.421010820807108e-20, + -3435.867256255589 + ], + [ + 0.0939326634813977, + -0.0004713786089355022, + -0.9955784411755294, + -48.8708425673195 + ], + [ + -0.9955659056681119, + 0.0049959852313339785, + -0.09393384694986232, + 650.1784994677746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.005018197677220617, + 0.0939326634813977, + -0.9955659056681119, + 669.1278934193017 + ], + [ + 0.9999874087667665, + -0.0004713786089355022, + 0.0049959852313339785, + 3432.5526602862005 + ], + [ + -5.421010820807108e-20, + -0.9955784411755294, + -0.09393384694986232, + 12.419002121570491 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 66912.78934193017, + -343255.26602862007, + 1241.900212157049 + ], + "rotation_deg": [ + 3.1198048319154517e-18, + -5.3899593353271475, + -179.7124786376953 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5234004454791565, + 0.8520868345844924, + 1.3877787706900774e-17, + -3263.9649830517296 + ], + [ + 0.20673370167569874, + -0.12698765801889206, + -0.9701212869030038, + 312.0830599638547 + ], + [ + -0.8266275863180033, + 0.5077618969032316, + -0.242620464081875, + -1198.2163834815206 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5234004454791565, + 0.20673370167569874, + -0.8266275863180033, + 653.3638816973303 + ], + [ + 0.8520868345844924, + -0.12698765801889206, + 0.5077618969032316, + 3429.2209640068236 + ], + [ + 1.3877787706900774e-17, + -0.9701212869030038, + -0.242620464081875, + 12.046591367087121 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65336.38816973302, + -342922.09640068235, + 1204.6591367087121 + ], + "rotation_deg": [ + -8.196281037000764e-16, + -14.041254043579105, + -148.4393768310547 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.859387424156945, + 0.5113249995852842, + -0.0, + -2311.8862521649567 + ], + [ + 0.07397354272873326, + -0.1243278392274395, + -0.9894799155966714, + 389.1516413383324 + ], + [ + -0.5059458312313756, + 0.8503465875199446, + -0.14467030432254419, + -2575.571298231352 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.859387424156945, + 0.07397354272873326, + -0.5059458312313756, + 654.9195006685835 + ], + [ + 0.5113249995852842, + -0.1243278392274395, + 0.8503465875199446, + 3420.635937757437 + ], + [ + -0.0, + -0.9894799155966714, + -0.14467030432254419, + 12.449047106109408 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65491.95006685835, + -342063.59377574374, + 1244.9047106109408 + ], + "rotation_deg": [ + 0.0, + -8.318187713623045, + -120.75212860107422 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7211046665972645, + -0.6928261396711645, + 3.4694469252037642e-18, + 2845.343144515523 + ], + [ + -0.04731902040701062, + 0.049250402778540994, + -0.9976649277858133, + -128.02914425614782 + ], + [ + 0.6912083360897159, + -0.7194208394130678, + -0.06829855004525245, + 2061.431235944091 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7211046665972645, + -0.04731902040701062, + 0.6912083360897159, + 620.8535542211702 + ], + [ + -0.6928261396711645, + 0.049250402778540994, + -0.7194208394130678, + 3460.670162403414 + ], + [ + 3.4694469252037642e-18, + -0.9976649277858133, + -0.06829855004525245, + 13.062575180291804 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62085.35542211701, + -346067.0162403414, + 1306.2575180291803 + ], + "rotation_deg": [ + -1.9924993057524006e-16, + -3.9162673950195317, + 46.14575958251957 + ] + } + } + ] + }, + { + "frame": 23, + "time": 1763.2962424606085, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.005252552760519331, + 0.9999862052496014, + -0.0, + -3435.4243905977637 + ], + [ + 0.09418675375276216, + -0.0004947277180738115, + -0.9955544237569341, + -48.982203437022044 + ], + [ + -0.9955406903903725, + 0.005229177949489735, + -0.09418805378089451, + 649.6225178039805 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.005252552760519331, + 0.09418675375276216, + -0.9955406903903725, + 669.3837897424218 + ], + [ + 0.9999862052496014, + -0.0004947277180738115, + 0.005229177949489735, + 3431.955759898192 + ], + [ + -0.0, + -0.9955544237569341, + -0.09418805378089451, + 12.42222303150839 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 66938.37897424218, + -343195.5759898192, + 1242.222303150839 + ], + "rotation_deg": [ + 0.0, + -5.4045891761779785, + -179.6990509033203 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5219366928166513, + 0.8529842253474657, + -1.3877787706956555e-17, + -3265.73880618242 + ], + [ + 0.20779055392187476, + -0.12714597912797804, + -0.9698747268036364, + 311.80581638355955 + ], + [ + -0.8272878522964863, + 0.5062131904981767, + -0.24360421837136567, + -1191.9250342804442 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5219366928166513, + 0.20779055392187476, + -0.8272878522964863, + 653.6534656224826 + ], + [ + 0.8529842253474657, + -0.12714597912797804, + 0.5062131904981767, + 3428.636768629508 + ], + [ + -1.3877787706956555e-17, + -0.9698747268036364, + -0.24360421837136567, + 12.054601211389224 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65365.346562248254, + -342863.6768629508, + 1205.4601211389224 + ], + "rotation_deg": [ + 8.198364683314083e-16, + -14.099362373352049, + -148.53775024414062 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8560215322807978, + 0.5169401670131999, + -0.0, + -2328.9152050954954 + ], + [ + 0.07478588218927848, + -0.12384088053076886, + -0.9894799180046732, + 386.8596252989003 + ], + [ + -0.5115019278564729, + 0.8470161070556291, + -0.14467028785289163, + -2559.894764220075 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8560215322807978, + 0.07478588218927848, + -0.5115019278564729, + 655.2788328157794 + ], + [ + 0.5169401670131999, + -0.12384088053076886, + 0.8470161070556291, + 3420.0910035149464 + ], + [ + -0.0, + -0.9894799180046732, + -0.14467028785289163, + 12.449115233361486 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65527.883281577946, + -342009.1003514946, + 1244.9115233361485 + ], + "rotation_deg": [ + 0.0, + -8.318186759948729, + -121.1272277832031 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7247410564132571, + -0.6890213357719743, + -3.4694469251998303e-18, + 2834.433639296831 + ], + [ + -0.046319686440658245, + 0.04872095643616341, + -0.997737818794088, + -126.81639357781256 + ], + [ + 0.6874626400907492, + -0.7231015651079262, + -0.0672253301808569, + 2076.480531519483 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7247410564132571, + -0.046319686440658245, + 0.6874626400907492, + 620.8535488799242 + ], + [ + -0.6890213357719743, + 0.04872095643616341, + -0.7231015651079262, + 3460.67016884481 + ], + [ + -3.4694469251998303e-18, + -0.997737818794088, + -0.0672253301808569, + 13.062575160747166 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62085.35488799242, + -346067.016884481, + 1306.2575160747165 + ], + "rotation_deg": [ + 1.992353741173309e-16, + -3.8546347618103027, + 46.44731140136722 + ] + } + } + ] + }, + { + "frame": 24, + "time": 1763.362909130752, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.00548744017952343, + 0.9999849438867949, + -0.0, + -3434.981945404729 + ], + [ + 0.09444141176225627, + -0.0005182494003367617, + -0.9955302864111721, + -49.09348075304119 + ], + [ + -0.9955152976579981, + 0.0054628887087331355, + -0.09444283443365785, + 649.0642766179853 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.00548744017952343, + 0.09444141176225627, + -0.9955152976579981, + 669.6390494029888 + ], + [ + 0.9999849438867949, + -0.0005182494003367617, + 0.0054628887087331355, + 3431.35900410887 + ], + [ + -0.0, + -0.9955302864111721, + -0.09444283443365785, + 12.425414742614668 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 66963.90494029887, + -343135.900410887, + 1242.5414742614669 + ], + "rotation_deg": [ + 0.0, + -5.419252395629884, + -179.6855926513672 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5204729933577468, + 0.8538781313426564, + -0.0, + -3267.4986139805096 + ], + [ + 0.20884623130459165, + -0.12730016048972329, + -0.9696277227932171, + 311.5144665052422 + ], + [ + -0.8279439177784735, + 0.5046650264432081, + -0.24458552716526116, + -1185.6403392349087 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5204729933577468, + 0.20884623130459165, + -0.8279439177784735, + 653.9424128850817 + ], + [ + 0.8538781313426564, + -0.12730016048972329, + 0.5046650264432081, + 3428.0527178508796 + ], + [ + -0.0, + -0.9696277227932171, + -0.24458552716526116, + 12.062581856859708 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65394.241288508165, + -342805.27178508794, + 1206.2581856859708 + ], + "rotation_deg": [ + 0.0, + -14.157341003417974, + -148.63601684570312 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8526189518924302, + 0.5225331787301681, + -0.0, + -2345.8353390753073 + ], + [ + 0.07559502479811304, + -0.12334862825032743, + -0.9894799180046732, + 384.5516742981188 + ], + [ + -0.5170361006183165, + 0.843649321975646, + -0.1446702878528916, + -2544.1091443584496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8526189518924302, + 0.07559502479811304, + -0.5170361006183165, + 655.6372183170239 + ], + [ + 0.5225331787301681, + -0.12334862825032743, + 0.843649321975646, + 3419.5467271847256 + ], + [ + -0.0, + -0.9894799180046732, + -0.1446702878528916, + 12.449154161781944 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65563.7218317024, + -341954.67271847255, + 1244.9154161781944 + ], + "rotation_deg": [ + 0.0, + -8.318186759948727, + -121.50232696533202 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7282515700521446, + -0.685309893928715, + -0.0, + 2823.7690785391874 + ], + [ + -0.04535728048090651, + 0.048199378144322465, + -0.9978073647021637, + -125.60798835301426 + ], + [ + 0.683807254650159, + -0.7266547842503506, + -0.06618506639634873, + 2091.0329288404314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7282515700521446, + -0.04535728048090651, + 0.683807254650159, + 620.8535441796278 + ], + [ + -0.685309893928715, + 0.048199378144322465, + -0.7266547842503506, + 3460.6701745132386 + ], + [ + -0.0, + -0.9978073647021637, + -0.06618506639634873, + 13.062575143547884 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62085.35441796278, + -346067.01745132386, + 1306.2575143547883 + ], + "rotation_deg": [ + 0.0, + -3.794898986816406, + 46.74001693725586 + ] + } + } + ] + }, + { + "frame": 25, + "time": 1763.4295758008957, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.005722859919257678, + 0.9999836243030904, + 5.421010820813235e-20, + -3434.5399320536094 + ], + [ + 0.09469663736908757, + -0.000541944465206334, + -0.9955060286945447, + -49.20467355580147 + ], + [ + -0.9954897266583693, + 0.0056971173685613705, + -0.09469818884928026, + 648.5037948412848 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.005722859919257678, + 0.09469663736908757, + -0.9954897266583693, + 669.8936908207138 + ], + [ + 0.9999836243030904, + -0.000541944465206334, + 0.0056971173685613705, + 3430.762405425568 + ], + [ + 5.421010820813235e-20, + -0.9955060286945447, + -0.09469818884928026, + 12.428577332528986 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 66989.36908207138, + -343076.2405425568, + 1242.8577332528987 + ], + "rotation_deg": [ + -3.1200317645558036e-18, + -5.433948993682861, + -179.67210388183594 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5190091287685337, + 0.8547686963471037, + -1.3877787707068488e-17, + -3269.244785982822 + ], + [ + 0.20990075288823454, + -0.12745015973320514, + -0.9693802817887996, + 311.2088608839963 + ], + [ + -0.8285959294428799, + 0.5031171985895829, + -0.24556439113613354, + -1179.3614902345305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5190091287685337, + 0.20990075288823454, + -0.8285959294428799, + 654.230741904839 + ], + [ + 0.8547686963471037, + -0.12745015973320514, + 0.5031171985895829, + 3427.46882417827 + ], + [ + -1.3877787707068488e-17, + -0.9693802817887996, + -0.24556439113613354, + 12.07053338113823 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65423.074190483894, + -342746.88241782703, + 1207.053338113823 + ], + "rotation_deg": [ + 8.202546365867117e-16, + -14.215189933776854, + -148.73419189453125 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8491798288241695, + 0.5281037950234344, + -6.938893851296962e-18, + -2362.645965945107 + ], + [ + 0.07640091875689299, + -0.12285107534421094, + -0.9894799204126747, + 382.22781191771463 + ], + [ + -0.5225481148288931, + 0.8402463806923953, + -0.14467027138323896, + -2528.215193266419 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8491798288241695, + 0.07640091875689299, + -0.5225481148288931, + 655.9946722381962 + ], + [ + 0.5281037950234344, + -0.12285107534421094, + 0.8402463806923953, + 3419.00311923376 + ], + [ + -6.938893851296962e-18, + -0.9894799204126747, + -0.14467027138323896, + 12.44916396901044 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65599.46722381962, + -341900.311923376, + 1244.916396901044 + ], + "rotation_deg": [ + 4.0179626392266757e-16, + -8.31818580627441, + -121.87742614746092 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7316422827187613, + -0.6816887633943223, + -0.0, + 2813.342676451308 + ], + [ + -0.04442998845476861, + 0.047685776735345055, + -0.9978737609653116, + -124.405428946863 + ], + [ + 0.6802393254719944, + -0.7300866406384539, + -0.06517635493538411, + 2105.1114434468327 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7316422827187613, + -0.04442998845476861, + 0.6802393254719944, + 620.8535400433669 + ], + [ + -0.6816887633943223, + 0.047685776735345055, + -0.7300866406384539, + 3460.670179501456 + ], + [ + -0.0, + -0.9978737609653116, + -0.06517635493538411, + 13.062575128412515 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62085.354004336696, + -346067.0179501456, + 1306.2575128412516 + ], + "rotation_deg": [ + 0.0, + -3.736979007720947, + 47.02425003051761 + ] + } + } + ] + }, + { + "frame": 26, + "time": 1763.4962424710393, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.005958545653186457, + 0.9999822477092776, + -5.4210108208152966e-20, + -3434.098187694923 + ], + [ + 0.09495242229753029, + -0.0005657883871804107, + -0.9954816509526089, + -49.31585852979988 + ], + [ + -0.9954639789470624, + 0.005931598684101144, + -0.0949541086837906, + 647.9420019658206 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.005958545653186457, + 0.09495242229753029, + -0.9954639789470624, + 670.1477317860321 + ], + [ + 0.9999822477092776, + -0.0005657883871804107, + 0.005931598684101144, + 3430.1659751443135 + ], + [ + -5.4210108208152966e-20, + -0.9954816509526089, + -0.0949541086837906, + 12.431714651695401 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 67014.77317860321, + -343016.59751443134, + 1243.1714651695402 + ], + "rotation_deg": [ + 3.1201081691086115e-18, + -5.448678493499756, + -179.65859985351562 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5175453354909574, + 0.8556557869327783, + -0.0, + -3270.9770474196457 + ], + [ + 0.21095405621584615, + -0.127596037407488, + -0.9691324147937622, + 310.8892598098271 + ], + [ + -0.8292437687079659, + 0.5015699438172834, + -0.24654079483553323, + -1173.0893703453735 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5175453354909574, + 0.21095405621584615, + -0.8292437687079659, + 654.5184704721894 + ], + [ + 0.8556557869327783, + -0.127596037407488, + 0.5015699438172834, + 3426.8850989077096 + ], + [ + -0.0, + -0.9691324147937622, + -0.24654079483553323, + 12.078459634668848 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65451.84704721894, + -342688.50989077095, + 1207.8459634668848 + ], + "rotation_deg": [ + 0.0, + -14.272908210754398, + -148.83226013183594 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8457043815345627, + 0.5336516645277539, + 6.938893851296962e-18, + -2379.3460632277247 + ], + [ + 0.07720353053750811, + -0.12234828144551281, + -0.9894799204126747, + 379.88828116409934 + ], + [ + -0.5280376202893552, + 0.8368074952682094, + -0.14467027138323896, + -2512.213956161334 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8457043815345627, + 0.07720353053750811, + -0.5280376202893552, + 656.3512090293282 + ], + [ + 0.5336516645277539, + -0.12234828144551281, + 0.8368074952682094, + 3418.4601888958196 + ], + [ + 6.938893851296962e-18, + -0.9894799204126747, + -0.14467027138323896, + 12.449148505491035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65635.12090293282, + -341846.01888958196, + 1244.9148505491034 + ], + "rotation_deg": [ + -4.0179626392266757e-16, + -8.31818580627441, + -122.25251770019528 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7349188711333432, + -0.6781550359999492, + 3.4694469251890755e-18, + 2803.1478932533837 + ], + [ + -0.043536055104298255, + 0.04718016791495491, + -0.9979371942469486, + -123.2098570417037 + ], + [ + 0.6767561291784581, + -0.7334028805623135, + -0.06419779125710674, + 2118.737633929193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7349188711333432, + -0.043536055104298255, + 0.6767561291784581, + 620.8535364034574 + ], + [ + -0.6781550359999492, + 0.04718016791495491, + -0.7334028805623135, + 3460.670183891087 + ], + [ + 3.4694469251890755e-18, + -0.9979371942469486, + -0.06419779125710674, + 13.062575115093393 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62085.35364034574, + -346067.0183891087, + 1306.2575115093393 + ], + "rotation_deg": [ + -1.9919556936430063e-16, + -3.6807937622070304, + 47.300361633300824 + ] + } + } + ] + }, + { + "frame": 27, + "time": 1763.562909141183, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.006195029989111539, + 0.9999808106176009, + -0.0, + -3433.657067601696 + ], + [ + 0.09520878267932331, + -0.0005898325824481872, + -0.9954571511613375, + -49.42686558957497 + ], + [ + -0.9954380490328559, + 0.006166862726745072, + -0.09521061044742112, + 647.3770945855416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.006195029989111539, + 0.09520878267932331, + -0.9954380490328559, + 670.4011895793759 + ], + [ + 0.9999808106176009, + -0.0005898325824481872, + 0.006166862726745072, + 3429.569723452403 + ], + [ + -0.0, + -0.9954571511613375, + -0.09521061044742112, + 12.43483317783852 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 67040.1189579376, + -342956.9723452403, + 1243.483317783852 + ], + "rotation_deg": [ + 0.0, + -5.463441848754884, + -179.64505004882812 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5160818508847783, + 0.8565392712464159, + -0.0, + -3272.6951288212235 + ], + [ + 0.2120060925307255, + -0.127737863639214, + -0.9688841287392127, + 310.55594973050916 + ], + [ + -0.8298873152098726, + 0.5000234974950956, + -0.24751473896825193, + -1166.8248570838473 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5160818508847783, + 0.2120060925307255, + -0.8298873152098726, + 654.8056158675655 + ], + [ + 0.8565392712464159, + -0.127737863639214, + 0.5000234974950956, + 3426.3015522264923 + ], + [ + -0.0, + -0.9688841287392127, + -0.24751473896825193, + 12.086367095176172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65480.56158675655, + -342630.1552226492, + 1208.6367095176172 + ], + "rotation_deg": [ + 0.0, + -14.330495834350588, + -148.93020629882812 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8421926175976733, + 0.5391767751526202, + -0.0, + -2395.935629730662 + ], + [ + 0.07800284090482756, + -0.12184021973701725, + -0.9894799228206761, + 377.5330226118144 + ], + [ + -0.5335046075929863, + 0.8333326772785833, + -0.14467025491358637, + -2496.1055683001878 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8421926175976733, + 0.07800284090482756, + -0.5335046075929863, + 656.7068426440218 + ], + [ + 0.5391767751526202, + -0.12184021973701725, + 0.8333326772785833, + 3417.9179442741147 + ], + [ + -0.0, + -0.9894799228206761, + -0.14467025491358637, + 12.44911424894833 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65670.68426440218, + -341791.79442741146, + 1244.911424894833 + ], + "rotation_deg": [ + 0.0, + -8.318184852600098, + -122.6276168823242 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7380867148590541, + -0.6747058628384444, + -0.0, + 2793.178209756292 + ], + [ + -0.04267377310291925, + 0.04668248304182314, + -0.9979978431170131, + -122.02209276851053 + ], + [ + 0.6733549910929196, + -0.7366089537702972, + -0.06324796594106744, + 2131.932002332625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7380867148590541, + -0.04267377310291925, + 0.6733549910929196, + 620.853533200337 + ], + [ + -0.6747058628384444, + 0.04668248304182314, + -0.7366089537702972, + 3460.6701877539626 + ], + [ + -0.0, + -0.9979978431170131, + -0.06324796594106744, + 13.062575103372565 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62085.3533200337, + -346067.0187753963, + 1306.2575103372565 + ], + "rotation_deg": [ + 0.0, + -3.626261949539185, + 47.56868743896487 + ] + } + } + ] + }, + { + "frame": 28, + "time": 1763.6295758113265, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.00643204659976462, + 0.9999793141743175, + -1.0842021641638906e-19, + -3433.2164067113545 + ], + [ + 0.09546571023018119, + -0.0006140525990651756, + -0.9954325296621825, + -49.537767088699724 + ], + [ + -0.995411938403184, + 0.0064026442425762845, + -0.09546768579534538, + 646.8100014508084 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.00643204659976462, + 0.09546571023018119, + -0.995411938403184, + 670.6540807199657 + ], + [ + 0.9999793141743175, + -0.0006140525990651756, + 0.0064026442425762845, + 3428.973659563233 + ], + [ + -1.0842021641638906e-19, + -0.9954325296621825, + -0.09546768579534538, + 12.437940783813831 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 67065.40807199657, + -342897.3659563233, + 1243.794078381383 + ], + "rotation_deg": [ + 6.240524272180301e-18, + -5.478238582611081, + -179.6314697265625 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5146179998398958, + 0.8574195672136162, + -0.0, + -3274.4000456372887 + ], + [ + 0.2130569492384707, + -0.12787548274108343, + -0.9686354305387197, + 310.20835551934505 + ], + [ + -0.8305269812694225, + 0.49847721085523944, + -0.24848622424891417, + -1160.5654494475484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5146179998398958, + 0.2130569492384707, + -0.8305269812694225, + 655.0921946101874 + ], + [ + 0.8574195672136162, + -0.12787548274108343, + 0.49847721085523944, + 3425.718193348015 + ], + [ + -0.0, + -0.9686354305387197, + -0.24848622424891417, + 12.094263635515686 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65509.21946101874, + -342571.8193348015, + 1209.4263635515686 + ], + "rotation_deg": [ + 0.0, + -14.387952804565431, + -149.028076171875 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8386447578466274, + 0.5446787770203382, + 6.93889385129696e-18, + -2412.4136489952657 + ], + [ + 0.07879881691144282, + -0.12132694996638378, + -0.989479922820676, + 375.1622828535707 + ], + [ + -0.5389487279594009, + 0.8298221411689264, + -0.14467025491358637, + -2479.8910790675345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8386447578466274, + 0.07879881691144282, + -0.5389487279594009, + 657.061586288382 + ], + [ + 0.5446787770203382, + -0.12132694996638378, + 0.8298221411689264, + 3417.376392476224 + ], + [ + 6.93889385129696e-18, + -0.989479922820676, + -0.14467025491358637, + 12.44906907223782 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65706.15862883821, + -341737.6392476224, + 1244.9069072237821 + ], + "rotation_deg": [ + -4.017962629448549e-16, + -8.318184852600098, + -123.00271606445317 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7411508155928593, + -0.6713385647689544, + -0.0, + 2783.4274596735777 + ], + [ + -0.041841521180717905, + 0.04619260560341498, + -0.998055875336071, + -120.8427373032086 + ], + [ + 0.6700333941037663, + -0.7397099303230524, + -0.06232551457671344, + 2144.713639480556 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7411508155928593, + -0.041841521180717905, + 0.6700333941037663, + 620.853530381591 + ], + [ + -0.6713385647689544, + 0.04619260560341498, + -0.7397099303230524, + 3460.6701911532937 + ], + [ + -0.0, + -0.998055875336071, + -0.06232551457671344, + 13.062575093058236 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62085.3530381591, + -346067.01911532937, + 1306.2575093058235 + ], + "rotation_deg": [ + 0.0, + -3.5733048915863024, + 47.829540252685575 + ] + } + } + ] + }, + { + "frame": 29, + "time": 1763.69624248147, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.006669595469439062, + 0.9999777580007839, + -0.0, + -3432.776212260301 + ], + [ + 0.09572321308931063, + -0.0006384493087296403, + -0.9954077852108343, + -49.64855933158417 + ], + [ + -0.9953856454417881, + 0.006638943081805115, + -0.09572534295154739, + 646.2407396853329 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.006669595469439062, + 0.09572321308931063, + -0.9953856454417881, + 670.9064214615562 + ], + [ + 0.9999777580007839, + -0.0006384493087296403, + 0.006638943081805115, + 3428.3777918074607 + ], + [ + -0.0, + -0.9954077852108343, + -0.09572534295154739, + 12.441045535022315 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 67090.64214615562, + -342837.77918074606, + 1244.1045535022315 + ], + "rotation_deg": [ + 0.0, + -5.493069171905519, + -179.61785888671875 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5131544758785873, + 0.8582962681299344, + -0.0, + -3276.0908831097113 + ], + [ + 0.214106509720405, + -0.1280090778177953, + -0.9683863270883083, + 309.8471964835199 + ], + [ + -0.8311623802488152, + 0.49693176111729953, + -0.24945525140189584, + -1154.3137123715078 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5131544758785873, + 0.214106509720405, + -0.8311623802488152, + 655.37822295381 + ], + [ + 0.8582962681299344, + -0.1280090778177953, + 0.49693176111729953, + 3425.1350306029362 + ], + [ + -0.0, + -0.9683863270883083, + -0.24945525140189584, + 12.102157321088374 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65537.822295381, + -342513.5030602936, + 1210.2157321088373 + ], + "rotation_deg": [ + 0.0, + -14.445279121398928, + -149.1258239746094 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8350609543403313, + 0.5501574343187726, + 1.3877787702593917e-17, + -2428.7794495243616 + ], + [ + 0.07959140659239311, + -0.12080846645039187, + -0.989479925228677, + 372.77609746034966 + ], + [ + -0.5443697506670372, + 0.8262760414457647, + -0.1446702384439336, + -2463.5712549875393 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8350609543403313, + 0.07959140659239311, + -0.5443697506670372, + 657.4154529169053 + ], + [ + 0.5501574343187726, + -0.12080846645039187, + 0.8262760414457647, + 3416.835539705342 + ], + [ + 1.3877787702593917e-17, + -0.989479925228677, + -0.1446702384439336, + 12.449021040760483 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65741.54529169053, + -341683.5539705342, + 1244.9021040760483 + ], + "rotation_deg": [ + -8.035925239340848e-16, + -8.318183898925778, + -123.37781524658202 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7441158966157554, + -0.6680505462940138, + -6.9388938503593555e-18, + 2773.8895933229587 + ], + [ + -0.04103777482677449, + 0.04571040436946412, + -0.9981114466679795, + -119.67228097101068 + ], + [ + 0.6667888923610753, + -0.74271059837271, + -0.061429146899023214, + 2157.1006173198925 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7441158966157554, + -0.04103777482677449, + 0.6667888923610753, + 620.8535279010945 + ], + [ + -0.6680505462940138, + 0.04571040436946412, + -0.74271059837271, + 3460.6701941447045 + ], + [ + -6.9388938503593555e-18, + -0.9981114466679795, + -0.061429146899023214, + 13.062575083981626 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62085.35279010945, + -346067.0194144705, + 1306.2575083981626 + ], + "rotation_deg": [ + 3.9832158675447117e-16, + -3.5218482017517077, + 48.08321762084962 + ] + } + } + ] + }, + { + "frame": 30, + "time": 1763.7629091516137, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.006907676582242824, + 0.9999761417175089, + -0.0, + -3432.337824135974 + ], + [ + 0.09598128282651969, + -0.0006630234783158192, + -0.9953829181510212, + -49.75914873403986 + ], + [ + -0.995359170119659, + 0.006875759103853993, + -0.09598357357094693, + 645.6686992751273 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.006907676582242824, + 0.09598128282651969, + -0.995359170119659, + 671.1576046202929 + ], + [ + 0.9999761417175089, + -0.0006630234783158192, + 0.006875759103853993, + 3427.7834654937824 + ], + [ + -0.0, + -0.9953829181510212, + -0.09598357357094693, + 12.444173989838825 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 67115.76046202928, + -342778.34654937824, + 1244.4173989838825 + ], + "rotation_deg": [ + 0.0, + -5.507933139801026, + -179.60421752929688 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.511691060053302, + 0.8591695170695522, + -2.775557541470082e-17, + -3277.768842307768 + ], + [ + 0.21515479351986197, + -0.1281386061591559, + -0.968136825266457, + 309.4726523222664 + ], + [ + -0.8317936581939798, + 0.49538694136458844, + -0.250421821161244, + -1148.0700087458001 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.511691060053302, + 0.21515479351986197, + -0.8317936581939798, + 655.663093714579 + ], + [ + 0.8591695170695522, + -0.1281386061591559, + 0.49538694136458844, + 3424.553409299951 + ], + [ + -2.775557541470082e-17, + -0.968136825266457, + -0.250421821161244, + 12.110074710269089 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65566.3093714579, + -342455.3409299951, + 1211.007471026909 + ], + "rotation_deg": [ + 1.6426163121112674e-15, + -14.50247478485107, + -149.2234649658203 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8314414346624853, + 0.5556124015232092, + 1.3877787702593917e-17, + -2445.0322599460806 + ], + [ + 0.08038057799249261, + -0.12028482967957314, + -0.989479925228677, + 370.3749440079736 + ], + [ + -0.5497673311897004, + 0.8226945992682397, + -0.14467023844393362, + -2447.148603648555 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8314414346624853, + 0.08038057799249261, + -0.5497673311897004, + 657.767832060477 + ], + [ + 0.5556124015232092, + -0.12028482967957314, + 0.8226945992682397, + 3416.2967291211467 + ], + [ + 1.3877787702593917e-17, + -0.989479925228677, + -0.14467023844393362, + 12.44899671289117 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65776.7832060477, + -341629.67291211465, + 1244.899671289117 + ], + "rotation_deg": [ + -8.035925239340848e-16, + -8.31818389892578, + -123.75290679931639 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7469800807873532, + -0.6648464175333424, + -0.0, + 2764.57939938983 + ], + [ + -0.04026253666823456, + 0.04523648184000831, + -0.9981646100978423, + -118.5128065083297 + ], + [ + 0.663626160241315, + -0.7456090854049445, + -0.06055915459260471, + 2169.0835574658718 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7469800807873532, + -0.04026253666823456, + 0.663626160241315, + 620.8535257182576 + ], + [ + -0.6648464175333424, + 0.04523648184000831, + -0.7456090854049445, + 3460.670196777146 + ], + [ + -0.0, + -0.9981646100978423, + -0.06055915459260471, + 13.062575075994209 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62085.35257182576, + -346067.0196777146, + 1306.257507599421 + ], + "rotation_deg": [ + 0.0, + -3.471908330917358, + 48.32945632934573 + ] + } + } + ] + }, + { + "frame": 31, + "time": 1763.8295758217573, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.007146289922097469, + 0.9999744649441552, + -0.0, + -3431.899889101781 + ], + [ + 0.09623992757855242, + -0.000687775986956235, + -0.9953579272321422, + -49.869644629644675 + ], + [ + -0.9953325108127341, + 0.007113092156503749, + -0.09624238587644983, + 645.094531996077 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.007146289922097469, + 0.09623992757855242, + -0.9953325108127341, + 671.4082802393453 + ], + [ + 0.9999744649441552, + -0.000687775986956235, + 0.007113092156503749, + 3427.1893243458817 + ], + [ + -0.0, + -0.9953579272321422, + -0.09624238587644983, + 12.44728230642096 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 67140.82802393453, + -342718.93243458815, + 1244.728230642096 + ], + "rotation_deg": [ + 0.0, + -5.522830963134765, + -179.59054565429688 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5102275324554446, + 0.8600394555626085, + -0.0, + -3279.433444033224 + ], + [ + 0.2162017926967193, + -0.12826400752501316, + -0.9678869403026101, + 309.0841776310493 + ], + [ + -0.8324209667281984, + 0.4938425481889377, + -0.25138590205011146, + -1141.8323406164175 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5102275324554446, + 0.2162017926967193, + -0.8324209667281984, + 655.9474569356637 + ], + [ + 0.8600394555626085, + -0.12826400752501316, + 0.4938425481889377, + 3423.9719731627433 + ], + [ + -0.0, + -0.9678869403026101, + -0.25138590205011146, + 12.117971961215426 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65594.74569356636, + -342397.19731627434, + 1211.7971961215426 + ], + "rotation_deg": [ + 0.0, + -14.559537887573244, + -149.32101440429685 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8277862067011319, + 0.5610436667456027, + -0.0, + -2461.1718681946377 + ], + [ + 0.08116632042122464, + -0.11975602698290466, + -0.9894799252286771, + 367.95853997898206 + ], + [ + -0.5551414590759923, + 0.8190778244608711, + -0.14467023844393356, + -2430.6217843658746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8277862067011319, + 0.08116632042122464, + -0.5551414590759923, + 658.1193704911458 + ], + [ + 0.5610436667456027, + -0.11975602698290466, + 0.8190778244608711, + 3415.7586022768437 + ], + [ + -0.0, + -0.9894799252286771, + -0.14467023844393356, + 12.448952246787483 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65811.93704911458, + -341575.8602276844, + 1244.8952246787483 + ], + "rotation_deg": [ + 0.0, + -8.318183898925776, + -124.12800598144527 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7497544318147371, + -0.6617161717641187, + 3.469446925174064e-18, + 2755.469116857318 + ], + [ + -0.039513365593454274, + 0.044770435171061225, + -0.9982155589220555, + -117.36443285772982 + ], + [ + 0.6605353733124988, + -0.7484165435249364, + -0.059713465659805974, + 2180.7071261993956 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7497544318147371, + -0.039513365593454274, + 0.6605353733124988, + 620.8535237973612 + ], + [ + -0.6617161717641187, + 0.044770435171061225, + -0.7484165435249364, + 3460.6701990936945 + ], + [ + 3.469446925174064e-18, + -0.9982155589220555, + -0.059713465659805974, + 13.062575068965282 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62085.35237973611, + -346067.01990936947, + 1306.2575068965282 + ], + "rotation_deg": [ + -1.9914002123112107e-16, + -3.4233660697937, + 48.56911087036138 + ] + } + } + ] + }, + { + "frame": 32, + "time": 1763.896242491901, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.0073857017815806714, + 0.999972725332643, + -5.421010820827894e-20, + -3431.4639273368357 + ], + [ + 0.09649915529043562, + -0.0007127334227166191, + -0.9953328111939744, + -49.979866649806326 + ], + [ + -0.9953056639288689, + 0.007351207151623497, + -0.09650178808979384, + 644.5167138104787 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.0073857017815806714, + 0.09649915529043562, + -0.9953056639288689, + 671.6578373425243 + ], + [ + 0.999972725332643, + -0.0007127334227166191, + 0.007351207151623497, + 3426.5967221367255 + ], + [ + -5.421010820827894e-20, + -0.9953328111939744, + -0.09650178808979384, + 12.450405681939246 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 67165.78373425243, + -342659.67221367254, + 1245.0405681939246 + ], + "rotation_deg": [ + 3.1205747428503774e-18, + -5.537763118743896, + -179.5768280029297 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5087643600438109, + 0.8609058171189294, + -0.0, + -3281.0849454379177 + ], + [ + 0.21724745233428056, + -0.12838542713985374, + -0.9676366707356548, + 308.6826561506583 + ], + [ + -0.8330440482096955, + 0.4922990344594569, + -0.252347527058795, + -1135.603596409755 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5087643600438109, + 0.21724745233428056, + -0.8330440482096955, + 656.2307016408749 + ], + [ + 0.8609058171189294, + -0.12838542713985374, + 0.4922990344594569, + 3423.3920759642806 + ], + [ + -0.0, + -0.9676366707356548, + -0.252347527058795, + 12.125884271097917 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65623.07016408749, + -342339.20759642805, + 1212.5884271097916 + ], + "rotation_deg": [ + 0.0, + -14.616470336914066, + -149.41844177246094 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8240955003747894, + 0.5664508860104511, + -6.938893851296958e-18, + -2477.197531294957 + ], + [ + 0.08194858411557183, + -0.11922209162275312, + -0.989479925228677, + 365.5272908929968 + ], + [ + -0.5604917939690568, + 0.8154259445234273, + -0.14467023844393356, + -2413.993327420543 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8240955003747894, + 0.08194858411557183, + -0.5604917939690568, + 658.4694539758814 + ], + [ + 0.5664508860104511, + -0.11922209162275312, + 0.8154259445234273, + 3415.222510753555 + ], + [ + -6.938893851296958e-18, + -0.989479925228677, + -0.14467023844393356, + 12.44892283961995 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65846.94539758813, + -341522.2510753555, + 1244.892283961995 + ], + "rotation_deg": [ + 4.017962619670424e-16, + -8.318183898925776, + -124.5031051635742 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7524369105205206, + -0.6586643270181967, + -3.4694469251714344e-18, + 2746.5731151206596 + ], + [ + -0.03879019420813327, + 0.044312668367194635, + -0.9982643478836025, + -116.22859927694695 + ], + [ + 0.6575211099113442, + -0.7511309461224173, + -0.05889220490181006, + 2191.9614692931273 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7524369105205206, + -0.03879019420813327, + 0.6575211099113442, + 620.8535221069723 + ], + [ + -0.6586643270181967, + 0.044312668367194635, + -0.7511309461224173, + 3460.6702011322573 + ], + [ + -3.4694469251714344e-18, + -0.9982643478836025, + -0.05889220490181006, + 13.062575062779826 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62085.35221069722, + -346067.02011322574, + 1306.2575062779827 + ], + "rotation_deg": [ + 1.991302885035028e-16, + -3.3762283325195304, + 48.801914215087905 + ] + } + } + ] + }, + { + "frame": 33, + "time": 1763.9629091620445, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.0076253795260720235, + 0.9999709263709037, + -1.0842021641660062e-19, + -3431.028248766895 + ], + [ + 0.09675896618492161, + -0.0007378452915507335, + -0.995307569571914, + -50.09008229874539 + ], + [ + -0.9952786324804116, + 0.0075895738003646076, + -0.09676178014821073, + 643.9377113311763 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.0076253795260720235, + 0.09675896618492161, + -0.9952786324804116, + 671.9069193303627 + ], + [ + 0.9999709263709037, + -0.0007378452915507335, + 0.0075895738003646076, + 3426.004309879395 + ], + [ + -1.0842021641660062e-19, + -0.995307569571914, + -0.09676178014821073, + 12.453512681120444 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 67190.69193303627, + -342600.4309879395, + 1245.3512681120444 + ], + "rotation_deg": [ + 6.2413077651550716e-18, + -5.552729606628419, + -179.56309509277344 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5073010935807365, + 0.8617688787904729, + -0.0, + -3282.7231792058087 + ], + [ + 0.21829179881456387, + -0.1285027470634144, + -0.9673860318236244, + 308.2673349650867 + ], + [ + -0.8336631854895319, + 0.49075597475186467, + -0.2533066647461012, + -1129.3809412653518 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5073010935807365, + 0.21829179881456387, + -0.8336631854895319, + 656.5134712307455 + ], + [ + 0.8617688787904729, + -0.1285027470634144, + 0.49075597475186467, + 3422.812368717643 + ], + [ + -0.0, + -0.9673860318236244, + -0.2533066647461012, + 12.133780204643319 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65651.34712307455, + -342281.2368717643, + 1213.378020464332 + ], + "rotation_deg": [ + 0.0, + -14.673270225524902, + -149.5157775878906 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8203694738646722, + 0.5718338275679404, + -0.0, + -2493.108365147498 + ], + [ + 0.08272733554823351, + -0.1186830464832323, + -0.9894799252286771, + 363.08106461538415 + ], + [ + -0.565818106557102, + 0.8117391159730516, + -0.14467023844393356, + -2397.2625463597597 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8203694738646722, + 0.08272733554823351, + -0.565818106557102, + 658.8187226727937 + ], + [ + 0.5718338275679404, + -0.1186830464832323, + 0.8117391159730516, + 3414.6871033512393 + ], + [ + -0.0, + -0.9894799252286771, + -0.14467023844393356, + 12.448877056115325 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65881.87226727937, + -341468.71033512393, + 1244.8877056115325 + ], + "rotation_deg": [ + 0.0, + -8.318183898925776, + -124.87820434570308 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7550376912269535, + -0.6556813897211601, + -0.0, + 2737.864856819875 + ], + [ + -0.038090648673176436, + 0.04386257698081501, + -0.9983111623257844, + -115.1046853611859 + ], + [ + 0.6545740452743335, + -0.7537625594477532, + -0.0580932287617724, + 2202.8878762085737 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7550376912269535, + -0.038090648673176436, + 0.6545740452743335, + 620.85352061943 + ], + [ + -0.6556813897211601, + 0.04386257698081501, + -0.7537625594477532, + 3460.6702029261924 + ], + [ + -0.0, + -0.9983111623257844, + -0.0580932287617724, + 13.062575057336625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62085.352061943, + -346067.02029261924, + 1306.2575057336626 + ], + "rotation_deg": [ + 0.0, + -3.3303718566894527, + 49.028663635253935 + ] + } + } + ] + }, + { + "frame": 34, + "time": 1764.0295758321881, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.007865855756102384, + 0.9999690636780841, + 5.421010820832178e-20, + -3430.5945491346624 + ], + [ + 0.09701935144152228, + -0.000763163833471645, + -0.9952822027077692, + -50.200002586437634 + ], + [ + -0.9952514124541602, + 0.007828722082815962, + -0.09702235370546992, + 643.3550900788697 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.007865855756102384, + 0.09701935144152228, + -0.9952514124541602, + 672.1549131561629 + ], + [ + 0.9999690636780841, + -0.000763163833471645, + 0.007828722082815962, + 3425.413445235057 + ], + [ + 5.421010820832178e-20, + -0.9952822027077692, + -0.09702235370546992, + 12.456647437666813 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 67215.4913156163, + -342541.3445235057, + 1245.6647437666813 + ], + "rotation_deg": [ + -3.1207334190186546e-18, + -5.567729949951173, + -179.54931640625 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5058379711583784, + 0.86262851038809, + -1.3877787707577989e-17, + -3284.348725468765 + ], + [ + 0.21933479767388217, + -0.1286160470280253, + -0.9671350262379302, + 307.8388711705084 + ], + [ + -0.8342782564865978, + 0.4892136023768003, + -0.254263332006793, + -1123.166420685532 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5058379711583784, + 0.21933479767388217, + -0.8342782564865978, + 656.795152658578 + ], + [ + 0.86262851038809, + -0.1286160470280253, + 0.4892136023768003, + 3422.2342090839984 + ], + [ + -1.3877787707577989e-17, + -0.9671350262379302, + -0.254263332006793, + 12.141703895553894 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65679.5152658578, + -342223.42090839986, + 1214.1703895553894 + ], + "rotation_deg": [ + 8.221589015085178e-16, + -14.729938507080075, + -149.61300659179688 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8166083637235811, + 0.5771921519708104, + -6.938893851296959e-18, + -2508.903667984421 + ], + [ + 0.08350251610513977, + -0.11813891233723599, + -0.9894799276366778, + 360.62023867780704 + ], + [ + -0.5711200623537559, + 0.8080175748403956, + -0.1446702219742808, + -2380.4319952649516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8166083637235811, + 0.08350251610513977, + -0.5711200623537559, + 659.1665603073213 + ], + [ + 0.5771921519708104, + -0.11813891233723599, + 0.8080175748403956, + 3414.153735496764 + ], + [ + -6.938893851296959e-18, + -0.9894799276366778, + -0.1446702219742808, + 12.448859029975875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65916.65603073213, + -341415.3735496764, + 1244.8859029975874 + ], + "rotation_deg": [ + 4.0179626098923e-16, + -8.31818294525146, + -125.25329589843751 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7575545060537233, + -0.6527719129663129, + -0.0, + 2729.358690693056 + ], + [ + -0.03741459792337206, + 0.04342036887010102, + -0.9983560584427867, + -113.99349108048638 + ], + [ + 0.6516987890387337, + -0.7563091350393863, + -0.0573164951948726, + 2213.475703340856 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7575545060537233, + -0.03741459792337206, + 0.6516987890387337, + 620.8535193103928 + ], + [ + -0.6527719129663129, + 0.04342036887010102, + -0.7563091350393863, + 3460.670204504855 + ], + [ + -0.0, + -0.9983560584427867, + -0.0573164951948726, + 13.062575052546608 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62085.35193103928, + -346067.0204504855, + 1306.2575052546608 + ], + "rotation_deg": [ + 0.0, + -3.2857940196990967, + 49.24908065795902 + ] + } + } + ] + }, + { + "frame": 35, + "time": 1764.0962425023317, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.008106597838588666, + 0.9999671409958846, + 5.4210108208343356e-20, + -3430.161144465584 + ], + [ + 0.09728031959097948, + -0.0007886383424039875, + -0.9952567093317387, + -50.30989870923737 + ], + [ + -0.9952240063098441, + 0.008068121730911112, + -0.09728351698164706, + 642.771311007757 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.008106597838588666, + 0.09728031959097948, + -0.9952240063098441, + 672.4024567159835 + ], + [ + 0.9999671409958846, + -0.0007886383424039875, + 0.008068121730911112, + 3424.822784429277 + ], + [ + 5.4210108208343356e-20, + -0.9952567093317387, + -0.09728351698164706, + 12.459780972931016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 67240.24567159834, + -342482.2784429277, + 1245.9780972931017 + ], + "rotation_deg": [ + -3.1208133562157945e-18, + -5.582764625549317, + -179.5355224609375 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5043752317575647, + 0.8634845832957893, + -0.0, + -3285.9604774244594 + ], + [ + 0.2203763866608222, + -0.12872539156599083, + -0.9668836650644701, + 307.3971970514616 + ], + [ + -0.8348891480539885, + 0.48767215549337667, + -0.25521751354115346, + -1116.959740673184 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5043752317575647, + 0.2203763866608222, + -0.8348891480539885, + 657.0763838204307 + ], + [ + 0.8634845832957893, + -0.12872539156599083, + 0.48767215549337667, + 3421.6562532889116 + ], + [ + -0.0, + -0.9668836650644701, + -0.25521751354115346, + 12.1496263651823 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65707.63838204306, + -342165.62532889115, + 1214.96263651823 + ], + "rotation_deg": [ + 0.0, + -14.786474227905277, + -149.71011352539062 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8128121781481296, + 0.582525847541629, + -0.0, + -2524.583188842579 + ], + [ + 0.08427414302137809, + -0.11758971733160421, + -0.9894799276366779, + 358.144669163644 + ], + [ + -0.5763976470375155, + 0.804261325293917, + -0.14467022197428084, + -2363.500334155575 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8128121781481296, + 0.08427414302137809, + -0.5763976470375155, + 659.5136015623542 + ], + [ + 0.582525847541629, + -0.11758971733160421, + 0.804261325293917, + 3413.6210611603096 + ], + [ + -0.0, + -0.9894799276366779, + -0.14467022197428084, + 12.448839782554256 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65951.36015623542, + -341362.10611603095, + 1244.8839782554255 + ], + "rotation_deg": [ + 0.0, + -8.318182945251461, + -125.62839508056639 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7593807992091192, + -0.6506464491507808, + -0.0, + 2723.092554415925 + ], + [ + -0.03695379479661096, + 0.04312941730964113, + -0.998385832437871, + -113.26121628228685 + ], + [ + 0.6495961916772803, + -0.7581550356761559, + -0.05679550719256557, + 2220.967677855331 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7593807992091192, + -0.03695379479661096, + 0.6495961916772803, + 620.9466236554107 + ], + [ + -0.6506464491507808, + 0.04312941730964113, + -0.7581550356761559, + 3460.49319721485 + ], + [ + -0.0, + -0.998385832437871, + -0.05679550719256557, + 13.06259001643814 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62094.662365541066, + -346049.319721485, + 1306.259001643814 + ], + "rotation_deg": [ + 0.0, + -3.2558948993682857, + 49.409641265869176 + ] + } + } + ] + }, + { + "frame": 36, + "time": 1764.1629091724753, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.00834813837169601, + 0.9999651536857307, + 5.421010820836506e-20, + -3429.728400526374 + ], + [ + 0.09754187006661125, + -0.0008143214044496395, + -0.9952310889761021, + -50.41957013754354 + ], + [ + -0.9951964089686365, + 0.008308302687298564, + -0.09754526991293153, + 642.1845613421373 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.00834813837169601, + 0.09754187006661125, + -0.9951964089686365, + 672.6495532738923 + ], + [ + 0.9999651536857307, + -0.0008143214044496395, + 0.008308302687298564, + 3424.232350856613 + ], + [ + 5.421010820836506e-20, + -0.9952310889761021, + -0.09754526991293153, + 12.462934115042453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 67264.95532738922, + -342423.2350856613, + 1246.2934115042453 + ], + "rotation_deg": [ + -3.1208936956969366e-18, + -5.597833633422854, + -179.5216827392578 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5029124246777779, + 0.8643373722712204, + -0.0, + -3287.5591096243143 + ], + [ + 0.22141662029400766, + -0.12883067763622832, + -0.966631955170824, + 306.9419562799489 + ], + [ + -0.8354961334874497, + 0.4861312031654234, + -0.25616921016480376, + -1110.7592524758154 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5029124246777779, + 0.22141662029400766, + -0.8354961334874497, + 657.3571679803716 + ], + [ + 0.8643373722712204, + -0.12883067763622832, + 0.4861312031654234, + 3421.0785247269414 + ], + [ + -0.0, + -0.966631955170824, + -0.25616921016480376, + 12.15756844165794 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65735.71679803716, + -342107.8524726941, + 1215.756844165794 + ], + "rotation_deg": [ + 0.0, + -14.842877388000488, + -149.80712890625 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8089811559845707, + 0.5878345764429543, + 1.3877787702593918e-17, + -2540.145967731145 + ], + [ + 0.08504215800402666, + -0.11703548250907683, + -0.9894799276366778, + 355.65450195182257 + ], + [ + -0.5816505277019874, + 0.8004706056426505, + -0.14467022197428084, + -2346.4686957632175 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8089811559845707, + 0.08504215800402666, + -0.5816505277019874, + 659.8598465036265 + ], + [ + 0.5878345764429543, + -0.11703548250907683, + 0.8004706056426505, + 3413.0891014600634 + ], + [ + 1.3877787702593918e-17, + -0.9894799276366778, + -0.14467022197428084, + 12.44884014197987 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65985.98465036265, + -341308.9101460063, + 1244.884014197987 + ], + "rotation_deg": [ + -8.0359252197846e-16, + -8.318182945251461, + -126.0034942626953 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7605343248262756, + -0.6492977289048848, + -0.0, + 2719.051202131908 + ], + [ + -0.036695893841758045, + 0.0429825727157694, + -0.9984016775916835, + -112.8909474989085 + ], + [ + 0.6482599366962206, + -0.7593187500931793, + -0.05651628288860135, + 2225.431777376977 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7605343248262756, + -0.036695893841758045, + 0.6482599366962206, + 621.1308732330897 + ], + [ + -0.6492977289048848, + 0.0429825727157694, + -0.7593187500931793, + 3460.138165919778 + ], + [ + -0.0, + -0.9984016775916835, + -0.05651628288860135, + 13.062618514229978 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62113.08732330897, + -346013.81659197784, + 1306.2618514229978 + ], + "rotation_deg": [ + 0.0, + -3.2398707866668692, + 49.51132583618166 + ] + } + } + ] + }, + { + "frame": 37, + "time": 1764.229575842619, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.008590211030287544, + 0.9999631034565503, + -0.0, + -3429.297484755241 + ], + [ + 0.09780401119930879, + -0.0008401880958472532, + -0.9952053403581035, + -50.52901561540105 + ], + [ + -0.9951686208542807, + 0.008548999739377096, + -0.09780762071763686, + 641.5951368764801 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.008590211030287544, + 0.09780401119930879, + -0.9951686208542807, + 672.8955945259382 + ], + [ + 0.9999631034565503, + -0.0008401880958472532, + 0.008548999739377096, + 3423.6434902077053 + ], + [ + -0.0, + -0.9952053403581035, + -0.09780762071763686, + 12.466139036410041 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 67289.55945259382, + -342364.3490207705, + 1246.613903641004 + ], + "rotation_deg": [ + 0.0, + -5.612937450408936, + -179.5078125 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5014500190273047, + 0.8651866147933147, + -0.0, + -3289.1449000350813 + ], + [ + 0.22245542997147236, + -0.1289320450462244, + -0.9663798991268424, + 306.4740217474254 + ], + [ + -0.8360989629029455, + 0.48459120159985664, + -0.25711843878770413, + -1104.5678353169878 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5014500190273047, + 0.22245542997147236, + -0.8360989629029455, + 657.6368968344499 + ], + [ + 0.8651866147933147, + -0.1289320450462244, + 0.48459120159985664, + 3420.5023690887265 + ], + [ + -0.0, + -0.9663798991268424, + -0.25711843878770413, + 12.165562297389732 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65763.68968344499, + -342050.23690887267, + 1216.5562297389731 + ], + "rotation_deg": [ + 0.0, + -14.899148941040043, + -149.9040222167969 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8051154614279612, + 0.5931181111462043, + -0.0, + -2555.5916652624924 + ], + [ + 0.08580652813647513, + -0.11647623162378899, + -0.9894799276366779, + 353.1500930546721 + ], + [ + -0.5868784792122042, + 0.796645578354316, + -0.14467022197428075, + -2329.3392926693327 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8051154614279612, + 0.08580652813647513, + -0.5868784792122042, + 660.204683643824 + ], + [ + 0.5931181111462043, + -0.11647623162378899, + 0.796645578354316, + 3412.5591997894044 + ], + [ + -0.0, + -0.9894799276366779, + -0.14467022197428075, + 12.448892280661637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 66020.4683643824, + -341255.91997894045, + 1244.8892280661637 + ], + "rotation_deg": [ + 0.0, + -8.318182945251456, + -126.37859344482419 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7610338770114683, + -0.6487121380403588, + -0.0, + 2717.1987616444635 + ], + [ + -0.03663477205018287, + 0.04297792652840344, + -0.9984041222411646, + -112.87976525572962 + ], + [ + 0.6476768676606445, + -0.759819364293968, + -0.05647307979211574, + 2226.9422477241737 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7610338770114683, + -0.03663477205018287, + 0.6476768676606445, + 621.4060046163564 + ], + [ + -0.6487121380403588, + 0.04297792652840344, + -0.759819364293968, + 3459.604975995448 + ], + [ + -0.0, + -0.9984041222411646, + -0.05647307979211574, + 13.062662302406165 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62140.600461635644, + -345960.4975995448, + 1306.2662302406166 + ], + "rotation_deg": [ + 0.0, + -3.237391471862791, + 49.55542755126956 + ] + } + } + ] + }, + { + "frame": 38, + "time": 1764.2962425127625, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.008832815796900829, + 0.9999609899216559, + 5.4210108208408754e-20, + -3428.867056421152 + ], + [ + 0.09806673455085668, + -0.0008662391941501157, + -0.9951794638175516, + -50.63833849493831 + ], + [ + -0.9951406419273986, + 0.00879021273851856, + -0.09807056104834246, + 641.0036754897086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.008832815796900829, + 0.09806673455085668, + -0.9951406419273986, + 673.1412142482633 + ], + [ + 0.9999609899216559, + -0.0008662391941501157, + 0.00879021273851856, + 3423.05485770857 + ], + [ + 5.4210108208408754e-20, + -0.9951794638175516, + -0.09807056104834246, + 12.469346934584026 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 67314.12142482633, + -342305.485770857, + 1246.9346934584025 + ], + "rotation_deg": [ + -3.1210555927619598e-18, + -5.628075599670413, + -179.49391174316406 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.49998756313962744, + 0.8660325840900542, + -0.0, + -3290.717653284434 + ], + [ + 0.22349284267487524, + -0.12902937353745036, + -0.9661275123075819, + 305.99261399265777 + ], + [ + -0.8366979153886542, + 0.48305172333165014, + -0.2580651680692372, + -1098.3826731795396 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.49998756313962744, + 0.22349284267487524, + -0.8366979153886542, + 657.9162041588072 + ], + [ + 0.8660325840900542, + -0.12902937353745036, + 0.48305172333165014, + 3419.9264416002848 + ], + [ + -0.0, + -0.9661275123075819, + -0.2580651680692372, + 12.173559129927922 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65791.62041588072, + -341992.6441600285, + 1217.3559129927921 + ], + "rotation_deg": [ + 0.0, + -14.9552869796753, + -150.00082397460938 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.8012153398379988, + 0.5983761185143336, + 6.938893851296959e-18, + -2570.919059149227 + ], + [ + 0.08656720522371385, + -0.11591200017198251, + -0.9894799276366778, + 350.63134791854424 + ], + [ + -0.5920811719357448, + 0.7927864862074198, + -0.14467022197428084, + -2312.111815504922 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8012153398379988, + 0.08656720522371385, + -0.5920811719357448, + 660.5487435908335 + ], + [ + 0.5983761185143336, + -0.11591200017198251, + 0.7927864862074198, + 3412.0300090562982 + ], + [ + 6.938893851296959e-18, + -0.9894799276366778, + -0.14467022197428084, + 12.4489473961498 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 66054.87435908335, + -341203.00090562983, + 1244.89473961498 + ], + "rotation_deg": [ + -4.0179626098923e-16, + -8.318182945251461, + -126.75368499755858 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7608895583140437, + -0.6488814067675692, + -0.0, + 2717.511247763813 + ], + [ + -0.03676831616245559, + 0.04311516334574715, + -0.9983932960593473, + -113.22752474307109 + ], + [ + 0.6478388413497873, + -0.7596670383826862, + -0.05666415474922326, + 2225.5396865502735 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7608895583140437, + -0.03676831616245559, + 0.6478388413497873, + 621.7716960644116 + ], + [ + -0.6488814067675692, + 0.04311516334574715, + -0.7596670383826862, + 3458.893463682097 + ], + [ + -0.0, + -0.9983932960593473, + -0.05666415474922326, + 13.062721563568944 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62177.16960644116, + -345889.3463682097, + 1306.2721563568944 + ], + "rotation_deg": [ + 0.0, + -3.248356819152832, + 49.54268264770511 + ] + } + } + ] + }, + { + "frame": 39, + "time": 1764.3629091829062, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.00907595265387847, + 0.9999588126935153, + -1.0842021641686154e-19, + -3428.4371307654205 + ], + [ + 0.09833004824630565, + -0.0008924756210039885, + -0.9951534580652094, + -50.74754016672817 + ], + [ + -0.9951124705188766, + 0.009031941521038898, + -0.09833409912222005, + 640.4101816103763 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.00907595265387847, + 0.09833004824630565, + -0.9951124705188766, + 673.3864166772406 + ], + [ + 0.9999588126935153, + -0.0008924756210039885, + 0.009031941521038898, + 3422.4664697053145 + ], + [ + -1.0842021641686154e-19, + -0.9951534580652094, + -0.09833409912222005, + 12.472559568619694 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 67338.64166772406, + -342246.64697053144, + 1247.2559568619695 + ], + "rotation_deg": [ + 6.242274306898609e-18, + -5.643248558044434, + -179.47998046875 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.4985255269701868, + 0.8668750192265878, + -2.7755575415729668e-17, + -3292.2768107906873 + ], + [ + 0.22452877592159493, + -0.12912279608212646, + -0.9658748015737256, + 305.49825444328656 + ], + [ + -0.8372927465004222, + 0.48151322718842426, + -0.2590093988649239, + -1092.205501805385 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.4985255269701868, + 0.22452877592159493, + -0.8372927465004222, + 658.1950941898167 + ], + [ + 0.8668750192265878, + -0.12912279608212646, + 0.48151322718842426, + 3419.350758607722 + ], + [ + -2.7755575415729668e-17, + -0.9658748015737256, + -0.2590093988649239, + 12.181560698327793 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65819.50941898167, + -341935.0758607722, + 1218.1560698327794 + ], + "rotation_deg": [ + 1.6464632258820348e-15, + -15.01129150390625, + -150.09750366210938 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.7972807997142429, + 0.6036085870885347, + -0.0, + -2586.128150534993 + ], + [ + 0.08732418760799436, + -0.11534278938329035, + -0.9894799276366779, + 348.0982873845958 + ], + [ + -0.5972585945343453, + 0.7888933376121076, + -0.14467022197428084, + -2294.786394655166 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7972807997142429, + 0.08732418760799436, + -0.5972585945343453, + 660.8920274280156 + ], + [ + 0.6036085870885347, + -0.11534278938329035, + 0.7888933376121076, + 3411.501543268106 + ], + [ + -0.0, + -0.9894799276366779, + -0.14467022197428084, + 12.44900724749965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 66089.20274280156, + -341150.1543268106, + 1244.9007247499649 + ], + "rotation_deg": [ + 0.0, + -8.318182945251461, + -127.12878417968749 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.760085895793884, + -0.6498226150382959, + -0.0, + 2720.035198816603 + ], + [ + -0.037101041852926085, + 0.04339642539219076, + -0.9983688010733346, + -113.93820896637885 + ], + [ + 0.6487626199941143, + -0.7588460488165782, + -0.05709410734778014, + 2221.160074915047 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.760085895793884, + -0.037101041852926085, + 0.6487626199941143, + 622.2275352365888 + ], + [ + -0.6498226150382959, + 0.04339642539219076, + -0.7588460488165782, + 3458.0034201737544 + ], + [ + -0.0, + -0.9983688010733346, + -0.05709410734778014, + 13.062796656161012 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62222.75352365888, + -345800.34201737546, + 1306.2796656161013 + ], + "rotation_deg": [ + 0.0, + -3.27303123474121, + 49.47177124023439 + ] + } + } + ] + }, + { + "frame": 40, + "time": 1764.4295758530498, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.009319887887907932, + 0.9999565689017484, + -0.0, + -3428.009207623874 + ], + [ + 0.09859396016396985, + -0.0009189245650561305, + -0.9951273218020038, + -50.85645293264898 + ], + [ + -0.9950841024791246, + 0.009274450928230985, + -0.0985982431552161, + 639.8131353529167 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.009319887887907932, + 0.09859396016396985, + -0.9950841024791246, + 673.6305977141852 + ], + [ + 0.9999565689017484, + -0.0009189245650561305, + 0.009274450928230985, + 3421.8796619671175 + ], + [ + -0.0, + -0.9951273218020038, + -0.0985982431552161, + 12.475796645886078 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 67363.05977141853, + -342187.96619671176, + 1247.5796645886078 + ], + "rotation_deg": [ + 0.0, + -5.658456802368166, + -179.46600341796875 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.49706345789380213, + 0.8677141919011443, + -1.3877787707922503e-17, + -3293.8238710808573 + ], + [ + 0.22556331265713975, + -0.12921222357523923, + -0.9656217651140014, + 304.9909210574594 + ], + [ + -0.8378837188850289, + 0.47997527630764825, + -0.25995116418433445, + -1086.0357979038333 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.49706345789380213, + 0.22556331265713975, + -0.8378837188850289, + 658.4729628287936 + ], + [ + 0.8677141919011443, + -0.12921222357523923, + 0.47997527630764825, + 3418.7766558802186 + ], + [ + -1.3877787707922503e-17, + -0.9656217651140014, + -0.25995116418433445, + 12.18958670995838 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65847.29628287935, + -341877.66558802186, + 1218.958670995838 + ], + "rotation_deg": [ + 8.234473367613594e-16, + -15.067164421081543, + -150.19409179687503 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.7933120886669061, + 0.6088151854010794, + -6.938893851296959e-18, + -2601.218328176545 + ], + [ + 0.08807742733580726, + -0.11476863507953661, + -0.9894799276366778, + 345.55130358992176 + ], + [ + -0.6024104190273408, + 0.784966377573725, + -0.14467022197428078, + -2277.3655759406074 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7933120886669061, + 0.08807742733580726, + -0.6024104190273408, + 661.2339279190521 + ], + [ + 0.6088151854010794, + -0.11476863507953661, + 0.784966377573725, + 3410.975135834675 + ], + [ + -6.938893851296959e-18, + -0.9894799276366778, + -0.14467022197428078, + 12.449091542080208 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 66123.39279190521, + -341097.51358346746, + 1244.9091542080207 + ], + "rotation_deg": [ + 4.0179626098923e-16, + -8.318182945251458, + -127.50388336181638 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7585798555009596, + -0.6515800816692782, + 3.4694469251679146e-18, + 2724.892714927042 + ], + [ + -0.03764492280643896, + 0.043826815622868796, + -0.9983296399582935, + -115.021123814945 + ], + [ + 0.6504917032682722, + -0.757312758341455, + -0.05777482178596251, + 2213.6267146869577 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7585798555009596, + -0.03764492280643896, + 0.6504917032682722, + 622.7729491315425 + ], + [ + -0.6515800816692782, + 0.043826815622868796, + -0.757312758341455, + 3456.9345572908624 + ], + [ + 3.4694469251679146e-18, + -0.9983296399582935, + -0.05777482178596251, + 13.062889780889162 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62277.294913154255, + -345693.45572908624, + 1306.288978088916 + ], + "rotation_deg": [ + -1.9911726511989132e-16, + -3.312097787857055, + 49.339160919189496 + ] + } + } + ] + }, + { + "frame": 41, + "time": 1764.4962425231934, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.00956408887124295, + 0.9999542630560976, + -0.0, + -3427.5816058170067 + ], + [ + 0.09885846234474503, + -0.0009455343653917939, + -0.9951010553645274, + -50.96536361227004 + ], + [ + -0.9950555426384537, + 0.00951721078676935, + -0.09886298479882398, + 639.2149880048736 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.00956408887124295, + 0.09885846234474503, + -0.9950555426384537, + 673.8743869197377 + ], + [ + 0.9999542630560976, + -0.0009455343653917939, + 0.00951721078676935, + 3421.293090782619 + ], + [ + -0.0, + -0.9951010553645274, + -0.09886298479882398, + 12.479005859522069 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 67387.43869197377, + -342129.3090782619, + 1247.900585952207 + ], + "rotation_deg": [ + 0.0, + -5.673699855804444, + -179.45201110839844 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.4956018267058966, + 0.8685498427642354, + 1.3877787707980267e-17, + -3295.3574167628776 + ], + [ + 0.2265963286635809, + -0.12929776609378102, + -0.965368422686046, + 304.47071689235304 + ], + [ + -0.8384706009917179, + 0.4784383364259591, + -0.26089041667057833, + -1079.874146252269 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.4956018267058966, + 0.2265963286635809, + -0.8384706009917179, + 658.7504396363782 + ], + [ + 0.8685498427642354, + -0.12929776609378102, + 0.4784383364259591, + 3418.202789706413 + ], + [ + 1.3877787707980267e-17, + -0.965368422686046, + -0.26089041667057833, + 12.197584857958574 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65875.04396363783, + -341820.2789706413, + 1219.7584857958575 + ], + "rotation_deg": [ + -8.236634347256142e-16, + -15.122902870178226, + -150.29055786132812 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.7893094585507623, + 0.6139955851977295, + -6.938893851296959e-18, + -2616.188361586553 + ], + [ + 0.08882687691853948, + -0.1141895736966072, + -0.9894799276366778, + 342.990302330117 + ], + [ + -0.6075363206137495, + 0.7810058552975256, + -0.14467022197428078, + -2259.8490766043587 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7893094585507623, + 0.08882687691853948, + -0.6075363206137495, + 661.5750715024625 + ], + [ + 0.6139955851977295, + -0.1141895736966072, + 0.7810058552975256, + 3410.449440664816 + ], + [ + -6.938893851296959e-18, + -0.9894799276366778, + -0.14467022197428078, + 12.449147973030378 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 66157.50715024625, + -341044.9440664816, + 1244.9147973030379 + ], + "rotation_deg": [ + 4.0179626098923e-16, + -8.318182945251458, + -127.87897491455077 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7563111965157776, + -0.654212025282991, + -0.0, + 2732.241271900776 + ], + [ + -0.03841705637610954, + 0.04441258911720725, + -0.9982743368970781, + -116.4860637463133 + ], + [ + 0.6530830706959394, + -0.7550060625083094, + -0.05872263912718759, + 2202.694731062743 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7563111965157776, + -0.03841705637610954, + 0.6530830706959394, + 623.4069757873724 + ], + [ + -0.654212025282991, + 0.04441258911720725, + -0.7550060625083094, + 3455.6863963923893 + ], + [ + -0.0, + -0.9982743368970781, + -0.05872263912718759, + 13.062997693634488 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62340.697578737236, + -345568.63963923894, + 1306.2997693634488 + ], + "rotation_deg": [ + 0.0, + -3.3664960861206055, + 49.14007186889652 + ] + } + } + ] + }, + { + "frame": 42, + "time": 1764.562909193337, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.009809088194067438, + 0.9999518897371017, + -1.6263032462549251e-19, + -3427.154681103208 + ], + [ + 0.09912355413138237, + -0.0009723584650055305, + -0.9950746582721207, + -51.07408402643199 + ], + [ + -0.9950267851292632, + 0.009760750942631836, + -0.09912832398643244, + 638.6139266908741 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.009809088194067438, + 0.09912355413138237, + -0.9950267851292632, + 674.1177872832861 + ], + [ + 0.9999518897371017, + -0.0009723584650055305, + 0.009760750942631836, + 3420.7067713766255 + ], + [ + -1.6263032462549251e-19, + -0.9950746582721207, + -0.09912832398643244, + 12.48219283203177 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 67411.77872832862, + -342070.67713766254, + 1248.219283203177 + ], + "rotation_deg": [ + 9.364152947321796e-18, + -5.6889777183532715, + -179.43797302246094 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.4941406428908628, + 0.8693819787891882, + 1.3877787708038128e-17, + -3296.877501371644 + ], + [ + 0.22762783825318056, + -0.1293794546914098, + -0.9651147724265428, + 303.9377545817218 + ], + [ + -0.8390533998402425, + 0.47690241678497436, + -0.26182718934667737, + -1073.7205780885192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.4941406428908628, + 0.22762783825318056, + -0.8390533998402425, + 659.0275276019588 + ], + [ + 0.8693819787891882, + -0.1293794546914098, + 0.47690241678497436, + 3417.6291753111122 + ], + [ + 1.3877787708038128e-17, + -0.9651147724265428, + -0.26182718934667737, + 12.20556076483248 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65902.75276019589, + -341762.9175311112, + 1220.556076483248 + ], + "rotation_deg": [ + -8.238799089245858e-16, + -15.178508758544924, + -150.38690185546875 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.7852729180887679, + 0.6191497751888075, + 6.938893851296959e-18, + -2631.0382526521066 + ], + [ + 0.0895725347229109, + -0.11360560649645415, + -0.9894799276366778, + 340.41530810251817 + ], + [ + -0.612636288122659, + 0.7770117794147027, + -0.14467022197428084, + -2242.2370253330337 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7852729180887679, + 0.0895725347229109, + -0.612636288122659, + 661.9154580611613 + ], + [ + 0.6191497751888075, + -0.11360560649645415, + 0.7770117794147027, + 3409.9244705831243 + ], + [ + 6.938893851296959e-18, + -0.9894799276366778, + -0.14467022197428084, + 12.449182162854258 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 66191.54580611613, + -340992.4470583124, + 1244.9182162854258 + ], + "rotation_deg": [ + -4.0179626098923e-16, + -8.318182945251461, + -128.25407409667966 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7535584597246482, + -0.6573809000704353, + 3.4694469251744454e-18, + 2741.1059868544 + ], + [ + -0.039332114130674174, + 0.045086566005871506, + -0.9982084884250432, + -118.15843618781717 + ], + [ + 0.656203189587561, + -0.7522084553390281, + -0.05983154428547713, + 2189.6453812480286 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7535584597246482, + -0.039332114130674174, + 0.656203189587561, + 624.0839019631505 + ], + [ + -0.6573809000704353, + 0.045086566005871506, + -0.7522084553390281, + 3454.3478259085286 + ], + [ + 3.4694469251744454e-18, + -0.9982084884250432, + -0.05983154428547713, + 13.0631085232396 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62408.39019631505, + -345434.7825908529, + 1306.31085232396 + ], + "rotation_deg": [ + -1.9914143177707747e-16, + -3.4301435947418204, + 48.899570465087926 + ] + } + } + ] + }, + { + "frame": 43, + "time": 1764.6295758634806, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.010054619533340725, + 0.999949451035421, + -0.0, + -3426.728271445848 + ], + [ + 0.09938925216823968, + -0.0009993716334562104, + -0.9950481283886603, + -51.182703575374504 + ], + [ + -0.9949978299021106, + 0.01000480621084196, + -0.09939427721339807, + 638.0108648994459 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.010054619533340725, + 0.09938925216823968, + -0.9949978299021106, + 674.3608033077523 + ], + [ + 0.999949451035421, + -0.0009993716334562104, + 0.01000480621084196, + 3420.1207137012034 + ], + [ + -0.0, + -0.9950481283886603, + -0.09939427721339807, + 12.485366665435116 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 67436.08033077524, + -342012.07137012033, + 1248.5366665435115 + ], + "rotation_deg": [ + 0.0, + -5.704291343688966, + -179.4239044189453 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.49267945239661304, + 0.87021086937947, + 1.3877787708096081e-17, + -3298.3847657476954 + ], + [ + 0.22865786895964058, + -0.12945716679630107, + -0.9648608298236127, + 303.3916155265661 + ], + [ + -0.8396323907515216, + 0.47536708792726423, + -0.262761450971099, + -1067.573444632474 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.49267945239661304, + 0.22865786895964058, + -0.8396323907515216, + 659.3042312284572 + ], + [ + 0.87021086937947, + -0.12945716679630107, + 0.47536708792726423, + 3417.055822646383 + ], + [ + 1.3877787708096081e-17, + -0.9648608298236127, + -0.262761450971099, + 12.213523532600032 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65930.42312284572, + -341705.58226463833, + 1221.3523532600032 + ], + "rotation_deg": [ + -8.240967466336394e-16, + -15.23398017883301, + -150.483154296875 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.7812028044805547, + 0.6242773248098283, + -1.3877787702593918e-17, + -2645.7667895529685 + ], + [ + 0.09031433845906221, + -0.11301678226182255, + -0.9894799276366778, + 337.8265502301127 + ], + [ + -0.6177098955191529, + 0.7729844835775356, + -0.14467022197428078, + -2224.5309276782104 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7812028044805547, + 0.09031433845906221, + -0.6177098955191529, + 662.2550890073758 + ], + [ + 0.6242773248098283, + -0.11301678226182255, + 0.7729844835775356, + 3409.4002331211664 + ], + [ + -1.3877787702593918e-17, + -0.9894799276366778, + -0.14467022197428078, + 12.449203213571781 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 66225.50890073758, + -340940.0233121166, + 1244.9203213571782 + ], + "rotation_deg": [ + 8.0359252197846e-16, + -8.318182945251458, + -128.62916564941403 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7506640598099289, + -0.6606840919150965, + -0.0, + 2750.3322543859435 + ], + [ + -0.04028994224009491, + 0.04577711493520239, + -0.9981388562231706, + -119.858344371257 + ], + [ + 0.6594544588818694, + -0.7492669703822379, + -0.06098215931765726, + 2176.0214892312724 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7506640598099289, + -0.04028994224009491, + 0.6594544588818694, + 624.7594175400866 + ], + [ + -0.6606840919150965, + 0.04577711493520239, + -0.7492669703822379, + 3453.0085430057366 + ], + [ + -0.0, + -0.9981388562231706, + -0.06098215931765726, + 13.063216251138103 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62475.94175400866, + -345300.85430057364, + 1306.3216251138103 + ], + "rotation_deg": [ + 0.0, + -3.496189594268799, + 48.647933959960966 + ] + } + } + ] + }, + { + "frame": 44, + "time": 1764.6962425336242, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.010300682870362432, + 0.9999469465588685, + -0.0, + -3426.302383843314 + ], + [ + 0.09965554801039384, + -0.0010265746596455172, + -0.9950214660474497, + -51.291207691541786 + ], + [ + -0.9949686769062237, + 0.010249376436069612, + -0.099660836130099, + 637.4058089002667 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.010300682870362432, + 0.09965554801039384, + -0.9949686769062237, + 674.6034396694835 + ], + [ + 0.9999469465588685, + -0.0010265746596455172, + 0.010249376436069612, + 3419.5349258429087 + ], + [ + -0.0, + -0.9950214660474497, + -0.099660836130099, + 12.488534468643838 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 67460.34396694835, + -341953.49258429086, + 1248.8534468643838 + ], + "rotation_deg": [ + 0.0, + -5.719640254974366, + -179.40980529785156 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.4912184952913113, + 0.871036388380956, + -2.7755575416308254e-17, + -3299.8789544851343 + ], + [ + 0.229686400941234, + -0.1295309929232075, + -0.9646065929149513, + 302.8326381820032 + ], + [ + -0.8402074520727193, + 0.473832581746843, + -0.26369323456734817, + -1061.4336177139762 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.4912184952913113, + 0.229686400941234, + -0.8402074520727193, + 659.5805551922207 + ], + [ + 0.871036388380956, + -0.1295309929232075, + 0.473832581746843, + 3416.4827397987815 + ], + [ + -2.7755575416308254e-17, + -0.9646065929149513, + -0.26369323456734817, + 12.221480270172957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65958.05551922206, + -341648.27397987817, + 1222.1480270172958 + ], + "rotation_deg": [ + 1.6486279000278518e-15, + -15.289319038391112, + -150.5792999267578 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.77709904278936, + 0.6293783263632933, + -6.938893851296959e-18, + -2660.3742702684267 + ], + [ + 0.09105229111477443, + -0.11242307735304316, + -0.9894799300446783, + 335.22396565449657 + ], + [ + -0.6227572356502425, + 0.7689238955088579, + -0.14467020550462806, + -2206.7305600096947 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.77709904278936, + 0.09105229111477443, + -0.6227572356502425, + 662.593965942672 + ], + [ + 0.6293783263632933, + -0.11242307735304316, + 0.7689238955088579, + 3408.8767339248166 + ], + [ + -6.938893851296959e-18, + -0.9894799300446783, + -0.14467020550462806, + 12.449218234094683 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 66259.3965942672, + -340887.67339248164, + 1244.9218234094683 + ], + "rotation_deg": [ + 4.017962600114178e-16, + -8.318181991577145, + -129.0042724609375 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7476183889786149, + -0.6641285601907363, + -6.938893850364347e-18, + 2759.937257390514 + ], + [ + -0.041293272300409946, + 0.04648438805887447, + -0.9980651618654545, + -121.58445704332343 + ], + [ + 0.6628435740252057, + -0.7461718727231625, + -0.06217662527268908, + 2161.7856299798564 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7476183889786149, + -0.041293272300409946, + 0.6628435740252057, + 625.4335140181903 + ], + [ + -0.6641285601907363, + 0.04648438805887447, + -0.7461718727231625, + 3451.6685452717797 + ], + [ + -6.938893850364347e-18, + -0.9980651618654545, + -0.06217662527268908, + 13.063322079268112 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62543.351401819025, + -345166.854527178, + 1306.3322079268112 + ], + "rotation_deg": [ + 3.983400587310262e-16, + -3.5647575855255114, + 48.38449478149413 + ] + } + } + ] + }, + { + "frame": 45, + "time": 1764.7629092037678, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.01054727818623058, + 0.9999443759144117, + -1.0842021641713046e-19, + -3425.8770223405213 + ], + [ + 0.09992244149303414, + -0.0010539684135036208, + -0.9949946707579161, + -51.3995910855684 + ], + [ + -0.9949393252662485, + 0.010494461454001769, + -0.09992800066814513, + 636.7987648163635 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.01054727818623058, + 0.09992244149303414, + -0.9949393252662485, + 674.8457016854388 + ], + [ + 0.9999443759144117, + -0.0010539684135036208, + 0.010494461454001769, + 3418.94941292683 + ], + [ + -1.0842021641713046e-19, + -0.9949946707579161, + -0.09992800066814513, + 12.491699437808188 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 67484.57016854388, + -341894.941292683, + 1249.1699437808188 + ], + "rotation_deg": [ + 6.243270487052248e-18, + -5.735024452209472, + -179.3956756591797 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.4897580124956211, + 0.8718584112092622, + -0.0, + -3301.3598163826705 + ], + [ + 0.23071335845992552, + -0.12960099305436687, + -0.9643520772142632, + 302.2610892798319 + ], + [ + -0.8407784790290687, + 0.4722991392859109, + -0.2646225089280085, + -1055.3019886658665 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.4897580124956211, + 0.23071335845992552, + -0.8407784790290687, + 659.8565048102083 + ], + [ + 0.8718584112092622, + -0.12960099305436687, + 0.4722991392859109, + 3415.9099318933963 + ], + [ + -0.0, + -0.9643520772142632, + -0.2646225089280085, + 12.229434173701511 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65985.65048102083, + -341590.99318933964, + 1222.943417370151 + ], + "rotation_deg": [ + 0.0, + -15.344523429870613, + -150.67532348632812 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.7729621427612133, + 0.6344521462316864, + 6.938893851296959e-18, + -2674.858904635138 + ], + [ + 0.0917863216721823, + -0.11182459118042258, + -0.9894799300446783, + 332.6079554089914 + ], + [ + -0.6277776785452464, + 0.7648305158396793, + -0.1446702055046281, + -2188.838127443953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7729621427612133, + 0.0917863216721823, + -0.6277776785452464, + 662.932091125271 + ], + [ + 0.6344521462316864, + -0.11182459118042258, + 0.7648305158396793, + 3408.3539756584055 + ], + [ + 6.938893851296959e-18, + -0.9894799300446783, + -0.1446702055046281, + 12.449230420573212 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 66293.2091125271, + -340835.39756584057, + 1244.9230420573213 + ], + "rotation_deg": [ + -4.017962600114178e-16, + -8.318181991577147, + -129.37936401367182 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7444109810169276, + -0.6677217169910047, + 3.4694469251863835e-18, + 2769.939140692236 + ], + [ + -0.04234511219799094, + 0.04720853869277844, + -0.9979870967840374, + -123.33526718341633 + ], + [ + 0.6663776529465973, + -0.7429125580703239, + -0.06341730611428012, + 2146.897153324618 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7444109810169276, + -0.04234511219799094, + 0.6663776529465973, + 626.1061827253073 + ], + [ + -0.6677217169910047, + 0.04720853869277844, + -0.7429125580703239, + 3450.32783023884 + ], + [ + 3.4694469251863835e-18, + -0.9979870967840374, + -0.06341730611428012, + 13.06342655114152 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62610.61827253074, + -345032.783023884, + 1306.342655114152 + ], + "rotation_deg": [ + -1.991856089505093e-16, + -3.635983943939208, + 48.10853195190433 + ] + } + } + ] + }, + { + "frame": 46, + "time": 1764.8295758739114, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.01079467176243118, + 0.9999417358334143, + -0.0, + -3425.4536686175857 + ], + [ + 0.10018993216219006, + -0.0010815804489745435, + -0.9949677420283876, + -51.507679461253666 + ], + [ + -0.9949097712447031, + 0.010740326059704501, + -0.10019577075876905, + 636.1882188895487 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.01079467176243118, + 0.10018993216219006, + -0.9949097712447031, + 675.0869919124979 + ], + [ + 0.9999417358334143, + -0.0010815804489745435, + 0.010740326059704501, + 3418.3654943454167 + ], + [ + -0.0, + -0.9949677420283876, + -0.10019577075876905, + 12.494880638601186 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 67508.69919124979, + -341836.54943454167, + 1249.4880638601187 + ], + "rotation_deg": [ + 0.0, + -5.750443935394288, + -179.38150024414062 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.4882977809577377, + 0.8726770749319298, + -0.0, + -3302.8285407207104 + ], + [ + 0.23173877679420973, + -0.12966712856448023, + -0.9640972850805909, + 301.6771506404184 + ], + [ + -0.8413456078076653, + 0.47076654751209535, + -0.2655492910295407, + -1049.178859476755 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.4882977809577377, + 0.23173877679420973, + -0.8413456078076653, + 660.1314826392995 + ], + [ + 0.8726770749319298, + -0.12966712856448023, + 0.47076654751209535, + 3415.338718322676 + ], + [ + -0.0, + -0.9640972850805909, + -0.2655492910295407, + 12.237404308858716 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 66013.14826392995, + -341533.8718322676, + 1223.7404308858715 + ], + "rotation_deg": [ + 0.0, + -15.399594306945806, + -150.771240234375 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.7687919451296922, + 0.6394989797518867, + -3.46944692564848e-17, + -2689.221662828397 + ], + [ + 0.09251644810908122, + -0.11122128783671602, + -0.9894799300446783, + 329.9786179240521 + ], + [ + -0.6327714189893408, + 0.7607041888602066, + -0.14467020550462803, + -2170.8544302841656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7687919451296922, + 0.09251644810908122, + -0.6327714189893408, + 663.2688640694904 + ], + [ + 0.6394989797518867, + -0.11122128783671602, + 0.7607041888602066, + 3407.8332752336532 + ], + [ + -3.46944692564848e-17, + -0.9894799300446783, + -0.14467020550462803, + 12.44925883868039 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 66326.88640694904, + -340783.3275233653, + 1244.925883868039 + ], + "rotation_deg": [ + 2.008981300057089e-15, + -8.318181991577143, + -129.75447082519526 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7410235050193352, + -0.6714790875439526, + -3.4694469251908547e-18, + 2780.3790454101113 + ], + [ + -0.043450479026055484, + 0.04795060167908683, + -0.9979042016501481, + -125.11103831956444 + ], + [ + 0.6700717979777976, + -0.7394704734883207, + -0.06470861143434219, + 2131.283053679368 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7410235050193352, + -0.043450479026055484, + 0.6700717979777976, + 626.777424929077 + ], + [ + -0.6714790875439526, + 0.04795060167908683, + -0.7394704734883207, + 3448.986400444797 + ], + [ + -3.4694469251908547e-18, + -0.9979042016501481, + -0.06470861143434219, + 13.063533941743874 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62677.7424929077, + -344898.6400444797, + 1306.3533941743874 + ], + "rotation_deg": [ + 1.9920215514597742e-16, + -3.71012258529663, + 47.818675994873054 + ] + } + } + ] + }, + { + "frame": 47, + "time": 1764.896242544055, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.011042597277624123, + 0.9999390286639303, + -1.0842021641722192e-19, + -3425.030816304391 + ], + [ + 0.10045803668357514, + -0.0011093852831004381, + -0.9949406776938886, + -51.61568503629091 + ], + [ + -0.9948800150195802, + 0.010986705091809367, + -0.10046416289336998, + 635.575706130992 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.011042597277624123, + 0.10045803668357514, + -0.9948800150195802, + 675.3279321158733 + ], + [ + 0.9999390286639303, + -0.0011093852831004381, + 0.010986705091809367, + 3417.781828644192 + ], + [ + -1.0842021641722192e-19, + -0.9949406776938886, + -0.10046416289336998, + 12.498027831090699 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 67532.79321158733, + -341778.1828644192, + 1249.8027831090699 + ], + "rotation_deg": [ + 6.243609294496697e-18, + -5.765899658203124, + -179.36729431152344 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.48683804197350783, + 0.8734922557684188, + -0.0, + -3304.2840092556094 + ], + [ + 0.23276259429400603, + -0.12972946800894222, + -0.9638422276636571, + 301.08074122103983 + ], + [ + -0.8419087307315047, + 0.4692350454435461, + -0.26647356575401565, + -1043.0639741900663 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.48683804197350783, + 0.23276259429400603, + -0.8419087307315047, + 660.406110444707 + ], + [ + 0.8734922557684188, + -0.12972946800894222, + 0.4692350454435461, + 3414.7677576321453 + ], + [ + -0.0, + -0.9638422276636571, + -0.26647356575401565, + 12.24534043571243 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 66040.6110444707, + -341476.7757632145, + 1224.534043571243 + ], + "rotation_deg": [ + 0.0, + -15.454530715942386, + -150.86703491210938 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.7645889678931218, + 0.644518200034825, + 6.938893851296959e-18, + -2703.460416051558 + ], + [ + 0.09324257973330163, + -0.11061324226084711, + -0.9894799300446783, + 327.33602336715546 + ], + [ + -0.6377378366883747, + 0.7565454271194034, + -0.14467020550462806, + -2152.780295716911 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7645889678931218, + 0.09324257973330163, + -0.6377378366883747, + 663.6049035142856 + ], + [ + 0.644518200034825, + -0.11061324226084711, + 0.7565454271194034, + 3407.3132886954872 + ], + [ + 6.938893851296959e-18, + -0.9894799300446783, + -0.14467020550462806, + 12.44925324848408 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 66360.49035142857, + -340731.32886954874, + 1244.925324848408 + ], + "rotation_deg": [ + -4.017962600114178e-16, + -8.318181991577145, + -130.1295623779296 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7374501670097703, + -0.6754015481010256, + -0.0, + 2791.2553215893004 + ], + [ + -0.04461176321166896, + 0.04871021146389884, + -0.9978161683808738, + -126.90884919207203 + ], + [ + 0.6739265800948258, + -0.7358397043218625, + -0.06605220802673023, + 2114.923045653512 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7374501670097703, + -0.04461176321166896, + 0.6739265800948258, + 627.4472221906875 + ], + [ + -0.6754015481010256, + 0.04871021146389884, + -0.7358397043218625, + 3447.6442485836014 + ], + [ + -0.0, + -0.9978161683808738, + -0.06605220802673023, + 13.06363307951916 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62744.722219068746, + -344764.42485836014, + 1306.363307951916 + ], + "rotation_deg": [ + 0.0, + -3.7872700691223145, + 47.51465988159182 + ] + } + } + ] + }, + { + "frame": 48, + "time": 1764.9629092141986, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.011291054712242017, + 0.999936254009967, + -1.0842021641726803e-19, + -3424.6084744873115 + ], + [ + 0.10072674660783107, + -0.0011373837105858376, + -0.9949134780854545, + -51.723589674452064 + ], + [ + -0.9948500565344626, + 0.011233598390536266, + -0.10073316872101674, + 634.9612299674288 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.011291054712242017, + 0.10072674660783107, + -0.9948500565344626, + 675.5685238181544 + ], + [ + 0.999936254009967, + -0.0011373837105858376, + 0.011233598390536266, + 3417.1984260198183 + ], + [ + -1.0842021641726803e-19, + -0.9949134780854545, + -0.10073316872101674, + 12.501151395340605 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 67556.85238181544, + -341719.8426019818, + 1250.1151395340605 + ], + "rotation_deg": [ + 6.2437799864557555e-18, + -5.781391143798829, + -179.35305786132815 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.485378339151205, + 0.8743042192983045, + -0.0, + -3305.7268453761603 + ], + [ + 0.23378488103454717, + -0.12978790994086947, + -0.963586907254786, + 300.4714883255232 + ], + [ + -0.8424681077291408, + 0.46770419520416745, + -0.26739535008616494, + -1036.9556676006937 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.485378339151205, + 0.23378488103454717, + -0.8424681077291408, + 660.6803897490204 + ], + [ + 0.8743042192983045, + -0.12978790994086947, + 0.46770419520416745, + 3414.1970600184645 + ], + [ + -0.0, + -0.963586907254786, + -0.26739535008616494, + 12.253252934326543 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 66068.03897490204, + -341419.70600184647, + 1225.3252934326542 + ], + "rotation_deg": [ + 0.0, + -15.50933361053467, + -150.96273803710938 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.7603532222161229, + 0.6495097978210639, + -0.0, + -2717.575174055202 + ], + [ + 0.09396471520527871, + -0.11000045606800382, + -0.9894799300446784, + 324.68020110587366 + ], + [ + -0.6426769224803175, + 0.7523542416644414, + -0.1446702055046281, + -2134.615852853514 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7603532222161229, + 0.09396471520527871, + -0.6426769224803175, + 663.9402079724251 + ], + [ + 0.6495097978210639, + -0.11000045606800382, + 0.7523542416644414, + 3406.7940237202156 + ], + [ + -0.0, + -0.9894799300446784, + -0.1446702055046281, + 12.449224030048164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 66394.02079724251, + -340679.4023720216, + 1244.9224030048165 + ], + "rotation_deg": [ + 0.0, + -8.318181991577147, + -130.504653930664 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7336773021586611, + -0.6794980620260729, + -0.0, + 2802.589236885854 + ], + [ + -0.0458327629852901, + 0.049487202063918045, + -0.997722594045569, + -128.7255665452686 + ], + [ + 0.6779505643988217, + -0.7320064254020994, + -0.06745091104914651, + 2097.7646063487673 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7336773021586611, + -0.0458327629852901, + 0.6779505643988217, + 628.1155653475864 + ], + [ + -0.6794980620260729, + 0.049487202063918045, + -0.7320064254020994, + 3446.301372038232 + ], + [ + -0.0, + -0.997722594045569, + -0.06745091104914651, + 13.063725398006424 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62811.556534758645, + -344630.1372038232, + 1306.3725398006425 + ], + "rotation_deg": [ + 0.0, + -3.8675889968872053, + 47.19556808471681 + ] + } + } + ] + }, + { + "frame": 49, + "time": 1765.0295758843422, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.011540044046513017, + 0.9999334114746865, + -0.0, + -3424.186649207647 + ], + [ + 0.10099606176471343, + -0.0011655766153170959, + -0.9948861427013505, + -51.831374898182666 + ], + [ + -0.9948198948994732, + 0.011481005786191434, + -0.10100278817111151, + 634.3447947460908 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.011540044046513017, + 0.10099606176471343, + -0.9948198948994732, + 675.8087692770733 + ], + [ + 0.9999334114746865, + -0.0011655766153170959, + 0.011481005786191434, + 3416.615293617135 + ], + [ + -0.0, + -0.9948861427013505, + -0.10100278817111151, + 12.504267454471028 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 67580.87692770733, + -341661.5293617135, + 1250.4267454471028 + ], + "rotation_deg": [ + 0.0, + -5.796918392181398, + -179.3387908935547 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.48391937962561127, + 0.8751125836272515, + -0.0, + -3307.156227871616 + ], + [ + 0.23480549234481982, + -0.12984264003749038, + -0.9633313394636354, + 299.85014658766056 + ], + [ + -0.8430233863937308, + 0.4661746866768445, + -0.268314612898725, + -1030.8565265864477 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.48391937962561127, + 0.23480549234481982, + -0.8430233863937308, + 660.9543228099716 + ], + [ + 0.8751125836272515, + -0.12984264003749038, + 0.4661746866768445, + 3413.6266326264745 + ], + [ + -0.0, + -0.9633313394636354, + -0.268314612898725, + 12.261157927821168 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 66095.43228099716, + -341362.66326264746, + 1226.1157927821168 + ], + "rotation_deg": [ + 0.0, + -15.564001083374022, + -151.05830383300787 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.7560847153356701, + 0.6544737605403128, + -0.0, + -2731.5659314993 + ], + [ + 0.09468285270646595, + -0.10938293030516073, + -0.9894799300446784, + 322.0111841118219 + ], + [ + -0.6475886639271156, + 0.7481306396561647, + -0.1446702055046281, + -2116.361215757772 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7560847153356701, + 0.09468285270646595, + -0.6475886639271156, + 664.2747767083835 + ], + [ + 0.6544737605403128, + -0.10938293030516073, + 0.7481306396561647, + 3406.2754849126754 + ], + [ + -0.0, + -0.9894799300446784, + -0.1446702055046281, + 12.449187306492766 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 66427.47767083834, + -340627.54849126755, + 1244.9187306492765 + ], + "rotation_deg": [ + 0.0, + -8.318181991577147, + -130.87976074218747 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.729690094393432, + -0.6837780094037131, + -0.0, + 2814.4026867997018 + ], + [ + -0.04711751242372968, + 0.05028120474075649, + -0.9976230452795374, + -130.55720025521913 + ], + [ + 0.6821526953993712, + -0.7279556583740135, + -0.06890761641958788, + 2079.7510567643963 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.729690094393432, + -0.04711751242372968, + 0.6821526953993712, + 628.782444998104 + ], + [ + -0.6837780094037131, + 0.05028120474075649, + -0.7279556583740135, + 3444.9577681070573 + ], + [ + -0.0, + -0.9976230452795374, + -0.06890761641958788, + 13.063814036651696 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62878.244499810404, + -344495.7768107057, + 1306.3814036651695 + ], + "rotation_deg": [ + 0.0, + -3.951246738433838, + 46.8604202270508 + ] + } + } + ] + }, + { + "frame": 50, + "time": 1765.0962425544858, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.011789565260455324, + 0.9999305006604057, + -0.0, + -3423.765346366403 + ], + [ + 0.1012659902618403, + -0.0011939649806342525, + -0.9948586701958795, + -51.939029213818614 + ], + [ + -0.9947895283800952, + 0.011728927097991107, + -0.10127302945225657, + 633.7264039537187 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.011789565260455324, + 0.1012659902618403, + -0.9947895283800952, + 676.0486704852419 + ], + [ + 0.9999305006604057, + -0.0011939649806342525, + 0.011728927097991107, + 3416.0324384449777 + ], + [ + -0.0, + -0.9948586701958795, + -0.10127302945225657, + 12.507390382802923 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 67604.86704852419, + -341603.2438444978, + 1250.7390382802923 + ], + "rotation_deg": [ + 0.0, + -5.812481880187988, + -179.32449340820312 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.482460473455301, + 0.8759177424583239, + -0.0, + -3308.573060305628 + ], + [ + 0.23582454711774137, + -0.1298935015695505, + -0.9630755220784679, + 299.2161255565159 + ], + [ + -0.8435749461133424, + 0.46464585484166376, + -0.26923138722729023, + -1024.7640283245225 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.482460473455301, + 0.23582454711774137, + -0.8435749461133424, + 661.2279116201723 + ], + [ + 0.8759177424583239, + -0.1298935015695505, + 0.46464585484166376, + 3413.0564824650105 + ], + [ + -0.0, + -0.9630755220784679, + -0.26923138722729023, + 12.26906979051727 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 66122.79116201724, + -341305.64824650105, + 1226.906979051727 + ], + "rotation_deg": [ + 0.0, + -15.618535041809082, + -151.15377807617188 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.7517839774615055, + 0.6594094715972454, + -6.938893851296959e-18, + -2745.4309733279865 + ], + [ + 0.09539690303389145, + -0.10876074167786956, + -0.9894799300446783, + 319.32931933696875 + ], + [ + -0.6524724509200701, + 0.7438751457264892, + -0.14467020550462806, + -2098.0186580678455 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7517839774615055, + 0.09539690303389145, + -0.6524724509200701, + 664.6086087382083 + ], + [ + 0.6594094715972454, + -0.10876074167786956, + 0.7438751457264892, + 3405.757676722156 + ], + [ + -6.938893851296959e-18, + -0.9894799300446783, + -0.14467020550462806, + 12.449157452138843 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 66460.86087382083, + -340575.7676722156, + 1244.9157452138843 + ], + "rotation_deg": [ + 4.017962600114178e-16, + -8.318181991577145, + -131.25485229492188 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7254722980053847, + -0.6882513674717883, + -0.0, + 2826.7186343654853 + ], + [ + -0.04847044044157608, + 0.051091742747499475, + -0.9975170425744229, + -132.39913195132067 + ], + [ + 0.686542464051437, + -0.7236709854650052, + -0.07042549148064095, + 2060.820480102649 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7254722980053847, + -0.04847044044157608, + 0.686542464051437, + 629.4478515613895 + ], + [ + -0.6882513674717883, + 0.051091742747499475, + -0.7236709854650052, + 3443.6134340348285 + ], + [ + -0.0, + -0.9975170425744229, + -0.07042549148064095, + 13.063902255147116 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 62944.78515613895, + -344361.34340348287, + 1306.3902255147116 + ], + "rotation_deg": [ + 0.0, + -4.038426399230957, + 46.508152008056655 + ] + } + } + ] + }, + { + "frame": 51, + "time": 1765.1629092246294, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.012039884630684825, + 0.9999275179622171, + -0.0, + -3423.3447387585798 + ], + [ + 0.10153652332154572, + -0.001222576641438567, + -0.9948310609033719, + -52.04644364449109 + ], + [ + -0.9947589537311918, + 0.011977627083730312, + -0.10154388421302245, + 633.1051545248963 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.012039884630684825, + 0.10153652332154572, + -0.9947589537311918, + 676.2882295399495 + ], + [ + 0.9999275179622171, + -0.001222576641438567, + 0.011977627083730312, + 3415.4498652640086 + ], + [ + -0.0, + -0.9948310609033719, + -0.10154388421302245, + 12.510528882864714 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 67628.82295399495, + -341544.98652640084, + 1251.0528882864714 + ], + "rotation_deg": [ + 0.0, + -5.828081130981448, + -179.31015014648438 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.48100209551996964, + 0.8767194443522953, + 1.3877787708562882e-17, + -3309.976811664207 + ], + [ + 0.23684194939060468, + -0.1299406266141144, + -0.9628194662365264, + 298.5699570383959 + ], + [ + -0.8441225564188207, + 0.4631181633305348, + -0.27014565800380247, + -1018.6799069098511 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.48100209551996964, + 0.23684194939060468, + -0.8441225564188207, + 661.5011582769123 + ], + [ + 0.8767194443522953, + -0.1299406266141144, + 0.4631181633305348, + 3412.4866142947344 + ], + [ + 1.3877787708562882e-17, + -0.9628194662365264, + -0.27014565800380247, + 12.276997224943264 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 66150.11582769123, + -341248.66142947343, + 1227.6997224943264 + ], + "rotation_deg": [ + -8.258439912382127e-16, + -15.672934532165531, + -151.24913024902344 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.7474510199379425, + 0.6643169219534676, + -0.0, + -2759.170309042446 + ], + [ + 0.09610686487996896, + -0.10813389182731455, + -0.9894799300446784, + 316.6346337202771 + ], + [ + -0.6573282745158683, + 0.7395877711003881, + -0.1446702055046281, + -2079.5883038800303 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7474510199379425, + 0.09610686487996896, + -0.6573282745158683, + 664.9417031994448 + ], + [ + 0.6643169219534676, + -0.10813389182731455, + 0.7395877711003881, + 3405.240601330343 + ], + [ + -0.0, + -0.9894799300446784, + -0.1446702055046281, + 12.449143169514812 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 66494.17031994447, + -340524.0601330343, + 1244.9143169514812 + ], + "rotation_deg": [ + 0.0, + -8.318181991577147, + -131.62994384765622 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7210060844250896, + -0.6929287309832092, + -0.0, + 2839.5610749411776 + ], + [ + -0.04989644007882006, + 0.051918235280754885, + -0.9974040515823027, + -134.24608558019054 + ], + [ + 0.6911299192267734, + -0.7191343941032119, + -0.07200804099126874, + 2040.9051886536924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7210060844250896, + -0.04989644007882006, + 0.6911299192267734, + 630.111775126695 + ], + [ + -0.6929287309832092, + 0.051918235280754885, + -0.7191343941032119, + 3442.268366939363 + ], + [ + -0.0, + -0.9974040515823027, + -0.07200804099126874, + 13.063992413934892 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 63011.1775126695, + -344226.8366939363, + 1306.3992413934893 + ], + "rotation_deg": [ + 0.0, + -4.129330635070801, + 46.13760757446289 + ] + } + } + ] + }, + { + "frame": 52, + "time": 1765.229575894773, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.012290735838374424, + 0.9999244660535873, + -0.0, + -3422.9246582736137 + ], + [ + 0.10180767763736702, + -0.001251385794266783, + -0.9948033126239978, + -52.153716237966925 + ], + [ + -0.9947281714198436, + 0.012226840612687279, + -0.10181536893989167, + 632.4819563720569 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.012290735838374424, + 0.10180767763736702, + -0.9947281714198436, + 676.5274492144584 + ], + [ + 0.9999244660535873, + -0.001251385794266783, + 0.012226840612687279, + 3414.867576532442 + ], + [ + -0.0, + -0.9948033126239978, + -0.10181536893989167, + 12.51368515961012 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 67652.74492144585, + -341486.7576532442, + 1251.368515961012 + ], + "rotation_deg": [ + 0.0, + -5.843717098236084, + -179.2957763671875 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.4795440212857687, + 0.8775178241204414, + -0.0, + -3311.3678053267868 + ], + [ + 0.23785772106074196, + -0.12998396718114003, + -0.9625631786057696, + 297.91147347747494 + ], + [ + -0.8446663550077762, + 0.46159139985052666, + -0.2710574262068994, + -1012.6033456489115 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.4795440212857687, + 0.23785772106074196, + -0.8446663550077762, + 661.7740655534533 + ], + [ + 0.8775178241204414, + -0.12998396718114003, + 0.46159139985052666, + 3411.9170305738608 + ], + [ + -0.0, + -0.9625631786057696, + -0.2710574262068994, + 12.284942436052873 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 66177.40655534533, + -341191.7030573861, + 1228.4942436052872 + ], + "rotation_deg": [ + 0.0, + -15.727199554443358, + -151.34437561035156 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.743085850247422, + 0.6691960991832406, + -6.938893851296959e-18, + -2772.7839331128744 + ], + [ + 0.09681273644706426, + -0.10750238183598186, + -0.9894799300446783, + 313.92714583538003 + ], + [ + -0.662156122419488, + 0.7352685231815903, + -0.1446702055046281, + -2061.070264988497 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.743085850247422, + 0.09681273644706426, + -0.662156122419488, + 665.2740599225575 + ], + [ + 0.6691960991832406, + -0.10750238183598186, + 0.7352685231815903, + 3404.724258597154 + ], + [ + -6.938893851296959e-18, + -0.9894799300446783, + -0.1446702055046281, + 12.449146663574394 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 66527.40599225575, + -340472.4258597154, + 1244.9146663574395 + ], + "rotation_deg": [ + 4.017962600114178e-16, + -8.318181991577147, + -132.00505065917972 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7162720193629032, + -0.6978211764326078, + 3.4694469252243536e-18, + 2852.954545472952 + ], + [ + -0.051400936162177766, + 0.05276001013646847, + -0.9972834727859733, + -136.0921280653368 + ], + [ + 0.6959255217688058, + -0.7143262512038606, + -0.07365918131404062, + 2019.9317374648076 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7162720193629032, + -0.051400936162177766, + 0.6959255217688058, + 630.7742055260336 + ], + [ + -0.6978211764326078, + 0.05276001013646847, + -0.7143262512038606, + 3440.9225638492503 + ], + [ + 3.4694469252243536e-18, + -0.9972834727859733, + -0.07365918131404062, + 13.064085555097488 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 63077.420552603355, + -344092.25638492504, + 1306.4085555097488 + ], + "rotation_deg": [ + -1.9932614249039703e-16, + -4.224185943603516, + 45.747543334960966 + ] + } + } + ] + }, + { + "frame": 53, + "time": 1765.2962425649166, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.0125421188628599, + 0.9999213445338738, + -0.0, + -3422.505104371915 + ], + [ + 0.10207945303270909, + -0.0012803933433272062, + -0.9947754248379023, + -52.26084754582301 + ], + [ + -0.9946971805347218, + 0.012476567508917895, + -0.10208748355930046, + 631.8568130191668 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.0125421188628599, + 0.10207945303270909, + -0.9946971805347218, + 676.7663327870035 + ], + [ + 0.9999213445338738, + -0.0012803933433272062, + 0.012476567508917895, + 3414.2855728069353 + ], + [ + -0.0, + -0.9947754248379023, + -0.10208748355930046, + 12.516856272776872 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 67676.63327870035, + -341428.55728069355, + 1251.6856272776872 + ], + "rotation_deg": [ + 0.0, + -5.859389781951905, + -179.2813720703125 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.4780864931558315, + 0.878312760388894, + -0.0, + -3312.7457978744296 + ], + [ + 0.23887180083574405, + -0.13002359378772282, + -0.9623066703624235, + 297.24096146150566 + ], + [ + -0.8452062368966472, + 0.4600658037913877, + -0.27196667680580516, + -1006.5352299539215 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.4780864931558315, + 0.23887180083574405, + -0.8452062368966472, + 662.0466367280305 + ], + [ + 0.878312760388894, + -0.13002359378772282, + 0.4600658037913877, + 3411.3477318590476 + ], + [ + -0.0, + -0.9623066703624235, + -0.27196667680580516, + 12.292902483583827 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 66204.66367280306, + -341134.7731859048, + 1229.2902483583828 + ], + "rotation_deg": [ + 0.0, + -15.78132915496827, + -151.4394989013672 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.7386890106065956, + 0.6740463972228089, + 6.938893851296959e-18, + -2786.270174209012 + ], + [ + 0.09751443005580998, + -0.10686629014646537, + -0.9894799300446783, + 311.207189384364 + ], + [ + -0.6669553949430078, + 0.7309179384826078, + -0.14467020550462814, + -2042.4668440912308 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7386890106065956, + 0.09751443005580998, + -0.6669553949430078, + 665.6056792600576 + ], + [ + 0.6740463972228089, + -0.10686629014646537, + 0.7309179384826078, + 3404.208646461738 + ], + [ + 6.938893851296959e-18, + -0.9894799300446783, + -0.14467020550462814, + 12.449164994055325 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 66560.56792600577, + -340420.86464617384, + 1244.9164994055325 + ], + "rotation_deg": [ + -4.017962600114178e-16, + -8.318181991577148, + -132.38014221191403 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7112485681934677, + -0.7029405908344901, + 3.4694469252313116e-18, + 2866.9249346807496 + ], + [ + -0.05298992703607543, + 0.053616209142714, + -0.997154636829151, + -137.93031660126923 + ], + [ + 0.700940465187876, + -0.7092248119772796, + -0.07538322318656969, + 1997.8190419960395 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7112485681934677, + -0.05298992703607543, + 0.700940465187876, + 631.4351323183201 + ], + [ + -0.7029405908344901, + 0.053616209142714, + -0.7092248119772796, + 3439.576021697651 + ], + [ + 3.4694469252313116e-18, + -0.997154636829151, + -0.07538322318656969, + 13.06418149164739 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 63143.51323183201, + -343957.6021697651, + 1306.4181491647391 + ], + "rotation_deg": [ + -1.9935189614357941e-16, + -4.323241710662842, + 45.33659362792974 + ] + } + } + ] + }, + { + "frame": 54, + "time": 1765.3629092350602, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.012794299977574393, + 0.9999181495942976, + -0.0, + -3422.0862441788786 + ], + [ + 0.1023518407030243, + -0.0013096273467410515, + -0.9947473978759206, + -52.36774237048517 + ], + [ + -0.994665977624998, + 0.012727072501758557, + -0.10236021971861022, + 631.2288215408205 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.012794299977574393, + 0.1023518407030243, + -0.994665977624998, + 677.0048834984515 + ], + [ + 0.9999181495942976, + -0.0013096273467410515, + 0.012727072501758557, + 3413.7038536584864 + ], + [ + -0.0, + -0.9947473978759206, + -0.10236021971861022, + 12.520036470248577 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 67700.48834984515, + -341370.38536584866, + 1252.0036470248576 + ], + "rotation_deg": [ + 0.0, + -5.87509870529175, + -179.2669219970703 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.4766292861088285, + 0.8791043872165514, + -0.0, + -3314.1111071610694 + ], + [ + 0.23988422486237254, + -0.13005946564199974, + -0.9620499436407116, + 296.5582603432311 + ], + [ + -0.8457423350567297, + 0.45854116023299607, + -0.27287342682087673, + -1000.474737601595 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.4766292861088285, + 0.23988422486237254, + -0.8457423350567297, + 662.3188750415109 + ], + [ + 0.8791043872165514, + -0.13005946564199974, + 0.45854116023299607, + 3410.778717721292 + ], + [ + -0.0, + -0.9620499436407116, + -0.27287342682087673, + 12.300871615419737 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 66231.88750415109, + -341077.8717721292, + 1230.0871615419737 + ], + "rotation_deg": [ + 0.0, + -15.835324287414554, + -151.53451538085938 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.7342605125350888, + 0.6788678072583118, + -6.938893851296959e-18, + -2799.6290416870283 + ], + [ + 0.09821194443110302, + -0.10622561842531156, + -0.9894799300446783, + 308.47477624057876 + ], + [ + -0.6717260833652876, + 0.7265360284018814, + -0.14467020550462806, + -2023.7781621568813 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7342605125350888, + 0.09821194443110302, + -0.6717260833652876, + 665.9365615442862 + ], + [ + 0.6788678072583118, + -0.10622561842531156, + 0.7265360284018814, + 3403.6937618584884 + ], + [ + -6.938893851296959e-18, + -0.9894799300446783, + -0.14467020550462806, + 12.449192408841208 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 66593.65615442862, + -340369.37618584884, + 1244.9192408841209 + ], + "rotation_deg": [ + 4.017962600114178e-16, + -8.318181991577145, + -132.75523376464838 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7059120478654562, + -0.7082994992786581, + 3.469446925238756e-18, + 2881.4988475650675 + ], + [ + -0.05466998743338454, + 0.054485712364871174, + -0.9970168000701521, + -139.75243536193852 + ], + [ + 0.7061864959566386, + -0.7038061753483671, + -0.07718484611624318, + 1974.4783502856517 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7059120478654562, + -0.05466998743338454, + 0.7061864959566386, + 632.0945447476973 + ], + [ + -0.7082994992786581, + 0.054485712364871174, + -0.7038061753483671, + 3438.2287373036065 + ], + [ + 3.469446925238756e-18, + -0.9970168000701521, + -0.07718484611624318, + 13.064279202151862 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 63209.45447476973, + -343822.87373036065, + 1306.4279202151863 + ], + "rotation_deg": [ + -1.993794563809689e-16, + -4.426768779754639, + 44.90327453613284 + ] + } + } + ] + }, + { + "frame": 55, + "time": 1765.4295759052038, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.013047012865381026, + 0.9999148841052875, + -1.0842021641759714e-19, + -3421.667906942723 + ], + [ + 0.10262484080320801, + -0.0013390615936927572, + -0.9947192312226419, + -52.47449737615992 + ], + [ + -0.9946345650380771, + 0.012978090501308371, + -0.10263357734413772, + 630.5988916746286 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.013047012865381026, + 0.10262484080320801, + -0.9946345650380771, + 677.2431043282921 + ], + [ + 0.9999148841052875, + -0.0013390615936927572, + 0.012978090501308371, + 3413.122418415968 + ], + [ + -1.0842021641759714e-19, + -0.9947192312226419, + -0.10263357734413772, + 12.523219471908153 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 67724.31043282921, + -341312.2418415968, + 1252.3219471908153 + ], + "rotation_deg": [ + 6.244999259849944e-18, + -5.890843868255614, + -179.25244140625 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.4751724085795477, + 0.8798927105759606, + -0.0, + -3315.4637680109768 + ], + [ + 0.24089498071655407, + -0.13009159733449893, + -0.961793005052818, + 295.863430138847 + ], + [ + -0.8462746630803964, + 0.4570174811376121, + -0.2737776772543619, + -994.4218999914484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.4751724085795477, + 0.24089498071655407, + -0.8462746630803964, + 662.5907834733837 + ], + [ + 0.8798927105759606, + -0.13009159733449893, + 0.4570174811376121, + 3410.2099874894666 + ], + [ + -0.0, + -0.961793005052818, + -0.2737776772543619, + 12.308843551443518 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 66259.07834733836, + -341020.99874894664, + 1230.8843551443517 + ], + "rotation_deg": [ + 0.0, + -15.889184951782232, + -151.62942504882812 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.729800363757928, + 0.6836603170133511, + 6.938893851296959e-18, + -2812.860530216785 + ], + [ + 0.09890527779691449, + -0.10558036779010169, + -0.9894799300446783, + 305.7299161836992 + ], + [ + -0.6764681755390738, + 0.7221228005831734, + -0.1446702055046281, + -2005.004329483981 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.729800363757928, + 0.09890527779691449, + -0.6764681755390738, + 666.2667068635305 + ], + [ + 0.6836603170133511, + -0.10558036779010169, + 0.7221228005831734, + 3403.1796014606875 + ], + [ + 6.938893851296959e-18, + -0.9894799300446783, + -0.1446702055046281, + 12.449222627814963 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 66626.67068635306, + -340317.96014606877, + 1244.9222627814963 + ], + "rotation_deg": [ + -4.017962600114178e-16, + -8.318181991577147, + -133.1303405761718 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.7002364302657027, + -0.713911018074904, + -0.0, + 2896.703308852015 + ], + [ + -0.05644830543896995, + 0.055367068016010296, + -0.9968691371450813, + -141.54873081470262 + ], + [ + 0.711675856357484, + -0.6980440902790914, + -0.07906910587756623, + 1949.8126266853296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.7002364302657027, + -0.05644830543896995, + 0.711675856357484, + 632.7524317460171 + ], + [ + -0.713911018074904, + 0.055367068016010296, + -0.6980440902790914, + 3436.880707375223 + ], + [ + -0.0, + -0.9968691371450813, + -0.07906910587756623, + 13.06437731265561 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 63275.24317460171, + -343688.0707375223, + 1306.437731265561 + ], + "rotation_deg": [ + 0.0, + -4.535059928894044, + 44.44597625732426 + ] + } + } + ] + }, + { + "frame": 56, + "time": 1765.4962425753474, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.01330025750491988, + 0.9999115476632436, + -1.0842021641764512e-19, + -3421.2500910918316 + ], + [ + 0.10289846970862375, + -0.0013686972084532938, + -0.9946909226486258, + -52.581125734808865 + ], + [ + -0.9946029401505877, + 0.013229621305828998, + -0.10290757291818187, + 629.9670249738855 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.01330025750491988, + 0.10289846970862375, + -0.9946029401505877, + 677.4809976808656 + ], + [ + 0.9999115476632436, + -0.0013686972084532938, + 0.013229621305828998, + 3412.541266617296 + ], + [ + -1.0842021641764512e-19, + -0.9946909226486258, + -0.10290757291818187, + 12.526400104964639 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 67748.09976808655, + -341254.1266617296, + 1252.640010496464 + ], + "rotation_deg": [ + 6.245176990462039e-18, + -5.906626224517822, + -179.23793029785156 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.47371610351304255, + 0.8806776102935852, + -1.3877787708857255e-17, + -3316.8035404649936 + ], + [ + 0.24190400731077932, + -0.1301200603127081, + -0.9615358657643528, + 295.15675823586866 + ], + [ + -0.8468031172950995, + 0.4554950060669413, + -0.2746794131116841, + -988.3776027338018 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.47371610351304255, + 0.24190400731077932, + -0.8468031172950995, + 662.8623644279892 + ], + [ + 0.8806776102935852, + -0.1301200603127081, + 0.4554950060669413, + 3409.641540701488 + ], + [ + -1.3877787708857255e-17, + -0.9615358657643528, + -0.2746794131116841, + 12.316813118864207 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 66286.23644279892, + -340964.15407014877, + 1231.6813118864206 + ], + "rotation_deg": [ + 8.269464501185362e-16, + -15.942910194396974, + -151.72421264648438 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.7253091182895254, + 0.688423331189517, + -0.0, + -2825.9630145039855 + ], + [ + 0.0995943440313017, + -0.10493061839021395, + -0.9894799300446784, + 302.9729452780299 + ], + [ + -0.6811810824285401, + 0.7176788032126428, + -0.14467020550462814, + -1986.1476803588853 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7253091182895254, + 0.0995943440313017, + -0.6811810824285401, + 666.5961147483757 + ], + [ + 0.688423331189517, + -0.10493061839021395, + 0.7176788032126428, + 3402.666162131792 + ], + [ + -0.0, + -0.9894799300446784, + -0.14467020550462814, + 12.449250478185627 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 66659.61147483757, + -340266.6162131792, + 1244.9250478185627 + ], + "rotation_deg": [ + 0.0, + -8.318181991577148, + -133.50543212890622 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.69419289302562, + -0.7197890158044369, + -1.734723462627647e-17, + 2912.566020338146 + ], + [ + -0.058332703418829915, + 0.056258358012127675, + -0.9967107368066374, + -143.30743656487334 + ], + [ + 0.7174214361385526, + -0.6919095141223299, + -0.08104139211476007, + 1923.714952630059 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.69419289302562, + -0.058332703418829915, + 0.7174214361385526, + 633.4087818871044 + ], + [ + -0.7197890158044369, + 0.056258358012127675, + -0.6919095141223299, + 3435.531928489398 + ], + [ + -1.734723462627647e-17, + -0.9967107368066374, + -0.08104139211476007, + 13.064474508617668 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 63340.87818871044, + -343553.1928489398, + 1306.4474508617668 + ], + "rotation_deg": [ + 9.972034024561331e-16, + -4.648427486419675, + 43.96293640136719 + ] + } + } + ] + }, + { + "frame": 57, + "time": 1765.562909245491, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.013554033874615436, + 0.9999081398637206, + -1.0842021641769334e-19, + -3420.832795517411 + ], + [ + 0.10317272723692017, + -0.001398535109531428, + -0.9946624716224307, + -52.68762820385997 + ], + [ + -0.9945711020362977, + 0.013481664733675097, + -0.1031822063648238, + 629.333223688292 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.013554033874615436, + 0.10317272723692017, + -0.9945711020362977, + 677.7185656034203 + ], + [ + 0.9999081398637206, + -0.001398535109531428, + 0.013481664733675097, + 3411.9603982689314 + ], + [ + -1.0842021641769334e-19, + -0.9946624716224307, + -0.1031822063648238, + 12.52957506167916 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 67771.85656034203, + -341196.03982689313, + 1252.957506167916 + ], + "rotation_deg": [ + 6.245355625629224e-18, + -5.9224457740783665, + -179.223388671875 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.47226037991182235, + 0.8814590935293258, + -1.3877787708916352e-17, + -3318.130464277173 + ], + [ + 0.2429113064472785, + -0.13014487763504165, + -0.9612785278083747, + 294.43832707378317 + ], + [ + -0.8473277085440243, + 0.45397374507027, + -0.27557865142352184, + -982.3418722607897 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.47226037991182235, + 0.2429113064472785, + -0.8473277085440243, + 663.1336199525763 + ], + [ + 0.8814590935293258, + -0.13014487763504165, + 0.45397374507027, + 3409.0733773638167 + ], + [ + -1.3877787708916352e-17, + -0.9612785278083747, + -0.27557865142352184, + 12.324777009942935 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 66313.36199525763, + -340907.3377363817, + 1232.4777009942934 + ], + "rotation_deg": [ + 8.271678268646162e-16, + -15.9965009689331, + -151.81887817382815 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.7207866032215238, + 0.6931570331579832, + -1.3877787702593918e-17, + -2838.9370355846827 + ], + [ + 0.1002791696626097, + -0.10427634521096094, + -0.9894799300446783, + 300.20376852065806 + ], + [ + -0.685864985475778, + 0.7132038652009393, + -0.14467020550462806, + -1967.2075878678675 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7207866032215238, + 0.1002791696626097, + -0.685864985475778, + 666.9247843898853 + ], + [ + 0.6931570331579832, + -0.10427634521096094, + 0.7132038652009393, + 3402.1534411850466 + ], + [ + -1.3877787702593918e-17, + -0.9894799300446783, + -0.14467020550462806, + 12.449272652214331 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 66692.47843898853, + -340215.34411850467, + 1244.9272652214331 + ], + "rotation_deg": [ + 8.035925200228356e-16, + -8.318181991577145, + -133.88053894042966 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.6877493924595112, + -0.72594818904077, + -0.0, + 2929.115336309446 + ], + [ + -0.06033170997458487, + 0.057157105021352815, + -0.9965405913042983, + -145.01440961427565 + ], + [ + 0.7234368334977286, + -0.6853701904439248, + -0.08310746049325729, + 1896.0670557131177 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.6877493924595112, + -0.06033170997458487, + 0.7234368334977286, + 634.0635834332693 + ], + [ + -0.72594818904077, + 0.057157105021352815, + -0.6853701904439248, + 3434.1823971166386 + ], + [ + -0.0, + -0.9965405913042983, + -0.08310746049325729, + 13.064569785380382 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 63406.35834332693, + -343418.23971166386, + 1306.4569785380381 + ], + "rotation_deg": [ + 0.0, + -4.767205238342283, + 43.45221710205078 + ] + } + } + ] + }, + { + "frame": 58, + "time": 1765.6295759156346, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.013808608243391468, + 0.9999046566240106, + -0.0, + -3420.416187185677 + ], + [ + 0.10344760454713232, + -0.0014286036528038412, + -0.994633878472407, + -52.79390407217261 + ], + [ + -0.9945390469702794, + 0.013734485475637477, + -0.1034574693300013, + 628.6965841139639 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.013808608243391468, + 0.10344760454713232, + -0.9945390469702794, + 677.9558095742083 + ], + [ + 0.9999046566240106, + -0.0014286036528038412, + 0.013734485475637477, + 3411.3798134731337 + ], + [ + -0.0, + -0.994633878472407, + -0.1034574693300013, + 12.53274297634719 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 67795.58095742083, + -341137.9813473134, + 1253.274297634719 + ], + "rotation_deg": [ + 0.0, + -5.9383020401001, + -179.20880126953125 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.47080501179072987, + 0.8822372928372109, + -0.0, + -3319.4448505075316 + ], + [ + 0.24391687238186427, + -0.13016598471868404, + -0.9610210069450433, + 293.7079274909508 + ], + [ + -0.8478485802903765, + 0.45245348880979314, + -0.27647536122309263, + -976.3138997893388 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.47080501179072987, + 0.24391687238186427, + -0.8478485802903765, + 663.4045515253964 + ], + [ + 0.8822372928372109, + -0.13016598471868404, + 0.45245348880979314, + 3408.5054975787125 + ], + [ + -0.0, + -0.9610210069450433, + -0.27647536122309263, + 12.332733858975168 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 66340.45515253964, + -340850.54975787125, + 1233.2733858975168 + ], + "rotation_deg": [ + 0.0, + -16.049955368041996, + -151.91343688964844 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.7162333803151235, + 0.6978608349251101, + -0.0, + -2851.780999829463 + ], + [ + 0.10095966962567872, + -0.10361762952245039, + -0.9894799300446784, + 297.4227288851316 + ], + [ + -0.6905193028728838, + 0.7086985423995138, + -0.1446702055046281, + -1948.1864072378175 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7162333803151235, + 0.10095966962567872, + -0.6905193028728838, + 667.252714427819 + ], + [ + 0.6978608349251101, + -0.10361762952245039, + 0.7086985423995138, + 3401.641436010853 + ], + [ + -0.0, + -0.9894799300446784, + -0.1446702055046281, + 12.449287784196537 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 66725.2714427819, + -340164.1436010853, + 1244.9287784196538 + ], + "rotation_deg": [ + 0.0, + -8.318181991577147, + -134.25563049316403 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.6808705512517993, + -0.7324037769141218, + 3.4694469252743858e-18, + 2946.3791965599194 + ], + [ + -0.06245460103637859, + 0.05806018479999782, + -0.9963575852827018, + -146.6528050114427 + ], + [ + 0.7297360546409982, + -0.6783905425306167, + -0.08527345637421786, + 1866.73915503513 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.6808705512517993, + -0.06245460103637859, + 0.7297360546409982, + 634.7168242251257 + ], + [ + -0.7324037769141218, + 0.05806018479999782, + -0.6783905425306167, + 3432.8321095697625 + ], + [ + 3.4694469252743858e-18, + -0.9963575852827018, + -0.08527345637421786, + 13.06466254863029 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 63471.68242251257, + -343283.2109569762, + 1306.466254863029 + ], + "rotation_deg": [ + -1.995113707558309e-16, + -4.891749858856202, + 42.91170883178714 + ] + } + } + ] + }, + { + "frame": 59, + "time": 1765.6962425857782, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.014063714296629302, + 0.9999011010795932, + -0.0, + -3420.0000969432945 + ], + [ + 0.10372311009625577, + -0.0014588764676592258, + -0.9946051418082513, + -52.90004954403723 + ], + [ + -0.994506776688881, + 0.013987818457276906, + -0.10373337001514324, + 628.0580137869238 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.014063714296629302, + 0.10372311009625577, + -0.994506776688881, + 678.1927307110246 + ], + [ + 0.9999011010795932, + -0.0014588764676592258, + 0.013987818457276906, + 3410.799512530037 + ], + [ + -0.0, + -0.9946051418082513, + -0.10373337001514324, + 12.535904009686728 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 67819.27307110246, + -341079.95125300373, + 1253.5904009686728 + ], + "rotation_deg": [ + 0.0, + -5.954195499420167, + -179.19418334960938 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.4693502426262856, + 0.8830120892415043, + -1.387778770903475e-17, + -3320.7464640330777 + ], + [ + 0.24492068655324997, + -0.13018347660076537, + -0.9607633005680549, + 292.9659043001634 + ], + [ + -0.8483656180352679, + 0.45093447050951296, + -0.27736957555208364, + -970.294555460919 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.4693502426262856, + 0.24492068655324997, + -0.8483656180352679, + 663.675160264245 + ], + [ + 0.8830120892415043, + -0.13018347660076537, + 0.45093447050951296, + 3407.937901646309 + ], + [ + -1.387778770903475e-17, + -0.9607633005680549, + -0.27736957555208364, + 12.340683826678907 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 66367.5160264245, + -340793.7901646309, + 1234.0683826678908 + ], + "rotation_deg": [ + 8.276114110473682e-16, + -16.103275299072262, + -152.00787353515625 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.7116494613722373, + 0.702534728058766, + -1.3877787702593918e-17, + -2864.494919439482 + ], + [ + 0.10163584270063032, + -0.10295447303206738, + -0.9894799300446783, + 294.6298442494936 + ], + [ + -0.6951440262764306, + 0.7041628464861248, + -0.14467020550462806, + -1929.084259635692 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7116494613722373, + 0.10163584270063032, + -0.6951440262764306, + 667.5799031592942 + ], + [ + 0.702534728058766, + -0.10295447303206738, + 0.7041628464861248, + 3401.1301441789637 + ], + [ + -1.3877787702593918e-17, + -0.9894799300446783, + -0.14467020550462806, + 12.449296034850251 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 66757.99031592942, + -340113.0144178964, + 1244.9296034850252 + ], + "rotation_deg": [ + 8.035925200228356e-16, + -8.318181991577145, + -134.63072204589838 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.6735169944212047, + -0.7391717379782774, + -0.0, + 2964.38529733459 + ], + [ + -0.06471147059704846, + 0.05896366560267633, + -0.9961604849178987, + -148.2024821261388 + ], + [ + 0.7363336730575429, + -0.670931019937977, + -0.08754592170154694, + 1835.5876394017964 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.6735169944212047, + -0.06471147059704846, + 0.7363336730575429, + 635.3684917052291 + ], + [ + -0.7391717379782774, + 0.05896366560267633, + -0.670931019937977, + 3431.481062017946 + ], + [ + -0.0, + -0.9961604849178987, + -0.08754592170154694, + 13.064752581912222 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 63536.8491705229, + -343148.1062017946, + 1306.475258191222 + ], + "rotation_deg": [ + 0.0, + -5.022441387176512, + 42.3390922546387 + ] + } + } + ] + }, + { + "frame": 60, + "time": 1765.7629092559218, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.014319352012042144, + 0.9998974728230667, + -0.0, + -3419.584523610107 + ], + [ + 0.10399925197447425, + -0.0014893545973338831, + -0.9945762602292662, + -53.00606601196267 + ], + [ + -0.9944742893941207, + 0.014241663480699055, + -0.10400991662029703, + 627.4175137305249 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.014319352012042144, + 0.10399925197447425, + -0.9944742893941207, + 678.4293298083222 + ], + [ + 0.9998974728230667, + -0.0014893545973338831, + 0.014241663480699055, + 3410.219495398874 + ], + [ + -0.0, + -0.9945762602292662, + -0.10400991662029703, + 12.539059316961776 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 67842.93298083222, + -341021.9495398874, + 1253.9059316961775 + ], + "rotation_deg": [ + 0.0, + -5.970126628875734, + -179.17953491210938 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.46789584595699574, + 0.8837836145438468, + -1.3877787709094055e-17, + -3322.035612277862 + ], + [ + 0.24592278575604282, + -0.13019731073065277, + -0.960505410564924, + 292.2120975843334 + ], + [ + -0.8488789522426811, + 0.4494164738816699, + -0.27826131143788974, + -964.2830147473226 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.46789584595699574, + 0.24592278575604282, + -0.8488789522426811, + 663.9454469635749 + ], + [ + 0.8837836145438468, + -0.13019731073065277, + 0.4494164738816699, + 3407.3705895258395 + ], + [ + -1.3877787709094055e-17, + -0.960505410564924, + -0.27826131143788974, + 12.34862806831816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 66394.5446963575, + -340737.05895258393, + 1234.862806831816 + ], + "rotation_deg": [ + 8.278336198037545e-16, + -16.156461715698242, + -152.10220336914065 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.7070348545155289, + 0.7071787005419525, + -2.0816681553890876e-17, + -2877.0787915244846 + ], + [ + 0.10230768714896303, + -0.1022868769149194, + -0.9894799300446783, + 291.8251319775789 + ], + [ + -0.699739143795836, + 0.6995967854979889, + -0.1446702055046281, + -1909.9012558369216 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7070348545155289, + 0.10230768714896303, + -0.699739143795836, + 667.9063485760208 + ], + [ + 0.7071787005419525, + -0.1022868769149194, + 0.6995967854979889, + 3400.619562899823 + ], + [ + -2.0816681553890876e-17, + -0.9894799300446783, + -0.1446702055046281, + 12.449298559439478 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 66790.63485760208, + -340061.9562899823, + 1244.9298559439478 + ], + "rotation_deg": [ + 1.2053887800342534e-15, + -8.318181991577147, + -135.00582885742188 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.6656449422802108, + -0.7462685916054451, + 3.4694469252965482e-18, + 2983.160270961873 + ], + [ + -0.06711332175255916, + 0.05986268708979055, + -0.9959479206955185, + -149.6395346829096 + ], + [ + 0.7432446483025646, + -0.6629477003371852, + -0.08993185968962834, + 1802.4538433182054 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.6656449422802108, + -0.06711332175255916, + 0.7432446483025646, + 636.0185728355123 + ], + [ + -0.7462685916054451, + 0.05986268708979055, + -0.6629477003371852, + 3430.1292504495627 + ], + [ + 3.4694469252965482e-18, + -0.9959479206955185, + -0.08993185968962834, + 13.064839962605976 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 63601.857283551224, + -343012.92504495627, + 1306.4839962605977 + ], + "rotation_deg": [ + -1.9959343603546097e-16, + -5.15968704223633, + 41.73182296752932 + ] + } + } + ] + }, + { + "frame": 61, + "time": 1765.8295759260654, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.0145757876549389, + 0.999893767564454, + -0.0, + -3419.169633443073 + ], + [ + 0.10427602131258536, + -0.0015200666245338435, + -0.9945472340601393, + -53.111848998638635 + ], + [ + -0.9944415811519514, + 0.01449628520686327, + -0.10428710079011745, + 626.7741805357107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.0145757876549389, + 0.10427602131258536, + -0.9944415811519514, + 678.6656079109831 + ], + [ + 0.999893767564454, + -0.0015200666245338435, + 0.01449628520686327, + 3409.639761989703 + ], + [ + -0.0, + -0.9945472340601393, + -0.10428710079011745, + 12.54221053051301 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 67866.56079109831, + -340963.9761989703, + 1254.221053051301 + ], + "rotation_deg": [ + 0.0, + -5.98609495162964, + -179.1648406982422 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.4664420656102947, + 0.8845517505659016, + 1.3877787709153421e-17, + -3323.312062924536 + ], + [ + 0.24692306687682905, + -0.13020753764510945, + -0.9602473619773909, + 291.4467582048085 + ], + [ + -0.8493884936886397, + 0.44789974525444076, + -0.27915050598261637, + -958.280176040018 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.4664420656102947, + 0.24692306687682905, + -0.8493884936886397, + 664.2154126682678 + ], + [ + 0.8845517505659016, + -0.13020753764510945, + 0.44789974525444076, + 3406.803561127361 + ], + [ + 1.3877787709153421e-17, + -0.9602473619773909, + -0.27915050598261637, + 12.356568216233597 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 66421.54126682678, + -340680.3561127361, + 1235.6568216233597 + ], + "rotation_deg": [ + -8.28056084668708e-16, + -16.20951080322266, + -152.1964111328125 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.702390132945321, + 0.7117921755267154, + -0.0, + -2889.5310704800136 + ], + [ + 0.10297511951796536, + -0.1016149240960142, + -0.9894799300446784, + 289.0089424079363 + ], + [ + -0.7043040846516292, + 0.6950009266053389, + -0.1446702055046281, + -1890.6397807184223 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.702390132945321, + 0.10297511951796536, + -0.7043040846516292, + 668.2320489381938 + ], + [ + 0.7117921755267154, + -0.1016149240960142, + 0.6950009266053389, + 3400.109689316409 + ], + [ + -0.0, + -0.9894799300446784, + -0.1446702055046281, + 12.449296990304891 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 66823.20489381938, + -340010.9689316409, + 1244.929699030489 + ], + "rotation_deg": [ + 0.0, + -8.318181991577147, + -135.38092041015622 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.6572055247985076, + -0.7537114157118214, + -3.4694469253089716e-18, + 3002.729224162147 + ], + [ + -0.06967214642684161, + 0.06075126182485488, + -0.9957183719300172, + -150.93556322813217 + ], + [ + 0.7504843000725637, + -0.6543916193011285, + -0.09243875774284935, + 1767.1617946455074 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.6572055247985076, + -0.06967214642684161, + 0.7504843000725637, + 636.6670542326915 + ], + [ + -0.7537114157118214, + 0.06075126182485488, + -0.6543916193011285, + 3428.7766707401593 + ], + [ + -3.4694469253089716e-18, + -0.9957183719300172, + -0.09243875774284935, + 13.064924956738496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 63666.705423269144, + -342877.66707401595, + 1306.4924956738496 + ], + "rotation_deg": [ + 1.9963944947545318e-16, + -5.30392265319824, + 41.08709716796876 + ] + } + } + ] + }, + { + "frame": 62, + "time": 1765.896242596209, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.014832754912763242, + 0.9998899886395993, + -0.0, + -3418.7552571261895 + ], + [ + 0.10455341831023501, + -0.001550985855151216, + -0.9945180627633274, + -53.217488610287006 + ], + [ + -0.9944086547507517, + 0.014751418594429308, + -0.10456492244654789, + 626.1289219333697 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.014832754912763242, + 0.10455341831023501, + -0.9944086547507517, + 678.9015661250573 + ], + [ + 0.9998899886395993, + -0.001550985855151216, + 0.014751418594429308, + 3409.060311948571 + ], + [ + -0.0, + -0.9945180627633274, + -0.10456492244654789, + 12.545359373768674 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 67890.15661250573, + -340906.0311948571, + 1254.5359373768674 + ], + "rotation_deg": [ + 0.0, + -6.002100467681886, + -179.15011596679688 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.4649886746520435, + 0.8853166283569601, + -0.0, + -3324.576120083009 + ], + [ + 0.24792158097723033, + -0.13021412189014073, + -0.9599891520981529, + 290.66974134788796 + ], + [ + -0.8498943680405723, + 0.4463840657291613, + -0.2800371922370674, + -952.2852084108005 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.4649886746520435, + 0.24792158097723033, + -0.8498943680405723, + 664.4850584843743 + ], + [ + 0.8853166283569601, + -0.13021412189014073, + 0.4463840657291613, + 3406.236816096922 + ], + [ + -0.0, + -0.9599891520981529, + -0.2800371922370674, + 12.364505993853468 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 66448.50584843743, + -340623.6816096922, + 1236.4505993853468 + ], + "rotation_deg": [ + 0.0, + -16.262424468994148, + -152.29051208496094 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.6977153086268448, + 0.7163751448143262, + -0.0, + -2901.851770426741 + ], + [ + 0.10363813862152557, + -0.10093861630636432, + -0.9894799300446784, + 286.18129481917356 + ], + [ + -0.7088388407313307, + 0.690375281647534, + -0.14467020550462814, + -1871.2999542245109 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.6977153086268448, + 0.10363813862152557, + -0.7088388407313307, + 668.5570025853508 + ], + [ + 0.7163751448143262, + -0.10093861630636432, + 0.690375281647534, + 3399.6005202895217 + ], + [ + -0.0, + -0.9894799300446784, + -0.14467020550462814, + 12.449293050874735 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 66855.70025853509, + -339960.05202895217, + 1244.9293050874735 + ], + "rotation_deg": [ + 0.0, + -8.318181991577148, + -135.75601196289062 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.6481442540432254, + -0.7615175808546712, + -3.469446925322413e-18, + 3023.1144707753197 + ], + [ + -0.07240098647931197, + 0.06162206172700662, + -0.9954701495601638, + -152.0569092530298 + ], + [ + 0.7580680165283628, + -0.6452082616043223, + -0.09507461004012939, + 1729.5166908997094 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.6481442540432254, + -0.07240098647931197, + 0.7580680165283628, + 637.3139220826458 + ], + [ + -0.7615175808546712, + 0.06162206172700662, + -0.6452082616043223, + 3427.423318613841 + ], + [ + -3.469446925322413e-18, + -0.9954701495601638, + -0.09507461004012939, + 13.065007927297213 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 63731.39220826459, + -342742.3318613841, + 1306.5007927297213 + ], + "rotation_deg": [ + 1.9968922995160012e-16, + -5.4556140899658185, + 40.4018325805664 + ] + } + } + ] + }, + { + "frame": 63, + "time": 1765.9629092663527, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.01509052004828745, + 0.9998861316193323, + -0.0, + -3418.3415601070974 + ], + [ + 0.10483145890708652, + -0.0015821413882064735, + -0.9944887440549738, + -53.32289559730661 + ], + [ + -0.994375503510263, + 0.015007328245862208, + -0.1048433980641221, + 625.480833703627 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.01509052004828745, + 0.10483145890708652, + -0.994375503510263, + 679.1372057329638 + ], + [ + 0.9998861316193323, + -0.0015821413882064735, + 0.015007328245862208, + 3408.4811447169313 + ], + [ + -0.0, + -0.9944887440549738, + -0.1048433980641221, + 12.548507423925425 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 67913.72057329638, + -340848.1144716931, + 1254.8507423925425 + ], + "rotation_deg": [ + 0.0, + -6.018144130706787, + -179.13534545898438 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.4635359172571781, + 0.8860781305350823, + -0.0, + -3325.827554304722 + ], + [ + 0.24891830992095024, + -0.13021715933970437, + -0.9597307780828934, + 289.8813952560289 + ], + [ + -0.8503964622769526, + 0.4448696687312226, + -0.2809214032248449, + -946.2989802162137 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.4635359172571781, + 0.24891830992095024, + -0.8503964622769526, + 664.7543856943131 + ], + [ + 0.8860781305350823, + -0.13021715933970437, + 0.4448696687312226, + 3405.6703538759757 + ], + [ + -0.0, + -0.9597307780828934, + -0.2809214032248449, + 12.372442978374423 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 66475.43856943131, + -340567.03538759757, + 1237.2442978374422 + ], + "rotation_deg": [ + 0.0, + -16.315204620361335, + -152.38449096679688 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.6930103899171991, + 0.7209275965496201, + -0.0, + -2914.040890629155 + ], + [ + 0.10429674274455453, + -0.10025795475499283, + -0.9894799300446784, + 283.34220685482944 + ], + [ + -0.7133434003044902, + 0.685719858893759, + -0.1446702055046281, + -1851.8818861271554 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.6930103899171991, + 0.10429674274455453, + -0.7133434003044902, + 668.8812080516915 + ], + [ + 0.7209275965496201, + -0.10025795475499283, + 0.685719858893759, + 3399.0920524573116 + ], + [ + -0.0, + -0.9894799300446784, + -0.1446702055046281, + 12.449288318345666 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 66888.12080516915, + -339909.20524573117, + 1244.9288318345666 + ], + "rotation_deg": [ + 0.0, + -8.318181991577147, + -136.13111877441403 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.6384002563670503, + -0.7697045619395045, + -0.0, + 3044.334377464215 + ], + [ + -0.07531399225323901, + 0.06246613874983469, + -0.9952013786568852, + -152.9636671195098 + ], + [ + 0.7660110377357405, + -0.6353368193326466, + -0.09784792316288636, + 1689.3025337848326 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.6384002563670503, + -0.07531399225323901, + 0.7660110377357405, + 637.9591621514269 + ], + [ + -0.7697045619395045, + 0.06246613874983469, + -0.6353368193326466, + 3426.069189651362 + ], + [ + -0.0, + -0.9952013786568852, + -0.09784792316288636, + 13.065089267840838 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 63795.91621514269, + -342606.9189651362, + 1306.5089267840838 + ], + "rotation_deg": [ + 0.0, + -5.615257740020753, + 39.67263412475588 + ] + } + } + ] + }, + { + "frame": 64, + "time": 1766.0295759364963, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.015348550465666307, + 0.99988220406136, + 1.0842021641803776e-19, + -3417.928206060588 + ], + [ + 0.10511013546913789, + -0.0016134782798895397, + -0.9944592782560276, + -53.428251479908766 + ], + [ + -0.9943421352757913, + 0.015263484337034271, + -0.1051225192861785, + 624.8317294383515 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.015348550465666307, + 0.10511013546913789, + -0.9943421352757913, + 679.3725283657044 + ], + [ + 0.99988220406136, + -0.0016134782798895397, + 0.015263484337034271, + 3407.9022595694387 + ], + [ + 1.0842021641803776e-19, + -0.9944592782560276, + -0.1051225192861785, + 12.55165596796393 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 67937.25283657043, + -340790.2259569439, + 1255.165596796393 + ], + "rotation_deg": [ + -6.2466317109164125e-18, + -6.034225463867189, + -179.1205596923828 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.4620838022013944, + 0.886836264336942, + -0.0, + -3327.066404460776 + ], + [ + 0.24991318542294766, + -0.13021663590498178, + -0.9594722650943825, + 289.0817268324984 + ], + [ + -0.8508948078979681, + 0.4433565745322298, + -0.28180307612112265, + -940.3215383713966 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.4620838022013944, + 0.24991318542294766, + -0.8508948078979681, + 665.0233959290858 + ], + [ + 0.886836264336942, + -0.13021663590498178, + 0.4433565745322298, + 3405.1041737391765 + ], + [ + -0.0, + -0.9594722650943825, + -0.28180307612112265, + 12.380380456777132 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 66502.33959290858, + -340510.41737391765, + 1238.0380456777132 + ], + "rotation_deg": [ + 0.0, + -16.367847442626957, + -152.4783477783203 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.68827596123473, + 0.7254489652528346, + -0.0, + -2926.096934441098 + ], + [ + 0.10495085007897946, + -0.09957302398982142, + -0.9894799300446784, + 280.49203262186666 + ], + [ + -0.7178172038402341, + 0.6810352366142566, + -0.1446702055046281, + -1832.3879894647698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.68827596123473, + 0.10495085007897946, + -0.7178172038402341, + 669.2046642384095 + ], + [ + 0.7254489652528346, + -0.09957302398982142, + 0.6810352366142566, + 3398.5842822732016 + ], + [ + -0.0, + -0.9894799300446784, + -0.1446702055046281, + 12.449284079698348 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 66920.46642384095, + -339858.42822732014, + 1244.9284079698348 + ], + "rotation_deg": [ + 0.0, + -8.318181991577147, + -136.5062103271484 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.6279053510121095, + -0.778289708380086, + -6.938893850705532e-18, + 3066.401967785154 + ], + [ + -0.07842649914739587, + 0.0632726065185838, + -0.994909976578699, + -153.60855290121003 + ], + [ + 0.7743281921893989, + -0.6247093020915765, + -0.10076774613413134, + 1646.2792944231112 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.6279053510121095, + -0.07842649914739587, + 0.7743281921893989, + 638.6027598141849 + ], + [ + -0.778289708380086, + 0.0632726065185838, + -0.6247093020915765, + 3424.7142793066973 + ], + [ + -6.938893850705532e-18, + -0.994909976578699, + -0.10076774613413134, + 13.06516935185028 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 63860.27598141849, + -342471.42793066974, + 1306.516935185028 + ], + "rotation_deg": [ + 3.9960332550045185e-16, + -5.783382415771485, + 38.89575195312503 + ] + } + } + ] + }, + { + "frame": 65, + "time": 1766.0962426066399, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.015607644995586856, + 0.9998781932904086, + 1.0842021641808797e-19, + -3417.51569408996 + ], + [ + 0.1053894465136164, + -0.0016450814494242776, + -0.9944296648182706, + -53.533265591276226 + ], + [ + -0.9943085369025042, + 0.015520681103015677, + -0.10540228603260997, + 624.1788960057379 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.015607644995586856, + 0.1053894465136164, + -0.9943085369025042, + 679.6075358407156 + ], + [ + 0.9998781932904086, + -0.0016450814494242776, + 0.015520681103015677, + 3407.3236558172607 + ], + [ + 1.0842021641808797e-19, + -0.9944296648182706, + -0.10540228603260997, + 12.554805996632847 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 67960.75358407156, + -340732.3655817261, + 1255.4805996632847 + ], + "rotation_deg": [ + -6.246817731354844e-18, + -6.050344467163087, + -179.105712890625 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.46063210184718234, + 0.8875911596832443, + -1.3877787709391516e-17, + -3328.2929699136535 + ], + [ + 0.2509062872013894, + -0.13021252992368057, + -0.9592136008698419, + 288.27061803005796 + ], + [ + -0.8513895209372171, + 0.44184455923780763, + -0.2826822759039616, + -934.352040551356 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.46063210184718234, + 0.2509062872013894, + -0.8513895209372171, + 665.2920910061292 + ], + [ + 0.8875911596832443, + -0.13021252992368057, + 0.44184455923780763, + 3404.5382749976916 + ], + [ + -1.3877787709391516e-17, + -0.9592136008698419, + -0.2826822759039616, + 12.388319419810252 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 66529.20910061292, + -340453.82749976916, + 1238.8319419810252 + ], + "rotation_deg": [ + 8.289484950641251e-16, + -16.420356750488285, + -152.57209777832034 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.6835120347033764, + 0.729939242961803, + -2.0816681553890876e-17, + -2938.019918556499 + ], + [ + 0.10560045947291204, + -0.09888382576482277, + -0.9894799300446783, + 277.63079048119346 + ], + [ + -0.7222602434601566, + 0.6763214268054236, + -0.1446702055046281, + -1812.8183829694967 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.6835120347033764, + 0.10560045947291204, + -0.7222602434601566, + 669.5273702516611 + ], + [ + 0.729939242961803, + -0.09888382576482277, + 0.6763214268054236, + 3398.077206209314 + ], + [ + -2.0816681553890876e-17, + -0.9894799300446783, + -0.1446702055046281, + 12.449281325681445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 66952.7370251661, + -339807.7206209314, + 1244.9281325681445 + ], + "rotation_deg": [ + 1.2053887800342534e-15, + -8.318181991577147, + -136.88130187988278 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.6165831741892155, + -0.7872897746743265, + -0.0, + 3089.322733580678 + ], + [ + -0.08175503034070655, + 0.06402823678773266, + -0.9945936355657238, + -153.93553108622402 + ], + [ + 0.7830333960149932, + -0.6132497048239065, + -0.10384363369325333, + 1600.1804350038497 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.6165831741892155, + -0.08175503034070655, + 0.7830333960149932, + 639.2447000234339 + ], + [ + -0.7872897746743265, + 0.06402823678773266, + -0.6132497048239065, + 3423.358582894708 + ], + [ + -0.0, + -0.9945936355657238, + -0.10384363369325333, + 13.065248518036467 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 63924.47000234339, + -342335.8582894708, + 1306.5248518036467 + ], + "rotation_deg": [ + 0.0, + -5.96054744720459, + 38.06704711914066 + ] + } + } + ] + }, + { + "frame": 66, + "time": 1766.1629092767835, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.015867004760096347, + 0.9998741111559711, + -0.0, + -3417.1035214337107 + ], + [ + 0.1056694014093888, + -0.0016768679941326743, + -0.9943999023127021, + -53.63822693508884 + ], + [ + -0.9942747187538649, + 0.015778123907673466, + -0.10568270649863658, + 623.5250512404951 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.015867004760096347, + 0.1056694014093888, + -0.9942747187538649, + 679.8422301869482 + ], + [ + 0.9998741111559711, + -0.0016768679941326743, + 0.015778123907673466, + 3406.745332763062 + ], + [ + -0.0, + -0.9943999023127021, + -0.10568270649863658, + 12.55795816137534 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 67984.22301869481, + -340674.5332763062, + 1255.795816137534 + ], + "rotation_deg": [ + 0.0, + -6.066501617431642, + -179.09085083007815 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.4591812974629816, + 0.8883425780971059, + -0.0, + -3329.506767362011 + ], + [ + 0.2518974777244372, + -0.13020496090249983, + -0.9589548106519126, + 287.4485759603126 + ], + [ + -0.8518803973007867, + 0.4403340962904287, + -0.283558939796906, + -928.3922330789719 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.4591812974629816, + 0.2518974777244372, + -0.8518803973007867, + 665.5604729543941 + ], + [ + 0.8883425780971059, + -0.13020496090249983, + 0.4403340962904287, + 3403.972656954186 + ], + [ + -0.0, + -0.9589548106519126, + -0.283558939796906, + 12.396260518916947 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 66556.0472954394, + -340397.2656954186, + 1239.6260518916947 + ], + "rotation_deg": [ + 0.0, + -16.472728729248054, + -152.66571044921875 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.6787186189114444, + 0.7343984179877713, + -2.0816681553890876e-17, + -2949.8098447650937 + ], + [ + 0.10624556923533787, + -0.09819036132246887, + -0.9894799300446783, + 274.75849702616716 + ], + [ + -0.7266725075984668, + 0.6715784379652201, + -0.1446702055046281, + -1793.1731756295899 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.6787186189114444, + 0.10624556923533787, + -0.7266725075984668, + 669.8493254277614 + ], + [ + 0.7343984179877713, + -0.09819036132246887, + 0.6715784379652201, + 3397.5708207115836 + ], + [ + -2.0816681553890876e-17, + -0.9894799300446783, + -0.1446702055046281, + 12.449280707738115 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 66984.93254277614, + -339757.08207115834, + 1244.9280707738114 + ], + "rotation_deg": [ + 1.2053887800342534e-15, + -8.318181991577147, + -137.25640869140622 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.6043481962002457, + -0.7967203133782326, + -6.938893850777148e-18, + 3113.091907734313 + ], + [ + -0.08531726617228323, + 0.06471698417896062, + -0.9942498056583503, + -153.8782205344309 + ], + [ + 0.792139013648879, + -0.600873080550353, + -0.1070855925197691, + 1550.7102022730828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.6043481962002457, + -0.08531726617228323, + 0.792139013648879, + 639.884967291468 + ], + [ + -0.7967203133782326, + 0.06471698417896062, + -0.600873080550353, + 3422.002095585767 + ], + [ + -6.938893850777148e-18, + -0.9942498056583503, + -0.1070855925197691, + 13.065327041540414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 63988.496729146806, + -342200.2095585767, + 1306.5327041540413 + ], + "rotation_deg": [ + 3.9986865771150384e-16, + -6.147339820861816, + 37.1819534301758 + ] + } + } + ] + }, + { + "frame": 67, + "time": 1766.229575946927, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.016127162301430617, + 0.9998699488614023, + 1.0842021641818914e-19, + -3416.6920196358546 + ], + [ + 0.10595000734899955, + -0.0017088952081226428, + -0.9943699892997143, + -53.74294565906226 + ], + [ + -0.994240670651544, + 0.01603634213214531, + -0.1059637888780352, + 622.868387414512 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.016127162301430617, + 0.10595000734899955, + -0.994240670651544, + 680.076613527178 + ], + [ + 0.9998699488614023, + -0.0017088952081226428, + 0.01603634213214531, + 3406.167289646367 + ], + [ + 1.0842021641818914e-19, + -0.9943699892997143, + -0.1059637888780352, + 12.561112782054687 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 68007.6613527178, + -340616.7289646367, + 1256.1112782054688 + ], + "rotation_deg": [ + -6.2471926240982435e-18, + -6.082697391510012, + -179.07594299316406 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.4577306879872368, + 0.8890908937081351, + 1.3877787709510914e-17, + -3330.708612246897 + ], + [ + 0.2528868779242075, + -0.1301937579547304, + -0.9586958914918599, + 286.6149464755646 + ], + [ + -0.8523677954588607, + 0.4388245120882901, + -0.28443310084284484, + -922.4395817882504 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.4577306879872368, + 0.2528868779242075, + -0.8523677954588607, + 665.828543896656 + ], + [ + 0.8890908937081351, + -0.1301937579547304, + 0.4388245120882901, + 3403.407318848185 + ], + [ + 1.3877787709510914e-17, + -0.9586958914918599, + -0.28443310084284484, + 12.404204073960502 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 66582.8543896656, + -340340.73188481847, + 1240.4204073960502 + ], + "rotation_deg": [ + -8.293961390150467e-16, + -16.524965286254897, + -152.7592315673828 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.6738963092698875, + 0.7388259364372801, + -1.3877787702593918e-17, + -2961.4652662272238 + ], + [ + 0.10688609923437699, + -0.09749271680098409, + -0.9894799300446783, + 271.8755094405681 + ], + [ + -0.7310534481887069, + 0.6668068592408529, + -0.1446702055046281, + -1773.45480821251 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.6738963092698875, + 0.10688609923437699, + -0.7310534481887069, + 670.17052921561 + ], + [ + 0.7388259364372801, + -0.09749271680098409, + 0.6668068592408529, + 3397.065122145235 + ], + [ + -1.3877787702593918e-17, + -0.9894799300446783, + -0.1446702055046281, + 12.449282545731641 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 67017.052921561, + -339706.5122145235, + 1244.9282545731642 + ], + "rotation_deg": [ + 8.035925200228356e-16, + -8.318181991577147, + -137.6315002441406 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.5911042522027259, + -0.8065951667521052, + -0.0, + 3137.69176429897 + ], + [ + -0.08913205336633474, + 0.06531942903222615, + -0.9938756709234835, + -153.3579989371681 + ], + [ + 0.8016553095648415, + -0.5874841391149999, + -0.11050407655288305, + 1497.5392520916764 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.5911042522027259, + -0.08913205336633474, + 0.8016553095648415, + 640.5235456293668 + ], + [ + -0.8065951667521052, + 0.06531942903222615, + -0.5874841391149999, + 3420.6448123801424 + ], + [ + -0.0, + -0.9938756709234835, + -0.11050407655288305, + 13.065405118582682 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64052.354562936685, + -342064.48123801424, + 1306.5405118582682 + ], + "rotation_deg": [ + 0.0, + -6.344374179840089, + 36.235408782959 + ] + } + } + ] + }, + { + "frame": 68, + "time": 1766.2962426170707, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.016387851311656428, + 0.9998657101478113, + -2.1684043283648021e-19, + -3416.2810199709456 + ], + [ + 0.10623125629696056, + -0.001741135849720955, + -0.9943399260974698, + -53.84750989825075 + ], + [ + -0.9942063966426611, + 0.01629507079197326, + -0.10624552481257919, + 622.2098129236705 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.016387851311656428, + 0.10623125629696056, + -0.9942063966426611, + 680.3106881747034 + ], + [ + 0.9998657101478113, + -0.001741135849720955, + 0.01629507079197326, + 3405.589525681427 + ], + [ + -2.1684043283648021e-19, + -0.9943399260974698, + -0.10624552481257919, + 12.564269862150777 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 68031.06881747034, + -340558.9525681427, + 1256.4269862150777 + ], + "rotation_deg": [ + 1.2494763007578988e-17, + -6.098931312561036, + -179.06100463867188 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.45628099180484316, + 0.8898357469317517, + -0.0, + -3331.897767229589 + ], + [ + 0.25387440083180585, + -0.13017915250631212, + -0.9584368403056249, + 285.7705827986528 + ], + [ + -0.8528513701486908, + 0.43731649416049495, + -0.2853047920569762, + -916.4966540302555 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.45628099180484316, + 0.25387440083180585, + -0.8528513701486908, + 666.0963061462138 + ], + [ + 0.8898357469317517, + -0.13017915250631212, + 0.43731649416049495, + 3402.842259893938 + ], + [ + -0.0, + -0.9584368403056249, + -0.2853047920569762, + 12.412150088420795 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 66609.63061462138, + -340284.2259893938, + 1241.2150088420794 + ], + "rotation_deg": [ + 0.0, + -16.57706832885743, + -152.8526153564453 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.6690451180566729, + 0.7432217905877978, + -2.0816681553890876e-17, + -2972.986202161404 + ], + [ + 0.1075220483528091, + -0.09679089397662438, + -0.9894799300446783, + 268.98184495172944 + ], + [ + -0.7354030575895844, + 0.6620067027811268, + -0.14467020550462806, + -1753.66339852152 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.6690451180566729, + 0.1075220483528091, + -0.7354030575895844, + 670.4909812735034 + ], + [ + 0.7432217905877978, + -0.09679089397662438, + 0.6620067027811268, + 3396.560106832777 + ], + [ + -2.0816681553890876e-17, + -0.9894799300446783, + -0.14467020550462806, + 12.449286843141909 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 67049.09812735034, + -339656.0106832777, + 1244.9286843141908 + ], + "rotation_deg": [ + 1.2053887800342534e-15, + -8.318181991577145, + -138.00659179687497 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.5767438026449955, + -0.8169250798638701, + -0.0, + 3163.0863813422066 + ], + [ + -0.09321914975673816, + 0.0658121145197225, + -0.9934681452875443, + -152.28191963434304 + ], + [ + 0.8115890411201556, + -0.5729765997262788, + -0.11410979142815764, + 1440.3034131907364 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.5767438026449955, + -0.09321914975673816, + 0.8115890411201556, + 641.1604185511645 + ], + [ + -0.8169250798638701, + 0.0658121145197225, + -0.5729765997262788, + 3419.2867281134495 + ], + [ + -0.0, + -0.9934681452875443, + -0.11410979142815764, + 13.065482852754915 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64116.041855116455, + -341928.67281134496, + 1306.5482852754915 + ], + "rotation_deg": [ + 0.0, + -6.552281856536868, + 35.22184371948246 + ] + } + } + ] + }, + { + "frame": 69, + "time": 1766.3629092872143, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.0166493380454738, + 0.9998613901649807, + -3.25260649254874e-19, + -3415.8706865976064 + ], + [ + 0.10651314758103414, + -0.0017736192414345205, + -0.9943097121456507, + -53.95182042884756 + ], + [ + -0.9941718913531661, + 0.016554574452073947, + -0.10652791421960364, + 621.5484262837347 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.0166493380454738, + 0.10651314758103414, + -0.9941718913531661, + 680.5444566303544 + ], + [ + 0.9998613901649807, + -0.0017736192414345205, + 0.016554574452073947, + 3405.0120400413034 + ], + [ + -3.25260649254874e-19, + -0.9943097121456507, + -0.10652791421960364, + 12.567429133501351 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 68054.44566303544, + -340501.2040041303, + 1256.742913350135 + ], + "rotation_deg": [ + 1.8742714026332624e-17, + -6.115203380584719, + -179.0460205078125 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.4548317437725695, + 0.8905773884715485, + -0.0, + -3333.0747842889964 + ], + [ + 0.254860047775564, + -0.13016099605522763, + -0.958177682454433, + 284.9149862854787 + ], + [ + -0.8533313865707721, + 0.43580960821669873, + -0.2861739507348819, + -910.5617935234462 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.4548317437725695, + 0.254860047775564, + -0.8533313865707721, + 666.363762203897 + ], + [ + 0.8905773884715485, + -0.13016099605522763, + 0.43580960821669873, + 3402.2774792645073 + ], + [ + -0.0, + -0.958177682454433, + -0.2861739507348819, + 12.42009829413557 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 66636.37622038969, + -340227.74792645074, + 1242.009829413557 + ], + "rotation_deg": [ + 0.0, + -16.6290340423584, + -152.94589233398438 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.664165054088003, + 0.7475859689214879, + -6.938893851296959e-18, + -2984.3726566418586 + ], + [ + 0.10815341492434653, + -0.09608489412483164, + -0.9894799300446783, + 266.0775191289878 + ], + [ + -0.7397213244044285, + 0.657177977309501, + -0.1446702055046281, + -1733.7990548975918 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.664165054088003, + 0.10815341492434653, + -0.7397213244044285, + 670.8106814662578 + ], + [ + 0.7475859689214879, + -0.09608489412483164, + 0.657177977309501, + 3396.0557710382104 + ], + [ + -6.938893851296959e-18, + -0.9894799300446783, + -0.1446702055046281, + 12.44929333180666 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 67081.06814662578, + -339605.57710382104, + 1244.929333180666 + ], + "rotation_deg": [ + 4.017962600114178e-16, + -8.318181991577147, + -138.3816986083984 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.5611459075240782, + -0.8277169023699942, + -6.938893850910351e-18, + 3189.217599172173 + ], + [ + -0.09759907714170274, + 0.06616673232040875, + -0.993023858562888, + -150.54004800305717 + ], + [ + 0.8219426295281682, + -0.5572312780390622, + -0.11791359777088388, + 1378.5977666815354 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.5611459075240782, + -0.09759907714170274, + 0.8219426295281682, + 641.795569044928 + ], + [ + -0.8277169023699942, + 0.06616673232040875, + -0.5572312780390622, + 3417.9278374466626 + ], + [ + -6.938893850910351e-18, + -0.993023858562888, + -0.11791359777088388, + 13.065560251601038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64179.556904492805, + -341792.78374466626, + 1306.556025160104 + ], + "rotation_deg": [ + 4.0036231939233116e-16, + -6.771705627441406, + 34.13508224487306 + ] + } + } + ] + }, + { + "frame": 70, + "time": 1766.4295759573579, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.01691135619662282, + 0.9998569927902645, + -1.0842021641834282e-19, + -3415.460851034886 + ], + [ + 0.10679568972851872, + -0.0018063182657980796, + -0.9942793459937362, + -54.05597674390351 + ], + [ + -0.9941371571972331, + 0.01681458811453634, + -0.10681096529075222, + 620.8851350398468 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.01691135619662282, + 0.10679568972851872, + -0.9941371571972331, + 680.777921573023 + ], + [ + 0.9998569927902645, + -0.0018063182657980796, + 0.01681458811453634, + 3404.434831838396 + ], + [ + -1.0842021641834282e-19, + -0.9942793459937362, + -0.10681096529075222, + 12.570590117683826 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 68077.7921573023, + -340443.4831838396, + 1257.0590117683826 + ], + "rotation_deg": [ + 6.247762148350776e-18, + -6.1315140724182156, + -179.031005859375 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.4533831892509145, + 0.8913157037238093, + -0.0, + -3334.239445316263 + ], + [ + 0.2558438012970001, + -0.1301393861877412, + -0.9579184148457421, + 284.0485076450639 + ], + [ + -0.853807734447345, + 0.43430408800546566, + -0.28704060991370656, + -904.6358661563688 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.4533831892509145, + 0.2558438012970001, + -0.853807734447345, + 666.6309147485979 + ], + [ + 0.8913157037238093, + -0.1301393861877412, + 0.43430408800546566, + 3401.712976072293 + ], + [ + -0.0, + -0.9579184148457421, + -0.28704060991370656, + 12.42804821268225 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 66663.09147485979, + -340171.29760722927, + 1242.804821268225 + ], + "rotation_deg": [ + 0.0, + -16.680864334106445, + -153.03904724121094 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.659256723537776, + 0.7519179293448429, + -2.0816681553890876e-17, + -2995.623233094179 + ], + [ + 0.10878012052421067, + -0.09537480494090758, + -0.9894799300446783, + 263.1628922355114 + ], + [ + -0.7440077122425974, + 0.6523212826228998, + -0.1446702055046281, + -1713.8642446877986 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.659256723537776, + 0.10878012052421067, + -0.7440077122425974, + 671.1296298558527 + ], + [ + 0.7519179293448429, + -0.09537480494090758, + 0.6523212826228998, + 3395.5521109476786 + ], + [ + -2.0816681553890876e-17, + -0.9894799300446783, + -0.1446702055046281, + 12.449301533303315 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 67112.96298558527, + -339555.21109476784, + 1244.9301533303314 + ], + "rotation_deg": [ + 1.2053887800342534e-15, + -8.318181991577147, + -138.75679016113284 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.5441753820981778, + -0.838971485521589, + -1.3877787701926184e-17, + 3215.9972788951695 + ], + [ + -0.10229261750298178, + 0.06634924449297684, + -0.9925391670657634, + -148.00281593496075 + ], + [ + 0.8327120569272101, + -0.5401153841342489, + -0.12192621567803633, + 1311.9756972994874 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.5441753820981778, + -0.10229261750298178, + 0.8327120569272101, + 642.4289795382272 + ], + [ + -0.838971485521589, + 0.06634924449297684, + -0.5401153841342489, + 3416.5681348537946 + ], + [ + -1.3877787701926184e-17, + -0.9925391670657634, + -0.12192621567803633, + 13.065637231194053 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64242.89795382272, + -341656.81348537945, + 1306.5637231194053 + ], + "rotation_deg": [ + 8.011156605628235e-16, + -7.003283023834228, + 32.96833038330079 + ] + } + } + ] + }, + { + "frame": 71, + "time": 1766.4962426275015, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.01717417201691269, + 0.9998525130315637, + -3.2526064925518384e-19, + -3415.0516769976753 + ], + [ + 0.10707889031929833, + -0.0018392625489812649, + -0.9942488261804804, + -54.159884659257344 + ], + [ + -0.9941021877595069, + 0.01707537630676737, + -0.10709468621619056, + 620.2190378094587 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.01717417201691269, + 0.10707889031929833, + -0.9941021877595069, + 681.0110858225806 + ], + [ + 0.9998525130315637, + -0.0018392625489812649, + 0.01707537630676737, + 3403.857900147014 + ], + [ + -3.2526064925518384e-19, + -0.9942488261804804, + -0.10709468621619056, + 12.573752182334795 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 68101.10858225806, + -340385.7900147014, + 1257.3752182334795 + ], + "rotation_deg": [ + 1.8743861795604365e-17, + -6.1478638648986825, + -179.0159454345703 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.45193533678802694, + 0.8920506999954052, + -0.0, + -3335.391789434916 + ], + [ + 0.25682565032254623, + -0.13011433854031146, + -0.9576590438369068, + 283.1712143127799 + ], + [ + -0.854280428791072, + 0.4327999445236765, + -0.2879047707226198, + -898.7188965406906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.45193533678802694, + 0.25682565032254623, + -0.854280428791072, + 666.8977666001877 + ], + [ + 0.8920506999954052, + -0.13011433854031146, + 0.4327999445236765, + 3401.148749391604 + ], + [ + -0.0, + -0.9576590438369068, + -0.2879047707226198, + 12.435999211697425 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 66689.77666001876, + -340114.87493916036, + 1243.5999211697424 + ], + "rotation_deg": [ + 0.0, + -16.73255920410157, + -153.132080078125 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.6543199374402867, + 0.7562178386339078, + 6.938893851296959e-18, + -3006.7384095557195 + ], + [ + 0.10940218927992611, + -0.094660599087145, + -0.9894799300446783, + 260.2378648545824 + ], + [ + -0.7482623861256352, + 0.6474364317435493, + -0.14467020550462814, + -1693.8582922970265 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.6543199374402867, + 0.10940218927992611, + -0.7482623861256352, + 671.4478266644596 + ], + [ + 0.7562178386339078, + -0.094660599087145, + 0.6474364317435493, + 3395.049122692165 + ], + [ + 6.938893851296959e-18, + -0.9894799300446783, + -0.14467020550462814, + 12.449310815268461 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 67144.78266644596, + -339504.9122692165, + 1244.9310815268461 + ], + "rotation_deg": [ + -4.017962600114178e-16, + -8.318181991577148, + -139.13189697265622 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.5256808371945554, + -0.8506818779111442, + -0.0, + 3243.2998783716257 + ], + [ + -0.10732023524354678, + 0.06631878799307996, + -0.9920101740740355, + -144.51769061410812 + ], + [ + 0.8438850754471316, + -0.5214807423661246, + -0.12615789622082405, + 1239.9440753110853 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.5256808371945554, + -0.10732023524354678, + 0.8438850754471316, + 643.0606318569845 + ], + [ + -0.8506818779111442, + 0.06631878799307996, + -0.5214807423661246, + 3415.2076146068403 + ], + [ + -0.0, + -0.9920101740740355, + -0.12615789622082405, + 13.065713622038404 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64306.063185698455, + -341520.761460684, + 1306.5713622038404 + ], + "rotation_deg": [ + 0.0, + -7.247627735137941, + 31.714088439941424 + ] + } + } + ] + }, + { + "frame": 72, + "time": 1766.562909297645, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.017437519201833077, + 0.9998479549031872, + -0.0, + -3414.6429959427096 + ], + [ + 0.10736274134672608, + -0.0018724245567679823, + -0.994218153021154, + -54.26363402658614 + ], + [ + -0.9940669873559109, + 0.017336674075295943, + -0.10737906863607238, + 619.5510430590166 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.017437519201833077, + 0.10736274134672608, + -0.9940669873559109, + 681.2439523690283 + ], + [ + 0.9998479549031872, + -0.0018724245567679823, + 0.017336674075295943, + 3403.2812436683166 + ], + [ + -0.0, + -0.994218153021154, + -0.10737906863607238, + 12.576914647355814 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 68124.39523690283, + -340328.1243668317, + 1257.6914647355813 + ], + "rotation_deg": [ + 0.0, + -6.164252281188966, + -179.0008544921875 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.4504881948989623, + 0.892782384602583, + -0.0, + -3336.531855488584 + ], + [ + 0.2578055838654894, + -0.13008586875527983, + -0.9573995757665441, + 282.28317350496667 + ], + [ + -0.8547494846200772, + 0.4312971886819565, + -0.28876643429725923, + -892.8109086556868 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.4504881948989623, + 0.2578055838654894, + -0.8547494846200772, + 667.1643207486675 + ], + [ + 0.892782384602583, + -0.13008586875527983, + 0.4312971886819565, + 3400.5847979236 + ], + [ + -0.0, + -0.9573995757665441, + -0.28876643429725923, + 12.443950611082647 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 66716.43207486675, + -340058.47979236, + 1244.3950611082646 + ], + "rotation_deg": [ + 0.0, + -16.784118652343757, + -153.2249908447266 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.6493553090151337, + 0.7604851626783128, + -2.0816681553890876e-17, + -3017.716822930077 + ], + [ + 0.11001954392163638, + -0.09394236527814856, + -0.9894799300446783, + 257.30279952226033 + ], + [ + -0.7524848175620555, + 0.6425240314399522, + -0.1446702055046281, + -1673.783682011949 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.6493553090151337, + 0.11001954392163638, + -0.7524848175620555, + 671.7652723037046 + ], + [ + 0.7604851626783128, + -0.09394236527814856, + 0.6425240314399522, + 3394.546802012562 + ], + [ + -2.0816681553890876e-17, + -0.9894799300446783, + -0.1446702055046281, + 12.44932049760366 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 67176.52723037046, + -339454.6802012562, + 1244.932049760366 + ], + "rotation_deg": [ + 1.2053887800342534e-15, + -8.318181991577147, + -139.5069885253906 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.5054937141339714, + -0.8628302874673806, + -0.0, + 3270.9514643652583 + ], + [ + -0.11270112508973705, + 0.06602655369911575, + -0.991432776647073, + -139.90600808690772 + ], + [ + 0.8554382255072343, + -0.5011630400262479, + -0.1306179530259279, + 1161.9627366587388 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.5054937141339714, + -0.11270112508973705, + 0.8554382255072343, + 643.6905071463206 + ], + [ + -0.8628302874673806, + 0.06602655369911575, + -0.5011630400262479, + 3413.84627074353 + ], + [ + -0.0, + -0.991432776647073, + -0.1306179530259279, + 13.065789198235823 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64369.05071463205, + -341384.627074353, + 1306.5789198235823 + ], + "rotation_deg": [ + 0.0, + -7.505302906036378, + 30.364131927490245 + ] + } + } + ] + }, + { + "frame": 73, + "time": 1766.6295759677887, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.017701397725831385, + 0.9998433179846491, + -0.0, + -3414.234805380193 + ], + [ + 0.10764725087704614, + -0.0019058054072990276, + -0.9941873250471278, + -54.36722809090273 + ], + [ + -0.994031554109313, + 0.017598481198676016, + -0.10766412073910261, + 618.8811540734841 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.017701397725831385, + 0.10764725087704614, + -0.994031554109313, + 681.4765244412125 + ], + [ + 0.9998433179846491, + -0.0019058054072990276, + 0.017598481198676016, + 3402.7048610355127 + ], + [ + -0.0, + -0.9941873250471278, + -0.10766412073910261, + 12.580076876599598 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 68147.65244412125, + -340270.4861035513, + 1258.0076876599599 + ], + "rotation_deg": [ + 0.0, + -6.180679798126223, + -178.98573303222656 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.44904153410940684, + 0.8935108844578616, + -0.0, + -3337.6599301206165 + ], + [ + 0.25878359719148203, + -0.13005390925452584, + -0.9571400265960319, + 281.3841653615271 + ], + [ + -0.8552150400338298, + 0.429795607876848, + -0.28962556991692845, + -886.9110844898969 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.44904153410940684, + 0.25878359719148203, + -0.8552150400338298, + 667.430580422884 + ], + [ + 0.8935108844578616, + -0.13005390925452584, + 0.429795607876848, + 3400.021120301489 + ], + [ + -0.0, + -0.9571400265960319, + -0.28962556991692845, + 12.451901774690636 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 66743.0580422884, + -340002.1120301489, + 1245.1901774690637 + ], + "rotation_deg": [ + 0.0, + -16.83554077148438, + -153.3177947998047 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.6443628507864472, + 0.7647198941614916, + -0.0, + -3028.5584962351195 + ], + [ + 0.11063218339085248, + -0.09322010532578676, + -0.9894799300446784, + 254.35771250318228 + ], + [ + -0.75667499931226, + 0.6375840941044876, + -0.14467020550462817, + -1653.6405294727003 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.6443628507864472, + 0.11063218339085248, + -0.75667499931226, + 672.0819674434942 + ], + [ + 0.7647198941614916, + -0.09322010532578676, + 0.6375840941044876, + 3394.0451445649924 + ], + [ + -0.0, + -0.9894799300446784, + -0.14467020550462817, + 12.449329944161626 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 67208.19674434942, + -339404.51445649925, + 1244.9329944161625 + ], + "rotation_deg": [ + 0.0, + -8.31818199157715, + -139.88208007812503 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.48342680404214394, + -0.8753847868986518, + -6.9388938511523826e-18, + 3298.717538882748 + ], + [ + -0.11845189394629312, + 0.06541445702531393, + -0.9908027541507033, + -133.95934376623532 + ], + [ + 0.8673336558041507, + -0.47898061219646476, + -0.13531408887956503, + 1077.4425227695376 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.48342680404214394, + -0.11845189394629312, + 0.8673336558041507, + 644.3185858927912 + ], + [ + -0.8753847868986518, + 0.06541445702531393, + -0.47898061219646476, + 3412.4840970825458 + ], + [ + -6.9388938511523826e-18, + -0.9908027541507033, + -0.13531408887956503, + 13.065863708903835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64431.85858927912, + -341248.40970825456, + 1306.5863708903835 + ], + "rotation_deg": [ + 4.012598204582264e-16, + -7.776782512664793, + 28.909452438354503 + ] + } + } + ] + }, + { + "frame": 74, + "time": 1766.6962426379323, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.01796607383624154, + 0.9998385970700026, + -0.0, + -3413.827267757934 + ], + [ + 0.10793240991264061, + -0.0019394346762532755, + -0.9941563425757469, + -54.47056154330158 + ], + [ + -0.9939958831709285, + 0.017861062202388932, + -0.1079498341649887, + 618.2084712811051 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.01796607383624154, + 0.10793240991264061, + -0.9939958831709285, + 681.708805334526 + ], + [ + 0.9998385970700026, + -0.0019394346762532755, + 0.017861062202388932, + 3402.1287505750493 + ], + [ + -0.0, + -0.9941563425757469, + -0.1079498341649887, + 12.583238337308483 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 68170.8805334526, + -340212.8750575049, + 1258.3238337308483 + ], + "rotation_deg": [ + 0.0, + -6.197145938873293, + -178.97056579589844 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.44759560043846036, + 0.8942360865387473, + -0.0, + -3338.7758010066964 + ], + [ + 0.2597597017564764, + -0.130018572754576, + -0.9568803833720543, + 280.47457193468773 + ], + [ + -0.8556769776025575, + 0.42829543169872747, + -0.29048224246406634, + -881.020278790934 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.44759560043846036, + 0.2597597017564764, + -0.8556769776025575, + 667.6965489182295 + ], + [ + 0.8942360865387473, + -0.130018572754576, + 0.42829543169872747, + 3399.4577148517187 + ], + [ + -0.0, + -0.9568803833720543, + -0.29048224246406634, + 12.459852169763725 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 66769.65489182295, + -339945.77148517186, + 1245.9852169763724 + ], + "rotation_deg": [ + 0.0, + -16.88682937622071, + -153.4104766845703 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.6393425719426594, + 0.7689220218603088, + 6.938893851296959e-18, + -3039.2634367340083 + ], + [ + 0.11124010606392097, + -0.0924938205593519, + -0.9894799300446783, + 251.40261883848254 + ], + [ + -0.7608329202711787, + 0.632616628828929, + -0.14467020550462814, + -1633.4289412365385 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.6393425719426594, + 0.11124010606392097, + -0.7608329202711787, + 672.3979128398258 + ], + [ + 0.7689220218603088, + -0.0924938205593519, + 0.632616628828929, + 3393.54414568213 + ], + [ + 6.938893851296959e-18, + -0.9894799300446783, + -0.14467020550462814, + 12.449338622184687 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 67239.79128398259, + -339354.414568213, + 1244.9338622184687 + ], + "rotation_deg": [ + -4.017962600114178e-16, + -8.318181991577148, + -140.2571868896484 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.45927365782766405, + -0.888294831250074, + -0.0, + 3326.287409835428 + ], + [ + -0.12458475690501222, + 0.06441385787735948, + -0.990115898902888, + -126.43637997008672 + ], + [ + 0.8795148335172798, + -0.4547341537432723, + -0.14025158481265548, + 985.7472188180178 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.45927365782766405, + -0.12458475690501222, + 0.8795148335172798, + 644.944847784828 + ], + [ + -0.888294831250074, + 0.06441385787735948, + -0.4547341537432723, + 3411.121087164304 + ], + [ + -0.0, + -0.990115898902888, + -0.14025158481265548, + 13.06593690385197 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64494.4847784828, + -341112.1087164304, + 1306.593690385197 + ], + "rotation_deg": [ + 0.0, + -8.062404632568361, + 27.340248107910163 + ] + } + } + ] + }, + { + "frame": 75, + "time": 1766.762909308076, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.018231281231357026, + 0.9998337963805102, + -0.0, + -3413.4202145698728 + ], + [ + 0.10821823528702178, + -0.001973285048996287, + -0.9941252032301957, + -54.57374013889262 + ], + [ + -0.9939599763707891, + 0.018124152109053333, + -0.10823622537444806, + 617.533901919606 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.018231281231357026, + 0.10821823528702178, + -0.9939599763707891, + 681.9407985289691 + ], + [ + 0.9998337963805102, + -0.001973285048996287, + 0.018124152109053333, + 3401.5529104943653 + ], + [ + -0.0, + -0.9941252032301957, + -0.10823622537444806, + 12.586398680799974 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 68194.07985289692, + -340155.29104943655, + 1258.6398680799973 + ], + "rotation_deg": [ + 0.0, + -6.213651657104493, + -178.9553680419922 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.44615040230481207, + 0.8949579981894424, + -0.0, + -3339.8795066900366 + ], + [ + 0.26073385837586033, + -0.12997986055682165, + -0.9566206619899376, + 279.554430598889 + ], + [ + -0.8561353209416371, + 0.42679667513440417, + -0.29133642122188846, + -875.1385232152444 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.44615040230481207, + 0.26073385837586033, + -0.8561353209416371, + 667.962229714705 + ], + [ + 0.8949579981894424, + -0.12997986055682165, + 0.42679667513440417, + 3398.894579781728 + ], + [ + -0.0, + -0.9566206619899376, + -0.29133642122188846, + 12.467801447619417 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 66796.2229714705, + -339889.4579781728, + 1246.7801447619418 + ], + "rotation_deg": [ + 0.0, + -16.937982559204105, + -153.50303649902344 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.6342950960743652, + 0.7730910238102701, + -1.3877787702593918e-17, + -3049.830331999805 + ], + [ + 0.11184323642813183, + -0.09176360119382287, + -0.9894799300446783, + 248.4378849892564 + ], + [ + -0.7649580639654255, + 0.6276222526436716, + -0.1446702055046281, + -1613.1514261448024 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.6342950960743652, + 0.11184323642813183, + -0.7649580639654255, + 672.7131094529583 + ], + [ + 0.7730910238102701, + -0.09176360119382287, + 0.6276222526436716, + 3393.0438005610804 + ], + [ + -1.3877787702593918e-17, + -0.9894799300446783, + -0.1446702055046281, + 12.449346182990356 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 67271.31094529583, + -339304.38005610806, + 1244.9346182990355 + ], + "rotation_deg": [ + 8.035925200228356e-16, + -8.318181991577147, + -140.63227844238278 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.4328085020792867, + -0.9014858848189935, + -0.0, + 3353.2558868284696 + ], + [ + -0.13110499746078688, + 0.06294425516990228, + -0.9893682329557145, + -117.06017787567504 + ], + [ + 0.8919014952649317, + -0.42820698593173734, + -0.14543211455327118, + 886.1978865515323 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.4328085020792867, + -0.13110499746078688, + 0.8919014952649317, + 645.569271722253 + ], + [ + -0.9014858848189935, + 0.06294425516990228, + -0.42820698593173734, + 3409.7572342612257 + ], + [ + -0.0, + -0.9893682329557145, + -0.14543211455327118, + 13.06600857453893 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64556.927172225296, + -340975.72342612257, + 1306.600857453893 + ], + "rotation_deg": [ + 0.0, + -8.36230278015137, + 25.645927429199237 + ] + } + } + ] + }, + { + "frame": 76, + "time": 1766.8295759782195, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.018497286155390983, + 0.9998289105666458, + -0.0, + -3413.013807547465 + ], + [ + 0.10850472625305783, + -0.002007386413319153, + -0.9940939064195777, + -54.67666285121329 + ], + [ + -0.9939238278098871, + 0.018388015405047035, + -0.10852329427918388, + 616.8565465762298 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.018497286155390983, + 0.10850472625305783, + -0.9939238278098871, + 682.1725076125992 + ], + [ + 0.9998289105666458, + -0.002007386413319153, + 0.018388015405047035, + 3400.977338752552 + ], + [ + -0.0, + -0.9940939064195777, + -0.10852329427918388, + 12.58955774903754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 68217.25076125993, + -340097.7338752552, + 1258.955774903754 + ], + "rotation_deg": [ + 0.0, + -6.230196952819828, + -178.94012451171875 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.4447059480942403, + 0.8956766267630314, + -0.0, + -3340.9710855081416 + ], + [ + 0.26170602788956876, + -0.1299377741665682, + -0.9563608784401955, + 278.62377954555524 + ], + [ + -0.8565900938001165, + 0.4252993530805423, + -0.2921880755143508, + -869.2658487129353 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.4447059480942403, + 0.26170602788956876, + -0.8565900938001165, + 668.2276264003674 + ], + [ + 0.8956766267630314, + -0.1299377741665682, + 0.4252993530805423, + 3398.331713050608 + ], + [ + -0.0, + -0.9563608784401955, + -0.2921880755143508, + 12.475749450221187 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 66822.76264003674, + -339833.1713050608, + 1247.5749450221188 + ], + "rotation_deg": [ + 0.0, + -16.988998413085938, + -153.59547424316406 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.6141481068687701, + 0.7891907898787882, + -0.0, + -3090.972387669389 + ], + [ + 0.12045394959479494, + -0.09373723826639135, + -0.9882834493146204, + 249.35579216696976 + ], + [ + -0.779944207507268, + 0.6069523943498181, + -0.15262969622220487, + -1533.0231120409805 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.6141481068687701, + 0.12045394959479494, + -0.779944207507268, + 672.6064256899061 + ], + [ + 0.7891907898787882, + -0.09373723826639135, + 0.6069523943498181, + 3393.2129708146495 + ], + [ + -0.0, + -0.9882834493146204, + -0.15262969622220487, + 12.449343291974602 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 67260.64256899062, + -339321.29708146496, + 1244.93432919746 + ], + "rotation_deg": [ + 0.0, + -8.779352188110355, + -142.10995483398438 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.403787382205181, + -0.9148528570059158, + -1.0408340777097146e-17, + 3379.101754832028 + ], + [ + -0.13800770448451735, + 0.06091227599192943, + -0.9885563049904625, + -105.5169403024787 + ], + [ + 0.904383558484612, + -0.3991665653950078, + -0.15085235236304143, + 778.0821170976242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.403787382205181, + -0.13800770448451735, + 0.904383558484612, + 646.1918357083919 + ], + [ + -0.9148528570059158, + 0.06091227599192943, + -0.3991665653950078, + 3408.392531334482 + ], + [ + -1.0408340777097146e-17, + -0.9885563049904625, + -0.15085235236304143, + 13.066078570376758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64619.18357083918, + -340839.2531334482, + 1306.6078570376758 + ], + "rotation_deg": [ + 6.032574976970201e-16, + -8.676324844360348, + 23.815160751342777 + ] + } + } + ] + }, + { + "frame": 77, + "time": 1766.896242648363, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.0187638223085844, + 0.9998239439883264, + -0.0, + -3412.607878154322 + ], + [ + 0.10879187484162725, + -0.0020417108636176864, + -0.9940624524571847, + -54.77942013877522 + ], + [ + -0.9938874421457816, + 0.01865238717711505, + -0.1088110325174383, + 616.1773138227899 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.0187638223085844, + 0.10879187484162725, + -0.9938874421457816, + 682.4039362612077 + ], + [ + 0.9998239439883264, + -0.0020417108636176864, + 0.01865238717711505, + 3400.4020331716847 + ], + [ + -0.0, + -0.9940624524571847, + -0.1088110325174383, + 12.592715561935709 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 68240.39362612077, + -340040.20331716846, + 1259.2715561935709 + ], + "rotation_deg": [ + 0.0, + -6.246781349182132, + -178.9248504638672 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.44326224615966137, + 0.8963919796213549, + -0.0, + -3342.0505756815487 + ], + [ + 0.26267625675447104, + -0.1298923576167893, + -0.9561010195425019, + 277.68274401256554 + ], + [ + -0.8570412938265622, + 0.4238034673706506, + -0.293037270190511, + -863.4022578632209 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.44326224615966137, + 0.26267625675447104, + -0.8570412938265622, + 668.492742651008 + ], + [ + 0.8963919796213549, + -0.1298923576167893, + 0.4238034673706506, + 3397.769112480434 + ], + [ + -0.0, + -0.9561010195425019, + -0.293037270190511, + 12.483696197483562 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 66849.2742651008, + -339776.9112480434, + 1248.3696197483562 + ], + "rotation_deg": [ + 0.0, + -17.039880752563484, + -153.6877899169922 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.591388911010535, + 0.8063864805003697, + -2.0816681554735068e-17, + -3134.0824229096306 + ], + [ + 0.1300292614557077, + -0.09536105228857428, + -0.9869137048758106, + 248.4366559770545 + ], + [ + -0.7958338802120111, + 0.5836498056018607, + -0.16124930861124512, + -1443.3314106520038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.591388911010535, + 0.1300292614557077, + -0.7958338802120111, + 672.5054872847822 + ], + [ + 0.8063864805003697, + -0.09536105228857428, + 0.5836498056018607, + 3393.3730305569275 + ], + [ + -2.0816681554735068e-17, + -0.9869137048758106, + -0.16124930861124512, + 12.449340556654555 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 67250.54872847823, + -339337.30305569276, + 1244.9340556654554 + ], + "rotation_deg": [ + 1.2085230956878721e-15, + -9.279417991638182, + -143.7443695068359 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.37195096607954925, + -0.9282523788455862, + -6.938893851494463e-18, + 3403.1634311250377 + ], + [ + -0.1452735200804585, + 0.058211136724371323, + -0.9876776133560428, + -91.45704099200748 + ], + [ + 0.9168140928688838, + -0.36736764509869596, + -0.15650218034150348, + 660.6695247576548 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.37195096607954925, + -0.1452735200804585, + 0.9168140928688838, + 646.812516787873 + ], + [ + -0.9282523788455862, + 0.058211136724371323, + -0.36736764509869596, + 3407.02697101252 + ], + [ + -6.938893851494463e-18, + -0.9876776133560428, + -0.15650218034150348, + 13.066146808266216 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64681.25167878731, + -340702.697101252, + 1306.6146808266217 + ], + "rotation_deg": [ + 4.025294588876234e-16, + -9.003928184509276, + 21.83598899841308 + ] + } + } + ] + }, + { + "frame": 78, + "time": 1766.9629093185067, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.019031155931934798, + 0.9998188911517398, + -0.0, + -3412.2025872383065 + ], + [ + 0.10907969682758577, + -0.002076288753598778, + -0.9940308389406303, + -54.88192040303282 + ], + [ + -0.993850811525472, + 0.018917531855514647, + -0.10909945654610945, + 615.4953038387862 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.019031155931934798, + 0.10907969682758577, + -0.993850811525472, + 682.6350882407723 + ], + [ + 0.9998188911517398, + -0.002076288753598778, + 0.018917531855514647, + 3399.8269911800426 + ], + [ + -0.0, + -0.9940308389406303, + -0.10909945654610945, + 12.595872310679901 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 68263.50882407723, + -339982.69911800424, + 1259.5872310679902 + ], + "rotation_deg": [ + 0.0, + -6.2634057998657235, + -178.90953063964844 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.441819304821178, + 0.8971040641348866, + -0.0, + -3343.118015083063 + ], + [ + 0.26364447745109093, + -0.12984359831176684, + -0.9558411110048541, + 276.73133348421754 + ], + [ + -0.8574889535206954, + 0.4223090370555978, + -0.2938839427582876, + -857.5477897248803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.441819304821178, + 0.26364447745109093, + -0.8574889535206954, + 668.7575822326048 + ], + [ + 0.8971040641348866, + -0.12984359831176684, + 0.4223090370555978, + 3397.206775499485 + ], + [ + -0.0, + -0.9558411110048541, + -0.2938839427582876, + 12.49164188059196 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 66875.75822326048, + -339720.6775499485, + 1249.164188059196 + ], + "rotation_deg": [ + 0.0, + -17.09062576293946, + -153.77998352050784 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.5659134236533454, + 0.8244646729417512, + -1.3877787703496381e-17, + -3178.3619288025575 + ], + [ + 0.14051124550679556, + -0.09644706755332907, + -0.9853702619048802, + 245.0795677171604 + ], + [ + -0.8124029814936317, + 0.5576342423678491, + -0.17042724957908742, + -1343.9445361250698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5659134236533454, + 0.14051124550679556, + -0.8124029814936317, + 672.4166614882732 + ], + [ + 0.8244646729417512, + -0.09644706755332907, + 0.5576342423678491, + 3393.513883130132 + ], + [ + -1.3877787703496381e-17, + -0.9853702619048802, + -0.17042724957908742, + 12.449338149572911 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 67241.66614882732, + -339351.3883130132, + 1244.9338149572911 + ], + "rotation_deg": [ + 8.069440506670027e-16, + -9.81266117095947, + -145.5342559814453 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.33703014084764804, + -0.9414938577389734, + -6.938893851598418e-18, + 3424.612344338762 + ], + [ + -0.152863272557382, + 0.05472104768072796, + -0.9867311826651526, + -74.50000712272445 + ], + [ + 0.9290013466400725, + -0.3325581518771074, + -0.1623624758403695, + 533.2370985632841 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.33703014084764804, + -0.152863272557382, + 0.9290013466400725, + 647.4312909199069 + ], + [ + -0.9414938577389734, + 0.05472104768072796, + -0.3325581518771074, + 3405.660545541041 + ], + [ + -6.938893851598418e-18, + -0.9867311826651526, + -0.1623624758403695, + 13.06621328547659 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64743.1290919907, + -340566.0545541041, + 1306.621328547659 + ], + "rotation_deg": [ + 4.0291554807435184e-16, + -9.344049453735348, + 19.69603729248047 + ] + } + } + ] + }, + { + "frame": 79, + "time": 1767.0295759886503, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.019299020727711984, + 0.9998137565561654, + 2.1684043283763657e-19, + -3411.7977660963184 + ], + [ + 0.10936818425660891, + -0.0021110920319708047, + -0.9939990661780546, + -54.98425436162877 + ], + [ + -0.993813940739914, + 0.0191831845429002, + -0.10938855800217794, + 614.8114251513838 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.019299020727711984, + 0.10936818425660891, + -0.993813940739914, + 682.8659674121556 + ], + [ + 0.9998137565561654, + -0.0021110920319708047, + 0.0191831845429002, + 3399.252210075049 + ], + [ + 2.1684043283763657e-19, + -0.9939990661780546, + -0.10938855800217794, + 12.599028264357996 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 68286.59674121556, + -339925.2210075049, + 1259.9028264357996 + ], + "rotation_deg": [ + -1.2499047683614454e-17, + -6.280069828033452, + -178.89418029785156 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.44037689326408125, + 0.8978130049620998, + -1.387778771023157e-17, + -3344.1736798656875 + ], + [ + 0.26461074267207335, + -0.1297914556129069, + -0.9555811493078002, + 275.7693815133581 + ], + [ + -0.8579331912863594, + 0.4208158396451351, + -0.29472812623325023, + -851.7016040313875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.44037689326408125, + 0.26461074267207335, + -0.8579331912863594, + 669.0221490060203 + ], + [ + 0.8978130049620998, + -0.1297914556129069, + 0.4208158396451351, + 3396.644699405185 + ], + [ + -1.387778771023157e-17, + -0.9555811493078002, + -0.29472812623325023, + 12.499586768634257 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 66902.21490060203, + -339664.4699405185, + 1249.9586768634258 + ], + "rotation_deg": [ + 8.320995778435001e-16, + -17.1412353515625, + -153.8720703125 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.5372935607162587, + 0.8433952985479846, + -0.0, + -3223.4213375304353 + ], + [ + 0.1519822508698145, + -0.09682184009811431, + -0.9836294661611963, + 238.6402756262039 + ], + [ + -0.829588477599598, + 0.528497761619633, + -0.18020286844836558, + -1233.522324311357 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5372935607162587, + 0.1519822508698145, + -0.829588477599598, + 672.3384947873452 + ], + [ + 0.8433952985479846, + -0.09682184009811431, + 0.528497761619633, + 3393.6378333945513 + ], + [ + -0.0, + -0.9836294661611963, + -0.18020286844836558, + 12.449336031341065 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 67233.84947873453, + -339363.78333945514, + 1244.9336031341065 + ], + "rotation_deg": [ + 0.0, + -10.381576538085941, + -147.5004119873047 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.29915942808924245, + -0.9542031422005052, + 3.4694469258543303e-18, + 3442.25702186104 + ], + [ + -0.16062970123203743, + 0.05036022983942838, + -0.9857291445080774, + -54.46540128751919 + ], + [ + 0.9405858461437525, + -0.29489016926955886, + -0.16833910449510137, + 396.5472758753991 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.29915942808924245, + -0.16062970123203743, + 0.9405858461437525, + 648.0481329298483 + ], + [ + -0.9542031422005052, + 0.05036022983942838, + -0.29489016926955886, + 3404.2932467695296 + ], + [ + 3.4694469258543303e-18, + -0.9857291445080774, + -0.16833910449510137, + 13.066278049975447 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64804.81329298483, + -340429.32467695297, + 1306.6278049975447 + ], + "rotation_deg": [ + -2.016625649586046e-16, + -9.691265106201168, + 17.40712356567383 + ] + } + } + ] + }, + { + "frame": 80, + "time": 1767.096242658794, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.01956768293360184, + 0.9998085345627984, + -2.1684043283774492e-19, + -3411.393574673414 + ], + [ + 0.10965734460920397, + -0.002146151064405464, + -0.9939671326602638, + -55.08632462341967 + ], + [ + -0.9937768226856679, + 0.01944960966265304, + -0.1096783450675173, + 614.1247788973886 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.01956768293360184, + 0.10965734460920397, + -0.9937768226856679, + 683.0965777394211 + ], + [ + 0.9998085345627984, + -0.002146151064405464, + 0.01944960966265304, + 3398.6776867363787 + ], + [ + -2.1684043283774492e-19, + -0.9939671326602638, + -0.1096783450675173, + 12.602183771041222 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 68309.65777394212, + -339867.7686736379, + 1260.2183771041223 + ], + "rotation_deg": [ + 1.2499449244747278e-17, + -6.296773910522461, + -178.8787841796875 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.43893549775918644, + 0.898518574547513, + 1.387778771029191e-17, + -3345.217129079735 + ], + [ + 0.2655749729679051, + -0.12973608587975358, + -0.9553211406399932, + 274.7974792433846 + ], + [ + -0.8583737976342753, + 0.4193243422173407, + -0.29556982180003954, + -845.8654222914475 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.43893549775918644, + 0.2655749729679051, + -0.8583737976342753, + 669.286446935318 + ], + [ + 0.898518574547513, + -0.12973608587975358, + 0.4193243422173407, + 3396.0828810772077 + ], + [ + 1.387778771029191e-17, + -0.9553211406399932, + -0.29556982180003954, + 12.507531209681687 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 66928.64469353181, + -339608.2881077208, + 1250.7531209681688 + ], + "rotation_deg": [ + -8.323260494423911e-16, + -17.19170951843262, + -153.96401977539062 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.5170783427526697, + 0.8559380745452047, + -1.3877787704104006e-17, + -3252.3056480766836 + ], + [ + 0.15888968091714312, + -0.09598639823656756, + -0.9826192958880969, + 231.1152152605 + ], + [ + -0.8410612781295995, + 0.5080911400083381, + -0.18563221669750934, + -1156.3128726082346 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5170783427526697, + 0.15888968091714312, + -0.8410612781295995, + 672.4449664524175 + ], + [ + 0.8559380745452047, + -0.09598639823656756, + 0.5080911400083381, + 3393.4685295714025 + ], + [ + -1.3877787704104006e-17, + -0.9826192958880969, + -0.18563221669750934, + 12.44933799178803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 67244.49664524174, + -339346.85295714025, + 1244.933799178803 + ], + "rotation_deg": [ + 8.09203191826691e-16, + -10.69799423217773, + -148.86352539062503 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.26076728101957325, + -0.9654016910849386, + -0.0, + 3454.3397045115908 + ], + [ + -0.1679851009136147, + 0.04537491328383001, + -0.9847446994604884, + -32.57469727562916 + ], + [ + 0.9506741973937178, + -0.2567891996580933, + -0.17400539459673892, + 259.44082562477934 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.26076728101957325, + -0.1679851009136147, + 0.9506741973937178, + 648.663016353992 + ], + [ + -0.9654016910849386, + 0.04537491328383001, + -0.2567891996580933, + 3402.925066090407 + ], + [ + -0.0, + -0.9847446994604884, + -0.17400539459673892, + 13.066341210558384 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64866.3016353992, + -340292.5066090407, + 1306.6341210558385 + ], + "rotation_deg": [ + 0.0, + -10.020783424377436, + 15.115594863891607 + ] + } + } + ] + }, + { + "frame": 81, + "time": 1767.1629093289375, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.019836876253985423, + 0.9998032298109886, + -0.0, + -3410.989844017295 + ], + [ + 0.1099471782172488, + -0.0021814378107007744, + -0.9939350377822196, + -55.1882274697402 + ], + [ + -0.9937394613799115, + 0.019716542316262815, + -0.1099688176505245, + 613.4362731481518 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.019836876253985423, + 0.1099471782172488, + -0.9937394613799115, + 683.3269233296444 + ], + [ + 0.9998032298109886, + -0.0021814378107007744, + 0.019716542316262815, + 3398.103417849999 + ], + [ + -0.0, + -0.9939350377822196, + -0.1099688176505245, + 12.605339175701932 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 68332.69233296443, + -339810.3417849999, + 1260.5339175701931 + ], + "rotation_deg": [ + 0.0, + -6.313518047332767, + -178.8633575439453 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.4374946481381484, + 0.8992210144622275, + -0.0, + -3346.248875196212 + ], + [ + 0.2665372272340411, + -0.1296773635947681, + -0.955061091171397, + 273.81516771217986 + ], + [ + -0.8588110113579867, + 0.41783409784260717, + -0.29640903064907975, + -840.0375613091475 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.4374946481381484, + 0.2665372272340411, + -0.8588110113579867, + 669.5504801275736 + ], + [ + 0.8992210144622275, + -0.1296773635947681, + 0.41783409784260717, + 3395.521317201521 + ], + [ + -0.0, + -0.955061091171397, + -0.29640903064907975, + 12.515475548706602 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 66955.04801275735, + -339552.1317201521, + 1251.5475548706602 + ], + "rotation_deg": [ + 0.0, + -17.242048263549812, + -154.0558624267578 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.5029467221394752, + 0.8643174154725549, + -1.387778770421308e-17, + -3271.052056494955 + ], + [ + 0.16268209199360806, + -0.09466478802147407, + -0.9821268323660811, + 224.0073921650082 + ], + [ + -0.8488693351826768, + 0.4939574537322715, + -0.18822031157356922, + -1102.7200892321405 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5029467221394752, + 0.16268209199360806, + -0.8488693351826768, + 672.6576048004157 + ], + [ + 0.8643174154725549, + -0.09466478802147407, + 0.4939574537322715, + 3393.1297305110475 + ], + [ + -1.387778770421308e-17, + -0.9821268323660811, + -0.18822031157356922, + 12.449340999780631 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 67265.76048004157, + -339312.97305110475, + 1244.9340999780632 + ], + "rotation_deg": [ + 8.096089470173548e-16, + -10.848941802978514, + -149.80485534667966 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.22191447917402943, + -0.9750661331073496, + -0.0, + 3460.8257761849045 + ], + [ + -0.1748792610389634, + 0.039800623582449984, + -0.9837851159785425, + -8.984625091607535 + ], + [ + 0.9592555482230352, + -0.21831616323877717, + -0.1793511808492618, + 122.13660630061814 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.22191447917402943, + -0.1748792610389634, + 0.9592555482230352, + 649.2759133757628 + ], + [ + -0.9750661331073496, + 0.039800623582449984, + -0.21831616323877717, + 3401.555994420662 + ], + [ + -0.0, + -0.9837851159785425, + -0.1793511808492618, + 13.06640290305482 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64927.59133757628, + -340155.5994420662, + 1306.640290305482 + ], + "rotation_deg": [ + 0.0, + -10.331970214843746, + 12.821504592895506 + ] + } + } + ] + }, + { + "frame": 82, + "time": 1767.2295759990811, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.02010686692313976, + 0.9997978365162307, + -0.0, + -3410.5867330999517 + ], + [ + 0.11023768426781723, + -0.0022169826404221426, + -0.9939027809374721, + -55.289859950765624 + ], + [ + -0.9937018504776252, + 0.019984246921077954, + -0.11025997565908084, + 612.7450100744778 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.02010686692313976, + 0.11023768426781723, + -0.9937018504776252, + 683.5570084379289 + ], + [ + 0.9997978365162307, + -0.0022169826404221426, + 0.019984246921077954, + 3397.529399676558 + ], + [ + -0.0, + -0.9939027809374721, + -0.11025997565908084, + 12.60849477978273 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 68355.70084379289, + -339752.9399676558, + 1260.849477978273 + ], + "rotation_deg": [ + 0.0, + -6.330302238464356, + -178.84788513183594 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.4360548313581789, + 0.8999200987027625, + 1.387778771041269e-17, + -3347.268482989035 + ], + [ + 0.2674974262486799, + -0.1296154461487826, + -0.9548010070532938, + 272.82304099290405 + ], + [ + -0.8592446245604429, + 0.41634557390096405, + -0.2972457539765042, + -834.2197416012459 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.4360548313581789, + 0.2674974262486799, + -0.8592446245604429, + 669.8142528378902 + ], + [ + 0.8999200987027625, + -0.1296154461487826, + 0.41634557390096405, + 3394.9600040387736 + ], + [ + 1.387778771041269e-17, + -0.9548010070532938, + -0.2972457539765042, + 12.523420087151603 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 66981.42528378902, + -339496.00040387735, + 1252.3420087151603 + ], + "rotation_deg": [ + -8.32779464067137e-16, + -17.29225158691406, + -154.14756774902344 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.4960965158180284, + 0.8682673822004442, + -6.938893852097594e-18, + -3279.5636794088277 + ], + [ + 0.16305935519475911, + -0.0931662062193875, + -0.9822075670153206, + 218.57042050816915 + ], + [ + -0.8528188026500242, + 0.48726973434520676, + -0.18779855121307604, + -1076.8568967787744 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.4960965158180284, + 0.16305935519475911, + -0.8528188026500242, + 672.9763079118674 + ], + [ + 0.8682673822004442, + -0.0931662062193875, + 0.48726973434520676, + 3392.621372416865 + ], + [ + -6.938893852097594e-18, + -0.9822075670153206, + -0.18779855121307604, + 12.449345068572542 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 67297.63079118673, + -339262.1372416865, + 1244.9345068572543 + ], + "rotation_deg": [ + 4.0477119973968063e-16, + -10.82433795928955, + -150.25791931152344 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.1826627586847933, + -0.9831756285576148, + -0.0, + 3461.6901442668177 + ], + [ + -0.1812612323892852, + 0.03367625863489556, + -0.9828582172607976, + 16.136218218493806 + ], + [ + 0.9663222450225785, + -0.1795315946875437, + -0.1843630258036345, + -15.150274921416383 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.1826627586847933, + -0.1812612323892852, + 0.9663222450225785, + 649.886794647475 + ], + [ + -0.9831756285576148, + 0.03367625863489556, + -0.1795315946875437, + 3400.1860221332686 + ], + [ + -0.0, + -0.9828582172607976, + -0.1843630258036345, + 13.066463269828002 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 64988.679464747496, + -340018.60221332684, + 1306.6463269828002 + ], + "rotation_deg": [ + 0.0, + -10.62399768829345, + 10.524896621704098 + ] + } + } + ] + }, + { + "frame": 83, + "time": 1767.2962426692247, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.020377388647640677, + 0.9997923594586543, + 2.1684043283807334e-19, + -3410.1840726705896 + ], + [ + 0.11052887137796243, + -0.0022527575326474272, + -0.9938703605981075, + -55.391324061518084 + ], + [ + -0.9936639932132234, + 0.02025245857647013, + -0.11055182727191587, + 612.0518971557354 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.020377388647640677, + 0.11052887137796243, + -0.9936639932132234, + 683.7868373014837 + ], + [ + 0.9997923594586543, + -0.0022527575326474272, + 0.02025245857647013, + 3396.955628240331 + ], + [ + 2.1684043283807334e-19, + -0.9938703605981075, + -0.11055182727191587, + 12.611650820727498 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 68378.68373014838, + -339695.5628240331, + 1261.1650820727498 + ], + "rotation_deg": [ + -1.2500666302369682e-17, + -6.3471269607543945, + -178.83238220214844 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.4346155764375175, + 0.900616067321633, + -0.0, + -3348.2764580777616 + ], + [ + 0.2684556576310834, + -0.12955022081299217, + -0.9545408844953513, + 271.82066396350206 + ], + [ + -0.8596748655135465, + 0.414858318517508, + -0.29808002476028356, + -828.4102698181615 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.4346155764375175, + 0.2684556576310834, + -0.8596748655135465, + 670.0777693034772 + ], + [ + 0.900616067321633, + -0.12955022081299217, + 0.414858318517508, + 3394.3989376132395 + ], + [ + -0.0, + -0.9545408844953513, + -0.29808002476028356, + 12.531365062460576 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 67007.77693034773, + -339439.89376132394, + 1253.1365062460577 + ], + "rotation_deg": [ + 0.0, + -17.342321395874027, + -154.23916625976562 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.49692895971713913, + 0.8677912243128768, + 1.3877787704054468e-17, + -3278.131091794062 + ], + [ + 0.16005860323055807, + -0.09165540393672232, + -0.9828430853707416, + 215.34208645234318 + ], + [ + -0.852902614049508, + 0.4884031745265382, + -0.18444367720232616, + -1079.9942981963875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.49692895971713913, + 0.16005860323055807, + -0.852902614049508, + 673.4009139924981 + ], + [ + 0.8677912243128768, + -0.09165540393672232, + 0.4884031745265382, + 3391.9433541885396 + ], + [ + 1.3877787704054468e-17, + -0.9828430853707416, + -0.18444367720232616, + 12.449350342549046 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 67340.09139924981, + -339194.33541885397, + 1244.9350342549046 + ], + "rotation_deg": [ + -8.090189394580401e-16, + -10.628699302673342, + -150.20297241210938 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.1430749477178907, + -0.9897118567217037, + -3.4694469260618346e-18, + 3456.9172699762316 + ], + [ + -0.1870805648777331, + 0.02704478263762136, + -0.981972220573022, + 42.60583514189005 + ], + [ + 0.9718695492406189, + -0.14049562515990885, + -0.18902528553017103, + -152.20833293510114 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.1430749477178907, + -0.1870805648777331, + 0.9718695492406189, + 650.495629088412 + ], + [ + -0.9897118567217037, + 0.02704478263762136, + -0.14049562515990885, + 3398.815138979959 + ], + [ + -3.4694469260618346e-18, + -0.981972220573022, + -0.18902528553017103, + 13.066522445223539 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65049.562908841195, + -339881.51389799593, + 1306.6522445223538 + ], + "rotation_deg": [ + 2.0243410504203452e-16, + -10.89590644836425, + 8.225819587707512 + ] + } + } + ] + }, + { + "frame": 84, + "time": 1767.3629093393683, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.020648707658258013, + 0.9997867927073473, + -0.0, + -3409.782020806575 + ], + [ + 0.11082073044226122, + -0.002288792852704434, + -0.9938377770700411, + -55.49251141503348 + ], + [ + -0.993625884009031, + 0.020521441694618163, + -0.11084436412396673, + 611.3560374126865 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.020648707658258013, + 0.11082073044226122, + -0.993625884009031, + 684.0164142913942 + ], + [ + 0.9997867927073473, + -0.002288792852704434, + 0.020521441694618163, + 3396.382099266621 + ], + [ + -0.0, + -0.9938377770700411, + -0.11084436412396673, + 12.614807433001117 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 68401.64142913942, + -339638.2099266621, + 1261.4807433001117 + ], + "rotation_deg": [ + 0.0, + -6.363991737365723, + -178.81683349609375 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.36906690294267613, + 0.9294028303982622, + -6.938893856066775e-18, + -3402.204334213846 + ], + [ + 0.2973419657330765, + -0.11807482699505996, + -0.9474418666303893, + 213.46780003208724 + ], + [ + -0.8805551592196535, + 0.349669416286929, + -0.31992797765310993, + -593.0069266202538 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.36906690294267613, + 0.2973419657330765, + -0.8805551592196535, + 669.9927155925651 + ], + [ + 0.9294028303982622, + -0.11807482699505996, + 0.349669416286929, + 3394.579932927482 + ], + [ + -6.938893856066775e-18, + -0.9474418666303893, + -0.31992797765310993, + 12.52880332819267 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 66999.27155925651, + -339457.9932927482, + 1252.8803328192669 + ], + "rotation_deg": [ + 4.196239891061294e-16, + -18.658569335937493, + -158.3419189453125 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.5046907029996146, + 0.8633002341629213, + -0.0, + -3267.6644231733885 + ], + [ + 0.15416579415078285, + -0.0901262850969747, + -0.9839258918477942, + 213.98039098715682 + ], + [ + -0.8494234626664598, + 0.4965782327402774, + -0.1785772657430487, + -1109.276025716558 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5046907029996146, + 0.15416579415078285, + -0.8494234626664598, + 673.9262705591431 + ], + [ + 0.8633002341629213, + -0.0901262850969747, + 0.4965782327402774, + 3391.103099553316 + ], + [ + -0.0, + -0.9839258918477942, + -0.1785772657430487, + 12.449357258402715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 67392.6270559143, + -339110.3099553316, + 1244.9357258402715 + ], + "rotation_deg": [ + 0.0, + -10.28690052032471, + -149.6891784667969 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.1032150524471263, + -0.9946590636737477, + -0.0, + 3446.5013722152758 + ], + [ + -0.19228830799073685, + 0.019953618801731438, + -0.981135597003174, + 70.22817379737319 + ], + [ + 0.9758954138812655, + -0.10126796285401576, + -0.19332082367119957, + -288.82962281063664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.1032150524471263, + -0.19228830799073685, + 0.9758954138812655, + 651.1023837526103 + ], + [ + -0.9946590636737477, + 0.019953618801731438, + -0.10126796285401576, + 3397.443334046997 + ], + [ + -0.0, + -0.981135597003174, + -0.19332082367119957, + 13.066580525733528 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65110.238375261026, + -339744.3334046997, + 1306.6580525733527 + ], + "rotation_deg": [ + 0.0, + -11.146647453308105, + 5.924337863922118 + ] + } + } + ] + }, + { + "frame": 85, + "time": 1767.429576009512, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.02092082392166756, + 0.9997811356124092, + -4.336808656765902e-19, + -3409.380571165815 + ], + [ + 0.11111327774268748, + -0.0023250901984564866, + -0.9938050278927174, + -55.59342887702314 + ], + [ + -0.9935875197706503, + 0.02079119598016331, + -0.11113760266319547, + 610.657435368691 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.02092082392166756, + 0.11111327774268748, + -0.9935875197706503, + 684.245743769477 + ], + [ + 0.9997811356124092, + -0.0023250901984564866, + 0.02079119598016331, + 3395.808808056414 + ], + [ + -4.336808656765902e-19, + -0.9938050278927174, + -0.11113760266319547, + 12.617964658351507 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 68424.5743769477, + -339580.8808056414, + 1261.7964658351507 + ], + "rotation_deg": [ + 2.5002976191435943e-17, + -6.380897521972655, + -178.80123901367188 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.3010362436304055, + 0.9536126991713644, + -2.7755575427539147e-17, + -3438.9530969106568 + ], + [ + 0.3239424891493372, + -0.10226209253561525, + -0.9405337464195362, + 141.924998900331 + ], + [ + -0.8969049299348363, + 0.283134726052672, + -0.3397002701819136, + -356.07559811744386 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.3010362436304055, + 0.3239424891493372, + -0.8969049299348363, + 669.9079633541343 + ], + [ + 0.9536126991713644, + -0.10226209253561525, + 0.283134726052672, + 3394.7602867049195 + ], + [ + -2.7755575427539147e-17, + -0.9405337464195362, + -0.3397002701819136, + 12.526250673972957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 66990.79633541343, + -339476.02867049194, + 1252.6250673972957 + ], + "rotation_deg": [ + 1.6908243306822485e-15, + -19.8586139678955, + -162.4801483154297 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.5102646368428392, + 0.8600174419089679, + 6.9388938518110815e-18, + -3259.8565100229143 + ], + [ + 0.14937958027284864, + -0.08862973419523859, + -0.9847997315261557, + 211.9966481563871 + ], + [ + -0.8469449558422933, + 0.5025084601522989, + -0.17369366496409921, + -1130.293773299439 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5102646368428392, + 0.14937958027284864, + -0.8469449558422933, + 674.4248741153228 + ], + [ + 0.8600174419089679, + -0.08862973419523859, + 0.5025084601522989, + 3390.3048990293714 + ], + [ + 6.9388938518110815e-18, + -0.9847997315261557, + -0.17369366496409921, + 12.449364416981247 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 67442.48741153229, + -339030.48990293714, + 1244.9364416981248 + ], + "rotation_deg": [ + -4.0370577138729535e-16, + -10.002646446228031, + -149.31854248046875 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.06314830900756942, + -0.9980041538337827, + -0.0, + 3430.4467576539273 + ], + [ + -0.19683825236572067, + 0.012454860771021073, + -0.9803568630089675, + 98.7932529373052 + ], + [ + 0.9784002211893824, + -0.061907878582749855, + -0.1972318983986905, + -424.8096121258393 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.06314830900756942, + -0.19683825236572067, + 0.9784002211893824, + 651.7070235081175 + ], + [ + -0.9980041538337827, + 0.012454860771021073, + -0.061907878582749855, + 3396.0705956295237 + ], + [ + -0.0, + -0.9803568630089675, + -0.1972318983986905, + 13.066637564314027 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65170.70235081175, + -339607.0595629524, + 1306.6637564314026 + ], + "rotation_deg": [ + 0.0, + -11.375134468078617, + 3.620540618896483 + ] + } + } + ] + }, + { + "frame": 86, + "time": 1767.4962426796556, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.0211934711478615, + 0.9997753931662375, + -2.1684043283840687e-19, + -3408.979554013723 + ], + [ + 0.11140650537965009, + -0.002361620993661625, + -0.9937721133667294, + -55.69416931279931 + ], + [ + -0.9935489057715925, + 0.021061456594333963, + -0.11143153452320649, + 609.9569993006859 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.0211934711478615, + 0.11140650537965009, + -0.9935489057715925, + 684.4748302543063 + ], + [ + 0.9997753931662375, + -0.002361620993661625, + 0.021061456594333963, + 3395.2357495988854 + ], + [ + -2.1684043283840687e-19, + -0.9937721133667294, + -0.11143153452320649, + 12.621122441227548 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 68447.48302543063, + -339523.57495988853, + 1262.1122441227549 + ], + "rotation_deg": [ + 1.2501902154993417e-17, + -6.397843837738039, + -178.7856140136719 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.23082622056632368, + 0.9729949927410044, + -0.0, + -3457.85429367769 + ], + [ + 0.3475345581404166, + -0.08244655848202596, + -0.9340354896322811, + 58.80700400988829 + ], + [ + -0.9088118583291172, + 0.2155998612363869, + -0.35718021501089203, + -118.71821821474732 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.23082622056632368, + 0.3475345581404166, + -0.9088118583291172, + 669.8333813843151 + ], + [ + 0.9729949927410044, + -0.08244655848202596, + 0.2155998612363869, + 3394.9189980290644 + ], + [ + -0.0, + -0.9340354896322811, + -0.35718021501089203, + 12.52400433825961 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 66983.33813843151, + -339491.89980290644, + 1252.400433825961 + ], + "rotation_deg": [ + 0.0, + -20.92712402343749, + -166.65428161621094 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.5141057310263483, + 0.8577268197543224, + -0.0, + -3254.272477591247 + ], + [ + 0.14546944819293686, + -0.08719172035060109, + -0.9855131879101086, + 209.63186383165774 + ], + [ + -0.8453011025108004, + 0.5066579607560345, + -0.1695988116012655, + -1144.7343483875907 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5141057310263483, + 0.14546944819293686, + -0.8453011025108004, + 674.8998493215388 + ], + [ + 0.8577268197543224, + -0.08719172035060109, + 0.5066579607560345, + 3389.5437687479093 + ], + [ + -0.0, + -0.9855131879101086, + -0.1695988116012655, + 12.449371807175758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 67489.98493215388, + -338954.37687479093, + 1244.9371807175758 + ], + "rotation_deg": [ + 0.0, + -9.764493942260746, + -149.0623016357422 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.02294119887900001, + -0.9997368160641051, + -0.0, + 3408.7682437089325 + ], + [ + -0.2006882091300924, + 0.004605240143550516, + -0.9796443408091411, + 128.07814544110946 + ], + [ + 0.9793865138375479, + -0.022474215820042144, + -0.20074104248112618, + -559.9469650971216 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.02294119887900001, + -0.2006882091300924, + 0.9793865138375479, + 652.3095108848416 + ], + [ + -0.9997368160641051, + 0.004605240143550516, + -0.022474215820042144, + 3394.6969111833155 + ], + [ + -0.0, + -0.9796443408091411, + -0.20074104248112618, + 13.066693554417549 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65230.951088484166, + -339469.69111833157, + 1306.669355441755 + ], + "rotation_deg": [ + 0.0, + -11.580296516418457, + 1.3145492076873782 + ] + } + } + ] + }, + { + "frame": 87, + "time": 1767.5629093497992, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.021466649307388574, + 0.999769564933597, + -0.0, + -3408.5789628504835 + ], + [ + 0.11170042139013928, + -0.0023983864458095453, + -0.993739031941345, + -55.79473543207423 + ], + [ + -0.9935100400402489, + 0.02133222328690088, + -0.11172616787870737, + 609.2547340137128 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.021466649307388574, + 0.11170042139013928, + -0.9935100400402489, + 684.7036783318551 + ], + [ + 0.999769564933597, + -0.0023983864458095453, + 0.02133222328690088, + 3394.662918483291 + ], + [ + -0.0, + -0.993739031941345, + -0.11172616787870737, + 12.624280651109855 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 68470.36783318552, + -339466.29184832907, + 1262.4280651109855 + ], + "rotation_deg": [ + 0.0, + -6.414831161499026, + -178.76995849609375 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.15878244060395882, + 0.9873135958528324, + -0.0, + -3458.3349355434116 + ], + [ + 0.3674011376453019, + -0.05908644382193605, + -0.9281838159618034, + -33.848746683779154 + ], + [ + -0.9164085032690462, + 0.14737927028329967, + -0.3721220308271854, + 118.07931448715054 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.15878244060395882, + 0.3674011376453019, + -0.9164085032690462, + 669.7677492508743 + ], + [ + 0.9873135958528324, + -0.05908644382193605, + 0.14737927028329967, + 3395.058663994312 + ], + [ + -0.0, + -0.9281838159618034, + -0.3721220308271854, + 12.522027562831866 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 66976.77492508743, + -339505.8663994312, + 1252.2027562831865 + ], + "rotation_deg": [ + 0.0, + -21.846548080444336, + -170.86376953125 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.5165507680787519, + 0.8562565643527943, + -1.3877787703335347e-17, + -3250.5499640711314 + ], + [ + 0.14226195418713797, + -0.0858218491548672, + -0.9861014889951721, + 207.03357667861462 + ], + [ + -0.8443558831404244, + 0.5093714644353071, + -0.16614407550431678, + -1153.858354691004 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5165507680787519, + 0.14226195418713797, + -0.8443558831404244, + 675.3539462339584 + ], + [ + 0.8562565643527943, + -0.0858218491548672, + 0.5093714644353071, + 3388.815321506148 + ], + [ + -1.3877787703335347e-17, + -0.9861014889951721, + -0.16614407550431678, + 12.449379337576017 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 67535.39462339584, + -338881.5321506148, + 1244.9379337576017 + ], + "rotation_deg": [ + 8.063456747736396e-16, + -9.563702583312987, + -148.89883422851562 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.017338575473732347, + -0.9998496756015585, + 2.1684043288916343e-19, + 3381.491642110661 + ], + [ + -0.20380140918690373, + -0.003534157384923026, + -0.9790058709451189, + 157.84889685154218 + ], + [ + 0.9788587021501538, + 0.016974567308467397, + -0.203832051673939, + -694.0432001143213 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.017338575473732347, + -0.20380140918690373, + 0.9788587021501538, + 652.909805703384 + ], + [ + -0.9998496756015585, + -0.003534157384923026, + 0.016974567308467397, + 3393.3222671829217 + ], + [ + 2.1684043288916343e-19, + -0.9790058709451189, + -0.203832051673939, + 13.066748430126454 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65290.980570338405, + -339332.22671829216, + 1306.6748430126454 + ], + "rotation_deg": [ + -1.2690467031199735e-17, + -11.761137008666992, + -0.9934769868850706 + ] + } + } + ] + }, + { + "frame": 88, + "time": 1767.6295760199428, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.02174062462370135, + 0.999763644688569, + -2.1684043283863203e-19, + -3408.1789536271676 + ], + [ + 0.11199502489171805, + -0.0024354174197356374, + -0.993705782986843, + -55.89502321325831 + ], + [ + -0.9934709157717548, + 0.02160376040248719, + -0.11202150263276704, + 608.5497429454515 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.02174062462370135, + 0.11199502489171805, + -0.9934709157717548, + 684.9322926894608 + ], + [ + 0.999763644688569, + -0.0024354174197356374, + 0.02160376040248719, + 3394.090309031171 + ], + [ + -2.1684043283863203e-19, + -0.993705782986843, + -0.11202150263276704, + 12.627439135105725 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 68493.22926894609, + -339409.0309031171, + 1262.7439135105724 + ], + "rotation_deg": [ + 1.2502736663503224e-17, + -6.431859493255615, + -178.75425720214844 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.08554606181315538, + 0.99633421667042, + 3.469446929520705e-18, + -3439.736000652364 + ], + [ + 0.3840503467779453, + -0.03297487344620397, + -0.9227231377075934, + -133.75477366934388 + ], + [ + -0.9193406353029245, + 0.07893530871064158, + -0.38546337480955395, + 352.67487460410393 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.08554606181315538, + 0.3840503467779453, + -0.9193406353029245, + 669.8527100764395 + ], + [ + 0.99633421667042, + -0.03297487344620397, + 0.07893530871064158, + 3394.8776251145646 + ], + [ + 3.469446929520705e-18, + -0.9227231377075934, + -0.38546337480955395, + 12.524593130793706 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 66985.27100764395, + -339487.76251145644, + 1252.4593130793705 + ], + "rotation_deg": [ + -2.1543262515327933e-16, + -22.672510147094734, + -175.0925750732422 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.5178549836015504, + 0.8554684190307892, + -0.0, + -3248.386981923329 + ], + [ + 0.1396243746341189, + -0.08452115429164199, + -0.9865906995736577, + 204.29320052494649 + ], + [ + -0.8439971960965836, + 0.5109108934612189, + -0.16321394524906171, + -1158.6287883141097 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5178549836015504, + 0.1396243746341189, + -0.8439971960965836, + 675.7895853015939 + ], + [ + 0.8554684190307892, + -0.08452115429164199, + 0.5109108934612189, + 3388.1156952499455 + ], + [ + -0.0, + -0.9865906995736577, + -0.16321394524906171, + 12.449386889705387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 67578.95853015939, + -338811.5695249945, + 1244.9386889705388 + ], + "rotation_deg": [ + 0.0, + -9.393494606018068, + -148.8115234375 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.0576221939423186, + -0.998338461026757, + -0.0, + 3348.6542405312953 + ], + [ + -0.20614787421477357, + -0.011898462548045632, + -0.97844850684424, + 187.86340026739796 + ], + [ + 0.9768227761594928, + 0.05638035004103954, + -0.20649096858049654, + -826.9023294720731 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.0576221939423186, + -0.20614787421477357, + 0.9768227761594928, + 653.5078647636113 + ], + [ + -0.998338461026757, + -0.011898462548045632, + 0.05638035004103954, + 3391.946649010026 + ], + [ + -0.0, + -0.97844850684424, + -0.20649096858049654, + 13.0668020913689 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65350.786476361136, + -339194.6649010026, + 1306.68020913689 + ], + "rotation_deg": [ + 0.0, + -11.916792869567878, + -3.3033382892608643 + ] + } + } + ] + }, + { + "frame": 89, + "time": 1767.6962426900864, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.022015397062035244, + 0.9997576317749223, + -2.1684043283874547e-19, + -3407.779518564409 + ], + [ + 0.11229032388695831, + -0.002472715374232304, + -0.9936723649372762, + -55.99503462533349 + ], + [ + -0.9934315307606163, + 0.0218760676548634, + -0.11231754695762522, + 607.8420313834661 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.022015397062035244, + 0.11229032388695831, + -0.9934315307606163, + 685.1606779681083 + ], + [ + 0.9997576317749223, + -0.002472715374232304, + 0.0218760676548634, + 3393.517915101501 + ], + [ + -2.1684043283874547e-19, + -0.9936723649372762, + -0.11231754695762522, + 12.63059770984105 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 68516.06779681084, + -339351.79151015007, + 1263.059770984105 + ], + "rotation_deg": [ + 1.2503157141212762e-17, + -6.448929309844971, + -178.73851013183594 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.011654552271134508, + 0.9999320833993475, + 4.3368086623068047e-19, + -3402.0937567860665 + ], + [ + 0.3977756977873153, + -0.004636212537844742, + -0.9174709803493066, + -239.28531152501714 + ], + [ + -0.9174086678377456, + 0.01069269123987039, + -0.3978027181031096, + 583.3723088866365 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.011654552271134508, + 0.3977756977873153, + -0.9174086678377456, + 670.0225058827964 + ], + [ + 0.9999320833993475, + -0.004636212537844742, + 0.01069269123987039, + 3394.5154884212548 + ], + [ + 4.3368086623068047e-19, + -0.9174709803493066, + -0.3978027181031096, + 12.529729293469648 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 67002.25058827964, + -339451.54884212546, + 1252.9729293469647 + ], + "rotation_deg": [ + -2.708323643502885e-17, + -23.440887451171886, + -179.33222961425784 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.5182139902082408, + 0.8552509926053596, + -1.3877787703137648e-17, + -3247.533607185321 + ], + [ + 0.13745375472852606, + -0.08328602868964148, + -0.9870004573130339, + 201.46665513985195 + ], + [ + -0.8441331309359287, + 0.5114774282368164, + -0.16071744665890733, + -1159.7886934426692 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5182139902082408, + 0.13745375472852606, + -0.8441331309359287, + 676.208896786223 + ], + [ + 0.8552509926053596, + -0.08328602868964148, + 0.5114774282368164, + 3387.4414898273512 + ], + [ + -1.3877787703137648e-17, + -0.9870004573130339, + -0.16071744665890733, + 12.449394310475897 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 67620.8896786223, + -338744.1489827351, + 1244.9394310475898 + ], + "rotation_deg": [ + 8.056112483396671e-16, + -9.248541831970213, + -148.7874755859375 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.0978399132823796, + -0.9952021660792825, + -1.7347234631419483e-18, + 3310.305205236221 + ], + [ + -0.20770573699624775, + -0.020419882500885438, + -0.9779781977209386, + 217.87521942861423 + ], + [ + 0.9732860203392658, + 0.09568530276265605, + -0.20870708049171072, + -958.330505743194 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.0978399132823796, + -0.20770573699624775, + 0.9732860203392658, + 654.1036412578792 + ], + [ + -0.9952021660792825, + -0.020419882500885438, + 0.09568530276265605, + 3390.570040726547 + ], + [ + -1.7347234631419483e-18, + -0.9779781977209386, + -0.20870708049171072, + 13.06685439035234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65410.36412578792, + -339057.0040726547, + 1306.685439035234 + ], + "rotation_deg": [ + 1.0163041881905248e-16, + -12.046594619750975, + -5.614796638488765 + ] + } + } + ] + }, + { + "frame": 90, + "time": 1767.76290936023, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.02229070033728776, + 0.9997515314709318, + -0.0, + -3407.3804873166796 + ], + [ + 0.1125863105089434, + -0.0025102514281156244, + -0.99363877808978, + -56.09486370447839 + ], + [ + -0.9933918905609284, + 0.022148880240143977, + -0.11261429248497841, + 607.1325074095172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.02229070033728776, + 0.1125863105089434, + -0.9933918905609284, + 685.3888389919493 + ], + [ + 0.9997515314709318, + -0.0025102514281156244, + 0.022148880240143977, + 3392.945730327011 + ], + [ + -0.0, + -0.99363877808978, + -0.11261429248497841, + 12.63375620333024 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 68538.88389919493, + -339294.5730327011, + 1263.375620333024 + ], + "rotation_deg": [ + 0.0, + -6.466040134429933, + -178.7227325439453 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + -0.06229441087364314, + 0.9980578171498412, + -0.0, + -3345.6260043894076 + ], + [ + 0.4093054470540734, + 0.0255470587509848, + -0.912039691461418, + -349.6194349929877 + ], + [ + -0.9102683436294083, + -0.05681495347665765, + -0.4101019429942004, + 808.1020263020442 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.06229441087364314, + 0.4093054470540734, + -0.9102683436294083, + 670.2770984392997 + ], + [ + 0.9980578171498412, + 0.0255470587509848, + -0.05681495347665765, + 3393.9722360295104 + ], + [ + -0.0, + -0.912039691461418, + -0.4101019429942004, + 12.53743740971596 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 67027.70984392997, + -339397.22360295104, + 1253.743740971596 + ], + "rotation_deg": [ + 0.0, + -24.211238861083995, + 176.42848205566406 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.5177816220414534, + 0.8555128239109693, + -1.3877787703061782e-17, + -3247.7801982625097 + ], + [ + 0.13566903786708365, + -0.08211090766177964, + -0.9873457910008926, + 198.58870415857183 + ], + [ + -0.8446869959543145, + 0.5112294880839109, + -0.15858212187739779, + -1157.9256772639576 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5177816220414534, + 0.13566903786708365, + -0.8446869959543145, + 676.6137558114402 + ], + [ + 0.8555128239109693, + -0.08211090766177964, + 0.5112294880839109, + 3386.789711739529 + ], + [ + -1.3877787703061782e-17, + -0.9873457910008926, + -0.15858212187739779, + 12.449401454553751 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 67661.37558114402, + -338678.9711739529, + 1244.9401454553752 + ], + "rotation_deg": [ + 8.053294780518388e-16, + -9.124607086181639, + -148.81643676757812 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.1379213368665281, + -0.9904431860722497, + 1.7347234631525151e-18, + 3266.505846467059 + ], + [ + -0.20846232688878696, + -0.029028825898461345, + -0.9775995016033249, + 247.63815444064213 + ], + [ + 0.9682567645836881, + 0.13483183117128003, + -0.21047378730124072, + -1088.1356606009506 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.1379213368665281, + -0.20846232688878696, + 0.9682567645836881, + 654.6970844454463 + ], + [ + -0.9904431860722497, + -0.029028825898461345, + 0.13483183117128003, + 3389.192424967145 + ], + [ + 1.7347234631525151e-18, + -0.9775995016033249, + -0.21047378730124072, + 13.066905157105698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65469.70844454463, + -338919.2424967145, + 1306.6905157105698 + ], + "rotation_deg": [ + -1.016697877483334e-16, + -12.150118827819819, + -7.927580833435056 + ] + } + } + ] + }, + { + "frame": 91, + "time": 1767.8295760303736, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.022566800667122088, + 0.9997453373272869, + -4.3368086567794825e-19, + -3406.9820140195043 + ], + [ + 0.11288299210733317, + -0.0025480568765689163, + -0.9936050208704911, + -56.19441070071561 + ], + [ + -0.9933519872030623, + 0.022422462445122616, + -0.11291174738540097, + 606.4202744871728 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.022566800667122088, + 0.11288299210733317, + -0.9933519872030623, + 685.6167804826229 + ], + [ + 0.9997453373272869, + -0.0025480568765689163, + 0.022422462445122616, + 3392.373747765767 + ], + [ + -4.3368086567794825e-19, + -0.9936050208704911, + -0.11291174738540097, + 12.63691446755447 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 68561.67804826229, + -339237.3747765767, + 1263.691446755447 + ], + "rotation_deg": [ + 2.5008009147980662e-17, + -6.483192443847655, + -178.7069091796875 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + -0.09229402742270769, + 0.9957317974746492, + -3.4694469303971753e-18, + -3316.870881181336 + ], + [ + 0.4157480651917939, + 0.03853554082240302, + -0.9086630609762918, + -398.1664753296032 + ], + [ + -0.9047847035984414, + -0.08386415196818664, + -0.41753017154325156, + 896.5743929486732 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.09229402742270769, + 0.4157480651917939, + -0.9047847035984414, + 670.6164311353168 + ], + [ + 0.9957317974746492, + 0.03853554082240302, + -0.08386415196818664, + 3393.2478414727725 + ], + [ + -3.4694469303971753e-18, + -0.9086630609762918, + -0.41753017154325156, + 12.547719397865015 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 67061.64311353168, + -339324.78414727724, + 1254.7719397865014 + ], + "rotation_deg": [ + 2.1876609321243477e-16, + -24.67875480651857, + 174.70440673828125 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.516679829971741, + 0.85617869238867, + -0.0, + -3248.9513413876125 + ], + [ + 0.13420561764111777, + -0.08098932655122315, + -0.9876383858368128, + 195.68016391536204 + ], + [ + -0.845594951847128, + 0.5102928161472434, + -0.15674954289939333, + -1153.5078247412805 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.516679829971741, + 0.13420561764111777, + -0.845594951847128, + 677.0058127181765 + ], + [ + 0.85617869238867, + -0.08098932655122315, + 0.5102928161472434, + 3386.1577249652073 + ], + [ + -0.0, + -0.9876383858368128, + -0.15674954289939333, + 12.449408197373707 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 67700.58127181765, + -338615.7724965207, + 1244.9408197373707 + ], + "rotation_deg": [ + 0.0, + -9.018278121948242, + -148.89019775390625 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.17779578608145352, + -0.9840674054411506, + -3.4694469263208953e-18, + 3217.329649396726 + ], + [ + -0.2084147791690223, + -0.03765521476319728, + -0.9773153864669609, + 276.9111236797531 + ], + [ + 0.9617442160731267, + 0.1737625586558071, + -0.21178913111695388, + -1216.1273294762668 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.17779578608145352, + -0.2084147791690223, + 0.9617442160731267, + 655.2881386904006 + ], + [ + -0.9840674054411506, + -0.03765521476319728, + 0.1737625586558071, + 3387.8137825635044 + ], + [ + -3.4694469263208953e-18, + -0.9773153864669609, + -0.21178913111695388, + 13.066954208642015 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65528.81386904006, + -338781.37825635046, + 1306.6954208642014 + ], + "rotation_deg": [ + 2.0339868829989224e-16, + -12.227220535278317, + -10.241396903991697 + ] + } + } + ] + }, + { + "frame": 92, + "time": 1767.8962427005172, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.02284369801563347, + 0.9997390486826906, + -0.0, + -3406.5840898824176 + ], + [ + 0.1131803684103842, + -0.0025861330120811985, + -0.9935710926363212, + -56.29367244036362 + ], + [ + -0.9933118193997201, + 0.022696813997595825, + -0.11320991155890973, + 605.705338729132 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.02284369801563347, + 0.1131803684103842, + -0.9933118193997201, + 685.8445073870012 + ], + [ + 0.9997390486826906, + -0.0025861330120811985, + 0.022696813997595825, + 3391.8019602595705 + ], + [ + -0.0, + -0.9935710926363212, + -0.11320991155890973, + 12.640072412677942 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 68584.45073870012, + -339180.19602595706, + 1264.0072412677941 + ], + "rotation_deg": [ + 0.0, + -6.500386238098146, + -178.6910400390625 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + -0.01908467574746624, + 0.999817870990319, + 4.3368086626769646e-19, + -3378.9178196005328 + ], + [ + 0.40849862191207215, + 0.007797483890497686, + -0.9127256297162444, + -289.10644651529384 + ], + [ + -0.9125593949906713, + -0.01741905059105132, + -0.40857303789012595, + 676.5875080563374 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.01908467574746624, + 0.40849862191207215, + -0.9125593949906713, + 671.0403905832145 + ], + [ + 0.999817870990319, + 0.007797483890497686, + -0.01741905059105132, + 3392.342251803086 + ], + [ + 4.3368086626769646e-19, + -0.9127256297162444, + -0.40857303789012595, + 12.560578964284383 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 67104.03905832145, + -339234.2251803086, + 1256.0578964284384 + ], + "rotation_deg": [ + -2.7224044856638697e-17, + -24.115226745605476, + 178.90646362304688 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.5150065895407533, + 0.8571862182335889, + -0.0, + -3250.89950108278 + ], + [ + 0.1330115287238039, + -0.07991474001858136, + -0.9878874265594836, + 192.75320873020038 + ], + [ + -0.8468034973016593, + 0.508768517247264, + -0.15517226819151092, + -1146.912719845406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5150065895407533, + 0.1330115287238039, + -0.8468034973016593, + 677.3865203567096 + ], + [ + 0.8571862182335889, + -0.07991474001858136, + 0.508768517247264, + 3385.543208351219 + ], + [ + -0.0, + -0.9878874265594836, + -0.15517226819151092, + 12.449414469739116 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 67738.65203567097, + -338554.3208351219, + 1244.9414469739115 + ], + "rotation_deg": [ + 0.0, + -8.926787376403812, + -149.00210571289062 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.21739268127084904, + -0.9760842290140084, + -0.0, + 3162.8621064329786 + ], + [ + -0.20757025230090287, + -0.04622987684714686, + -0.9771271098718105, + 305.4630533567952 + ], + [ + 0.9537583609827528, + 0.21242028389978748, + -0.21265608818801132, + -1342.1164413052502 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.21739268127084904, + -0.20757025230090287, + 0.9537583609827528, + 655.8767429800324 + ], + [ + -0.9760842290140084, + -0.04622987684714686, + 0.21242028389978748, + 3386.434092385239 + ], + [ + -0.0, + -0.9771271098718105, + -0.21265608818801132, + 13.067001383127435 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65587.67429800324, + -338643.4092385239, + 1306.7001383127435 + ], + "rotation_deg": [ + 0.0, + -12.27805137634277, + -12.55593872070312 + ] + } + } + ] + }, + { + "frame": 93, + "time": 1767.9629093706608, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.02312112610159535, + 0.9997326710315085, + -0.0, + -3406.186543894141 + ], + [ + 0.11347844810970312, + -0.0026244511003633065, + -0.9935369917980079, + -56.392753716612944 + ], + [ + -0.9932713910337602, + 0.022971670077382007, + -0.11350879317354773, + 604.9886070851367 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.02312112610159535, + 0.11347844810970312, + -0.9932713910337602, + 686.0720246757562 + ], + [ + 0.9997326710315085, + -0.0026244511003633065, + 0.022971670077382007, + 3391.2303602109478 + ], + [ + -0.0, + -0.9935369917980079, + -0.11350879317354773, + 12.643229983717172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 68607.20246757563, + -339123.03602109477, + 1264.3229983717172 + ], + "rotation_deg": [ + 0.0, + -6.517621994018558, + -178.67514038085938 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.051620824194170356, + 0.998666756485623, + -1.7347234649261597e-18, + -3421.565647363618 + ], + [ + 0.39752711049105244, + -0.020548072667692305, + -0.9173603289516489, + -185.7055035146024 + ], + [ + -0.9161372641155097, + 0.047354874269805065, + -0.3980578214051824, + 459.5626198144651 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.051620824194170356, + 0.39752711049105244, + -0.9161372641155097, + 671.4693839408902 + ], + [ + 0.998666756485623, + -0.020548072667692305, + 0.047354874269805065, + 3391.425440316232 + ], + [ + -1.7347234649261597e-18, + -0.9173603289516489, + -0.3980578214051824, + 12.573602441616355 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 67146.93839408903, + -339142.5440316232, + 1257.3602441616356 + ], + "rotation_deg": [ + 1.083460127887736e-16, + -23.456819534301765, + -177.04103088378906 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.5128424328445224, + 0.8584827540924229, + -0.0, + -3253.4987780955817 + ], + [ + 0.1320443641862395, + -0.07888097070076817, + -0.9881002369941808, + 189.81493989708 + ], + [ + -0.8482670228343726, + 0.5067397122350467, + -0.15381131953029803, + -1138.4517000256405 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5128424328445224, + 0.1320443641862395, + -0.8482670228343726, + 677.7571576137955 + ], + [ + 0.8584827540924229, + -0.07888097070076817, + 0.5067397122350467, + 3384.9441175777984 + ], + [ + -0.0, + -0.9881002369941808, + -0.15381131953029803, + 12.449420234828954 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 67775.71576137954, + -338494.41175777983, + 1244.9420234828954 + ], + "rotation_deg": [ + 0.0, + -8.847863197326664, + -149.14665222167972 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.25664159321638247, + -0.9665066438630191, + 3.469446926337058e-18, + 3103.2843997181976 + ], + [ + -0.20598173335637623, + -0.05469541317456758, + -0.9770260678718691, + 333.1305419442963 + ], + [ + 0.9443021849787052, + 0.2507455284801336, + -0.21311983340755125, + -1465.8897675805358 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.25664159321638247, + -0.20598173335637623, + 0.9443021849787052, + 656.4298603889297 + ], + [ + -0.9665066438630191, + -0.05469541317456758, + 0.2507455284801336, + 3385.131003183169 + ], + [ + 3.469446926337058e-18, + -0.9770260678718691, + -0.21311983340755125, + 13.067043987032005 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65642.98603889297, + -338513.1003183169, + 1306.7043987032005 + ], + "rotation_deg": [ + -2.0345891906097797e-16, + -12.30524539947509, + -14.870879173278801 + ] + } + } + ] + }, + { + "frame": 94, + "time": 1768.0295760408044, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.02339908489345287, + 0.999726203930931, + -0.0, + -3405.7893670492335 + ], + [ + 0.11377723095941814, + -0.002663012208435972, + -0.9935027177019621, + -56.49165203609513 + ], + [ + -0.9932307010242463, + 0.023247030439886907, + -0.11380839212734474, + 604.2700853206734 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.02339908489345287, + 0.11377723095941814, + -0.9932307010242463, + 686.299337313932 + ], + [ + 0.999726203930931, + -0.002663012208435972, + 0.023247030439886907, + 3390.658939682343 + ], + [ + -0.0, + -0.9935027177019621, + -0.11380839212734474, + 12.646387169239922 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 68629.9337313932, + -339065.8939682343, + 1264.6387169239922 + ], + "rotation_deg": [ + 0.0, + -6.534899711608889, + -178.65921020507812 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.10909827208063481, + 0.9940309688480633, + -0.0, + -3443.614182253796 + ], + [ + 0.38583674202116025, + -0.04234689177592845, + -0.921594677319381, + -104.05669923163512 + ], + [ + -0.9160936511512722, + 0.10054436520524979, + -0.3881536460550183, + 279.48763886780625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.10909827208063481, + 0.38583674202116025, + -0.9160936511512722, + 671.8780380319602 + ], + [ + 0.9940309688480633, + -0.04234689177592845, + 0.10054436520524979, + 3390.5517583232677 + ], + [ + -0.0, + -0.921594677319381, + -0.3881536460550183, + 12.586016296800423 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 67187.80380319602, + -339055.17583232676, + 1258.6016296800424 + ], + "rotation_deg": [ + 0.0, + -22.83966255187989, + -173.73666381835938 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.5102527268960647, + 0.8600245081944639, + 6.9388938514280864e-18, + -3256.6433777328093 + ], + [ + 0.1312694093947773, + -0.07788216901206697, + -0.9882827074815798, + 186.86848349451532 + ], + [ + -0.8499473594833614, + 0.5042739291855907, + -0.15263449954380268, + -1128.378297180486 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5102527268960647, + 0.1312694093947773, + -0.8499473594833614, + 678.1188502643855 + ], + [ + 0.8600245081944639, + -0.07788216901206697, + 0.5042739291855907, + 3384.3586519834935 + ], + [ + 6.9388938514280864e-18, + -0.9882827074815798, + -0.15263449954380268, + 12.449425497193943 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 67811.88502643855, + -338435.86519834935, + 1244.9425497193943 + ], + "rotation_deg": [ + -4.0228300287570724e-16, + -8.779630661010744, + -149.3193359375 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.29547412534968204, + -0.9553507425280207, + -6.9388938526768324e-18, + 3038.721425194678 + ], + [ + -0.2037106271256549, + -0.06300431526866446, + -0.9770017587771268, + 359.79403263461023 + ], + [ + 0.9333793546890691, + 0.28867874220363987, + -0.21323124545887337, + -1587.254833174817 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.29547412534968204, + -0.2037106271256549, + 0.9333793546890691, + 656.9412003723784 + ], + [ + -0.9553507425280207, + -0.06300431526866446, + 0.28867874220363987, + 3383.9200702626313 + ], + [ + -6.9388938526768324e-18, + -0.9770017587771268, + -0.21323124545887337, + 13.067081667553957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65694.12003723784, + -338392.0070262631, + 1306.7081667553957 + ], + "rotation_deg": [ + 4.06927962775618e-16, + -12.311779022216792, + -17.18597030639648 + ] + } + } + ] + }, + { + "frame": 95, + "time": 1768.096242710948, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.023678106842270594, + 0.9997196343257275, + -2.1684043283943852e-19, + -3405.392872767713 + ], + [ + 0.1140767070072797, + -0.0027018779705717893, + -0.9934682706427049, + -56.59015288310216 + ], + [ + -0.993189736708232, + 0.023523423866282686, + -0.114108700049734, + 603.5479777895473 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.023678106842270594, + 0.1140767070072797, + -0.993189736708232, + 686.5264503356833 + ], + [ + 0.9997196343257275, + -0.0027018779705717893, + 0.023523423866282686, + 3390.0876903477674 + ], + [ + -2.1684043283943852e-19, + -0.9934682706427049, + -0.114108700049734, + 12.649543993591443 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 68652.64503356833, + -339008.7690347767, + 1264.9543993591444 + ], + "rotation_deg": [ + 1.250572574169228e-17, + -6.552218914031983, + -178.64321899414062 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.15586893203983287, + 0.9877777462692514, + -0.0, + -3453.07188979652 + ], + [ + 0.37453258083010343, + -0.05910033264932227, + -0.9253283182619461, + -39.796025440267535 + ], + [ + -0.9140187229787219, + 0.14422991544028863, + -0.37916685711759324, + 130.34449177618 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.15586893203983287, + 0.37453258083010343, + -0.9140187229787219, + 672.2687740445018 + ], + [ + 0.9877777462692514, + -0.05910033264932227, + 0.14422991544028863, + 3389.716043501338 + ], + [ + -0.0, + -0.9253283182619461, + -0.37916685711759324, + 12.597893662577608 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 67226.87740445018, + -338971.6043501338, + 1259.7893662577608 + ], + "rotation_deg": [ + 0.0, + -22.282085418701172, + -171.03280639648438 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.5072926019475912, + 0.861773877539371, + -0.0, + -3260.2418395495033 + ], + [ + 0.13065782793795017, + -0.07691315695100687, + -0.9884396280432945, + 183.91535951812892 + ], + [ + -0.8518114609545399, + 0.5014280934685249, + -0.15161497969202123, + -1116.9067264624134 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5072926019475912, + 0.13065782793795017, + -0.8518114609545399, + 678.472589421786 + ], + [ + 0.861773877539371, + -0.07691315695100687, + 0.5014280934685249, + 3383.785225235471 + ], + [ + -0.0, + -0.9884396280432945, + -0.15161497969202123, + 12.449430295244333 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 67847.2589421786, + -338378.5225235471, + 1244.9430295244333 + ], + "rotation_deg": [ + 0.0, + -8.720528602600101, + -149.51634216308594 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.33382399021525266, + -0.9426354245182845, + 6.938893852672e-18, + 2969.276785573353 + ], + [ + -0.20081244290067807, + -0.07111552274648959, + -0.9770450067426554, + 385.35332467374894 + ], + [ + 0.9209972335104529, + 0.32616106508069803, + -0.21303299155651342, + -1706.0288564697673 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.33382399021525266, + -0.20081244290067807, + 0.9209972335104529, + 657.4157705740669 + ], + [ + -0.9426354245182845, + -0.07111552274648959, + 0.32616106508069803, + 3382.7902690654405 + ], + [ + 6.938893852672e-18, + -0.9770450067426554, + -0.21303299155651342, + 13.067114993582477 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65741.57705740668, + -338279.02690654405, + 1306.7114993582477 + ], + "rotation_deg": [ + -4.0690995049710247e-16, + -12.300152778625483, + -19.50104141235351 + ] + } + } + ] + }, + { + "frame": 96, + "time": 1768.1629093810916, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.023957659425986898, + 0.9997129740854764, + -2.168404328395561e-19, + -3404.996727720494 + ], + [ + 0.1143769021987998, + -0.0027409896041260817, + -0.9934336471145899, + -56.68847468749428 + ], + [ + -0.9931485063867043, + 0.023800320992592033, + -0.11440974164164412, + 602.8240915382994 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.023957659425986898, + 0.1143769021987998, + -0.9931485063867043, + 686.7533688322854 + ], + [ + 0.9997129740854764, + -0.0027409896041260817, + 0.023800320992592033, + 3389.5166035032744 + ], + [ + -2.168404328395561e-19, + -0.9934336471145899, + -0.11440974164164412, + 12.652700537600413 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 68675.33688322855, + -338951.66035032744, + 1265.2700537600413 + ], + "rotation_deg": [ + 1.250616159601915e-17, + -6.569581031799319, + -178.627197265625 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.19406503225131144, + 0.9809886662226518, + 6.938893858327521e-18, + -3455.0226070073813 + ], + [ + 0.3641373628295284, + -0.07203582619718157, + -0.928555233002133, + 10.896921017986779 + ], + [ + -0.9109021625768251, + 0.18020008023792458, + -0.37119426355361285, + 6.710591660847394 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.19406503225131144, + 0.3641373628295284, + -0.9109021625768251, + 672.6437232852436 + ], + [ + 0.9809886662226518, + -0.07203582619718157, + 0.18020008023792458, + 3388.9137516292576 + ], + [ + 6.938893858327521e-18, + -0.928555233002133, + -0.37119426355361285, + 12.609298955164864 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 67264.37232852436, + -338891.37516292575, + 1260.9298955164863 + ], + "rotation_deg": [ + -4.2815905992553835e-16, + -21.78928947448731, + -168.8098907470703 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.5040079402668041, + 0.8636990194205463, + 6.938893851396058e-18, + -3264.2161943850397 + ], + [ + 0.13018564821506615, + -0.07596928899281942, + -0.9885749157897686, + 180.95567833881125 + ], + [ + -0.8538311953253709, + 0.49824958973259353, + -0.1507303427334739, + -1104.215635258369 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5040079402668041, + 0.13018564821506615, + -0.8538311953253709, + 678.8192476960461 + ], + [ + 0.8636990194205463, + -0.07596928899281942, + 0.49824958973259353, + 3383.2224395724274 + ], + [ + 6.938893851396058e-18, + -0.9885749157897686, + -0.1507303427334739, + 12.449434722186005 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 67881.92476960461, + -338322.24395724275, + 1244.9434722186006 + ], + "rotation_deg": [ + -4.021640938930485e-16, + -8.669253349304203, + -149.73448181152344 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.37162669846704854, + -0.9283822472378935, + -0.0, + 2895.0622690791783 + ], + [ + -0.19733756240067832, + -0.07899322398364138, + -0.9771478685595281, + 409.72252745321373 + ], + [ + 0.9071667326985154, + 0.36313423885152135, + -0.2125606822976129, + -1822.0319499985876 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.37162669846704854, + -0.19733756240067832, + 0.9071667326985154, + 657.8579784618948 + ], + [ + -0.9283822472378935, + -0.07899322398364138, + 0.36313423885152135, + 3381.7318965500285 + ], + [ + -0.0, + -0.9771478685595281, + -0.2125606822976129, + 13.067144525144904 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65785.79784618948, + -338173.18965500285, + 1306.7144525144904 + ], + "rotation_deg": [ + 0.0, + -12.272457122802733, + -21.815975189208974 + ] + } + } + ] + }, + { + "frame": 97, + "time": 1768.2295760512352, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.024238008849968427, + 0.9997062163090661, + -0.0, + -3404.6010827823225 + ], + [ + 0.11467779901038995, + -0.002780378337118804, + -0.9933988483536886, + -56.786500819619064 + ], + [ + -0.9931070044527618, + 0.024077986093768045, + -0.11471150026274889, + 602.0975327978625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.024238008849968427, + 0.11467779901038995, + -0.9931070044527618, + 686.9800979403464 + ], + [ + 0.9997062163090661, + -0.002780378337118804, + 0.024077986093768045, + 3388.945670056016 + ], + [ + -0.0, + -0.9933988483536886, + -0.11471150026274889, + 12.655856879903912 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 68698.00979403463, + -338894.5670056016, + 1265.585687990391 + ], + "rotation_deg": [ + 0.0, + -6.586985111236572, + -178.6111297607422 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.2254051601685585, + 0.974265114724625, + 6.938893857992683e-18, + -3452.6462116185726 + ], + [ + 0.35484868892261967, + -0.0820974951821134, + -0.9313121975227858, + 51.09645130481227 + ], + [ + -0.9073449886781833, + 0.2099225543294102, + -0.3642219003635059, + -96.00310473662599 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.2254051601685585, + 0.35484868892261967, + -0.9073449886781833, + 673.0047619603912 + ], + [ + 0.974265114724625, + -0.0820974951821134, + 0.2099225543294102, + 3388.140882359005 + ], + [ + 6.938893857992683e-18, + -0.9313121975227858, + -0.3642219003635059, + 12.620288868340959 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 67300.47619603912, + -338814.0882359005, + 1262.0288868340958 + ], + "rotation_deg": [ + -4.268915801698395e-16, + -21.35970497131347, + -166.97329711914062 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.5004377017683787, + 0.8657725490270426, + 6.938893851383249e-18, + -3268.4990833518664 + ], + [ + 0.12983268246795995, + -0.07504646491934465, + -0.988691813795524, + 177.98890163720148 + ], + [ + -0.8559822417126732, + 0.494778641609616, + -0.1499616540302531, + -1090.4569143706024 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5004377017683787, + 0.12983268246795995, + -0.8559822417126732, + 679.1595934121119 + ], + [ + 0.8657725490270426, + -0.07504646491934465, + 0.494778641609616, + 3382.6690631182005 + ], + [ + 6.938893851383249e-18, + -0.988691813795524, + -0.1499616540302531, + 12.44943886754799 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 67915.95934121119, + -338266.90631182, + 1244.943886754799 + ], + "rotation_deg": [ + -4.0211654400880707e-16, + -8.624704360961914, + -149.97103881835938 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.4088194054382762, + -0.912615304351781, + -6.938893852643113e-18, + 2816.1975436971506 + ], + [ + -0.19333189688783756, + -0.08660585765004176, + -0.9773035368126175, + 432.82708577533066 + ], + [ + 0.89190216306915, + 0.39954065361904717, + -0.21184380476718223, + -1935.087392912851 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.4088194054382762, + -0.19333189688783756, + 0.89190216306915, + 658.2717033439279 + ], + [ + -0.912615304351781, + -0.08660585765004176, + 0.39954065361904717, + 3380.7364125528384 + ], + [ + -6.938893852643113e-18, + -0.9773035368126175, + -0.21184380476718223, + 13.067170762573149 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65827.1703343928, + -338073.64125528384, + 1306.7170762573148 + ], + "rotation_deg": [ + 4.0680230895518356e-16, + -12.23042583465576, + -24.13069343566894 + ] + } + } + ] + }, + { + "frame": 98, + "time": 1768.2962427213788, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.02451888883992785, + 0.9996993668548837, + -0.0, + -3404.205766202478 + ], + [ + 0.11497940617340913, + -0.002820015068846155, + -0.9933638727430252, + -56.884337231168864 + ], + [ + -0.9930652351231543, + 0.02435615439233746, + -0.11501398407589859, + 601.3692082038388 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.02451888883992785, + 0.11497940617340913, + -0.9930652351231543, + 687.2066428982916 + ], + [ + 0.9996993668548837, + -0.002820015068846155, + 0.02435615439233746, + 3388.3748807124166 + ], + [ + -0.0, + -0.9933638727430252, + -0.11501398407589859, + 12.659013086982863 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 68720.66428982916, + -338837.48807124165, + 1265.9013086982864 + ], + "rotation_deg": [ + 0.0, + -6.604431629180911, + -178.59503173828125 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.2512454719588675, + 0.9679234023517389, + -0.0, + -3447.9148708511234 + ], + [ + 0.34669330926715763, + -0.0899917533765291, + -0.9336515590056094, + 83.18322186034902 + ], + [ + -0.9037031978670517, + 0.23457570611754774, + -0.35818259067732267, + -181.5643969871157 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.2512454719588675, + 0.34669330926715763, + -0.9037031978670517, + 673.3535418496167 + ], + [ + 0.9679234023517389, + -0.0899917533765291, + 0.23457570611754774, + 3387.393914092453 + ], + [ + -0.0, + -0.9336515590056094, + -0.35818259067732267, + 12.630913289911504 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 67335.35418496167, + -338739.3914092453, + 1263.0913289911505 + ], + "rotation_deg": [ + 0.0, + -20.988624572753903, + -165.4487762451172 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.4966150842179061, + 0.8679708855297175, + -0.0, + -3273.0322926349636 + ], + [ + 0.12958189698798078, + -0.07414110975223352, + -0.9887930156598516, + 175.01418872673858 + ], + [ + -0.8582435592307661, + 0.49104950922884566, + -0.14929290848870083, + -1075.760112546892 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.4966150842179061, + 0.12958189698798078, + -0.8582435592307661, + 679.4943031886728 + ], + [ + 0.8679708855297175, + -0.07414110975223352, + 0.49104950922884566, + 3382.1240101155736 + ], + [ + -0.0, + -0.9887930156598516, + -0.14929290848870083, + 12.449442807396109 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 67949.43031886728, + -338212.4010115574, + 1244.9442807396108 + ], + "rotation_deg": [ + 0.0, + -8.58595180511475, + -150.22369384765625 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.44534073003269375, + -0.8953611752661306, + -1.387778770524095e-17, + 2732.810102191021 + ], + [ + -0.18883752095888348, + -0.09392526922601584, + -0.9775062324501689, + 454.6013306587983 + ], + [ + 0.8752211272492588, + 0.4353233421454958, + -0.21090653427481285, + -2045.021727211427 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.44534073003269375, + -0.18883752095888348, + 0.8752211272492588, + 658.6603598092989 + ], + [ + -0.8953611752661306, + -0.09392526922601584, + 0.4353233421454958, + 3379.7963003841705 + ], + [ + -1.387778770524095e-17, + -0.9775062324501689, + -0.21090653427481285, + 13.06719414343958 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65866.0359809299, + -337979.63003841706, + 1306.719414343958 + ], + "rotation_deg": [ + 8.134359088997628e-16, + -12.175482749938967, + -26.44514083862304 + ] + } + } + ] + }, + { + "frame": 99, + "time": 1768.3629093915224, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.024800565596941482, + 0.9996924186698988, + -6.505212985197377e-19, + -3403.810927783405 + ], + [ + 0.11528173093500914, + -0.002859931791807176, + -0.9933287186539881, + -56.981881808862255 + ], + [ + -0.9930231897770523, + 0.024635090068395347, + -0.11531720124218567, + 600.6382228929896 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.024800565596941482, + 0.11528173093500914, + -0.9930231897770523, + 687.4330088524295 + ], + [ + 0.9996924186698988, + -0.002859931791807176, + 0.024635090068395347, + 3387.804225683716 + ], + [ + -6.505212985197377e-19, + -0.9933287186539881, + -0.11531720124218567, + 12.662169237489818 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 68743.30088524295, + -338780.42256837164, + 1266.2169237489818 + ], + "rotation_deg": [ + 3.752244798457061e-17, + -6.621921062469483, + -178.57888793945312 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.27264802445783487, + 0.9621138470883994, + -0.0, + -3442.042519565918 + ], + [ + 0.3396143002325075, + -0.0962413838198459, + -0.9356279832914497, + 108.96998534357242 + ], + [ + -0.9001806431613554, + 0.25509710102178357, + -0.35298764670720556, + -253.02337812445026 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.27264802445783487, + 0.3396143002325075, + -0.9001806431613554, + 673.6915170555249 + ], + [ + 0.9621138470883994, + -0.0962413838198459, + 0.25509710102178357, + 3386.6697462128386 + ], + [ + -0.0, + -0.9356279832914497, + -0.35298764670720556, + 12.641216141294763 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 67369.15170555249, + -338666.9746212839, + 1264.1216141294763 + ], + "rotation_deg": [ + 0.0, + -20.670162200927738, + -164.1781005859375 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.4925684395773567, + 0.8702737111577757, + -0.0, + -3277.7655124318417 + ], + [ + 0.12941884515924618, + -0.07325010257656323, + -0.9888807739005596, + 172.03052998678953 + ], + [ + -0.8605969507558572, + 0.48709144213363, + -0.14871050853890802, + -1060.2359572539428 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.4925684395773567, + 0.12941884515924618, + -0.8605969507558572, + 679.8239727639116 + ], + [ + 0.8702737111577757, + -0.07325010257656323, + 0.48709144213363, + 3381.586323071995 + ], + [ + -0.0, + -0.9888807739005596, + -0.14871050853890802, + 12.449446628817633 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 67982.39727639116, + -338158.6323071995, + 1244.9446628817632 + ], + "rotation_deg": [ + 0.0, + -8.552206039428711, + -150.49046325683594 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.4811307481546515, + -0.8766488482740082, + -0.0, + 2645.0349962140003 + ], + [ + -0.1838932198399904, + -0.10092602370536376, + -0.9777511040320566, + 474.98651281546915 + ], + [ + 0.8571443771181595, + 0.4704261233595395, + -0.20976839427244093, + -2151.665312539329 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.4811307481546515, + -0.1838932198399904, + 0.8571443771181595, + 659.0269533125542 + ], + [ + -0.8766488482740082, + -0.10092602370536376, + 0.4704261233595395, + 3378.904943692463 + ], + [ + -0.0, + -0.9777511040320566, + -0.20976839427244093, + 13.067215072957213 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65902.69533125541, + -337890.4943692463, + 1306.7215072957213 + ], + "rotation_deg": [ + 0.0, + -12.108779907226566, + -28.759279251098633 + ] + } + } + ] + }, + { + "frame": 100, + "time": 1768.429576061666, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.02508303908199256, + 0.9996853710795269, + -4.3368086568006514e-19, + -3403.416555905383 + ], + [ + 0.11558476474092244, + -0.0029001296359360603, + -0.9932933863707539, + -57.07912620340998 + ], + [ + -0.992980868042616, + 0.0249147928554657, + -0.11562114338780109, + 599.9045839073564 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.02508303908199256, + 0.11558476474092244, + -0.992980868042616, + 687.6592010412231 + ], + [ + 0.9996853710795269, + -0.0029001296359360603, + 0.0249147928554657, + 3387.2336949714136 + ], + [ + -4.3368086568006514e-19, + -0.9932933863707539, + -0.11562114338780109, + 12.665325392136413 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 68765.92010412231, + -338723.36949714134, + 1266.5325392136413 + ], + "rotation_deg": [ + 2.501585512646847e-17, + -6.639452934265138, + -178.56269836425784 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.2904460134121519, + 0.9568913800912767, + -2.7755575429088337e-17, + -3435.7677552513983 + ], + [ + 0.33351826003352175, + -0.1012330668269304, + -0.9372926098103121, + 129.8316299452593 + ], + [ + -0.8968872240345429, + 0.2722328818617227, + -0.348543491399385, + -312.84178251516704 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.2904460134121519, + 0.33351826003352175, + -0.8968872240345429, + 674.0199678981204 + ], + [ + 0.9568913800912767, + -0.1012330668269304, + 0.2722328818617227, + 3385.965648793014 + ], + [ + -2.7755575429088337e-17, + -0.9372926098103121, + -0.348543491399385, + 12.65123606483621 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 67401.99678981204, + -338596.5648793014, + 1265.123606483621 + ], + "rotation_deg": [ + 1.6966711630047738e-15, + -20.398254394531243, + -163.11534118652344 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.48832218360275237, + 0.8726634202265153, + -0.0, + -3282.6550646112055 + ], + [ + 0.12933121018928898, + -0.07237074169010894, + -0.9889569827945992, + 169.03693066690627 + ], + [ + -0.8630265927574394, + 0.4829296156521271, + -0.14820285597643776, + -1043.979840114422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.48832218360275237, + 0.12933121018928898, + -0.8630265927574394, + 680.1491268771114 + ], + [ + 0.8726634202265153, + -0.07237074169010894, + 0.4829296156521271, + 3381.0551575923832 + ], + [ + -0.0, + -0.9889569827945992, + -0.14820285597643776, + 12.449450399946748 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 68014.91268771114, + -338105.51575923833, + 1244.9450399946747 + ], + "rotation_deg": [ + 0.0, + -8.52279376983643, + -150.76963806152344 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.5161309584270802, + -0.856509681062125, + 6.938893852561553e-18, + 2553.014710006918 + ], + [ + -0.1785349865042817, + -0.10758481279855732, + -0.978034133682979, + 493.9291302694388 + ], + [ + 0.8376957014975998, + 0.5047936981364127, + -0.20844479848201794, + -2254.852719538994 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5161309584270802, + -0.1785349865042817, + 0.8376957014975998, + 659.3741294428153 + ], + [ + -0.856509681062125, + -0.10758481279855732, + 0.5047936981364127, + 3378.056518649435 + ], + [ + 6.938893852561553e-18, + -0.978034133682979, + -0.20844479848201794, + 13.06723389921091 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65937.41294428153, + -337805.6518649435, + 1306.723389921091 + ], + "rotation_deg": [ + -4.0649842539098484e-16, + -12.031229019165043, + -31.07308006286621 + ] + } + } + ] + }, + { + "frame": 101, + "time": 1768.4962427318096, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.025366043025223665, + 0.9996782301627073, + -0.0, + -3403.022478366467 + ], + [ + 0.11588852461016777, + -0.0029405794911756293, + -0.9932578732916917, + -57.17618216744227 + ], + [ + -0.9929382733713029, + 0.025194997977465418, + -0.11592582693831159, + 599.1691971553163 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.025366043025223665, + 0.11588852461016777, + -0.9929382733713029, + 687.8852248091933 + ], + [ + 0.9996782301627073, + -0.0029405794911756293, + 0.025194997977465418, + 3386.663278249549 + ], + [ + -0.0, + -0.9932578732916917, + -0.11592582693831159, + 12.668481565204962 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 68788.52248091933, + -338666.3278249549, + 1266.848156520496 + ], + "rotation_deg": [ + 0.0, + -6.657028198242191, + -178.54647827148438 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.3052942058306674, + 0.9522580784042853, + -1.3877787714209467e-17, + -3429.5315843792337 + ], + [ + 0.3283006823730982, + -0.10525329043857043, + -0.9386907940345489, + 146.810258177407 + ], + [ + -0.8938758971333771, + 0.286576840593296, + -0.34476019921035667, + -363.0013195534527 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.3052942058306674, + 0.3283006823730982, + -0.8938758971333771, + 674.3400217936801 + ], + [ + 0.9522580784042853, + -0.10525329043857043, + 0.286576840593296, + 3385.279217969814 + ], + [ + -1.3877787714209467e-17, + -0.9386907940345489, + -0.34476019921035667, + 12.661007026655932 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 67434.002179368, + -338527.9217969814, + 1266.1007026655932 + ], + "rotation_deg": [ + 8.470719817593934e-16, + -20.167158126831044, + -162.22413635253906 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.4838977052155843, + 0.8751245687826913, + -0.0, + -3287.6626377661587 + ], + [ + 0.12930841290059752, + -0.07150072858165422, + -0.9890232455131786, + 166.03261580635098 + ], + [ + -0.8655185508714937, + 0.47858606114988467, + -0.14776000869771397, + -1027.075289641479 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.4838977052155843, + 0.12930841290059752, + -0.8655185508714937, + 680.4702278162199 + ], + [ + 0.8751245687826913, + -0.07150072858165422, + 0.47858606114988467, + 3380.5297686631197 + ], + [ + -0.0, + -0.9890232455131786, + -0.14776000869771397, + 12.449454141597617 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 68047.02278162198, + -338052.976866312, + 1244.9454141597616 + ], + "rotation_deg": [ + 0.0, + -8.497138023376468, + -151.05972290039062 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.550284256135505, + -0.834977387388062, + -0.0, + 2456.8991126728542 + ], + [ + -0.17279638017628424, + -0.11387988341296484, + -0.9783520752529852, + 511.3792419343101 + ], + [ + 0.8169018570312757, + 0.5383717474726954, + -0.2069473785822126, + -2354.423142880298 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.550284256135505, + -0.17279638017628424, + 0.8169018570312757, + 659.7042171323811 + ], + [ + -0.834977387388062, + -0.11387988341296484, + 0.5383717474726954, + 3377.2458987041064 + ], + [ + -0.0, + -0.9783520752529852, + -0.2069473785822126, + 13.06725088937141 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 65970.42171323812, + -337724.5898704106, + 1306.725088937141 + ], + "rotation_deg": [ + 0.0, + -11.94352054595947, + -33.3865165710449 + ] + } + } + ] + }, + { + "frame": 102, + "time": 1768.5629094019532, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.025650109849514154, + 0.9996709818058678, + -2.168404328402745e-19, + -3402.629003569774 + ], + [ + 0.11619299216529762, + -0.0029813439291792873, + -0.9932221806625395, + -57.272826549062444 + ], + [ + -0.9928953930043584, + 0.025476234070550934, + -0.11623123525242035, + 598.4302697288549 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.025650109849514154, + 0.11619299216529762, + -0.9928953930043584, + 688.111085405647 + ], + [ + 0.9996709818058678, + -0.0029813439291792873, + 0.025476234070550934, + 3386.092964832904 + ], + [ + -2.168404328402745e-19, + -0.9932221806625395, + -0.11623123525242035, + 12.671637773527777 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 68811.1085405647, + -338609.2964832904, + 1267.1637773527777 + ], + "rotation_deg": [ + 1.2508824276851423e-17, + -6.674645900726318, + -178.5301971435547 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.3177112596499754, + 0.9481875107232883, + -6.938893856964904e-18, + -3423.588103653165 + ], + [ + 0.3238583033897624, + -0.10851590888344124, + -0.939861743473318, + 160.70055393312836 + ], + [ + -0.8911651726125085, + 0.29860463866732323, + -0.3415551271594026, + -405.1050906859888 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.3177112596499754, + 0.3238583033897624, + -0.8911651726125085, + 674.6526714146563 + ], + [ + 0.9481875107232883, + -0.10851590888344124, + 0.29860463866732323, + 3384.608336745277 + ], + [ + -6.938893856964904e-18, + -0.939861743473318, + -0.3415551271594026, + 12.670558921203485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 67465.26714146564, + -338460.8336745277, + 1267.0558921203485 + ], + "rotation_deg": [ + 4.2300831833394766e-16, + -19.97164916992187, + -161.47543334960938 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.4793133456540479, + 0.8776438438671593, + -6.938893851340633e-18, + -3292.7551505935617 + ], + [ + 0.1293413729994036, + -0.0706380460103995, + -0.9890809247409745, + 163.01677418546566 + ], + [ + -0.8680607942385979, + 0.47407966931549356, + -0.14737341906723284, + -1009.5939696570603 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.4793133456540479, + 0.1293413729994036, + -0.8680607942385979, + 680.7876827262113 + ], + [ + 0.8776438438671593, + -0.0706380460103995, + 0.47407966931549356, + 3380.009498653759 + ], + [ + -6.938893851340633e-18, + -0.9890809247409745, + -0.14737341906723284, + 12.449457876350575 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 68078.76827262114, + -338000.9498653759, + 1244.9457876350575 + ], + "rotation_deg": [ + 4.0195834871138657e-16, + -8.474742889404295, + -151.35943603515625 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.5835350545119525, + -0.8120879509977552, + -1.3877787704974073e-17, + 2356.845064663605 + ], + [ + -0.1667087940830932, + -0.11979050437009693, + -0.9787024129111558, + 527.2888541159064 + ], + [ + 0.7947924341140931, + 0.5711071695133545, + -0.20528416306534727, + -2450.221224977078 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5835350545119525, + -0.1667087940830932, + 0.7947924341140931, + 660.019266466792 + ], + [ + -0.8120879509977552, + -0.11979050437009693, + 0.5711071695133545, + 3376.468570838115 + ], + [ + -1.3877787704974073e-17, + -0.9787024129111558, + -0.20528416306534727, + 13.067266282812843 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 66001.9266466792, + -337646.8570838115, + 1306.7266282812843 + ], + "rotation_deg": [ + 8.124417188957883e-16, + -11.846134185791014, + -35.699565887451165 + ] + } + } + ] + }, + { + "frame": 103, + "time": 1768.6295760720968, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.025934440829179402, + 0.9996636458223727, + -0.0, + -3402.2356387285868 + ], + [ + 0.11649819428163485, + -0.003022332100331429, + -0.9931863048984281, + -57.36938697040439 + ], + [ + -0.9928522430518689, + 0.025757707491507544, + -0.11653739301895664, + 597.6905069314548 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.025934440829179402, + 0.11649819428163485, + -0.9928522430518689, + 688.3367880787383 + ], + [ + 0.9996636458223727, + -0.003022332100331429, + 0.025757707491507544, + 3385.5227437459225 + ], + [ + -0.0, + -0.9931863048984281, + -0.11653739301895664, + 12.67479401546012 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 68833.67880787383, + -338552.27437459223, + 1267.479401546012 + ], + "rotation_deg": [ + 0.0, + -6.692307472229005, + -178.51390075683594 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.32811124944712566, + 0.9446390887456679, + -1.3877787713696884e-17, + -3418.074094026671 + ], + [ + 0.3200949811247652, + -0.11118189523372345, + -0.9408388752761937, + 172.11293956906405 + ], + [ + -0.8887531836532938, + 0.30869979927047936, + -0.3388542643622784, + -440.45661925739546 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.32811124944712566, + 0.3200949811247652, + -0.8887531836532938, + 674.9587909415714 + ], + [ + 0.9446390887456679, + -0.11118189523372345, + 0.30869979927047936, + 3383.9511405886337 + ], + [ + -1.3877787713696884e-17, + -0.9408388752761937, + -0.3388542643622784, + 12.679918039137304 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 67495.87909415714, + -338395.1140588634, + 1267.9918039137303 + ], + "rotation_deg": [ + 8.451379848641494e-16, + -19.807085037231438, + -160.84582519531247 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.47458530723395076, + 0.8802095126489241, + -0.0, + -3297.903492411684 + ], + [ + 0.12942228297328895, + -0.06978101582082774, + -0.9891311755783432, + 159.9889022019288 + ], + [ + -0.870642679479517, + 0.46942710492387585, + -0.1470357705849675, + -991.5991189486233 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.47458530723395076, + 0.12942228297328895, + -0.870642679479517, + 681.1018503116331 + ], + [ + 0.8802095126489241, + -0.06978101582082774, + 0.46942710492387585, + 3379.493766855465 + ], + [ + -0.0, + -0.9891311755783432, + -0.1470357705849675, + 12.449461607619149 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 68110.18503116332, + -337949.3766855465, + 1244.9461607619148 + ], + "rotation_deg": [ + 0.0, + -8.455183982849121, + -151.6676483154297 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.6158292403560708, + -0.7878796524358684, + -0.0, + 2253.016512623327 + ], + [ + -0.16030152955455962, + -0.12529625415289694, + -0.9790833816982706, + 541.6095779198265 + ], + [ + 0.7713998711250533, + 0.6029481789620393, + -0.20345941195877904, + -2542.0975020950164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.6158292403560708, + -0.16030152955455962, + 0.7713998711250533, + 660.3210822288642 + ], + [ + -0.7878796524358684, + -0.12529625415289694, + 0.6029481789620393, + 3375.7205619673205 + ], + [ + -0.0, + -0.9790833816982706, + -0.20345941195877904, + 13.067280273727274 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 66032.10822288641, + -337572.05619673204, + 1306.7280273727274 + ], + "rotation_deg": [ + 0.0, + -11.73932933807373, + -38.012199401855476 + ] + } + } + ] + }, + { + "frame": 104, + "time": 1768.6962427422404, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.026219834609008112, + 0.999656201037675, + -0.0, + -3401.8428513083795 + ], + [ + 0.11680411175155801, + -0.0030636377672632765, + -0.9931502472443734, + -57.465534237711104 + ], + [ + -0.9928088037423981, + 0.026040211262609837, + -0.116844283595679, + 596.9472164187 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.026219834609008112, + 0.11680411175155801, + -0.9928088037423981, + 688.562338232664 + ], + [ + 0.999656201037675, + -0.0030636377672632765, + 0.026040211262609837, + 3384.952603874658 + ], + [ + -0.0, + -0.9931502472443734, + -0.116844283595679, + 12.677950252180079 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 68856.2338232664, + -338495.2603874658, + 1267.7950252180078 + ], + "rotation_deg": [ + 0.0, + -6.7100119590759295, + -178.49754333496094 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.3368264337027183, + 0.9415667547014965, + -2.0816681570255595e-17, + -3413.053570051578 + ], + [ + 0.3169240804565867, + -0.11337317002929628, + -0.9416504933064364, + 181.5189439487431 + ], + [ + -0.8866268050774379, + 0.3171727579359423, + -0.3365922609649296, + -470.1185723905331 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.3368264337027183, + 0.3169240804565867, + -0.8866268050774379, + 675.2591504391061 + ], + [ + 0.9415667547014965, + -0.11337317002929628, + 0.3171727579359423, + 3383.3059872573504 + ], + [ + -2.0816681570255595e-17, + -0.9416504933064364, + -0.3365922609649296, + 12.689107478862265 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 67525.9150439106, + -338330.59872573504, + 1268.9107478862265 + ], + "rotation_deg": [ + 1.2666143278856921e-15, + -19.669391632080067, + -160.31636047363278 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.4697278671947909, + 0.8828112656625042, + -0.0, + -3303.0821265191607 + ], + [ + 0.12954434118183072, + -0.06892819502572892, + -0.9891749934153513, + 156.94862998091872 + ], + [ + -0.8732548372984457, + 0.4646430419170593, + -0.14674069896564682, + -973.146420547202 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.4697278671947909, + 0.12954434118183072, + -0.8732548372984457, + 681.4130468092787 + ], + [ + 0.8828112656625042, + -0.06892819502572892, + 0.4646430419170593, + 3378.9820603661465 + ], + [ + -0.0, + -0.9891749934153513, + -0.14674069896564682, + 12.44946530103269 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 68141.30468092787, + -337898.20603661466, + 1244.946530103269 + ], + "rotation_deg": [ + 0.0, + -8.43809223175049, + -151.98336791992188 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.6471142270196184, + -0.762393059509858, + -0.0, + 2145.584395733983 + ], + [ + -0.1536017344456274, + -0.13037614445041995, + -0.9794940368034603, + 554.2896454603334 + ], + [ + 0.7467594517932565, + 0.6338445303627317, + -0.2014731557470713, + -2629.9092482610668 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.6471142270196184, + -0.1536017344456274, + 0.7467594517932565, + 660.6112534918612 + ], + [ + -0.762393059509858, + -0.13037614445041995, + 0.6338445303627317, + 3374.9983742664954 + ], + [ + -0.0, + -0.9794940368034603, + -0.2014731557470713, + 13.067292995629169 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 66061.12534918613, + -337499.8374266495, + 1306.7292995629168 + ], + "rotation_deg": [ + 0.0, + -11.623118400573729, + -40.32437896728514 + ] + } + } + ] + }, + { + "frame": 105, + "time": 1768.762909412384, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.026506024919409975, + 0.9996486535993393, + -0.0, + -3401.4504681363906 + ], + [ + 0.11711076159277505, + -0.0031052317771172832, + -0.9931140050642575, + -57.561380338303806 + ], + [ + -0.9927650785618108, + 0.026323480607226866, + -0.11715192340240269, + 596.2013039404814 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.026506024919409975, + 0.11711076159277505, + -0.9927650785618108, + 688.7877411181875 + ], + [ + 0.9996486535993393, + -0.0031052317771172832, + 0.026323480607226866, + 3384.3825337278117 + ], + [ + -0.0, + -0.9931140050642575, + -0.11715192340240269, + 12.681106444921342 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 68878.77411181874, + -338438.25337278115, + 1268.1106444921343 + ], + "rotation_deg": [ + 0.0, + -6.72776031494141, + -178.48114013671875 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.3441267014972831, + 0.9389232201392187, + -2.0816681570016743e-17, + -3408.5450686135437 + ], + [ + 0.314268915091864, + -0.11518335345637444, + -0.9423204572190537, + 189.2874059582709 + ], + [ + -0.8847665642734202, + 0.32427761126783555, + -0.33471205173138663, + -494.9664176637484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.3441267014972831, + 0.314268915091864, + -0.8847665642734202, + 675.554428059249 + ], + [ + 0.9389232201392187, + -0.11518335345637444, + 0.32427761126783555, + 3382.67142986697 + ], + [ + -2.0816681570016743e-17, + -0.9423204572190537, + -0.33471205173138663, + 12.698147562371632 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 67555.44280592489, + -338267.14298669697, + 1269.8147562371632 + ], + "rotation_deg": [ + 1.2657137999410087e-15, + -19.555028915405266, + -159.8715057373047 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.46475311989449375, + 0.8854403071626761, + -0.0, + -3308.2692081419054 + ], + [ + 0.12970170977625312, + -0.06807830385237824, + -0.9892132282908976, + 153.8955030838981 + ], + [ + -0.875889274026386, + 0.45973991597554087, + -0.1464827269828505, + -954.2830923530731 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.46475311989449375, + 0.12970170977625312, + -0.875889274026386, + 681.7215507963385 + ], + [ + 0.8854403071626761, + -0.06807830385237824, + 0.45973991597554087, + 3378.4739256967187 + ], + [ + -0.0, + -0.9892132282908976, + -0.1464827269828505, + 12.449468921742005 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 68172.15507963386, + -337847.39256967185, + 1244.9468921742005 + ], + "rotation_deg": [ + 0.0, + -8.423150062561039, + -152.3057556152344 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.6773389923613029, + -0.7356710470223597, + -0.0, + 2034.7266598525985 + ], + [ + -0.14663387798983887, + -0.13500713880975795, + -0.9799344765320097, + 565.2685825346819 + ], + [ + 0.7209094183095887, + 0.6637478348600291, + -0.19931989943594322, + -2713.5217092942435 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.6773389923613029, + -0.14663387798983887, + 0.7209094183095887, + 660.8911792136755 + ], + [ + -0.7356710470223597, + -0.13500713880975795, + 0.6637478348600291, + 3374.298927882389 + ], + [ + -0.0, + -0.9799344765320097, + -0.19931989943594322, + 13.067304561408237 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 66089.11792136755, + -337429.8927882389, + 1306.7304561408237 + ], + "rotation_deg": [ + 0.0, + -11.497191429138182, + -42.63605117797851 + ] + } + } + ] + }, + { + "frame": 106, + "time": 1768.8295760825276, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.02679274549833683, + 0.9996410099574055, + -0.0, + -3401.0583166794095 + ], + [ + 0.11741813607667691, + -0.0031470840086137873, + -0.9930775786324658, + -57.65702341390522 + ], + [ + -0.9927210742051177, + 0.026607250868804666, + -0.11746030406159277, + 595.4536761897143 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.02679274549833683, + 0.11741813607667691, + -0.9927210742051177, + 689.0130020242151 + ], + [ + 0.9996410099574055, + -0.0031470840086137873, + 0.026607250868804666, + 3383.8125216724166 + ], + [ + -0.0, + -0.9930775786324658, + -0.11746030406159277, + 12.684262551388516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 68901.30020242151, + -338381.25216724165, + 1268.4262551388515 + ], + "rotation_deg": [ + 0.0, + -6.745552062988284, + -178.46470642089844 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.35023184752601977, + 0.9366630413219637, + -3.4694469283035686e-17, + -3404.540194102766 + ], + [ + 0.31206224885482725, + -0.11668458467764238, + -0.9428689519430967, + 195.70796457455205 + ], + [ + -0.8831505063949716, + 0.3302227156625664, + -0.3331638352443817, + -515.7218976067762 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.35023184752601977, + 0.31206224885482725, + -0.8831505063949716, + 675.8452212439857 + ], + [ + 0.9366630413219637, + -0.11668458467764238, + 0.3302227156625664, + 3382.0461936385477 + ], + [ + -3.4694469283035686e-17, + -0.9428689519430967, + -0.3331638352443817, + 12.707056164838443 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 67584.52212439857, + -338204.61936385476, + 1270.7056164838443 + ], + "rotation_deg": [ + 2.1082958280322905e-15, + -19.460920333862305, + -159.49850463867188 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.45967260372106844, + 0.8880884513314499, + -1.3877787702644986e-17, + -3313.4446302842284 + ], + [ + 0.1298892699954123, + -0.06723039675237993, + -0.9892466079257366, + 150.82972378886336 + ], + [ + -0.8785384972537943, + 0.4547295457814425, + -0.14625713328397827, + -935.0539578110746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.45967260372106844, + 0.1298892699954123, + -0.8785384972537943, + 682.0276078854996 + ], + [ + 0.8880884513314499, + -0.06723039675237993, + 0.4547295457814425, + 3377.9689618306065 + ], + [ + -1.3877787702644986e-17, + -0.9892466079257366, + -0.14625713328397827, + 12.449472430898766 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 68202.76078854996, + -337796.89618306066, + 1244.9472430898766 + ], + "rotation_deg": [ + 8.03782054069211e-16, + -8.410083770751953, + -152.63401794433594 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.7064539681602178, + -0.7077589920804128, + -1.3877787704594864e-17, + 1920.6289618029223 + ], + [ + -0.1394185419161802, + -0.13916147060496378, + -0.9804063215162527, + 574.4673854286948 + ], + [ + 0.6938913855225779, + 0.6926119402474341, + -0.19698590133367938, + -2792.8097578462093 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7064539681602178, + -0.1394185419161802, + 0.6938913855225779, + 661.1620912236217 + ], + [ + -0.7077589920804128, + -0.13916147060496378, + 0.6926119402474341, + 3373.6195109671958 + ], + [ + -1.3877787704594864e-17, + -0.9804063215162527, + -0.19698590133367938, + 13.06731506222638 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 66116.20912236217, + -337361.9510967196, + 1306.731506222638 + ], + "rotation_deg": [ + 8.110297263093345e-16, + -11.360757827758778, + -44.947128295898416 + ] + } + } + ] + }, + { + "frame": 107, + "time": 1768.8962427526712, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.027080262528426914, + 0.9996332624424779, + -0.0, + -3400.66654313431 + ], + [ + 0.11772625060446042, + -0.0031892273823167392, + -0.9930409652916234, + -57.75236423306683 + ], + [ + -0.9926767804146384, + 0.026891786089214362, + -0.11776944198967747, + 594.703439131131 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.027080262528426914, + 0.11772625060446042, + -0.9926767804146384, + 689.2381261759049 + ], + [ + 0.9996332624424779, + -0.0031892273823167392, + 0.026891786089214362, + 3383.2425558443006 + ], + [ + -0.0, + -0.9930409652916234, + -0.11776944198967747, + 12.687418520995848 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 68923.81261759049, + -338324.25558443007, + 1268.7418520995848 + ], + "rotation_deg": [ + 0.0, + -6.763388156890872, + -178.44822692871094 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.3553231193541365, + 0.9347435374756253, + -1.3877787713108946e-17, + -3401.014401542793 + ], + [ + 0.31024557087211335, + -0.11793333635212082, + -0.9433129989198143, + 201.01127176498704 + ], + [ + -0.8817557359577266, + 0.33518089801728373, + -0.3319044858238217, + -532.9866945572538 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.3553231193541365, + 0.31024557087211335, + -0.8817557359577266, + 676.1320563131834 + ], + [ + 0.9347435374756253, + -0.11793333635212082, + 0.33518089801728373, + 3381.4291551394517 + ], + [ + -1.3877787713108946e-17, + -0.9433129989198143, + -0.3319044858238217, + 12.71584900304916 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 67613.20563131834, + -338142.91551394516, + 1271.584900304916 + ], + "rotation_deg": [ + 8.429213548521014e-16, + -19.384410858154293, + -159.1867523193359 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.4544958714944789, + 0.8907488438356088, + -0.0, + -3318.5914795128874 + ], + [ + 0.1301025570734516, + -0.06638355521870476, + -0.989275769560477, + 147.7511550570766 + ], + [ + -0.8811962571215392, + 0.44962173473523454, + -0.1460597551985776, + -915.4962141814526 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.4544958714944789, + 0.1301025570734516, + -0.8811962571215392, + 682.3314345861617 + ], + [ + 0.8907488438356088, + -0.06638355521870476, + 0.44962173473523454, + 3377.4668138191796 + ], + [ + -0.0, + -0.989275769560477, + -0.1460597551985776, + 12.449475780950635 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 68233.14345861616, + -337746.68138191797, + 1244.9475780950636 + ], + "rotation_deg": [ + 0.0, + -8.398652076721197, + -152.9674987792969 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.7344108077525004, + -0.6787052124864814, + -0.0, + 1803.4862735235472 + ], + [ + -0.13196916363482894, + -0.1428007009234618, + -0.9809139104250137, + 581.7663630863839 + ], + [ + 0.6657513792031731, + 0.7203937813280411, + -0.19444253884621002, + -2867.6615888832252 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7344108077525004, + -0.13196916363482894, + 0.6657513792031731, + 661.4250741803357 + ], + [ + -0.6787052124864814, + -0.1428007009234618, + 0.7203937813280411, + 3372.9577354110606 + ], + [ + -0.0, + -0.9809139104250137, + -0.19444253884621002, + 13.067324564940266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 66142.50741803358, + -337295.7735411061, + 1306.7324564940266 + ], + "rotation_deg": [ + 0.0, + -11.212160110473627, + -47.25745391845701 + ] + } + } + ] + }, + { + "frame": 108, + "time": 1768.9629094228148, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.027368309750976542, + 0.9996254176547207, + -0.0, + -3400.274974951935 + ], + [ + 0.11803508920448408, + -0.0032316313948994473, + -0.9930041662928795, + -57.847496524544134 + ], + [ + -0.9926322050107911, + 0.0271768216579933, + -0.11807932054337195, + 593.9514996907669 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.027368309750976542, + 0.11803508920448408, + -0.9926322050107911, + 689.4631188466466 + ], + [ + 0.9996254176547207, + -0.0032316313948994473, + 0.0271768216579933, + 3382.6726241983497 + ], + [ + -0.0, + -0.9930041662928795, + -0.11807932054337195, + 12.690574308203361 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 68946.31188466465, + -338267.26241983497, + 1269.057430820336 + ], + "rotation_deg": [ + 0.0, + -6.781267642974855, + -178.4317169189453 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.35955040274691125, + 0.9331256656445229, + -0.0, + -3397.934710718839 + ], + [ + 0.30876801301331763, + -0.11897396837501027, + -0.9436670540974237, + 205.38178230563403 + ], + [ + -0.8805599544852357, + 0.33929585012837726, + -0.33089649838374147, + -547.2631497306683 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.35955040274691125, + 0.30876801301331763, + -0.8805599544852357, + 676.4153971035756 + ], + [ + 0.9331256656445229, + -0.11897396837501027, + 0.33929585012837726, + 3380.819324144322 + ], + [ + -0.0, + -0.9436670540974237, + -0.33089649838374147, + 12.724539906751358 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 67641.53971035757, + -338081.9324144322, + 1272.4539906751359 + ], + "rotation_deg": [ + 0.0, + -19.323198318481452, + -158.92741394042972 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.4492311751961216, + 0.8934155534978733, + -0.0, + -3323.695115398805 + ], + [ + 0.13033774818373423, + -0.06553700521527182, + -0.9893012545962967, + 144.65972299867826 + ], + [ + -0.8838571370150036, + 0.4444249468313796, + -0.1458870384289364, + -895.6419910131226 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.4492311751961216, + 0.13033774818373423, + -0.8838571370150036, + 682.6332219039605 + ], + [ + 0.8934155534978733, + -0.06553700521527182, + 0.4444249468313796, + 3376.9671672748145 + ], + [ + -0.0, + -0.9893012545962967, + -0.1458870384289364, + 12.449478929027048 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 68263.32219039605, + -337696.71672748146, + 1244.9478929027048 + ], + "rotation_deg": [ + 0.0, + -8.388648986816408, + -153.30563354492188 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.7611615769335868, + -0.6485622975474103, + -0.0, + 1683.5078763792071 + ], + [ + -0.12428202764759624, + -0.1458590863306123, + -0.9814678316371868, + 586.9425077256876 + ], + [ + 0.6365430266635369, + 0.7470556064864157, + -0.19162697102244727, + -2937.988637417671 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7611615769335868, + -0.12428202764759624, + 0.6365430266635369, + 661.6810833363696 + ], + [ + -0.6485622975474103, + -0.1458590863306123, + 0.7470556064864157, + 3372.3114980157475 + ], + [ + -0.0, + -0.9814678316371868, + -0.19162697102244727, + 13.067333127359252 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 66168.10833363696, + -337231.14980157476, + 1306.7333127359252 + ], + "rotation_deg": [ + 0.0, + -11.047747611999506, + -49.566707611083984 + ] + } + } + ] + }, + { + "frame": 109, + "time": 1769.0295760929585, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.027657419557997987, + 0.9996174604034251, + -0.0, + -3399.88391625541 + ], + [ + 0.11834466637809696, + -0.00327436066307742, + -0.9929671789651986, + -57.94221327434404 + ], + [ + -0.9925873302548076, + 0.027462885930100996, + -0.11838995613658987, + 593.1960650834008 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.027657419557997987, + 0.11834466637809696, + -0.9925873302548076, + 689.6879852723314 + ], + [ + 0.9996174604034251, + -0.00327436066307742, + 0.027462885930100996, + 3382.102714490599 + ], + [ + -0.0, + -0.9929671789651986, + -0.11838995613658987, + 12.69372989146729 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 68968.79852723314, + -338210.2714490599, + 1269.372989146729 + ], + "rotation_deg": [ + 0.0, + -6.799191474914551, + -178.41514587402344 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.3630386480413207, + 0.9317740820758699, + -2.0816681569439343e-17, + -3395.2641747681137 + ], + [ + 0.307585501803368, + -0.11984173726213773, + -0.9439433865917822, + 208.96852959279627 + ], + [ + -0.879541989124953, + 0.3426879117103541, + -0.33010738333717665, + -558.9735590831472 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.3630386480413207, + 0.307585501803368, + -0.879541989124953, + 676.6956523867973 + ], + [ + 0.9317740820758699, + -0.11984173726213773, + 0.3426879117103541, + 3380.215827610576 + ], + [ + -2.0816681569439343e-17, + -0.9439433865917822, + -0.33010738333717665, + 12.733141064654312 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 67669.56523867973, + -338021.5827610576, + 1273.3141064654312 + ], + "rotation_deg": [ + 1.2635376481021875e-15, + -19.275293350219727, + -158.71307373046875 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.4438866395326501, + 0.8960829488637818, + -0.0, + -3328.7418602675243 + ], + [ + 0.13059142948382546, + -0.06469020625695704, + -0.9893235344212747, + 141.55587474078246 + ], + [ + -0.8865159590790688, + 0.4391474806158198, + -0.14573587261514004, + -875.5227190070356 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.4438866395326501, + 0.13059142948382546, + -0.8865159590790688, + 682.9331383240857 + ], + [ + 0.8960829488637818, + -0.06469020625695704, + 0.4391474806158198, + 3376.4697434626623 + ], + [ + -0.0, + -0.9893235344212747, + -0.14573587261514004, + 12.449481855933305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 68293.31383240857, + -337646.97434626624, + 1244.9481855933304 + ], + "rotation_deg": [ + 0.0, + -8.379894256591797, + -153.6478729248047 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.7866539540074803, + -0.617394166351122, + 1.3877787704218724e-17, + 1560.9443052795586 + ], + [ + -0.11628817408657997, + -0.14816879869495403, + -0.9821013530491155, + 589.3858148604221 + ], + [ + 0.6063436405490603, + 0.7725739166471872, + -0.18835321309215108, + -3003.7675616337633 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7866539540074803, + -0.11628817408657997, + 0.6063436405490603, + 661.9309599867603 + ], + [ + -0.617394166351122, + -0.14816879869495403, + 0.7725739166471872, + 3371.6789462653264 + ], + [ + 1.3877787704218724e-17, + -0.9821013530491155, + -0.18835321309215108, + 13.067340818886976 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 66193.09599867603, + -337167.8946265326, + 1306.7340818886976 + ], + "rotation_deg": [ + -8.096299512479656e-16, + -10.856695175170893, + -51.87390899658202 + ] + } + } + ] + }, + { + "frame": 110, + "time": 1769.096242763102, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.02794705947571137, + 0.9996094046509674, + -0.0, + -3399.4930354690205 + ], + [ + 0.11865498354353762, + -0.0033173536250778518, + -0.9929300025909221, + -58.03672526174928 + ], + [ + -0.9925421693099344, + 0.027749449895035035, + -0.11870134865304899, + 592.4389403302416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.02794705947571137, + 0.11865498354353762, + -0.9925421693099344, + 689.912730663885 + ], + [ + 0.9996094046509674, + -0.0033173536250778518, + 0.027749449895035035, + 3381.5328143419897 + ], + [ + -0.0, + -0.9929300025909221, + -0.11870134865304899, + 12.696885247477017 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 68991.2730663885, + -338153.28143419896, + 1269.6885247477016 + ], + "rotation_deg": [ + 0.0, + -6.817159652709963, + -178.39854431152344 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.36589211220308776, + 0.9306572743107758, + 6.93889385645503e-18, + -3392.965126627847 + ], + [ + 0.30665995968321264, + -0.12056474867152417, + -0.9441524296981195, + 211.89228561529092 + ], + [ + -0.8786823333637115, + 0.3454579075964611, + -0.32950901522352655, + -568.4728582053914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.36589211220308776, + 0.30665995968321264, + -0.8786823333637115, + 676.973182485227 + ], + [ + 0.9306572743107758, + -0.12056474867152417, + 0.3454579075964611, + 3379.617895656374 + ], + [ + 6.93889385645503e-18, + -0.9441524296981195, + -0.32950901522352655, + 12.741663198470087 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 67697.3182485227, + -337961.7895656374, + 1274.1663198470087 + ], + "rotation_deg": [ + -4.210859634931664e-16, + -19.23897743225098, + -158.53750610351562 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.4384690625034904, + 0.8987462830116796, + -0.0, + -3333.7201510740697 + ], + [ + 0.1308606264501213, + -0.06384264089074235, + -0.9893430212262971, + 138.43984503937062 + ], + [ + -0.8891683718341492, + 0.43379628842680784, + -0.1456035256335965, + -855.1647386533846 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.4384690625034904, + 0.1308606264501213, + -0.8891683718341492, + 683.2313325245817 + ], + [ + 0.8987462830116796, + -0.06384264089074235, + 0.43379628842680784, + 3375.974295060952 + ], + [ + -0.0, + -0.9893430212262971, + -0.1456035256335965, + 12.449484540425983 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 68323.13325245817, + -337597.4295060952, + 1244.9484540425983 + ], + "rotation_deg": [ + 0.0, + -8.37222957611084, + -153.99375915527347 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.7893540816413578, + -0.6139382165952277, + -0.0, + 1546.9307213844781 + ], + [ + -0.11515140727892921, + -0.14805273704324026, + -0.9822527884692857, + 588.1803030884796 + ], + [ + 0.6030425195661251, + 0.77534525181527, + -0.1875618833421536, + -3010.6031739636037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7893540816413578, + -0.11515140727892921, + 0.6030425195661251, + 662.1754451517439 + ], + [ + -0.6139382165952277, + -0.14805273704324026, + 0.77534525181527, + 3371.0584482838954 + ], + [ + -0.0, + -0.9822527884692857, + -0.1875618833421536, + 13.067347696246541 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 66217.54451517439, + -337105.8448283895, + 1306.734769624654 + ], + "rotation_deg": [ + 0.0, + -10.810532569885252, + -52.12519073486325 + ] + } + } + ] + }, + { + "frame": 111, + "time": 1769.1629094332457, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.028237495676839617, + 0.9996012424151447, + -0.0, + -3399.1024773967533 + ], + [ + 0.11896604778353927, + -0.0033606433420010017, + -0.9928926354601952, + -58.13092710933086 + ], + [ + -0.9924967125570883, + 0.02803677756206351, + -0.11901350623903108, + 591.6792324096739 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.028237495676839617, + 0.11896604778353927, + -0.9924967125570883, + 690.1373601526648 + ], + [ + 0.9996012424151447, + -0.0033606433420010017, + 0.02803677756206351, + 3380.9629112780035 + ], + [ + -0.0, + -0.9928926354601952, + -0.11901350623903108, + 12.700040375073833 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 69013.73601526648, + -338096.29112780036, + 1270.0040375073834 + ], + "rotation_deg": [ + 0.0, + -6.835172653198245, + -178.38189697265625 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.3681994500128274, + 0.9297468284486111, + -2.0816681569311572e-17, + -3391.000090230703 + ], + [ + 0.3059581794331894, + -0.1211659238270291, + -0.9443031353019381, + 214.25298334785126 + ], + [ + -0.877962851792133, + 0.347691875947258, + -0.3290768759322084, + -576.0648671754142 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.3681994500128274, + 0.3059581794331894, + -0.877962851792133, + 677.2483050283015 + ], + [ + 0.9297468284486111, + -0.1211659238270291, + 0.347691875947258, + 3379.0248492047504 + ], + [ + -2.0816681569311572e-17, + -0.9443031353019381, + -0.3290768759322084, + 12.750115762659929 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 67724.83050283015, + -337902.48492047505, + 1275.011576265993 + ], + "rotation_deg": [ + 1.2630562814419852e-15, + -19.21275520324707, + -158.3953857421875 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.4329846145918673, + 0.9014013110300716, + -0.0, + -3338.619720173339 + ], + [ + 0.1311427666270842, + -0.06299391799158914, + -0.989360066435604, + 135.31202896500292 + ], + [ + -0.891810469756526, + 0.4283776683774622, + -0.1454876601919654, + -834.5918939565843 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.4329846145918673, + 0.1311427666270842, + -0.891810469756526, + 683.5279356984313 + ], + [ + 0.9014013110300716, + -0.06299391799158914, + 0.4283776683774622, + 3375.4806024135823 + ], + [ + -0.0, + -0.989360066435604, + -0.1454876601919654, + 12.449486983165498 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 68352.79356984312, + -337548.06024135824, + 1244.9486983165498 + ], + "rotation_deg": [ + 0.0, + -8.365519523620607, + -154.34288024902344 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.7902237298200129, + -0.6128184534014516, + -1.3877787704162557e-17, + 1542.016874361707 + ], + [ + -0.11461325693657752, + -0.14779273515758526, + -0.9823548792412189, + 586.8861536739793 + ], + [ + 0.6020051921417326, + 0.7762801407146238, + -0.18702644670334714, + -3012.7457312957617 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7902237298200129, + -0.11461325693657752, + 0.6020051921417326, + 662.4151915519142 + ], + [ + -0.6128184534014516, + -0.14779273515758526, + 0.7762801407146238, + 3370.4485663819055 + ], + [ + -1.3877787704162557e-17, + -0.9823548792412189, + -0.18702644670334714, + 13.067353828708923 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 66241.51915519142, + -337044.85663819057, + 1306.7353828708922 + ], + "rotation_deg": [ + 8.094210019098922e-16, + -10.779301643371573, + -52.20642471313474 + ] + } + } + ] + }, + { + "frame": 112, + "time": 1769.2295761033893, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.028528728117300273, + 0.9995929730005154, + 2.168404328415223e-19, + -3398.7122278873107 + ], + [ + 0.1192778422590572, + -0.0034042307460529905, + -0.9928550788302645, + -58.22480558480285 + ], + [ + -0.9924509605791401, + 0.02832486866781434, + -0.11932641225015397, + 590.9169489331844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.028528728117300273, + 0.1192778422590572, + -0.9924509605791401, + 690.3618788211712 + ], + [ + 0.9995929730005154, + -0.0034042307460529905, + 0.02832486866781434, + 3380.392992760795 + ], + [ + 2.168404328415223e-19, + -0.9928550788302645, + -0.11932641225015397, + 12.703195267990333 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 69036.18788211713, + -338039.2992760795, + 1270.3195267990334 + ], + "rotation_deg": [ + -1.2513449334909787e-17, + -6.853229522705081, + -178.36520385742188 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.3002651154043033, + 0.953855785992432, + -2.0816681571901482e-17, + -3426.6042370329615 + ], + [ + 0.33306753414098206, + -0.10484662675942735, + -0.9370556027037108, + 140.70212038978542 + ], + [ + -0.8938159136978422, + 0.2813650887560999, + -0.3491801816394561, + -341.0793732829082 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.3002651154043033, + 0.33306753414098206, + -0.8938159136978422, + 677.1641751006237 + ], + [ + 0.953855785992432, + -0.10484662675942735, + 0.2813650887560999, + 3379.2062753963173 + ], + [ + -2.0816681571901482e-17, + -0.9370556027037108, + -0.3491801816394561, + 12.747528818038488 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 67716.41751006237, + -337920.62753963174, + 1274.7528818038488 + ], + "rotation_deg": [ + 1.2728252233224085e-15, + -20.437179565429673, + -162.52647399902344 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.42743834652003376, + 0.9040445010751513, + -0.0, + -3343.431967353025 + ], + [ + 0.13143558072166958, + -0.06214363035310437, + -0.9893749831721509, + 132.17256760230399 + ], + [ + -0.8944390217343076, + 0.42289678811824016, + -0.1453861857201395, + -813.8237681367591 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.42743834652003376, + 0.13143558072166958, + -0.8944390217343076, + 683.8230636757589 + ], + [ + 0.9040445010751513, + -0.06214363035310437, + 0.42289678811824016, + 3374.9884702296968 + ], + [ + -0.0, + -0.9893749831721509, + -0.1453861857201395, + 12.449489179485274 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 68382.30636757589, + -337498.8470229697, + 1244.9489179485274 + ], + "rotation_deg": [ + 0.0, + -8.35964298248291, + -154.6949005126953 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.790696906311835, + -0.6122078097745022, + 1.3877787704142779e-17, + 1539.091366884859 + ], + [ + -0.11421154311096544, + -0.14750990163977867, + -0.9824441726319285, + 585.606270439407 + ], + [ + 0.6014599894990553, + 0.7768155719586054, + -0.18655682296400056, + -3013.870550446542 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.790696906311835, + -0.11421154311096544, + 0.6014599894990553, + 662.6507742251197 + ], + [ + -0.6122078097745022, + -0.14750990163977867, + 0.7768155719586054, + 3369.84803377418 + ], + [ + 1.3877787704142779e-17, + -0.9824441726319285, + -0.18655682296400056, + 13.067359271984813 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 66265.07742251197, + -336984.80337741796, + 1306.7359271984812 + ], + "rotation_deg": [ + -8.093474344249208e-16, + -10.75191211700439, + -52.25068664550778 + ] + } + } + ] + }, + { + "frame": 113, + "time": 1769.2962427735329, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.02882075675255138, + 0.999584595709743, + 2.168404328416506e-19, + -3398.3222727999596 + ], + [ + 0.11959039142769541, + -0.0034481179442673753, + -0.9928173289990523, + -58.318372053324595 + ], + [ + -0.9924049089999982, + 0.028613722806091778, + -0.11964009135687727, + 590.1520951334858 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.02882075675255138, + 0.11959039142769541, + -0.9924049089999982, + 690.5862917756166 + ], + [ + 0.999584595709743, + -0.0034481179442673753, + 0.028613722806091778, + 3379.823046261775 + ], + [ + 2.168404328416506e-19, + -0.9928173289990523, + -0.11964009135687727, + 12.706349931640302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 69058.62917756166, + -337982.3046261775, + 1270.6349931640302 + ], + "rotation_deg": [ + -1.2513925133018694e-17, + -6.871331691741948, + -178.3484649658203 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.2301812096730978, + 0.973147784621344, + -0.0, + -3444.4652016981863 + ], + [ + 0.3572569992859234, + -0.08450293938840177, + -0.9301756230389708, + 55.523500057878046 + ], + [ + -0.9051983506541708, + 0.21410892947326496, + -0.3671148489134995, + -105.9645320948276 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.2301812096730978, + 0.3572569992859234, + -0.9051983506541708, + 677.0960229964945 + ], + [ + 0.973147784621344, + -0.08450293938840177, + 0.21410892947326496, + 3379.3535494093753 + ], + [ + -0.0, + -0.9301756230389708, + -0.3671148489134995, + 12.7454267889589 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 67709.60229964946, + -337935.35494093754, + 1274.54267889589 + ], + "rotation_deg": [ + 0.0, + -21.537792205810543, + -166.6922607421875 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.4218353785952842, + 0.9066724399502684, + -0.0, + -3348.148762959269 + ], + [ + 0.13173707854000352, + -0.06129155133910016, + -0.9893880370573475, + 129.0220270425336 + ], + [ + -0.8970508742165306, + 0.4173588583159564, + -0.145297324313145, + -792.880049625403 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.4218353785952842, + 0.13173707854000352, + -0.8970508742165306, + 684.1168188369184 + ], + [ + 0.9066724399502684, + -0.06129155133910016, + 0.4173588583159564, + 3374.4977247236225 + ], + [ + -0.0, + -0.9893880370573475, + -0.145297324313145, + 12.449491136207826 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 68411.68188369184, + -337449.77247236227, + 1244.9491136207826 + ], + "rotation_deg": [ + 0.0, + -8.354496955871586, + -155.0494842529297 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.7908249575588817, + -0.6120423894649722, + -2.775557540825097e-17, + 1537.9031472125057 + ], + [ + -0.1139287000629934, + -0.14720820149535024, + -0.982522262706785, + 584.3424174250356 + ], + [ + 0.6013452677141282, + 0.777003130741279, + -0.18614511494013064, + -3014.111202345356 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7908249575588817, + -0.1139287000629934, + 0.6013452677141282, + 662.8826999148763 + ], + [ + -0.6120423894649722, + -0.14720820149535024, + 0.777003130741279, + 3369.255734136078 + ], + [ + -2.775557540825097e-17, + -0.982522262706785, + -0.18614511494013064, + 13.067364086028753 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 66288.26999148763, + -336925.5734136078, + 1306.7364086028754 + ], + "rotation_deg": [ + 1.6185662162887162e-15, + -10.727902412414542, + -52.262672424316385 + ] + } + } + ] + }, + { + "frame": 114, + "time": 1769.3629094436765, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.029113581537588674, + 0.999576109843595, + -0.0, + -3397.9325977382728 + ], + [ + 0.11990368670505108, + -0.003492306113729755, + -0.9927793862246257, + -58.411618142645416 + ], + [ + -0.992358557400509, + 0.028903339680300184, + -0.1199545351760655, + 589.3846779419813 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.029113581537588674, + 0.11990368670505108, + -0.992358557400509, + 690.8106038583936 + ], + [ + 0.999576109843595, + -0.003492306113729755, + 0.028903339680300184, + 3379.2530590035235 + ], + [ + -0.0, + -0.9927793862246257, + -0.1199545351760655, + 12.709504379521524 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 69081.06038583936, + -337925.30590035237, + 1270.9504379521525 + ], + "rotation_deg": [ + 0.0, + -6.889478683471681, + -178.33168029785156 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.1582923055354509, + 0.987392295902835, + -0.0, + -3444.0452241272446 + ], + [ + 0.3778559673810826, + -0.06057540907020153, + -0.9238806674730691, + -39.33499258376429 + ], + [ + -0.912232655625936, + 0.1462431796329412, + -0.38268069512388475, + 128.26475252087621 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.1582923055354509, + 0.3778559673810826, + -0.912232655625936, + 677.0360491448608 + ], + [ + 0.987392295902835, + -0.06057540907020153, + 0.1462431796329412, + 3379.483150540866 + ], + [ + -0.0, + -0.9238806674730691, + -0.38268069512388475, + 12.743577003368863 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 67703.60491448609, + -337948.3150540866, + 1274.3577003368862 + ], + "rotation_deg": [ + 0.0, + -22.49983024597168, + -170.8922119140625 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.41618017367667687, + 0.9092821690973879, + 3.4694469256528822e-18, + -3352.763082226228 + ], + [ + 0.13204549685977707, + -0.06043747439903799, + -0.9893994635370084, + 125.86089148164616 + ], + [ + -0.8996432988112705, + 0.41176842159992055, + -0.14521949551312005, + -771.7778936504127 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.41618017367667687, + 0.13204549685977707, + -0.8996432988112705, + 684.409291444629 + ], + [ + 0.9092821690973879, + -0.06043747439903799, + 0.41176842159992055, + 3374.00821077608 + ], + [ + 3.4694469256528822e-18, + -0.9893994635370084, + -0.14521949551312005, + 12.449492868070628 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 68440.9291444629, + -337400.821077608, + 1244.949286807063 + ], + "rotation_deg": [ + -2.009144687766169e-16, + -8.349989891052248, + -155.40634155273438 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.7906517826227426, + -0.6122660848319786, + -0.0, + 1538.2325880147848 + ], + [ + -0.11374943750782864, + -0.14689070285932912, + -0.9825905489470905, + 583.0948274522724 + ], + [ + 0.601606862744383, + 0.7768869731502139, + -0.18578432024355657, + -3013.5810365553602 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7906517826227426, + -0.11374943750782864, + 0.601606862744383, + 663.1114149807775 + ], + [ + -0.6122660848319786, + -0.14689070285932912, + 0.7768869731502139, + 3368.6706832909654 + ], + [ + -0.0, + -0.9825905489470905, + -0.18578432024355657, + 13.067368332334372 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 66311.14149807775, + -336867.06832909654, + 1306.7368332334372 + ], + "rotation_deg": [ + 0.0, + -10.706863403320309, + -52.246463775634744 + ] + } + } + ] + }, + { + "frame": 115, + "time": 1769.42957611382, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.02940693622601264, + 0.9995675225325199, + -0.0, + -3397.543030948747 + ], + [ + 0.12021773696466674, + -0.0035367648952805007, + -0.992741248771889, + -58.50465411488332 + ], + [ + -0.9923119111422829, + 0.029193454665509752, + -0.12026975184909527, + 588.6156016029435 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.02940693622601264, + 0.12021773696466674, + -0.9923119111422829, + 691.0348199280477 + ], + [ + 0.9995675225325199, + -0.0035367648952805007, + 0.029193454665509752, + 3378.6830183443603 + ], + [ + -0.0, + -0.992741248771889, + -0.12026975184909527, + 12.71265863557541 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 69103.48199280477, + -337868.301834436, + 1271.265863557541 + ], + "rotation_deg": [ + 0.0, + -6.907670974731447, + -178.3148651123047 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.08499626464827122, + 0.9963812698941308, + 3.4694469297889173e-18, + -3424.908398767479 + ], + [ + 0.39426405355356664, + -0.03363267942672165, + -0.9183815650099305, + -141.5432886242231 + ], + [ + -0.9150581905976435, + 0.078058980776109, + -0.39569597336890056, + 360.7131132419614 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.08499626464827122, + 0.39426405355356664, + -0.9150581905976435, + 676.9832721554234 + ], + [ + 0.9963812698941308, + -0.03363267942672165, + 0.078058980776109, + 3379.597199536578 + ], + [ + 3.4694469297889173e-18, + -0.9183815650099305, + -0.39569597336890056, + 12.741949192049628 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 67698.32721554233, + -337959.7199536578, + 1274.1949192049628 + ], + "rotation_deg": [ + -2.1645106504205107e-16, + -23.30938720703126, + -175.1241912841797 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.4104767688730391, + 0.9118710556956774, + 3.469446925652335e-18, + -3357.2687264293 + ], + [ + 0.13235928305825945, + -0.059581242875021395, + -0.9894094681605644, + 122.68967417802705 + ], + [ + -0.9022138646503645, + 0.4061295825156321, + -0.14515131635066802, + -750.5327838570494 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.4104767688730391, + 0.13235928305825945, + -0.9022138646503645, + 684.7005613492598 + ], + [ + 0.9118710556956774, + -0.059581242875021395, + 0.4061295825156321, + 3373.519790047748 + ], + [ + 3.469446925652335e-18, + -0.9894094681605644, + -0.14515131635066802, + 12.449494400106 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 68470.05613492598, + -337351.97900477477, + 1244.9494400106 + ], + "rotation_deg": [ + -2.009124371873476e-16, + -8.346041679382324, + -155.7652130126953 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.7902147127452526, + -0.6128300806593437, + -1.3877787704097147e-17, + 1539.8891962673983 + ], + [ + -0.11366050207950038, + -0.14655971342757904, + -0.9826502636579616, + 581.862508974901 + ], + [ + 0.6021976346924816, + 0.7765046998641496, + -0.18546821792336277, + -3012.375856833438 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7902147127452526, + -0.11366050207950038, + 0.6021976346924816, + 663.3373128926521 + ], + [ + -0.6128300806593437, + -0.14655971342757904, + 0.7765046998641496, + 3368.092013706871 + ], + [ + -1.3877787704097147e-17, + -0.9826502636579616, + -0.18546821792336277, + 13.067372077079426 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 66333.73128926521, + -336809.2013706871, + 1306.7372077079426 + ], + "rotation_deg": [ + 8.09177690160902e-16, + -10.688431739807125, + -52.20558166503905 + ] + } + } + ] + }, + { + "frame": 116, + "time": 1769.4962427839637, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.02970108697745076, + 0.9995588253986646, + 2.168404328420396e-19, + -3397.153716086106 + ], + [ + 0.12053253270026401, + -0.0035815273162288783, + -0.9927029169005913, + -58.59736332607974 + ], + [ + -0.9922649621848636, + 0.029484331754919747, + -0.12058573299208064, + 587.8439745844888 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.02970108697745076, + 0.12053253270026401, + -0.9922649621848636, + 691.2589448583574 + ], + [ + 0.9995588253986646, + -0.0035815273162288783, + 0.029484331754919747, + 3378.112911657994 + ], + [ + 2.168404328420396e-19, + -0.9927029169005913, + -0.12058573299208064, + 12.715812721104069 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 69125.89448583574, + -337811.2911657994, + 1271.5812721104069 + ], + "rotation_deg": [ + -1.2515367401830809e-17, + -6.925908088684084, + -178.29800415039062 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.010935012066721653, + 0.9999402109681861, + 4.336808662625393e-19, + -3386.6174314868945 + ], + [ + 0.4070741952229597, + -0.004451627395306031, + -0.9133842469613281, + -248.93208410256642 + ], + [ + -0.9133296355216266, + 0.009987845598258882, + -0.4070985382167788, + 589.8208649013022 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.010935012066721653, + 0.4070741952229597, + -0.9133296355216266, + 677.0673387044008 + ], + [ + 0.9999402109681861, + -0.004451627395306031, + 0.009987845598258882, + 3379.4157439636074 + ], + [ + 4.336808662625393e-19, + -0.9133842469613281, + -0.4070985382167788, + 12.744535769089682 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 67706.73387044008, + -337941.5743963607, + 1274.4535769089682 + ], + "rotation_deg": [ + -2.7204414316941252e-17, + -24.02269935607912, + -179.3734588623047 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.40472828080600387, + 0.9144369954872867, + 6.938893851303711e-18, + -3361.6606657014045 + ], + [ + 0.13267712701397333, + -0.058722673933408014, + -0.989418226804736, + 119.50863820910163 + ], + [ + -0.904760638902702, + 0.4004455187687393, + -0.14509160137792143, + -729.1567447945521 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.40472828080600387, + 0.13267712701397333, + -0.904760638902702, + 684.9906992421949 + ], + [ + 0.9144369954872867, + -0.058722673933408014, + 0.4004455187687393, + 3373.032338860453 + ], + [ + 6.938893851303711e-18, + -0.989418226804736, + -0.14509160137792143, + 12.449495754576072 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 68499.06992421948, + -337303.2338860453, + 1244.9495754576071 + ], + "rotation_deg": [ + -4.01821317293318e-16, + -8.342583656311037, + -156.1259002685547 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.789545912259691, + -0.6136914961395608, + -0.0, + 1542.7060788235297 + ], + [ + -0.1136503676518546, + -0.14621708752817172, + -0.9827024764634398, + 580.6440788564211 + ], + [ + 0.6030761474071118, + 0.7758887272997306, + -0.18519136933939412, + -3010.5776901968206 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.789545912259691, + -0.1136503676518546, + 0.6030761474071118, + 663.5607405781307 + ], + [ + -0.6136914961395608, + -0.14621708752817172, + 0.7758887272997306, + 3367.518960394772 + ], + [ + -0.0, + -0.9827024764634398, + -0.18519136933939412, + 13.067375378734017 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 66356.07405781306, + -336751.8960394772, + 1306.7375378734016 + ], + "rotation_deg": [ + 0.0, + -10.672289848327635, + -52.14309692382812 + ] + } + } + ] + }, + { + "frame": 117, + "time": 1769.5629094541073, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.0299962999418519, + 0.9995500097492863, + -4.336808656843413e-19, + -3396.7647959686255 + ], + [ + 0.12084808913011906, + -0.0036266274759538535, + -0.9926643878606449, + -58.68964270385073 + ], + [ + -0.9922176991681315, + 0.029776234800506743, + -0.12090249500570403, + 587.0689042220731 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.0299962999418519, + 0.12084808913011906, + -0.9922176991681315, + 691.4829832836643 + ], + [ + 0.9995500097492863, + -0.0036266274759538535, + 0.029776234800506743, + 3377.542726295564 + ], + [ + -4.336808656843413e-19, + -0.9926643878606449, + -0.12090249500570403, + 12.718966645708894 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 69148.29832836644, + -337754.2726295564, + 1271.8966645708895 + ], + "rotation_deg": [ + 2.503170634067649e-17, + -6.944190979003907, + -178.2810821533203 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + -0.06334959738306921, + 0.9979913970127213, + -0.0, + -3329.3630248093727 + ], + [ + 0.41667506353394007, + 0.02644932370504534, + -0.9086706359867323, + -359.97546909117074 + ], + [ + -0.9068454774152391, + -0.05756389723171757, + -0.41751368579607473, + 813.9824636948117 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.06334959738306921, + 0.41667506353394007, + -0.9068454774152391, + 677.2353767086947 + ], + [ + 0.9979913970127213, + 0.02644932370504534, + -0.05756389723171757, + 3379.0527887831618 + ], + [ + -0.0, + -0.9086706359867323, + -0.41751368579607473, + 12.749708304085347 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 67723.53767086947, + -337905.27887831617, + 1274.9708304085348 + ], + "rotation_deg": [ + 0.0, + -24.677715301513683, + 176.36790466308594 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.3989381122252579, + 0.9169778528482283, + -6.93889385130287e-18, + -3365.933973961416 + ], + [ + 0.13299780685196275, + -0.05786169625669603, + -0.9894258979220553, + 116.31836612230688 + ], + [ + -0.9072816436301817, + 0.39471968064308033, + -0.14503928035101588, + -707.6627600878375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.3989381122252579, + 0.13299780685196275, + -0.9072816436301817, + 685.2797675049396 + ], + [ + 0.9169778528482283, + -0.05786169625669603, + 0.39471968064308033, + 3372.545746400583 + ], + [ + -6.93889385130287e-18, + -0.9894258979220553, + -0.14503928035101588, + 12.449496941927041 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 68527.97675049397, + -337254.57464005833, + 1244.949694192704 + ], + "rotation_deg": [ + 4.0181820193266195e-16, + -8.33955383300781, + -156.48818969726562 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.7886730621517429, + -0.6148128178854059, + -0.0, + 1546.5375533867705 + ], + [ + -0.1137089874920767, + -0.1458642577882388, + -0.982748128700031, + 579.4377076494135 + ], + [ + 0.6042061406583452, + 0.7750669800283985, + -0.18494895528336047, + -3008.2567908688566 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7886730621517429, + -0.1137089874920767, + 0.6042061406583452, + 663.7820037546378 + ], + [ + -0.6148128178854059, + -0.1458642577882388, + 0.7750669800283985, + 3366.9508485670403 + ], + [ + -0.0, + -0.982748128700031, + -0.18494895528336047, + 13.067378279607361 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 66378.20037546378, + -336695.08485670405, + 1306.737827960736 + ], + "rotation_deg": [ + 0.0, + -10.658156394958489, + -52.06167984008786 + ] + } + } + ] + }, + { + "frame": 118, + "time": 1769.629576124251, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.030292042677511392, + 0.9995410907763743, + -0.0, + -3396.375941917411 + ], + [ + 0.12116440783798534, + -0.003672002529053407, + -0.9926256608967434, + -58.78170719009868 + ], + [ + -0.9921701364359864, + 0.030068634966689853, + -0.12122003776536355, + 586.2921928126954 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.030292042677511392, + 0.12116440783798534, + -0.9921701364359864, + 691.7069397390136 + ], + [ + 0.9995410907763743, + -0.003672002529053407, + 0.030068634966689853, + 3376.97244958355 + ], + [ + -0.0, + -0.9926256608967434, + -0.12122003776536355, + 12.72212041544539 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 69170.69397390136, + -337697.244958355, + 1272.212041544539 + ], + "rotation_deg": [ + 0.0, + -6.9625196456909215, + -178.2641296386719 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + -0.13727774721030553, + 0.9905325941738935, + -0.0, + -3253.5186700951626 + ], + [ + 0.42386280447210567, + 0.05874307545901699, + -0.9038194366523976, + -474.0952099781957 + ], + [ + -0.8952626126873265, + -0.12407427511530893, + -0.4279140434466629, + 1031.1741625804198 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.13727774721030553, + 0.42386280447210567, + -0.8952626126873265, + 677.4873479105472 + ], + [ + 0.9905325941738935, + 0.05874307545901699, + -0.12407427511530893, + 3378.5083162970673 + ], + [ + -0.0, + -0.9038194366523976, + -0.4279140434466629, + 12.757466588016737 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 67748.73479105473, + -337850.8316297067, + 1275.7466588016737 + ], + "rotation_deg": [ + 0.0, + -25.335252761840824, + 172.10964965820312 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.3931094648746946, + 0.9194916794761827, + -0.0, + -3370.0842322291114 + ], + [ + 0.13332026767148789, + -0.05699829617941333, + -0.9894326154219126, + 113.11952355625297 + ], + [ + -0.9097750653808434, + 0.38895530662085775, + -0.1449934476545637, + -686.0629923736826 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.3931094648746946, + 0.13332026767148789, + -0.9097750653808434, + 685.5678213205933 + ], + [ + 0.9194916794761827, + -0.05699829617941333, + 0.38895530662085775, + 3372.059913169422 + ], + [ + -0.0, + -0.9894326154219126, + -0.1449934476545637, + 12.449497968957841 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 68556.78213205934, + -337205.9913169422, + 1244.9497968957842 + ], + "rotation_deg": [ + 0.0, + -8.336899757385254, + -156.8518829345703 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.7876200776979541, + -0.6161611909290206, + -0.0, + 1551.256261876163 + ], + [ + -0.11382760110593235, + -0.1455023544927448, + -0.9827880453401621, + 578.2413956351802 + ], + [ + 0.6055558468456083, + 0.7740636006763285, + -0.1847367274233681, + -3005.47359454062 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7876200776979541, + -0.11382760110593235, + 0.6055558468456083, + 664.0013719857968 + ], + [ + -0.6161611909290206, + -0.1455023544927448, + 0.7740636006763285, + 3366.3870828081876 + ], + [ + -0.0, + -0.9827880453401621, + -0.1847367274233681, + 13.067380814537856 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 66400.13719857969, + -336638.70828081877, + 1306.7380814537855 + ], + "rotation_deg": [ + 0.0, + -10.64578342437744, + -51.96365737915039 + ] + } + } + ] + }, + { + "frame": 119, + "time": 1769.6962427943945, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.03058858133577614, + 0.9995320598619459, + -4.336808656848695e-19, + -3395.987297236425 + ], + [ + 0.12148147927505179, + -0.003717685763984966, + -0.9925867362632369, + -58.87343927328123 + ], + [ + -0.9921222657058714, + 0.03036179620239493, + -0.12153835288505861, + 585.5129489444312 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.03058858133577614, + 0.12148147927505179, + -0.9921222657058714, + 691.9308187573608 + ], + [ + 0.9995320598619459, + -0.003717685763984966, + 0.03036179620239493, + 3376.4020691585033 + ], + [ + -4.336808656848695e-19, + -0.9925867362632369, + -0.12153835288505861, + 12.725274052031073 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 69193.08187573608, + -337640.20691585034, + 1272.5274052031073 + ], + "rotation_deg": [ + 2.503366460985585e-17, + -6.98089361190796, + -178.24713134765628 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + -0.16306681257299135, + 0.9866150285888029, + -6.938893861777305e-18, + -3222.040312720642 + ], + [ + 0.4281407099441667, + 0.07076269758752103, + -0.9009373857925096, + -517.7216939518383 + ], + [ + -0.8888783665405551, + -0.14691296707914253, + -0.4339491094589286, + 1104.282974510607 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.16306681257299135, + 0.4281407099441667, + -0.8888783665405551, + 677.8231954280558 + ], + [ + 0.9866150285888029, + 0.07076269758752103, + -0.14691296707914253, + 3377.782300208675 + ], + [ + -6.938893861777305e-18, + -0.9009373857925096, + -0.4339491094589286, + 12.767810241754189 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 67782.31954280558, + -337778.23002086754, + 1276.781024175419 + ], + "rotation_deg": [ + 4.412840915676607e-16, + -25.718442916870114, + 170.61505126953125 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.38724435313787325, + 0.9219771206287225, + 3.469446925650746e-18, + -3374.108220773459 + ], + [ + 0.1336436370350079, + -0.05613235146152291, + -0.9894384960165309, + 109.91228766887399 + ], + [ + -0.9122396635901409, + 0.38315445090612665, + -0.1449533129106422, + -664.3652238760975 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.38724435313787325, + 0.1336436370350079, + -0.9122396635901409, + 685.854909625834 + ], + [ + 0.9219771206287225, + -0.05613235146152291, + 0.38315445090612665, + 3371.574749956033 + ], + [ + 3.469446925650746e-18, + -0.9894384960165309, + -0.1449533129106422, + 12.449498858040217 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 68585.4909625834, + -337157.4749956033, + 1244.9498858040217 + ], + "rotation_deg": [ + -2.0090654287718783e-16, + -8.334575653076172, + -157.21685791015625 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.7864076694948705, + -0.6177078414263869, + 1.3877787704058927e-17, + 1556.75083477667 + ], + [ + -0.11399859424504465, + -0.14513231468605303, + -0.9828229401799807, + 577.0532489091637 + ], + [ + 0.6070974313007861, + 0.7728995019602584, + -0.1845509923505481, + -3002.2802192213394 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7864076694948705, + -0.11399859424504465, + 0.6070974313007861, + 664.219083104948 + ], + [ + -0.6177078414263869, + -0.14513231468605303, + 0.7728995019602584, + 3365.827137881689 + ], + [ + 1.3877787704058927e-17, + -0.9828229401799807, + -0.1845509923505481, + 13.067383030571957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 66421.90831049481, + -336582.7137881689, + 1306.7383030571957 + ], + "rotation_deg": [ + -8.090355221408956e-16, + -10.634955406188958, + -51.85105895996091 + ] + } + } + ] + }, + { + "frame": 120, + "time": 1769.762909464538, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.030885649679846836, + 0.9995229245214209, + -0.0, + -3395.598691434083 + ], + [ + 0.12179931236072036, + -0.003763646436244221, + -0.9925476121949809, + -58.964950497795286 + ], + [ + -0.9920740926913151, + 0.03065545393160949, + -0.12185744850008605, + 584.7320757072964 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.030885649679846836, + 0.12179931236072036, + -0.9920740926913151, + 692.1546246575755 + ], + [ + 0.9995229245214209, + -0.003763646436244221, + 0.03065545393160949, + 3375.831572635741 + ], + [ + -0.0, + -0.9925476121949809, + -0.12185744850008605, + 12.72842754327927 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 69215.46246575755, + -337583.1572635741, + 1272.842754327927 + ], + "rotation_deg": [ + 0.0, + -6.999313354492189, + -178.2301025390625 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + -0.091045490514285, + 0.9958467345214386, + -6.938893861351576e-18, + -3301.098682494382 + ], + [ + 0.4251884522893162, + 0.038872940842943605, + -0.9042696912481565, + -408.0928249753225 + ], + [ + -0.9005140196486747, + -0.08232965618519729, + -0.42696174082534977, + 894.24097466527 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.091045490514285, + 0.4251884522893162, + -0.9005140196486747, + 678.242806822787 + ], + [ + 0.9958467345214386, + 0.038872940842943605, + -0.08232965618519729, + 3376.874688598934 + ], + [ + -6.938893861351576e-18, + -0.9042696912481565, + -0.42696174082534977, + 12.780738368005652 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 67824.2806822787, + -337687.4688598934, + 1278.0738368005652 + ], + "rotation_deg": [ + 4.396579247012429e-16, + -25.274898529052745, + 174.7762451171875 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.38134531012218004, + 0.924432666259592, + -0.0, + -3378.002561167252 + ], + [ + 0.13396705700214898, + -0.05526385075221284, + -0.9894436489453151, + 106.69720209179596 + ], + [ + -0.9146740383960699, + 0.37731967560594354, + -0.14491813511375942, + -642.5790649227218 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.38134531012218004, + 0.13396705700214898, + -0.9146740383960699, + 686.1410756511345 + ], + [ + 0.924432666259592, + -0.05526385075221284, + 0.37731967560594354, + 3371.090176307547 + ], + [ + -0.0, + -0.9894436489453151, + -0.14491813511375942, + 12.449499597563204 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 68614.10756511346, + -337109.01763075474, + 1244.9499597563204 + ], + "rotation_deg": [ + 0.0, + -8.332538604736326, + -157.5829620361328 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.7850538393341014, + -0.6194275335717545, + -0.0, + 1562.9237165941972 + ], + [ + -0.11421527074498014, + -0.14475484531968053, + -0.9828534512759908, + 575.8712053399255 + ], + [ + 0.6088064836263246, + 0.7715928794765992, + -0.18438843194615082, + -2998.7218663734966 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7850538393341014, + -0.11421527074498014, + 0.6088064836263246, + 664.4353468103039 + ], + [ + -0.6194275335717545, + -0.14475484531968053, + 0.7715928794765992, + 3365.2705500141255 + ], + [ + -0.0, + -0.9828534512759908, + -0.18438843194615082, + 13.067384937812465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 66443.53468103039, + -336527.0550014126, + 1306.7384937812465 + ], + "rotation_deg": [ + 0.0, + -10.625478744506834, + -51.72565841674803 + ] + } + } + ] + }, + { + "frame": 121, + "time": 1769.8295761346817, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.031183780042066216, + 0.9995136676715771, + 2.1684043284270167e-19, + -3395.210423764657 + ], + [ + 0.12211792127178499, + -0.003809951298619937, + -0.9925082858975837, + -59.05602691087866 + ], + [ + -0.992025597661782, + 0.03095013617155267, + -0.1221773410037508, + 583.9477827794269 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.031183780042066216, + 0.12211792127178499, + -0.992025597661782, + 692.3783616539571 + ], + [ + 0.9995136676715771, + -0.003809951298619937, + 0.03095013617155267, + 3375.260947744706 + ], + [ + 2.1684043284270167e-19, + -0.9925082858975837, + -0.1221773410037508, + 12.73158088085681 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 69237.83616539571, + -337526.0947744706, + 1273.1580880856811 + ], + "rotation_deg": [ + -1.251782166703239e-17, + -7.017779827117923, + -178.2130126953125 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + -0.017432726240564782, + 0.9998480384817594, + -0.0, + -3363.597048633906 + ], + [ + 0.4178018292740346, + 0.0072845318810657485, + -0.908508980170556, + -296.51995323958323 + ], + [ + -0.9083709207546685, + -0.0158377663307047, + -0.4178653317576964, + 675.3013986145194 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.017432726240564782, + 0.4178018292740346, + -0.9083709207546685, + 678.6741343546378 + ], + [ + 0.9998480384817594, + 0.0072845318810657485, + -0.0158377663307047, + 3375.9412021752364 + ], + [ + -0.0, + -0.908508980170556, + -0.4178653317576964, + 12.79403191856527 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 67867.41343546378, + -337594.12021752365, + 1279.403191856527 + ], + "rotation_deg": [ + 0.0, + -24.699890136718768, + 179.00112915039062 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.37541465303792243, + 0.9268569675437609, + -0.0, + -3381.764279715235 + ], + [ + 0.13428983762904473, + -0.05439282927723849, + -0.9894481591436621, + 103.4748541410357 + ], + [ + -0.9170769281067047, + 0.3714533177186846, + -0.144887337922096, + -620.7132754286515 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.37541465303792243, + 0.13428983762904473, + -0.9170769281067047, + 686.4263576922339 + ], + [ + 0.9268569675437609, + -0.05439282927723849, + 0.3714533177186846, + 3370.6061196099486 + ], + [ + -0.0, + -0.9894481591436621, + -0.144887337922096, + 12.449500179700264 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 68642.63576922339, + -337060.61196099484, + 1244.9500179700265 + ], + "rotation_deg": [ + 0.0, + -8.330755233764648, + -157.95005798339844 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.7835743598101248, + -0.6212980143603818, + -0.0, + 1569.6889638222392 + ], + [ + -0.11447180860032242, + -0.14437061131226508, + -0.9828801206785567, + 574.6936390426699 + ], + [ + 0.6106614617958414, + 0.7701596653828136, + -0.18424621812889158, + -2994.837985862352 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7835743598101248, + -0.11447180860032242, + 0.6106614617958414, + 664.6503481247585 + ], + [ + -0.6212980143603818, + -0.14437061131226508, + 0.7701596653828136, + 3364.716909652138 + ], + [ + -0.0, + -0.9828801206785567, + -0.18424621812889158, + 13.067386547540943 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 66465.03481247585, + -336471.6909652138, + 1306.7386547540943 + ], + "rotation_deg": [ + 0.0, + -10.617188453674313, + -51.589015960693345 + ] + } + } + ] + }, + { + "frame": 122, + "time": 1769.8962428048253, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.03148270618223486, + 0.9995042967448631, + -2.1684043284283607e-19, + -3394.8223239218214 + ], + [ + 0.12243729013936526, + -0.003856568944986368, + -0.9924687586313742, + -59.14676511374324 + ], + [ + -0.9919767892733934, + 0.031245578420653078, + -0.12249801374719894, + 583.1609746828321 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.03148270618223486, + 0.12243729013936526, + -0.9919767892733934, + 692.602033865256 + ], + [ + 0.9995042967448631, + -0.003856568944986368, + 0.031245578420653078, + 3374.6901824969655 + ], + [ + -2.1684043284283607e-19, + -0.9924687586313742, + -0.12249801374719894, + 12.734734056911268 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 69260.2033865256, + -337469.0182496965, + 1273.4734056911268 + ], + "rotation_deg": [ + 1.2518320217009702e-17, + -7.0362920761108425, + -178.19587707519534 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.043275655843623924, + 0.9990631699804094, + -0.0, + -3401.2786211009065 + ], + [ + 0.40850940653706297, + -0.017695089777483887, + -0.9125825708222259, + -206.0034024630357 + ], + [ + -0.9117276356893717, + 0.03949258732404572, + -0.40889247225489656, + 491.0871269242709 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.043275655843623924, + 0.40850940653706297, + -0.9117276356893717, + 679.0845287493934 + ], + [ + 0.9990631699804094, + -0.017695089777483887, + 0.03949258732404572, + 3375.052643380035 + ], + [ + -0.0, + -0.9125825708222259, + -0.40889247225489656, + 12.806683154167654 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 67908.45287493934, + -337505.26433800353, + 1280.6683154167654 + ], + "rotation_deg": [ + 0.0, + -24.13528060913087, + -177.51971435546875 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.3694539842889751, + 0.9292490266301072, + -0.0, + -3385.391103373071 + ], + [ + 0.1346113335289721, + -0.05351923120445432, + -0.9894521114115811, + 100.24549553294895 + ], + [ + -0.919447419099309, + 0.3655570050835316, + -0.144860344973972, + -598.773990892244 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.3694539842889751, + 0.1346113335289721, + -0.919447419099309, + 686.7107897016821 + ], + [ + 0.9292490266301072, + -0.05351923120445432, + 0.3655570050835316, + 3370.1225143280562 + ], + [ + -0.0, + -0.9894521114115811, + -0.144860344973972, + 12.449500597044798 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 68671.07897016821, + -337012.2514328056, + 1244.9500597044798 + ], + "rotation_deg": [ + 0.0, + -8.329192161560059, + -158.31805419921875 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.7819828706706536, + -0.6232999197638998, + -0.0, + 1576.971852482146 + ], + [ + -0.11476310251839866, + -0.1439800929035923, + -0.9829034353118441, + 573.5187769170329 + ], + [ + 0.6126436268552, + 0.7686136539916082, + -0.1841218003696874, + -2990.662665273103 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7819828706706536, + -0.11476310251839866, + 0.6126436268552, + 664.8642503531644 + ], + [ + -0.6232999197638998, + -0.1439800929035923, + 0.7686136539916082, + 3364.165855137421 + ], + [ + -0.0, + -0.9829034353118441, + -0.1841218003696874, + 13.067387869165923 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 66486.42503531644, + -336416.5855137421, + 1306.7387869165923 + ], + "rotation_deg": [ + 0.0, + -10.609935760498047, + -51.442485809326165 + ] + } + } + ] + }, + { + "frame": 123, + "time": 1769.962909474969, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.031782428051155796, + 0.9994948110256366, + 2.1684043284297125e-19, + -3394.434378340804 + ], + [ + 0.12275742687093258, + -0.0039035010929840248, + -0.9924290286097258, + -59.23716635408795 + ], + [ + -0.9919276650493787, + 0.031541780298714545, + -0.12281947486158327, + 582.3716565881543 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.031782428051155796, + 0.12275742687093258, + -0.9919276650493787, + 692.825645216195 + ], + [ + 0.9994948110256366, + -0.0039035010929840248, + 0.031541780298714545, + 3374.119264970575 + ], + [ + 2.1684043284297125e-19, + -0.9924290286097258, + -0.12281947486158327, + 12.737887062698935 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 69282.5645216195, + -337411.9264970575, + 1273.7887062698935 + ], + "rotation_deg": [ + -1.2518821364322637e-17, + -7.054850578308108, + -178.17869567871094 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.09322344093215425, + 0.9956452129452382, + -0.0, + -3422.8527911985943 + ], + [ + 0.39874303163766966, + -0.03733478248443799, + -0.916302411181614, + -133.21549256486225 + ], + [ + -0.9123121100474346, + 0.0854208420434265, + -0.4004870704596956, + 336.8010769678812 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.09322344093215425, + 0.39874303163766966, + -0.9123121100474346, + 679.476498134018 + ], + [ + 0.9956452129452382, + -0.03733478248443799, + 0.0854208420434265, + 3374.203592133163 + ], + [ + -0.0, + -0.916302411181614, + -0.4004870704596956, + 12.8187691244812 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 67947.6498134018, + -337420.3592133163, + 1281.87691244812 + ], + "rotation_deg": [ + 0.0, + -23.60863113403321, + -174.6509246826172 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.3634651737247131, + 0.9316077862970359, + -1.734723462824906e-17, + -3388.880749362079 + ], + [ + 0.13493100727259635, + -0.05264310015497003, + -0.9894555711513658, + 97.00964056026308 + ], + [ + -0.9217845218433742, + 0.3596326212258122, + -0.14483671164533277, + -576.7682635481881 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.3634651737247131, + 0.13493100727259635, + -0.9217845218433742, + 686.9944017029936 + ], + [ + 0.9316077862970359, + -0.05264310015497003, + 0.3596326212258122, + 3369.639300973265 + ], + [ + -1.734723462824906e-17, + -0.9894555711513658, + -0.14483671164533277, + 12.449500841245431 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 68699.44017029936, + -336963.9300973265, + 1244.950084124543 + ], + "rotation_deg": [ + 1.0045153790630485e-15, + -8.327823638916012, + -158.6868438720703 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.7802913793384627, + -0.6254161521179953, + -0.0, + 1584.706439237303 + ], + [ + -0.11508468354797145, + -0.14358373406613734, + -0.9829238154222778, + 572.3451449989115 + ], + [ + 0.6147364249833919, + 0.7669669837772252, + -0.18401297126644375, + -2986.2258460051567 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7802913793384627, + -0.11508468354797145, + 0.6147364249833919, + 665.0771975783208 + ], + [ + -0.6254161521179953, + -0.14358373406613734, + 0.7669669837772252, + 3363.617066777257 + ], + [ + -0.0, + -0.9829238154222778, + -0.18401297126644375, + 13.067388909133353 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 66507.71975783208, + -336361.7066777257, + 1306.7388909133354 + ], + "rotation_deg": [ + 0.0, + -10.603591918945307, + -51.287261962890604 + ] + } + } + ] + }, + { + "frame": 124, + "time": 1770.0295761451125, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.03208267942012851, + 0.9994852183405342, + 4.336808656862142e-19, + -3394.046418011587 + ], + [ + 0.1230783404220412, + -0.003950716695818545, + -0.9923890940334567, + -59.32734312865928 + ], + [ + -0.9918782309779967, + 0.03183847726839867, + -0.12314173247599605, + 581.5807304630213 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.03208267942012851, + 0.1230783404220412, + -0.9918782309779967, + 693.0491994088145 + ], + [ + 0.9994852183405342, + -0.003950716695818545, + 0.03183847726839867, + 3373.548183456745 + ], + [ + 4.336808656862142e-19, + -0.9923890940334567, + -0.12314173247599605, + 12.741039889385101 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 69304.91994088145, + -337354.8183456745, + 1274.1039889385102 + ], + "rotation_deg": [ + -2.503865026457521e-17, + -7.073455810546878, + -178.16148376464844 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.13436407194526856, + 0.9909320340822001, + -0.0, + -3434.1472151691896 + ], + [ + 0.38929084663825997, + -0.05278535916318829, + -0.9196011867008871, + -74.79588123901858 + ], + [ + -0.9112622761424076, + 0.12356133862068382, + -0.39285322918110627, + 207.7436612971697 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.13436407194526856, + 0.38929084663825997, + -0.9112622761424076, + 679.852249908525 + ], + [ + 0.9909320340822001, + -0.05278535916318829, + 0.12356133862068382, + 3373.389277546592 + ], + [ + -0.0, + -0.9196011867008871, + -0.39285322918110627, + 12.830357632073849 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 67985.2249908525, + -337338.9277546592, + 1283.035763207385 + ], + "rotation_deg": [ + 0.0, + -23.132152557373054, + -172.2781524658203 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.3574498637946141, + 0.9339323288510852, + -6.938893851299293e-18, + -3392.2312555146377 + ], + [ + 0.13524833683763646, + -0.051764456682353195, + -0.989458603685386, + 93.767716646151 + ], + [ + -0.9240873854950783, + 0.3536818231875742, + -0.14481599330040842, + -554.7022908096036 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.3574498637946141, + 0.13524833683763646, + -0.9240873854950783, + 687.2772202131134 + ], + [ + 0.9339323288510852, + -0.051764456682353195, + 0.3536818231875742, + 3369.156425531594 + ], + [ + -6.938893851299293e-18, + -0.989458603685386, + -0.14481599330040842, + 12.449500903812712 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 68727.72202131135, + -336915.6425531594, + 1244.9500903812711 + ], + "rotation_deg": [ + 4.0180492015293877e-16, + -8.326623916625973, + -159.05633544921875 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.7785103429888796, + -0.6276317756928317, + -1.3877787704032657e-17, + 1592.8351459969176 + ], + [ + -0.11543264500458561, + -0.14318189667091433, + -0.9829416304811618, + 571.17136560056 + ], + [ + 0.6169253954866323, + 0.765230229942966, + -0.1839177848526294, + -2981.5535794651187 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7785103429888796, + -0.11543264500458561, + 0.6169253954866323, + 665.289316915445 + ], + [ + -0.6276317756928317, + -0.14318189667091433, + 0.765230229942966, + 3363.0702619630065 + ], + [ + -1.3877787704032657e-17, + -0.9829416304811618, + -0.1839177848526294, + 13.067389671975413 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 66528.93169154451, + -336307.02619630063, + 1306.7389671975413 + ], + "rotation_deg": [ + 8.089378310183341e-16, + -10.598043441772452, + -51.12438583374021 + ] + } + } + ] + }, + { + "frame": 125, + "time": 1770.0962428152561, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.032383992599583064, + 0.9994755009620349, + -0.0, + -3393.658741366284 + ], + [ + 0.12340002834601041, + -0.003998282700175296, + -0.9923489541182844, + -59.417069434658494 + ], + [ + -0.991828468702203, + 0.03213619729432146, + -0.12346478645874548, + 580.786407612803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.032383992599583064, + 0.12340002834601041, + -0.991828468702203, + 693.2727001515545 + ], + [ + 0.9994755009620349, + -0.003998282700175296, + 0.03213619729432146, + 3372.9769265281257 + ], + [ + -0.0, + -0.9923489541182844, + -0.12346478645874548, + 12.744192523856107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 69327.27001515546, + -337297.6926528126, + 1274.4192523856107 + ], + "rotation_deg": [ + 0.0, + -7.09210777282715, + -178.1442108154297 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.1683478558275227, + 0.9857276497279943, + -0.0, + -3438.9830155391924 + ], + [ + 0.38054535467083317, + -0.06499157705643846, + -0.9224756516841877, + -27.815244992431044 + ], + [ + -0.9093097584733743, + 0.1552967768771798, + -0.3860552735511495, + 99.72774800902545 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.1683478558275227, + 0.38054535467083317, + -0.9093097584733743, + 680.2137270355697 + ], + [ + 0.9857276497279943, + -0.06499157705643846, + 0.1552967768771798, + 3372.605500115244 + ], + [ + -0.0, + -0.9224756516841877, + -0.3860552735511495, + 12.841508337866262 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 68021.37270355698, + -337260.5500115244, + 1284.1508337866262 + ], + "rotation_deg": [ + 0.0, + -22.709268569946293, + -170.3082275390625 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.3514094658870441, + 0.9362218686214193, + -3.4694469256495014e-18, + -3395.440951669444 + ], + [ + 0.1355629225611039, + -0.05088333845633303, + -0.9894612573993132, + 90.52012585972935 + ], + [ + -0.9263552746728858, + 0.3477060319543149, + -0.14479786057917893, + -532.5813970284772 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.3514094658870441, + 0.1355629225611039, + -0.9263552746728858, + 687.5592688684906 + ], + [ + 0.9362218686214193, + -0.05088333845633303, + 0.3477060319543149, + 3368.673838899608 + ], + [ + -3.4694469256495014e-18, + -0.9894612573993132, + -0.14479786057917893, + 12.449500771936798 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 68755.92688684906, + -336867.3838899608, + 1244.9500771936798 + ], + "rotation_deg": [ + 2.0090192126036043e-16, + -8.325573921203612, + -159.42645263671875 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.776649079933889, + -0.6299334938212474, + -1.3877787704029217e-17, + 1601.3067190450192 + ], + [ + -0.1158035436875376, + -0.1427749382120192, + -0.9829571996216124, + 569.9963533787164 + ], + [ + 0.6191976576093369, + 0.76341280876173, + -0.18383455667974138, + -2976.6690500007016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.776649079933889, + -0.1158035436875376, + 0.6191976576093369, + 665.5007207504066 + ], + [ + -0.6299334938212474, + -0.1427749382120192, + 0.76341280876173, + 3362.525190813592 + ], + [ + -1.3877787704029217e-17, + -0.9829571996216124, + -0.18383455667974138, + 13.067390156341306 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 66550.07207504066, + -336252.5190813592, + 1306.7390156341305 + ], + "rotation_deg": [ + 8.089250181848668e-16, + -10.593192100524899, + -50.95478439331054 + ] + } + } + ] + }, + { + "frame": 126, + "time": 1770.1629094853997, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.03268583518346889, + 0.9994656753377574, + -0.0, + -3393.2710244150703 + ], + [ + 0.12372250065638087, + -0.004046135214773108, + -0.9923086070478051, + -59.50656928582235 + ], + [ + -0.9917783927486679, + 0.03243441169252329, + -0.12378864493574986, + 579.9904866617364 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.03268583518346889, + 0.12372250065638087, + -0.9917783927486679, + 693.4961509141226 + ], + [ + 0.9994656753377574, + -0.004046135214773108, + 0.03243441169252329, + 3372.4054829465417 + ], + [ + -0.0, + -0.9923086070478051, + -0.12378864493574986, + 12.747344956965076 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 69349.61509141226, + -337240.5482946542, + 1274.7344956965076 + ], + "rotation_deg": [ + 0.0, + -7.110806941986087, + -178.1269073486328 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.19652124506396346, + 0.9804995666692105, + 6.9388938587675265e-18, + -3439.8410722506087 + ], + [ + 0.37266912070106867, + -0.07469396426747679, + -0.9249532626992029, + 10.119808166204965 + ], + [ + -0.906916276285396, + 0.18177294590505008, + -0.3800808650085288, + 9.187391683822913 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.19652124506396346, + 0.37266912070106867, + -0.906916276285396, + 680.5626395285697 + ], + [ + 0.9804995666692105, + -0.07469396426747679, + 0.18177294590505008, + 3371.848563092541 + ], + [ + 6.9388938587675265e-18, + -0.9249532626992029, + -0.3800808650085288, + 12.852273745861773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 68056.26395285697, + -337184.85630925413, + 1285.2273745861773 + ], + "rotation_deg": [ + -4.2982640497548426e-16, + -22.338691711425774, + -168.66639709472656 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.3453454067182974, + 0.9384756523525656, + -6.938893851298747e-18, + -3398.508292574259 + ], + [ + 0.13587435048985333, + -0.04999978711741228, + -0.9894635830424349, + 87.26729460219528 + ], + [ + -0.9285874888043357, + 0.34170668340078403, + -0.14478196764546855, + -510.4109358396131 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.3453454067182974, + 0.13587435048985333, + -0.9285874888043357, + 687.8405685293085 + ], + [ + 0.9384756523525656, + -0.04999978711741228, + 0.34170668340078403, + 3368.1914962356973 + ], + [ + -6.938893851298747e-18, + -0.9894635830424349, + -0.14478196764546855, + 12.44950043673818 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 68784.05685293085, + -336819.14962356974, + 1244.950043673818 + ], + "rotation_deg": [ + 4.018028981177401e-16, + -8.324653625488274, + -159.79711914062497 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.77471559468126, + -0.6323098507517196, + -0.0, + 1610.0770170698631 + ], + [ + -0.11619439445419677, + -0.14236312986614835, + -0.9829708042216394, + 568.8190365093812 + ], + [ + 0.6215421171162271, + 0.7615228152101687, + -0.18376179843770077, + -2971.5921703098998 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.77471559468126, + -0.11619439445419677, + 0.6215421171162271, + 665.7115082626475 + ], + [ + -0.6323098507517196, + -0.14236312986614835, + 0.7615228152101687, + 3361.9816321894255 + ], + [ + -0.0, + -0.9829708042216394, + -0.18376179843770077, + 13.067390363435477 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 66571.15082626475, + -336198.1632189425, + 1306.7390363435477 + ], + "rotation_deg": [ + 0.0, + -10.588951110839842, + -50.77925491333008 + ] + } + } + ] + }, + { + "frame": 127, + "time": 1770.2295761555433, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.032988739470875175, + 0.9994557234155613, + -0.0, + -3392.8835652099456 + ], + [ + 0.12404574659607343, + -0.004094341271010579, + -0.9922680530587382, + -59.5956106254628 + ], + [ + -0.9917279854606402, + 0.032733648402533656, + -0.12411329951475596, + 579.1911794793152 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.032988739470875175, + 0.12404574659607343, + -0.9917279854606402, + 693.719554893423 + ], + [ + 0.9994557234155613, + -0.004094341271010579, + 0.032733648402533656, + 3371.8338417543996 + ], + [ + -0.0, + -0.9922680530587382, + -0.12411329951475596, + 12.750497200128509 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 69371.9554893423, + -337183.38417543995, + 1275.049720012851 + ], + "rotation_deg": [ + 0.0, + -7.129552841186526, + -178.1095428466797 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.21996334292643926, + 0.9755081382380292, + -6.9388938585081485e-18, + -3438.32347300682 + ], + [ + 0.36569759921685824, + -0.08245965694269333, + -0.9270737138458404, + 40.90199969536351 + ], + [ + -0.9043679561269167, + 0.2039222125363435, + -0.3748790887274272, + -66.83872893157432 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.21996334292643926, + 0.36569759921685824, + -0.9043679561269167, + 680.9004923428943 + ], + [ + 0.9755081382380292, + -0.08245965694269333, + 0.2039222125363435, + 3371.1152122734984 + ], + [ + -6.9388938585081485e-18, + -0.9270737138458404, + -0.3748790887274272, + 12.862700079049068 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 68090.04923428943, + -337111.5212273498, + 1286.2700079049068 + ], + "rotation_deg": [ + 4.2884328368260912e-16, + -22.016839981079098, + -167.29312133789062 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.3392586268269394, + 0.9406931402553648, + -6.938893851298526e-18, + -3401.4321223082807 + ], + [ + 0.13618231146053586, + -0.049113809814407744, + -0.9894656192767788, + 84.0094619095815 + ], + [ + -0.9307835276880843, + 0.33568472707720726, + -0.1447680510044468, + -488.1944865066933 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.3392586268269394, + 0.13618231146053586, + -0.9307835276880843, + 688.1211375528561 + ], + [ + 0.9406931402553648, + -0.049113809814407744, + 0.33568472707720726, + 3367.7093565618143 + ], + [ + -6.938893851298526e-18, + -0.9894656192767788, + -0.1447680510044468, + 12.449499909868639 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 68812.11375528561, + -336770.9356561814, + 1244.949990986864 + ], + "rotation_deg": [ + 4.018020712422455e-16, + -8.323847770690914, + -160.1682891845703 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.7727170706915066, + -0.6347506035144332, + -0.0, + 1619.1065646414563 + ], + [ + -0.11660252269238607, + -0.14194670989084257, + -0.9829826973314111, + 567.6384384782075 + ], + [ + 0.6239488550123621, + 0.759567514487592, + -0.18369816891821317, + -2966.3408311755484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7727170706915066, + -0.11660252269238607, + 0.6239488550123621, + 665.9217669469972 + ], + [ + -0.6347506035144332, + -0.14194670989084257, + 0.759567514487592, + 3361.4393903572486 + ], + [ + -0.0, + -0.9829826973314111, + -0.18369816891821317, + 13.067390313783589 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 66592.17669469972, + -336143.93903572485, + 1306.739031378359 + ], + "rotation_deg": [ + 0.0, + -10.585242271423338, + -50.59851074218747 + ] + } + } + ] + }, + { + "frame": 128, + "time": 1770.296242825687, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.03329243923370107, + 0.9994456530946895, + 4.3368086568731554e-19, + -3392.49619596068 + ], + [ + 0.12436977512049, + -0.004142869767742832, + -0.9922272903254403, + -59.684306107891175 + ], + [ + -0.9916772528728703, + 0.03303364288758488, + -0.12443875831947508, + 578.3893874119033 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.03329243923370107, + 0.12436977512049, + -0.9916772528728703, + 693.9429152745735 + ], + [ + 0.9994456530946895, + -0.004142869767742832, + 0.03303364288758488, + 3371.261992274652 + ], + [ + 4.3368086568731554e-19, + -0.9922272903254403, + -0.12443875831947508, + 12.753649237141124 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 69394.29152745735, + -337126.1992274652, + 1275.3649237141124 + ], + "rotation_deg": [ + -2.5042733347714662e-17, + -7.148345947265627, + -178.09213256835938 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.2395355901289617, + 0.9708875841525477, + -0.0, + -3435.46051851562 + ], + [ + 0.35959936579892154, + -0.08871969082994376, + -0.9288794930323591, + 66.0090048682435 + ], + [ + -0.9018375708999495, + 0.2224996770042008, + -0.37038208575240933, + -130.78806613472875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.2395355901289617, + 0.35959936579892154, + -0.9018375708999495, + 681.2286102111098 + ], + [ + 0.9708875841525477, + -0.08871969082994376, + 0.2224996770042008, + 3370.4025829233615 + ], + [ + -0.0, + -0.9288794930323591, + -0.37038208575240933, + 12.872827987406389 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 68122.86102111098, + -337040.25829233613, + 1287.2827987406388 + ], + "rotation_deg": [ + 0.0, + -21.739183425903313, + -166.140869140625 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.33315057870091674, + 0.9428736351766572, + -3.4694469256491644e-18, + -3404.21111141767 + ], + [ + 0.1364864863009765, + -0.048225499366631126, + -0.9894674023271569, + 80.747162994711 + ], + [ + -0.9329427335222729, + 0.3296416173872618, + -0.144755863626658, + -465.9374388787109 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.33315057870091674, + 0.1364864863009765, + -0.9329427335222729, + 688.4009923251007 + ], + [ + 0.9428736351766572, + -0.048225499366631126, + 0.3296416173872618, + 3367.2273823325568 + ], + [ + -3.4694469256491644e-18, + -0.9894674023271569, + -0.144755863626658, + 12.449499175329937 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 68840.09923251007, + -336722.7382332557, + 1244.9499175329936 + ], + "rotation_deg": [ + 2.009006735913355e-16, + -8.323142051696776, + -160.53988647460938 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.7706597771460355, + -0.6372468186575928, + -0.0, + 1628.3609338359202 + ], + [ + -0.11702563359494587, + -0.14152593008881556, + -0.9829930885790588, + 566.4538802940998 + ], + [ + 0.6264092131286175, + 0.7575532386474576, + -0.1836425558587512, + -2960.930612214538 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7706597771460355, + -0.11702563359494587, + 0.6264092131286175, + 666.1315742438651 + ], + [ + -0.6372468186575928, + -0.14152593008881556, + 0.7575532386474576, + 3360.898291974732 + ], + [ + -0.0, + -0.9829930885790588, + -0.1836425558587512, + 13.067389999196424 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 66613.1574243865, + -336089.8291974732, + 1306.7389999196423 + ], + "rotation_deg": [ + 0.0, + -10.582000732421871, + -50.41317367553709 + ] + } + } + ] + }, + { + "frame": 129, + "time": 1770.3629094958305, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.033596668254004196, + 0.99943547259552, + 4.3368086568759437e-19, + -3392.1087789183366 + ], + [ + 0.12469458697965483, + -0.0041916889951343446, + -0.9921863180478457, + -59.772762469150194 + ], + [ + -0.9916262023626692, + 0.03333413069552992, + -0.12476502121413725, + 577.5859978803693 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.033596668254004196, + 0.12469458697965483, + -0.9916262023626692, + 694.1662221846818 + ], + [ + 0.99943547259552, + -0.0041916889951343446, + 0.03333413069552992, + 3370.6899534892123 + ], + [ + 4.3368086568759437e-19, + -0.9921863180478457, + -0.12476502121413725, + 12.75680150704821 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 69416.62221846818, + -337068.9953489212, + 1275.680150704821 + ], + "rotation_deg": [ + -2.5043767485980597e-17, + -7.16718626022339, + -178.07469177246094 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.2559236838618327, + 0.9666969887397958, + -0.0, + -3431.911065219776 + ], + [ + 0.35431110940941957, + -0.09380044151315627, + -0.9304112611748652, + 86.58623876996313 + ], + [ + -0.8994257687547464, + 0.23811425710852688, + -0.3665172397876911, + -184.65186584364784 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.2559236838618327, + 0.35431110940941957, + -0.8994257687547464, + 681.5481462220791 + ], + [ + 0.9666969887397958, + -0.09380044151315627, + 0.23811425710852688, + 3369.7081824532615 + ], + [ + -0.0, + -0.9304112611748652, + -0.3665172397876911, + 12.882693696220512 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 68154.81462220791, + -336970.81824532617, + 1288.2693696220513 + ], + "rotation_deg": [ + 0.0, + -21.50098609924316, + -165.1716766357422 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.32702172215742603, + 0.9450168216689009, + -3.4694469256490793e-18, + -3406.8445600340333 + ], + [ + 0.1367866396938819, + -0.047334821407542214, + -0.9894689635777222, + 77.48045133917275 + ], + [ + -0.9350648219858365, + 0.32357782409470376, + -0.14474519141834247, + -443.6416329190382 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.32702172215742603, + 0.1367866396938819, + -0.9350648219858365, + 688.6801344525603 + ], + [ + 0.9450168216689009, + -0.047334821407542214, + 0.32357782409470376, + 3366.745568434417 + ], + [ + -3.4694469256490793e-18, + -0.9894689635777222, + -0.14474519141834247, + 12.449498672349566 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 68868.01344525603, + -336674.5568434417, + 1244.9498672349566 + ], + "rotation_deg": [ + 2.0090035659675895e-16, + -8.322524070739739, + -160.9118957519531 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.7685492692458362, + -0.6397906069501891, + -0.0, + 1637.8097429205257 + ], + [ + -0.11746168065574208, + -0.1411009912488239, + -0.9830021687901445, + 565.2646794277337 + ], + [ + 0.628915548905667, + 0.7554856025594067, + -0.18359394508026045, + -2955.375362345438 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7685492692458362, + -0.11746168065574208, + 0.628915548905667, + 666.3409856978936 + ], + [ + -0.6397906069501891, + -0.1411009912488239, + 0.7554856025594067, + 3360.3582128153603 + ], + [ + -0.0, + -0.9830021687901445, + -0.18359394508026045, + 13.0673898657734 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 66634.09856978936, + -336035.821281536, + 1306.73898657734 + ], + "rotation_deg": [ + 0.0, + -10.579167366027827, + -50.223793029785135 + ] + } + } + ] + }, + { + "frame": 130, + "time": 1770.4295761659741, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.03390195881336969, + 0.9994251633757361, + -0.0, + -3391.721636815864 + ], + [ + 0.12502019608972043, + -0.004240867344541391, + -0.9921451333418179, + -59.86075906947646 + ], + [ + -0.9915748126708439, + 0.033635639572879406, + -0.125092104576206, + 576.7792097489416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.03390195881336969, + 0.12502019608972043, + -0.9915748126708439, + 694.3894672686896 + ], + [ + 0.9994251633757361, + -0.004240867344541391, + 0.033635639572879406, + 3370.1177408015774 + ], + [ + -0.0, + -0.9921451333418179, + -0.125092104576206, + 12.759953752154361 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 69438.94672686896, + -337011.77408015775, + 1275.995375215436 + ], + "rotation_deg": [ + 0.0, + -7.186074733734132, + -178.05718994140625 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.2696770662582098, + 0.9629508190631363, + 6.938893857945003e-18, + -3428.092056373471 + ], + [ + 0.3497567673600592, + -0.097950359518238, + -0.9317059250407765, + 103.52435074442553 + ], + [ + -0.8971869882200629, + 0.2512597002622015, + -0.3632135338788487, + -230.06273024386883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.2696770662582098, + 0.3497567673600592, + -0.8971869882200629, + 681.8601154270883 + ], + [ + 0.9629508190631363, + -0.097950359518238, + 0.2512597002622015, + 3369.02981608441 + ], + [ + 6.938893857945003e-18, + -0.9317059250407765, + -0.3632135338788487, + 12.892328439688567 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 68186.01154270883, + -336902.981608441, + 1289.2328439688567 + ], + "rotation_deg": [ + -4.2671118101112865e-16, + -21.297681808471673, + -164.35494995117185 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.320873530504068, + 0.9471220499079592, + -6.938893851298009e-18, + -3409.331340956701 + ], + [ + 0.13708250134600478, + -0.04644189857209614, + -0.9894703319866347, + 74.20993258277339 + ], + [ + -0.9371491759232095, + 0.3174948182662628, + -0.1447358367527605, + -421.31250742274636 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.320873530504068, + 0.13708250134600478, + -0.9371491759232095, + 688.9585655476784 + ], + [ + 0.9471220499079592, + -0.04644189857209614, + 0.3174948182662628, + 3366.2639086147688 + ], + [ + -6.938893851298009e-18, + -0.9894703319866347, + -0.1447358367527605, + 12.449498143392457 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 68895.85655476784, + -336626.3908614769, + 1244.9498143392457 + ], + "rotation_deg": [ + 4.0180015751471907e-16, + -8.321982383728026, + -161.28424072265625 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.7663903776072662, + -0.6423751155757763, + -0.0, + 1647.426600575375 + ], + [ + -0.1179088955908758, + -0.14067207901437992, + -0.9830101009279162, + 564.0702861299333 + ], + [ + 0.6314612219312156, + 0.7533694865120453, + -0.18355146959290033, + -2949.687117442812 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7663903776072662, + -0.1179088955908758, + 0.6314612219312156, + 666.5500505940914 + ], + [ + -0.6423751155757763, + -0.14067207901437992, + 0.7533694865120453, + 3359.819042195959 + ], + [ + -0.0, + -0.9830101009279162, + -0.18355146959290033, + 13.067389662026763 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 66655.00505940914, + -335981.9042195959, + 1306.7389662026762 + ], + "rotation_deg": [ + 0.0, + -10.576691627502436, + -50.030845642089815 + ] + } + } + ] + }, + { + "frame": 131, + "time": 1770.4962428361177, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.03420777852988251, + 0.9994147426809606, + -0.0, + -3391.3344733596678 + ], + [ + 0.12534658781896924, + -0.004290339268045553, + -0.9921037374746182, + -59.948507208499606 + ], + [ + -0.9915231021958226, + 0.03393764105917615, + -0.1254199917529536, + 575.9708093165511 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.03420777852988251, + 0.12534658781896924, + -0.9915231021958226, + 694.6126423930407 + ], + [ + 0.9994147426809606, + -0.004290339268045553, + 0.03393764105917615, + 3369.5453690136806 + ], + [ + -0.0, + -0.9921037374746182, + -0.1254199917529536, + 12.763105390044409 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 69461.26423930407, + -336954.53690136806, + 1276.310539004441 + ], + "rotation_deg": [ + 0.0, + -7.205010414123537, + -178.03965759277344 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.28123674563171497, + 0.9596384177941618, + -1.3877787715626322e-17, + -3424.2629704375604 + ], + [ + 0.34585818394428347, + -0.10135904138369846, + -0.9327960448718357, + 117.51652368806108 + ], + [ + -0.8951469254425262, + 0.2623365039009687, + -0.3604046900247134, + -268.3571189640121 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.28123674563171497, + 0.34585818394428347, + -0.8951469254425262, + 682.1654102901647 + ], + [ + 0.9596384177941618, + -0.10135904138369846, + 0.2623365039009687, + 3368.365553658325 + ], + [ + -1.3877787715626322e-17, + -0.9327960448718357, + -0.3604046900247134, + 12.901759348260796 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 68216.54102901647, + -336836.5553658325, + 1290.1759348260796 + ], + "rotation_deg": [ + 8.524250028875008e-16, + -21.125051498413075, + -163.6659698486328 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.3147067319589783, + 0.9491889552979953, + 3.469446925648938e-18, + -3411.670777426129 + ], + [ + 0.13737388718771062, + -0.04554676584892737, + -0.9894715292718838, + 70.93585781434629 + ], + [ + -0.9391954538179317, + 0.3113933307653575, + -0.1447276514097639, + -398.9528186057834 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.3147067319589783, + 0.13737388718771062, + -0.9391954538179317, + 689.2362861168826 + ], + [ + 0.9491889552979953, + -0.04554676584892737, + 0.3113933307653575, + 3365.7823981651304 + ], + [ + 3.469446925648938e-18, + -0.9894715292718838, + -0.1447276514097639, + 12.449497006184533 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 68923.62861168827, + -336578.239816513, + 1244.9497006184533 + ], + "rotation_deg": [ + -2.0089983566324565e-16, + -8.321508407592772, + -161.6568908691406 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.7641874966499176, + -0.6449941627363244, + 1.3877787704015977e-17, + 1657.1876850058015 + ], + [ + -0.11836567985868218, + -0.14023936619322494, + -0.9830170324065165, + 562.8702197815419 + ], + [ + 0.6340402425419851, + 0.7512093292304058, + -0.18351434416553009, + -2943.8768545809753 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7641874966499176, + -0.11836567985868218, + 0.6340402425419851, + 666.7588115945547 + ], + [ + -0.6449941627363244, + -0.14023936619322494, + 0.7512093292304058, + 3359.2806838986526 + ], + [ + 1.3877787704015977e-17, + -0.9830170324065165, + -0.18351434416553009, + 13.067388811004058 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 66675.88115945547, + -335928.0683898653, + 1306.7388811004057 + ], + "rotation_deg": [ + -8.088757817670026e-16, + -10.574527740478514, + -49.83476257324218 + ] + } + } + ] + }, + { + "frame": 132, + "time": 1770.5629095062613, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.03451465967312774, + 0.9994041916400233, + -8.673617313768799e-19, + -3390.9476090976787 + ], + [ + 0.12567377602433707, + -0.004340173520984428, + -0.992062127547258, + -60.03578542392644 + ], + [ + -0.9914710493394281, + 0.03424066283941991, + -0.1257486991188794, + 575.1589966329643 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.03451465967312774, + 0.12567377602433707, + -0.9914710493394281, + 694.8357398550024 + ], + [ + 0.9994041916400233, + -0.004340173520984428, + 0.03424066283941991, + 3368.9728521977313 + ], + [ + -8.673617313768799e-19, + -0.992062127547258, + -0.1257486991188794, + 12.766255865047524 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 69483.57398550025, + -336897.2852197731, + 1276.6255865047524 + ], + "rotation_deg": [ + 5.009380513989276e-17, + -7.223994255065921, + -178.0220642089844 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.29096022965792834, + 0.9567351486996836, + -2.0816681573108517e-17, + -3420.5801848202555 + ], + [ + 0.34254030886190256, + -0.10417261984052147, + -0.9337099132387715, + 129.1069882892464 + ], + [ + -0.8933130977033834, + 0.27167243079773246, + -0.3580304453758609, + -300.6376732007811 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.29096022965792834, + 0.34254030886190256, + -0.8933130977033834, + 682.4648156344488 + ], + [ + 0.9567351486996836, + -0.10417261984052147, + 0.27167243079773246, + 3367.7136976820534 + ], + [ + -2.0816681573108517e-17, + -0.9337099132387715, + -0.3580304453758609, + 12.911010253587936 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 68246.48156344488, + -336771.36976820533, + 1291.1010253587935 + ], + "rotation_deg": [ + 1.2773860381420404e-15, + -20.979288101196282, + -163.0845489501953 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.30852206100967394, + 0.951217187539388, + -0.0, + -3413.8622474968115 + ], + [ + 0.13766061372424782, + -0.04464946262790577, + -0.989472577142036, + 67.658492849456 + ], + [ + -0.9412033285089748, + 0.3052740981438382, + -0.14472048716782607, + -376.56533187353585 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.30852206100967394, + 0.13766061372424782, + -0.9412033285089748, + 689.5132959321782 + ], + [ + 0.951217187539388, + -0.04464946262790577, + 0.3052740981438382, + 3365.301033534668 + ], + [ + -0.0, + -0.989472577142036, + -0.14472048716782607, + 12.449494705179138 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 68951.32959321782, + -336530.1033534668, + 1244.9494705179138 + ], + "rotation_deg": [ + 0.0, + -8.321093559265137, + -162.02981567382812 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.7619443616589641, + -0.6476424860492969, + -2.7755575408029276e-17, + 1667.0727236037183 + ], + [ + -0.11883068229275004, + -0.13980300909127927, + -0.9830230859928281, + 561.6641086183644 + ], + [ + 0.6366475100599731, + 0.7490089018253796, + -0.18348191442421727, + -2937.953891935315 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7619443616589641, + -0.11883068229275004, + 0.6366475100599731, + 666.9673057688739 + ], + [ + -0.6476424860492969, + -0.13980300909127927, + 0.7490089018253796, + 3358.7430542344105 + ], + [ + -2.7755575408029276e-17, + -0.9830230859928281, + -0.18348191442421727, + 13.067386761841652 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 66696.73057688739, + -335874.30542344105, + 1306.7386761841651 + ], + "rotation_deg": [ + 1.6177416012055377e-15, + -10.572637557983391, + -49.63591003417965 + ] + } + } + ] + }, + { + "frame": 133, + "time": 1770.629576176405, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.034822336025862315, + 0.9993935185469747, + 4.3368086568872465e-19, + -3390.560900447044 + ], + [ + 0.12600176145609707, + -0.004390338336048078, + -0.9920203027354103, + -60.122701669640264 + ], + [ + -0.9914186615287405, + 0.03454444046242272, + -0.12607822653297066, + 574.3446616848262 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.034822336025862315, + 0.12600176145609707, + -0.9914186615287405, + 695.0587524489769 + ], + [ + 0.9993935185469747, + -0.004390338336048078, + 0.03454444046242272, + 3368.4002032611934 + ], + [ + 4.3368086568872465e-19, + -0.9920203027354103, + -0.12607822653297066, + 12.769404896199019 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 69505.87524489769, + -336840.0203261193, + 1276.9404896199019 + ], + "rotation_deg": [ + -2.5047958578579246e-17, + -7.243026256561281, + -178.00442504882812 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.2991380416536596, + 0.9542098469600979, + -1.3877787715221994e-17, + -3417.1331748088724 + ], + [ + 0.33973404781368005, + -0.10650422238862597, + -0.9344718440753182, + 138.72445122450054 + ], + [ + -0.8916822405105759, + 0.27953605751529464, + -0.35603704091968563, + -327.8141140861322 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.2991380416536596, + 0.33973404781368005, + -0.8916822405105759, + 682.7590216771102 + ], + [ + 0.9542098469600979, + -0.10650422238862597, + 0.27953605751529464, + 3367.072754885715 + ], + [ + -1.3877787715221994e-17, + -0.9344718440753182, + -0.35603704091968563, + 12.920102335548274 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 68275.90216771103, + -336707.2754885715, + 1292.0102335548274 + ], + "rotation_deg": [ + 8.508963392117671e-16, + -20.857015609741197, + -162.59416198730466 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.30232025820377834, + 0.9532064107419761, + -6.9388938512976624e-18, + -3415.9051837104107 + ], + [ + 0.13794249810497997, + -0.04375003270478456, + -0.9894734972978748, + 64.37811836914925 + ], + [ + -0.9431724872965543, + 0.2991378624306042, + -0.1447141958042814, + -354.15282054322483 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.30232025820377834, + 0.13794249810497997, + -0.9431724872965543, + 689.7895942402612 + ], + [ + 0.9532064107419761, + -0.04375003270478456, + 0.2991378624306042, + 3364.8198116678627 + ], + [ + -6.9388938512976624e-18, + -0.9894734972978748, + -0.1447141958042814, + 12.449490959520848 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 68978.95942402612, + -336481.9811667863, + 1244.9490959520847 + ], + "rotation_deg": [ + 4.017988721618742e-16, + -8.320729255676268, + -162.40298461914062 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.7596644258125096, + -0.6503152775038814, + -0.0, + 1677.0631760484782 + ], + [ + -0.11930266165527931, + -0.13936315368774485, + -0.983028375132769, + 560.4516192975433 + ], + [ + 0.6392783654070703, + 0.746771690226106, + -0.1834535750518632, + -2931.9268772077025 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7596644258125096, + -0.11930266165527931, + 0.6392783654070703, + 667.1755653830005 + ], + [ + -0.6503152775038814, + -0.13936315368774485, + 0.746771690226106, + 3358.206080016715 + ], + [ + -0.0, + -0.983028375132769, + -0.1834535750518632, + 13.067383237805187 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 66717.55653830005, + -335820.6080016715, + 1306.7383237805186 + ], + "rotation_deg": [ + 0.0, + -10.570985794067376, + -49.434623718261705 + ] + } + } + ] + }, + { + "frame": 134, + "time": 1770.6962428465486, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.035130541381624414, + 0.9993827320212384, + -0.0, + -3390.174203688356 + ], + [ + 0.1263305449151616, + -0.004440801600533289, + -0.9919782622127276, + -60.20936470502451 + ], + [ + -0.9913659465103908, + 0.03484870953000459, + -0.12640857385339893, + 573.5286944303755 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.035130541381624414, + 0.1263305449151616, + -0.9913659465103908, + 695.2816734322629 + ], + [ + 0.9993827320212384, + -0.004440801600533289, + 0.03484870953000459, + 3367.8274341210367 + ], + [ + -0.0, + -0.9919782622127276, + -0.12640857385339893, + 12.772552577081564 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 69528.16734322629, + -336782.7434121037, + 1277.2552577081565 + ], + "rotation_deg": [ + 0.0, + -7.262106418609621, + -177.98675537109375 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.30600851573919163, + 0.9520287749301998, + -2.0816681572605137e-17, + -3413.9677922015762 + ], + [ + 0.337376849186832, + -0.1084422987866064, + -0.9351027373859204, + 146.70984328875286 + ], + [ + -0.8902447188350292, + 0.286149380906578, + -0.35437673794017915, + -350.6429292672794 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.30600851573919163, + 0.337376849186832, + -0.8902447188350292, + 683.0486354074851 + ], + [ + 0.9520287749301998, + -0.1084422987866064, + 0.286149380906578, + 3366.441411750217 + ], + [ + -2.0816681572605137e-17, + -0.9351027373859204, + -0.35437673794017915, + 12.929054573266306 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 68304.86354074851, + -336644.1411750217, + 1292.9054573266305 + ], + "rotation_deg": [ + 1.2754833871531552e-15, + -20.75525093078613, + -162.18115234375 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.29610181556332393, + 0.9551563823898698, + 3.469446925648787e-18, + -3417.799163072409 + ], + [ + 0.13821944825934873, + -0.04284851185661526, + -0.9894742993906179, + 61.09492584071691 + ], + [ + -0.9451026985660209, + 0.292985115655448, + -0.14470871144332959, + -331.71715918315357 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.29610181556332393, + 0.13821944825934873, + -0.9451026985660209, + 690.0651798539554 + ], + [ + 0.9551563823898698, + -0.04284851185661526, + 0.292985115655448, + 3364.338729978739 + ], + [ + 3.469446925648787e-18, + -0.9894742993906179, + -0.14470871144332959, + 12.449485862888478 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 69006.51798539555, + -336433.8729978739, + 1244.9485862888478 + ], + "rotation_deg": [ + -2.008992732268009e-16, + -8.320411682128906, + -162.77638244628906 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.7573505939397787, + -0.6530084822259695, + -1.3877787704012446e-17, + 1687.143413015866 + ], + [ + -0.11978057369722055, + -0.1389199238619472, + -0.983032994827211, + 559.2324754679456 + ], + [ + 0.6419288788035769, + 0.7445006265689739, + -0.18342881888184465, + -2925.8030776599535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7573505939397787, + -0.11978057369722055, + 0.6419288788035769, + 667.383618500856 + ], + [ + -0.6530084822259695, + -0.1389199238619472, + 0.7445006265689739, + 3357.669697335473 + ], + [ + -1.3877787704012446e-17, + -0.983032994827211, + -0.18342881888184465, + 13.06737833620003 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 66738.3618500856, + -335766.9697335473, + 1306.737833620003 + ], + "rotation_deg": [ + 8.088626472986905e-16, + -10.569542884826651, + -49.2311859130859 + ] + } + } + ] + }, + { + "frame": 135, + "time": 1770.7629095166922, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.035439807991492246, + 0.9993718126951181, + 4.3368086568929886e-19, + -3389.787834857388 + ], + [ + 0.12666012366536744, + -0.004491632049110737, + -0.9919360051508407, + -60.295540899421496 + ], + [ + -0.9913128842663158, + 0.03515399770565388, + -0.1267397409375167, + 572.7092983190234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.035439807991492246, + 0.12666012366536744, + -0.9913128842663158, + 695.5044964723351 + ], + [ + 0.9993718126951181, + -0.004491632049110737, + 0.03515399770565388, + 3367.2545556093282 + ], + [ + 4.3368086568929886e-19, + -0.9919360051508407, + -0.1267397409375167, + 12.775699327667295 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 69550.4496472335, + -336725.4555609328, + 1277.5699327667296 + ], + "rotation_deg": [ + -2.5050087226423973e-17, + -7.28123474121094, + -177.96902465820312 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.3117686352289587, + 0.9501580490042024, + -6.938893857472783e-18, + -3411.10171935351 + ], + [ + 0.3354130210348317, + -0.11005670047803702, + -0.9356204508240372, + 153.33664354677646 + ], + [ + -0.8889873076083074, + 0.29169709128716564, + -0.35300761159773864, + -369.7568761520077 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.3117686352289587, + 0.3354130210348317, + -0.8889873076083074, + 683.3341905772392 + ], + [ + 0.9501580490042024, + -0.11005670047803702, + 0.29169709128716564, + 3365.818512723891 + ], + [ + -6.938893857472783e-18, + -0.9356204508240372, + -0.35300761159773864, + 12.93788400599097 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 68333.41905772392, + -336581.8512723891, + 1293.788400599097 + ], + "rotation_deg": [ + 4.2492587165234045e-16, + -20.67138481140136, + -161.83415222167966 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.2898677384729067, + 0.9570667135537639, + -6.938893851297498e-18, + -3419.543625607806 + ], + [ + 0.13849128717647716, + -0.041944992594073936, + -0.989475002702183, + 57.809356736815396 + ], + [ + -0.9469935951505466, + 0.2868168603729668, + -0.14470390233036795, + -309.26203365874716 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.2898677384729067, + 0.13849128717647716, + -0.9469935951505466, + 690.3400512100872 + ], + [ + 0.9570667135537639, + -0.041944992594073936, + 0.2868168603729668, + 3363.857786080461 + ], + [ + -6.938893851297498e-18, + -0.989475002702183, + -0.14470390233036795, + 12.44947983533879 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 69034.00512100871, + -336385.7786080461, + 1244.947983533879 + ], + "rotation_deg": [ + 4.0179826085814144e-16, + -8.320133209228509, + -163.14996337890625 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.7550055605136833, + -0.6557183874144594, + -0.0, + 1697.2991078900727 + ], + [ + -0.12026346451468137, + -0.138473445579669, + -0.9830370308244856, + 558.0064679639388 + ], + [ + 0.6445954515295981, + 0.7421984285380498, + -0.1834071878171723, + -2919.5892555999203 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7550055605136833, + -0.12026346451468137, + 0.6445954515295981, + 667.5914894911538 + ], + [ + -0.6557183874144594, + -0.138473445579669, + 0.7421984285380498, + 3357.1338502302974 + ], + [ + -0.0, + -0.9830370308244856, + -0.1834071878171723, + 13.067372480274285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 66759.14894911538, + -335713.38502302975, + 1306.7372480274284 + ], + "rotation_deg": [ + 0.0, + -10.568282127380364, + -49.02585601806638 + ] + } + } + ] + }, + { + "frame": 136, + "time": 1770.8295761868358, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.03574986964508427, + 0.9993607691021094, + 4.3368086568958795e-19, + -3389.401647957214 + ], + [ + 0.1269905149881839, + -0.004542798253996532, + -0.9918935286042846, + -60.381347774646095 + ], + [ + -0.9912594803411731, + 0.035460040496271286, + -0.12707174415168035, + 571.887363609925 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.03574986964508427, + 0.1269905149881839, + -0.9912594803411731, + 695.7272158700191 + ], + [ + 0.9993607691021094, + -0.004542798253996532, + 0.035460040496271286, + 3366.681577569065 + ], + [ + 4.3368086568958795e-19, + -0.9918935286042846, + -0.12707174415168035, + 12.778845815715334 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 69572.72158700191, + -336668.1577569065, + 1277.8845815715333 + ], + "rotation_deg": [ + -2.5051159963751307e-17, + -7.3004121780395534, + -177.9512481689453 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.31658127062352115, + 0.9485653899918534, + -2.081668157226702e-17, + -3408.535206734305 + ], + [ + 0.3337934661926593, + -0.11140271484500296, + -0.9360402539700162, + 158.82469258669545 + ], + [ + -0.8878953940974479, + 0.29633279325406753, + -0.3518929450596874, + -385.68456086844617 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.31658127062352115, + 0.3337934661926593, + -0.8878953940974479, + 683.6161567612871 + ], + [ + 0.9485653899918534, + -0.11140271484500296, + 0.29633279325406753, + 3365.2030412320482 + ], + [ + -2.081668157226702e-17, + -0.9360402539700162, + -0.3518929450596874, + 12.946605926444972 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 68361.61567612871, + -336520.30412320484, + 1294.6605926444972 + ], + "rotation_deg": [ + 1.2742058920427733e-15, + -20.60313987731933, + -161.543701171875 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.28361852902807233, + 0.9589371877197966, + 3.4694469256487153e-18, + -3421.1382456896804 + ], + [ + 0.1387579090035219, + -0.04103951181220579, + -0.9894756192848744, + 54.52161650328867 + ], + [ + -0.9488449737226043, + 0.2806335986271654, + -0.14469968611893216, + -286.78933108560756 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.28361852902807233, + 0.1387579090035219, + -0.9488449737226043, + 690.6142066899906 + ], + [ + 0.9589371877197966, + -0.04103951181220579, + 0.2806335986271654, + 3363.376977726309 + ], + [ + 3.4694469256487153e-18, + -0.9894756192848744, + -0.14469968611893216, + 12.449473544705354 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 69061.42066899907, + -336337.6977726309, + 1244.9473544705354 + ], + "rotation_deg": [ + -2.0089900524061126e-16, + -8.319889068603512, + -163.52371215820312 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.7526316736588523, + -0.6584417694872303, + -0.0, + 1707.5178196468992 + ], + [ + -0.12075050871740062, + -0.13802383397078455, + -0.9830405565898562, + 556.7734368199365 + ], + [ + 0.647274958502883, + 0.7398674634557644, + -0.18338828919706066, + -2913.2913077595726 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7526316736588523, + -0.12075050871740062, + 0.647274958502883, + 667.7991997429739 + ], + [ + -0.6584417694872303, + -0.13802383397078455, + 0.7398674634557644, + 3356.5984897019184 + ], + [ + -0.0, + -0.9830405565898562, + -0.18338828919706066, + 13.06736634066992 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 66779.91997429739, + -335659.84897019184, + 1306.736634066992 + ], + "rotation_deg": [ + 0.0, + -10.567180633544917, + -48.818859100341776 + ] + } + } + ] + }, + { + "frame": 137, + "time": 1770.8962428569794, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.036060726286083804, + 0.9993496005001054, + -8.673617313797579e-19, + -3389.015650063769 + ], + [ + 0.12732171024206843, + -0.004594301474696812, + -0.9918508327843426, + -60.466774698216625 + ], + [ + -0.991205734233157, + 0.03576683754814463, + -0.12740457509490374, + 571.0628866908796 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.036060726286083804, + 0.12732171024206843, + -0.991205734233157, + 695.9498262868187 + ], + [ + 0.9993496005001054, + -0.004594301474696812, + 0.03576683754814463, + 3366.1085091601412 + ], + [ + -8.673617313797579e-19, + -0.9918508327843426, + -0.12740457509490374, + 12.781992735821177 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 69594.98262868187, + -336610.8509160141, + 1278.1992735821177 + ], + "rotation_deg": [ + 5.0104476662762525e-17, + -7.319638252258301, + -177.9334259033203 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.3205831942643284, + 0.9472203627220437, + -0.0, + -3406.2572734396153 + ], + [ + 0.3324748864340299, + -0.11252488364945352, + -0.9363752455347993, + 163.35362552121265 + ], + [ + -0.886953705342191, + 0.3001861475883461, + -0.3510005717599692, + -398.8740903439314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.3205831942643284, + 0.3324748864340299, + -0.886953705342191, + 683.8949468623309 + ], + [ + 0.9472203627220437, + -0.11252488364945352, + 0.3001861475883461, + 3364.5941031870175 + ], + [ + -0.0, + -0.9363752455347993, + -0.3510005717599692, + 12.955233899191771 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 68389.4946862331, + -336459.41031870176, + 1295.5233899191771 + ], + "rotation_deg": [ + 0.0, + -20.548526763916012, + -161.30180358886722 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.2773546925704338, + 0.9607675965128925, + 3.4694469256486856e-18, + -3422.582728557881 + ], + [ + 0.13901922412785958, + -0.040132113436493616, + -0.989476158779992, + 51.2319230822559 + ], + [ + -0.9506566368026855, + 0.2744358347135591, + -0.14469599693177065, + -264.30094136052185 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.2773546925704338, + 0.13901922412785958, + -0.9506566368026855, + 690.8876444324924 + ], + [ + 0.9607675965128925, + -0.040132113436493616, + 0.2744358347135591, + 3362.8963029793854 + ], + [ + 3.4694469256486856e-18, + -0.989476158779992, + -0.14469599693177065, + 12.449467685649209 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 69088.76444324924, + -336289.63029793854, + 1244.9467685649208 + ], + "rotation_deg": [ + -2.008988957038294e-16, + -8.319675445556639, + -163.89761352539062 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.7502310157203725, + -0.6611757883128949, + -2.7755575408020183e-17, + 1717.7885826142012 + ], + [ + -0.12124099071423027, + -0.13757120756429733, + -0.9830436333245501, + 555.5333064004872 + ], + [ + 0.6499646441891408, + 0.7375098276016324, + -0.18337179580048427, + -2906.9144629744064 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7502310157203725, + -0.12124099071423027, + 0.6499646441891408, + 668.0067678263986 + ], + [ + -0.6611757883128949, + -0.13757120756429733, + 0.7375098276016324, + 3356.063573063852 + ], + [ + -2.7755575408020183e-17, + -0.9830436333245501, + -0.18337179580048427, + 13.067360614519357 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 66800.67678263986, + -335606.3573063852, + 1306.7360614519357 + ], + "rotation_deg": [ + 1.6177077875753847e-15, + -10.566219329833977, + -48.6103935241699 + ] + } + } + ] + }, + { + "frame": 138, + "time": 1770.962909527123, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.03637264399752964, + 0.999338296458526, + -8.673617313803424e-19, + -3388.6300000017864 + ], + [ + 0.12765370779597163, + -0.0046461772605751895, + -0.9918079168482189, + -60.551700661999384 + ], + [ + -0.9911516347782625, + 0.03607465242757016, + -0.12773823362097889, + 570.2349686458851 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.03637264399752964, + 0.12765370779597163, + -0.9911516347782625, + 696.1723226229116 + ], + [ + 0.999338296458526, + -0.0046461772605751895, + 0.03607465242757016, + 3365.5353586158417 + ], + [ + -8.673617313803424e-19, + -0.9918079168482189, + -0.12773823362097889, + 12.7851406683483 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 69617.23226229116, + -336553.5358615842, + 1278.51406683483 + ], + "rotation_deg": [ + 5.0106644704090826e-17, + -7.338912963867188, + -177.91554260253906 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.3238886146855547, + 0.9460952199842637, + -0.0, + -3404.2508946082025 + ], + [ + 0.33141944288759895, + -0.11345896477366005, + -0.9366366511025301, + 167.06973128865835 + ], + [ + -0.8861474641589332, + 0.3033659277736823, + -0.35030242024671365, + -409.70265137449815 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.3238886146855547, + 0.33141944288759895, + -0.8861474641589332, + 684.1709238328025 + ], + [ + 0.9460952199842637, + -0.11345896477366005, + 0.3033659277736823, + 3363.9909119642275 + ], + [ + -0.0, + -0.9366366511025301, + -0.35030242024671365, + 12.96377983016664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 68417.09238328025, + -336399.09119642276, + 1296.377983016664 + ], + "rotation_deg": [ + 0.0, + -20.505813598632816, + -161.10174560546875 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.2710767375728967, + 0.9625577397469904, + 3.4694469256486598e-18, + -3423.876810038676 + ], + [ + 0.13927514351051223, + -0.03922284343976124, + -0.9894766308269366, + 47.940500826747225 + ], + [ + -0.952428395101701, + 0.2682240757921476, + -0.14469276889135432, + -241.79875775399404 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.2710767375728967, + 0.13927514351051223, + -0.952428395101701, + 691.1603622872883 + ], + [ + 0.9625577397469904, + -0.03922284343976124, + 0.2682240757921476, + 3362.4157598492325 + ], + [ + 3.4694469256486598e-18, + -0.9894766308269366, + -0.14469276889135432, + 12.449462838591483 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 69116.03622872883, + -336241.5759849232, + 1244.9462838591483 + ], + "rotation_deg": [ + -2.0089879986153417e-16, + -8.319488525390623, + -164.2716522216797 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.7478053531747207, + -0.6639180324130618, + -0.0, + 1728.1020899984474 + ], + [ + -0.12173428115383797, + -0.13711564179217733, + -0.9830463191365286, + 554.285913590174 + ], + [ + 0.6526621729876513, + 0.7351273039439956, + -0.18335739676127016, + -2900.463175085676 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7478053531747207, + -0.12173428115383797, + 0.6526621729876513, + 668.2142097518185 + ], + [ + -0.6639180324130618, + -0.13711564179217733, + 0.7351273039439956, + 3355.529062859121 + ], + [ + -0.0, + -0.9830463191365286, + -0.18335739676127016, + 13.067355884418543 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 66821.42097518186, + -335552.9062859121, + 1306.7355884418544 + ], + "rotation_deg": [ + 0.0, + -10.565380096435543, + -48.40062713623046 + ] + } + } + ] + }, + { + "frame": 139, + "time": 1771.0295761972666, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.03668509043922781, + 0.9993268755214512, + -0.0, + -3388.2443980273347 + ], + [ + 0.12798652621086587, + -0.004698359870085801, + -0.9917647778193205, + -60.63635990046602 + ], + [ + -0.9910971974181547, + 0.036382956726506745, + -0.1280727360905371, + 569.4053952387271 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.03668509043922781, + 0.12798652621086587, + -0.9910971974181547, + 696.3947001851197 + ], + [ + 0.9993268755214512, + -0.004698359870085801, + 0.036382956726506745, + 3364.96213385133 + ], + [ + -0.0, + -0.9917647778193205, + -0.1280727360905371, + 12.788290003327882 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 69639.47001851197, + -336496.21338513296, + 1278.8290003327882 + ], + "rotation_deg": [ + 0.0, + -7.358237266540531, + -177.8976287841797 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.32659434764059253, + 0.9451646058170057, + 6.9388938573270534e-18, + -3402.495481896008 + ], + [ + 0.33059395894737365, + -0.11423419549551195, + -0.9368341277339309, + 170.0941320891124 + ], + [ + -0.8854624647978759, + 0.30596471121196905, + -0.3497739540432465, + -418.49231128122904 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.32659434764059253, + 0.33059395894737365, + -0.8854624647978759, + 684.4444068655077 + ], + [ + 0.9451646058170057, + -0.11423419549551195, + 0.30596471121196905, + 3363.3927760039264 + ], + [ + 6.9388938573270534e-18, + -0.9368341277339309, + -0.3497739540432465, + 12.972254075903942 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 68444.44068655078, + -336339.27760039264, + 1297.2254075903943 + ], + "rotation_deg": [ + -4.243753764131906e-16, + -20.473489761352543, + -160.93780517578125 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.26478517552391007, + 0.9643074254732109, + -3.469446925648638e-18, + -3425.020257164094 + ], + [ + 0.13952557871847754, + -0.03831174983736921, + -0.9894770450635387, + 44.64758036774057 + ], + [ + -0.9541600675652344, + 0.26199883177128747, + -0.1446899361199243, + -219.28467639338774 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.26478517552391007, + 0.13952557871847754, + -0.9541600675652344, + 691.4323580492553 + ], + [ + 0.9643074254732109, + -0.03831174983736921, + 0.26199883177128747, + 3361.9353467948317 + ], + [ + -3.469446925648638e-18, + -0.9894770450635387, + -0.1446899361199243, + 12.449459393614097 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 69143.23580492553, + -336193.53467948316, + 1244.9459393614097 + ], + "rotation_deg": [ + 2.0089871575686705e-16, + -8.3193244934082, + -164.64581298828125 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.7453563959767713, + -0.6666662155655697, + -0.0, + 1738.4495013894152 + ], + [ + -0.12222979231173389, + -0.1366572286870335, + -0.983048665997269, + 553.0311783773586 + ], + [ + 0.6553653289287454, + 0.7327216148321615, + -0.18334481393229377, + -2893.9417712267327 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7453563959767713, + -0.12222979231173389, + 0.6553653289287454, + 668.4215394734576 + ], + [ + -0.6666662155655697, + -0.1366572286870335, + 0.7327216148321615, + 3354.9949267297325 + ], + [ + -0.0, + -0.983048665997269, + -0.18334481393229377, + 13.067352542363242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 66842.15394734577, + -335499.49267297325, + 1306.7352542363242 + ], + "rotation_deg": [ + 0.0, + -10.564646720886227, + -48.18972015380859 + ] + } + } + ] + }, + { + "frame": 140, + "time": 1771.0962428674102, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.03699833169615494, + 0.9993153273375233, + -8.673617313815207e-19, + -3387.8590022391027 + ], + [ + 0.12832015561353943, + -0.004750884481418965, + -0.9917214159026518, + -60.72062743090418 + ], + [ + -0.9910424121148141, + 0.036692014057170555, + -0.12840807410003235, + 568.5732685564478 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.03699833169615494, + 0.12832015561353943, + -0.9910424121148141, + 696.616954553576 + ], + [ + 0.9993153273375233, + -0.004750884481418965, + 0.036692014057170555, + 3364.38884215553 + ], + [ + -8.673617313815207e-19, + -0.9917214159026518, + -0.12840807410003235, + 12.791440859667805 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 69661.69545535759, + -336438.884215553, + 1279.1440859667805 + ], + "rotation_deg": [ + 5.0111015157470286e-17, + -7.377610683441161, + -177.87966918945312 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.3287818592544501, + 0.9444058920957593, + -1.3877787714620083e-17, + -3400.969364951126 + ], + [ + 0.3299695514286518, + -0.11487433901467947, + -0.9369759769417326, + 172.52656947652622 + ], + [ + -0.8848856391611155, + 0.308060684219931, + -0.3493937899338974, + -425.51575463239027 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.3287818592544501, + 0.3299695514286518, + -0.8848856391611155, + 684.7156765602454 + ], + [ + 0.9444058920957593, + -0.11487433901467947, + 0.308060684219931, + 3362.7990870571152 + ], + [ + -1.3877787714620083e-17, + -0.9369759769417326, + -0.3493937899338974, + 12.980665525834365 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 68471.56765602453, + -336279.90870571154, + 1298.0665525834365 + ], + "rotation_deg": [ + 8.486222600722212e-16, + -20.45024108886718, + -160.80514526367188 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.2584805208107904, + 0.9660164700259425, + 3.4694469256486182e-18, + -3426.0128678265314 + ], + [ + 0.13977047377689727, + -0.03739889119577135, + -0.9894774063097692, + 41.353405030239614 + ], + [ + -0.9558514767627676, + 0.25576061394572747, + -0.14468746567875565, + -196.760594412133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.2584805208107904, + 0.13977047377689727, + -0.9558514767627676, + 691.7036293835022 + ], + [ + 0.9660164700259425, + -0.03739889119577135, + 0.25576061394572747, + 3361.455062323694 + ], + [ + 3.4694469256486182e-18, + -0.9894774063097692, + -0.14468746567875565, + 12.449457469669595 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 69170.36293835021, + -336145.5062323694, + 1244.9457469669594 + ], + "rotation_deg": [ + -2.0089864241117522e-16, + -8.319181442260737, + -165.02008056640622 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.7428856176807325, + -0.6694183736969851, + 1.3877787704008524e-17, + 1748.8232225018191 + ], + [ + -0.12272703646987221, + -0.13619606792465522, + -0.9830507136466485, + 551.7691125557947 + ], + [ + 0.6580722050786029, + 0.7302942406929924, + -0.18333383461224867, + -2887.353969498821 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7428856176807325, + -0.12272703646987221, + 0.6580722050786029, + 668.6287690513227 + ], + [ + -0.6694183736969851, + -0.13619606792465522, + 0.7302942406929924, + 3354.4611364582456 + ], + [ + 1.3877787704008524e-17, + -0.9830507136466485, + -0.18333383461224867, + 13.06735070899017 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 66862.87690513227, + -335446.11364582455, + 1306.735070899017 + ], + "rotation_deg": [ + -8.088480681002594e-16, + -10.564006805419917, + -47.977809906005845 + ] + } + } + ] + }, + { + "frame": 141, + "time": 1771.1629095375538, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.03731263384051123, + 0.999303641220167, + -0.0, + -3387.473970162539 + ], + [ + 0.12865459432145257, + -0.004803786929020344, + -0.9916778302408109, + -60.804382037572324 + ], + [ + -0.9909872674380759, + 0.03700208793262696, + -0.12874424749961447, + 567.7376906209458 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.03731263384051123, + 0.12865459432145257, + -0.9909872674380759, + 696.8390812231125 + ], + [ + 0.999303641220167, + -0.004803786929020344, + 0.03700208793262696, + 3363.8154911300894 + ], + [ + -0.0, + -0.9916778302408109, + -0.12874424749961447, + 12.794593152811542 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 69683.90812231126, + -336381.54911300895, + 1279.4593152811542 + ], + "rotation_deg": [ + 0.0, + -7.397033214569092, + -177.8616485595703 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.33052099856484396, + 0.9437986382209388, + -0.0, + -3399.6504885214417 + ], + [ + 0.3295208896723285, + -0.11539916364763565, + -0.9370693764599201, + 174.45089730749436 + ], + [ + -0.8844048072401812, + 0.30972108649820373, + -0.34914321632938894, + -431.00808348291974 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.33052099856484396, + 0.3295208896723285, + -0.8844048072401812, + 684.9849792291537 + ], + [ + 0.9437986382209388, + -0.11539916364763565, + 0.30972108649820373, + 3362.209311052068 + ], + [ + -0.0, + -0.9370693764599201, + -0.34914321632938894, + 12.989021813461443 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 68498.49792291537, + -336220.93110520684, + 1298.9021813461443 + ], + "rotation_deg": [ + 0.0, + -20.43491935729981, + -160.69960021972656 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.2521632906021594, + 0.9676846980668297, + -0.0, + -3426.854471582887 + ], + [ + 0.14000975766399787, + -0.03648432312662897, + -0.9894777217930983, + 38.05821847382088 + ], + [ + -0.9575024558790927, + 0.24950993685287634, + -0.1446853081593973, + -174.22841245410865 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.2521632906021594, + 0.14000975766399787, + -0.9575024558790927, + 691.9741735181419 + ], + [ + 0.9676846980668297, + -0.03648432312662897, + 0.24950993685287634, + 3360.974905849167 + ], + [ + -0.0, + -0.9894777217930983, + -0.1446853081593973, + 12.449456982240733 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 69197.41735181419, + -336097.4905849167, + 1244.9456982240733 + ], + "rotation_deg": [ + 0.0, + -8.319056510925291, + -165.39443969726562 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.7403942053405667, + -0.6721729098216549, + -1.3877787704008129e-17, + 1759.2170891397984 + ], + [ + -0.12322559099580349, + -0.13573220846875067, + -0.9830525018064551, + 550.4996009837106 + ], + [ + 0.6607812557704217, + 0.7278463799563971, + -0.18332424609645318, + -2880.702781448001 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7403942053405667, + -0.12322559099580349, + 0.6607812557704217, + 668.8359085524437 + ], + [ + -0.6721729098216549, + -0.13573220846875067, + 0.7278463799563971, + 3353.927668334443 + ], + [ + -1.3877787704008129e-17, + -0.9830525018064551, + -0.18332424609645318, + 13.067350301264169 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 66883.59085524437, + -335392.7668334443, + 1306.7350301264169 + ], + "rotation_deg": [ + 8.088465968160453e-16, + -10.563447952270499, + -47.76500701904294 + ] + } + } + ] + }, + { + "frame": 142, + "time": 1771.2295762076974, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.03762773067635066, + 0.9992918261869994, + -0.0, + -3387.0891548216546 + ], + [ + 0.12898985967342297, + -0.0048570353249978064, + -0.9916340178257712, + -60.88774383757554 + ], + [ + -0.9909317693500937, + 0.03731291392104342, + -0.12908127264407412, + 566.8995520567331 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.03762773067635066, + 0.12898985967342297, + -0.9909317693500937, + 697.0610757896362 + ], + [ + 0.9992918261869994, + -0.0048570353249978064, + 0.03731291392104342, + 3363.2420883706404 + ], + [ + -0.0, + -0.9916340178257712, + -0.12908127264407412, + 12.797746602546493 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 69706.10757896362, + -336324.20883706404, + 1279.7746602546492 + ], + "rotation_deg": [ + 0.0, + -7.4165058135986355, + -177.8435821533203 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.331871156719502, + 0.9433247242268484, + -1.3877787714585424e-17, + -3398.517619706775 + ], + [ + 0.32922591572013304, + -0.11582499924575616, + -0.9371205183795519, + 175.93715102945123 + ], + [ + -0.884008960412075, + 0.31100325090369074, + -0.3490059252197572, + -435.17015204920017 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.331871156719502, + 0.32922591572013304, + -0.884008960412075, + 685.2525311873678 + ], + [ + 0.9433247242268484, + -0.11582499924575616, + 0.31100325090369074, + 3361.622978911849 + ], + [ + -1.3877787714585424e-17, + -0.9371205183795519, + -0.3490059252197572, + 12.99732945046544 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 68525.25311873679, + -336162.29789118486, + 1299.732945046544 + ], + "rotation_deg": [ + 8.484913686007227e-16, + -20.426525115966793, + -160.61761474609375 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.2458340047295527, + 0.9693119426266399, + 3.4694469256485855e-18, + -3427.5449293935644 + ], + [ + 0.1402433601600452, + -0.03556810284566217, + -0.9894779987402346, + 34.7622689959769 + ], + [ + -0.9591128464391142, + 0.2432473174865629, + -0.1446834141532867, + -151.69003303484538 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.2458340047295527, + 0.1402433601600452, + -0.9591128464391142, + 692.2439874758867 + ], + [ + 0.9693119426266399, + -0.03556810284566217, + 0.2432473174865629, + 3360.494877299874 + ], + [ + 3.4694469256485855e-18, + -0.9894779987402346, + -0.1446834141532867, + 12.449457651149501 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 69224.39874758867, + -336049.4877299874, + 1244.94576511495 + ], + "rotation_deg": [ + -2.008985221270676e-16, + -8.318946838378904, + -165.7688751220703 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.7378834126663422, + -0.6749281956711191, + 1.3877787704007783e-17, + 1769.6247935167742 + ], + [ + -0.12372504735148124, + -0.13526573753706697, + -0.9830540640811302, + 549.2226658639414 + ], + [ + 0.6634909008773296, + 0.7253792917120667, + -0.1833158684028471, + -2873.991396675874 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7378834126663422, + -0.12372504735148124, + 0.6634909008773296, + 669.0429664659141 + ], + [ + -0.6749281956711191, + -0.13526573753706697, + 0.7253792917120667, + 3353.394502332991 + ], + [ + 1.3877787704007783e-17, + -0.9830540640811302, + -0.1833158684028471, + 13.067351040311456 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 66904.2966465914, + -335339.4502332991, + 1306.7351040311455 + ], + "rotation_deg": [ + -8.088453113927708e-16, + -10.562959671020504, + -47.55142593383787 + ] + } + } + ] + }, + { + "frame": 143, + "time": 1771.296242877841, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.03794362214402544, + 0.9992798814839572, + -8.673617313833119e-19, + -3386.704561755268 + ], + [ + 0.1293259512576522, + -0.0049106312644359865, + -0.9915899777790654, + -60.97070800154605 + ], + [ + -0.9908759162502927, + 0.03762449161114185, + -0.1294191493796262, + 566.0588496513718 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.03794362214402544, + 0.1293259512576522, + -0.9908759162502927, + 697.2829339365343 + ], + [ + 0.9992798814839572, + -0.0049106312644359865, + 0.03762449161114185, + 3362.668641534588 + ], + [ + -8.673617313833119e-19, + -0.9915899777790654, + -0.1294191493796262, + 12.800900822832668 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 69728.29339365342, + -336266.8641534588, + 1280.0900822832668 + ], + "rotation_deg": [ + 5.0117657517773965e-17, + -7.436028480529783, + -177.82546997070312 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.33288364346544724, + 0.9429679103305525, + -2.0816681571873016e-17, + -3397.55046586017 + ], + [ + 0.32906531992248356, + -0.1161656313368294, + -0.9371347615580318, + 177.04491862625005 + ], + [ + -0.883688013667521, + 0.31195681434246414, + -0.34896767828217634, + -438.17619778258893 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.33288364346544724, + 0.32906531992248356, + -0.883688013667521, + 685.5185223511977 + ], + [ + 0.9429679103305525, + -0.1161656313368294, + 0.31195681434246414, + 3361.039678822001 + ], + [ + -2.0816681571873016e-17, + -0.9371347615580318, + -0.34896767828217634, + 13.005594027672082 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 68551.85223511978, + -336103.9678822001, + 1300.5594027672082 + ], + "rotation_deg": [ + 1.2727177090222319e-15, + -20.424186706542965, + -160.5561065673828 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + 0.23949292700243488, + 0.9708981089258576, + -6.9388938512971424e-18, + -3428.0841689193176 + ], + [ + 0.14047123709100065, + -0.034650255697578874, + -0.9894782419690772, + 31.46567962154618 + ], + [ + -0.9606825591160824, + 0.23697301875607515, + -0.14468175072139572, + -129.14645617415815 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.23949292700243488, + 0.14047123709100065, + -0.9606825591160824, + 692.513068100255 + ], + [ + 0.9708981089258576, + -0.034650255697578874, + 0.23697301875607515, + 3360.0149771243096 + ], + [ + -6.9388938512971424e-18, + -0.9894782419690772, + -0.14468175072139572, + 12.449459090386338 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 69251.3068100255, + -336001.49771243095, + 1244.9459090386338 + ], + "rotation_deg": [ + 4.017969454862922e-16, + -8.318850517272944, + -166.1433868408203 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + 0.735354154909813, + -0.6776830135519666, + -0.0, + 1780.0416365169947 + ], + [ + -0.12422510360677312, + -0.13479671801503357, + -0.9830554249106517, + 547.938318737746 + ], + [ + 0.6661999580381649, + 0.7228938952858388, + -0.18330857063545739, + -2867.2221289103963 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.735354154909813, + -0.12422510360677312, + 0.6661999580381649, + 669.249949890525 + ], + [ + -0.6776830135519666, + -0.13479671801503357, + 0.7228938952858388, + 3352.8616217380513 + ], + [ + -0.0, + -0.9830554249106517, + -0.18330857063545739, + 13.067352541270186 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 66924.9949890525, + -335286.1621738051, + 1306.7352541270186 + ], + "rotation_deg": [ + 0.0, + -10.562534332275384, + -47.33715057373043 + ] + } + } + ] + } + ] +} \ No newline at end of file diff --git a/clips/clip_00248/caption.txt b/clips/clip_00248/caption.txt new file mode 100644 index 0000000000000000000000000000000000000000..781f755f57919d613ce8bcf2047a1d10f535d632 --- /dev/null +++ b/clips/clip_00248/caption.txt @@ -0,0 +1 @@ +A dark gray minivan with a lone male driver drives along an elevated city expressway, cruising ahead through light traffic including a bus and sedans, past dense high-rise office towers and an ornate stone building under overcast dusk light. diff --git a/clips/clip_00248/depth.zip b/clips/clip_00248/depth.zip new file mode 100644 index 0000000000000000000000000000000000000000..0508329ab4256ed4ad8b3896bcaeb2a7a9823639 --- /dev/null +++ b/clips/clip_00248/depth.zip @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3fcb6fe6eeb555b6ebeb998e25a208bca0fe7bdf4442ac31f573277045fddfd7 +size 187494273 diff --git a/clips/clip_00248/meta.json b/clips/clip_00248/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a826ca5f73461acbdd2338bd98e5c57560ad1327 --- /dev/null +++ b/clips/clip_00248/meta.json @@ -0,0 +1,299 @@ +{ + "mode": "pie", + "clip": "clip_00228", + "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": [ + 63198.402323218375, + -348210.1760403878, + 953.1192924631735 + ], + "intrinsics_mode": "per_camera", + "clip_index": 20, + "target": { + "tracked": true, + "kind": "vehicle", + "aim_z_cm": 90.0, + "moving_at_acquire": true, + "motion_kinds": [ + "translation", + "translation", + "arc", + "arc" + ], + "model_id": "SM_Frame_vehVan_vehicle01", + "identity": { + "model_id": "SM_Frame_vehVan_vehicle01", + "primary_mesh": "/Game/Vehicle/vehVan_vehicle01/Mesh/SM_Frame_vehVan_vehicle01.SM_Frame_vehVan_vehicle01", + "meshes": [ + "/Game/Vehicle/vehVan_vehicle01/Mesh/SKM_Destructible_vehVan_vehicle01.SKM_Destructible_vehVan_vehicle01", + "/Game/Vehicle/vehVan_vehicle01/Mesh/SKM_Exterior_vehVan_vehicle01.SKM_Exterior_vehVan_vehicle01", + "/Game/Vehicle/vehVan_vehicle01/Mesh/SKM_Proxy_vehVan_vehicle01.SKM_Proxy_vehVan_vehicle01", + "/Game/Vehicle/vehVan_vehicle01/Mesh/SKM_vehVan_vehicle01.SKM_vehVan_vehicle01", + "/Game/Vehicle/vehVan_vehicle01/Mesh/SM_Engine_vehVan_vehicle01.SM_Engine_vehVan_vehicle01", + "/Game/Vehicle/vehVan_vehicle01/Mesh/SM_Frame_Interior_vehVan_vehicle01.SM_Frame_Interior_vehVan_vehicle01", + "/Game/Vehicle/vehVan_vehicle01/Mesh/SM_Frame_vehVan_vehicle01.SM_Frame_vehVan_vehicle01", + "/Game/Vehicle/vehVan_vehicle01/Mesh/Transparent/SM_All_Trans_vehVan_vehicle01.SM_All_Trans_vehVan_vehicle01" + ], + "mesh_count": 18, + "actor_class": "BP_vehVan_vehicle01_Sandbox_C", + "source": "vehicle_body_mesh" + }, + "model_cap_override": false, + "model_skipped_candidates": 0 + }, + "frame_count": 144, + "frame_bucket": 144, + "spec_gen": "gen3", + "bucket_retired": false, + "target_class": "vehicle", + "target_class_requested": "vehicle", + "target_class_fallback": false, + "hfov_deg_per_cam": [ + 26.968, + 71.812, + 40.211, + 38.585 + ], + "hfov_range_deg": [ + 25.0, + 90.0 + ], + "bench": { + "mode": true, + "clip_id": 248, + "bg_ratio": 0.0, + "placement_fallbacks": [], + "target_reacquires": 0, + "motion_gate": { + "enabled": true, + "required_travel_m": 1.78, + "travel_m": 90.48, + "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": 4 + } + }, + "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": [ + 38, + 35, + 36, + 37 + ], + "open_frames_est": [ + 24, + 20, + 22, + 22 + ], + "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, + false, + false + ], + "cycles": [ + 0, + 0, + 0, + 0 + ], + "segments": [ + { + "cam": 3, + "cam_name": "cam04", + "start": 0, + "end": 38, + "kind": "occluded", + "len": 39 + } + ], + "num_allowed": 0, + "num_effective": 0, + "num_departed": 0 + }, + "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": 1.0, + "occluded": 0.0, + "out_of_frustum": 0.0, + "target_absent": 0.0 + }, + { + "visible": 0.7292, + "occluded": 0.2708, + "out_of_frustum": 0.0, + "target_absent": 0.0 + } + ], + "visible_ratio": [ + 1.0, + 1.0, + 1.0, + 0.7292 + ], + "non_oos_cams": [ + 1, + 2, + 3, + 4 + ], + "min_visible_ratio_non_oos": 0.7292, + "gate1_cams": [ + 1, + 2, + 3, + 4 + ], + "min_visible_ratio_gate1": 0.7292, + "target_absent_frames": 0, + "bbox_sources": { + "colliding": 144 + } + }, + "smoothing": { + "rot_cap_frac_hfov": 0.06, + "rot_cap_deg_per_cam": [ + 1.61808, + 4.30872, + 2.41266, + 2.3151 + ], + "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": 0.991, + "render_lod_natural": 1, + "render_lod_forced": 1, + "sample_log": "ok=1 n=256 comps=18 skinned=1 static=17 tris=77857 area_m2=148.989 half_cm=225.6 centre_off_cm=92.0", + "npz_written": true + } +} \ No newline at end of file diff --git a/clips/clip_00248/points_target.npz b/clips/clip_00248/points_target.npz new file mode 100644 index 0000000000000000000000000000000000000000..83ce4cff37024b7c22ffc050292bea6f58953e0b --- /dev/null +++ b/clips/clip_00248/points_target.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:688cba4de2f90d68413808475a7d0f4366b696e25c2726ead5a997212b823d41 +size 424726 diff --git a/clips/clip_00248/videos/cam01.mp4 b/clips/clip_00248/videos/cam01.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..04167df94f4543883a24930a2b3f2883ab7d9f4e --- /dev/null +++ b/clips/clip_00248/videos/cam01.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:edcf68d25cd231ad4e98cbb3fd19ff2227ea2b93afa33bfc27fff94282b3b6c4 +size 36010287 diff --git a/clips/clip_00248/videos/cam02.mp4 b/clips/clip_00248/videos/cam02.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..f3d1f695291677a0744de63732c12172e58e7e51 --- /dev/null +++ b/clips/clip_00248/videos/cam02.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:891bce1f506e2a39f55b0d963690a78fa7ff263f4d75344c09eda94ce9c064dd +size 41502835 diff --git a/clips/clip_00248/videos/cam03.mp4 b/clips/clip_00248/videos/cam03.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..a2784dbb992302fa2c43779b25b803bff72aa5e9 --- /dev/null +++ b/clips/clip_00248/videos/cam03.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c038cb46fe4c39f81e2114f9395bbdaa8d2811840458d2e185b748c8d5911e7d +size 43251559 diff --git a/clips/clip_00248/videos/cam04.mp4 b/clips/clip_00248/videos/cam04.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..e266e8cd0de5c33ca3cb01edc800622b39e66594 --- /dev/null +++ b/clips/clip_00248/videos/cam04.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f88f0ac6368b27b7d5ec669072f2a92d37f09b8b5f655c9dd1c0c92148c619ba +size 46777503 diff --git a/clips/clip_00248/videos_depth/cam01.mp4 b/clips/clip_00248/videos_depth/cam01.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..e7f6df1787cc056036444be48eab93fda6c5d64e --- /dev/null +++ b/clips/clip_00248/videos_depth/cam01.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d7e89b7c6385418265b171fb6c272c8659e8c33f79dfec1de47469b7e1320c1f +size 1002959 diff --git a/clips/clip_00248/videos_depth/cam02.mp4 b/clips/clip_00248/videos_depth/cam02.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..4eb2c6dec694212d89998f636b8507223b8a61e4 --- /dev/null +++ b/clips/clip_00248/videos_depth/cam02.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:466afab5c478fd1ec09200cadb289b7c22e23b019aaf1530d613f3ae25a0d2bc +size 1747515 diff --git a/clips/clip_00248/videos_depth/cam03.mp4 b/clips/clip_00248/videos_depth/cam03.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..fa09ca833ffcab8b9de2930fc31675a1aa9db16f --- /dev/null +++ b/clips/clip_00248/videos_depth/cam03.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8eda67be38054fa7590c480a06a20e9e46eaa074a61fd5f39ccb0398edf2f2bf +size 1862067 diff --git a/clips/clip_00248/videos_depth/cam04.mp4 b/clips/clip_00248/videos_depth/cam04.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..d69f63fec4314863194b3e643e62fe4dad7c1bfa --- /dev/null +++ b/clips/clip_00248/videos_depth/cam04.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f77d3268e5c20c7c17d5877cf1d3f50ceb5c63439eef877327508bdc1f0d0f89 +size 1508271 diff --git a/clips/clip_00248/views/cam01/frame_0000.png b/clips/clip_00248/views/cam01/frame_0000.png new file mode 100644 index 0000000000000000000000000000000000000000..9ff332761ea9248ef7e2fdf4891af8a105054fc5 --- /dev/null +++ b/clips/clip_00248/views/cam01/frame_0000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:234cdbfa80c153d29e3dc3ee4ed8cfbbe7136f6f4a03cc1e2e47d8da4adabba6 +size 3712680 diff --git a/clips/clip_00248/views/cam01/frame_0072.png b/clips/clip_00248/views/cam01/frame_0072.png new file mode 100644 index 0000000000000000000000000000000000000000..b5159c2f44808ddff2d0523d56af311040c9900c --- /dev/null +++ b/clips/clip_00248/views/cam01/frame_0072.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dde9633a3aad3241043ff39329e1684ebdf45cc1e7dbeb3e364d0c24643d4810 +size 3489016 diff --git a/clips/clip_00248/views/cam01/frame_0143.png b/clips/clip_00248/views/cam01/frame_0143.png new file mode 100644 index 0000000000000000000000000000000000000000..3cd00da937c80c022c7c031904eae45cc6caf204 --- /dev/null +++ b/clips/clip_00248/views/cam01/frame_0143.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:da7d7607bd257e20d328f40cf9726a04b81a2413f8e7b152dfcdf8f3afff022d +size 3430487 diff --git a/clips/clip_00248/views/cam02/frame_0000.png b/clips/clip_00248/views/cam02/frame_0000.png new file mode 100644 index 0000000000000000000000000000000000000000..188d3eb9fc825042a3ace3dd51e4a0efdc8b89f4 --- /dev/null +++ b/clips/clip_00248/views/cam02/frame_0000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:02a475b4ca848d08c6c388225a3c8e4bc6ead05f714c66961ca118741de376a4 +size 3687019 diff --git a/clips/clip_00248/views/cam02/frame_0072.png b/clips/clip_00248/views/cam02/frame_0072.png new file mode 100644 index 0000000000000000000000000000000000000000..9c45d196a014d2056a837716a47d6c187c91a51d --- /dev/null +++ b/clips/clip_00248/views/cam02/frame_0072.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9fa9494bd37ee59b0b1f362ab81e06c3738aa56ac3639cd1ef557a8b1410005f +size 3603246 diff --git a/clips/clip_00248/views/cam03/frame_0000.png b/clips/clip_00248/views/cam03/frame_0000.png new file mode 100644 index 0000000000000000000000000000000000000000..8aae9b3032f18a86be1c42c2a9915e04f2dd0521 --- /dev/null +++ b/clips/clip_00248/views/cam03/frame_0000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e2ec7729cb5323eba97e14268e1bd9fb2b4cd71df6338f320b1dc92fbbb1574e +size 3651151 diff --git a/clips/clip_00248/views/cam03/frame_0072.png b/clips/clip_00248/views/cam03/frame_0072.png new file mode 100644 index 0000000000000000000000000000000000000000..a76dc1e4fecd140713317e489ee7f4184f367bf5 --- /dev/null +++ b/clips/clip_00248/views/cam03/frame_0072.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1d6924eeaf802f23e0a0235786493ba67a7c9e0e8f472d031d99abd3a7229b0b +size 3678472 diff --git a/clips/clip_00248/views/cam04/frame_0000.png b/clips/clip_00248/views/cam04/frame_0000.png new file mode 100644 index 0000000000000000000000000000000000000000..0bccc4b35c2f422547a384a35ef24ade071a812d --- /dev/null +++ b/clips/clip_00248/views/cam04/frame_0000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2525c94fd82767c2980007cefbdccbf35ee0f78cbc43dc6c222e9da9506c1b4e +size 3956592 diff --git a/clips/clip_00248/views/cam04/frame_0072.png b/clips/clip_00248/views/cam04/frame_0072.png new file mode 100644 index 0000000000000000000000000000000000000000..562a8b057fadccf620846e37421f78097c10e756 --- /dev/null +++ b/clips/clip_00248/views/cam04/frame_0072.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6692781b6e62ed9b7d3f839ed224bceaa44272583c4bb25c6a2a8336db1e7807 +size 3762475 diff --git a/clips/clip_00248/visibility.json b/clips/clip_00248/visibility.json new file mode 100644 index 0000000000000000000000000000000000000000..ca29502e658dbcf82e69f5ff6d3163ac118f13c7 --- /dev/null +++ b/clips/clip_00248/visibility.json @@ -0,0 +1,9703 @@ +{ + "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": 248, + "target_class": "vehicle", + "target_lost_frame": null, + "target_bbox_extent_cm": [ + 208.2, + 264.6, + 140.0 + ], + "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": 26.968, + "motion_kind": "translation", + "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": 71.812, + "motion_kind": "translation", + "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": "cam03", + "hfov_deg": 40.211, + "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": "cam04", + "hfov_deg": 38.585, + "motion_kind": "arc", + "ratio": { + "visible": 0.7292, + "occluded": 0.2708, + "out_of_frustum": 0.0, + "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": 1.0, + "occluded": 0.0, + "out_of_frustum": 0.0, + "target_absent": 0.0 + }, + { + "visible": 0.7292, + "occluded": 0.2708, + "out_of_frustum": 0.0, + "target_absent": 0.0 + } + ], + "visible_ratio": [ + 1.0, + 1.0, + 1.0, + 0.7292 + ], + "non_oos_cams": [ + 1, + 2, + 3, + 4 + ], + "min_visible_ratio_non_oos": 0.7292, + "gate1_cams": [ + 1, + 2, + 3, + 4 + ], + "min_visible_ratio_gate1": 0.7292, + "target_absent_frames": 0, + "bbox_sources": { + "colliding": 144 + } + }, + "oos_segments": [ + { + "cam": 3, + "cam_name": "cam04", + "start": 0, + "end": 38, + "kind": "occluded", + "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": [ + 0, + 0, + 0, + 0 + ], + "oos_params": { + "segment_min_len": 8, + "min_out": 8, + "min_visible": 8 + }, + "visibility": [ + [ + "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" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ] + ], + "visible_frac": [ + [ + 0.444, + 0.556, + 0.556, + 0.0 + ], + [ + 0.444, + 0.556, + 0.556, + 0.0 + ], + [ + 0.444, + 0.556, + 0.556, + 0.0 + ], + [ + 0.444, + 0.556, + 0.556, + 0.0 + ], + [ + 0.444, + 0.556, + 0.556, + 0.0 + ], + [ + 0.444, + 0.556, + 0.556, + 0.0 + ], + [ + 0.444, + 0.556, + 0.556, + 0.0 + ], + [ + 0.444, + 0.556, + 0.556, + 0.0 + ], + [ + 0.444, + 0.556, + 0.556, + 0.0 + ], + [ + 0.444, + 0.556, + 0.556, + 0.0 + ], + [ + 0.444, + 0.556, + 0.556, + 0.0 + ], + [ + 0.444, + 0.556, + 0.556, + 0.0 + ], + [ + 0.444, + 0.556, + 0.556, + 0.0 + ], + [ + 0.444, + 0.556, + 0.556, + 0.0 + ], + [ + 0.444, + 0.556, + 0.556, + 0.0 + ], + [ + 0.444, + 0.556, + 0.556, + 0.0 + ], + [ + 0.444, + 0.556, + 0.556, + 0.0 + ], + [ + 0.444, + 0.556, + 0.556, + 0.0 + ], + [ + 0.444, + 0.556, + 0.556, + 0.0 + ], + [ + 0.444, + 0.556, + 0.556, + 0.0 + ], + [ + 0.444, + 0.556, + 0.556, + 0.0 + ], + [ + 0.444, + 0.556, + 0.556, + 0.0 + ], + [ + 0.444, + 0.556, + 0.556, + 0.0 + ], + [ + 0.444, + 0.556, + 0.556, + 0.0 + ], + [ + 0.444, + 0.556, + 0.556, + 0.0 + ], + [ + 0.444, + 0.556, + 0.556, + 0.0 + ], + [ + 0.444, + 0.556, + 0.556, + 0.0 + ], + [ + 0.444, + 0.556, + 0.556, + 0.0 + ], + [ + 0.444, + 0.556, + 0.556, + 0.0 + ], + [ + 0.444, + 0.556, + 0.556, + 0.0 + ], + [ + 0.444, + 0.556, + 0.556, + 0.0 + ], + [ + 0.444, + 0.556, + 0.556, + 0.0 + ], + [ + 0.444, + 0.556, + 0.556, + 0.0 + ], + [ + 0.444, + 0.556, + 0.556, + 0.0 + ], + [ + 0.444, + 0.556, + 0.556, + 0.0 + ], + [ + 0.444, + 0.556, + 0.556, + 0.0 + ], + [ + 0.222, + 0.556, + 0.556, + 0.0 + ], + [ + 0.444, + 0.556, + 0.556, + 0.0 + ], + [ + 0.444, + 0.556, + 0.556, + 0.0 + ], + [ + 0.444, + 0.556, + 0.556, + 0.444 + ], + [ + 0.444, + 0.556, + 0.556, + 0.556 + ], + [ + 0.444, + 0.556, + 0.556, + 0.556 + ], + [ + 0.444, + 0.556, + 0.556, + 0.556 + ], + [ + 0.444, + 0.556, + 0.556, + 0.556 + ], + [ + 0.444, + 0.556, + 0.556, + 0.556 + ], + [ + 0.444, + 0.556, + 0.556, + 0.556 + ], + [ + 0.444, + 0.556, + 0.556, + 0.556 + ], + [ + 0.444, + 0.556, + 0.556, + 0.556 + ], + [ + 0.444, + 0.556, + 0.556, + 0.556 + ], + [ + 0.444, + 0.556, + 0.556, + 0.556 + ], + [ + 0.444, + 0.556, + 0.556, + 0.556 + ], + [ + 0.444, + 0.556, + 0.556, + 0.556 + ], + [ + 0.333, + 0.556, + 0.556, + 0.556 + ], + [ + 0.444, + 0.556, + 0.556, + 0.556 + ], + [ + 0.444, + 0.556, + 0.556, + 0.556 + ], + [ + 0.444, + 0.556, + 0.556, + 0.556 + ], + [ + 0.444, + 0.556, + 0.556, + 0.556 + ], + [ + 0.444, + 0.556, + 0.556, + 0.556 + ], + [ + 0.444, + 0.556, + 0.556, + 0.556 + ], + [ + 0.444, + 0.556, + 0.556, + 0.556 + ], + [ + 0.444, + 0.556, + 0.556, + 0.556 + ], + [ + 0.444, + 0.556, + 0.556, + 0.556 + ], + [ + 0.444, + 0.556, + 0.556, + 0.556 + ], + [ + 0.444, + 0.556, + 0.556, + 0.556 + ], + [ + 0.444, + 0.556, + 0.556, + 0.556 + ], + [ + 0.444, + 0.556, + 0.556, + 0.556 + ], + [ + 0.444, + 0.556, + 0.556, + 0.556 + ], + [ + 0.444, + 0.556, + 0.556, + 0.556 + ], + [ + 0.444, + 0.556, + 0.556, + 0.556 + ], + [ + 0.444, + 0.556, + 0.556, + 0.556 + ], + [ + 0.444, + 0.556, + 0.556, + 0.556 + ], + [ + 0.444, + 0.556, + 0.556, + 0.556 + ], + [ + 0.444, + 0.556, + 0.556, + 0.556 + ], + [ + 0.444, + 0.556, + 0.556, + 0.556 + ], + [ + 0.444, + 0.556, + 0.556, + 0.556 + ], + [ + 0.444, + 0.556, + 0.556, + 0.556 + ], + [ + 0.444, + 0.556, + 0.556, + 0.556 + ], + [ + 0.444, + 0.556, + 0.556, + 0.556 + ], + [ + 0.444, + 0.556, + 0.556, + 0.556 + ], + [ + 0.444, + 0.556, + 0.556, + 0.556 + ], + [ + 0.444, + 0.556, + 0.444, + 0.556 + ], + [ + 0.444, + 0.556, + 0.333, + 0.556 + ], + [ + 0.444, + 0.556, + 0.444, + 0.556 + ], + [ + 0.444, + 0.111, + 0.333, + 0.556 + ], + [ + 0.444, + 0.222, + 0.444, + 0.556 + ], + [ + 0.444, + 0.333, + 0.556, + 0.556 + ], + [ + 0.333, + 0.556, + 0.444, + 0.556 + ], + [ + 0.444, + 0.556, + 0.556, + 0.556 + ], + [ + 0.444, + 0.333, + 0.556, + 0.556 + ], + [ + 0.444, + 0.222, + 0.556, + 0.556 + ], + [ + 0.222, + 0.333, + 0.556, + 0.556 + ], + [ + 0.444, + 0.556, + 0.556, + 0.556 + ], + [ + 0.444, + 0.556, + 0.556, + 0.556 + ], + [ + 0.444, + 0.556, + 0.556, + 0.556 + ], + [ + 0.444, + 0.556, + 0.556, + 0.556 + ], + [ + 0.444, + 0.556, + 0.556, + 0.556 + ], + [ + 0.444, + 0.556, + 0.556, + 0.556 + ], + [ + 0.444, + 0.556, + 0.556, + 0.556 + ], + [ + 0.444, + 0.556, + 0.556, + 0.556 + ], + [ + 0.444, + 0.556, + 0.556, + 0.556 + ], + [ + 0.444, + 0.556, + 0.556, + 0.556 + ], + [ + 0.444, + 0.556, + 0.556, + 0.556 + ], + [ + 0.444, + 0.556, + 0.444, + 0.556 + ], + [ + 0.444, + 0.556, + 0.444, + 0.444 + ], + [ + 0.333, + 0.444, + 0.444, + 0.444 + ], + [ + 0.333, + 0.333, + 0.333, + 0.333 + ], + [ + 0.333, + 0.333, + 0.333, + 0.222 + ], + [ + 0.333, + 0.333, + 0.333, + 0.222 + ], + [ + 0.333, + 0.333, + 0.222, + 0.333 + ], + [ + 0.333, + 0.333, + 0.333, + 0.222 + ], + [ + 0.333, + 0.333, + 0.333, + 0.222 + ], + [ + 0.333, + 0.333, + 0.222, + 0.333 + ], + [ + 0.333, + 0.444, + 0.333, + 0.333 + ], + [ + 0.444, + 0.556, + 0.444, + 0.556 + ], + [ + 0.444, + 0.556, + 0.556, + 0.556 + ], + [ + 0.222, + 0.556, + 0.444, + 0.556 + ], + [ + 0.444, + 0.556, + 0.556, + 0.556 + ], + [ + 0.444, + 0.556, + 0.444, + 0.556 + ], + [ + 0.444, + 0.333, + 0.556, + 0.556 + ], + [ + 0.222, + 0.333, + 0.556, + 0.556 + ], + [ + 0.444, + 0.556, + 0.556, + 0.556 + ], + [ + 0.444, + 0.556, + 0.556, + 0.556 + ], + [ + 0.444, + 0.556, + 0.556, + 0.556 + ], + [ + 0.444, + 0.556, + 0.556, + 0.556 + ], + [ + 0.444, + 0.556, + 0.444, + 0.556 + ], + [ + 0.444, + 0.556, + 0.556, + 0.556 + ], + [ + 0.444, + 0.556, + 0.556, + 0.556 + ], + [ + 0.444, + 0.556, + 0.444, + 0.556 + ], + [ + 0.444, + 0.556, + 0.556, + 0.556 + ], + [ + 0.333, + 0.556, + 0.556, + 0.556 + ], + [ + 0.444, + 0.556, + 0.556, + 0.556 + ], + [ + 0.444, + 0.556, + 0.556, + 0.556 + ], + [ + 0.444, + 0.556, + 0.556, + 0.556 + ], + [ + 0.444, + 0.556, + 0.556, + 0.556 + ], + [ + 0.444, + 0.556, + 0.556, + 0.556 + ], + [ + 0.444, + 0.556, + 0.556, + 0.556 + ], + [ + 0.444, + 0.556, + 0.556, + 0.556 + ], + [ + 0.444, + 0.556, + 0.556, + 0.556 + ], + [ + 0.444, + 0.556, + 0.556, + 0.556 + ], + [ + 0.444, + 0.556, + 0.556, + 0.556 + ], + [ + 0.444, + 0.556, + 0.556, + 0.556 + ], + [ + 0.444, + 0.556, + 0.556, + 0.556 + ], + [ + 0.444, + 0.556, + 0.556, + 0.556 + ], + [ + 0.444, + 0.556, + 0.556, + 0.556 + ] + ], + "target_world_cm": [ + [ + 64138.5, + -344567.7, + 950.1 + ], + [ + 64168.6, + -344508.8, + 950.2 + ], + [ + 64198.5, + -344449.8, + 950.3 + ], + [ + 64228.3, + -344390.8, + 950.3 + ], + [ + 64258.0, + -344331.8, + 950.4 + ], + [ + 64287.5, + -344272.7, + 950.4 + ], + [ + 64317.0, + -344213.6, + 950.4 + ], + [ + 64346.4, + -344154.4, + 950.4 + ], + [ + 64375.7, + -344095.3, + 950.4 + ], + [ + 64404.8, + -344036.1, + 950.4 + ], + [ + 64433.9, + -343976.9, + 950.4 + ], + [ + 64462.9, + -343917.7, + 950.4 + ], + [ + 64491.8, + -343858.4, + 950.3 + ], + [ + 64520.7, + -343799.2, + 950.3 + ], + [ + 64549.4, + -343739.9, + 950.3 + ], + [ + 64578.1, + -343680.7, + 950.3 + ], + [ + 64606.6, + -343621.4, + 950.3 + ], + [ + 64635.1, + -343562.2, + 950.3 + ], + [ + 64663.6, + -343502.9, + 950.3 + ], + [ + 64691.9, + -343443.7, + 950.3 + ], + [ + 64720.2, + -343384.4, + 950.3 + ], + [ + 64748.4, + -343325.2, + 950.3 + ], + [ + 64776.5, + -343266.0, + 950.3 + ], + [ + 64804.6, + -343206.8, + 950.3 + ], + [ + 64832.6, + -343147.6, + 950.4 + ], + [ + 64860.6, + -343088.4, + 950.4 + ], + [ + 64888.5, + -343029.3, + 950.4 + ], + [ + 64916.3, + -342970.1, + 950.3 + ], + [ + 64944.1, + -342911.0, + 950.3 + ], + [ + 64971.8, + -342851.9, + 950.3 + ], + [ + 64999.4, + -342793.0, + 950.3 + ], + [ + 65027.0, + -342734.0, + 950.3 + ], + [ + 65054.4, + -342675.3, + 950.3 + ], + [ + 65081.8, + -342616.5, + 950.3 + ], + [ + 65109.1, + -342557.9, + 950.3 + ], + [ + 65136.3, + -342499.3, + 950.3 + ], + [ + 65163.5, + -342440.8, + 950.3 + ], + [ + 65190.6, + -342382.4, + 950.3 + ], + [ + 65217.7, + -342324.0, + 950.3 + ], + [ + 65244.7, + -342265.7, + 950.3 + ], + [ + 65271.6, + -342207.5, + 950.3 + ], + [ + 65298.4, + -342149.3, + 950.4 + ], + [ + 65325.3, + -342091.1, + 950.4 + ], + [ + 65352.1, + -342033.0, + 950.4 + ], + [ + 65378.8, + -341974.9, + 950.4 + ], + [ + 65405.5, + -341916.9, + 950.4 + ], + [ + 65432.1, + -341859.0, + 950.4 + ], + [ + 65458.7, + -341801.1, + 950.4 + ], + [ + 65485.3, + -341743.2, + 950.4 + ], + [ + 65511.8, + -341685.4, + 950.4 + ], + [ + 65538.3, + -341627.6, + 950.4 + ], + [ + 65564.7, + -341569.8, + 950.4 + ], + [ + 65591.1, + -341512.1, + 950.4 + ], + [ + 65617.5, + -341454.4, + 950.4 + ], + [ + 65643.8, + -341396.7, + 950.4 + ], + [ + 65670.1, + -341339.0, + 950.4 + ], + [ + 65696.4, + -341281.4, + 950.4 + ], + [ + 65722.7, + -341223.8, + 950.4 + ], + [ + 65748.9, + -341166.2, + 950.4 + ], + [ + 65775.1, + -341108.7, + 950.4 + ], + [ + 65801.2, + -341051.2, + 950.4 + ], + [ + 65827.3, + -340993.7, + 950.4 + ], + [ + 65853.4, + -340936.2, + 950.4 + ], + [ + 65879.5, + -340878.8, + 950.4 + ], + [ + 65905.5, + -340821.4, + 950.4 + ], + [ + 65931.5, + -340764.0, + 950.4 + ], + [ + 65957.4, + -340706.7, + 950.4 + ], + [ + 65983.3, + -340649.4, + 950.4 + ], + [ + 66009.2, + -340592.1, + 950.4 + ], + [ + 66035.1, + -340534.8, + 950.4 + ], + [ + 66060.9, + -340477.6, + 950.4 + ], + [ + 66086.7, + -340420.4, + 950.4 + ], + [ + 66112.5, + -340363.2, + 950.4 + ], + [ + 66138.3, + -340306.1, + 950.4 + ], + [ + 66164.0, + -340248.9, + 950.4 + ], + [ + 66189.7, + -340191.8, + 950.4 + ], + [ + 66215.3, + -340134.8, + 950.4 + ], + [ + 66240.9, + -340077.7, + 950.4 + ], + [ + 66266.5, + -340020.7, + 950.4 + ], + [ + 66292.1, + -339963.7, + 950.4 + ], + [ + 66317.7, + -339906.8, + 950.4 + ], + [ + 66343.2, + -339849.8, + 950.4 + ], + [ + 66368.7, + -339792.9, + 950.4 + ], + [ + 66394.2, + -339736.0, + 950.4 + ], + [ + 66419.6, + -339679.1, + 950.4 + ], + [ + 66445.0, + -339622.3, + 950.4 + ], + [ + 66470.4, + -339565.5, + 950.4 + ], + [ + 66495.8, + -339508.7, + 950.4 + ], + [ + 66521.1, + -339451.9, + 950.4 + ], + [ + 66546.5, + -339395.2, + 950.4 + ], + [ + 66571.8, + -339338.4, + 950.4 + ], + [ + 66597.1, + -339281.7, + 950.4 + ], + [ + 66622.3, + -339225.0, + 950.4 + ], + [ + 66647.6, + -339168.4, + 950.4 + ], + [ + 66672.8, + -339111.7, + 950.4 + ], + [ + 66698.0, + -339055.1, + 950.4 + ], + [ + 66723.1, + -338998.4, + 950.4 + ], + [ + 66748.3, + -338941.8, + 950.4 + ], + [ + 66773.4, + -338885.2, + 950.4 + ], + [ + 66798.6, + -338828.7, + 950.4 + ], + [ + 66823.7, + -338772.1, + 950.4 + ], + [ + 66848.8, + -338715.5, + 950.4 + ], + [ + 66873.8, + -338659.0, + 950.4 + ], + [ + 66898.9, + -338602.5, + 950.4 + ], + [ + 66923.9, + -338545.9, + 950.4 + ], + [ + 66949.0, + -338489.4, + 950.4 + ], + [ + 66974.0, + -338432.9, + 950.4 + ], + [ + 66999.0, + -338376.4, + 950.4 + ], + [ + 67024.0, + -338319.9, + 950.4 + ], + [ + 67048.9, + -338263.4, + 950.4 + ], + [ + 67073.9, + -338206.9, + 950.4 + ], + [ + 67098.9, + -338150.4, + 950.4 + ], + [ + 67123.8, + -338093.9, + 950.4 + ], + [ + 67148.7, + -338037.4, + 950.4 + ], + [ + 67173.6, + -337980.9, + 950.4 + ], + [ + 67198.6, + -337924.3, + 950.4 + ], + [ + 67223.5, + -337867.8, + 950.4 + ], + [ + 67248.3, + -337811.3, + 950.4 + ], + [ + 67273.2, + -337754.7, + 950.4 + ], + [ + 67298.1, + -337698.2, + 950.4 + ], + [ + 67323.0, + -337641.6, + 950.4 + ], + [ + 67347.8, + -337585.1, + 950.4 + ], + [ + 67372.7, + -337528.5, + 950.4 + ], + [ + 67397.5, + -337471.9, + 950.4 + ], + [ + 67422.4, + -337415.2, + 950.4 + ], + [ + 67447.2, + -337358.6, + 950.4 + ], + [ + 67472.0, + -337302.0, + 950.4 + ], + [ + 67496.9, + -337245.3, + 950.4 + ], + [ + 67521.7, + -337188.6, + 950.4 + ], + [ + 67546.5, + -337131.9, + 950.4 + ], + [ + 67571.3, + -337075.1, + 950.4 + ], + [ + 67596.1, + -337018.4, + 950.4 + ], + [ + 67620.9, + -336961.6, + 950.4 + ], + [ + 67645.7, + -336904.8, + 950.4 + ], + [ + 67670.5, + -336848.0, + 950.4 + ], + [ + 67695.3, + -336791.2, + 950.4 + ], + [ + 67720.0, + -336734.4, + 950.4 + ], + [ + 67744.8, + -336677.6, + 950.4 + ], + [ + 67769.5, + -336620.8, + 950.4 + ], + [ + 67794.2, + -336564.0, + 950.4 + ], + [ + 67818.9, + -336507.1, + 950.4 + ], + [ + 67843.6, + -336450.3, + 950.4 + ], + [ + 67868.3, + -336393.4, + 950.4 + ], + [ + 67893.0, + -336336.6, + 950.4 + ] + ], + "target_bbox_cm": [ + [ + 64138.1, + -344568.7, + 999.1, + 208.2, + 264.6, + 140.0 + ], + [ + 64168.1, + -344509.7, + 999.1, + 207.9, + 264.7, + 140.1 + ], + [ + 64198.0, + -344450.7, + 999.2, + 207.6, + 264.7, + 140.1 + ], + [ + 64227.8, + -344391.7, + 999.2, + 207.3, + 264.7, + 140.1 + ], + [ + 64257.5, + -344332.7, + 999.3, + 207.0, + 264.7, + 140.1 + ], + [ + 64287.1, + -344273.6, + 999.3, + 206.7, + 264.7, + 140.1 + ], + [ + 64316.5, + -344214.5, + 999.3, + 206.5, + 264.7, + 140.1 + ], + [ + 64345.9, + -344155.4, + 999.3, + 206.2, + 264.7, + 140.0 + ], + [ + 64375.2, + -344096.2, + 999.3, + 206.0, + 264.7, + 140.0 + ], + [ + 64404.4, + -344037.0, + 999.3, + 205.7, + 264.8, + 140.0 + ], + [ + 64433.5, + -343977.8, + 999.3, + 205.5, + 264.8, + 140.0 + ], + [ + 64462.4, + -343918.6, + 999.3, + 205.3, + 264.8, + 140.1 + ], + [ + 64491.4, + -343859.3, + 999.2, + 205.1, + 264.8, + 140.1 + ], + [ + 64520.2, + -343800.1, + 999.2, + 204.9, + 264.8, + 140.1 + ], + [ + 64548.9, + -343740.8, + 999.2, + 204.7, + 264.8, + 140.1 + ], + [ + 64577.6, + -343681.6, + 999.2, + 204.5, + 264.8, + 140.1 + ], + [ + 64606.2, + -343622.3, + 999.2, + 204.3, + 264.8, + 140.1 + ], + [ + 64634.7, + -343563.1, + 999.2, + 204.1, + 264.8, + 140.1 + ], + [ + 64663.1, + -343503.8, + 999.2, + 203.9, + 264.8, + 140.1 + ], + [ + 64691.4, + -343444.6, + 999.2, + 203.8, + 264.8, + 140.1 + ], + [ + 64719.7, + -343385.3, + 999.2, + 203.6, + 264.8, + 140.1 + ], + [ + 64747.9, + -343326.1, + 999.3, + 203.5, + 264.8, + 140.1 + ], + [ + 64776.1, + -343266.9, + 999.3, + 203.3, + 264.9, + 140.1 + ], + [ + 64804.1, + -343207.7, + 999.3, + 203.2, + 264.9, + 140.1 + ], + [ + 64832.1, + -343148.5, + 999.3, + 203.1, + 264.9, + 140.1 + ], + [ + 64860.1, + -343089.3, + 999.3, + 202.9, + 264.9, + 140.1 + ], + [ + 64888.0, + -343030.2, + 999.3, + 202.8, + 264.9, + 140.1 + ], + [ + 64915.8, + -342971.0, + 999.3, + 202.7, + 264.9, + 140.1 + ], + [ + 64943.6, + -342911.9, + 999.3, + 202.6, + 264.9, + 140.1 + ], + [ + 64971.3, + -342852.8, + 999.3, + 202.5, + 264.9, + 140.1 + ], + [ + 64998.9, + -342793.9, + 999.3, + 202.4, + 264.9, + 140.1 + ], + [ + 65026.5, + -342734.9, + 999.3, + 202.3, + 264.9, + 140.1 + ], + [ + 65053.9, + -342676.2, + 999.3, + 202.2, + 264.9, + 140.1 + ], + [ + 65081.3, + -342617.4, + 999.3, + 202.1, + 264.9, + 140.1 + ], + [ + 65108.6, + -342558.8, + 999.3, + 202.0, + 264.9, + 140.2 + ], + [ + 65135.8, + -342500.2, + 999.3, + 201.9, + 264.9, + 140.1 + ], + [ + 65163.0, + -342441.7, + 999.3, + 201.8, + 264.9, + 140.1 + ], + [ + 65190.1, + -342383.3, + 999.3, + 201.7, + 264.9, + 140.1 + ], + [ + 65217.2, + -342324.9, + 999.3, + 201.7, + 264.9, + 140.1 + ], + [ + 65244.2, + -342266.5, + 999.3, + 201.6, + 264.9, + 140.1 + ], + [ + 65271.1, + -342208.4, + 999.3, + 201.5, + 264.9, + 140.1 + ], + [ + 65298.0, + -342150.2, + 999.3, + 201.5, + 264.9, + 140.1 + ], + [ + 65324.8, + -342092.0, + 999.3, + 201.4, + 264.9, + 140.1 + ], + [ + 65351.6, + -342033.9, + 999.3, + 201.3, + 264.9, + 140.1 + ], + [ + 65378.3, + -341975.8, + 999.3, + 201.3, + 264.9, + 140.1 + ], + [ + 65405.0, + -341917.8, + 999.3, + 201.2, + 264.9, + 140.1 + ], + [ + 65431.6, + -341859.9, + 999.3, + 201.1, + 264.9, + 140.1 + ], + [ + 65458.2, + -341802.0, + 999.3, + 201.1, + 264.9, + 140.1 + ], + [ + 65484.8, + -341744.1, + 999.3, + 201.0, + 264.9, + 140.1 + ], + [ + 65511.3, + -341686.3, + 999.3, + 201.0, + 264.9, + 140.1 + ], + [ + 65537.8, + -341628.5, + 999.3, + 200.9, + 264.9, + 140.1 + ], + [ + 65564.2, + -341570.7, + 999.3, + 200.9, + 264.9, + 140.1 + ], + [ + 65590.6, + -341513.0, + 999.3, + 200.8, + 264.9, + 140.1 + ], + [ + 65617.0, + -341455.3, + 999.3, + 200.8, + 264.9, + 140.1 + ], + [ + 65643.3, + -341397.6, + 999.3, + 200.7, + 264.9, + 140.1 + ], + [ + 65669.6, + -341339.9, + 999.3, + 200.7, + 264.9, + 140.1 + ], + [ + 65695.9, + -341282.3, + 999.3, + 200.6, + 264.9, + 140.1 + ], + [ + 65722.2, + -341224.7, + 999.3, + 200.6, + 264.9, + 140.1 + ], + [ + 65748.4, + -341167.1, + 999.3, + 200.5, + 264.9, + 140.1 + ], + [ + 65774.6, + -341109.6, + 999.3, + 200.5, + 264.9, + 140.1 + ], + [ + 65800.7, + -341052.1, + 999.3, + 200.4, + 264.9, + 140.1 + ], + [ + 65826.8, + -340994.6, + 999.3, + 200.4, + 264.9, + 140.1 + ], + [ + 65852.9, + -340937.1, + 999.3, + 200.3, + 264.9, + 140.1 + ], + [ + 65879.0, + -340879.7, + 999.3, + 200.3, + 264.9, + 140.1 + ], + [ + 65905.0, + -340822.3, + 999.3, + 200.2, + 264.9, + 140.1 + ], + [ + 65931.0, + -340764.9, + 999.3, + 200.2, + 264.9, + 140.1 + ], + [ + 65956.9, + -340707.6, + 999.3, + 200.1, + 264.9, + 140.1 + ], + [ + 65982.8, + -340650.3, + 999.3, + 200.1, + 264.9, + 140.1 + ], + [ + 66008.7, + -340593.0, + 999.3, + 200.1, + 264.9, + 140.1 + ], + [ + 66034.6, + -340535.7, + 999.3, + 200.0, + 264.9, + 140.1 + ], + [ + 66060.4, + -340478.5, + 999.3, + 200.0, + 264.9, + 140.1 + ], + [ + 66086.2, + -340421.3, + 999.3, + 199.9, + 264.9, + 140.1 + ], + [ + 66112.0, + -340364.1, + 999.3, + 199.9, + 264.9, + 140.1 + ], + [ + 66137.8, + -340307.0, + 999.3, + 199.8, + 264.9, + 140.1 + ], + [ + 66163.5, + -340249.8, + 999.3, + 199.8, + 264.9, + 140.1 + ], + [ + 66189.2, + -340192.7, + 999.3, + 199.7, + 264.9, + 140.1 + ], + [ + 66214.8, + -340135.7, + 999.3, + 199.7, + 264.9, + 140.1 + ], + [ + 66240.4, + -340078.6, + 999.3, + 199.7, + 264.9, + 140.1 + ], + [ + 66266.1, + -340021.6, + 999.3, + 199.6, + 264.9, + 140.1 + ], + [ + 66291.6, + -339964.6, + 999.3, + 199.6, + 264.9, + 140.1 + ], + [ + 66317.2, + -339907.7, + 999.3, + 199.5, + 264.9, + 140.1 + ], + [ + 66342.7, + -339850.7, + 999.3, + 199.5, + 264.9, + 140.1 + ], + [ + 66368.2, + -339793.8, + 999.3, + 199.5, + 264.9, + 140.1 + ], + [ + 66393.7, + -339736.9, + 999.3, + 199.4, + 264.9, + 140.1 + ], + [ + 66419.1, + -339680.0, + 999.3, + 199.4, + 264.9, + 140.1 + ], + [ + 66444.5, + -339623.2, + 999.3, + 199.4, + 264.9, + 140.1 + ], + [ + 66469.9, + -339566.4, + 999.3, + 199.3, + 264.9, + 140.1 + ], + [ + 66495.3, + -339509.6, + 999.3, + 199.3, + 264.9, + 140.1 + ], + [ + 66520.6, + -339452.8, + 999.3, + 199.3, + 264.9, + 140.1 + ], + [ + 66546.0, + -339396.1, + 999.3, + 199.2, + 264.9, + 140.1 + ], + [ + 66571.3, + -339339.3, + 999.3, + 199.2, + 264.9, + 140.1 + ], + [ + 66596.6, + -339282.6, + 999.3, + 199.1, + 264.9, + 140.1 + ], + [ + 66621.8, + -339225.9, + 999.3, + 199.1, + 264.9, + 140.1 + ], + [ + 66647.1, + -339169.3, + 999.3, + 199.1, + 264.9, + 140.1 + ], + [ + 66672.3, + -339112.6, + 999.3, + 199.1, + 264.9, + 140.1 + ], + [ + 66697.5, + -339056.0, + 999.3, + 199.0, + 264.9, + 140.1 + ], + [ + 66722.7, + -338999.4, + 999.3, + 199.0, + 264.9, + 140.1 + ], + [ + 66747.8, + -338942.7, + 999.3, + 199.0, + 264.9, + 140.1 + ], + [ + 66773.0, + -338886.2, + 999.3, + 198.9, + 264.8, + 140.1 + ], + [ + 66798.1, + -338829.6, + 999.3, + 198.9, + 264.8, + 140.1 + ], + [ + 66823.2, + -338773.0, + 999.3, + 198.9, + 264.8, + 140.1 + ], + [ + 66848.3, + -338716.5, + 999.3, + 198.8, + 264.8, + 140.1 + ], + [ + 66873.3, + -338659.9, + 999.3, + 198.8, + 264.8, + 140.1 + ], + [ + 66898.4, + -338603.4, + 999.3, + 198.8, + 264.8, + 140.1 + ], + [ + 66923.4, + -338546.9, + 999.3, + 198.7, + 264.8, + 140.1 + ], + [ + 66948.5, + -338490.3, + 999.3, + 198.7, + 264.8, + 140.1 + ], + [ + 66973.5, + -338433.8, + 999.3, + 198.7, + 264.8, + 140.1 + ], + [ + 66998.5, + -338377.3, + 999.3, + 198.7, + 264.8, + 140.1 + ], + [ + 67023.5, + -338320.8, + 999.3, + 198.6, + 264.8, + 140.1 + ], + [ + 67048.4, + -338264.3, + 999.3, + 198.6, + 264.8, + 140.1 + ], + [ + 67073.4, + -338207.8, + 999.3, + 198.6, + 264.8, + 140.1 + ], + [ + 67098.4, + -338151.3, + 999.3, + 198.5, + 264.8, + 140.1 + ], + [ + 67123.3, + -338094.8, + 999.3, + 198.5, + 264.8, + 140.1 + ], + [ + 67148.2, + -338038.3, + 999.3, + 198.5, + 264.8, + 140.1 + ], + [ + 67173.1, + -337981.8, + 999.3, + 198.4, + 264.8, + 140.1 + ], + [ + 67198.1, + -337925.3, + 999.3, + 198.4, + 264.8, + 140.1 + ], + [ + 67223.0, + -337868.7, + 999.3, + 198.4, + 264.8, + 140.1 + ], + [ + 67247.8, + -337812.2, + 999.3, + 198.3, + 264.8, + 140.1 + ], + [ + 67272.7, + -337755.7, + 999.3, + 198.3, + 264.8, + 140.1 + ], + [ + 67297.6, + -337699.1, + 999.3, + 198.3, + 264.8, + 140.1 + ], + [ + 67322.5, + -337642.6, + 999.3, + 198.2, + 264.8, + 140.1 + ], + [ + 67347.3, + -337586.0, + 999.3, + 198.2, + 264.8, + 140.1 + ], + [ + 67372.2, + -337529.4, + 999.3, + 198.2, + 264.8, + 140.1 + ], + [ + 67397.0, + -337472.8, + 999.3, + 198.2, + 264.8, + 140.1 + ], + [ + 67421.9, + -337416.2, + 999.3, + 198.1, + 264.8, + 140.1 + ], + [ + 67446.7, + -337359.5, + 999.3, + 198.1, + 264.8, + 140.1 + ], + [ + 67471.5, + -337302.9, + 999.3, + 198.0, + 264.8, + 140.1 + ], + [ + 67496.4, + -337246.2, + 999.3, + 198.0, + 264.8, + 140.1 + ], + [ + 67521.2, + -337189.5, + 999.3, + 198.0, + 264.8, + 140.1 + ], + [ + 67546.0, + -337132.8, + 999.3, + 197.9, + 264.8, + 140.1 + ], + [ + 67570.8, + -337076.0, + 999.3, + 197.9, + 264.8, + 140.1 + ], + [ + 67595.6, + -337019.3, + 999.3, + 197.9, + 264.8, + 140.1 + ], + [ + 67620.4, + -336962.5, + 999.3, + 197.8, + 264.8, + 140.1 + ], + [ + 67645.2, + -336905.8, + 999.3, + 197.8, + 264.8, + 140.1 + ], + [ + 67670.0, + -336849.0, + 999.3, + 197.8, + 264.8, + 140.1 + ], + [ + 67694.8, + -336792.2, + 999.3, + 197.7, + 264.8, + 140.1 + ], + [ + 67719.5, + -336735.4, + 999.3, + 197.7, + 264.8, + 140.1 + ], + [ + 67744.3, + -336678.5, + 999.3, + 197.6, + 264.8, + 140.1 + ], + [ + 67769.0, + -336621.7, + 999.3, + 197.6, + 264.8, + 140.1 + ], + [ + 67793.7, + -336564.9, + 999.3, + 197.6, + 264.8, + 140.1 + ], + [ + 67818.5, + -336508.0, + 999.3, + 197.5, + 264.8, + 140.1 + ], + [ + 67843.2, + -336451.2, + 999.3, + 197.5, + 264.8, + 140.1 + ], + [ + 67867.8, + -336394.3, + 999.3, + 197.4, + 264.8, + 140.1 + ], + [ + 67892.5, + -336337.5, + 999.3, + 197.4, + 264.8, + 140.1 + ] + ], + "target_bbox_format": "[cx,cy,cz,ex,ey,ez] (\uc911\uc2ec + \ubc18\ud06c\uae30, cm, UE)", + "target_world_cam01_m": [ + [ + -0.00012404808603605488, + 0.896866370759966, + 22.076005319077353 + ], + [ + 6.708585578962811e-05, + 0.896468908929549, + 22.050907292975694 + ], + [ + -0.00027955978157478967, + 0.8960456738739424, + 22.026664473157552 + ], + [ + -0.0002007796183534083, + 0.8965744156659241, + 22.002393079038256 + ], + [ + 0.0002790585172078863, + 0.8960035930462595, + 21.97793837695167 + ], + [ + 0.00010883173899856047, + 0.8962116668653266, + 21.95449946571705 + ], + [ + 0.0002644866299306159, + 0.8963814991720582, + 21.93002413298268 + ], + [ + -0.00030982825774117373, + 0.8964357344181764, + 21.905529427985698 + ], + [ + 0.0003533926751515537, + 0.8963907613075861, + 21.881044439786365 + ], + [ + 0.00021032283211752656, + 0.8961755142977665, + 21.85758969737026 + ], + [ + 0.0002518044293537969, + 0.8959918411593293, + 21.833203950950406 + ], + [ + 0.00044856423482997343, + 0.8957721555793796, + 21.808912292022114 + ], + [ + -0.0002201493634856888, + 0.8965354578209954, + 21.78483226514868 + ], + [ + 0.00021533711196752847, + 0.8964032026730919, + 21.759812604144145 + ], + [ + -0.00028147020884716767, + 0.8962060476856095, + 21.73595270614851 + ], + [ + 0.00026567367785901297, + 0.896137345563794, + 21.71128881299228 + ], + [ + -0.00017241160958292312, + 0.8960156815771114, + 21.687826901336507 + ], + [ + 0.0003733394451046479, + 0.896019317956906, + 21.66360278810123 + ], + [ + -0.00011523867897267337, + 0.8961372594716508, + 21.63862879090948 + ], + [ + 0.00033710083334881347, + 0.8961668777725436, + 21.614923345671855 + ], + [ + -0.0002932310430878715, + 0.8962760466800148, + 21.590505580844024 + ], + [ + -2.3413956569129368e-05, + 0.8963536122171405, + 21.566398416478705 + ], + [ + 0.00013514012471205206, + 0.8963847704684795, + 21.542615899296493 + ], + [ + 0.00016068706827354617, + 0.8964527265641635, + 21.518180790930614 + ], + [ + 4.004598395113135e-05, + 0.8954617478136058, + 21.494012544797215 + ], + [ + -0.0002338893355045002, + 0.8954957303350142, + 21.46932243140236 + ], + [ + 0.00032764264551587985, + 0.8954664580532068, + 21.445035582706737 + ], + [ + -0.00029719287840634934, + 0.8963746955412688, + 21.42125319092429 + ], + [ + -0.00010590726242298842, + 0.8963299915392753, + 21.396818742853725 + ], + [ + -0.00011314799758110894, + 0.8962394620015672, + 21.372833462003882 + ], + [ + 0.0003396741244614532, + 0.8961872722886781, + 21.348699857599172 + ], + [ + -0.00038847243740747217, + 0.8961645432389744, + 21.324054068568103 + ], + [ + 0.00033309477112197783, + 0.8960707301840429, + 21.300300643766604 + ], + [ + -0.0001255649290214933, + 0.8960070088250944, + 21.276067220517575 + ], + [ + -0.00013605925823867437, + 0.8959791891426505, + 21.2517552291456 + ], + [ + -0.00034843672983697616, + 0.8958967894570264, + 21.227991775399914 + ], + [ + 0.00021062411133243586, + 0.895876592804207, + 21.203794872683943 + ], + [ + 0.00019808568958978867, + 0.895913592996358, + 21.179546593842815 + ], + [ + -3.797376757574966e-05, + 0.8959951405951188, + 21.15488037278749 + ], + [ + 0.00047729289372000494, + 0.8960235778768748, + 21.130804484362784 + ], + [ + 0.0004078432202732074, + 0.8960786496878583, + 21.106707874674385 + ], + [ + 0.00010255708957629395, + 0.895050920819024, + 21.083115829573217 + ], + [ + -0.00044574073081093957, + 0.8951337594571669, + 21.058238901570007 + ], + [ + -0.0002605738177408057, + 0.8951416996005577, + 21.033983720481615 + ], + [ + -0.000350443121533317, + 0.8950820520145157, + 21.01034579439272 + ], + [ + 0.00028954447680007434, + 0.8950559078440463, + 20.986345986215042 + ], + [ + 0.00033050743195417454, + 0.895043613745024, + 20.96237311809716 + ], + [ + 0.00012362240613583708, + 0.8950325206223582, + 20.938049192791823 + ], + [ + -0.0003410220460864366, + 0.8950333373669892, + 20.91337647510909 + ], + [ + -8.19010542727483e-05, + 0.8949600724065618, + 20.889364885130703 + ], + [ + -9.464318191021448e-05, + 0.8949285722341642, + 20.865011754089096 + ], + [ + -0.00040127161582859117, + 0.894846269876318, + 20.841314586984595 + ], + [ + 1.2994263215659885e-05, + 0.8948148205554745, + 20.817293601532356 + ], + [ + 0.00014792299407417886, + 0.8948325021575911, + 20.792939866218717 + ], + [ + -1.4074204500502674e-05, + 0.8947914234424488, + 20.769250520027526 + ], + [ + -0.0004542908677649393, + 0.8947871773126863, + 20.74523299674047 + ], + [ + -0.00017209358384207007, + 0.8948129952245694, + 20.720902235011977 + ], + [ + -0.00016714379671611823, + 0.8948670245024744, + 20.696247028497055 + ], + [ + -0.00045853315214117174, + 0.8948448175830492, + 20.672263058793988 + ], + [ + -2.7622686047834577e-05, + 0.8948480237011864, + 20.647970662388843 + ], + [ + 0.00011167878392370767, + 0.8947752745837505, + 20.62435157104744 + ], + [ + -3.188866185155348e-05, + 0.894732040890247, + 20.600412269598564 + ], + [ + -0.0004522541862570506, + 0.8947202576325779, + 20.57615386474697 + ], + [ + -0.00015412148559335037, + 0.8947397714674068, + 20.55159264993813 + ], + [ + -0.00014090065360505832, + 0.89468860894317, + 20.527710057130093 + ], + [ + -0.000413045566801884, + 0.8946724520997904, + 20.50351342528961 + ], + [ + 3.063776648559724e-05, + 0.8945845523618203, + 20.48001473831573 + ], + [ + 0.00019582365939641022, + 0.894531888647137, + 20.456206382095047 + ], + [ + 8.894941174730775e-05, + 0.8945147212747386, + 20.43209049007271 + ], + [ + -0.0002942944033748063, + 0.8945328486231006, + 20.40766936125806 + ], + [ + 3.555527428034111e-05, + 0.8944770678881255, + 20.383956409075154 + ], + [ + 9.081272764888126e-05, + 0.8944545790748748, + 20.359943718600675 + ], + [ + -0.00012161735276094987, + 0.8944648809537696, + 20.3356340312705 + ], + [ + 0.00039969606814338476, + 0.8945052434943506, + 20.311047944947518 + ], + [ + -0.0003663588072413404, + 0.8944711192877222, + 20.287147587932054 + ], + [ + -0.0003953014893340878, + 0.8944652840701011, + 20.26297764827757 + ], + [ + 0.00029127022480679443, + 0.8943789026457765, + 20.239536253526126 + ], + [ + -0.00028061792590960977, + 0.8943239893980035, + 20.215796412426926 + ], + [ + -0.00011386628693799139, + 0.8942962479197121, + 20.191798822089027 + ], + [ + -0.00020007915009045973, + 0.8942980066973121, + 20.16752883675815 + ], + [ + 0.0004585507449519355, + 0.894327167488683, + 20.143009784468404 + ], + [ + -0.0001486241762904683, + 0.8942782334124217, + 20.119200791738308 + ], + [ + -4.0765748963167425e-06, + 0.8942563714724869, + 20.095151384161795 + ], + [ + -9.816664396566921e-05, + 0.8942636206695695, + 20.070846276725774 + ], + [ + -0.000452387608220306, + 0.894189265590235, + 20.047283376093787 + ], + [ + -4.197807993477909e-05, + 0.8941407249406836, + 20.023494066709645 + ], + [ + 0.00014371404540725052, + 0.8941201384061515, + 19.999462526409957 + ], + [ + 0.00011024136983905919, + 0.8941269719552736, + 19.97519327156408 + ], + [ + -0.00016357601361960405, + 0.8940488242557905, + 19.95168439067527 + ], + [ + 0.0003715192392519384, + 0.8941063139308838, + 19.926975368926264 + ], + [ + -0.00031600058491676464, + 0.8940797758044212, + 19.903014398120604 + ], + [ + -0.00020305766702222172, + 0.8940756298541004, + 19.878856736085027 + ], + [ + -0.0003049654910682875, + 0.8939827684597361, + 19.855478757080846 + ], + [ + 0.0004363603775345837, + 0.894024089816682, + 19.830921758934096 + ], + [ + -1.6480744307045825e-05, + 0.8939778067415958, + 19.807131653619308 + ], + [ + 0.0003568166744116752, + 0.893951657424843, + 19.783166427866718 + ], + [ + -0.000447921853265143, + 0.8938358591823174, + 19.759977648581184 + ], + [ + -0.00037965127694405965, + 0.8938534598390504, + 19.735631516189528 + ], + [ + -0.0004717169308605662, + 0.8937776179871477, + 19.71209611423876 + ], + [ + 0.0003290052090960671, + 0.893834658336317, + 19.687415188542786 + ], + [ + -1.6119443898787722e-05, + 0.8937998183192235, + 19.663531209516236 + ], + [ + -0.00046730985604881425, + 0.893784517962338, + 19.639480981020824 + ], + [ + -5.013529562347685e-05, + 0.8936695034383035, + 19.61628828305436 + ], + [ + 0.00031325298459705664, + 0.8936888320928347, + 19.591947830107756 + ], + [ + -0.00043270567493891576, + 0.893612705057933, + 19.56842492055182 + ], + [ + -0.0002198366123593587, + 0.8936675253388273, + 19.543791180636845 + ], + [ + -8.372121737920679e-05, + 0.8936220589775203, + 19.52001194734828 + ], + [ + 8.61251965034171e-06, + 0.8935922711863995, + 19.49609990884187 + ], + [ + 7.435959332724451e-05, + 0.893577963829344, + 19.472060598391295 + ], + [ + 8.788089189692982e-05, + 0.8934599647663362, + 19.44889215034425 + ], + [ + 0.00012683515160460956, + 0.8934741432220505, + 19.424614868918297 + ], + [ + 0.00017122173585448763, + 0.8935018159349113, + 19.40022685763813 + ], + [ + 0.00020506007967924234, + 0.893423533949715, + 19.376725982829612 + ], + [ + 0.00026882726797339274, + 0.8933569727424242, + 19.353125192468042 + ], + [ + 0.00037530383224293473, + 0.8933018292410964, + 19.32942970721524 + ], + [ + -0.0004279566132936452, + 0.8933812337048366, + 19.30462328475255 + ], + [ + -0.00019280151082057273, + 0.8933477217174755, + 19.28075396883912 + ], + [ + 8.788936111159273e-05, + 0.8932030537346662, + 19.257797790500604 + ], + [ + -0.0005029344129070523, + 0.8931918164054764, + 19.233745174757814 + ], + [ + 1.1396220543247182e-05, + 0.893185882643138, + 19.209653204764436 + ], + [ + -0.0003507792021082423, + 0.8931920108334097, + 19.185466236126672 + ], + [ + 0.00038057327446949785, + 0.8930798208325186, + 19.162242013337845 + ], + [ + 0.00028550470187838073, + 0.8931006664700121, + 19.137939412937158 + ], + [ + 0.00031277459902412375, + 0.893005628328055, + 19.114577515312476 + ], + [ + -0.00045712808014286566, + 0.8930432737275211, + 19.090144786782503 + ], + [ + -8.772115097599453e-05, + 0.8929594826380836, + 19.066692625147653 + ], + [ + 0.00047452768239963916, + 0.8928803535346219, + 19.043201552000824 + ], + [ + 0.0002640819516273041, + 0.8929338300285892, + 19.018650818414017 + ], + [ + 0.00023041222220854252, + 0.892867602712414, + 18.995059781421105 + ], + [ + 0.0003926391109416727, + 0.8928072069483051, + 18.971426502173017 + ], + [ + -0.00027364627976567135, + 0.8927575011359323, + 18.947708718718104 + ], + [ + 0.00022597066072194139, + 0.8927109635010524, + 18.923964926919098 + ], + [ + -0.0001309774838773592, + 0.8926763884199076, + 18.9001195480879 + ], + [ + -0.00035261234961581067, + 0.892650332083349, + 18.876198749154014 + ], + [ + -0.00044552380313689355, + 0.8926339123557838, + 18.852195588788504 + ], + [ + -0.0004300804826016247, + 0.8926285254817614, + 18.828103599262136 + ], + [ + -0.00034656218986128806, + 0.8925084356912336, + 18.80490827134122 + ], + [ + -0.00013258937178761698, + 0.8925290052959127, + 18.780621617386032 + ], + [ + 0.00012721718121611048, + 0.8924373370998566, + 18.757220941402807 + ], + [ + 0.0004708852329713409, + 0.8923612904304008, + 18.73371021986418 + ], + [ + -0.00011278541251158458, + 0.8923066549747105, + 18.710048225844503 + ], + [ + 0.00036268585699872347, + 0.8922646828382668, + 18.68630337667821 + ], + [ + -0.00010365049911342794, + 0.892245120784871, + 18.662397401765475 + ], + [ + 0.00047949414647519006, + 0.8922387036585064, + 18.638400088056414 + ] + ], + "target_bbox_centre_cam01_m": [ + [ + 0.009875977576939476, + 0.4084343367493162, + 22.036633404642544 + ], + [ + 0.009065996287972666, + 0.40895360917866697, + 22.012503488966672 + ], + [ + 0.008718231458715309, + 0.40853956419202575, + 21.98814392256031 + ], + [ + 0.008795889313660155, + 0.4090775451414146, + 21.963755516746573 + ], + [ + 0.009274603355606814, + 0.4085160102063625, + 21.939183547664243 + ], + [ + 0.009104363648475555, + 0.40882311865932053, + 21.914631138341633 + ], + [ + 0.009257772576347634, + 0.408912639434611, + 21.891033985026297 + ], + [ + 0.009682322990101966, + 0.4089761690193825, + 21.866422790949628 + ], + [ + 0.00934440988521601, + 0.40894082320813396, + 21.841817924515794 + ], + [ + 0.00920222113654745, + 0.4088257918046736, + 21.81724872817017 + ], + [ + 0.009242788631127041, + 0.4086519518757896, + 21.792744161509063 + ], + [ + 0.00943615549704191, + 0.4083509759944022, + 21.769329253485125 + ], + [ + 0.00876899880631754, + 0.4092153879844673, + 21.74413404902623 + ], + [ + 0.009200629588576703, + 0.4090014492409466, + 21.71999055855008 + ], + [ + 0.008702668151727266, + 0.4088140842161252, + 21.69601075766809 + ], + [ + 0.00924865477009007, + 0.4087552234668763, + 21.671226696768258 + ], + [ + 0.008813034178274393, + 0.40873587285188506, + 21.646648632560527 + ], + [ + 0.009357852810353506, + 0.4087497054358309, + 21.622303837992945 + ], + [ + 0.00886425299995608, + 0.4087849745035399, + 21.598204551751337 + ], + [ + 0.009315423942553025, + 0.4088246433733502, + 21.574377860952495 + ], + [ + 0.008683918985752825, + 0.40894391605129954, + 21.549838576028947 + ], + [ + 0.008952559819135786, + 0.40803603597240823, + 21.525515942580796 + ], + [ + 0.009114954013057286, + 0.40817136123106934, + 21.500615541780917 + ], + [ + 0.009134300152254582, + 0.4081556726050337, + 21.477053410631584 + ], + [ + 0.009012473278744437, + 0.4081705664551265, + 21.45285674124591 + ], + [ + 0.008737348983686388, + 0.40821492161635575, + 21.428043739744567 + ], + [ + 0.009297690146922832, + 0.4081960765304089, + 21.403633727843157 + ], + [ + 0.0086716592677476, + 0.4081193390655713, + 21.379632683814634 + ], + [ + 0.008861746331604081, + 0.4080851969802666, + 21.35507426030415 + ], + [ + 0.00885330384653571, + 0.40800528513903345, + 21.330964722672775 + ], + [ + 0.009304921017701417, + 0.40796376876924256, + 21.306706584231847 + ], + [ + 0.008575566297167825, + 0.40795176927344556, + 21.281935979871946 + ], + [ + 0.009295920790464152, + 0.40786874232173886, + 21.25805745678656 + ], + [ + 0.008836046511532913, + 0.40781586429631744, + 21.233698647571487 + ], + [ + 0.008824333036045573, + 0.4077989445841439, + 21.20926099139092 + ], + [ + 0.008610734550074994, + 0.40772750254143375, + 21.185371585205985 + ], + [ + 0.009168569803023274, + 0.40771832096293537, + 21.16104844719564 + ], + [ + 0.009154802565717546, + 0.40776639447202, + 21.136673643793074 + ], + [ + 0.00891751106337324, + 0.4078590734990115, + 21.111880612997993 + ], + [ + 0.008431583631590911, + 0.4078995933787155, + 21.087668593677563 + ], + [ + 0.009360852901409089, + 0.4079650218829798, + 21.06345362609909 + ], + [ + 0.009063889101526001, + 0.40804256108710035, + 21.03883770707432 + ], + [ + 0.008504780836119608, + 0.4080378825652602, + 21.014828131824743 + ], + [ + 0.00868869814394202, + 0.40805722421295343, + 20.990444951329664 + ], + [ + 0.008597575982548733, + 0.4080090382053214, + 20.9666787332975 + ], + [ + 0.009236307468654559, + 0.40799441592024266, + 20.94255034066782 + ], + [ + 0.009276009695895482, + 0.40799370400828394, + 20.91844859798698 + ], + [ + 0.009067860677532735, + 0.40799425457908, + 20.893995497557967 + ], + [ + 0.008601948966315831, + 0.40800677639678185, + 20.869193308272543 + ], + [ + 0.008859799427682447, + 0.40794527812722947, + 20.84505195024167 + ], + [ + 0.008845783497690718, + 0.4079256068722472, + 20.82056875067269 + ], + [ + 0.008537876622540352, + 0.40785519528818526, + 20.79674122101676 + ], + [ + 0.00895086077889573, + 0.40783569982200873, + 20.772589568543253 + ], + [ + 0.009084504500151525, + 0.4078653986066101, + 20.74810486176841 + ], + [ + 0.008921217642182455, + 0.4078364000314849, + 20.724284246125762 + ], + [ + 0.008479708025788568, + 0.4078442974864487, + 20.70013515305891 + ], + [ + 0.008760609056935209, + 0.40788232342596586, + 20.67567251314756 + ], + [ + 0.008764259293002397, + 0.40794862542693977, + 20.650885120077305 + ], + [ + 0.008471565715808538, + 0.40793875555443293, + 20.626768661895653 + ], + [ + 0.008901168651846092, + 0.40795436391825035, + 20.602343468701065 + ], + [ + 0.009039159278472653, + 0.4078940828803894, + 20.578591268238256 + ], + [ + 0.008894276307728433, + 0.4078633827286495, + 20.554518551784895 + ], + [ + 0.008472591936424578, + 0.40786419897706594, + 20.530126423711636 + ], + [ + 0.008769401098561502, + 0.4078963790574903, + 20.505431171756413 + ], + [ + 0.008781296430242946, + 0.4078579498941082, + 20.48141422723461 + ], + [ + 0.008507819948135875, + 0.4078545930380244, + 20.457082936234315 + ], + [ + 0.00895016974209284, + 0.4077795613119122, + 20.433449271546806 + ], + [ + 0.009114017387219064, + 0.4077398337859677, + 20.409505619766264 + ], + [ + 0.00900580154666386, + 0.4077356709089557, + 20.385254116059627 + ], + [ + 0.008621211418358143, + 0.40776687107278775, + 20.3606970618315 + ], + [ + 0.00894971142815848, + 0.40772423238414035, + 20.336847864127094 + ], + [ + 0.009003614483845013, + 0.4077149552580934, + 20.312698606366553 + ], + [ + 0.008789826644715504, + 0.4077385385986858, + 20.28825203171084 + ], + [ + 0.009309778941769764, + 0.4077922530432403, + 20.263528734007423 + ], + [ + 0.008542358197246358, + 0.4077715508065367, + 20.239490848001083 + ], + [ + 0.008512046272699081, + 0.4077792089486536, + 20.21518305132031 + ], + [ + 0.009197243989092385, + 0.4077063922976123, + 20.191603473901296 + ], + [ + 0.00862397845776286, + 0.4076651153744564, + 20.16772512622117 + ], + [ + 0.008808379109723319, + 0.4077601622916589, + 20.142594848870544 + ], + [ + 0.008701749554802518, + 0.4076666225866745, + 20.119179550259673 + ], + [ + 0.009358989141674101, + 0.4077096375351914, + 20.094521004330886 + ], + [ + 0.0087504205107507, + 0.4076746311055359, + 20.070572186094864 + ], + [ + 0.008893569619431219, + 0.4076667703289658, + 20.046382623539216 + ], + [ + 0.008798077647952596, + 0.40768809516242044, + 20.021937025283023 + ], + [ + 0.008442449988706358, + 0.4076278898151031, + 19.99823330443246 + ], + [ + 0.008851448020777752, + 0.4075935741006447, + 19.97430283736992 + ], + [ + 0.009035725228386582, + 0.40758728785397835, + 19.950129803666186 + ], + [ + 0.009000834207654407, + 0.40760849775099217, + 19.925718715681228 + ], + [ + 0.008725593664621556, + 0.4075448024939945, + 19.90206766431038 + ], + [ + 0.009259260939870728, + 0.4076168214187419, + 19.87721613072665 + ], + [ + 0.00857030969700645, + 0.40760488950311213, + 19.85311230847026 + ], + [ + 0.00868181636542431, + 0.4076154271759975, + 19.828811453711523 + ], + [ + 0.008578467457027728, + 0.40753732712141044, + 19.80528994075155 + ], + [ + 0.009318348785654962, + 0.4075934885269774, + 19.78058906105821 + ], + [ + 0.00886405966593884, + 0.4075621245206733, + 19.756654726648208 + ], + [ + 0.009235902849013655, + 0.40755097264379714, + 19.732544933040685 + ], + [ + 0.00945337724942874, + 0.4075618882384191, + 19.70824188215397 + ], + [ + 0.008496514625676355, + 0.4074830105940208, + 19.684719829458118 + ], + [ + 0.009427201182006684, + 0.4075345664404466, + 19.660070098510005 + ], + [ + 0.009202234148688149, + 0.4074947668737039, + 19.63621190889478 + ], + [ + 0.008855633700477483, + 0.4074753273934917, + 19.61218160787564 + ], + [ + 0.009402642229815683, + 0.40747256950474053, + 19.58800989299459 + ], + [ + 0.008818652991521958, + 0.407376060038132, + 19.56464497208742 + ], + [ + 0.009180553593068908, + 0.4074110370371926, + 19.54015712550415 + ], + [ + 0.00943275716235803, + 0.4073475772189994, + 19.51651251200485 + ], + [ + 0.008644471144634736, + 0.4074212759684457, + 19.49170462681127 + ], + [ + 0.008779084144407534, + 0.4073917085897776, + 19.467776929291063 + ], + [ + 0.008869910568591877, + 0.4073779048593309, + 19.443716061685677 + ], + [ + 0.008934146803312615, + 0.40737966638354095, + 19.419527563065685 + ], + [ + 0.008946150937845232, + 0.4072778216744837, + 19.396209564418086 + ], + [ + 0.008983584496036201, + 0.40730824085473216, + 19.371782365322588 + ], + [ + 0.009026445438394148, + 0.4073522411658601, + 19.347244067648035 + ], + [ + 0.009058753195404279, + 0.4072903731137103, + 19.32359254586015 + ], + [ + 0.009120984844685154, + 0.40724031384326764, + 19.29984073584467 + ], + [ + 0.009225920912285801, + 0.4072017601887197, + 19.275993862358177 + ], + [ + 0.009420683930329687, + 0.40729430672160305, + 19.25106487020082 + ], + [ + 0.00865472248324295, + 0.4072810989437343, + 19.22701422920261 + ], + [ + 0.008933857950069068, + 0.4071532879778701, + 19.203905545051725 + ], + [ + 0.009341016281723569, + 0.4071553261624885, + 19.179730113322307 + ], + [ + 0.008854241852986888, + 0.40717010204216564, + 19.155454817698 + ], + [ + 0.009490021795045323, + 0.40718959544391, + 19.13114486881284 + ], + [ + 0.009220277383974462, + 0.40709838986055047, + 19.107735972800924 + ], + [ + 0.00912362984217907, + 0.40713654792806153, + 19.083278978367048 + ], + [ + 0.009149315757895238, + 0.4070589146937067, + 19.059762306453194 + ], + [ + 0.009377310706440767, + 0.40711010787608615, + 19.035206255529374 + ], + [ + 0.008745638394884736, + 0.4070478593882143, + 19.011566712688477 + ], + [ + 0.009306289585310878, + 0.4069864169680315, + 18.987919706296225 + ], + [ + 0.009094239765090606, + 0.4070576742784482, + 18.963212657714166 + ], + [ + 0.009058960903530533, + 0.407009323039766, + 18.939464917653254 + ], + [ + 0.009219575022598292, + 0.4069668992870561, + 18.915674544987382 + ], + [ + 0.008551670396627742, + 0.40693526214523246, + 18.8917992744 + ], + [ + 0.00904966445204991, + 0.4069068898834587, + 18.86789760523243 + ], + [ + 0.008691086942235415, + 0.40689057760747716, + 18.8438939554311 + ], + [ + 0.00946721115587934, + 0.40687849185509606, + 18.81984903409159 + ], + [ + 0.009372650810291816, + 0.40688048139318767, + 18.79568711300203 + ], + [ + 0.009386438604451541, + 0.40689360202417646, + 18.771435970342168 + ], + [ + 0.00946829615304523, + 0.40679211964624784, + 18.748081086257685 + ], + [ + 0.008681253401391587, + 0.4068359907998911, + 18.72359871037372 + ], + [ + 0.0089393986295363, + 0.40676318162675074, + 18.7000373752079 + ], + [ + 0.009281401661155542, + 0.40670609620688936, + 18.67636558451352 + ], + [ + 0.008733059206861071, + 0.40679884401553323, + 18.651551075384532 + ], + [ + 0.00920716809332589, + 0.4067763713908761, + 18.627644407512207 + ], + [ + 0.008701837282842462, + 0.40664742345178695, + 18.604567134514582 + ], + [ + 0.0092832949685544, + 0.4066603790868868, + 18.580407124015437 + ] + ], + "target_bbox_half_world_m": [ + [ + 2.082, + 2.6460000000000004, + 1.4 + ], + [ + 2.079, + 2.647, + 1.401 + ], + [ + 2.076, + 2.647, + 1.401 + ], + [ + 2.073, + 2.647, + 1.401 + ], + [ + 2.07, + 2.647, + 1.401 + ], + [ + 2.0669999999999997, + 2.647, + 1.401 + ], + [ + 2.065, + 2.647, + 1.401 + ], + [ + 2.062, + 2.647, + 1.4 + ], + [ + 2.06, + 2.647, + 1.4 + ], + [ + 2.057, + 2.648, + 1.4 + ], + [ + 2.055, + 2.648, + 1.4 + ], + [ + 2.053, + 2.648, + 1.401 + ], + [ + 2.051, + 2.648, + 1.401 + ], + [ + 2.049, + 2.648, + 1.401 + ], + [ + 2.0469999999999997, + 2.648, + 1.401 + ], + [ + 2.045, + 2.648, + 1.401 + ], + [ + 2.043, + 2.648, + 1.401 + ], + [ + 2.041, + 2.648, + 1.401 + ], + [ + 2.039, + 2.648, + 1.401 + ], + [ + 2.0380000000000003, + 2.648, + 1.401 + ], + [ + 2.036, + 2.648, + 1.401 + ], + [ + 2.035, + 2.648, + 1.401 + ], + [ + 2.033, + 2.6489999999999996, + 1.401 + ], + [ + 2.032, + 2.6489999999999996, + 1.401 + ], + [ + 2.031, + 2.6489999999999996, + 1.401 + ], + [ + 2.029, + 2.6489999999999996, + 1.401 + ], + [ + 2.028, + 2.6489999999999996, + 1.401 + ], + [ + 2.0269999999999997, + 2.6489999999999996, + 1.401 + ], + [ + 2.026, + 2.6489999999999996, + 1.401 + ], + [ + 2.025, + 2.6489999999999996, + 1.401 + ], + [ + 2.024, + 2.6489999999999996, + 1.401 + ], + [ + 2.023, + 2.6489999999999996, + 1.401 + ], + [ + 2.022, + 2.6489999999999996, + 1.401 + ], + [ + 2.021, + 2.6489999999999996, + 1.401 + ], + [ + 2.02, + 2.6489999999999996, + 1.402 + ], + [ + 2.019, + 2.6489999999999996, + 1.401 + ], + [ + 2.0180000000000002, + 2.6489999999999996, + 1.401 + ], + [ + 2.017, + 2.6489999999999996, + 1.401 + ], + [ + 2.017, + 2.6489999999999996, + 1.401 + ], + [ + 2.016, + 2.6489999999999996, + 1.401 + ], + [ + 2.015, + 2.6489999999999996, + 1.401 + ], + [ + 2.015, + 2.6489999999999996, + 1.401 + ], + [ + 2.0140000000000002, + 2.6489999999999996, + 1.401 + ], + [ + 2.013, + 2.6489999999999996, + 1.401 + ], + [ + 2.013, + 2.6489999999999996, + 1.401 + ], + [ + 2.012, + 2.6489999999999996, + 1.401 + ], + [ + 2.011, + 2.6489999999999996, + 1.401 + ], + [ + 2.011, + 2.6489999999999996, + 1.401 + ], + [ + 2.01, + 2.6489999999999996, + 1.401 + ], + [ + 2.01, + 2.6489999999999996, + 1.401 + ], + [ + 2.009, + 2.6489999999999996, + 1.401 + ], + [ + 2.009, + 2.6489999999999996, + 1.401 + ], + [ + 2.008, + 2.6489999999999996, + 1.401 + ], + [ + 2.008, + 2.6489999999999996, + 1.401 + ], + [ + 2.0069999999999997, + 2.6489999999999996, + 1.401 + ], + [ + 2.0069999999999997, + 2.6489999999999996, + 1.401 + ], + [ + 2.006, + 2.6489999999999996, + 1.401 + ], + [ + 2.006, + 2.6489999999999996, + 1.401 + ], + [ + 2.005, + 2.6489999999999996, + 1.401 + ], + [ + 2.005, + 2.6489999999999996, + 1.401 + ], + [ + 2.004, + 2.6489999999999996, + 1.401 + ], + [ + 2.004, + 2.6489999999999996, + 1.401 + ], + [ + 2.003, + 2.6489999999999996, + 1.401 + ], + [ + 2.003, + 2.6489999999999996, + 1.401 + ], + [ + 2.002, + 2.6489999999999996, + 1.401 + ], + [ + 2.002, + 2.6489999999999996, + 1.401 + ], + [ + 2.001, + 2.6489999999999996, + 1.401 + ], + [ + 2.001, + 2.6489999999999996, + 1.401 + ], + [ + 2.001, + 2.6489999999999996, + 1.401 + ], + [ + 2.0, + 2.6489999999999996, + 1.401 + ], + [ + 2.0, + 2.6489999999999996, + 1.401 + ], + [ + 1.999, + 2.6489999999999996, + 1.401 + ], + [ + 1.999, + 2.6489999999999996, + 1.401 + ], + [ + 1.9980000000000002, + 2.6489999999999996, + 1.401 + ], + [ + 1.9980000000000002, + 2.6489999999999996, + 1.401 + ], + [ + 1.9969999999999999, + 2.6489999999999996, + 1.401 + ], + [ + 1.9969999999999999, + 2.6489999999999996, + 1.401 + ], + [ + 1.9969999999999999, + 2.6489999999999996, + 1.401 + ], + [ + 1.996, + 2.6489999999999996, + 1.401 + ], + [ + 1.996, + 2.6489999999999996, + 1.401 + ], + [ + 1.995, + 2.6489999999999996, + 1.401 + ], + [ + 1.995, + 2.6489999999999996, + 1.401 + ], + [ + 1.995, + 2.6489999999999996, + 1.401 + ], + [ + 1.994, + 2.6489999999999996, + 1.401 + ], + [ + 1.994, + 2.6489999999999996, + 1.401 + ], + [ + 1.994, + 2.6489999999999996, + 1.401 + ], + [ + 1.993, + 2.6489999999999996, + 1.401 + ], + [ + 1.993, + 2.6489999999999996, + 1.401 + ], + [ + 1.993, + 2.6489999999999996, + 1.401 + ], + [ + 1.992, + 2.6489999999999996, + 1.401 + ], + [ + 1.992, + 2.6489999999999996, + 1.401 + ], + [ + 1.9909999999999999, + 2.6489999999999996, + 1.401 + ], + [ + 1.9909999999999999, + 2.6489999999999996, + 1.401 + ], + [ + 1.9909999999999999, + 2.6489999999999996, + 1.401 + ], + [ + 1.9909999999999999, + 2.6489999999999996, + 1.401 + ], + [ + 1.99, + 2.6489999999999996, + 1.401 + ], + [ + 1.99, + 2.6489999999999996, + 1.401 + ], + [ + 1.99, + 2.6489999999999996, + 1.401 + ], + [ + 1.989, + 2.648, + 1.401 + ], + [ + 1.989, + 2.648, + 1.401 + ], + [ + 1.989, + 2.648, + 1.401 + ], + [ + 1.9880000000000002, + 2.648, + 1.401 + ], + [ + 1.9880000000000002, + 2.648, + 1.401 + ], + [ + 1.9880000000000002, + 2.648, + 1.401 + ], + [ + 1.9869999999999999, + 2.648, + 1.401 + ], + [ + 1.9869999999999999, + 2.648, + 1.401 + ], + [ + 1.9869999999999999, + 2.648, + 1.401 + ], + [ + 1.9869999999999999, + 2.648, + 1.401 + ], + [ + 1.986, + 2.648, + 1.401 + ], + [ + 1.986, + 2.648, + 1.401 + ], + [ + 1.986, + 2.648, + 1.401 + ], + [ + 1.985, + 2.648, + 1.401 + ], + [ + 1.985, + 2.648, + 1.401 + ], + [ + 1.985, + 2.648, + 1.401 + ], + [ + 1.984, + 2.648, + 1.401 + ], + [ + 1.984, + 2.648, + 1.401 + ], + [ + 1.984, + 2.648, + 1.401 + ], + [ + 1.983, + 2.648, + 1.401 + ], + [ + 1.983, + 2.648, + 1.401 + ], + [ + 1.983, + 2.648, + 1.401 + ], + [ + 1.982, + 2.648, + 1.401 + ], + [ + 1.982, + 2.648, + 1.401 + ], + [ + 1.982, + 2.648, + 1.401 + ], + [ + 1.982, + 2.648, + 1.401 + ], + [ + 1.9809999999999999, + 2.648, + 1.401 + ], + [ + 1.9809999999999999, + 2.648, + 1.401 + ], + [ + 1.98, + 2.648, + 1.401 + ], + [ + 1.98, + 2.648, + 1.401 + ], + [ + 1.98, + 2.648, + 1.401 + ], + [ + 1.979, + 2.648, + 1.401 + ], + [ + 1.979, + 2.648, + 1.401 + ], + [ + 1.979, + 2.648, + 1.401 + ], + [ + 1.9780000000000002, + 2.648, + 1.401 + ], + [ + 1.9780000000000002, + 2.648, + 1.401 + ], + [ + 1.9780000000000002, + 2.648, + 1.401 + ], + [ + 1.9769999999999999, + 2.648, + 1.401 + ], + [ + 1.9769999999999999, + 2.648, + 1.401 + ], + [ + 1.976, + 2.648, + 1.401 + ], + [ + 1.976, + 2.648, + 1.401 + ], + [ + 1.976, + 2.648, + 1.401 + ], + [ + 1.975, + 2.648, + 1.401 + ], + [ + 1.975, + 2.648, + 1.401 + ], + [ + 1.974, + 2.648, + 1.401 + ], + [ + 1.974, + 2.648, + 1.401 + ] + ], + "w2c_cam01": [ + [ + [ + -6.415922495584712e-06, + 0.9999999999794179, + -1.0587911759306398e-22, + -3445.673008900717 + ], + [ + 0.08848196234791436, + 5.676934126931475e-07, + -0.9960777792616093, + -46.3923581571277 + ], + [ + -0.9960777791805373, + -6.366517402086614e-06, + -0.08848196303335491, + 661.8079558121486 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.0002178709096862726, + 0.999999976266133, + -0.0, + -3445.2276558614367 + ], + [ + 0.08872400134500405, + -1.933037934282676e-05, + -0.9960562490199374, + -46.505359282043855 + ], + [ + -0.9960562253238924, + 0.00021698744278684322, + -0.08872400413624729, + 661.3017569481699 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.0004415764268931831, + 0.9999999025051247, + -3.388131762980329e-21, + -3444.781429181298 + ], + [ + 0.08896661918485532, + -3.928556564255626e-05, + -0.9960346073944725, + -46.61855341716108 + ], + [ + -0.9960345102355105, + 0.0004398011669499563, + -0.0889666285459897, + 660.7964351578175 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.0006658145540976945, + 0.999999778345465, + -6.7762635259629566e-21, + -3444.3350787910417 + ], + [ + 0.08920978259006904, + -5.9397184782014465e-05, + -0.9960128569261576, + -46.73168375641386 + ], + [ + -0.9960126361097954, + 0.0006631356224127802, + -0.08920980305303906, + 660.2883597208468 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.0008903189638241995, + 0.9999996036659927, + -6.776263525965268e-21, + -3443.8884573972355 + ], + [ + 0.08945346659492402, + -7.964214925416757e-05, + -0.9959909994429058, + -46.84487326672908 + ], + [ + -0.9959906046573065, + 0.0008867254430591197, + -0.08945350273947439, + 659.7784695285362 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.0011156222765015041, + 0.9999993776932745, + -0.0, + -3443.441954407101 + ], + [ + 0.089697695909797, + -0.00010006880998132084, + -0.9959690323171231, + -46.95799531402292 + ], + [ + -0.9959684124835175, + 0.0011111010098797391, + -0.08969775242227336, + 659.2649626336395 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.0013411918484150236, + 0.9999991006018084, + -0.0, + -3442.9952540236213 + ], + [ + 0.08994245388370899, + -0.00012063019446985343, + -0.9959469566386218, + -47.071201154247895 + ], + [ + -0.9959460608554725, + 0.0013357317126877642, + -0.08994253547270512, + 658.7496957359454 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.0015672939836463401, + 0.9999987717940301, + -1.3552527051944531e-20, + -3442.5485801592645 + ], + [ + 0.09018774866262495, + -0.0001413508894855467, + -0.9959247712609084, + -47.18439943936181 + ], + [ + -0.9959235480350325, + 0.0015608826774291319, + -0.09018786012862019, + 658.2317783502521 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.0017936623544326184, + 0.9999983913863854, + -0.0, + -3442.1017941397845 + ], + [ + 0.09043358845530011, + -0.00016220758411785225, + -0.9959024750284522, + -47.29765904604756 + ], + [ + -0.99590087298618, + 0.0017862885556955191, + -0.09043373462685261, + 657.712149980058 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.0020208295799967677, + 0.9999979581218195, + -2.710505410390797e-20, + -3441.6552761284465 + ], + [ + 0.09067996476869841, + -0.00018324912929004925, + -0.9958800682859877, + -47.41078710836944 + ], + [ + -0.9958780348053655, + 0.0020124796799648277, + -0.09068015062702793, + 657.1890138050122 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.002248263016709684, + 0.9999974726535101, + -0.0, + -3441.208698251386 + ], + [ + 0.09092688585830687, + -0.0002044280713603827, + -0.9958575498721058, + -47.523931369316536 + ], + [ + -0.995855032985337, + 0.00223892548143084, + -0.09092711636504067, + 656.6642248992869 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.0024762289677097544, + 0.9999969341403501, + -0.0, + -3440.7622564049975 + ], + [ + 0.09117434326741305, + -0.00022576924208749053, + -0.9958349201338568, + -47.63697810490293 + ], + [ + -0.9958318670392363, + 0.002465891060740864, + -0.09117462350031869, + 656.1369007107994 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.0027047274202892852, + 0.9999963422181013, + -0.0, + -3440.3159699574894 + ], + [ + 0.09142234515737227, + -0.00024727342824656603, + -0.9958121779039346, + -47.74990695576634 + ], + [ + -0.9958085354408303, + 0.0026933762897976246, + -0.09142268026780864, + 655.6070704390856 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.0029337583615720113, + 0.999995696521678, + -0.0, + -3439.8698707700396 + ], + [ + 0.09167089968786024, + -0.0002689414258556851, + -0.9957893220058787, + -47.86269857464985 + ], + [ + -0.9957850366539578, + 0.002921381038883876, + -0.09167129490141111, + 655.0747564233479 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.0031633217785121265, + 0.9999949966851461, + 2.7105054103956052e-20, + -3439.423988308833 + ], + [ + 0.09191999844264907, + -0.00029077398778824473, + -0.9957663527840208, + -47.97532756169784 + ], + [ + -0.995761370662472, + 0.0031499051814861912, + -0.09192045905968102, + 654.5399821020588 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.003393417657893309, + 0.9999942423417243, + -0.0, + -3438.978351014589 + ], + [ + 0.0921696412922865, + -0.00031277188911659306, + -0.9957432698229982, + -48.08778086676319 + ], + [ + -0.9957375366897604, + 0.003378948588298813, + -0.09217017268859518, + 654.0027699841967 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.0036237796719695353, + 0.9999934340888889, + 2.710505410397563e-20, + -3438.5328113734777 + ], + [ + 0.09241983648230225, + -0.00033491132372929697, + -0.9957200719373841, + -48.20014357221987 + ], + [ + -0.9957135341493494, + 0.003608245951755479, + -0.09242044402059515, + 653.4640532797323 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.003854940436127151, + 0.9999925696895123, + -0.0, + -3438.087743528208 + ], + [ + 0.09267058370835568, + -0.0003572422347975702, + -0.9956967587037421, + -48.312249553361134 + ], + [ + -0.9956893603943475, + 0.003838327495698291, + -0.09267127300048562, + 652.9220292882458 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.00408663362205881, + 0.9999916496779556, + 2.7105054103995398e-20, + -3437.6429960591313 + ], + [ + 0.092921891207209, + -0.0003797408957914445, + -0.9956733289243652, + -48.424198148895314 + ], + [ + -0.9956650147633274, + 0.004068927903382086, + -0.09292266785913897, + 652.377630043047 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.004318592902233095, + 0.9999906748341931, + -0.0, + -3437.198416006408 + ], + [ + 0.09317374237944973, + -0.00040238321480458246, + -0.9956497837185303, + -48.5360776728177 + ], + [ + -0.9956404991563599, + 0.0042997818922569896, + -0.09317461196781736, + 651.8317877342379 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.004551350890088139, + 0.9999896425488993, + -0.0, + -3436.7543707584923 + ], + [ + 0.09342616174040227, + -0.0004252196485864156, + -0.9956261203336854, + -48.647749723520235 + ], + [ + -0.9956158082272332, + 0.004531419634533755, + -0.09342713012893432, + 651.2826977912152 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.004784641257480882, + 0.9999885535385079, + -0.0, + -3436.3107034871045 + ], + [ + 0.09367913268292113, + -0.00044822617380336837, + -0.9956023398893117, + -48.759303490220475 + ], + [ + -0.9955909438131354, + 0.004763575839423079, + -0.093680205713331, + 650.7312917974257 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.005018197677220617, + 0.9999874087667665, + -5.421010820807108e-20, + -3435.867256255589 + ], + [ + 0.0939326634813977, + -0.0004713786089355022, + -0.9955784411755294, + -48.8708425673195 + ], + [ + -0.9955659056681119, + 0.0049959852313339785, + -0.09393384694986232, + 650.1784994677746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.005252552760519331, + 0.9999862052496014, + -0.0, + -3435.4243905977637 + ], + [ + 0.09418675375276216, + -0.0004947277180738115, + -0.9955544237569341, + -48.982203437022044 + ], + [ + -0.9955406903903725, + 0.005229177949489735, + -0.09418805378089451, + 649.6225178039805 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.00548744017952343, + 0.9999849438867949, + -0.0, + -3434.981945404729 + ], + [ + 0.09444141176225627, + -0.0005182494003367617, + -0.9955302864111721, + -49.09348075304119 + ], + [ + -0.9955152976579981, + 0.0054628887087331355, + -0.09444283443365785, + 649.0642766179853 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.005722859919257678, + 0.9999836243030904, + 5.421010820813235e-20, + -3434.5399320536094 + ], + [ + 0.09469663736908757, + -0.000541944465206334, + -0.9955060286945447, + -49.20467355580147 + ], + [ + -0.9954897266583693, + 0.0056971173685613705, + -0.09469818884928026, + 648.5037948412848 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.005958545653186457, + 0.9999822477092776, + -5.4210108208152966e-20, + -3434.098187694923 + ], + [ + 0.09495242229753029, + -0.0005657883871804107, + -0.9954816509526089, + -49.31585852979988 + ], + [ + -0.9954639789470624, + 0.005931598684101144, + -0.0949541086837906, + 647.9420019658206 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.006195029989111539, + 0.9999808106176009, + -0.0, + -3433.657067601696 + ], + [ + 0.09520878267932331, + -0.0005898325824481872, + -0.9954571511613375, + -49.42686558957497 + ], + [ + -0.9954380490328559, + 0.006166862726745072, + -0.09521061044742112, + 647.3770945855416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.00643204659976462, + 0.9999793141743175, + -1.0842021641638906e-19, + -3433.2164067113545 + ], + [ + 0.09546571023018119, + -0.0006140525990651756, + -0.9954325296621825, + -49.537767088699724 + ], + [ + -0.995411938403184, + 0.0064026442425762845, + -0.09546768579534538, + 646.8100014508084 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.006669595469439062, + 0.9999777580007839, + -0.0, + -3432.776212260301 + ], + [ + 0.09572321308931063, + -0.0006384493087296403, + -0.9954077852108343, + -49.64855933158417 + ], + [ + -0.9953856454417881, + 0.006638943081805115, + -0.09572534295154739, + 646.2407396853329 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.006907676582242824, + 0.9999761417175089, + -0.0, + -3432.337824135974 + ], + [ + 0.09598128282651969, + -0.0006630234783158192, + -0.9953829181510212, + -49.75914873403986 + ], + [ + -0.995359170119659, + 0.006875759103853993, + -0.09598357357094693, + 645.6686992751273 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.007146289922097469, + 0.9999744649441552, + -0.0, + -3431.899889101781 + ], + [ + 0.09623992757855242, + -0.000687775986956235, + -0.9953579272321422, + -49.869644629644675 + ], + [ + -0.9953325108127341, + 0.007113092156503749, + -0.09624238587644983, + 645.094531996077 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.0073857017815806714, + 0.999972725332643, + -5.421010820827894e-20, + -3431.4639273368357 + ], + [ + 0.09649915529043562, + -0.0007127334227166191, + -0.9953328111939744, + -49.979866649806326 + ], + [ + -0.9953056639288689, + 0.007351207151623497, + -0.09650178808979384, + 644.5167138104787 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.0076253795260720235, + 0.9999709263709037, + -1.0842021641660062e-19, + -3431.028248766895 + ], + [ + 0.09675896618492161, + -0.0007378452915507335, + -0.995307569571914, + -50.09008229874539 + ], + [ + -0.9952786324804116, + 0.0075895738003646076, + -0.09676178014821073, + 643.9377113311763 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.007865855756102384, + 0.9999690636780841, + 5.421010820832178e-20, + -3430.5945491346624 + ], + [ + 0.09701935144152228, + -0.000763163833471645, + -0.9952822027077692, + -50.200002586437634 + ], + [ + -0.9952514124541602, + 0.007828722082815962, + -0.09702235370546992, + 643.3550900788697 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.008106597838588666, + 0.9999671409958846, + 5.4210108208343356e-20, + -3430.161144465584 + ], + [ + 0.09728031959097948, + -0.0007886383424039875, + -0.9952567093317387, + -50.30989870923737 + ], + [ + -0.9952240063098441, + 0.008068121730911112, + -0.09728351698164706, + 642.771311007757 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.00834813837169601, + 0.9999651536857307, + 5.421010820836506e-20, + -3429.728400526374 + ], + [ + 0.09754187006661125, + -0.0008143214044496395, + -0.9952310889761021, + -50.41957013754354 + ], + [ + -0.9951964089686365, + 0.008308302687298564, + -0.09754526991293153, + 642.1845613421373 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.008590211030287544, + 0.9999631034565503, + -0.0, + -3429.297484755241 + ], + [ + 0.09780401119930879, + -0.0008401880958472532, + -0.9952053403581035, + -50.52901561540105 + ], + [ + -0.9951686208542807, + 0.008548999739377096, + -0.09780762071763686, + 641.5951368764801 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.008832815796900829, + 0.9999609899216559, + 5.4210108208408754e-20, + -3428.867056421152 + ], + [ + 0.09806673455085668, + -0.0008662391941501157, + -0.9951794638175516, + -50.63833849493831 + ], + [ + -0.9951406419273986, + 0.00879021273851856, + -0.09807056104834246, + 641.0036754897086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.00907595265387847, + 0.9999588126935153, + -1.0842021641686154e-19, + -3428.4371307654205 + ], + [ + 0.09833004824630565, + -0.0008924756210039885, + -0.9951534580652094, + -50.74754016672817 + ], + [ + -0.9951124705188766, + 0.009031941521038898, + -0.09833409912222005, + 640.4101816103763 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.009319887887907932, + 0.9999565689017484, + -0.0, + -3428.009207623874 + ], + [ + 0.09859396016396985, + -0.0009189245650561305, + -0.9951273218020038, + -50.85645293264898 + ], + [ + -0.9950841024791246, + 0.009274450928230985, + -0.0985982431552161, + 639.8131353529167 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.00956408887124295, + 0.9999542630560976, + -0.0, + -3427.5816058170067 + ], + [ + 0.09885846234474503, + -0.0009455343653917939, + -0.9951010553645274, + -50.96536361227004 + ], + [ + -0.9950555426384537, + 0.00951721078676935, + -0.09886298479882398, + 639.2149880048736 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.009809088194067438, + 0.9999518897371017, + -1.6263032462549251e-19, + -3427.154681103208 + ], + [ + 0.09912355413138237, + -0.0009723584650055305, + -0.9950746582721207, + -51.07408402643199 + ], + [ + -0.9950267851292632, + 0.009760750942631836, + -0.09912832398643244, + 638.6139266908741 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.010054619533340725, + 0.999949451035421, + -0.0, + -3426.728271445848 + ], + [ + 0.09938925216823968, + -0.0009993716334562104, + -0.9950481283886603, + -51.182703575374504 + ], + [ + -0.9949978299021106, + 0.01000480621084196, + -0.09939427721339807, + 638.0108648994459 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.010300682870362432, + 0.9999469465588685, + -0.0, + -3426.302383843314 + ], + [ + 0.09965554801039384, + -0.0010265746596455172, + -0.9950214660474497, + -51.291207691541786 + ], + [ + -0.9949686769062237, + 0.010249376436069612, + -0.099660836130099, + 637.4058089002667 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.01054727818623058, + 0.9999443759144117, + -1.0842021641713046e-19, + -3425.8770223405213 + ], + [ + 0.09992244149303414, + -0.0010539684135036208, + -0.9949946707579161, + -51.3995910855684 + ], + [ + -0.9949393252662485, + 0.010494461454001769, + -0.09992800066814513, + 636.7987648163635 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.01079467176243118, + 0.9999417358334143, + -0.0, + -3425.4536686175857 + ], + [ + 0.10018993216219006, + -0.0010815804489745435, + -0.9949677420283876, + -51.507679461253666 + ], + [ + -0.9949097712447031, + 0.010740326059704501, + -0.10019577075876905, + 636.1882188895487 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.011042597277624123, + 0.9999390286639303, + -1.0842021641722192e-19, + -3425.030816304391 + ], + [ + 0.10045803668357514, + -0.0011093852831004381, + -0.9949406776938886, + -51.61568503629091 + ], + [ + -0.9948800150195802, + 0.010986705091809367, + -0.10046416289336998, + 635.575706130992 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.011291054712242017, + 0.999936254009967, + -1.0842021641726803e-19, + -3424.6084744873115 + ], + [ + 0.10072674660783107, + -0.0011373837105858376, + -0.9949134780854545, + -51.723589674452064 + ], + [ + -0.9948500565344626, + 0.011233598390536266, + -0.10073316872101674, + 634.9612299674288 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.011540044046513017, + 0.9999334114746865, + -0.0, + -3424.186649207647 + ], + [ + 0.10099606176471343, + -0.0011655766153170959, + -0.9948861427013505, + -51.831374898182666 + ], + [ + -0.9948198948994732, + 0.011481005786191434, + -0.10100278817111151, + 634.3447947460908 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.011789565260455324, + 0.9999305006604057, + -0.0, + -3423.765346366403 + ], + [ + 0.1012659902618403, + -0.0011939649806342525, + -0.9948586701958795, + -51.939029213818614 + ], + [ + -0.9947895283800952, + 0.011728927097991107, + -0.10127302945225657, + 633.7264039537187 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.012039884630684825, + 0.9999275179622171, + -0.0, + -3423.3447387585798 + ], + [ + 0.10153652332154572, + -0.001222576641438567, + -0.9948310609033719, + -52.04644364449109 + ], + [ + -0.9947589537311918, + 0.011977627083730312, + -0.10154388421302245, + 633.1051545248963 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.012290735838374424, + 0.9999244660535873, + -0.0, + -3422.9246582736137 + ], + [ + 0.10180767763736702, + -0.001251385794266783, + -0.9948033126239978, + -52.153716237966925 + ], + [ + -0.9947281714198436, + 0.012226840612687279, + -0.10181536893989167, + 632.4819563720569 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.0125421188628599, + 0.9999213445338738, + -0.0, + -3422.505104371915 + ], + [ + 0.10207945303270909, + -0.0012803933433272062, + -0.9947754248379023, + -52.26084754582301 + ], + [ + -0.9946971805347218, + 0.012476567508917895, + -0.10208748355930046, + 631.8568130191668 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.012794299977574393, + 0.9999181495942976, + -0.0, + -3422.0862441788786 + ], + [ + 0.1023518407030243, + -0.0013096273467410515, + -0.9947473978759206, + -52.36774237048517 + ], + [ + -0.994665977624998, + 0.012727072501758557, + -0.10236021971861022, + 631.2288215408205 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.013047012865381026, + 0.9999148841052875, + -1.0842021641759714e-19, + -3421.667906942723 + ], + [ + 0.10262484080320801, + -0.0013390615936927572, + -0.9947192312226419, + -52.47449737615992 + ], + [ + -0.9946345650380771, + 0.012978090501308371, + -0.10263357734413772, + 630.5988916746286 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.01330025750491988, + 0.9999115476632436, + -1.0842021641764512e-19, + -3421.2500910918316 + ], + [ + 0.10289846970862375, + -0.0013686972084532938, + -0.9946909226486258, + -52.581125734808865 + ], + [ + -0.9946029401505877, + 0.013229621305828998, + -0.10290757291818187, + 629.9670249738855 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.013554033874615436, + 0.9999081398637206, + -1.0842021641769334e-19, + -3420.832795517411 + ], + [ + 0.10317272723692017, + -0.001398535109531428, + -0.9946624716224307, + -52.68762820385997 + ], + [ + -0.9945711020362977, + 0.013481664733675097, + -0.1031822063648238, + 629.333223688292 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.013808608243391468, + 0.9999046566240106, + -0.0, + -3420.416187185677 + ], + [ + 0.10344760454713232, + -0.0014286036528038412, + -0.994633878472407, + -52.79390407217261 + ], + [ + -0.9945390469702794, + 0.013734485475637477, + -0.1034574693300013, + 628.6965841139639 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.014063714296629302, + 0.9999011010795932, + -0.0, + -3420.0000969432945 + ], + [ + 0.10372311009625577, + -0.0014588764676592258, + -0.9946051418082513, + -52.90004954403723 + ], + [ + -0.994506776688881, + 0.013987818457276906, + -0.10373337001514324, + 628.0580137869238 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.014319352012042144, + 0.9998974728230667, + -0.0, + -3419.584523610107 + ], + [ + 0.10399925197447425, + -0.0014893545973338831, + -0.9945762602292662, + -53.00606601196267 + ], + [ + -0.9944742893941207, + 0.014241663480699055, + -0.10400991662029703, + 627.4175137305249 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.0145757876549389, + 0.999893767564454, + -0.0, + -3419.169633443073 + ], + [ + 0.10427602131258536, + -0.0015200666245338435, + -0.9945472340601393, + -53.111848998638635 + ], + [ + -0.9944415811519514, + 0.01449628520686327, + -0.10428710079011745, + 626.7741805357107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.014832754912763242, + 0.9998899886395993, + -0.0, + -3418.7552571261895 + ], + [ + 0.10455341831023501, + -0.001550985855151216, + -0.9945180627633274, + -53.217488610287006 + ], + [ + -0.9944086547507517, + 0.014751418594429308, + -0.10456492244654789, + 626.1289219333697 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.01509052004828745, + 0.9998861316193323, + -0.0, + -3418.3415601070974 + ], + [ + 0.10483145890708652, + -0.0015821413882064735, + -0.9944887440549738, + -53.32289559730661 + ], + [ + -0.994375503510263, + 0.015007328245862208, + -0.1048433980641221, + 625.480833703627 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.015348550465666307, + 0.99988220406136, + 1.0842021641803776e-19, + -3417.928206060588 + ], + [ + 0.10511013546913789, + -0.0016134782798895397, + -0.9944592782560276, + -53.428251479908766 + ], + [ + -0.9943421352757913, + 0.015263484337034271, + -0.1051225192861785, + 624.8317294383515 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.015607644995586856, + 0.9998781932904086, + 1.0842021641808797e-19, + -3417.51569408996 + ], + [ + 0.1053894465136164, + -0.0016450814494242776, + -0.9944296648182706, + -53.533265591276226 + ], + [ + -0.9943085369025042, + 0.015520681103015677, + -0.10540228603260997, + 624.1788960057379 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.015867004760096347, + 0.9998741111559711, + -0.0, + -3417.1035214337107 + ], + [ + 0.1056694014093888, + -0.0016768679941326743, + -0.9943999023127021, + -53.63822693508884 + ], + [ + -0.9942747187538649, + 0.015778123907673466, + -0.10568270649863658, + 623.5250512404951 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.016127162301430617, + 0.9998699488614023, + 1.0842021641818914e-19, + -3416.6920196358546 + ], + [ + 0.10595000734899955, + -0.0017088952081226428, + -0.9943699892997143, + -53.74294565906226 + ], + [ + -0.994240670651544, + 0.01603634213214531, + -0.1059637888780352, + 622.868387414512 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.016387851311656428, + 0.9998657101478113, + -2.1684043283648021e-19, + -3416.2810199709456 + ], + [ + 0.10623125629696056, + -0.001741135849720955, + -0.9943399260974698, + -53.84750989825075 + ], + [ + -0.9942063966426611, + 0.01629507079197326, + -0.10624552481257919, + 622.2098129236705 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.0166493380454738, + 0.9998613901649807, + -3.25260649254874e-19, + -3415.8706865976064 + ], + [ + 0.10651314758103414, + -0.0017736192414345205, + -0.9943097121456507, + -53.95182042884756 + ], + [ + -0.9941718913531661, + 0.016554574452073947, + -0.10652791421960364, + 621.5484262837347 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.01691135619662282, + 0.9998569927902645, + -1.0842021641834282e-19, + -3415.460851034886 + ], + [ + 0.10679568972851872, + -0.0018063182657980796, + -0.9942793459937362, + -54.05597674390351 + ], + [ + -0.9941371571972331, + 0.01681458811453634, + -0.10681096529075222, + 620.8851350398468 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.01717417201691269, + 0.9998525130315637, + -3.2526064925518384e-19, + -3415.0516769976753 + ], + [ + 0.10707889031929833, + -0.0018392625489812649, + -0.9942488261804804, + -54.159884659257344 + ], + [ + -0.9941021877595069, + 0.01707537630676737, + -0.10709468621619056, + 620.2190378094587 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.017437519201833077, + 0.9998479549031872, + -0.0, + -3414.6429959427096 + ], + [ + 0.10736274134672608, + -0.0018724245567679823, + -0.994218153021154, + -54.26363402658614 + ], + [ + -0.9940669873559109, + 0.017336674075295943, + -0.10737906863607238, + 619.5510430590166 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.017701397725831385, + 0.9998433179846491, + -0.0, + -3414.234805380193 + ], + [ + 0.10764725087704614, + -0.0019058054072990276, + -0.9941873250471278, + -54.36722809090273 + ], + [ + -0.994031554109313, + 0.017598481198676016, + -0.10766412073910261, + 618.8811540734841 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.01796607383624154, + 0.9998385970700026, + -0.0, + -3413.827267757934 + ], + [ + 0.10793240991264061, + -0.0019394346762532755, + -0.9941563425757469, + -54.47056154330158 + ], + [ + -0.9939958831709285, + 0.017861062202388932, + -0.1079498341649887, + 618.2084712811051 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.018231281231357026, + 0.9998337963805102, + -0.0, + -3413.4202145698728 + ], + [ + 0.10821823528702178, + -0.001973285048996287, + -0.9941252032301957, + -54.57374013889262 + ], + [ + -0.9939599763707891, + 0.018124152109053333, + -0.10823622537444806, + 617.533901919606 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.018497286155390983, + 0.9998289105666458, + -0.0, + -3413.013807547465 + ], + [ + 0.10850472625305783, + -0.002007386413319153, + -0.9940939064195777, + -54.67666285121329 + ], + [ + -0.9939238278098871, + 0.018388015405047035, + -0.10852329427918388, + 616.8565465762298 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.0187638223085844, + 0.9998239439883264, + -0.0, + -3412.607878154322 + ], + [ + 0.10879187484162725, + -0.0020417108636176864, + -0.9940624524571847, + -54.77942013877522 + ], + [ + -0.9938874421457816, + 0.01865238717711505, + -0.1088110325174383, + 616.1773138227899 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.019031155931934798, + 0.9998188911517398, + -0.0, + -3412.2025872383065 + ], + [ + 0.10907969682758577, + -0.002076288753598778, + -0.9940308389406303, + -54.88192040303282 + ], + [ + -0.993850811525472, + 0.018917531855514647, + -0.10909945654610945, + 615.4953038387862 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.019299020727711984, + 0.9998137565561654, + 2.1684043283763657e-19, + -3411.7977660963184 + ], + [ + 0.10936818425660891, + -0.0021110920319708047, + -0.9939990661780546, + -54.98425436162877 + ], + [ + -0.993813940739914, + 0.0191831845429002, + -0.10938855800217794, + 614.8114251513838 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.01956768293360184, + 0.9998085345627984, + -2.1684043283774492e-19, + -3411.393574673414 + ], + [ + 0.10965734460920397, + -0.002146151064405464, + -0.9939671326602638, + -55.08632462341967 + ], + [ + -0.9937768226856679, + 0.01944960966265304, + -0.1096783450675173, + 614.1247788973886 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.019836876253985423, + 0.9998032298109886, + -0.0, + -3410.989844017295 + ], + [ + 0.1099471782172488, + -0.0021814378107007744, + -0.9939350377822196, + -55.1882274697402 + ], + [ + -0.9937394613799115, + 0.019716542316262815, + -0.1099688176505245, + 613.4362731481518 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.02010686692313976, + 0.9997978365162307, + -0.0, + -3410.5867330999517 + ], + [ + 0.11023768426781723, + -0.0022169826404221426, + -0.9939027809374721, + -55.289859950765624 + ], + [ + -0.9937018504776252, + 0.019984246921077954, + -0.11025997565908084, + 612.7450100744778 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.020377388647640677, + 0.9997923594586543, + 2.1684043283807334e-19, + -3410.1840726705896 + ], + [ + 0.11052887137796243, + -0.0022527575326474272, + -0.9938703605981075, + -55.391324061518084 + ], + [ + -0.9936639932132234, + 0.02025245857647013, + -0.11055182727191587, + 612.0518971557354 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.020648707658258013, + 0.9997867927073473, + -0.0, + -3409.782020806575 + ], + [ + 0.11082073044226122, + -0.002288792852704434, + -0.9938377770700411, + -55.49251141503348 + ], + [ + -0.993625884009031, + 0.020521441694618163, + -0.11084436412396673, + 611.3560374126865 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.02092082392166756, + 0.9997811356124092, + -4.336808656765902e-19, + -3409.380571165815 + ], + [ + 0.11111327774268748, + -0.0023250901984564866, + -0.9938050278927174, + -55.59342887702314 + ], + [ + -0.9935875197706503, + 0.02079119598016331, + -0.11113760266319547, + 610.657435368691 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.0211934711478615, + 0.9997753931662375, + -2.1684043283840687e-19, + -3408.979554013723 + ], + [ + 0.11140650537965009, + -0.002361620993661625, + -0.9937721133667294, + -55.69416931279931 + ], + [ + -0.9935489057715925, + 0.021061456594333963, + -0.11143153452320649, + 609.9569993006859 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.021466649307388574, + 0.999769564933597, + -0.0, + -3408.5789628504835 + ], + [ + 0.11170042139013928, + -0.0023983864458095453, + -0.993739031941345, + -55.79473543207423 + ], + [ + -0.9935100400402489, + 0.02133222328690088, + -0.11172616787870737, + 609.2547340137128 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.02174062462370135, + 0.999763644688569, + -2.1684043283863203e-19, + -3408.1789536271676 + ], + [ + 0.11199502489171805, + -0.0024354174197356374, + -0.993705782986843, + -55.89502321325831 + ], + [ + -0.9934709157717548, + 0.02160376040248719, + -0.11202150263276704, + 608.5497429454515 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.022015397062035244, + 0.9997576317749223, + -2.1684043283874547e-19, + -3407.779518564409 + ], + [ + 0.11229032388695831, + -0.002472715374232304, + -0.9936723649372762, + -55.99503462533349 + ], + [ + -0.9934315307606163, + 0.0218760676548634, + -0.11231754695762522, + 607.8420313834661 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.02229070033728776, + 0.9997515314709318, + -0.0, + -3407.3804873166796 + ], + [ + 0.1125863105089434, + -0.0025102514281156244, + -0.99363877808978, + -56.09486370447839 + ], + [ + -0.9933918905609284, + 0.022148880240143977, + -0.11261429248497841, + 607.1325074095172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.022566800667122088, + 0.9997453373272869, + -4.3368086567794825e-19, + -3406.9820140195043 + ], + [ + 0.11288299210733317, + -0.0025480568765689163, + -0.9936050208704911, + -56.19441070071561 + ], + [ + -0.9933519872030623, + 0.022422462445122616, + -0.11291174738540097, + 606.4202744871728 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.02284369801563347, + 0.9997390486826906, + -0.0, + -3406.5840898824176 + ], + [ + 0.1131803684103842, + -0.0025861330120811985, + -0.9935710926363212, + -56.29367244036362 + ], + [ + -0.9933118193997201, + 0.022696813997595825, + -0.11320991155890973, + 605.705338729132 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.02312112610159535, + 0.9997326710315085, + -0.0, + -3406.186543894141 + ], + [ + 0.11347844810970312, + -0.0026244511003633065, + -0.9935369917980079, + -56.392753716612944 + ], + [ + -0.9932713910337602, + 0.022971670077382007, + -0.11350879317354773, + 604.9886070851367 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.02339908489345287, + 0.999726203930931, + -0.0, + -3405.7893670492335 + ], + [ + 0.11377723095941814, + -0.002663012208435972, + -0.9935027177019621, + -56.49165203609513 + ], + [ + -0.9932307010242463, + 0.023247030439886907, + -0.11380839212734474, + 604.2700853206734 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.023678106842270594, + 0.9997196343257275, + -2.1684043283943852e-19, + -3405.392872767713 + ], + [ + 0.1140767070072797, + -0.0027018779705717893, + -0.9934682706427049, + -56.59015288310216 + ], + [ + -0.993189736708232, + 0.023523423866282686, + -0.114108700049734, + 603.5479777895473 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.023957659425986898, + 0.9997129740854764, + -2.168404328395561e-19, + -3404.996727720494 + ], + [ + 0.1143769021987998, + -0.0027409896041260817, + -0.9934336471145899, + -56.68847468749428 + ], + [ + -0.9931485063867043, + 0.023800320992592033, + -0.11440974164164412, + 602.8240915382994 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.024238008849968427, + 0.9997062163090661, + -0.0, + -3404.6010827823225 + ], + [ + 0.11467779901038995, + -0.002780378337118804, + -0.9933988483536886, + -56.786500819619064 + ], + [ + -0.9931070044527618, + 0.024077986093768045, + -0.11471150026274889, + 602.0975327978625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.02451888883992785, + 0.9996993668548837, + -0.0, + -3404.205766202478 + ], + [ + 0.11497940617340913, + -0.002820015068846155, + -0.9933638727430252, + -56.884337231168864 + ], + [ + -0.9930652351231543, + 0.02435615439233746, + -0.11501398407589859, + 601.3692082038388 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.024800565596941482, + 0.9996924186698988, + -6.505212985197377e-19, + -3403.810927783405 + ], + [ + 0.11528173093500914, + -0.002859931791807176, + -0.9933287186539881, + -56.981881808862255 + ], + [ + -0.9930231897770523, + 0.024635090068395347, + -0.11531720124218567, + 600.6382228929896 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.02508303908199256, + 0.9996853710795269, + -4.3368086568006514e-19, + -3403.416555905383 + ], + [ + 0.11558476474092244, + -0.0029001296359360603, + -0.9932933863707539, + -57.07912620340998 + ], + [ + -0.992980868042616, + 0.0249147928554657, + -0.11562114338780109, + 599.9045839073564 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.025366043025223665, + 0.9996782301627073, + -0.0, + -3403.022478366467 + ], + [ + 0.11588852461016777, + -0.0029405794911756293, + -0.9932578732916917, + -57.17618216744227 + ], + [ + -0.9929382733713029, + 0.025194997977465418, + -0.11592582693831159, + 599.1691971553163 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.025650109849514154, + 0.9996709818058678, + -2.168404328402745e-19, + -3402.629003569774 + ], + [ + 0.11619299216529762, + -0.0029813439291792873, + -0.9932221806625395, + -57.272826549062444 + ], + [ + -0.9928953930043584, + 0.025476234070550934, + -0.11623123525242035, + 598.4302697288549 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.025934440829179402, + 0.9996636458223727, + -0.0, + -3402.2356387285868 + ], + [ + 0.11649819428163485, + -0.003022332100331429, + -0.9931863048984281, + -57.36938697040439 + ], + [ + -0.9928522430518689, + 0.025757707491507544, + -0.11653739301895664, + 597.6905069314548 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.026219834609008112, + 0.999656201037675, + -0.0, + -3401.8428513083795 + ], + [ + 0.11680411175155801, + -0.0030636377672632765, + -0.9931502472443734, + -57.465534237711104 + ], + [ + -0.9928088037423981, + 0.026040211262609837, + -0.116844283595679, + 596.9472164187 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.026506024919409975, + 0.9996486535993393, + -0.0, + -3401.4504681363906 + ], + [ + 0.11711076159277505, + -0.0031052317771172832, + -0.9931140050642575, + -57.561380338303806 + ], + [ + -0.9927650785618108, + 0.026323480607226866, + -0.11715192340240269, + 596.2013039404814 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.02679274549833683, + 0.9996410099574055, + -0.0, + -3401.0583166794095 + ], + [ + 0.11741813607667691, + -0.0031470840086137873, + -0.9930775786324658, + -57.65702341390522 + ], + [ + -0.9927210742051177, + 0.026607250868804666, + -0.11746030406159277, + 595.4536761897143 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.027080262528426914, + 0.9996332624424779, + -0.0, + -3400.66654313431 + ], + [ + 0.11772625060446042, + -0.0031892273823167392, + -0.9930409652916234, + -57.75236423306683 + ], + [ + -0.9926767804146384, + 0.026891786089214362, + -0.11776944198967747, + 594.703439131131 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.027368309750976542, + 0.9996254176547207, + -0.0, + -3400.274974951935 + ], + [ + 0.11803508920448408, + -0.0032316313948994473, + -0.9930041662928795, + -57.847496524544134 + ], + [ + -0.9926322050107911, + 0.0271768216579933, + -0.11807932054337195, + 593.9514996907669 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.027657419557997987, + 0.9996174604034251, + -0.0, + -3399.88391625541 + ], + [ + 0.11834466637809696, + -0.00327436066307742, + -0.9929671789651986, + -57.94221327434404 + ], + [ + -0.9925873302548076, + 0.027462885930100996, + -0.11838995613658987, + 593.1960650834008 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.02794705947571137, + 0.9996094046509674, + -0.0, + -3399.4930354690205 + ], + [ + 0.11865498354353762, + -0.0033173536250778518, + -0.9929300025909221, + -58.03672526174928 + ], + [ + -0.9925421693099344, + 0.027749449895035035, + -0.11870134865304899, + 592.4389403302416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.028237495676839617, + 0.9996012424151447, + -0.0, + -3399.1024773967533 + ], + [ + 0.11896604778353927, + -0.0033606433420010017, + -0.9928926354601952, + -58.13092710933086 + ], + [ + -0.9924967125570883, + 0.02803677756206351, + -0.11901350623903108, + 591.6792324096739 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.028528728117300273, + 0.9995929730005154, + 2.168404328415223e-19, + -3398.7122278873107 + ], + [ + 0.1192778422590572, + -0.0034042307460529905, + -0.9928550788302645, + -58.22480558480285 + ], + [ + -0.9924509605791401, + 0.02832486866781434, + -0.11932641225015397, + 590.9169489331844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.02882075675255138, + 0.999584595709743, + 2.168404328416506e-19, + -3398.3222727999596 + ], + [ + 0.11959039142769541, + -0.0034481179442673753, + -0.9928173289990523, + -58.318372053324595 + ], + [ + -0.9924049089999982, + 0.028613722806091778, + -0.11964009135687727, + 590.1520951334858 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.029113581537588674, + 0.999576109843595, + -0.0, + -3397.9325977382728 + ], + [ + 0.11990368670505108, + -0.003492306113729755, + -0.9927793862246257, + -58.411618142645416 + ], + [ + -0.992358557400509, + 0.028903339680300184, + -0.1199545351760655, + 589.3846779419813 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.02940693622601264, + 0.9995675225325199, + -0.0, + -3397.543030948747 + ], + [ + 0.12021773696466674, + -0.0035367648952805007, + -0.992741248771889, + -58.50465411488332 + ], + [ + -0.9923119111422829, + 0.029193454665509752, + -0.12026975184909527, + 588.6156016029435 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.02970108697745076, + 0.9995588253986646, + 2.168404328420396e-19, + -3397.153716086106 + ], + [ + 0.12053253270026401, + -0.0035815273162288783, + -0.9927029169005913, + -58.59736332607974 + ], + [ + -0.9922649621848636, + 0.029484331754919747, + -0.12058573299208064, + 587.8439745844888 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.0299962999418519, + 0.9995500097492863, + -4.336808656843413e-19, + -3396.7647959686255 + ], + [ + 0.12084808913011906, + -0.0036266274759538535, + -0.9926643878606449, + -58.68964270385073 + ], + [ + -0.9922176991681315, + 0.029776234800506743, + -0.12090249500570403, + 587.0689042220731 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.030292042677511392, + 0.9995410907763743, + -0.0, + -3396.375941917411 + ], + [ + 0.12116440783798534, + -0.003672002529053407, + -0.9926256608967434, + -58.78170719009868 + ], + [ + -0.9921701364359864, + 0.030068634966689853, + -0.12122003776536355, + 586.2921928126954 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.03058858133577614, + 0.9995320598619459, + -4.336808656848695e-19, + -3395.987297236425 + ], + [ + 0.12148147927505179, + -0.003717685763984966, + -0.9925867362632369, + -58.87343927328123 + ], + [ + -0.9921222657058714, + 0.03036179620239493, + -0.12153835288505861, + 585.5129489444312 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.030885649679846836, + 0.9995229245214209, + -0.0, + -3395.598691434083 + ], + [ + 0.12179931236072036, + -0.003763646436244221, + -0.9925476121949809, + -58.964950497795286 + ], + [ + -0.9920740926913151, + 0.03065545393160949, + -0.12185744850008605, + 584.7320757072964 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.031183780042066216, + 0.9995136676715771, + 2.1684043284270167e-19, + -3395.210423764657 + ], + [ + 0.12211792127178499, + -0.003809951298619937, + -0.9925082858975837, + -59.05602691087866 + ], + [ + -0.992025597661782, + 0.03095013617155267, + -0.1221773410037508, + 583.9477827794269 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.03148270618223486, + 0.9995042967448631, + -2.1684043284283607e-19, + -3394.8223239218214 + ], + [ + 0.12243729013936526, + -0.003856568944986368, + -0.9924687586313742, + -59.14676511374324 + ], + [ + -0.9919767892733934, + 0.031245578420653078, + -0.12249801374719894, + 583.1609746828321 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.031782428051155796, + 0.9994948110256366, + 2.1684043284297125e-19, + -3394.434378340804 + ], + [ + 0.12275742687093258, + -0.0039035010929840248, + -0.9924290286097258, + -59.23716635408795 + ], + [ + -0.9919276650493787, + 0.031541780298714545, + -0.12281947486158327, + 582.3716565881543 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.03208267942012851, + 0.9994852183405342, + 4.336808656862142e-19, + -3394.046418011587 + ], + [ + 0.1230783404220412, + -0.003950716695818545, + -0.9923890940334567, + -59.32734312865928 + ], + [ + -0.9918782309779967, + 0.03183847726839867, + -0.12314173247599605, + 581.5807304630213 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.032383992599583064, + 0.9994755009620349, + -0.0, + -3393.658741366284 + ], + [ + 0.12340002834601041, + -0.003998282700175296, + -0.9923489541182844, + -59.417069434658494 + ], + [ + -0.991828468702203, + 0.03213619729432146, + -0.12346478645874548, + 580.786407612803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.03268583518346889, + 0.9994656753377574, + -0.0, + -3393.2710244150703 + ], + [ + 0.12372250065638087, + -0.004046135214773108, + -0.9923086070478051, + -59.50656928582235 + ], + [ + -0.9917783927486679, + 0.03243441169252329, + -0.12378864493574986, + 579.9904866617364 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.032988739470875175, + 0.9994557234155613, + -0.0, + -3392.8835652099456 + ], + [ + 0.12404574659607343, + -0.004094341271010579, + -0.9922680530587382, + -59.5956106254628 + ], + [ + -0.9917279854606402, + 0.032733648402533656, + -0.12411329951475596, + 579.1911794793152 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.03329243923370107, + 0.9994456530946895, + 4.3368086568731554e-19, + -3392.49619596068 + ], + [ + 0.12436977512049, + -0.004142869767742832, + -0.9922272903254403, + -59.684306107891175 + ], + [ + -0.9916772528728703, + 0.03303364288758488, + -0.12443875831947508, + 578.3893874119033 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.033596668254004196, + 0.99943547259552, + 4.3368086568759437e-19, + -3392.1087789183366 + ], + [ + 0.12469458697965483, + -0.0041916889951343446, + -0.9921863180478457, + -59.772762469150194 + ], + [ + -0.9916262023626692, + 0.03333413069552992, + -0.12476502121413725, + 577.5859978803693 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.03390195881336969, + 0.9994251633757361, + -0.0, + -3391.721636815864 + ], + [ + 0.12502019608972043, + -0.004240867344541391, + -0.9921451333418179, + -59.86075906947646 + ], + [ + -0.9915748126708439, + 0.033635639572879406, + -0.125092104576206, + 576.7792097489416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.03420777852988251, + 0.9994147426809606, + -0.0, + -3391.3344733596678 + ], + [ + 0.12534658781896924, + -0.004290339268045553, + -0.9921037374746182, + -59.948507208499606 + ], + [ + -0.9915231021958226, + 0.03393764105917615, + -0.1254199917529536, + 575.9708093165511 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.03451465967312774, + 0.9994041916400233, + -8.673617313768799e-19, + -3390.9476090976787 + ], + [ + 0.12567377602433707, + -0.004340173520984428, + -0.992062127547258, + -60.03578542392644 + ], + [ + -0.9914710493394281, + 0.03424066283941991, + -0.1257486991188794, + 575.1589966329643 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.034822336025862315, + 0.9993935185469747, + 4.3368086568872465e-19, + -3390.560900447044 + ], + [ + 0.12600176145609707, + -0.004390338336048078, + -0.9920203027354103, + -60.122701669640264 + ], + [ + -0.9914186615287405, + 0.03454444046242272, + -0.12607822653297066, + 574.3446616848262 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.035130541381624414, + 0.9993827320212384, + -0.0, + -3390.174203688356 + ], + [ + 0.1263305449151616, + -0.004440801600533289, + -0.9919782622127276, + -60.20936470502451 + ], + [ + -0.9913659465103908, + 0.03484870953000459, + -0.12640857385339893, + 573.5286944303755 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.035439807991492246, + 0.9993718126951181, + 4.3368086568929886e-19, + -3389.787834857388 + ], + [ + 0.12666012366536744, + -0.004491632049110737, + -0.9919360051508407, + -60.295540899421496 + ], + [ + -0.9913128842663158, + 0.03515399770565388, + -0.1267397409375167, + 572.7092983190234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.03574986964508427, + 0.9993607691021094, + 4.3368086568958795e-19, + -3389.401647957214 + ], + [ + 0.1269905149881839, + -0.004542798253996532, + -0.9918935286042846, + -60.381347774646095 + ], + [ + -0.9912594803411731, + 0.035460040496271286, + -0.12707174415168035, + 571.887363609925 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.036060726286083804, + 0.9993496005001054, + -8.673617313797579e-19, + -3389.015650063769 + ], + [ + 0.12732171024206843, + -0.004594301474696812, + -0.9918508327843426, + -60.466774698216625 + ], + [ + -0.991205734233157, + 0.03576683754814463, + -0.12740457509490374, + 571.0628866908796 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.03637264399752964, + 0.999338296458526, + -8.673617313803424e-19, + -3388.6300000017864 + ], + [ + 0.12765370779597163, + -0.0046461772605751895, + -0.9918079168482189, + -60.551700661999384 + ], + [ + -0.9911516347782625, + 0.03607465242757016, + -0.12773823362097889, + 570.2349686458851 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.03668509043922781, + 0.9993268755214512, + -0.0, + -3388.2443980273347 + ], + [ + 0.12798652621086587, + -0.004698359870085801, + -0.9917647778193205, + -60.63635990046602 + ], + [ + -0.9910971974181547, + 0.036382956726506745, + -0.1280727360905371, + 569.4053952387271 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.03699833169615494, + 0.9993153273375233, + -8.673617313815207e-19, + -3387.8590022391027 + ], + [ + 0.12832015561353943, + -0.004750884481418965, + -0.9917214159026518, + -60.72062743090418 + ], + [ + -0.9910424121148141, + 0.036692014057170555, + -0.12840807410003235, + 568.5732685564478 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.03731263384051123, + 0.999303641220167, + -0.0, + -3387.473970162539 + ], + [ + 0.12865459432145257, + -0.004803786929020344, + -0.9916778302408109, + -60.804382037572324 + ], + [ + -0.9909872674380759, + 0.03700208793262696, + -0.12874424749961447, + 567.7376906209458 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.03762773067635066, + 0.9992918261869994, + -0.0, + -3387.0891548216546 + ], + [ + 0.12898985967342297, + -0.0048570353249978064, + -0.9916340178257712, + -60.88774383757554 + ], + [ + -0.9909317693500937, + 0.03731291392104342, + -0.12908127264407412, + 566.8995520567331 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.03794362214402544, + 0.9992798814839572, + -8.673617313833119e-19, + -3386.704561755268 + ], + [ + 0.1293259512576522, + -0.0049106312644359865, + -0.9915899777790654, + -60.97070800154605 + ], + [ + -0.9908759162502927, + 0.03762449161114185, + -0.1294191493796262, + 566.0588496513718 + ], + [ + 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_00249/.capture_done b/clips/clip_00249/.capture_done new file mode 100644 index 0000000000000000000000000000000000000000..4e3f692e4ecb2a2f2eb25218ec4a35ccdf821923 --- /dev/null +++ b/clips/clip_00249/.capture_done @@ -0,0 +1,73 @@ +{ + "clip": "clip_00249", + "frames": 144, + "frame_count": 144, + "frame_bucket": 144, + "spec_gen": "gen3", + "bucket_retired": false, + "target_class": "pedestrian", + "target_model": "arch_389d3c08", + "target_class_fallback": false, + "target_lost_frame": null, + "hfov_deg_per_cam": [ + 59.55, + 25.921, + 33.343, + 67.45 + ], + "oos_allowed": [ + false, + false, + false, + false + ], + "oos_effective": [ + false, + false, + false, + false + ], + "oos_departed": [ + false, + false, + false, + false + ], + "oos_cycles": [ + 0, + 0, + 0, + 0 + ], + "oos_forced_returns": 0, + "visible_ratio": [ + 0.9792, + 1.0, + 0.9653, + 1.0 + ], + "min_visible_ratio_non_oos": 0.9653, + "points_ok": true, + "points_n": 256, + "points_track_complete_ratio": 1.0, + "points_track_breaks": 0, + "points_in_frustum_ratio": 1.0, + "num_cams": 4, + "save_errors": 0, + "flush_ok": true, + "quality_ok": true, + "view_blocked": false, + "view_block_ratios": [ + 0.028, + 0.0, + 0.111, + 0.0 + ], + "depth_qc": { + "frames": 576, + "sky": 0, + "near": 0, + "const": 0 + }, + "capture_wall_sec": 22.5 +} \ No newline at end of file diff --git a/clips/clip_00249/cameras.json b/clips/clip_00249/cameras.json new file mode 100644 index 0000000000000000000000000000000000000000..18d669824c7ed30b1116656c709570f0dabf396e --- /dev/null +++ b/clips/clip_00249/cameras.json @@ -0,0 +1,39575 @@ +{ + "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": [ + 59.55, + 25.921, + 33.343, + 67.45 + ], + "hfov_range_deg": [ + 25.921, + 67.45 + ], + "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": 1118.6345126276099, + "fy": 1118.6345126276099, + "cx": 640.0, + "cy": 640.0, + "width": 1280, + "height": 1280, + "fov_deg": 59.55, + "hfov_deg": 59.55 + }, + "oos_allowed": false, + "oos_reason": "none", + "pinned": false, + "oos_effective": false, + "oos_cycles": 0, + "oos_departed": false, + "oos_schedule": null + }, + { + "name": "cam02", + "intrinsics": { + "fx": 2780.889910545471, + "fy": 2780.889910545471, + "cx": 640.0, + "cy": 640.0, + "width": 1280, + "height": 1280, + "fov_deg": 25.921, + "hfov_deg": 25.921 + }, + "oos_allowed": false, + "oos_reason": "none", + "pinned": false, + "oos_effective": false, + "oos_cycles": 0, + "oos_departed": false, + "oos_schedule": null + }, + { + "name": "cam03", + "intrinsics": { + "fx": 2137.09270843888, + "fy": 2137.09270843888, + "cx": 640.0, + "cy": 640.0, + "width": 1280, + "height": 1280, + "fov_deg": 33.343, + "hfov_deg": 33.343 + }, + "oos_allowed": false, + "oos_reason": "none", + "pinned": false, + "oos_effective": false, + "oos_cycles": 0, + "oos_departed": false, + "oos_schedule": null + }, + { + "name": "cam04", + "intrinsics": { + "fx": 958.7330102331617, + "fy": 958.7330102331617, + "cx": 640.0, + "cy": 640.0, + "width": 1280, + "height": 1280, + "fov_deg": 67.45, + "hfov_deg": 67.45 + }, + "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": 1831.4473120346665, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.8314696080774457, + -0.5555702393429105, + -0.0, + 1253.3375632318462 + ], + [ + -0.0839427323661395, + -0.12562917492480077, + -0.9885195638380762, + 493.9509066852409 + ], + [ + 0.54919204432733, + 0.8219239783503218, + -0.1510929259110032, + -3205.4833506538926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8314696080774457, + -0.0839427323661395, + 0.54919204432733, + 759.7774661724407 + ], + [ + -0.5555702393429105, + -0.12562917492480077, + 0.8219239783503218, + 3393.0353027654037 + ], + [ + -0.0, + -0.9885195638380762, + -0.1510929259110032, + 3.954281483502503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75977.74661724406, + -339303.5302765404, + 395.4281483502503 + ], + "rotation_deg": [ + 0.0, + -8.690268516540524, + -56.24999999999997 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.4869840733691691, + -0.873410849649105, + -0.0, + 2597.1596072920784 + ], + [ + -0.016766451650386635, + -0.009348401069133523, + -0.9998157297704944, + 47.32592642750123 + ], + [ + 0.8732499041105011, + 0.48689434014147115, + -0.019196523362385216, + -2295.7771697916987 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.4869840733691691, + -0.016766451650386635, + 0.8732499041105011, + 740.8053119697489 + ], + [ + -0.873410849649105, + -0.009348401069133523, + 0.48689434014147115, + 3386.6306983442864 + ], + [ + -0.0, + -0.9998157297704944, + -0.019196523362385216, + 3.246266131053717 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74080.53119697489, + -338663.06983442866, + 324.6266131053717 + ], + "rotation_deg": [ + 0.0, + -1.099947333335877, + -29.14254570007326 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.19509032052435835, + -0.980785280699962, + -0.0, + 3483.4553475313 + ], + [ + -0.09688578957025792, + 0.01927178161567396, + -0.9951089097243102, + 11.24236803703548 + ], + [ + 0.9759881709814507, + -0.19413611762446295, + -0.09878389513469757, + -68.7832381359945 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.19509032052435835, + -0.09688578957025792, + 0.9759881709814507, + 747.8092779482434 + ], + [ + -0.980785280699962, + 0.01927178161567396, + -0.19413611762446295, + 3402.9517586391094 + ], + [ + -0.0, + -0.9951089097243102, + -0.09878389513469757, + 4.392703947784999 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74780.92779482434, + -340295.17586391093, + 439.2703947784999 + ], + "rotation_deg": [ + 0.0, + -5.669146060943601, + 11.250000000000007 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.831469608077446, + -0.55557023934291, + -0.0, + 2524.1923436250054 + ], + [ + -0.16567846365447728, + 0.2479553393727327, + -0.9544992385317261, + -713.7482123851967 + ], + [ + 0.5302913639794624, + -0.7936371112234062, + -0.29821335479446304, + 2302.053403450167 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.831469608077446, + -0.16567846365447728, + 0.5302913639794624, + 759.7774661724407 + ], + [ + -0.55557023934291, + 0.2479553393727327, + -0.7936371112234062, + 3406.338816562244 + ], + [ + -0.0, + -0.9544992385317261, + -0.29821335479446304, + 5.230933014620345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75977.74661724406, + -340633.88165622443, + 523.0933014620346 + ], + "rotation_deg": [ + 0.0, + -17.350324630737294, + 56.25000000000001 + ] + } + } + ] + }, + { + "frame": 1, + "time": 1831.5139787048101, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.8260809260591664, + -0.5635515092706521, + -6.938893851402123e-18, + 1284.6011838151494 + ], + [ + -0.08514864578273774, + -0.12481498319811346, + -0.988519563838076, + 492.12456386590276 + ], + [ + 0.5570816858951855, + 0.81659716077135, + -0.15109292591100315, + -3193.5345741730584 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8260809260591664, + -0.08514864578273774, + 0.5570816858951855, + 759.7788441242488 + ], + [ + -0.5635515092706521, + -0.12481498319811346, + 0.81659716077135, + 3393.194700949859 + ], + [ + -6.938893851402123e-18, + -0.988519563838076, + -0.15109292591100315, + 3.954281483502503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75977.88441242489, + -339319.4700949859, + 395.4281483502503 + ], + "rotation_deg": [ + 4.0218661298994805e-16, + -8.69026851654052, + -55.69823455810543 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.4892467990436568, + -0.8721453833080444, + -0.0, + 2591.1977009345305 + ], + [ + -0.016671488694104727, + -0.009352193607842974, + -0.9998172822768389, + 47.26842633291409 + ], + [ + 0.8719860249497384, + 0.4891574084342766, + -0.019115492832167, + -2302.505320995248 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.4892467990436568, + -0.016671488694104727, + 0.8719860249497384, + 740.8053119697489 + ], + [ + -0.8721453833080444, + -0.009352193607842974, + 0.4891574084342766, + 3386.6306983442864 + ], + [ + -0.0, + -0.9998172822768389, + -0.019115492832167, + 3.246266131053717 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74080.53119697489, + -338663.06983442866, + 324.6266131053717 + ], + "rotation_deg": [ + 0.0, + -1.0953037738800049, + -29.291088104248054 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.1928195078716873, + -0.9812342418526375, + -1.7347234626740816e-18, + 3483.372953810268 + ], + [ + -0.0980505082516469, + 0.019267622287574733, + -0.9949949027824095, + 12.150455666921703 + ], + [ + 0.9763230687145431, + -0.19185442894187893, + -0.09992569034639256, + -76.83501119512303 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.1928195078716873, + -0.0980505082516469, + 0.9763230687145431, + 747.8694160789905 + ], + [ + -0.9812342418526375, + 0.019267622287574733, + -0.19185442894187893, + 3403.0295709463326 + ], + [ + -1.7347234626740816e-18, + -0.9949949027824095, + -0.09992569034639256, + 4.411849456394361 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74786.94160789905, + -340302.95709463325, + 441.184945639436 + ], + "rotation_deg": [ + 9.989230449877987e-17, + -5.734891414642332, + 11.117373466491706 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.831469608077446, + -0.55557023934291, + -0.0, + 2524.3111852996603 + ], + [ + -0.16567846365447728, + 0.2479553393727327, + -0.9544992385317261, + -713.7662399582964 + ], + [ + 0.5302913639794624, + -0.7936371112234062, + -0.29821335479446304, + 2302.1111047733752 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.831469608077446, + -0.16567846365447728, + 0.5302913639794624, + 759.8426941191518 + ], + [ + -0.55557023934291, + 0.2479553393727327, + -0.7936371112234062, + 3406.455105403497 + ], + [ + -0.0, + -0.9544992385317261, + -0.29821335479446304, + 5.230933014620345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75984.26941191519, + -340645.5105403497, + 523.0933014620346 + ], + "rotation_deg": [ + 0.0, + -17.350324630737294, + 56.25000000000001 + ] + } + } + ] + }, + { + "frame": 2, + "time": 1831.5806453749537, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.8206156725310405, + -0.5714804616051438, + -0.0, + 1315.7472391647075 + ], + [ + -0.08634665438115607, + -0.12398922205805109, + -0.9885195638380762, + 490.2528229511973 + ], + [ + 0.5649196104983588, + 0.8111946507553133, + -0.15109292591100323, + -3181.2887824194977 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8206156725310405, + -0.08634665438115607, + 0.5649196104983588, + 759.7813197726344 + ], + [ + -0.5714804616051438, + -0.12398922205805109, + 0.8111946507553133, + 3393.3543281945767 + ], + [ + -0.0, + -0.9885195638380762, + -0.15109292591100323, + 3.954281483502503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75978.13197726345, + -339335.43281945767, + 395.4281483502503 + ], + "rotation_deg": [ + 0.0, + -8.690268516540526, + -55.146472930908175 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.4914657064145176, + -0.8708969281255267, + 8.673617312719366e-19, + 2585.3258659208063 + ], + [ + -0.016577290024713646, + -0.009354918233515615, + -0.9998188230676, + 47.20787576101002 + ], + [ + 0.8707391397335948, + 0.4913766676294952, + -0.019034732604686074, + -2309.0976952910137 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.4914657064145176, + -0.016577290024713646, + 0.8707391397335948, + 740.8053119697489 + ], + [ + -0.8708969281255267, + -0.009354918233515615, + 0.4913766676294952, + 3386.6306983442864 + ], + [ + 8.673617312719366e-19, + -0.9998188230676, + -0.019034732604686074, + 3.246266131053717 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74080.53119697489, + -338663.06983442866, + 324.6266131053717 + ], + "rotation_deg": [ + -4.970517232865389e-17, + -1.0906757116317753, + -29.43696403503419 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.19054700847030687, + -0.9816780722635179, + 1.7347234626772054e-18, + 3483.271387513256 + ], + [ + -0.09921514929280711, + 0.01925799345715084, + -0.9948796328394757, + 13.07730412223832 + ], + [ + 0.976651519740747, + -0.1895713392609493, + -0.10106689031972546, + -84.8878210911666 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.19054700847030687, + -0.09921514929280711, + 0.976651519740747, + 747.9302338048412 + ], + [ + -0.9816780722635179, + 0.01925799345715084, + -0.1895713392609493, + 3403.106999440512 + ], + [ + 1.7347234626772054e-18, + -0.9948796328394757, + -0.10106689031972546, + 4.430994965003722 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74793.02338048413, + -340310.6999440512, + 443.0994965003722 + ], + "rotation_deg": [ + -9.990387834152227e-17, + -5.800610065460202, + 10.98470878601075 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.831469608077446, + -0.55557023934291, + -0.0, + 2524.430378801886 + ], + [ + -0.16567846365447728, + 0.2479553393727327, + -0.9544992385317261, + -713.7840597686298 + ], + [ + 0.5302913639794624, + -0.7936371112234062, + -0.29821335479446304, + 2302.168141104894 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.831469608077446, + -0.16567846365447728, + 0.5302913639794624, + 759.9086016609668 + ], + [ + -0.55557023934291, + 0.2479553393727327, + -0.7936371112234062, + 3406.571010431706 + ], + [ + -0.0, + -0.9544992385317261, + -0.29821335479446304, + 5.230933014620345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75990.86016609668, + -340657.1010431706, + 523.0933014620346 + ], + "rotation_deg": [ + 0.0, + -17.350324630737294, + 56.25000000000001 + ] + } + } + ] + }, + { + "frame": 3, + "time": 1831.6473120450974, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.8150742787635048, + -0.5793564706621929, + -6.938893851402123e-18, + 1346.7734493092348 + ], + [ + -0.08753666362493971, + -0.12315195666652504, + -0.988519563838076, + 488.3358277432719 + ], + [ + 0.5727051996357662, + 0.8057168746214826, + -0.1510929259110032, + -3168.746916213164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8150742787635048, + -0.08753666362493971, + 0.5727051996357662, + 759.7847403523941 + ], + [ + -0.5793564706621929, + -0.12315195666652504, + 0.8057168746214826, + 3393.5142664762475 + ], + [ + -6.938893851402123e-18, + -0.988519563838076, + -0.1510929259110032, + 3.954281483502503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75978.47403523941, + -339351.42664762476, + 395.4281483502503 + ], + "rotation_deg": [ + 4.0218661298994805e-16, + -8.690268516540524, + -54.59470748901363 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.4936462533737136, + -0.8696627947256884, + -8.673617312719159e-19, + 2579.5309510926904 + ], + [ + -0.01648386466208208, + -0.009356727781050853, + -0.9998203507885972, + 47.144798984721746 + ], + [ + 0.869506558514137, + 0.493557573689605, + -0.01895431756966933, + -2315.5707770381828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.4936462533737136, + -0.01648386466208208, + 0.869506558514137, + 740.8053119697489 + ], + [ + -0.8696627947256884, + -0.009356727781050853, + 0.493557573689605, + 3386.6306983442864 + ], + [ + -8.673617312719159e-19, + -0.9998203507885972, + -0.01895431756966933, + 3.246266131053717 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74080.53119697489, + -338663.06983442866, + 324.6266131053717 + ], + "rotation_deg": [ + 4.970509637937304e-17, + -1.0860674381256108, + -29.580522537231456 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.18827286631132759, + -0.9821167587465949, + -0.0, + 3483.1506846509233 + ], + [ + -0.1003796672793806, + 0.019242892975561792, + -0.9947631041945673, + 14.02287273209403 + ], + [ + 0.9769735152578716, + -0.18728690234560608, + -0.10220746887808602, + -92.94130450508251 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.18827286631132759, + -0.1003796672793806, + 0.9769735152578716, + 747.9915724780399 + ], + [ + -0.9821167587465949, + 0.019242892975561792, + -0.18728690234560608, + 3403.1841301530526 + ], + [ + -0.0, + -0.9947631041945673, + -0.10220746887808602, + 4.450140473613083 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74799.15724780399, + -340318.41301530524, + 445.0140473613083 + ], + "rotation_deg": [ + 0.0, + -5.86630058288574, + 10.852007865905767 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.831469608077446, + -0.55557023934291, + -0.0, + 2524.5498400173824 + ], + [ + -0.16567846365447728, + 0.2479553393727327, + -0.9544992385317261, + -713.8017194326598 + ], + [ + 0.5302913639794624, + -0.7936371112234062, + -0.29821335479446304, + 2302.224664851973 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.831469608077446, + -0.16567846365447728, + 0.5302913639794624, + 759.9750301501298 + ], + [ + -0.55557023934291, + 0.2479553393727327, + -0.7936371112234062, + 3406.6866176782764 + ], + [ + -0.0, + -0.9544992385317261, + -0.29821335479446304, + 5.230933014620345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75997.50301501298, + -340668.66176782764, + 523.0933014620346 + ], + "rotation_deg": [ + 0.0, + -17.350324630737294, + 56.25000000000001 + ] + } + } + ] + }, + { + "frame": 4, + "time": 1831.713978715241, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.8094573352719556, + -0.5871786971394866, + -0.0, + 1377.6767242320675 + ], + [ + -0.08871854670144758, + -0.12230327624623384, + -0.9885195638380762, + 486.37377793281274 + ], + [ + 0.5804376236406286, + 0.8001644161058852, + -0.15109292591100323, + -3155.9102820225744 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.8094573352719556, + -0.08871854670144758, + 0.5804376236406286, + 759.788922524929 + ], + [ + -0.5871786971394866, + -0.12230327624623384, + 0.8001644161058852, + 3393.6746181969797 + ], + [ + -0.0, + -0.9885195638380762, + -0.15109292591100323, + 3.954281483502503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75978.89225249291, + -339367.461819698, + 395.4281483502503 + ], + "rotation_deg": [ + 0.0, + -8.690268516540526, + -54.04294586181638 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.4957948494451207, + -0.8684396739346318, + 1.7347234625437916e-18, + 2573.7970012909395 + ], + [ + -0.01639121587218009, + -0.009357794962027153, + -0.9998218639916215, + 47.079783329129526 + ], + [ + 0.8682849715632429, + 0.49570653401743725, + -0.018874328857954918, + -2321.943813616334 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.4957948494451207, + -0.01639121587218009, + 0.8682849715632429, + 740.8053119697489 + ], + [ + -0.8684396739346318, + -0.009357794962027153, + 0.49570653401743725, + 3386.6306983442864 + ], + [ + 1.7347234625437916e-18, + -0.9998218639916215, + -0.018874328857954918, + 3.246266131053717 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74080.53119697489, + -338663.06983442866, + 324.6266131053717 + ], + "rotation_deg": [ + -9.941004230413805e-17, + -1.081483602523804, + -29.72217750549318 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.18599707640691457, + -0.9825502977293734, + -0.0, + 3483.01089336278 + ], + [ + -0.10154402585197196, + 0.01922231561956842, + -0.9946453204011947, + 14.987133809554543 + ], + [ + 0.9772890553457726, + -0.18500112305735217, + -0.1033474081382094, + -100.99523806311176 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.18599707640691457, + -0.10154402585197196, + 0.9772890553457726, + 748.0532429167553 + ], + [ + -0.9825502977293734, + 0.01922231561956842, + -0.18500112305735217, + 3403.261069597238 + ], + [ + -0.0, + -0.9946453204011947, + -0.1033474081382094, + 4.469285982222444 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74805.32429167553, + -340326.1069597238, + 446.92859822224443 + ], + "rotation_deg": [ + 0.0, + -5.931962013244627, + 10.719269752502445 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.831469608077446, + -0.55557023934291, + -0.0, + 2524.669470822817 + ], + [ + -0.16567846365447728, + 0.2479553393727327, + -0.9544992385317261, + -713.8192767042786 + ], + [ + 0.5302913639794624, + -0.7936371112234062, + -0.29821335479446304, + 2302.2808608689993 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.831469608077446, + -0.16567846365447728, + 0.5302913639794624, + 760.0417904048093 + ], + [ + -0.55557023934291, + 0.2479553393727327, + -0.7936371112234062, + 3406.8020336564914 + ], + [ + -0.0, + -0.9544992385317261, + -0.29821335479446304, + 5.230933014620345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76004.17904048093, + -340680.20336564915, + 523.0933014620346 + ], + "rotation_deg": [ + 0.0, + -17.350324630737294, + 56.25000000000001 + ] + } + } + ] + }, + { + "frame": 5, + "time": 1831.7806453853846, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.803765285296887, + -0.5949465237747119, + 6.938893851402123e-18, + 1408.454871379193 + ], + [ + -0.08989221034671137, + -0.12144324776767997, + -0.988519563838076, + 484.3668216664572 + ], + [ + 0.5881162723370557, + 0.7945377133604284, + -0.1510929259110032, + -3142.779849091341 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.803765285296887, + -0.08989221034671137, + 0.5881162723370557, + 759.7936551235048 + ], + [ + -0.5949465237747119, + -0.12144324776767997, + 0.7945377133604284, + 3393.835503980341 + ], + [ + 6.938893851402123e-18, + -0.988519563838076, + -0.1510929259110032, + 3.954281483502503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75979.36551235047, + -339383.5503980341, + 395.4281483502503 + ], + "rotation_deg": [ + -4.0218661298994805e-16, + -8.690268516540524, + -53.49118041992185 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.4979187630402521, + -0.8672236766904287, + -0.0, + 2568.1054612211806 + ], + [ + -0.01629934032104188, + -0.009358309268027911, + -0.9998233611757344, + 47.01346805755478 + ], + [ + 0.8670704893074951, + 0.4978308147547037, + -0.01879485176130175, + -2328.238531070518 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.4979187630402521, + -0.01629934032104188, + 0.8670704893074951, + 740.8053119697489 + ], + [ + -0.8672236766904287, + -0.009358309268027911, + 0.4978308147547037, + 3386.6306983442864 + ], + [ + -0.0, + -0.9998233611757344, + -0.01879485176130175, + 3.246266131053717 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74080.53119697489, + -338663.06983442866, + 324.6266131053717 + ], + "rotation_deg": [ + 0.0, + -1.0769290924072272, + -29.862401962280288 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.18371971557310915, + -0.9829786702211476, + -1.7347234626867867e-18, + 3482.852085282478 + ], + [ + -0.10270818702411871, + 0.019196264861836305, + -0.9945262850893245, + 15.970024763535939 + ], + [ + 0.9775981248722823, + -0.1827140876102527, + -0.10448669022870957, + -109.04908035336479 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.18371971557310915, + -0.10270818702411871, + 0.9775981248722823, + 748.1150281508811 + ], + [ + -0.9829786702211476, + 0.019196264861836305, + -0.1827140876102527, + 3403.337942563891 + ], + [ + -1.7347234626867867e-18, + -0.9945262850893245, + -0.10448669022870957, + 4.488431490831806 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74811.50281508811, + -340333.7942563891, + 448.8431490831806 + ], + "rotation_deg": [ + 9.993937344277959e-17, + -5.997593402862549, + 10.586498260498054 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.831469608077446, + -0.55557023934291, + -0.0, + 2524.7891601442075 + ], + [ + -0.16567846365447728, + 0.2479553393727327, + -0.9544992385317261, + -713.8367984733111 + ], + [ + 0.5302913639794624, + -0.7936371112234062, + -0.29821335479446304, + 2302.3369432519735 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.831469608077446, + -0.16567846365447728, + 0.5302913639794624, + 760.1086654548993 + ], + [ + -0.55557023934291, + 0.2479553393727327, + -0.7936371112234062, + 3406.917383157174 + ], + [ + -0.0, + -0.9544992385317261, + -0.29821335479446304, + 5.230933014620345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76010.86654548993, + -340691.7383157174, + 523.0933014620346 + ], + "rotation_deg": [ + 0.0, + -17.350324630737294, + 56.25000000000001 + ] + } + } + ] + }, + { + "frame": 6, + "time": 1831.8473120555282, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.7979986952838257, + -0.6026591759239313, + -0.0, + 1439.1050957086672 + ], + [ + -0.09105753751751298, + -0.12057195681677488, + -0.9885195638380762, + 482.315150383376 + ], + [ + 0.5957403799743389, + 0.7888373263276038, + -0.1510929259110032, + -3129.356869902771 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7979986952838257, + -0.09105753751751298, + 0.5957403799743389, + 759.7987041756298 + ], + [ + -0.6026591759239313, + -0.12057195681677488, + 0.7888373263276038, + 3393.9970584258367 + ], + [ + -0.0, + -0.9885195638380762, + -0.1510929259110032, + 3.954281483502503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75979.87041756298, + -339399.7058425837, + 395.4281483502503 + ], + "rotation_deg": [ + 0.0, + -8.690268516540524, + -52.93941497802732 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.500025798725555, + -0.8660105083709263, + -8.673617312718557e-19, + 2562.436004919913 + ], + [ + -0.01620823693764397, + -0.009358473762546038, + -0.9998248406717094, + 46.946540072217665 + ], + [ + 0.8658588165217789, + 0.4999382180532785, + -0.018715981973098653, + -2334.478170171558 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.500025798725555, + -0.01620823693764397, + 0.8658588165217789, + 740.8053119697489 + ], + [ + -0.8660105083709263, + -0.009358473762546038, + 0.4999382180532785, + 3386.6306983442864 + ], + [ + -8.673617312718557e-19, + -0.9998248406717094, + -0.018715981973098653, + 3.246266131053717 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74080.53119697489, + -338663.06983442866, + 324.6266131053717 + ], + "rotation_deg": [ + 4.9704873170199594e-17, + -1.0724093914031985, + -30.001707077026378 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.18144081165887604, + -0.9834018669214373, + -0.0, + 3482.6743402606476 + ], + [ + -0.10387209747085213, + 0.019164736521012655, + -0.9944060037233713, + 16.971493940238275 + ], + [ + 0.9779007201992987, + -0.18042583380041935, + -0.10562528073863817, + -117.10243946693923 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.18144081165887604, + -0.10387209747085213, + 0.9779007201992987, + 748.1766884449546 + ], + [ + -0.9834018669214373, + 0.019164736521012655, + -0.18042583380041935, + 3403.4148878754636 + ], + [ + -0.0, + -0.9944060037233713, + -0.10562528073863817, + 4.507576999441167 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74817.66884449546, + -340341.48878754635, + 450.7576999441167 + ], + "rotation_deg": [ + 0.0, + -6.063192844390868, + 10.453694343566902 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.831469608077446, + -0.55557023934291, + -0.0, + 2524.908785774426 + ], + [ + -0.16567846365447728, + 0.2479553393727327, + -0.9544992385317261, + -713.8543588805286 + ], + [ + 0.5302913639794624, + -0.7936371112234062, + -0.29821335479446304, + 2302.393149305192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.831469608077446, + -0.16567846365447728, + 0.5302913639794624, + 760.175415564937 + ], + [ + -0.55557023934291, + 0.2479553393727327, + -0.7936371112234062, + 3407.032805002776 + ], + [ + -0.0, + -0.9544992385317261, + -0.29821335479446304, + 5.230933014620345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76017.5415564937, + -340703.2805002776, + 523.0933014620346 + ], + "rotation_deg": [ + 0.0, + -17.350324630737294, + 56.25000000000001 + ] + } + } + ] + }, + { + "frame": 7, + "time": 1831.9139787256718, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.7921581406522854, + -0.6103158855857467, + -0.0, + 1469.6246326907894 + ], + [ + -0.09221441217427497, + -0.11968949033533578, + -0.9885195638380762, + 480.2189588302275 + ], + [ + 0.6033091873680502, + 0.7830638238208653, + -0.15109292591100318, + -3115.6426185792884 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7921581406522854, + -0.09221441217427497, + 0.6033091873680502, + 759.803820609075 + ], + [ + -0.6103158855857467, + -0.11968949033533578, + 0.7830638238208653, + 3394.159423684113 + ], + [ + -0.0, + -0.9885195638380762, + -0.15109292591100318, + 3.954281483502503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75980.3820609075, + -339415.9423684113, + 395.4281483502503 + ], + "rotation_deg": [ + 0.0, + -8.690268516540522, + -52.38765335083004 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5021242072222769, + -0.864795513703326, + -8.67361731271836e-19, + 2556.766754519239 + ], + [ + -0.01611789163842856, + -0.009358493924630753, + -0.999826300994625, + 46.87968481677925 + ], + [ + 0.8646452975346145, + 0.5020369922689882, + -0.01863780686632766, + -2340.687215824708 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5021242072222769, + -0.01611789163842856, + 0.8646452975346145, + 740.8053119697489 + ], + [ + -0.864795513703326, + -0.009358493924630753, + 0.5020369922689882, + 3386.6306983442864 + ], + [ + -8.67361731271836e-19, + -0.999826300994625, + -0.01863780686632766, + 3.246266131053717 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74080.53119697489, + -338663.06983442866, + 324.6266131053717 + ], + "rotation_deg": [ + 4.9704800572423e-17, + -1.0679295063018799, + -30.1406364440918 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.17916039256457927, + -0.9838198787055005, + -1.7347234626933464e-18, + 3482.477745993866 + ], + [ + -0.10503572824928813, + 0.019127731319283536, + -0.9942844792541611, + 17.991488392598757 + ], + [ + 0.9781968354429905, + -0.17813639897314695, + -0.1067631701018612, + -125.15490812353241 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.17916039256457927, + -0.10503572824928813, + 0.9781968354429905, + 748.2379690047081 + ], + [ + -0.9838198787055005, + 0.019127731319283536, + -0.17813639897314695, + 3403.4920519608504 + ], + [ + -1.7347234626933464e-18, + -0.9942844792541611, + -0.1067631701018612, + 4.526722508050528 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74823.79690047081, + -340349.20519608504, + 452.67225080505284 + ], + "rotation_deg": [ + 9.996367828162712e-17, + -6.128759860992429, + 10.320858955383304 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.831469608077446, + -0.55557023934291, + -0.0, + 2525.0282172113193 + ], + [ + -0.16567846365447728, + 0.2479553393727327, + -0.9544992385317261, + -713.8720364476803 + ], + [ + 0.5302913639794624, + -0.7936371112234062, + -0.29821335479446304, + 2302.4497303552585 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.831469608077446, + -0.16567846365447728, + 0.5302913639794624, + 760.2417859406548 + ], + [ + -0.55557023934291, + 0.2479553393727327, + -0.7936371112234062, + 3407.148445622193 + ], + [ + -0.0, + -0.9544992385317261, + -0.29821335479446304, + 5.230933014620345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76024.17859406548, + -340714.8445622193, + 523.0933014620346 + ], + "rotation_deg": [ + 0.0, + -17.350324630737294, + 56.25000000000001 + ] + } + } + ] + }, + { + "frame": 8, + "time": 1831.9806453958154, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.7862440822882144, + -0.617916048558996, + -1.3877787702804247e-17, + 1500.0113617707407 + ], + [ + -0.09336274302647664, + -0.11879591795996865, + -0.988519563838076, + 478.0783996347495 + ], + [ + 0.6108220972535022, + 0.7772176614349968, + -0.15109292591100323, + -3101.6380936819223 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7862440822882144, + -0.09336274302647664, + 0.6108220972535022, + 759.8087507485699 + ], + [ + -0.617916048558996, + -0.11879591795996865, + 0.7772176614349968, + 3394.322741105102 + ], + [ + -1.3877787702804247e-17, + -0.988519563838076, + -0.15109292591100323, + 3.954281483502503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75980.87507485699, + -339432.2741105102, + 395.4281483502503 + ], + "rotation_deg": [ + 8.043732259798961e-16, + -8.690268516540526, + -51.83588790893553 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5042220495470984, + -0.8635740412671765, + -1.7347234625436333e-18, + 2551.0759857318913 + ], + [ + -0.01602829862692495, + -0.009358574017072208, + -0.9998277405310843, + 46.8135897545814 + ], + [ + 0.863425280395322, + 0.5041351960579786, + -0.01856042213537642, + -2346.889513221834 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5042220495470984, + -0.01602829862692495, + 0.863425280395322, + 740.8053119697489 + ], + [ + -0.8635740412671765, + -0.009358574017072208, + 0.5041351960579786, + 3386.6306983442864 + ], + [ + -1.7347234625436333e-18, + -0.9998277405310843, + -0.01856042213537642, + 3.246266131053717 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74080.53119697489, + -338663.06983442866, + 324.6266131053717 + ], + "rotation_deg": [ + 9.940945801644331e-17, + -1.0634949207305908, + -30.279724121093757 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.17687848624107783, + -0.9842326966246675, + -0.0, + 3482.262391845288 + ], + [ + -0.10619902597810504, + 0.01908524581605871, + -0.9941617173646559, + 19.029949431533367 + ], + [ + 0.9784864676316757, + -0.17584582097808701, + -0.10790032393940331, + -133.2060763254867 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.17687848624107783, + -0.10619902597810504, + 0.9784864676316757, + 748.2986104742986 + ], + [ + -0.9842326966246675, + 0.01908524581605871, + -0.17584582097808701, + 3403.5695805031387 + ], + [ + -0.0, + -0.9941617173646559, + -0.10790032393940331, + 4.54586801665989 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74829.86104742986, + -340356.9580503139, + 454.58680166598896 + ], + "rotation_deg": [ + 0.0, + -6.194292545318602, + 10.187993049621586 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.831469608077446, + -0.55557023934291, + -0.0, + 2525.147319745573 + ], + [ + -0.16567846365447728, + 0.2479553393727327, + -0.9544992385317261, + -713.8899102673429 + ], + [ + 0.5302913639794624, + -0.7936371112234062, + -0.29821335479446304, + 2302.5069395558417 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.831469608077446, + -0.16567846365447728, + 0.5302913639794624, + 760.3075172262095 + ], + [ + -0.55557023934291, + 0.2479553393727327, + -0.7936371112234062, + 3407.2644506985107 + ], + [ + -0.0, + -0.9544992385317261, + -0.29821335479446304, + 5.230933014620345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76030.75172262095, + -340726.44506985106, + 523.0933014620346 + ], + "rotation_deg": [ + 0.0, + -17.350324630737294, + 56.25000000000001 + ] + } + } + ] + }, + { + "frame": 9, + "time": 1832.047312065959, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.7802571087773492, + -0.6254589068855056, + -6.938893851402123e-18, + 1530.26252798131 + ], + [ + -0.0945024155520006, + -0.11789132862181381, + -0.988519563838076, + 475.89367115402325 + ], + [ + 0.6182783603741909, + 0.7712994209985214, + -0.1510929259110032, + -3087.3445929541494 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7802571087773492, + -0.0945024155520006, + 0.6182783603741909, + 759.8132492732456 + ], + [ + -0.6254589068855056, + -0.11789132862181381, + 0.7712994209985214, + 3394.4871416766405 + ], + [ + -6.938893851402123e-18, + -0.988519563838076, + -0.1510929259110032, + 3.954281483502503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75981.32492732456, + -339448.71416766406, + 395.4281483502503 + ], + "rotation_deg": [ + 4.0218661298994805e-16, + -8.690268516540524, + -51.284122467040994 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5063269105695345, + -0.8623416142301787, + -0.0, + 2545.342918268547 + ], + [ + -0.015939445520125984, + -0.009358901476187575, + -0.9998291579263281, + 46.74888048541444 + ], + [ + 0.8621942879162924, + 0.5062404121747841, + -0.01848391099368899, + -2353.107425357725 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5063269105695345, + -0.015939445520125984, + 0.8621942879162924, + 740.8053119697489 + ], + [ + -0.8623416142301787, + -0.009358901476187575, + 0.5062404121747841, + 3386.6306983442864 + ], + [ + -0.0, + -0.9998291579263281, + -0.01848391099368899, + 3.246266131053717 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74080.53119697489, + -338663.06983442866, + 324.6266131053717 + ], + "rotation_deg": [ + 0.0, + -1.0591104030609133, + -30.41947555541994 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.174595137077916, + -0.9846403090005729, + -0.0, + 3482.0283641128544 + ], + [ + -0.10736195321549266, + 0.01903728170303948, + -0.9940377220745262, + 20.08681273593013 + ], + [ + 0.9787696094948873, + -0.1735541536606934, + -0.10903672443881596, + -141.2554873936461 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.174595137077916, + -0.10736195321549266, + 0.9787696094948873, + 748.3583618942752 + ], + [ + -0.9846403090005729, + 0.01903728170303948, + -0.1735541536606934, + 3403.647608877821 + ], + [ + -0.0, + -0.9940377220745262, + -0.10903672443881596, + 4.565013525269252 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74835.83618942751, + -340364.7608877821, + 456.50135252692513 + ], + "rotation_deg": [ + 0.0, + -6.259789943695065, + 10.055098533630378 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.831469608077446, + -0.55557023934291, + -0.0, + 2525.2659599226254 + ], + [ + -0.16567846365447728, + 0.2479553393727327, + -0.9544992385317261, + -713.9080554851689 + ], + [ + 0.5302913639794624, + -0.7936371112234062, + -0.29821335479446304, + 2302.5650174275856 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.831469608077446, + -0.16567846365447728, + 0.5302913639794624, + 760.3723584621501 + ], + [ + -0.55557023934291, + 0.2479553393727327, + -0.7936371112234062, + 3407.3809556072224 + ], + [ + -0.0, + -0.9544992385317261, + -0.29821335479446304, + 5.230933014620345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76037.23584621502, + -340738.0955607222, + 523.0933014620346 + ], + "rotation_deg": [ + 0.0, + -17.350324630737294, + 56.25000000000001 + ] + } + } + ] + }, + { + "frame": 10, + "time": 1832.1139787361026, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.7741978174837917, + -0.6329437095060932, + -0.0, + 1560.375359717388 + ], + [ + -0.09563331627111846, + -0.11697581257836062, + -0.9885195638380762, + 473.66497530686905 + ], + [ + 0.6256772342934005, + 0.7653096930175481, + -0.15109292591100323, + -3072.76343744198 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7741978174837917, + -0.09563331627111846, + 0.6256772342934005, + 759.8170938216466 + ], + [ + -0.6329437095060932, + -0.11697581257836062, + 0.7653096930175481, + 3394.652736366755 + ], + [ + -0.0, + -0.9885195638380762, + -0.15109292591100323, + 3.954281483502503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75981.70938216466, + -339465.2736366755, + 395.4281483502503 + ], + "rotation_deg": [ + 0.0, + -8.690268516540526, + -50.73236083984373 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5084452993283234, + -0.8610942907666564, + -1.7347234625435574e-18, + 2539.549380690889 + ], + [ + -0.0158513235301982, + -0.00935963810639842, + -0.9998305520021171, + 46.686098467200985 + ], + [ + 0.8609483779604277, + 0.5083591478462033, + -0.018408348334143076, + -2359.3600692071923 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5084452993283234, + -0.0158513235301982, + 0.8609483779604277, + 740.8053119697489 + ], + [ + -0.8610942907666564, + -0.00935963810639842, + 0.5083591478462033, + 3386.6306983442864 + ], + [ + -1.7347234625435574e-18, + -0.9998305520021171, + -0.018408348334143076, + 3.246266131053717 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74080.53119697489, + -338663.06983442866, + 324.6266131053717 + ], + "rotation_deg": [ + 9.940917848226085e-17, + -1.0547802448272703, + -30.560327529907223 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.17231038954010633, + -0.985042704483687, + -1.7347234627034427e-18, + 3481.775737079284 + ], + [ + -0.10852447250995222, + 0.018983841053496285, + -0.9939124974791753, + 21.162014420420594 + ], + [ + 0.9790462542144732, + -0.1712614509065478, + -0.11017235380072991, + -149.3027117639781 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.17231038954010633, + -0.10852447250995222, + 0.9790462542144732, + 748.416995307115 + ], + [ + -0.985042704483687, + 0.018983841053496285, + -0.1712614509065478, + 3403.7262524946746 + ], + [ + -1.7347234627034427e-18, + -0.9939124974791753, + -0.11017235380072991, + 4.5841590338786125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74841.6995307115, + -340372.62524946744, + 458.41590338786125 + ], + "rotation_deg": [ + 1.0000109069685895e-16, + -6.325251102447507, + 9.922177314758308 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.831469608077446, + -0.55557023934291, + -0.0, + 2525.384012320962 + ], + [ + -0.16567846365447728, + 0.2479553393727327, + -0.9544992385317261, + -713.9265384852812 + ], + [ + 0.5302913639794624, + -0.7936371112234062, + -0.29821335479446304, + 2302.6241764478787 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.831469608077446, + -0.16567846365447728, + 0.5302913639794624, + 760.4360816909542 + ], + [ + -0.55557023934291, + 0.2479553393727327, + -0.7936371112234062, + 3407.498075758105 + ], + [ + -0.0, + -0.9544992385317261, + -0.29821335479446304, + 5.230933014620345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76043.60816909542, + -340749.8075758105, + 523.0933014620346 + ], + "rotation_deg": [ + 0.0, + -17.350324630737294, + 56.25000000000001 + ] + } + } + ] + }, + { + "frame": 11, + "time": 1832.1806454062462, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.7680666865542906, + -0.640369865785011, + 6.938893851402123e-18, + 1590.3476699759062 + ], + [ + -0.09675535594294753, + -0.11604944207419973, + -0.988519563838076, + 471.3924702466065 + ], + [ + 0.6330181351561209, + 0.7592489501495011, + -0.15109292591100323, + -3057.895661857354 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7680666865542906, + -0.09675535594294753, + 0.6330181351561209, + 759.8200999687473 + ], + [ + -0.640369865785011, + -0.11604944207419973, + 0.7592489501495011, + 3394.8196076829463 + ], + [ + 6.938893851402123e-18, + -0.988519563838076, + -0.15109292591100323, + 3.954281483502503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75982.00999687472, + -339481.96076829464, + 395.4281483502503 + ], + "rotation_deg": [ + -4.0218661298994805e-16, + -8.690268516540526, + -50.180595397949205 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5105823692146659, + -0.8598288459031475, + -0.0, + 2533.680633545214 + ], + [ + -0.015763921656440655, + -0.009360910029722915, + -0.9998319219435962, + 46.62566267661659 + ], + [ + 0.8596843254205865, + 0.5104965550896201, + -0.018333790327750607, + -2365.6625033916184 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5105823692146659, + -0.015763921656440655, + 0.8596843254205865, + 740.8053119697489 + ], + [ + -0.8598288459031475, + -0.009360910029722915, + 0.5104965550896201, + 3386.6306983442864 + ], + [ + -0.0, + -0.9998319219435962, + -0.018333790327750607, + 3.246266131053717 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74080.53119697489, + -338663.06983442866, + 324.6266131053717 + ], + "rotation_deg": [ + 0.0, + -1.0505076646804814, + -30.702629089355476 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.17002427176394094, + -0.9854398748838721, + -0.0, + 3481.504564290525 + ], + [ + -0.10968653856822107, + 0.018924923090378215, + -0.9937860486759436, + 22.25549811722911 + ], + [ + 0.9793163991501599, + -0.16896775049506554, + -0.11130718596839066, + -157.34742068671395 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.17002427176394094, + -0.10968653856822107, + 0.9793163991501599, + 748.4743207347582 + ], + [ + -0.9854398748838721, + 0.018924923090378215, + -0.16896775049506554, + 3403.805598356637 + ], + [ + -0.0, + -0.9937860486759436, + -0.11130718596839066, + 4.603304542487973 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74847.43207347582, + -340380.5598356637, + 460.33045424879737 + ], + "rotation_deg": [ + 0.0, + -6.390674591064451, + 9.789230346679696 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.831469608077446, + -0.55557023934291, + -0.0, + 2525.5013673158446 + ], + [ + -0.16567846365447728, + 0.2479553393727327, + -0.9544992385317261, + -713.9454123157957 + ], + [ + 0.5302913639794624, + -0.7936371112234062, + -0.29821335479446304, + 2302.6845864092065 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.831469608077446, + -0.16567846365447728, + 0.5302913639794624, + 760.4984969345617 + ], + [ + -0.55557023934291, + 0.2479553393727327, + -0.7936371112234062, + 3407.615898154098 + ], + [ + -0.0, + -0.9544992385317261, + -0.29821335479446304, + 5.230933014620345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76049.84969345617, + -340761.5898154098, + 523.0933014620346 + ], + "rotation_deg": [ + 0.0, + -17.350324630737294, + 56.25000000000001 + ] + } + } + ] + }, + { + "frame": 12, + "time": 1832.2473120763898, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.7618643693492381, + -0.6477365843582463, + 6.938893851402123e-18, + 1620.176427814242 + ], + [ + -0.09786841499798463, + -0.11511231582746376, + -0.988519563838076, + 469.0763796648835 + ], + [ + 0.6403002806835223, + 0.7531178382539181, + -0.1510929259110032, + -3042.742729694157 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7618643693492381, + -0.09786841499798463, + 0.6403002806835223, + 759.8221024482452 + ], + [ + -0.6477365843582463, + -0.11511231582746376, + 0.7531178382539181, + 3394.9878203843195 + ], + [ + 6.938893851402123e-18, + -0.988519563838076, + -0.1510929259110032, + 3.954281483502503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75982.21024482453, + -339498.78203843196, + 395.4281483502503 + ], + "rotation_deg": [ + -4.0218661298994805e-16, + -8.690268516540524, + -49.62883377075193 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5127422980730071, + -0.8585425649126613, + -0.0, + 2527.724388084401 + ], + [ + -0.015677237005994986, + -0.009362823531884869, + -0.9998332669877359, + 46.56793091863445 + ], + [ + 0.8583994153844257, + 0.5126568105837277, + -0.0182602910654965, + -2372.0268613822045 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5127422980730071, + -0.015677237005994986, + 0.8583994153844257, + 740.8053119697489 + ], + [ + -0.8585425649126613, + -0.009362823531884869, + 0.5126568105837277, + 3386.6306983442864 + ], + [ + -0.0, + -0.9998332669877359, + -0.0182602910654965, + 3.246266131053717 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74080.53119697489, + -338663.06983442866, + 324.6266131053717 + ], + "rotation_deg": [ + 0.0, + -1.0462957620620728, + -30.846666336059585 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.16773681193151488, + -0.9858318121885963, + -0.0, + 3481.214887576388 + ], + [ + -0.11084811423305199, + 0.018860528804395586, + -0.993658379939602, + 23.367209142943537 + ], + [ + 0.9795800410778928, + -0.1666730900625039, + -0.11244120317237134, + -165.38930781851602 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.16773681193151488, + -0.11084811423305199, + 0.9795800410778928, + 748.530167401417 + ], + [ + -0.9858318121885963, + 0.018860528804395586, + -0.1666730900625039, + 3403.885715771516 + ], + [ + -0.0, + -0.993658379939602, + -0.11244120317237134, + 4.622450051097335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74853.0167401417, + -340388.5715771516, + 462.24500510973354 + ], + "rotation_deg": [ + 0.0, + -6.45605945587158, + 9.656258583068848 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.831469608077446, + -0.55557023934291, + -0.0, + 2525.617921417748 + ], + [ + -0.16567846365447728, + 0.2479553393727327, + -0.9544992385317261, + -713.9647224558233 + ], + [ + 0.5302913639794624, + -0.7936371112234062, + -0.29821335479446304, + 2302.7463928777397 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.831469608077446, + -0.16567846365447728, + 0.5302913639794624, + 760.5594334171847 + ], + [ + -0.55557023934291, + 0.2479553393727327, + -0.7936371112234062, + 3407.7344921030062 + ], + [ + -0.0, + -0.9544992385317261, + -0.29821335479446304, + 5.230933014620345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76055.94334171846, + -340773.44921030063, + 523.0933014620346 + ], + "rotation_deg": [ + 0.0, + -17.350324630737294, + 56.25000000000001 + ] + } + } + ] + }, + { + "frame": 13, + "time": 1832.3139787465334, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.7555913553017489, + -0.655043283908221, + 6.938893851402123e-18, + 1649.859417222852 + ], + [ + -0.0989724056032567, + -0.1141645077880335, + -0.988519563838076, + 466.71686599240877 + ], + [ + 0.6475230962317884, + 0.746916841145017, + -0.15109292591100323, + -3027.3057036489786 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7555913553017489, + -0.0989724056032567, + 0.6475230962317884, + 759.8229490161565 + ], + [ + -0.655043283908221, + -0.1141645077880335, + 0.746916841145017, + 3395.1574250029953 + ], + [ + 6.938893851402123e-18, + -0.988519563838076, + -0.15109292591100323, + 3.954281483502503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75982.29490161565, + -339515.74250029953, + 395.4281483502503 + ], + "rotation_deg": [ + -4.0218661298994805e-16, + -8.690268516540526, + -49.0770683288574 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5149287792980403, + -0.8572329626482112, + -8.673617312717247e-19, + 2521.6694919469664 + ], + [ + -0.015591258774101389, + -0.009365467962718269, + -0.9998345866490509, + 46.513197782345785 + ], + [ + 0.8570911627118213, + 0.5148436067932204, + -0.018187890076809814, + -2378.4638070599094 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5149287792980403, + -0.015591258774101389, + 0.8570911627118213, + 740.8053119697489 + ], + [ + -0.8572329626482112, + -0.009365467962718269, + 0.5148436067932204, + 3386.6306983442864 + ], + [ + -8.673617312717247e-19, + -0.9998345866490509, + -0.018187890076809814, + 3.246266131053717 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74080.53119697489, + -338663.06983442866, + 324.6266131053717 + ], + "rotation_deg": [ + 4.9704388667481197e-17, + -1.0421468019485471, + -30.992694854736328 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.16544805468517415, + -0.9862185058093826, + 1.7347234627138447e-18, + 3480.906742166134 + ], + [ + -0.11200914572021649, + 0.018790658618952995, + -0.9935294975106138, + 24.49708328232822 + ], + [ + 0.9798371762020643, + -0.16437752388048316, + -0.11357437111992254, + -173.4280254759653 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.16544805468517415, + -0.11200914572021649, + 0.9798371762020643, + 748.5843775976807 + ], + [ + -0.9862185058093826, + 0.018790658618952995, + -0.16437752388048316, + 3403.9666598729805 + ], + [ + 1.7347234627138447e-18, + -0.9935294975106138, + -0.11357437111992254, + 4.641595559706697 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74858.43775976807, + -340396.66598729807, + 464.15955597066966 + ], + "rotation_deg": [ + -1.0003964054896195e-16, + -6.521403789520262, + 9.52326393127442 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.831469608077446, + -0.55557023934291, + -0.0, + 2525.733574126718 + ], + [ + -0.16567846365447728, + 0.2479553393727327, + -0.9544992385317261, + -713.9845087051049 + ], + [ + 0.5302913639794624, + -0.7936371112234062, + -0.29821335479446304, + 2302.809723241546 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.831469608077446, + -0.16567846365447728, + 0.5302913639794624, + 760.6187334294125 + ], + [ + -0.55557023934291, + 0.2479553393727327, + -0.7936371112234062, + 3407.8539127385006 + ], + [ + -0.0, + -0.9544992385317261, + -0.29821335479446304, + 5.230933014620345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76061.87334294125, + -340785.39127385005, + 523.0933014620346 + ], + "rotation_deg": [ + 0.0, + -17.350324630737294, + 56.25000000000001 + ] + } + } + ] + }, + { + "frame": 14, + "time": 1832.380645416677, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.7492482687973354, + -0.6622892356849805, + 1.3877787702804247e-17, + 1679.3937629508573 + ], + [ + -0.10006721764980162, + -0.11320611229614212, + -0.988519563838076, + 464.3141442980525 + ], + [ + 0.6546858614173117, + 0.7406465760401009, + -0.1510929259110032, + -3011.5859908015254 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7492482687973354, + -0.10006721764980162, + 0.6546858614173117, + 759.8225318499639 + ], + [ + -0.6622892356849805, + -0.11320611229614212, + 0.7406465760401009, + 3395.328443179236 + ], + [ + 1.3877787702804247e-17, + -0.988519563838076, + -0.1510929259110032, + 3.954281483502503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75982.25318499639, + -339532.8443179236, + 395.4281483502503 + ], + "rotation_deg": [ + -8.043732259798961e-16, + -8.690268516540524, + -48.52530288696286 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5171439130453083, + -0.8558984596318575, + -0.0, + 2515.5090402180504 + ], + [ + -0.01550598580788434, + -0.009368898945984097, + -0.9998358806007444, + 46.46165078976989 + ], + [ + 0.8557579879117239, + 0.517059043298596, + -0.018116618570216552, + -2384.979280731828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5171439130453083, + -0.01550598580788434, + 0.8557579879117239, + 740.8053119697489 + ], + [ + -0.8558984596318575, + -0.009368898945984097, + 0.517059043298596, + 3386.6306983442864 + ], + [ + -0.0, + -0.9998358806007444, + -0.018116618570216552, + 3.246266131053717 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74080.53119697489, + -338663.06983442866, + 324.6266131053717 + ], + "rotation_deg": [ + 0.0, + -1.0380625724792483, + -31.14086532592775 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.16315804473662032, + -0.9865999454884046, + -0.0, + 3480.580144790913 + ], + [ + -0.1131695955443307, + 0.018715316189792094, + -0.9933994058706943, + 25.64506238601039 + ], + [ + 0.9800877993736895, + -0.16208110593199462, + -0.11470667207577775, + -181.46327451731102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.16315804473662032, + -0.1131695955443307, + 0.9800877993736895, + 748.6368380801717 + ], + [ + -0.9865999454884046, + 0.018715316189792094, + -0.16208110593199462, + 3404.048456955259 + ], + [ + -0.0, + -0.9933994058706943, + -0.11470667207577775, + 4.6607410683160575 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74863.68380801717, + -340404.84569552593, + 466.0741068316058 + ], + "rotation_deg": [ + 0.0, + -6.58670663833618, + 9.390248298645025 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.831469608077446, + -0.55557023934291, + -0.0, + 2525.8482458926187 + ], + [ + -0.16567846365447728, + 0.2479553393727327, + -0.9544992385317261, + -714.0047963454232 + ], + [ + 0.5302913639794624, + -0.7936371112234062, + -0.29821335479446304, + 2302.874658420684 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.831469608077446, + -0.16567846365447728, + 0.5302913639794624, + 760.6762837278677 + ], + [ + -0.55557023934291, + 0.2479553393727327, + -0.7936371112234062, + 3407.974186354809 + ], + [ + -0.0, + -0.9544992385317261, + -0.29821335479446304, + 5.230933014620345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76067.62837278677, + -340797.41863548086, + 523.0933014620346 + ], + "rotation_deg": [ + 0.0, + -17.350324630737294, + 56.25000000000001 + ] + } + } + ] + }, + { + "frame": 15, + "time": 1832.4473120868206, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.7428357426576391, + -0.6694737182520862, + -6.938893851402123e-18, + 1708.7765225135572 + ], + [ + -0.10115274213367795, + -0.11223722496666233, + -0.988519563838076, + 461.8684373751487 + ], + [ + 0.6617878630860387, + 0.7343076684957517, + -0.15109292591100323, + -2995.585048768502 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7428357426576391, + -0.10115274213367795, + 0.6617878630860387, + 759.8208176569939 + ], + [ + -0.6694737182520862, + -0.11223722496666233, + 0.7343076684957517, + 3395.5008567320124 + ], + [ + -6.938893851402123e-18, + -0.988519563838076, + -0.15109292591100323, + 3.954281483502503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75982.08176569939, + -339550.08567320125, + 395.4281483502503 + ], + "rotation_deg": [ + 4.0218661298994805e-16, + -8.690268516540526, + -47.97354125976561 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.51938762017018, + -0.8545387644887482, + -8.673617312716902e-19, + 2509.242104749397 + ], + [ + -0.015421413655362192, + -0.009373116435403032, + -0.9998371490843689, + 46.413286486908305 + ], + [ + 0.8543995998694129, + 0.5193030410339428, + -0.01804647655046456, + -2391.572798971572 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.51938762017018, + -0.015421413655362192, + 0.8543995998694129, + 740.8053119697489 + ], + [ + -0.8545387644887482, + -0.009373116435403032, + 0.5193030410339428, + 3386.6306983442864 + ], + [ + -8.673617312716902e-19, + -0.9998371490843689, + -0.01804647655046456, + 3.246266131053717 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74080.53119697489, + -338663.06983442866, + 324.6266131053717 + ], + "rotation_deg": [ + 4.970426128245347e-17, + -1.0340430736541757, + -31.291183471679716 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.16086681043713327, + -0.9869761239765547, + -0.0, + 3480.2350839902565 + ], + [ + -0.11432942653620169, + 0.01863450365129826, + -0.993268109576449, + 26.81110249490948 + ], + [ + 0.9803319085564811, + -0.15978387390668097, + -0.11583808831891511, + -189.4948932404249 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.16086681043713327, + -0.11432942653620169, + 0.9803319085564811, + 748.6875101804252 + ], + [ + -0.9869761239765547, + 0.01863450365129826, + -0.15978387390668097, + 3404.131093543276 + ], + [ + -0.0, + -0.993268109576449, + -0.11583808831891511, + 4.679886576925419 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74868.75101804252, + -340413.1093543276, + 467.98865769254195 + ], + "rotation_deg": [ + 0.0, + -6.6519670486450195, + 9.257212638854984 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.831469608077446, + -0.55557023934291, + -0.0, + 2525.9618970774445 + ], + [ + -0.16567846365447728, + 0.2479553393727327, + -0.9544992385317261, + -714.0255884420933 + ], + [ + 0.5302913639794624, + -0.7936371112234062, + -0.29821335479446304, + 2302.9412082263866 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.831469608077446, + -0.16567846365447728, + 0.5302913639794624, + 760.7320456440855 + ], + [ + -0.55557023934291, + 0.2479553393727327, + -0.7936371112234062, + 3408.095299476855 + ], + [ + -0.0, + -0.9544992385317261, + -0.29821335479446304, + 5.230933014620345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76073.20456440854, + -340809.5299476855, + 523.0933014620346 + ], + "rotation_deg": [ + 0.0, + -17.350324630737294, + 56.25000000000001 + ] + } + } + ] + }, + { + "frame": 16, + "time": 1832.5139787569642, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.7363542829036411, + -0.6765961646724464, + -6.938893851402123e-18, + 1738.0052739162077 + ], + [ + -0.10222889339470229, + -0.11125792225578414, + -0.988519563838076, + 459.3799254432252 + ], + [ + 0.6688285408095452, + 0.7279006187236184, + -0.15109292591100323, + -2979.304056629155 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7363542829036411, + -0.10222889339470229, + 0.6688285408095452, + 759.8178663473394 + ], + [ + -0.6765961646724464, + -0.11125792225578414, + 0.7279006187236184, + 3395.6746047179304 + ], + [ + -6.938893851402123e-18, + -0.988519563838076, + -0.15109292591100323, + 3.954281483502503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75981.78663473394, + -339567.460471793, + 395.4281483502503 + ], + "rotation_deg": [ + 4.0218661298994805e-16, + -8.690268516540526, + -47.42177581787108 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5216573466325906, + -0.8531550929955496, + -0.0, + 2502.8746949740353 + ], + [ + -0.015337531150008176, + -0.009378055489905756, + -0.9998383930483221, + 46.367876673198495 + ], + [ + 0.8530172149822425, + 0.5215730468039768, + -0.017977424497289528, + -2398.2366162915264 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5216573466325906, + -0.015337531150008176, + 0.8530172149822425, + 740.8053119697489 + ], + [ + -0.8531550929955496, + -0.009378055489905756, + 0.5215730468039768, + 3386.6306983442864 + ], + [ + -0.0, + -0.9998383930483221, + -0.017977424497289528, + 3.246266131053717 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74080.53119697489, + -338663.06983442866, + 324.6266131053717 + ], + "rotation_deg": [ + 0.0, + -1.0300860404968264, + -31.443489074707053 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.15857439661319928, + -0.9873470315642618, + -0.0, + 3479.871525203718 + ], + [ + -0.11548860122135052, + 0.018548225364453434, + -0.9931356132592188, + 27.995163245759183 + ], + [ + 0.9805694993930888, + -0.15748588182042908, + -0.11696860214274975, + -197.52276069051084 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.15857439661319928, + -0.11548860122135052, + 0.9805694993930888, + 748.7364484783097 + ], + [ + -0.9873470315642618, + 0.018548225364453434, + -0.15748588182042908, + 3404.2145134511393 + ], + [ + -0.0, + -0.9931356132592188, + -0.11696860214274975, + 4.699032085534781 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74873.64484783098, + -340421.4513451139, + 469.90320855347807 + ], + "rotation_deg": [ + 0.0, + -6.717184066772459, + 9.124158859252928 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.831469608077446, + -0.55557023934291, + -0.0, + 2526.074541847489 + ], + [ + -0.16567846365447728, + 0.2479553393727327, + -0.9544992385317261, + -714.0468620208146 + ], + [ + 0.5302913639794624, + -0.7936371112234062, + -0.29821335479446304, + 2303.009299124213 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.831469608077446, + -0.16567846365447728, + 0.5302913639794624, + 760.7860737579342 + ], + [ + -0.55557023934291, + 0.2479553393727327, + -0.7936371112234062, + 3408.217195918748 + ], + [ + -0.0, + -0.9544992385317261, + -0.29821335479446304, + 5.230933014620345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76078.60737579342, + -340821.7195918748, + 523.0933014620346 + ], + "rotation_deg": [ + 0.0, + -17.350324630737294, + 56.25000000000001 + ] + } + } + ] + }, + { + "frame": 17, + "time": 1832.5806454271078, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.7298045347111802, + -0.6836558645363894, + -0.0, + 1767.0769029564428 + ], + [ + -0.10329556409499957, + -0.11026830164501202, + -0.9885195638380762, + 456.8488500451444 + ], + [ + 0.6758071923339527, + 0.7214260644926492, + -0.15109292591100323, + -2962.7445946682487 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7298045347111802, + -0.10329556409499957, + 0.6758071923339527, + 759.8138356219674 + ], + [ + -0.6836558645363894, + -0.11026830164501202, + 0.7214260644926492, + 3395.8495877220357 + ], + [ + -0.0, + -0.9885195638380762, + -0.15109292591100323, + 3.954281483502503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75981.38356219674, + -339584.9587722036, + 395.4281483502503 + ], + "rotation_deg": [ + 0.0, + -8.690268516540526, + -46.870010375976534 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5239480554617355, + -0.8517502187718332, + 8.67361731271657e-19, + 2496.419935531878 + ], + [ + -0.0152543246249291, + -0.00938358869591872, + -0.9998396140598866, + 46.324979726501624 + ], + [ + 0.85161360777221, + 0.5238640251970502, + -0.01790938752569712, + -2404.955735235758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5239480554617355, + -0.0152543246249291, + 0.85161360777221, + 740.8053119697489 + ], + [ + -0.8517502187718332, + -0.00938358869591872, + 0.5238640251970502, + 3386.6306983442864 + ], + [ + 8.67361731271657e-19, + -0.9998396140598866, + -0.01790938752569712, + 3.246266131053717 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74080.53119697489, + -338663.06983442866, + 324.6266131053717 + ], + "rotation_deg": [ + -4.970413874301077e-17, + -1.0261871814727785, + -31.59745407104493 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.15628081527529747, + -0.9877126640763942, + -0.0, + 3479.4894048902243 + ], + [ + -0.11664706642632569, + 0.01845647960545739, + -0.9930019235906371, + 29.1972256240171 + ], + [ + 0.9808005750870862, + -0.1551871513640121, + -0.11809817932704986, + -205.5469732075519 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.15628081527529747, + -0.11664706642632569, + 0.9808005750870862, + 748.7838053906297 + ], + [ + -0.9877126640763942, + 0.01845647960545739, + -0.1551871513640121, + 3404.29862207251 + ], + [ + -0.0, + -0.9930019235906371, + -0.11809817932704986, + 4.718177594144142 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74878.38053906297, + -340429.862207251, + 471.8177594144142 + ], + "rotation_deg": [ + 0.0, + -6.78235578536987, + 8.991086959838867 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.831469608077446, + -0.55557023934291, + -0.0, + 2526.1862543722264 + ], + [ + -0.16567846365447728, + 0.2479553393727327, + -0.9544992385317261, + -714.0685683712582 + ], + [ + 0.5302913639794624, + -0.7936371112234062, + -0.29821335479446304, + 2303.078775205746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.831469608077446, + -0.16567846365447728, + 0.5302913639794624, + 760.8385204862184 + ], + [ + -0.55557023934291, + 0.2479553393727327, + -0.7936371112234062, + 3408.3397810741485 + ], + [ + -0.0, + -0.9544992385317261, + -0.29821335479446304, + 5.230933014620345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76083.85204862183, + -340833.97810741485, + 523.0933014620346 + ], + "rotation_deg": [ + 0.0, + -17.350324630737294, + 56.25000000000001 + ] + } + } + ] + }, + { + "frame": 18, + "time": 1832.6473120972514, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.7231871514774426, + -0.6906521149883946, + -0.0, + 1795.9882288700946 + ], + [ + -0.10435264803807355, + -0.10926846185803782, + -0.9885195638380762, + 454.2754650595618 + ], + [ + 0.6827231228728098, + 0.7148846516987554, + -0.15109292591100323, + -2945.9083238769963 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7231871514774426, + -0.10435264803807355, + 0.6827231228728098, + 759.8089732917812 + ], + [ + -0.6906521149883946, + -0.10926846185803782, + 0.7148846516987554, + 3396.025676358626 + ], + [ + -0.0, + -0.9885195638380762, + -0.15109292591100323, + 3.954281483502503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75980.89732917811, + -339602.56763586256, + 395.4281483502503 + ], + "rotation_deg": [ + 0.0, + -8.690268516540526, + -46.318248748779276 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5262526445425812, + -0.8503282625621351, + -0.0, + 2489.897043147415 + ], + [ + -0.015171775673757607, + -0.009389535103378178, + -0.9998408142566735, + 46.283969207181485 + ], + [ + 0.8501929001646792, + 0.5261688762727117, + -0.017842257466024945, + -2411.709164823329 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5262526445425812, + -0.015171775673757607, + 0.8501929001646792, + 740.8053119697489 + ], + [ + -0.8503282625621351, + -0.009389535103378178, + 0.5261688762727117, + 3386.6306983442864 + ], + [ + -0.0, + -0.9998408142566735, + -0.017842257466024945, + 3.246266131053717 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74080.53119697489, + -338663.06983442866, + 324.6266131053717 + ], + "rotation_deg": [ + 0.0, + -1.0223402976989753, + -31.752609252929712 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.15398614423351617, + -0.9880730071123766, + -0.0, + 3479.088656742564 + ], + [ + -0.11780478407133196, + 0.018359275418747673, + -0.9928670454073925, + 30.41725711296074 + ], + [ + 0.981025126926304, + -0.15288776921668515, + -0.11922680220141256, + -213.5674892387094 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.15398614423351617, + -0.11780478407133196, + 0.981025126926304, + 748.8298234906777 + ], + [ + -0.9880730071123766, + 0.018359275418747673, + -0.15288776921668515, + 3404.3832948809595 + ], + [ + -0.0, + -0.9928670454073925, + -0.11922680220141256, + 4.737323102753503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74882.98234906777, + -340438.32948809594, + 473.73231027535036 + ], + "rotation_deg": [ + 0.0, + -6.847481250762939, + 8.858000755310064 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.831469608077446, + -0.55557023934291, + -0.0, + 2526.2971671607984 + ], + [ + -0.16567846365447728, + 0.2479553393727327, + -0.9544992385317261, + -714.0906364272605 + ], + [ + 0.5302913639794624, + -0.7936371112234062, + -0.29821335479446304, + 2303.1494090076676 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.831469608077446, + -0.16567846365447728, + 0.5302913639794624, + 760.8896284022304 + ], + [ + -0.55557023934291, + 0.2479553393727327, + -0.7936371112234062, + 3408.4629304166274 + ], + [ + -0.0, + -0.9544992385317261, + -0.29821335479446304, + 5.230933014620345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76088.96284022304, + -340846.2930416627, + 523.0933014620346 + ], + "rotation_deg": [ + 0.0, + -17.350324630737294, + 56.25000000000001 + ] + } + } + ] + }, + { + "frame": 19, + "time": 1832.713978767395, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.716502655388956, + -0.6975843639450179, + -0.0, + 1824.7366181912926 + ], + [ + -0.10540006180802192, + -0.10825848179355131, + -0.9885195638380762, + 451.6599814752896 + ], + [ + 0.6895757866808129, + 0.7082768965335454, + -0.15109292591100323, + -2928.796624641486 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.716502655388956, + -0.10540006180802192, + 0.6895757866808129, + 759.8035999771913 + ], + [ + -0.6975843639450179, + -0.10825848179355131, + 0.7082768965335454, + 3396.2027212751127 + ], + [ + -0.0, + -0.9885195638380762, + -0.15109292591100323, + 3.954281483502503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75980.35999771913, + -339620.27212751127, + 395.4281483502503 + ], + "rotation_deg": [ + 0.0, + -8.690268516540526, + -45.766483306884744 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5285624740843228, + -0.8488944050880883, + -8.673617312716252e-19, + 2483.329963414491 + ], + [ + -0.015089857646540996, + -0.009395670937904575, + -0.9998419962993322, + 46.24406754026545 + ], + [ + 0.8487602743486721, + 0.5284789629176416, + -0.01777589494402947, + -2418.4714937867284 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5285624740843228, + -0.015089857646540996, + 0.8487602743486721, + 740.8053119697489 + ], + [ + -0.8488944050880883, + -0.009395670937904575, + 0.5284789629176416, + 3386.6306983442864 + ], + [ + -8.673617312716252e-19, + -0.9998419962993322, + -0.01777589494402947, + 3.246266131053717 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74080.53119697489, + -338663.06983442866, + 324.6266131053717 + ], + "rotation_deg": [ + 4.9704020317137297e-17, + -1.0185374021530151, + -31.908378601074226 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.15169037914639089, + -0.9884280595341391, + -3.4694469254711068e-18, + 3478.669187043305 + ], + [ + -0.11896171762731797, + 0.018256612483561828, + -0.9927309836203273, + 31.65526836311323 + ], + [ + 0.9812431594904454, + -0.1505877404361522, + -0.12035445311056024, + -221.5846286531733 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.15169037914639089, + -0.11896171762731797, + 0.9812431594904454, + 748.874818208291 + ], + [ + -0.9884280595341391, + 0.018256612483561828, + -0.1505877404361522, + 3404.4683874333896 + ], + [ + -3.4694469254711068e-18, + -0.9927309836203273, + -0.12035445311056024, + 4.756468611362865 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74887.4818208291, + -340446.83874333894, + 475.6468611362865 + ], + "rotation_deg": [ + 2.0024021703146374e-16, + -6.912559509277342, + 8.724899291992186 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.831469608077446, + -0.55557023934291, + -0.0, + 2526.4074622352423 + ], + [ + -0.16567846365447728, + 0.2479553393727327, + -0.9544992385317261, + -714.1129781134536 + ], + [ + 0.5302913639794624, + -0.7936371112234062, + -0.29821335479446304, + 2303.2209186248565 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.831469608077446, + -0.16567846365447728, + 0.5302913639794624, + 760.9397129358081 + ], + [ + -0.55557023934291, + 0.2479553393727327, + -0.7936371112234062, + 3408.5864995030865 + ], + [ + -0.0, + -0.9544992385317261, + -0.29821335479446304, + 5.230933014620345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76093.9712935808, + -340858.64995030867, + 523.0933014620346 + ], + "rotation_deg": [ + 0.0, + -17.350324630737294, + 56.25000000000001 + ] + } + } + ] + }, + { + "frame": 20, + "time": 1832.7806454375386, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.709751758775148, + -0.7044518726751914, + 6.938893851402123e-18, + 1853.318620921574 + ], + [ + -0.10643769378780707, + -0.1072384690794891, + -0.988519563838076, + 449.00269248401116 + ], + [ + 0.6963644535078295, + 0.7016035031486048, + -0.1510929259110033, + -2911.4114151568783 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.709751758775148, + -0.10643769378780707, + 0.6963644535078295, + 759.798084794316 + ], + [ + -0.7044518726751914, + -0.1072384690794891, + 0.7016035031486048, + 3396.3805629934104 + ], + [ + 6.938893851402123e-18, + -0.988519563838076, + -0.1510929259110033, + 3.954281483502503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75979.8084794316, + -339638.056299341, + 395.4281483502503 + ], + "rotation_deg": [ + -4.0218661298994805e-16, + -8.690268516540527, + -45.21472167968749 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5308680583473889, + -0.8474544852831172, + -0.0, + 2476.745497730549 + ], + [ + -0.015008547854650835, + -0.009401754072433235, + -0.9998431629568992, + 46.20443793193593 + ], + [ + 0.8473215707244415, + 0.5307848022427385, + -0.017710152263677437, + -2425.2149341616077 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5308680583473889, + -0.015008547854650835, + 0.8473215707244415, + 740.8053119697489 + ], + [ + -0.8474544852831172, + -0.009401754072433235, + 0.5307848022427385, + 3386.6306983442864 + ], + [ + -0.0, + -0.9998431629568992, + -0.017710152263677437, + 3.246266131053717 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74080.53119697489, + -338663.06983442866, + 324.6266131053717 + ], + "rotation_deg": [ + 0.0, + -1.014770030975342, + -32.064125061035185 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.14939356503551143, + -0.9887778126181735, + -1.7347234627392874e-18, + 3478.2309073979154 + ], + [ + -0.12011782149130512, + 0.018148495392882387, + -0.992593744225278, + 32.91125393405502 + ], + [ + 0.9814546709479873, + -0.14828711920470375, + -0.12148110615378668, + -229.59858744043822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.14939356503551143, + -0.12011782149130512, + 0.9814546709479873, + 748.919153516533 + ], + [ + -0.9887778126181735, + 0.018148495392882387, + -0.14828711920470375, + 3404.5537452109593 + ], + [ + -1.7347234627392874e-18, + -0.992593744225278, + -0.12148110615378668, + 4.775614119972226 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74891.9153516533, + -340455.37452109595, + 477.5614119972226 + ], + "rotation_deg": [ + 1.001339514634825e-16, + -6.9775891304016096, + 8.59178447723389 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.831469608077446, + -0.55557023934291, + -0.0, + 2526.51735638203 + ], + [ + -0.16567846365447728, + 0.2479553393727327, + -0.9544992385317261, + -714.1354948135679 + ], + [ + 0.5302913639794624, + -0.7936371112234062, + -0.29821335479446304, + 2303.2929884136547 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.831469608077446, + -0.16567846365447728, + 0.5302913639794624, + 760.9891380600143 + ], + [ + -0.55557023934291, + 0.2479553393727327, + -0.7936371112234062, + 3408.7103338146867 + ], + [ + -0.0, + -0.9544992385317261, + -0.29821335479446304, + 5.230933014620345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76098.91380600142, + -340871.0333814687, + 523.0933014620346 + ], + "rotation_deg": [ + 0.0, + -17.350324630737294, + 56.25000000000001 + ] + } + } + ] + }, + { + "frame": 21, + "time": 1832.8473121076822, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.702934994358265, + -0.7112540992546519, + -0.0, + 1881.7315815968163 + ], + [ + -0.10746546209650702, + -0.10620850420641345, + -0.9885195638380762, + 446.3038259535186 + ], + [ + 0.7030885876511064, + 0.6948649981503061, + -0.1510929259110033, + -2893.7541862393314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.702934994358265, + -0.10746546209650702, + 0.7030885876511064, + 759.7928169891525 + ], + [ + -0.7112540992546519, + -0.10620850420641345, + 0.6948649981503061, + 3396.55904078747 + ], + [ + -0.0, + -0.9885195638380762, + -0.1510929259110033, + 3.954281483502503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75979.28169891525, + -339655.90407874703, + 395.4281483502503 + ], + "rotation_deg": [ + 0.0, + -8.690268516540527, + -44.66295623779295 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5331596938414153, + -0.8460146221330502, + 8.673617312715937e-19, + 2470.171557238044 + ], + [ + -0.014927817272608385, + -0.009407533012511932, + -0.9998443171784767, + 46.16420717070529 + ], + [ + 0.8458829098654929, + 0.5330766937193544, + -0.017644869246580326, + -2431.911168513204 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5331596938414153, + -0.014927817272608385, + 0.8458829098654929, + 740.8053119697489 + ], + [ + -0.8460146221330502, + -0.009407533012511932, + 0.5330766937193544, + 3386.6306983442864 + ], + [ + 8.673617312715937e-19, + -0.9998443171784767, + -0.017644869246580326, + 3.246266131053717 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74080.53119697489, + -338663.06983442866, + 324.6266131053717 + ], + "rotation_deg": [ + -4.970390494214945e-17, + -1.0110290050506592, + -32.219192504882834 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.14709576344494354, + -0.989122255525852, + -3.4694469254861094e-18, + 3477.7737328076864 + ], + [ + -0.12127305794650406, + 0.018034932430531746, + -0.9924553323089808, + 34.185205811449435 + ], + [ + 0.9816596565196974, + -0.14598597589645593, + -0.1226067437100794, + -237.60952309889797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.14709576344494354, + -0.12127305794650406, + 0.9816596565196974, + 748.9632135663426 + ], + [ + -0.989122255525852, + 0.018034932430531746, + -0.14598597589645593, + 3404.639212496165 + ], + [ + -3.4694469254861094e-18, + -0.9924553323089808, + -0.1226067437100794, + 4.794759628581587 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74896.32135663426, + -340463.9212496165, + 479.4759628581587 + ], + "rotation_deg": [ + 2.0029583311560546e-16, + -7.042569160461422, + 8.458659172058102 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.831469608077446, + -0.55557023934291, + -0.0, + 2526.6270824989792 + ], + [ + -0.16567846365447728, + 0.2479553393727327, + -0.9544992385317261, + -714.1580842710791 + ], + [ + 0.5302913639794624, + -0.7936371112234062, + -0.29821335479446304, + 2303.365291078946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.831469608077446, + -0.16567846365447728, + 0.5302913639794624, + 761.038287925788 + ], + [ + -0.55557023934291, + 0.2479553393727327, + -0.7936371112234062, + 3408.8342776339214 + ], + [ + -0.0, + -0.9544992385317261, + -0.29821335479446304, + 5.230933014620345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76103.8287925788, + -340883.42776339216, + 523.0933014620346 + ], + "rotation_deg": [ + 0.0, + -17.350324630737294, + 56.25000000000001 + ] + } + } + ] + }, + { + "frame": 22, + "time": 1832.9139787778258, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.6960530407597335, + -0.7179903651506255, + 6.938893851402123e-18, + 1909.9722868725207 + ], + [ + -0.10848326421262043, + -0.10516868970922046, + -0.988519563838076, + 443.56367089716645 + ], + [ + 0.7097475183677031, + 0.688062052369217, + -0.1510929259110032, + -2875.8268287474593 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.6960530407597335, + -0.10848326421262043, + 0.7097475183677031, + 759.7881763649856 + ], + [ + -0.7179903651506255, + -0.10516868970922046, + 0.688062052369217, + 3396.7380005900586 + ], + [ + 6.938893851402123e-18, + -0.988519563838076, + -0.1510929259110032, + 3.954281483502503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75978.81763649856, + -339673.80005900585, + 395.4281483502503 + ], + "rotation_deg": [ + -4.0218661298994805e-16, + -8.690268516540524, + -44.11119079589841 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5354281368285255, + -0.8445807896775379, + -0.0, + 2463.635221613172 + ], + [ + -0.014847645942125592, + -0.009412773177231732, + -0.9998454616144895, + 46.12256604106428 + ], + [ + 0.8444502671807409, + 0.5353453963234198, + -0.01757990027549396, + -2438.533327993097 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5354281368285255, + -0.014847645942125592, + 0.8444502671807409, + 740.8053119697489 + ], + [ + -0.8445807896775379, + -0.009412773177231732, + 0.5353453963234198, + 3386.6306983442864 + ], + [ + -0.0, + -0.9998454616144895, + -0.01757990027549396, + 3.246266131053717 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74080.53119697489, + -338663.06983442866, + 324.6266131053717 + ], + "rotation_deg": [ + 0.0, + -1.0073059797286992, + -32.37295150756838 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.14479698659025128, + -0.9894613851355606, + -1.7347234627468536e-18, + 3477.2975691366255 + ], + [ + -0.12242738203420751, + 0.017915925028502273, + -0.9923157540614896, + 35.47713432297309 + ], + [ + 0.9818581202261437, + -0.1436843320221075, + -0.12373133991573837, + -245.61775481106886 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.14479698659025128, + -0.12242738203420751, + 0.9818581202261437, + 749.0073731144139 + ], + [ + -0.9894613851355606, + 0.017915925028502273, + -0.1436843320221075, + 3404.7246402791475 + ], + [ + -1.7347234627468536e-18, + -0.9923157540614896, + -0.12373133991573837, + 4.8139051371909485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74900.7373114414, + -340472.46402791474, + 481.3905137190949 + ], + "rotation_deg": [ + 1.00162003274499e-16, + -7.107498168945312, + 8.32552337646484 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.831469608077446, + -0.55557023934291, + -0.0, + 2526.73686939945 + ], + [ + -0.16567846365447728, + 0.2479553393727327, + -0.9544992385317261, + -714.1806474490843 + ], + [ + 0.5302913639794624, + -0.7936371112234062, + -0.29821335479446304, + 2303.437509630738 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.831469608077446, + -0.16567846365447728, + 0.5302913639794624, + 761.0875372898236 + ], + [ + -0.55557023934291, + 0.2479553393727327, + -0.7936371112234062, + 3408.9581819509335 + ], + [ + -0.0, + -0.9544992385317261, + -0.29821335479446304, + 5.230933014620345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76108.75372898235, + -340895.81819509336, + 523.0933014620346 + ], + "rotation_deg": [ + 0.0, + -17.350324630737294, + 56.25000000000001 + ] + } + } + ] + }, + { + "frame": 23, + "time": 1832.9806454479694, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.6891065844492044, + -0.7246599997714457, + -0.0, + 1938.0375874355345 + ], + [ + -0.10949099881449116, + -0.10411912930861751, + -0.9885195638380762, + 440.7825207290435 + ], + [ + 0.716340582764619, + 0.6811953443940278, + -0.15109292591100323, + -2857.6312623315043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.6891065844492044, + -0.10949099881449116, + 0.716340582764619, + 759.7845039481289 + ], + [ + -0.7246599997714457, + -0.10411912930861751, + 0.6811953443940278, + 3396.9173027972324 + ], + [ + -0.0, + -0.9885195638380762, + -0.15109292591100323, + 3.954281483502503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75978.45039481288, + -339691.73027972324, + 395.4281483502503 + ], + "rotation_deg": [ + 0.0, + -8.690268516540526, + -43.559429168701165 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5376651610007196, + -0.8431584516839467, + -0.0, + 2457.161088710888 + ], + [ + -0.014768021797168317, + -0.00941727002958751, + -0.9998465985126861, + 46.07881292042699 + ], + [ + 0.8430291075574767, + 0.5375826860711573, + -0.01751512053524531, + -2445.0576098280812 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5376651610007196, + -0.014768021797168317, + 0.8430291075574767, + 740.8053119697489 + ], + [ + -0.8431584516839467, + -0.00941727002958751, + 0.5375826860711573, + 3386.6306983442864 + ], + [ + -0.0, + -0.9998465985126861, + -0.01751512053524531, + 3.246266131053717 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74080.53119697489, + -338663.06983442866, + 324.6266131053717 + ], + "rotation_deg": [ + 0.0, + -1.0035938024520878, + -32.52483749389649 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.14249727964693817, + -0.9897951936098811, + -0.0, + 3476.8023360788193 + ], + [ + -0.12358074821110354, + 0.017791479035769362, + -0.9921750157836586, + 36.787030927647756 + ], + [ + 0.9820500615660411, + -0.1413822417533018, + -0.12485486892767023, + -253.62344600540249 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.14249727964693817, + -0.12358074821110354, + 0.9820500615660411, + 749.0519681894061 + ], + [ + -0.9897951936098811, + 0.017791479035769362, + -0.1413822417533018, + 3404.809894061705 + ], + [ + -0.0, + -0.9921750157836586, + -0.12485486892767023, + 4.83305064580031 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74905.19681894062, + -340480.9894061705, + 483.305064580031 + ], + "rotation_deg": [ + 0.0, + -7.172374725341796, + 8.192378997802734 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.831469608077446, + -0.55557023934291, + -0.0, + 2526.8469217578613 + ], + [ + -0.16567846365447728, + 0.2479553393727327, + -0.9544992385317261, + -714.2030953253238 + ], + [ + 0.5302913639794624, + -0.7936371112234062, + -0.29821335479446304, + 2303.5093591331706 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.831469608077446, + -0.16567846365447728, + 0.5302913639794624, + 761.1372221807801 + ], + [ + -0.55557023934291, + 0.2479553393727327, + -0.7936371112234062, + 3409.0819122675207 + ], + [ + -0.0, + -0.9544992385317261, + -0.29821335479446304, + 5.230933014620345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76113.72221807801, + -340908.19122675207, + 523.0933014620346 + ], + "rotation_deg": [ + 0.0, + -17.350324630737294, + 56.25000000000001 + ] + } + } + ] + }, + { + "frame": 24, + "time": 1833.047312118113, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.7067194032652615, + -0.7074939470047732, + -0.0, + 1866.1989502421873 + ], + [ + -0.10362796516125335, + -0.10351451628724702, + -0.9892148349849769, + 434.2566354389799 + ], + [ + 0.6998635036708636, + 0.6990973220188408, + -0.14647187639826392, + -2905.805809238459 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7067194032652615, + -0.10362796516125335, + 0.6998635036708636, + 759.789562824271 + ], + [ + -0.7074939470047732, + -0.10351451628724702, + 0.6990973220188408, + 3396.7173667880393 + ], + [ + -0.0, + -0.9892148349849769, + -0.14647187639826392, + 3.954281483502503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75978.9562824271, + -339671.7366788039, + 395.4281483502503 + ], + "rotation_deg": [ + 0.0, + -8.422521591186518, + -44.968620300292955 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.539863940804152, + -0.841752294573297, + 8.673617312715479e-19, + 2450.7700861150324 + ], + [ + -0.014688938650452286, + -0.009420857367645788, + -0.9998477296707643, + 46.03238036648613 + ], + [ + 0.8416241182877621, + 0.5397817392607974, + -0.017450429133279394, + -2451.4643773586504 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.539863940804152, + -0.014688938650452286, + 0.8416241182877621, + 740.8053119697489 + ], + [ + -0.841752294573297, + -0.009420857367645788, + 0.5397817392607974, + 3386.6306983442864 + ], + [ + 8.673617312715479e-19, + -0.9998477296707643, + -0.017450429133279394, + 3.246266131053717 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74080.53119697489, + -338663.06983442866, + 324.6266131053717 + ], + "rotation_deg": [ + -4.97037353021234e-17, + -0.9998866915702823, + -32.67437744140626 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.1401966878443252, + -0.9901236734456361, + -0.0, + 3476.287961278604 + ], + [ + -0.12473311913525173, + 0.017661601915242024, + -0.9920331228384354, + 38.11488222047588 + ], + [ + 0.9822354794909487, + -0.1390797591067781, + -0.12597731317974054, + -261.626704248295 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.1401966878443252, + -0.12473311913525173, + 0.9822354794909487, + 749.0972814032154 + ], + [ + -0.9901236734456361, + 0.017661601915242024, + -0.1390797591067781, + 3404.8948570441266 + ], + [ + -0.0, + -0.9920331228384354, + -0.12597731317974054, + 4.852196154409671 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74909.72814032155, + -340489.4857044127, + 485.2196154409671 + ], + "rotation_deg": [ + 0.0, + -7.23719787597656, + 8.059227943420414 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.831469608077446, + -0.55557023934291, + -0.0, + 2526.957409666972 + ], + [ + -0.16567846365447728, + 0.2479553393727327, + -0.9544992385317261, + -714.2253521159814 + ], + [ + 0.5302913639794624, + -0.7936371112234062, + -0.29821335479446304, + 2303.580597023011 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.831469608077446, + -0.16567846365447728, + 0.5302913639794624, + 761.1876252105535 + ], + [ + -0.55557023934291, + 0.2479553393727327, + -0.7936371112234062, + 3409.2053517839727 + ], + [ + -0.0, + -0.9544992385317261, + -0.29821335479446304, + 5.230933014620345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76118.76252105535, + -340920.53517839726, + 523.0933014620346 + ], + "rotation_deg": [ + 0.0, + -17.350324630737294, + 56.25000000000001 + ] + } + } + ] + }, + { + "frame": 25, + "time": 1833.1139787882566, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.7134251396496215, + -0.7007314536367824, + 6.9388938512844844e-18, + 1838.1046724044234 + ], + [ + -0.10082696212088965, + -0.10265343329204733, + -0.9895939552881411, + 429.20106036924494 + ], + [ + 0.6934396063420706, + 0.7060012099001362, + -0.14388816482149758, + -2924.357946753193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7134251396496215, + -0.10082696212088965, + 0.6934396063420706, + 759.7905854606764 + ], + [ + -0.7007314536367824, + -0.10265343329204733, + 0.7060012099001362, + 3396.6769503326836 + ], + [ + 6.9388938512844844e-18, + -0.9895939552881411, + -0.14388816482149758, + 3.954281483502503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75979.05854606764, + -339667.69503326836, + 395.4281483502503 + ], + "rotation_deg": [ + -4.017499633289854e-16, + -8.272900581359862, + -45.51428222656249 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5420191508220872, + -0.8403661345759378, + 8.67361731271533e-19, + 2444.4790830854618 + ], + [ + -0.014610401647329664, + -0.009423413400697498, + -0.9998488562995826, + 45.98285973472259 + ], + [ + 0.8402391161218857, + 0.5419372317691538, + -0.017385757420922767, + -2457.73842743752 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5420191508220872, + -0.014610401647329664, + 0.8402391161218857, + 740.8053119697489 + ], + [ + -0.8403661345759378, + -0.009423413400697498, + 0.5419372317691538, + 3386.6306983442864 + ], + [ + 8.67361731271533e-19, + -0.9998488562995826, + -0.017385757420922767, + 3.246266131053717 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74080.53119697489, + -338663.06983442866, + 324.6266131053717 + ], + "rotation_deg": [ + -4.9703679295997e-17, + -0.9961807131767276, + -32.82119750976564 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.13789523997796801, + -0.9904468197694505, + -0.0, + 3475.7543771360192 + ], + [ + -0.1258844659689305, + 0.01752630055223429, + -0.9918900796039194, + 39.46067644076756 + ], + [ + 0.9824143746337227, + -0.1367769215942028, + -0.12709866337709597, + -269.627631888464 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.13789523997796801, + -0.1258844659689305, + 0.9824143746337227, + 749.1435352265883 + ], + [ + -0.9904468197694505, + 0.01752630055223429, + -0.1367769215942028, + 3404.9794317609317 + ], + [ + -0.0, + -0.9918900796039194, + -0.12709866337709597, + 4.871341663019033 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74914.35352265883, + -340497.94317609316, + 487.13416630190324 + ], + "rotation_deg": [ + 0.0, + -7.30196714401245, + 7.926071166992189 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.831469608077446, + -0.55557023934291, + -0.0, + 2527.0684639555266 + ], + [ + -0.16567846365447728, + 0.2479553393727327, + -0.9544992385317261, + -714.2473567953584 + ], + [ + 0.5302913639794624, + -0.7936371112234062, + -0.29821335479446304, + 2303.6510279737195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.831469608077446, + -0.16567846365447728, + 0.5302913639794624, + 761.2389688498905 + ], + [ + -0.55557023934291, + 0.2479553393727327, + -0.7936371112234062, + 3409.328403034807 + ], + [ + -0.0, + -0.9544992385317261, + -0.29821335479446304, + 5.230933014620345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76123.89688498905, + -340932.8403034807, + 523.0933014620346 + ], + "rotation_deg": [ + 0.0, + -17.350324630737294, + 56.25000000000001 + ] + } + } + ] + }, + { + "frame": 26, + "time": 1833.1806454584002, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.7194607280247495, + -0.6945331243577209, + -6.938893851245728e-18, + 1812.4398174304283 + ], + [ + -0.09822737513643143, + -0.10175287016435806, + -0.9899483502623364, + 424.16486741699913 + ], + [ + 0.6875519161220538, + 0.7122289649517264, + -0.14142936088622052, + -2941.0232172568435 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7194607280247495, + -0.09822737513643143, + 0.6875519161220538, + 759.7914853807131 + ], + [ + -0.6945331243577209, + -0.10175287016435806, + 0.7122289649517264, + 3396.641383851971 + ], + [ + -6.938893851245728e-18, + -0.9899483502623364, + -0.14142936088622052, + 3.954281483502503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75979.14853807131, + -339664.1383851971, + 395.4281483502503 + ], + "rotation_deg": [ + 4.0160613949204496e-16, + -8.130565643310543, + -46.0099754333496 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5441268965279894, + -0.8390029323398213, + -0.0, + 2438.3009913293645 + ], + [ + -0.014532418837487609, + -0.009424853783328921, + -0.9998499792138295, + 45.9299713442647 + ], + [ + 0.8388770620336298, + 0.5440452699206866, + -0.017321058592157258, + -2463.8687672806286 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5441268965279894, + -0.014532418837487609, + 0.8388770620336298, + 740.8053119697489 + ], + [ + -0.8390029323398213, + -0.009424853783328921, + 0.5440452699206866, + 3386.6306983442864 + ], + [ + -0.0, + -0.9998499792138295, + -0.017321058592157258, + 3.246266131053717 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74080.53119697489, + -338663.06983442866, + 324.6266131053717 + ], + "rotation_deg": [ + 0.0, + -0.9924731850624086, + -32.96501922607423 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.13559297311792218, + -0.99076462676109, + -0.0, + 3475.2015281333656 + ], + [ + -0.12703472705587068, + 0.017385578638429572, + -0.9917458947619834, + 40.82438114428132 + ], + [ + 0.9825867509974955, + -0.13447377546620753, + -0.1282188772219182, + -277.6262420097398 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.13559297311792218, + -0.12703472705587068, + 0.9825867509974955, + 749.1908923098583 + ], + [ + -0.99076462676109, + 0.017385578638429572, + -0.13447377546620753, + 3405.0635403091624 + ], + [ + -0.0, + -0.9917458947619834, + -0.1282188772219182, + 4.890487171628394 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74919.08923098583, + -340506.35403091623, + 489.0487171628394 + ], + "rotation_deg": [ + 0.0, + -7.366680145263671, + 7.792910099029542 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.831469608077446, + -0.55557023934291, + -0.0, + 2527.180176581769 + ], + [ + -0.16567846365447728, + 0.2479553393727327, + -0.9544992385317261, + -714.2690630993436 + ], + [ + 0.5302913639794624, + -0.7936371112234062, + -0.29821335479446304, + 2303.7205039065525 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.831469608077446, + -0.16567846365447728, + 0.5302913639794624, + 761.2914157491247 + ], + [ + -0.55557023934291, + 0.2479553393727327, + -0.7936371112234062, + 3409.450988117067 + ], + [ + -0.0, + -0.9544992385317261, + -0.29821335479446304, + 5.230933014620345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76129.14157491247, + -340945.0988117067, + 523.0933014620346 + ], + "rotation_deg": [ + 0.0, + -17.350324630737294, + 56.25000000000001 + ] + } + } + ] + }, + { + "frame": 27, + "time": 1833.2473121285439, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.7249011383979495, + -0.6888529157587686, + -0.0, + 1788.9904742200197 + ], + [ + -0.0958076423382253, + -0.1008213326958238, + -0.9902807453157051, + 419.1605110235226 + ], + [ + 0.6821577742177521, + 0.7178556437888931, + -0.13908287369304637, + -2956.0239554437594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7249011383979495, + -0.0958076423382253, + 0.6821577742177521, + 759.7922773103455 + ], + [ + -0.6888529157587686, + -0.1008213326958238, + 0.7178556437888931, + 3396.610085348944 + ], + [ + -0.0, + -0.9902807453157051, + -0.13908287369304637, + 3.954281483502503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75979.22773103455, + -339661.0085348944, + 395.4281483502503 + ], + "rotation_deg": [ + 0.0, + -7.994779586791988, + -46.460624694824205 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5461847016450431, + -0.837664772858997, + -8.673617312715025e-19, + 2432.244706390613 + ], + [ + -0.014455004429489219, + -0.00942513346317754, + -0.9998510987672838, + 45.873573146326 + ], + [ + 0.8375400410954943, + 0.5461033778171398, + -0.017256311844314674, + -2469.8485566352506 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5461847016450431, + -0.014455004429489219, + 0.8375400410954943, + 740.8053119697489 + ], + [ + -0.837664772858997, + -0.00942513346317754, + 0.5461033778171398, + 3386.6306983442864 + ], + [ + -8.673617312715025e-19, + -0.9998510987672838, + -0.017256311844314674, + 3.246266131053717 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74080.53119697489, + -338663.06983442866, + 324.6266131053717 + ], + "rotation_deg": [ + 4.970356782050097e-17, + -0.9887629151344297, + -33.10565948486328 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.1332899243726732, + -0.991077088858746, + 1.7347234627663353e-18, + 3474.6293692287613 + ], + [ + -0.12818387347560045, + 0.01723944483575307, + -0.991600572873244, + 42.205964872077196 + ], + [ + 0.9827526088082168, + -0.1321703663665868, + -0.1293379454574951, + -285.6224903874606 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.1332899243726732, + -0.12818387347560045, + 0.9827526088082168, + 749.2394610953223 + ], + [ + -0.991077088858746, + 0.01723944483575307, + -0.1321703663665868, + 3405.147123326684 + ], + [ + 1.7347234627663353e-18, + -0.991600572873244, + -0.1293379454574951, + 4.909632680237755 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74923.94610953223, + -340514.71233266836, + 490.9632680237755 + ], + "rotation_deg": [ + -1.0023424403715564e-16, + -7.431336402893067, + 7.659746170043946 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.831469608077446, + -0.55557023934291, + -0.0, + 2527.2926047323376 + ], + [ + -0.16567846365447728, + 0.2479553393727327, + -0.9544992385317261, + -714.2904383422256 + ], + [ + 0.5302913639794624, + -0.7936371112234062, + -0.29821335479446304, + 2303.7889202035017 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.831469608077446, + -0.16567846365447728, + 0.5302913639794624, + 761.3450743505531 + ], + [ + -0.55557023934291, + 0.2479553393727327, + -0.7936371112234062, + 3409.5730476686176 + ], + [ + -0.0, + -0.9544992385317261, + -0.29821335479446304, + 5.230933014620345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76134.5074350553, + -340957.3047668618, + 523.0933014620346 + ], + "rotation_deg": [ + 0.0, + -17.350324630737294, + 56.25000000000001 + ] + } + } + ] + }, + { + "frame": 28, + "time": 1833.3139787986875, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.717342130741536, + -0.6967210829759588, + -6.9388938512136626e-18, + 1821.5990768433846 + ], + [ + -0.09709550636680095, + -0.09996926908697085, + -0.9902416916498672, + 417.2646109865823 + ], + [ + 0.6899222593071346, + 0.7103420892043516, + -0.13936065591599348, + -2936.5428479068705 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.717342130741536, + -0.09709550636680095, + 0.6899222593071346, + 759.7910375681828 + ], + [ + -0.6967210829759588, + -0.09996926908697085, + 0.7103420892043516, + 3396.8100815065054 + ], + [ + -6.9388938512136626e-18, + -0.9902416916498672, + -0.13936065591599348, + 3.954281483502503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75979.10375681828, + -339681.00815065054, + 395.4281483502503 + ], + "rotation_deg": [ + 4.0148717085536766e-16, + -8.010851860046383, + -45.835475921630845 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5481910504863567, + -0.8363531384329617, + -0.0, + 2426.3163710990866 + ], + [ + -0.014378174014899537, + -0.009424232366810446, + -0.9998522150579525, + 45.813608710234746 + ], + [ + 0.8362295355675041, + 0.5481100398608584, + -0.017191510936644453, + -2475.6737608182016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5481910504863567, + -0.014378174014899537, + 0.8362295355675041, + 740.8053119697489 + ], + [ + -0.8363531384329617, + -0.009424232366810446, + 0.5481100398608584, + 3386.6306983442864 + ], + [ + -0.0, + -0.9998522150579525, + -0.017191510936644453, + 3.246266131053717 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74080.53119697489, + -338663.06983442866, + 324.6266131053717 + ], + "rotation_deg": [ + 0.0, + -0.9850495457649234, + -33.24300003051759 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.13098613913841145, + -0.9913841996691355, + -0.0, + 3474.037868120723 + ], + [ + -0.12933185985106468, + 0.017087906984128726, + -0.9914541207047183, + 43.60538092803694 + ], + [ + 0.9829119497002914, + -0.1298667483868641, + -0.1304558423367625, + -293.61625790811314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.13098613913841145, + -0.12933185985106468, + 0.9829119497002914, + 749.2893046706444 + ], + [ + -0.9913841996691355, + 0.017087906984128726, + -0.1298667483868641, + 3405.2301379534597 + ], + [ + -0.0, + -0.9914541207047183, + -0.1304558423367625, + 4.928778188847116 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74928.93046706443, + -340523.01379534596, + 492.87781888471164 + ], + "rotation_deg": [ + 0.0, + -7.49593448638916, + 7.526581287384033 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.831469608077446, + -0.55557023934291, + -0.0, + 2527.405777050948 + ], + [ + -0.16567846365447728, + 0.2479553393727327, + -0.9544992385317261, + -714.3114614443625 + ], + [ + 0.5302913639794624, + -0.7936371112234062, + -0.29821335479446304, + 2303.85620939441 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.831469608077446, + -0.16567846365447728, + 0.5302913639794624, + 761.4000077418392 + ], + [ + -0.55557023934291, + 0.2479553393727327, + -0.7936371112234062, + 3409.694538829424 + ], + [ + -0.0, + -0.9544992385317261, + -0.29821335479446304, + 5.230933014620345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76140.00077418392, + -340969.4538829424, + 523.0933014620346 + ], + "rotation_deg": [ + 0.0, + -17.350324630737294, + 56.25000000000001 + ] + } + } + ] + }, + { + "frame": 29, + "time": 1833.380645468831, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.7041711640134135, + -0.7100302611663775, + -6.9388938512362615e-18, + 1877.023931507521 + ], + [ + -0.09998788668531174, + -0.09916279686273653, + -0.9900349298052894, + 416.7523116410991 + ], + [ + 0.7029547554449508, + 0.6971540530805996, + -0.14082200847389512, + -2901.855137636091 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.7041711640134135, + -0.09998788668531174, + 0.7029547554449508, + 759.7969297709346 + ], + [ + -0.7100302611663775, + -0.09916279686273653, + 0.6971540530805996, + 3397.110168228358 + ], + [ + -6.9388938512362615e-18, + -0.9900349298052894, + -0.14082200847389512, + 3.954281483502503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75979.69297709347, + -339711.0168228358, + 395.4281483502503 + ], + "rotation_deg": [ + 4.0157101863367935e-16, + -8.095415115356444, + -44.762622833251946 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5501455465492595, + -0.8350687861559768, + -0.0, + 2420.518843184739 + ], + [ + -0.014301943434189593, + -0.009422158530841301, + -0.9998533279149624, + 45.750116987183866 + ], + [ + 0.834946302391865, + 0.5500648593213658, + -0.017126665230540062, + -2481.343596966287 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5501455465492595, + -0.014301943434189593, + 0.834946302391865, + 740.8053119697489 + ], + [ + -0.8350687861559768, + -0.009422158530841301, + 0.5500648593213658, + 3386.6306983442864 + ], + [ + -0.0, + -0.9998533279149624, + -0.017126665230540062, + 3.246266131053717 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74080.53119697489, + -338663.06983442866, + 324.6266131053717 + ], + "rotation_deg": [ + 0.0, + -0.9813336133956908, + -33.37699890136719 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.128681638097444, + -0.9916859563473498, + -6.938893851097407e-18, + 3473.426994605177 + ], + [ + -0.13047864945249715, + 0.016930971181776562, + -0.9913065440376623, + 45.022590416541576 + ], + [ + 0.9830647778964937, + -0.12756295090883477, + -0.13157255038474877, + -301.60747467961767 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.128681638097444, + -0.13047864945249715, + 0.9830647778964937, + 749.3404508853666 + ], + [ + -0.9916859563473498, + 0.016930971181776562, + -0.12756295090883477, + 3405.3125551268126 + ], + [ + -6.938893851097407e-18, + -0.9913065440376623, + -0.13157255038474877, + 4.947923697456478 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74934.04508853666, + -340531.25551268127, + 494.7923697456478 + ], + "rotation_deg": [ + 4.0105589701602215e-16, + -7.560473442077633, + 7.393415927886957 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.831469608077446, + -0.55557023934291, + -0.0, + 2527.519700547288 + ], + [ + -0.16567846365447728, + 0.2479553393727327, + -0.9544992385317261, + -714.3321205854384 + ], + [ + 0.5302913639794624, + -0.7936371112234062, + -0.29821335479446304, + 2303.9223336456844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.831469608077446, + -0.16567846365447728, + 0.5302913639794624, + 761.4562437725257 + ], + [ + -0.55557023934291, + 0.2479553393727327, + -0.7936371112234062, + 3409.8154325368064 + ], + [ + -0.0, + -0.9544992385317261, + -0.29821335479446304, + 5.230933014620345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76145.62437725256, + -340981.54325368063, + 523.0933014620346 + ], + "rotation_deg": [ + 0.0, + -17.350324630737294, + 56.25000000000001 + ] + } + } + ] + }, + { + "frame": 30, + "time": 1833.4473121389747, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.6913599999620976, + -0.7225104500645013, + 6.938893851256422e-18, + 1929.3552585542975 + ], + [ + -0.10267769317442592, + -0.0982508279884977, + -0.9898505271625371, + 415.7260791879089 + ], + [ + 0.7151773457166173, + 0.6843430645421348, + -0.14211239983482635, + -2867.8173213935693 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.6913599999620976, + -0.10267769317442592, + 0.7151773457166173, + 759.8047274193112 + ], + [ + -0.7225104500645013, + -0.0982508279884977, + 0.6843430645421348, + 3397.395642727351 + ], + [ + 6.938893851256422e-18, + -0.9898505271625371, + -0.14211239983482635, + 3.954281483502503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75980.47274193112, + -339739.5642727351, + 395.4281483502503 + ], + "rotation_deg": [ + -4.0164582867439955e-16, + -8.170100212097166, + -43.737861633300774 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.552048181798135, + -0.8338122120557921, + -0.0, + 2414.8538084632014 + ], + [ + -0.014226329892377456, + -0.009418930830221432, + -0.9998544370456177, + 45.68317464428156 + ], + [ + 0.8336908373843893, + 0.5519678278093889, + -0.017061791368458895, + -2486.858403917099 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.552048181798135, + -0.014226329892377456, + 0.8336908373843893, + 740.8053119697489 + ], + [ + -0.8338122120557921, + -0.009418930830221432, + 0.5519678278093889, + 3386.6306983442864 + ], + [ + -0.0, + -0.9998544370456177, + -0.017061791368458895, + 3.246266131053717 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74080.53119697489, + -338663.06983442866, + 324.6266131053717 + ], + "rotation_deg": [ + 0.0, + -0.9776160717010498, + -33.50764083862306 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.12637647496891216, + -0.9919823519470653, + -5.204170388335221e-18, + 3472.796736537515 + ], + [ + -0.13162419684470358, + 0.016768647128850837, + -0.9911578498294075, + 46.45753219589441 + ], + [ + 0.9832110947659297, + -0.12525903614702386, + -0.13268804389506958, + -309.5959301936299 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.12637647496891216, + -0.13162419684470358, + 0.9832110947659297, + 749.3929021197165 + ], + [ + -0.9919823519470653, + 0.016768647128850837, + -0.12525903614702386, + 3405.394356633842 + ], + [ + -5.204170388335221e-18, + -0.9911578498294075, + -0.13268804389506958, + 4.9670692060658395 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74939.29021197165, + -340539.4356633842, + 496.70692060658394 + ], + "rotation_deg": [ + 3.0083704778171886e-16, + -7.624951839447019, + 7.260252475738525 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.831469608077446, + -0.55557023934291, + -0.0, + 2527.6343670818997 + ], + [ + -0.16567846365447728, + 0.2479553393727327, + -0.9544992385317261, + -714.3524108551152 + ], + [ + 0.5302913639794624, + -0.7936371112234062, + -0.29821335479446304, + 2303.9872772406784 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.831469608077446, + -0.16567846365447728, + 0.5302913639794624, + 761.5137848228396 + ], + [ + -0.55557023934291, + 0.2479553393727327, + -0.7936371112234062, + 3409.9357105778654 + ], + [ + -0.0, + -0.9544992385317261, + -0.29821335479446304, + 5.230933014620345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76151.37848228397, + -340993.5710577865, + 523.0933014620346 + ], + "rotation_deg": [ + 0.0, + -17.350324630737294, + 56.25000000000001 + ] + } + } + ] + }, + { + "frame": 31, + "time": 1833.5139788091183, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.6789032091212788, + -0.7342277798100733, + -0.0, + 1978.821952992354 + ], + [ + -0.10517755587419356, + -0.09725235434294441, + -0.9896866480432507, + 414.26015710546625 + ], + [ + 0.726655426299184, + 0.6719014454734511, + -0.14324921989539147, + -2834.4550134085875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.6789032091212788, + -0.10517755587419356, + 0.726655426299184, + 759.814416198494 + ], + [ + -0.7342277798100733, + -0.09725235434294441, + 0.6719014454734511, + 3397.6682265160694 + ], + [ + -0.0, + -0.9896866480432507, + -0.14324921989539147, + 3.954281483502503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75981.4416198494, + -339766.8226516069, + 395.4281483502503 + ], + "rotation_deg": [ + 0.0, + -8.235908508300781, + -42.75799560546875 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5538996660907586, + -0.8325834251920622, + -0.0, + 2409.3207717497676 + ], + [ + -0.014151347295707647, + -0.0094145839379623, + -0.999855542055447, + 45.61290940675209 + ], + [ + 0.8324631493814688, + 0.5538196546678377, + -0.01699691223381507, + -2492.220590424872 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5538996660907586, + -0.014151347295707647, + 0.8324631493814688, + 740.8053119697489 + ], + [ + -0.8325834251920622, + -0.0094145839379623, + 0.5538196546678377, + 3386.6306983442864 + ], + [ + -0.0, + -0.999855542055447, + -0.01699691223381507, + 3.246266131053717 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74080.53119697489, + -338663.06983442866, + 324.6266131053717 + ], + "rotation_deg": [ + 0.0, + -0.9738982319831853, + -33.63496017456056 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.12407067875019744, + -0.99227338303235, + -0.0, + 3472.1470810769924 + ], + [ + -0.13276847342948755, + 0.016600943748671562, + -0.9910080429188537, + 47.910157919459 + ], + [ + 0.9833509031028564, + -0.12295504146212592, + -0.13380231367896153, + -317.58148143735065 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.12407067875019744, + -0.13276847342948755, + 0.9833509031028564, + 749.4466435694777 + ], + [ + -0.99227338303235, + 0.016600943748671562, + -0.12295504146212592, + 3405.4755323534696 + ], + [ + -0.0, + -0.9910080429188537, + -0.13380231367896153, + 4.9862147146752 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74944.66435694777, + -340547.553235347, + 498.62147146752005 + ], + "rotation_deg": [ + 0.0, + -7.689369201660158, + 7.127091884613037 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.831469608077446, + -0.55557023934291, + -0.0, + 2527.7497587225575 + ], + [ + -0.16567846365447728, + 0.2479553393727327, + -0.9544992385317261, + -714.3723321965571 + ], + [ + 0.5302913639794624, + -0.7936371112234062, + -0.29821335479446304, + 2304.0510399974755 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.831469608077446, + -0.16567846365447728, + 0.5302913639794624, + 761.5726160885653 + ], + [ + -0.55557023934291, + 0.2479553393727327, + -0.7936371112234062, + 3410.0553628315224 + ], + [ + -0.0, + -0.9544992385317261, + -0.29821335479446304, + 5.230933014620345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76157.26160885653, + -341005.53628315224, + 523.0933014620346 + ], + "rotation_deg": [ + 0.0, + -17.350324630737294, + 56.25000000000001 + ] + } + } + ] + }, + { + "frame": 32, + "time": 1833.5806454792619, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.6667895157544291, + -0.7452460947096428, + 6.9388938512902276e-18, + 2025.6496527812421 + ], + [ + -0.10750081711227677, + -0.09618355372050366, + -0.9895414586129715, + 412.4197669190198 + ], + [ + 0.7374519037334496, + 0.6598158740691871, + -0.14424875044944283, + -2801.7724912836024 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.6667895157544291, + -0.10750081711227677, + 0.7374519037334496, + 759.8259711693635 + ], + [ + -0.7452460947096428, + -0.09618355372050366, + 0.6598158740691871, + 3397.92943851858 + ], + [ + 6.9388938512902276e-18, + -0.9895414586129715, + -0.14424875044944283, + 3.954281483502503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75982.59711693635, + -339792.94385185797, + 395.4281483502503 + ], + "rotation_deg": [ + -4.0177127677418746e-16, + -8.293778419494627, + -41.81975936889648 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5557008682799273, + -0.8313823097666528, + -8.673617312714279e-19, + 2403.9186972281536 + ], + [ + -0.014077007319433893, + -0.009409155208495964, + -0.9998566425559171, + 45.53945642809049 + ], + [ + 0.8312631223858541, + 0.5556212082165964, + -0.01693205071012418, + -2497.4330111627187 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5557008682799273, + -0.014077007319433893, + 0.8312631223858541, + 740.8053119697489 + ], + [ + -0.8313823097666528, + -0.009409155208495964, + 0.5556212082165964, + 3386.6306983442864 + ], + [ + -8.673617312714279e-19, + -0.9998566425559171, + -0.01693205071012418, + 3.246266131053717 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74080.53119697489, + -338663.06983442866, + 324.6266131053717 + ], + "rotation_deg": [ + 4.970329223491513e-17, + -0.9701814055442812, + -33.75900268554689 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.12176428672076976, + -0.992559045336539, + -0.0, + 3471.4780234235145 + ], + [ + -0.13391141778278293, + 0.0164278672857784, + -0.9908571326704196, + 49.38040209123656 + ], + [ + 0.9834842094137881, + -0.12065101291453982, + -0.13491531757525363, + -325.563946961158 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.12176428672076976, + -0.13391141778278293, + 0.9834842094137881, + 749.5016493670161 + ], + [ + -0.992559045336539, + 0.0164278672857784, + -0.12065101291453982, + 3405.5560780731153 + ], + [ + -0.0, + -0.9908571326704196, + -0.13491531757525363, + 5.005360223284562 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74950.1649367016, + -340555.6078073115, + 500.5360223284562 + ], + "rotation_deg": [ + 0.0, + -7.75372314453125, + 6.993935585021975 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.831469608077446, + -0.55557023934291, + -0.0, + 2527.865851620725 + ], + [ + -0.16567846365447728, + 0.2479553393727327, + -0.9544992385317261, + -714.3918878509425 + ], + [ + 0.5302913639794624, + -0.7936371112234062, + -0.29821335479446304, + 2304.1136322902 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.831469608077446, + -0.16567846365447728, + 0.5302913639794624, + 761.6327117020678 + ], + [ + -0.55557023934291, + 0.2479553393727327, + -0.7936371112234062, + 3410.174385085197 + ], + [ + -0.0, + -0.9544992385317261, + -0.29821335479446304, + 5.230933014620345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76163.27117020678, + -341017.4385085197, + 523.0933014620346 + ], + "rotation_deg": [ + 0.0, + -17.350324630737294, + 56.25000000000001 + ] + } + } + ] + }, + { + "frame": 33, + "time": 1833.6473121494055, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.6550031794815682, + -0.7556261210870338, + 6.938893851304264e-18, + 2070.0568427799562 + ], + [ + -0.10966102370452278, + -0.09505801505159028, + -0.989413176410405, + 410.261484719475 + ], + [ + 0.7476264369343324, + 0.6480687803986638, + -0.14512603718651995, + -2769.7568936165303 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.6550031794815682, + -0.10966102370452278, + 0.7476264369343324, + 759.839360369114 + ], + [ + -0.7556261210870338, + -0.09505801505159028, + 0.6480687803986638, + 3398.180618773514 + ], + [ + 6.938893851304264e-18, + -0.989413176410405, + -0.14512603718651995, + 3.954281483502503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75983.9360369114, + -339818.0618773514, + 395.4281483502503 + ], + "rotation_deg": [ + -4.018233683637737e-16, + -8.344577789306639, + -40.91989135742187 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5574529256610637, + -0.8302085495054363, + -0.0, + 2398.6456712801996 + ], + [ + -0.01400332163333878, + -0.009402688779979195, + -0.9998577380942453, + 45.46297383150052 + ], + [ + 0.8300904399001078, + 0.5573736251465246, + -0.016867233841599532, + -2502.499281132022 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5574529256610637, + -0.01400332163333878, + 0.8300904399001078, + 740.8053119697489 + ], + [ + -0.8302085495054363, + -0.009402688779979195, + 0.5573736251465246, + 3386.6306983442864 + ], + [ + -0.0, + -0.9998577380942453, + -0.016867233841599532, + 3.246266131053717 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74080.53119697489, + -338663.06983442866, + 324.6266131053717 + ], + "rotation_deg": [ + 0.0, + -0.9664671421051027, + -33.879833221435554 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.11945734445288893, + -0.9928393338583354, + -0.0, + 3470.789566426673 + ], + [ + -0.13505300931647532, + 0.016249430600842187, + -0.990705122970358, + 50.86820602366555 + ], + [ + 0.9836110140874051, + -0.11834700402110972, + -0.13602705468094886, + -333.54310718985005 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.11945734445288893, + -0.13505300931647532, + 0.9836110140874051, + 749.5578862413603 + ], + [ + -0.9928393338583354, + 0.016249430600842187, + -0.11834700402110972, + 3405.635994176896 + ], + [ + -0.0, + -0.990705122970358, + -0.13602705468094886, + 5.024505731893924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74955.78862413602, + -340563.5994176896, + 502.45057318939234 + ], + "rotation_deg": [ + 0.0, + -7.818013668060301, + 6.860785484313967 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.831469608077446, + -0.55557023934291, + -0.0, + 2527.982618326005 + ], + [ + -0.16567846365447728, + 0.2479553393727327, + -0.9544992385317261, + -714.4110834257989 + ], + [ + 0.5302913639794624, + -0.7936371112234062, + -0.29821335479446304, + 2304.1750720670107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.831469608077446, + -0.16567846365447728, + 0.5302913639794624, + 761.6940383923761 + ], + [ + -0.55557023934291, + 0.2479553393727327, + -0.7936371112234062, + 3410.2927777230084 + ], + [ + -0.0, + -0.9544992385317261, + -0.29821335479446304, + 5.230933014620345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76169.40383923761, + -341029.2777723008, + 523.0933014620346 + ], + "rotation_deg": [ + 0.0, + -17.350324630737294, + 56.25000000000001 + ] + } + } + ] + }, + { + "frame": 34, + "time": 1833.713978819549, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.6435255680221343, + -0.7654246163416677, + 6.93889385131664e-18, + 2112.2507545627254 + ], + [ + -0.11167154166493255, + -0.09388709318665939, + -0.9893000962878434, + 407.8341518504624 + ], + [ + 0.7572346430735482, + 0.6366399104022659, + -0.1458948930301233, + -2738.382958924483 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.6435255680221343, + -0.11167154166493255, + 0.7572346430735482, + 759.8545459145029 + ], + [ + -0.7654246163416677, + -0.09388709318665939, + 0.6366399104022659, + 3398.4229502169887 + ], + [ + 6.93889385131664e-18, + -0.9893000962878434, + -0.1458948930301233, + 3.954281483502503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75985.45459145028, + -339842.29502169887, + 395.4281483502503 + ], + "rotation_deg": [ + -4.0186929804337473e-16, + -8.38910388946533, + -40.055217742919915 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5591570765996616, + -0.8290617369584244, + -8.67361731271399e-19, + 2393.499396635531 + ], + [ + -0.013930298611509873, + -0.00939522920976728, + -0.999858828259615, + 45.383618718524374 + ], + [ + 0.8289446942985427, + 0.5590781432309911, + -0.016802486592271106, + -2507.4232901617565 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5591570765996616, + -0.013930298611509873, + 0.8289446942985427, + 740.8053119697489 + ], + [ + -0.8290617369584244, + -0.00939522920976728, + 0.5590781432309911, + 3386.6306983442864 + ], + [ + -8.67361731271399e-19, + -0.999858828259615, + -0.016802486592271106, + 3.246266131053717 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74080.53119697489, + -338663.06983442866, + 324.6266131053717 + ], + "rotation_deg": [ + 4.970318358290524e-17, + -0.9627568721771238, + -33.99752426147462 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.11714987276134523, + -0.9931142468578326, + -1.7347234627949404e-18, + 3470.0817094215076 + ], + [ + -0.13619320335428256, + 0.016065640478318738, + -0.9905520211256549, + 52.37351257199248 + ], + [ + 0.9837313241830214, + -0.11604304411602008, + -0.13713749936981579, + -341.51882330108054 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.11714987276134523, + -0.13619320335428256, + 0.9837313241830214, + 749.6153146738295 + ], + [ + -0.9931142468578326, + 0.016065640478318738, + -0.11604304411602008, + 3405.7152854153896 + ], + [ + -1.7347234627949404e-18, + -0.9905520211256549, + -0.13713749936981579, + 5.0436512405032845 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74961.53146738296, + -340571.528541539, + 504.36512405032846 + ], + "rotation_deg": [ + 1.0034034729185694e-16, + -7.8822393417358345, + 6.727642059326172 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.831469608077446, + -0.55557023934291, + -0.0, + 2528.1000286190956 + ], + [ + -0.16567846365447728, + 0.2479553393727327, + -0.9544992385317261, + -714.4299266464512 + ], + [ + 0.5302913639794624, + -0.7936371112234062, + -0.29821335479446304, + 2304.235384054556 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.831469608077446, + -0.16567846365447728, + 0.5302913639794624, + 761.7565566408095 + ], + [ + -0.55557023934291, + 0.2479553393727327, + -0.7936371112234062, + 3410.4105454955316 + ], + [ + -0.0, + -0.9544992385317261, + -0.29821335479446304, + 5.230933014620345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76175.65566408096, + -341041.05454955314, + 523.0933014620346 + ], + "rotation_deg": [ + 0.0, + -17.350324630737294, + 56.25000000000001 + ] + } + } + ] + }, + { + "frame": 35, + "time": 1833.7806454896927, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.632335991928841, + -0.7746942579568848, + 6.9388938513275274e-18, + 2152.4263459467998 + ], + [ + -0.11354523389231602, + -0.09268009587607635, + -0.9892006266115787, + 405.1792639655311 + ], + [ + 0.7663280419569649, + 0.6255071634032116, + -0.14656780219977472, + -2707.615854261381 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.632335991928841, + -0.11354523389231602, + 0.7663280419569649, + 759.8714827778051 + ], + [ + -0.7746942579568848, + -0.09268009587607635, + 0.6255071634032116, + 3398.65747900519 + ], + [ + 6.9388938513275274e-18, + -0.9892006266115787, + -0.14656780219977472, + 3.954281483502503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75987.1482777805, + -339865.747900519, + 395.4281483502503 + ], + "rotation_deg": [ + -4.019097082579718e-16, + -8.428077697753906, + -39.2226791381836 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5608148253799118, + -0.8279412609805715, + -8.673617312713843e-19, + 2388.476689189856 + ], + [ + -0.013857945803218858, + -0.009386827087892697, + -0.9998599125954282, + 45.3015680099774 + ], + [ + 0.8278252742502977, + 0.5607362661032521, + -0.016737837046730725, + -2512.2096775341474 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5608148253799118, + -0.013857945803218858, + 0.8278252742502977, + 740.8053119697489 + ], + [ + -0.8279412609805715, + -0.009386827087892697, + 0.5607362661032521, + 3386.6306983442864 + ], + [ + -8.673617312713843e-19, + -0.9998599125954282, + -0.016737837046730725, + 3.246266131053717 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74080.53119697489, + -338663.06983442866, + 324.6266131053717 + ], + "rotation_deg": [ + 4.970312968041135e-17, + -0.9590522050857545, + -34.11216735839845 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.11484192553916354, + -0.9933837788782627, + -0.0, + 3469.3544687020617 + ], + [ + -0.137331954734811, + 0.015876508611417248, + -0.9903978345508571, + 53.89624618721344 + ], + [ + 0.9838451432300295, + -0.11373919522975302, + -0.13824662603901325, + -349.4908345310139 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.11484192553916354, + -0.137331954734811, + 0.9838451432300295, + 749.6738877201243 + ], + [ + -0.9933837788782627, + 0.015876508611417248, + -0.11373919522975302, + 3405.7939618565724 + ], + [ + -0.0, + -0.9903978345508571, + -0.13824662603901325, + 5.062796749112646 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74967.38877201243, + -340579.39618565724, + 506.27967491126464 + ], + "rotation_deg": [ + 0.0, + -7.946398735046387, + 6.594507694244386 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.831469608077446, + -0.55557023934291, + -0.0, + 2528.218049060705 + ], + [ + -0.16567846365447728, + 0.2479553393727327, + -0.9544992385317261, + -714.4484277869675 + ], + [ + 0.5302913639794624, + -0.7936371112234062, + -0.29821335479446304, + 2304.2946011373124 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.831469608077446, + -0.16567846365447728, + 0.5302913639794624, + 761.8202195030686 + ], + [ + -0.55557023934291, + 0.2479553393727327, + -0.7936371112234062, + 3410.5276984707434 + ], + [ + -0.0, + -0.9544992385317261, + -0.29821335479446304, + 5.230933014620345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76182.02195030687, + -341052.76984707435, + 523.0933014620346 + ], + "rotation_deg": [ + 0.0, + -17.350324630737294, + 56.25000000000001 + ] + } + } + ] + }, + { + "frame": 36, + "time": 1833.8473121598363, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.6214126669947556, + -0.7834834377946129, + -0.0, + 2190.764865887525 + ], + [ + -0.11529435628134363, + -0.09144465596861136, + -0.989113282847042, + 402.33215578303276 + ], + [ + 0.7749538718887566, + 0.6146475269746287, + -0.14715608729712124, + -2677.4142325548596 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.6214126669947556, + -0.11529435628134363, + 0.7749538718887566, + 759.8901155465543 + ], + [ + -0.7834834377946129, + -0.09144465596861136, + 0.6146475269746287, + 3398.8851336897687 + ], + [ + -0.0, + -0.989113282847042, + -0.14715608729712124, + 3.954281483502503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75989.01155465543, + -339888.5133689769, + 395.4281483502503 + ], + "rotation_deg": [ + 0.0, + -8.46215343475342, + -38.419368743896484 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5624280507445915, + -0.8268462298007042, + -8.6736173127136965e-19, + 2383.573137060914 + ], + [ + -0.013786266125082084, + -0.009377539020338778, + -0.9998609906523259, + 45.21701556860659 + ], + [ + 0.8267312878418686, + 0.5623498718122641, + -0.016673313289689403, + -2516.864142682011 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5624280507445915, + -0.013786266125082084, + 0.8267312878418686, + 740.8053119697489 + ], + [ + -0.8268462298007042, + -0.009377539020338778, + 0.5623498718122641, + 3386.6306983442864 + ], + [ + -8.6736173127136965e-19, + -0.9998609906523259, + -0.016673313289689403, + 3.246266131053717 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74080.53119697489, + -338663.06983442866, + 324.6266131053717 + ], + "rotation_deg": [ + 4.970307609015918e-17, + -0.955354750156403, + -34.22388076782227 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.1146792810999326, + -0.9934025681899569, + -1.734723462802463e-18, + 3469.417008571662 + ], + [ + -0.13819472367030497, + 0.015953322519782306, + -0.9902765825012058, + 54.302648115663914 + ], + [ + 0.9837433000245593, + -0.113564207429922, + -0.13911251003271716, + -350.0464470034612 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.1146792810999326, + -0.13819472367030497, + 0.9837433000245593, + 749.7304379213731 + ], + [ + -0.9934025681899569, + 0.015953322519782306, + -0.113564207429922, + 3405.9087114068393 + ], + [ + -1.734723462802463e-18, + -0.9902765825012058, + -0.13911251003271716, + 5.0788008671368985 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74973.04379213731, + -340590.87114068394, + 507.8800867136899 + ], + "rotation_deg": [ + 1.0036825627017089e-16, + -7.996494293212887, + 6.585126876831053 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.831469608077446, + -0.55557023934291, + -0.0, + 2528.336641513583 + ], + [ + -0.16567846365447728, + 0.2479553393727327, + -0.9544992385317261, + -714.4666007279831 + ], + [ + 0.5302913639794624, + -0.7936371112234062, + -0.29821335479446304, + 2304.35276774339 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.831469608077446, + -0.16567846365447728, + 0.5302913639794624, + 761.884969409621 + ], + [ + -0.55557023934291, + 0.2479553393727327, + -0.7936371112234062, + 3410.644254162297 + ], + [ + -0.0, + -0.9544992385317261, + -0.29821335479446304, + 5.230933014620345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76188.4969409621, + -341064.4254162297, + 523.0933014620346 + ], + "rotation_deg": [ + 0.0, + -17.350324630737294, + 56.25000000000001 + ] + } + } + ] + }, + { + "frame": 37, + "time": 1833.91397882998, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.6107335007364953, + -0.7918362148059063, + -0.0, + 2227.433094681177 + ], + [ + -0.11693035661663971, + -0.09018694106628088, + -0.9890367067822167, + 399.3225600645611 + ], + [ + 0.7831550789941761, + 0.604037854172133, + -0.1476698783528672, + -2647.732883796191 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.6107335007364953, + -0.11693035661663971, + 0.7831550789941761, + 759.9103736207493 + ], + [ + -0.7918362148059063, + -0.09018694106628088, + 0.604037854172133, + 3399.1067433917515 + ], + [ + -0.0, + -0.9890367067822167, + -0.1476698783528672, + 3.954281483502503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75991.03736207493, + -339910.67433917517, + 395.4281483502503 + ], + "rotation_deg": [ + 0.0, + -8.491916656494139, + -37.64255905151367 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5639990587255744, + -0.8257754305842877, + -8.673617312713555e-19, + 2378.7829245053763 + ], + [ + -0.013715259004252868, + -0.009367429548131268, + -0.9998620619536013, + 45.13017954511566 + ], + [ + 0.8256615221152641, + 0.5639212656285795, + -0.016608945486283264, + -2521.3935940417214 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5639990587255744, + -0.013715259004252868, + 0.8256615221152641, + 740.8053119697489 + ], + [ + -0.8257754305842877, + -0.009367429548131268, + 0.5639212656285795, + 3386.6306983442864 + ], + [ + -8.673617312713555e-19, + -0.9998620619536013, + -0.016608945486283264, + 3.246266131053717 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74080.53119697489, + -338663.06983442866, + 324.6266131053717 + ], + "rotation_deg": [ + 4.970302283584376e-17, + -0.9516662359237669, + -34.33281326293945 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.1209367537314407, + -0.9926602145733958, + -1.7347234628029848e-18, + 3471.8084170147076 + ], + [ + -0.1382264212688748, + 0.016840258552476, + -0.9902574726580379, + 51.31490024998848 + ], + [ + 0.9829891950295827, + -0.11975852500648379, + -0.13924847626945178, + -328.4027498007796 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.1209367537314407, + -0.1382264212688748, + 0.9829891950295827, + 749.7786725371476 + ], + [ + -0.9926602145733958, + 0.016840258552476, + -0.11975852500648379, + 3406.1329029833905 + ], + [ + -1.7347234628029848e-18, + -0.9902574726580379, + -0.13924847626945178, + 5.085380813405827 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74977.86725371476, + -340613.29029833904, + 508.53808134058266 + ], + "rotation_deg": [ + 1.0037019316205931e-16, + -8.004361152648928, + 6.946168422698971 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.831469608077446, + -0.55557023934291, + -0.0, + 2528.4557609413932 + ], + [ + -0.16567846365447728, + 0.2479553393727327, + -0.9544992385317261, + -714.4844645330968 + ], + [ + 0.5302913639794624, + -0.7936371112234062, + -0.29821335479446304, + 2304.409944890146 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.831469608077446, + -0.16567846365447728, + 0.5302913639794624, + 761.9507333987177 + ], + [ + -0.55557023934291, + 0.2479553393727327, + -0.7936371112234062, + 3410.7602407019044 + ], + [ + -0.0, + -0.9544992385317261, + -0.29821335479446304, + 5.230933014620345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76195.07333987177, + -341076.02407019044, + 523.0933014620346 + ], + "rotation_deg": [ + 0.0, + -17.350324630737294, + 56.25000000000001 + ] + } + } + ] + }, + { + "frame": 38, + "time": 1833.9806455001235, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.6002765854230336, + -0.7997924862068058, + -0.0, + 2262.5835520903233 + ], + [ + -0.11846380677515624, + -0.08891187483451468, + -0.9889696683911746, + 396.17530763921087 + ], + [ + 0.7909705067684324, + 0.5936553394713568, + -0.14811818031435986, + -2618.524511182673 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.6002765854230336, + -0.11846380677515624, + 0.7909705067684324, + 759.9321654497085 + ], + [ + -0.7997924862068058, + -0.08891187483451468, + 0.5936553394713568, + 3399.323054926283 + ], + [ + -0.0, + -0.9889696683911746, + -0.14811818031435986, + 3.954281483502503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75993.21654497084, + -339932.3054926283, + 395.4281483502503 + ], + "rotation_deg": [ + 0.0, + -8.517888069152834, + -36.889709472656236 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5655305803069985, + -0.8247273262949576, + -0.0, + 2374.098823021149 + ], + [ + -0.013644922140105683, + -0.009356572154343757, + -0.9998631259614045, + 45.04130709347583 + ], + [ + 0.8246144399004788, + 0.5654531776908591, + -0.016544767962392702, + -2525.8061387295415 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5655305803069985, + -0.013644922140105683, + 0.8246144399004788, + 740.8053119697489 + ], + [ + -0.8247273262949576, + -0.009356572154343757, + 0.5654531776908591, + 3386.6306983442864 + ], + [ + -0.0, + -0.9998631259614045, + -0.016544767962392702, + 3.246266131053717 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74080.53119697489, + -338663.06983442866, + 324.6266131053717 + ], + "rotation_deg": [ + 0.0, + -0.9479886293411259, + -34.4391441345215 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.12716669885700813, + -0.9918813591865765, + -5.204170388410453e-18, + 3474.0547121121795 + ], + [ + -0.1382469902111368, + 0.017724310684177756, + -0.9902391723762153, + 48.32837717470567 + ], + [ + 0.9821997759421784, + -0.12592544758095234, + -0.13937855570592975, + -306.8240382295317 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.12716669885700813, + -0.1382469902111368, + 0.9821997759421784, + 749.8278271499134 + ], + [ + -0.9918813591865765, + 0.017724310684177756, + -0.12592544758095234, + 3406.356568081098 + ], + [ + -5.204170388410453e-18, + -0.9902391723762153, + -0.13937855570592975, + 5.0919607596747545 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74982.78271499135, + -340635.6568081098, + 509.19607596747545 + ], + "rotation_deg": [ + 3.0111614421104843e-16, + -8.011887550354002, + 7.30589723587036 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.831469608077446, + -0.55557023934291, + -0.0, + 2528.5753528227633 + ], + [ + -0.16567846365447728, + 0.2479553393727327, + -0.9544992385317261, + -714.5020453712822 + ], + [ + 0.5302913639794624, + -0.7936371112234062, + -0.29821335479446304, + 2304.4662163372946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.831469608077446, + -0.16567846365447728, + 0.5302913639794624, + 762.0174173848058 + ], + [ + -0.55557023934291, + 0.2479553393727327, + -0.7936371112234062, + 3410.875700762668 + ], + [ + -0.0, + -0.9544992385317261, + -0.29821335479446304, + 5.230933014620345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76201.74173848057, + -341087.5700762668, + 523.0933014620346 + ], + "rotation_deg": [ + 0.0, + -17.350324630737294, + 56.25000000000001 + ] + } + } + ] + }, + { + "frame": 39, + "time": 1834.047312170267, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.590020436207972, + -0.8073883110727789, + -6.938893851359235e-18, + 2296.3554186930596 + ], + [ + -0.11990447452159454, + -0.08762337699256306, + -0.9889110479684808, + 392.9111971297783 + ], + [ + 0.7984352178296382, + 0.5834777316953071, + -0.1485090554310996, + -2589.7407107645517 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.590020436207972, + -0.11990447452159454, + 0.7984352178296382, + 759.9553725651787 + ], + [ + -0.8073883110727789, + -0.08762337699256306, + 0.5834777316953071, + 3399.534748608893 + ], + [ + -6.938893851359235e-18, + -0.9889110479684808, + -0.1485090554310996, + 3.954281483502503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75995.53725651787, + -339953.4748608893, + 395.4281483502503 + ], + "rotation_deg": [ + 4.0202739778123174e-16, + -8.540534019470213, + -36.1584587097168 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5670263725021736, + -0.8236996375421239, + -0.0, + 2369.510329938671 + ], + [ + -0.013575246413680424, + -0.009345060236691802, + -0.9998641820437318, + 44.95070775983202 + ], + [ + 0.8235877616912645, + 0.5669493639842506, + -0.016480821284974162, + -2530.1128080780463 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5670263725021736, + -0.013575246413680424, + 0.8235877616912645, + 740.8053119697489 + ], + [ + -0.8236996375421239, + -0.009345060236691802, + 0.5669493639842506, + 3386.6306983442864 + ], + [ + -0.0, + -0.9998641820437318, + -0.016480821284974162, + 3.246266131053717 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74080.53119697489, + -338663.06983442866, + 324.6266131053717 + ], + "rotation_deg": [ + 0.0, + -0.9443242549896241, + -34.543125152587905 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.1333685615147881, + -0.9910665097759463, + -0.0, + 3476.157241959625 + ], + [ + -0.138256533830224, + 0.018605285170140793, + -0.9902216793309413, + 45.343800243190906 + ], + [ + 0.9813755433522517, + -0.1320644419498645, + -0.13950278163012866, + -285.3123977521202 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.1333685615147881, + -0.138256533830224, + 0.9813755433522517, + 749.8777806112336 + ], + [ + -0.9910665097759463, + 0.018605285170140793, + -0.1320644419498645, + 3406.5797681034137 + ], + [ + -0.0, + -0.9902216793309413, + -0.13950278163012866, + 5.098540705943682 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74987.77806112336, + -340657.97681034135, + 509.85407059436824 + ], + "rotation_deg": [ + 0.0, + -8.019075393676758, + 7.664292335510257 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.831469608077446, + -0.55557023934291, + -0.0, + 2528.6953505403826 + ], + [ + -0.16567846365447728, + 0.2479553393727327, + -0.9544992385317261, + -714.5193785395398 + ], + [ + 0.5302913639794624, + -0.7936371112234062, + -0.29821335479446304, + 2304.521695060863 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.831469608077446, + -0.16567846365447728, + 0.5302913639794624, + 762.0849002194481 + ], + [ + -0.55557023934291, + 0.2479553393727327, + -0.7936371112234062, + 3410.990695748041 + ], + [ + -0.0, + -0.9544992385317261, + -0.29821335479446304, + 5.230933014620345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76208.4900219448, + -341099.0695748041, + 523.0933014620346 + ], + "rotation_deg": [ + 0.0, + -17.350324630737294, + 56.25000000000001 + ] + } + } + ] + }, + { + "frame": 40, + "time": 1834.1139788404107, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.5799445624901223, + -0.8146559423696241, + -6.938893851364843e-18, + 2328.8742129415573 + ], + [ + -0.12126123000863569, + -0.08632452956743386, + -0.988859843300229, + 389.54748871067045 + ], + [ + 0.8055805446265378, + 0.5734838929475371, + -0.1488496242821876, + -2561.3339200987593 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5799445624901223, + -0.12126123000863569, + 0.8055805446265378, + 759.979844303793 + ], + [ + -0.8146559423696241, + -0.08632452956743386, + 0.5734838929475371, + 3399.742452244956 + ], + [ + -6.938893851364843e-18, + -0.988859843300229, + -0.1488496242821876, + 3.954281483502503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75997.9844303793, + -339974.2452244956, + 395.4281483502503 + ], + "rotation_deg": [ + 4.020482153723113e-16, + -8.560266494750973, + -35.446643829345696 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5684908839691678, + -0.8226895616476206, + -0.0, + 2365.004658032499 + ], + [ + -0.013506217126207531, + -0.009332999555482373, + -0.9998652295275786, + 44.85872882417515 + ], + [ + 0.8225786847225722, + 0.5684142720359381, + -0.016417149141619115, + -2534.3265877742724 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5684908839691678, + -0.013506217126207531, + 0.8225786847225722, + 740.8053119697489 + ], + [ + -0.8226895616476206, + -0.009332999555482373, + 0.5684142720359381, + 3386.6306983442864 + ], + [ + -0.0, + -0.9998652295275786, + -0.016417149141619115, + 3.246266131053717 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74080.53119697489, + -338663.06983442866, + 324.6266131053717 + ], + "rotation_deg": [ + 0.0, + -0.9406756162643435, + -34.64505767822266 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.13954180982161615, + -0.9902161800898366, + -0.0, + 3478.1174072760828 + ], + [ + -0.13825519033827582, + 0.019482997617030196, + -0.9902049864287604, + 42.3618800847656 + ], + [ + 0.9805169988675266, + -0.13817499694286925, + -0.13962122027706522, + -263.86980377859084 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.13954180982161615, + -0.13825519033827582, + 0.9805169988675266, + 749.9283794567605 + ], + [ + -0.9902161800898366, + 0.019482997617030196, + -0.13817499694286925, + 3406.8025869502953 + ], + [ + -0.0, + -0.9902049864287604, + -0.13962122027706522, + 5.1051206522126105 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74992.83794567604, + -340680.25869502954, + 510.512065221261 + ], + "rotation_deg": [ + 0.0, + -8.025928497314451, + 8.021333694458011 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.831469608077446, + -0.55557023934291, + -0.0, + 2528.815673105627 + ], + [ + -0.16567846365447728, + 0.2479553393727327, + -0.9544992385317261, + -714.5365102670494 + ], + [ + 0.5302913639794624, + -0.7936371112234062, + -0.29821335479446304, + 2304.57652902779 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.831469608077446, + -0.16567846365447728, + 0.5302913639794624, + 762.153028438297 + ], + [ + -0.55557023934291, + 0.2479553393727327, + -0.7936371112234062, + 3411.105309557979 + ], + [ + -0.0, + -0.9544992385317261, + -0.29821335479446304, + 5.230933014620345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76215.3028438297, + -341110.53095579793, + 523.0933014620346 + ], + "rotation_deg": [ + 0.0, + -17.350324630737294, + 56.25000000000001 + ] + } + } + ] + }, + { + "frame": 41, + "time": 1834.1806455105543, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.5700295809534207, + -0.8216241700668666, + -6.938893851369739e-18, + 2360.2528725067605 + ], + [ + -0.12254209339215306, + -0.08501772548852733, + -0.9888151605329613, + 386.0984451635142 + ], + [ + 0.8124344328319963, + 0.5636538953176209, + -0.14914616536211944, + -2533.258016447288 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5700295809534207, + -0.12254209339215306, + 0.8124344328319963, + 760.0053941999362 + ], + [ + -0.8216241700668666, + -0.08501772548852733, + 0.5636538953176209, + 3399.946752610195 + ], + [ + -6.938893851369739e-18, + -0.9888151605329613, + -0.14914616536211944, + 3.954281483502503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76000.53941999361, + -339994.6752610195, + 395.4281483502503 + ], + "rotation_deg": [ + 4.020663832037073e-16, + -8.577448844909666, + -34.75228881835937 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5678270040600835, + -0.8231479171207018, + -8.673617312713432e-19, + 2367.1292131780065 + ], + [ + -0.013627006433199654, + -0.009400233027785962, + -0.9998629607674708, + 45.182222110997095 + ], + [ + 0.823035110904346, + 0.5677491933319838, + -0.016554748247940492, + -2532.594876589835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5678270040600835, + -0.013627006433199654, + 0.823035110904346, + 740.9103118424424 + ], + [ + -0.8231479171207018, + -0.009400233027785962, + 0.5677491933319838, + 3386.8008869904356 + ], + [ + -8.673617312713432e-19, + -0.9998629607674708, + -0.016554748247940492, + 3.2495602859215267 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74091.03118424425, + -338680.08869904355, + 324.9560285921527 + ], + "rotation_deg": [ + 4.970297815595388e-17, + -0.9485605359077453, + -34.598834991455085 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.1456858938130738, + -0.9893308952741169, + -0.0, + 3479.9366497795236 + ], + [ + -0.13824306817153068, + 0.020357258674764095, + -0.9901890910941051, + 39.38331628147495 + ], + [ + 0.979624659669285, + -0.14425658386738285, + -0.1397339049005276, + -242.49826331075556 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.1456858938130738, + -0.13824306817153068, + 0.979624659669285, + 749.9794343207177 + ], + [ + -0.9893308952741169, + 0.020357258674764095, + -0.14425658386738285, + 3407.0251335021367 + ], + [ + -0.0, + -0.9901890910941051, + -0.1397339049005276, + 5.111700598481538 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74997.94343207177, + -340702.51335021365, + 511.1700598481538 + ], + "rotation_deg": [ + 0.0, + -8.032448768615719, + 8.376999855041504 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.831469608077446, + -0.55557023934291, + -0.0, + 2528.9362235573167 + ], + [ + -0.16567846365447728, + 0.2479553393727327, + -0.9544992385317261, + -714.5534989251167 + ], + [ + 0.5302913639794624, + -0.7936371112234062, + -0.29821335479446304, + 2304.630905068632 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.831469608077446, + -0.16567846365447728, + 0.5302913639794624, + 762.2216126755765 + ], + [ + -0.55557023934291, + 0.2479553393727327, + -0.7936371112234062, + 3411.219651072877 + ], + [ + -0.0, + -0.9544992385317261, + -0.29821335479446304, + 5.230933014620345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76222.16126755765, + -341121.9651072877, + 523.0933014620346 + ], + "rotation_deg": [ + 0.0, + -17.350324630737294, + 56.25000000000001 + ] + } + } + ] + }, + { + "frame": 42, + "time": 1834.247312180698, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.5602570686613503, + -0.8283187894856611, + 6.938893851374005e-18, + 2390.5899132949717 + ], + [ + -0.12375433076274435, + -0.08370477582711235, + -0.9887762012311975, + 382.57600515216006 + ], + [ + 0.8190219033803046, + 0.5539688597396737, + -0.1494042309375088, + -2505.4696889275538 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5602570686613503, + -0.12375433076274435, + 0.8190219033803046, + 760.0350919761884 + ], + [ + -0.8283187894856611, + -0.08370477582711235, + 0.5539688597396737, + 3400.146153577101 + ], + [ + 6.938893851374005e-18, + -0.9887762012311975, + -0.1494042309375088, + 3.954281483502503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76003.50919761884, + -340014.6153577101, + 395.4281483502503 + ], + "rotation_deg": [ + -4.020822252373012e-16, + -8.592402458190922, + -34.07357788085938 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5650251965899513, + -0.825073649572259, + -0.0, + 2375.8853430242466 + ], + [ + -0.013950011648900256, + -0.009553217556321525, + -0.9998570563882206, + 45.952766669995015 + ], + [ + 0.8249557079351882, + 0.5649444336835627, + -0.016907595781520762, + -2524.8846968796183 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5650251965899513, + -0.013950011648900256, + 0.8249557079351882, + 741.1239987109128 + ], + [ + -0.825073649572259, + -0.009553217556321525, + 0.5649444336835627, + 3387.1389269821293 + ], + [ + -0.0, + -0.9998570563882206, + -0.016907595781520762, + 3.256468683147729 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74112.39987109129, + -338713.89269821293, + 325.6468683147729 + ], + "rotation_deg": [ + 0.0, + -0.968780040740967, + -34.404041290283224 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.15180034434157777, + -0.9884111773233738, + -1.7347234628052657e-18, + 3481.614949289801 + ], + [ + -0.13822029293425186, + 0.02122789436601913, + -0.9901739883080923, + 36.40926172237769 + ], + [ + 0.9786990372109278, + -0.15030875351549067, + -0.13984088521967558, + -221.20299768612557 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.15180034434157777, + -0.13822029293425186, + 0.9786990372109278, + 750.034011945406 + ], + [ + -0.9884111773233738, + 0.02122789436601913, + -0.15030875351549067, + 3407.245491829135 + ], + [ + -1.7347234628052657e-18, + -0.9901739883080923, + -0.13984088521967558, + 5.118280544750466 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75003.4011945406, + -340724.5491829135, + 511.8280544750466 + ], + "rotation_deg": [ + 1.0037865565507537e-16, + -8.038639068603509, + 8.731273651123042 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.831469608077446, + -0.55557023934291, + -0.0, + 2529.058487364891 + ], + [ + -0.16567846365447728, + 0.2479553393727327, + -0.9544992385317261, + -714.5693613555651 + ], + [ + 0.5302913639794624, + -0.7936371112234062, + -0.29821335479446304, + 2304.681676363438 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.831469608077446, + -0.16567846365447728, + 0.5302913639794624, + 762.2937196735869 + ], + [ + -0.55557023934291, + 0.2479553393727327, + -0.7936371112234062, + 3411.331804362932 + ], + [ + -0.0, + -0.9544992385317261, + -0.29821335479446304, + 5.230933014620345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76229.37196735869, + -341133.1804362932, + 523.0933014620346 + ], + "rotation_deg": [ + 0.0, + -17.350324630737294, + 56.25000000000001 + ] + } + } + ] + }, + { + "frame": 43, + "time": 1834.3139788508415, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.5506100944139651, + -0.8347625554188715, + -0.0, + 2419.978023057341 + ], + [ + -0.12490441870771007, + -0.08238706124385764, + -0.9887422608176963, + 378.98967483917227 + ], + [ + 0.8253650136864586, + 0.5444114732121202, + -0.14962868046387642, + -2477.926221735937 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5506100944139651, + -0.12490441870771007, + 0.8253650136864586, + 760.0667650908654 + ], + [ + -0.8347625554188715, + -0.08238706124385764, + 0.5444114732121202, + 3400.3423343787063 + ], + [ + -0.0, + -0.9887422608176963, + -0.14962868046387642, + 3.954281483502503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76006.67650908654, + -340034.23343787063, + 395.4281483502503 + ], + "rotation_deg": [ + 0.0, + -8.605408668518068, + -33.40887832641601 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5600568626693991, + -0.8284541692676245, + -0.0, + 2391.2553920828523 + ], + [ + -0.014488969769898597, + -0.00979492560199768, + -0.9998470528973212, + 47.191071937814485 + ], + [ + 0.8283274570221797, + 0.5599712074079252, + -0.017489162852463717, + -2511.0872103073452 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5600568626693991, + -0.014488969769898597, + 0.8283274570221797, + 741.4472379239508 + ], + [ + -0.8284541692676245, + -0.00979492560199768, + 0.5599712074079252, + 3387.644253719502 + ], + [ + -0.0, + -0.9998470528973212, + -0.017489162852463717, + 3.2670415748852806 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74144.72379239507, + -338764.4253719502, + 326.70415748852804 + ], + "rotation_deg": [ + 0.0, + -1.002106308937073, + -34.05973052978517 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.15788464952617295, + -0.9874575623509078, + -3.4694469256113137e-18, + 3483.154742305275 + ], + [ + -0.13818700969278785, + 0.022094729359784345, + -0.9901596706020109, + 33.440099165122646 + ], + [ + 0.9777406543285444, + -0.15633101374475206, + -0.13994222741805806, + -199.98378771775515 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.15788464952617295, + -0.13818700969278785, + 0.9777406543285444, + 750.0899367455559 + ], + [ + -0.9874575623509078, + 0.022094729359784345, + -0.15633101374475206, + 3407.4649724879896 + ], + [ + -3.4694469256113137e-18, + -0.9901596706020109, + -0.13994222741805806, + 5.124860491019394 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75008.99367455559, + -340746.49724879896, + 512.4860491019394 + ], + "rotation_deg": [ + 2.0076021426035886e-16, + -8.044503211975096, + 9.084135055541992 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.831469608077446, + -0.55557023934291, + -0.0, + 2529.181383701618 + ], + [ + -0.16567846365447728, + 0.2479553393727327, + -0.9544992385317261, + -714.5847829655501 + ], + [ + 0.5302913639794624, + -0.7936371112234062, + -0.29821335479446304, + 2304.7310367127197 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.831469608077446, + -0.16567846365447728, + 0.5302913639794624, + 762.367173847059 + ], + [ + -0.55557023934291, + 0.2479553393727327, + -0.7936371112234062, + 3411.443079984843 + ], + [ + -0.0, + -0.9544992385317261, + -0.29821335479446304, + 5.230933014620345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76236.7173847059, + -341144.3079984843, + 523.0933014620346 + ], + "rotation_deg": [ + 0.0, + -17.350324630737294, + 56.25000000000001 + ] + } + } + ] + }, + { + "frame": 44, + "time": 1834.3806455209851, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.5410729041311, + -0.840975690739713, + -0.0, + 2448.498870044609 + ], + [ + -0.1259981833536808, + -0.08106560478871108, + -0.9887127113129539, + 375.3473405081578 + ], + [ + 0.831483352823562, + 0.5349656616493795, + -0.14982381263780986, + -2450.5878146716445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5410729041311, + -0.1259981833536808, + 0.831483352823562, + 760.0996588003318 + ], + [ + -0.840975690739713, + -0.08106560478871108, + 0.5349656616493795, + 3400.5361050868687 + ], + [ + -0.0, + -0.9887127113129539, + -0.14982381263780986, + 3.954281483502503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76009.96588003318, + -340053.61050868686, + 395.4281483502503 + ], + "rotation_deg": [ + 0.0, + -8.616716384887697, + -32.75670623779297 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5527660558279055, + -0.8333364791754054, + -0.0, + 2413.5207891164937 + ], + [ + -0.015268305491505948, + -0.010127722974597918, + -0.9998321399488856, + 48.92399414086511 + ], + [ + 0.8331965927618302, + 0.5526732722682046, + -0.01832189756636448, + -2490.704455251113 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5527660558279055, + -0.015268305491505948, + 0.8331965927618302, + 741.8810820563153 + ], + [ + -0.8333364791754054, + -0.010127722974597918, + 0.5526732722682046, + 3388.316171556643 + ], + [ + -0.0, + -0.9998321399488856, + -0.01832189756636448, + 3.281350413432545 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74188.10820563154, + -338831.6171556643, + 328.1350413432545 + ], + "rotation_deg": [ + 0.0, + -1.0498261451721196, + -33.55698394775391 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.1639383371446461, + -0.9864705883168784, + -3.4694469256120533e-18, + 3484.557863083171 + ], + [ + -0.1381433648773766, + 0.022957596297121904, + -0.9901461303830935, + 30.476395767887027 + ], + [ + 0.976750035401268, + -0.16232291136624927, + -0.1400379976620855, + -178.84177787561057 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.1639383371446461, + -0.1381433648773766, + 0.976750035401268, + 750.1464508854785 + ], + [ + -0.9864705883168784, + 0.022957596297121904, + -0.16232291136624927, + 3407.6840618690867 + ], + [ + -3.4694469256120533e-18, + -0.9901461303830935, + -0.1400379976620855, + 5.131440437288322 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75014.64508854786, + -340768.40618690866, + 513.1440437288322 + ], + "rotation_deg": [ + 2.0076295965036742e-16, + -8.050045013427727, + 9.435565948486325 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.831469608077446, + -0.55557023934291, + -0.0, + 2529.304552674177 + ], + [ + -0.16567846365447728, + 0.2479553393727327, + -0.9544992385317261, + -714.600009915218 + ], + [ + 0.5302913639794624, + -0.7936371112234062, + -0.29821335479446304, + 2304.779774007662 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.831469608077446, + -0.16567846365447728, + 0.5302913639794624, + 762.4412173603039 + ], + [ + -0.55557023934291, + 0.2479553393727327, + -0.7936371112234062, + 3411.553964328997 + ], + [ + -0.0, + -0.9544992385317261, + -0.29821335479446304, + 5.230933014620345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76244.12173603039, + -341155.3964328997, + 523.0933014620346 + ], + "rotation_deg": [ + 0.0, + -17.350324630737294, + 56.25000000000001 + ] + } + } + ] + }, + { + "frame": 45, + "time": 1834.4473121911287, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.5316309599602949, + -0.8469761049827172, + -6.938893851383776e-18, + 2476.225148070612 + ], + [ + -0.12704080961173403, + -0.07974112512819634, + -0.9886870008533964, + 371.65536980107976 + ], + [ + 0.8373942625994416, + 0.5256166229069468, + -0.14999338215212532, + -2423.417290447106 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5316309599602949, + -0.12704080961173403, + 0.8373942625994416, + 760.1331787853704 + ], + [ + -0.8469761049827172, + -0.07974112512819634, + 0.5256166229069468, + 3400.7281464743596 + ], + [ + -6.938893851383776e-18, + -0.9886870008533964, + -0.14999338215212532, + 3.954281483502503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76013.31787853704, + -340072.81464743597, + 395.4281483502503 + ], + "rotation_deg": [ + 4.0211850151778957e-16, + -8.626543045043944, + -32.11571884155272 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5429010835488286, + -0.8397966500775695, + -0.0, + 2443.1352772336036 + ], + [ + -0.01632641983497935, + -0.010554496755928558, + -0.9998110074477082, + 51.19089135776728 + ], + [ + 0.8396379323497714, + 0.5427984830184656, + -0.019440920560859384, + -2462.933301004261 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5429010835488286, + -0.01632641983497935, + 0.8396379323497714, + 742.427195926189 + ], + [ + -0.8397966500775695, + -0.010554496755928558, + 0.5427984830184656, + 3389.153560085236 + ], + [ + -0.0, + -0.9998110074477082, + -0.019440920560859384, + 3.299526590858261 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74242.7195926189, + -338915.3560085236, + 329.9526590858261 + ], + "rotation_deg": [ + 0.0, + -1.1139528751373293, + -32.88134765625001 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.169960941719669, + -0.9854507995276897, + -3.469446925612751e-18, + 3485.826091485398 + ], + [ + -0.13808947438021602, + 0.023816325602946716, + -0.9901333646030567, + 27.518726206734215 + ], + [ + 0.975727715414095, + -0.16828400034095226, + -0.14012822914044484, + -157.77825957554296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.169960941719669, + -0.13808947438021602, + 0.975727715414095, + 750.2029569185272 + ], + [ + -0.9854507995276897, + 0.023816325602946716, + -0.16828400034095226, + 3407.9031566631566 + ], + [ + -3.469446925612751e-18, + -0.9901333646030567, + -0.14012822914044484, + 5.13802038355725 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75020.29569185272, + -340790.31566631567, + 513.802038355725 + ], + "rotation_deg": [ + 2.007655480853339e-16, + -8.055266380310053, + 9.785548210144041 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.831469608077446, + -0.55557023934291, + -0.0, + 2529.4277179134033 + ], + [ + -0.16567846365447728, + 0.2479553393727327, + -0.9544992385317261, + -714.6152395501956 + ], + [ + 0.5302913639794624, + -0.7936371112234062, + -0.29821335479446304, + 2304.828519897545 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.831469608077446, + -0.16567846365447728, + 0.5302913639794624, + 762.5152527666746 + ], + [ + -0.55557023934291, + 0.2479553393727327, + -0.7936371112234062, + 3411.6648540861233 + ], + [ + -0.0, + -0.9544992385317261, + -0.29821335479446304, + 5.230933014620345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76251.52527666747, + -341166.48540861235, + 523.0933014620346 + ], + "rotation_deg": [ + 0.0, + -17.350324630737294, + 56.25000000000001 + ] + } + } + ] + }, + { + "frame": 46, + "time": 1834.5139788612723, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.522270988142307, + -0.8527795816885263, + 6.938893851386227e-18, + 2503.2213507474407 + ], + [ + -0.12803690718756044, + -0.07841412185681995, + -0.9886646427840268, + 367.918939858281 + ], + [ + 0.8431130181561599, + 0.5163508634255257, + -0.1501406822127989, + -2396.3802797844023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.522270988142307, + -0.12803690718756044, + 0.8431130181561599, + 760.1667222058567 + ], + [ + -0.8527795816885263, + -0.07841412185681995, + 0.5163508634255257, + 3400.919109911439 + ], + [ + 6.938893851386227e-18, + -0.9886646427840268, + -0.1501406822127989, + 3.954281483502503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76016.67222058566, + -340091.9109911439, + 395.4281483502503 + ], + "rotation_deg": [ + -4.021275951913196e-16, + -8.635079383850101, + -31.48470878601075 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5314184061305571, + -0.8471094838482555, + -8.673617312723974e-19, + 2476.8975884901743 + ], + [ + -0.017583577367913234, + -0.011030730781670295, + -0.9997845471827264, + 53.77911016075158 + ], + [ + 0.8469269694146876, + 0.5313039142117698, + -0.02075714867955875, + -2430.377539861538 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5314184061305571, + -0.017583577367913234, + 0.8469269694146876, + 743.0289414046283 + ], + [ + -0.8471094838482555, + -0.011030730781670295, + 0.5313039142117698, + 3390.06574592278 + ], + [ + -8.673617312723974e-19, + -0.9997845471827264, + -0.02075714867955875, + 3.3198159712319733 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74302.89414046283, + -339006.574592278, + 331.98159712319733 + ], + "rotation_deg": [ + 4.9706876384588305e-17, + -1.1893824338912966, + -32.10134124755861 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.17595205372058428, + -0.9843987377031262, + -3.4694469256134064e-18, + 3486.9612287444484 + ], + [ + -0.13802547109950689, + 0.02467076010517345, + -0.9901213677744721, + 24.567633245338953 + ], + [ + 0.9746742242209786, + -0.17421388940109026, + -0.14021297150755382, + -136.7943177895006 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.17595205372058428, + -0.13802547109950689, + 0.9746742242209786, + 750.2588488533323 + ], + [ + -0.9843987377031262, + 0.02467076010517345, + -0.17421388940109026, + 3408.1226590097936 + ], + [ + -3.4694469256134064e-18, + -0.9901213677744721, + -0.14021297150755382, + 5.144600329826178 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75025.88488533323, + -340812.26590097934, + 514.4600329826178 + ], + "rotation_deg": [ + 2.0076798066580536e-16, + -8.060170173645014, + 10.134066581726078 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.831469608077446, + -0.55557023934291, + -0.0, + 2529.550598972681 + ], + [ + -0.16567846365447728, + 0.2479553393727327, + -0.9544992385317261, + -714.6306719828618 + ], + [ + 0.5302913639794624, + -0.7936371112234062, + -0.29821335479446304, + 2304.877914887265 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.831469608077446, + -0.16567846365447728, + 0.5302913639794624, + 762.5886740748019 + ], + [ + -0.55557023934291, + 0.2479553393727327, + -0.7936371112234062, + 3411.7761513958167 + ], + [ + -0.0, + -0.9544992385317261, + -0.29821335479446304, + 5.230933014620345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76258.8674074802, + -341177.61513958167, + 523.0933014620346 + ], + "rotation_deg": [ + 0.0, + -17.350324630737294, + 56.25000000000001 + ] + } + } + ] + }, + { + "frame": 47, + "time": 1834.580645531416, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.5129809251371883, + -0.8584000060842228, + 6.938893851388356e-18, + 2529.544551325756 + ], + [ + -0.1289905328343611, + -0.0770849049374507, + -0.98864521435644, + 364.1421553662288 + ], + [ + 0.848653055751821, + 0.5071561401440485, + -0.15026856117394216, + -2369.4452067980437 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5129809251371883, + -0.1289905328343611, + 0.848653055751821, + 760.19969859568 + ], + [ + -0.8584000060842228, + -0.0770849049374507, + 0.5071561401440485, + 3401.1095937875943 + ], + [ + 6.938893851388356e-18, + -0.98864521435644, + -0.15026856117394216, + 3.954281483502503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76019.96985956801, + -340110.95937875943, + 395.4281483502503 + ], + "rotation_deg": [ + -4.0213549762878887e-16, + -8.642490386962892, + -30.86259269714355 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5206877368300605, + -0.853747199535547, + 8.673617312727546e-19, + 2507.788707382596 + ], + [ + -0.018782897300623925, + -0.01145541009316789, + -0.9997579588823444, + 56.147682047809056 + ], + [ + 0.8535405553975721, + 0.5205617126073513, + -0.02200053769584003, + -2399.755973459825 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5206877368300605, + -0.018782897300623925, + 0.8535405553975721, + 743.5688322930209 + ], + [ + -0.853747199535547, + -0.01145541009316789, + 0.5205617126073513, + 3390.8818458456144 + ], + [ + 8.673617312727546e-19, + -0.9997579588823444, + -0.02200053769584003, + 3.338170887877407 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74356.8832293021, + -339088.18458456144, + 333.8170887877407 + ], + "rotation_deg": [ + -4.970819832593329e-17, + -1.2606396675109872, + -31.378395080566424 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.1819112211337261, + -0.9833149585080236, + -1.7347234628070102e-18, + 3487.9650562541215 + ], + [ + -0.1379515233320717, + 0.025520744751682835, + -0.9901101296308809, + 21.62368021205217 + ], + [ + 0.973590100630722, + -0.18011214408981593, + -0.14029230736298462, + -115.89120089774518 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.1819112211337261, + -0.1379515233320717, + 0.973590100630722, + 750.3135330589328 + ], + [ + -0.9833149585080236, + 0.025520744751682835, + -0.18011214408981593, + 3408.3429487408366 + ], + [ + -1.7347234628070102e-18, + -0.9901101296308809, + -0.14029230736298462, + 5.151180276095106 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75031.35330589328, + -340834.29487408366, + 515.1180276095106 + ], + "rotation_deg": [ + 1.0038512973111855e-16, + -8.064761161804196, + 10.48110294342041 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.831469608077446, + -0.55557023934291, + -0.0, + 2529.6729132891733 + ], + [ + -0.16567846365447728, + 0.2479553393727327, + -0.9544992385317261, + -714.646499746415 + ], + [ + 0.5302913639794624, + -0.7936371112234062, + -0.29821335479446304, + 2304.928575222838 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.831469608077446, + -0.16567846365447728, + 0.5302913639794624, + 762.6608876537247 + ], + [ + -0.55557023934291, + 0.2479553393727327, + -0.7936371112234062, + 3411.8882360899165 + ], + [ + -0.0, + -0.9544992385317261, + -0.29821335479446304, + 5.230933014620345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76266.08876537246, + -341188.82360899163, + 523.0933014620346 + ], + "rotation_deg": [ + 0.0, + -17.350324630737294, + 56.25000000000001 + ] + } + } + ] + }, + { + "frame": 48, + "time": 1834.6473122015595, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.5037498177181845, + -0.8638495940549463, + 6.938893851390203e-18, + 2555.2451018967577 + ], + [ + -0.1299053159568066, + -0.07575367249602726, + -0.9886283376423753, + 360.32841975221817 + ], + [ + 0.8540261859549866, + 0.4980213482823986, + -0.1503795543222575, + -2342.5831452116213 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5037498177181845, + -0.1299053159568066, + 0.8540261859549866, + 760.2316683617106 + ], + [ + -0.8638495940549463, + -0.07575367249602726, + 0.4980213482823986, + 3401.3000486178057 + ], + [ + 6.938893851390203e-18, + -0.9886283376423753, + -0.1503795543222575, + 3.954281483502503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76023.16683617106, + -340130.00486178056, + 395.4281483502503 + ], + "rotation_deg": [ + -4.0214236241877743e-16, + -8.648922920227054, + -30.248397827148445 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5107310595383527, + -0.859740533430192, + -1.73472346254622e-18, + 2535.8964727968523 + ], + [ + -0.019920513015436323, + -0.011833831630956174, + -0.9997315307571989, + 58.31164029235912 + ], + [ + 0.8595097174164504, + 0.5105939475243615, + -0.023170378032825158, + -2371.1811056927113 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5107310595383527, + -0.019920513015436323, + 0.8595097174164504, + 744.0537034521028 + ], + [ + -0.859740533430192, + -0.011833831630956174, + 0.5105939475243615, + 3391.613743602961 + ], + [ + -1.73472346254622e-18, + -0.9997315307571989, + -0.023170378032825158, + 3.354823476441956 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74405.37034521028, + -339161.3743602961, + 335.4823476441956 + ], + "rotation_deg": [ + 9.941902474644211e-17, + -1.327683687210083, + -30.71253776550294 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.18783804785582317, + -0.9822000141405586, + 1.734723462807297e-18, + 3488.839279817877 + ], + [ + -0.13786776735746695, + 0.026366129006144965, + -0.9900996444626663, + 18.687414164006334 + ], + [ + 0.9724758843691617, + -0.18597838579331735, + -0.14036628633019108, + -95.0701314135548 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.18783804785582317, + -0.13786776735746695, + 0.9724758843691617, + 750.3665667727635 + ], + [ + -0.9822000141405586, + 0.026366129006144965, + -0.18597838579331735, + 3408.564284809613 + ], + [ + 1.734723462807297e-18, + -0.9900996444626663, + -0.14036628633019108, + 5.1577602223640335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75036.65667727635, + -340856.4284809613, + 515.7760222364034 + ], + "rotation_deg": [ + -1.00386192810975e-16, + -8.069042205810547, + 10.826642036437994 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.831469608077446, + -0.55557023934291, + -0.0, + 2529.7944365860258 + ], + [ + -0.16567846365447728, + 0.2479553393727327, + -0.9544992385317261, + -714.6628604059365 + ], + [ + 0.5302913639794624, + -0.7936371112234062, + -0.29821335479446304, + 2304.9809412123986 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.831469608077446, + -0.16567846365447728, + 0.5302913639794624, + 762.7314507408774 + ], + [ + -0.55557023934291, + 0.2479553393727327, + -0.7936371112234062, + 3412.0013671217494 + ], + [ + -0.0, + -0.9544992385317261, + -0.29821335479446304, + 5.230933014620345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76273.14507408775, + -341200.1367121749, + 523.0933014620346 + ], + "rotation_deg": [ + 0.0, + -17.350324630737294, + 56.25000000000001 + ] + } + } + ] + }, + { + "frame": 49, + "time": 1834.7139788717031, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.4945677646382484, + -0.8691390718295466, + -0.0, + 2580.367277957632 + ], + [ + -0.13078445482604528, + -0.07442051286060974, + -0.9886136827099945, + 356.4804429908367 + ], + [ + 0.8592427764761199, + 0.48893646250499323, + -0.15047586752270878, + -2315.7677836781368 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.4945677646382484, + -0.13078445482604528, + 0.8592427764761199, + 760.2623603753038 + ], + [ + -0.8691390718295466, + -0.07442051286060974, + 0.48893646250499323, + 3401.4907739032587 + ], + [ + -0.0, + -0.9886136827099945, + -0.15047586752270878, + 3.954281483502503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76026.23603753038, + -340149.0773903259, + 395.4281483502503 + ], + "rotation_deg": [ + 0.0, + -8.654504776000977, + -29.641252517700206 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.5015541698752279, + -0.8651262420483907, + -0.0, + 2561.341449070663 + ], + [ + -0.02099427247882202, + -0.012171362274618115, + -0.9997055058683358, + 60.28757390039004 + ], + [ + 0.8648714654023392, + 0.5014064686331375, + -0.024267293743986455, + -2344.713128746449 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.5015541698752279, + -0.02099427247882202, + 0.8648714654023392, + 744.4896848956882 + ], + [ + -0.8651262420483907, + -0.012171362274618115, + 0.5014064686331375, + 3392.2718007148783 + ], + [ + -0.0, + -0.9997055058683358, + -0.024267293743986455, + 3.369978016295327 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74448.96848956883, + -339227.18007148785, + 336.9978016295327 + ], + "rotation_deg": [ + 0.0, + -1.3905500173568728, + -30.10287666320802 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.1937321444563055, + -0.9810544613854835, + -3.469446925615126e-18, + 3489.5855225395844 + ], + [ + -0.13777435720577802, + 0.02720676855683414, + -0.9900899041204435, + 15.759400470153558 + ], + [ + 0.9713321171700222, + -0.19181224176706987, + -0.14043497449813983, + -74.33249811370389 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.1937321444563055, + -0.13777435720577802, + 0.9713321171700222, + 750.4176757001338 + ], + [ + -0.9810544613854835, + 0.02720676855683414, + -0.19181224176706987, + 3408.7867989157944 + ], + [ + -3.469446925615126e-18, + -0.9900899041204435, + -0.14043497449813983, + 5.164340168632962 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75041.76757001338, + -340878.67989157944, + 516.4340168632962 + ], + "rotation_deg": [ + 2.0077436078780835e-16, + -8.073017120361323, + 11.170668601989744 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.831469608077446, + -0.55557023934291, + -0.0, + 2529.9150139639573 + ], + [ + -0.16567846365447728, + 0.2479553393727327, + -0.9544992385317261, + -714.6798320617862 + ], + [ + 0.5302913639794624, + -0.7936371112234062, + -0.29821335479446304, + 2305.0352628337996 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.831469608077446, + -0.16567846365447728, + 0.5302913639794624, + 762.80008904157 + ], + [ + -0.55557023934291, + 0.2479553393727327, + -0.7936371112234062, + 3412.1156761909874 + ], + [ + -0.0, + -0.9544992385317261, + -0.29821335479446304, + 5.230933014620345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76280.008904157, + -341211.56761909876, + 523.0933014620346 + ], + "rotation_deg": [ + 0.0, + -17.350324630737294, + 56.25000000000001 + ] + } + } + ] + }, + { + "frame": 50, + "time": 1834.7806455418468, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.4854258749914458, + -0.8742778276319196, + 6.938893851393205e-18, + 2604.949885956993 + ], + [ + -0.13163072430353862, + -0.07308541690217071, + -0.9886009681643859, + 352.6002881803346 + ], + [ + 0.8643119048032901, + 0.4798924932965262, + -0.15055937729995947, + -2288.975386829838 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.4854258749914458, + -0.13163072430353862, + 0.8643119048032901, + 760.2916265452492 + ], + [ + -0.8742778276319196, + -0.07308541690217071, + 0.4798924932965262, + 3401.6819597002095 + ], + [ + 6.938893851393205e-18, + -0.9886009681643859, + -0.15055937729995947, + 3.954281483502503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76029.16265452492, + -340168.19597002096, + 395.4281483502503 + ], + "rotation_deg": [ + -4.021534957547372e-16, + -8.65934467315674, + -29.040378570556634 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.49314900320073485, + -0.8699448606906769, + 8.673617312738017e-19, + 2584.267579620486 + ], + [ + -0.022003532323483718, + -0.012473227353290156, + -0.9996800804080687, + 62.09274994033812 + ], + [ + 0.8696665463121063, + 0.49299123864460975, + -0.025293019693714256, + -2320.3663463590065 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.49314900320073485, + -0.022003532323483718, + 0.8696665463121063, + 744.8822611684475 + ], + [ + -0.8699448606906769, + -0.012473227353290156, + 0.49299123864460975, + 3392.865062590566 + ], + [ + 8.673617312738017e-19, + -0.9996800804080687, + -0.025293019693714256, + 3.3838142732828604 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74488.22611684474, + -339286.5062590566, + 338.38142732828607 + ], + "rotation_deg": [ + -4.9712070763506554e-17, + -1.4493378400802612, + -29.547767639160167 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.19959312819542227, + -0.979878861480931, + -5.2041703884234274e-18, + 3490.2053590293463 + ], + [ + -0.13767143220227276, + 0.02804251923025116, + -0.9900809026895708, + 12.840212385211602 + ], + [ + 0.9701593472435369, + -0.19761334601386396, + -0.1404984214615922, + -53.679807759099155 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.19959312819542227, + -0.13767143220227276, + 0.9701593472435369, + 750.4667085942295 + ], + [ + -0.979878861480931, + 0.02804251923025116, + -0.19761334601386396, + 3409.0105342266415 + ], + [ + -5.2041703884234274e-18, + -0.9900809026895708, + -0.1404984214615922, + 5.1709201149018895 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75046.67085942296, + -340901.0534226642, + 517.092011490189 + ], + "rotation_deg": [ + 3.011642792254718e-16, + -8.076688766479485, + 11.51316738128662 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.831469608077446, + -0.55557023934291, + -0.0, + 2530.0345436482844 + ], + [ + -0.16567846365447728, + 0.2479553393727327, + -0.9544992385317261, + -714.6974504758567 + ], + [ + 0.5302913639794624, + -0.7936371112234062, + -0.29821335479446304, + 2305.0916545510613 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.831469608077446, + -0.16567846365447728, + 0.5302913639794624, + 762.8666513089879 + ], + [ + -0.55557023934291, + 0.2479553393727327, + -0.7936371112234062, + 3412.2312064648913 + ], + [ + -0.0, + -0.9544992385317261, + -0.29821335479446304, + 5.230933014620345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76286.6651308988, + -341223.12064648914, + 523.0933014620346 + ], + "rotation_deg": [ + 0.0, + -17.350324630737294, + 56.25000000000001 + ] + } + } + ] + }, + { + "frame": 51, + "time": 1834.8473122119904, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.4763161287089126, + -0.8792741014790293, + -0.0, + 2629.027079032261 + ], + [ + -0.13244663558105071, + -0.0717483531180644, + -0.9885899364995101, + 348.6897455182596 + ], + [ + 0.8692415261807839, + 0.47088133469289434, + -0.15063179545082805, + -2262.184387699353 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.4763161287089126, + -0.13244663558105071, + 0.8692415261807839, + 760.3193888803465 + ], + [ + -0.8792741014790293, + -0.0717483531180644, + 0.47088133469289434, + 3401.873729585124 + ], + [ + -0.0, + -0.9885899364995101, + -0.15063179545082805, + 3.954281483502503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76031.93888803465, + -340187.3729585124, + 395.4281483502503 + ], + "rotation_deg": [ + 0.0, + -8.663541793823246, + -28.445077896118168 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.4854961020611773, + -0.8742388317178563, + -8.673617312741336e-19, + 2604.833992031718 + ], + [ + -0.022948901822010346, + -0.012744346255219202, + -0.999655405399126, + 63.74435797065057 + ], + [ + 0.8739375718260822, + 0.4853288061549092, + -0.026250151751605593, + -2298.1163261006486 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.4854961020611773, + -0.022948901822010346, + 0.8739375718260822, + 745.236310636764 + ], + [ + -0.8742388317178563, + -0.012744346255219202, + 0.4853288061549092, + 3393.401446296939 + ], + [ + -8.673617312741336e-19, + -0.999655405399126, + -0.026250151751605593, + 3.396490441348458 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74523.6310636764, + -339340.1446296939, + 339.6490441348458 + ], + "rotation_deg": [ + 4.971329783215744e-17, + -1.5041956901550295, + -29.044981002807624 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.20542065561905276, + -0.9786737731466183, + -6.938893851232139e-18, + 3490.700349011652 + ], + [ + -0.13755914829610436, + 0.028873247863311163, + -0.9900726318194405, + 9.930409349258792 + ], + [ + 0.9689581177957084, + -0.2033813706602119, + -0.14055669328129264, + -33.11351174673946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.20542065561905276, + -0.13755914829610436, + 0.9689581177957084, + 750.5135843249283 + ], + [ + -0.9786737731466183, + 0.028873247863311163, + -0.2033813706602119, + 3409.2354858361614 + ], + [ + -6.938893851232139e-18, + -0.9900726318194405, + -0.14055669328129264, + 5.177500061170817 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75051.35843249282, + -340923.54858361615, + 517.7500061170817 + ], + "rotation_deg": [ + 4.0155572678944817e-16, + -8.0800609588623, + 11.85412502288818 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.831469608077446, + -0.55557023934291, + -0.0, + 2530.152955456151 + ], + [ + -0.16567846365447728, + 0.2479553393727327, + -0.9544992385317261, + -714.7157278731949 + ], + [ + 0.5302913639794624, + -0.7936371112234062, + -0.29821335479446304, + 2305.1501554932074 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.831469608077446, + -0.16567846365447728, + 0.5302913639794624, + 762.9310564130087 + ], + [ + -0.55557023934291, + 0.2479553393727327, + -0.7936371112234062, + 3412.3479530374675 + ], + [ + -0.0, + -0.9544992385317261, + -0.29821335479446304, + 5.230933014620345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76293.10564130088, + -341234.79530374677, + 523.0933014620346 + ], + "rotation_deg": [ + 0.0, + -17.350324630737294, + 56.25000000000001 + ] + } + } + ] + }, + { + "frame": 52, + "time": 1834.913978882134, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.46723137231511674, + -0.8841350828490702, + -6.93889385139546e-18, + 2652.6286623768337 + ], + [ + -0.13323434087617503, + -0.07040922267949655, + -0.9885803719338958, + 344.7501121972603 + ], + [ + 0.8740385871471404, + 0.4618957670315415, + -0.15069455390349784, + -2235.3755192059166 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.46723137231511674, + -0.13323434087617503, + 0.8740385871471404, + 760.3456803097209 + ], + [ + -0.8841350828490702, + -0.07040922267949655, + 0.4618957670315415, + 3402.066128095597 + ], + [ + -6.93889385139546e-18, + -0.9885803719338958, + -0.15069455390349784, + 3.954281483502503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76034.56803097209, + -340206.6128095597, + 395.4281483502503 + ], + "rotation_deg": [ + 4.0216187428060665e-16, + -8.667179107666012, + -27.854728698730465 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.4785669659030381, + -0.8780510572548501, + -0.0, + 2623.2082379712087 + ], + [ + -0.02383199677960811, + -0.012989229152442923, + -0.999631590064821, + 65.25897082032385 + ], + [ + 0.8777275726674815, + 0.47839066046836937, + -0.027141926163932663, + -2277.9070068976116 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.4785669659030381, + -0.02383199677960811, + 0.8777275726674815, + 745.5562274699736 + ], + [ + -0.8780510572548501, + -0.012989229152442923, + 0.47839066046836937, + 3393.8878554264943 + ], + [ + -0.0, + -0.999631590064821, + -0.027141926163932663, + 3.40814573116275 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74555.62274699735, + -339388.78554264945, + 340.814573116275 + ], + "rotation_deg": [ + 0.0, + -1.5553088188171393, + -28.591850280761737 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.21121437355793013, + -0.9774397620326948, + -3.4694469256164825e-18, + 3491.072029341027 + ], + [ + -0.1374376470271005, + 0.029698818942802494, + -0.9900650854024983, + 7.030565483733768 + ], + [ + 0.9677289809777608, + -0.2091159783577707, + -0.14060983952489667, + -12.635222584926568 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.21121437355793013, + -0.1374376470271005, + 0.9677289809777608, + 750.55833270464 + ], + [ + -0.9774397620326948, + 0.029698818942802494, + -0.2091159783577707, + 3409.4615860006934 + ], + [ + -3.4694469256164825e-18, + -0.9900650854024983, + -0.14060983952489667, + 5.1840800074397455 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75055.83327046399, + -340946.15860006935, + 518.4080007439745 + ], + "rotation_deg": [ + 2.007793937521884e-16, + -8.08313655853271, + 12.193527221679684 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.831469608077446, + -0.55557023934291, + -0.0, + 2530.27023653931 + ], + [ + -0.16567846365447728, + 0.2479553393727327, + -0.9544992385317261, + -714.734642517124 + ], + [ + 0.5302913639794624, + -0.7936371112234062, + -0.29821335479446304, + 2305.2106960870924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.831469608077446, + -0.16567846365447728, + 0.5302913639794624, + 762.9933341660426 + ], + [ + -0.55557023934291, + 0.2479553393727327, + -0.7936371112234062, + 3412.4658481650563 + ], + [ + -0.0, + -0.9544992385317261, + -0.29821335479446304, + 5.230933014620345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76299.33341660426, + -341246.5848165056, + 523.0933014620346 + ], + "rotation_deg": [ + 0.0, + -17.350324630737294, + 56.25000000000001 + ] + } + } + ] + }, + { + "frame": 53, + "time": 1834.9806455522776, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.4581652495099937, + -0.888867034005337, + -0.0, + 2675.780558759319 + ], + [ + -0.1339957443146725, + -0.06906791598577908, + -0.9885720831011455, + 340.78247284448895 + ], + [ + 0.8787091335796923, + 0.452929378271249, + -0.15074891993790934, + -2208.531654403081 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.4581652495099937, + -0.1339957443146725, + 0.8787091335796923, + 760.3706661005887 + ], + [ + -0.888867034005337, + -0.06906791598577908, + 0.452929378271249, + 3402.259122026588 + ], + [ + -0.0, + -0.9885720831011455, + -0.15074891993790934, + 3.954281483502503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76037.06661005887, + -340225.91220265883, + 395.4281483502503 + ], + "rotation_deg": [ + 0.0, + -8.670330047607422, + -27.268777847290036 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.47232643834571114, + -0.8814236981382192, + -8.673617312747615e-19, + 2639.560368451514 + ], + [ + -0.02465521375777637, + -0.013211931248797158, + -0.999608706098159, + 66.65221624356025 + ], + [ + 0.8810788006156869, + 0.4721416232453344, + -0.02797203433580544, + -2259.6580928372505 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.47232643834571114, + -0.02465521375777637, + 0.8810788006156869, + 745.8460144797729 + ], + [ + -0.8814236981382192, + -0.013211931248797158, + 0.4721416232453344, + 3394.3302935291936 + ], + [ + -8.673617312747615e-19, + -0.999608706098159, + -0.02797203433580544, + 3.418902648115895 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74584.60144797729, + -339433.0293529194, + 341.8902648115895 + ], + "rotation_deg": [ + 4.9715620317225194e-17, + -1.6028885841369636, + -28.185417175292987 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.21697396797745724, + -0.9761773902422229, + -3.4694469256168558e-18, + 3491.32192260304 + ], + [ + -0.13730711845756216, + 0.030519115297164987, + -0.9900582502168035, + 4.141249378618844 + ], + [ + 0.9664724783703652, + -0.2148168686824259, + -0.1406579591851151, + 7.753437340381117 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.21697396797745724, + -0.13730711845756216, + 0.9664724783703652, + 750.6011159109671 + ], + [ + -0.9761773902422229, + 0.030519115297164987, + -0.2148168686824259, + 3409.6887034943775 + ], + [ + -3.4694469256168558e-18, + -0.9900582502168035, + -0.1406579591851151, + 5.190659953708673 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75060.1115910967, + -340968.87034943776, + 519.0659953708673 + ], + "rotation_deg": [ + 2.007807798973582e-16, + -8.085921287536614, + 12.531361579895018 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.831469608077446, + -0.55557023934291, + -0.0, + 2530.3864488383256 + ], + [ + -0.16567846365447728, + 0.2479553393727327, + -0.9544992385317261, + -714.7541350001554 + ], + [ + 0.5302913639794624, + -0.7936371112234062, + -0.29821335479446304, + 2305.273086185621 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.831469608077446, + -0.16567846365447728, + 0.5302913639794624, + 763.0536467456919 + ], + [ + -0.55557023934291, + 0.2479553393727327, + -0.7936371112234062, + 3412.584760621797 + ], + [ + -0.0, + -0.9544992385317261, + -0.29821335479446304, + 5.230933014620345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76305.3646745692, + -341258.4760621797, + 523.0933014620346 + ], + "rotation_deg": [ + 0.0, + -17.350324630737294, + 56.25000000000001 + ] + } + } + ] + }, + { + "frame": 54, + "time": 1835.0473122224212, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.44911209476411657, + -0.8934754201076753, + -0.0, + 2698.5052853469597 + ], + [ + -0.13473251502980943, + -0.06772430521992794, + -0.9885649032189135, + 336.7876927938565 + ], + [ + 0.8832584404473529, + 0.44397645760234716, + -0.1507959962113743, + -2181.6376006973856 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.44911209476411657, + -0.13473251502980943, + 0.8832584404473529, + 760.3947119471436 + ], + [ + -0.8934754201076753, + -0.06772430521992794, + 0.44397645760234716, + 3402.4525788417754 + ], + [ + -0.0, + -0.9885649032189135, + -0.1507959962113743, + 3.954281483502503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76039.47119471437, + -340245.25788417755, + 395.4281483502503 + ], + "rotation_deg": [ + 0.0, + -8.673058509826662, + -26.686731338500973 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.46673468530043, + -0.8843973844022314, + -0.0, + 2654.058675770432 + ], + [ + -0.025421507124561586, + -0.013416026931902983, + -0.9995867932285214, + 67.93851993212265 + ], + [ + 0.8840319436537148, + 0.46654183069036426, + -0.028744439739172425, + -2243.271382207315 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.46673468530043, + -0.025421507124561586, + 0.8840319436537148, + 746.1094140601865 + ], + [ + -0.8843973844022314, + -0.013416026931902983, + 0.46654183069036426, + 3394.7339412031015 + ], + [ + -0.0, + -0.9995867932285214, + -0.028744439739172425, + 3.4288689969512296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74610.94140601865, + -339473.39412031014, + 342.88689969512296 + ], + "rotation_deg": [ + 0.0, + -1.647161960601808, + -27.822546005249045 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.22269911508487064, + -0.9748872263705253, + -0.0, + 3491.4515313248908 + ], + [ + -0.13716767369829327, + 0.03133400328219108, + -0.9900521246532982, + 1.2630574338475817 + ], + [ + 0.965189169231925, + -0.2204837336930564, + -0.14070106884510888, + 28.050590611164434 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.22269911508487064, + -0.13716767369829327, + 0.965189169231925, + 750.6422965799311 + ], + [ + -0.9748872263705253, + 0.03133400328219108, + -0.2204837336930564, + 3409.9166203125583 + ], + [ + -0.0, + -0.9900521246532982, + -0.14070106884510888, + 5.197239899977601 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75064.22965799311, + -340991.66203125584, + 519.7239899977601 + ], + "rotation_deg": [ + 0.0, + -8.088416099548336, + 12.867614746093754 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.831469608077446, + -0.55557023934291, + -0.0, + 2530.50177275713 + ], + [ + -0.16567846365447728, + 0.2479553393727327, + -0.9544992385317261, + -714.774091185892 + ], + [ + 0.5302913639794624, + -0.7936371112234062, + -0.29821335479446304, + 2305.336960469458 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.831469608077446, + -0.16567846365447728, + 0.5302913639794624, + 763.1123567879782 + ], + [ + -0.55557023934291, + 0.2479553393727327, + -0.7936371112234062, + 3412.7044724030343 + ], + [ + -0.0, + -0.9544992385317261, + -0.29821335479446304, + 5.230933014620345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76311.23567879782, + -341270.44724030345, + 523.0933014620346 + ], + "rotation_deg": [ + 0.0, + -17.350324630737294, + 56.25000000000001 + ] + } + } + ] + }, + { + "frame": 55, + "time": 1835.1139788925648, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.44006687923364135, + -0.8979650003210388, + -6.938893851397838e-18, + 2720.8224421332293 + ], + [ + -0.13544612453223168, + -0.06637825895873486, + -0.9885586852012408, + 332.7664837612789 + ], + [ + 0.887691098379651, + 0.43503193859134803, + -0.15083675368749572, + -2154.679891397425 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.44006687923364135, + -0.13544612453223168, + 0.887691098379651, + 760.4182445620127 + ], + [ + -0.8979650003210388, + -0.06637825895873486, + 0.43503193859134803, + 3402.646344609842 + ], + [ + -6.938893851397838e-18, + -0.9885586852012408, + -0.15083675368749572, + 3.954281483502503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76041.82445620127, + -340264.6344609842, + 395.4281483502503 + ], + "rotation_deg": [ + 4.0217069679900475e-16, + -8.675420761108398, + -26.108148574829098 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.4617490528594656, + -0.8870106043240891, + -1.7347234625506753e-18, + 2666.866324011721 + ], + [ + -0.026134206660941635, + -0.013604623342827846, + -0.9995658644961337, + 69.13100946182705 + ], + [ + 0.8866255198064464, + 0.4615485944951047, + -0.029463240615080034, + -2228.636667916287 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.4617490528594656, + -0.026134206660941635, + 0.8866255198064464, + 746.3498240880039 + ], + [ + -0.8870106043240891, + -0.013604623342827846, + 0.4615485944951047, + 3395.103320868383 + ], + [ + -1.7347234625506753e-18, + -0.9995658644961337, + -0.029463240615080034, + 3.4381396458428917 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74634.98240880038, + -339510.3320868383, + 343.8139645842892 + ], + "rotation_deg": [ + 9.943550227828744e-17, + -1.688363671302796, + -27.50002861022951 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.22838954624867144, + -0.9735698306563974, + -0.0, + 3491.462384920312 + ], + [ + -0.13701950374537347, + 0.032143377190031824, + -0.9900466953109792, + -1.6034398434114845 + ], + [ + 0.9638795929423526, + -0.22611631719238084, + -0.1407392674723002, + 48.25448651748217 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.22838954624867144, + -0.13701950374537347, + 0.9638795929423526, + 750.6822984012787 + ], + [ + -0.9735698306563974, + 0.032143377190031824, + -0.22611631719238084, + 3410.1451081050077 + ], + [ + -0.0, + -0.9900466953109792, + -0.1407392674723002, + 5.203819846246529 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75068.22984012787, + -341014.51081050077, + 520.3819846246529 + ], + "rotation_deg": [ + 0.0, + -8.090626716613766, + 13.202276229858402 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.831469608077446, + -0.55557023934291, + -0.0, + 2530.616433716279 + ], + [ + -0.16567846365447728, + 0.2479553393727327, + -0.9544992385317261, + -714.794384257409 + ], + [ + 0.5302913639794624, + -0.7936371112234062, + -0.29821335479446304, + 2305.4019130323754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.831469608077446, + -0.16567846365447728, + 0.5302913639794624, + 763.1698879826479 + ], + [ + -0.55557023934291, + 0.2479553393727327, + -0.7936371112234062, + 3412.82475515854 + ], + [ + -0.0, + -0.9544992385317261, + -0.29821335479446304, + 5.230933014620345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76316.98879826479, + -341282.475515854, + 523.0933014620346 + ], + "rotation_deg": [ + 0.0, + -17.350324630737294, + 56.25000000000001 + ] + } + } + ] + }, + { + "frame": 56, + "time": 1835.1806455627084, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.4310251816639916, + -0.9023398986920188, + -0.0, + 2742.748847466066 + ], + [ + -0.13613785270908602, + -0.06502964435057908, + -0.9885533017573691, + 328.71943172344913 + ], + [ + 0.8920110845288213, + 0.4260913694774413, + -0.15087203165117957, + -2127.6468435327047 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.4310251816639916, + -0.13613785270908602, + 0.8920110845288213, + 760.4419011991928 + ], + [ + -0.9023398986920188, + -0.06502964435057908, + 0.4260913694774413, + 3402.840172008586 + ], + [ + -0.0, + -0.9885533017573691, + -0.15087203165117957, + 3.954281483502503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76044.19011991928, + -340284.01720085857, + 395.4281483502503 + ], + "rotation_deg": [ + 0.0, + -8.677465438842772, + -25.53263854980469 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.4573255783976391, + -0.8892993395607939, + 8.673617312756059e-19, + 2678.1388120121146 + ], + [ + -0.02679686342026951, + -0.013780389254499755, + -0.9995459113931836, + 70.24149714668621 + ], + [ + 0.8888955171744695, + 0.45711791533027907, + -0.03013255766165238, + -2215.6368127553815 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.4573255783976391, + -0.02679686342026951, + 0.8888955171744695, + 746.5704961176493 + ], + [ + -0.8892993395607939, + -0.013780389254499755, + 0.45711791533027907, + 3395.4423011885174 + ], + [ + 8.673617312756059e-19, + -0.9995459113931836, + -0.03013255766165238, + 3.4467980787841213 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74657.04961176493, + -339544.23011885176, + 344.67980787841213 + ], + "rotation_deg": [ + -4.97187436132372e-17, + -1.7267297506332404, + -27.21466636657716 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.2340449505609063, + -0.9722257768218979, + 3.4694469256177467e-18, + 3491.3560064765793 + ], + [ + -0.13686276981553963, + 0.03294712088360379, + -0.990041953385764, + -4.45762642742403 + ], + [ + 0.9625443066429704, + -0.23171432175877524, + -0.14077262106345217, + 68.3629945887371 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.2340449505609063, + -0.13686276981553963, + 0.9625443066429704, + 750.7217556448367 + ], + [ + -0.9722257768218979, + 0.03294712088360379, + -0.23171432175877524, + 3410.3738548572564 + ], + [ + 3.4694469256177467e-18, + -0.990041953385764, + -0.14077262106345217, + 5.210399792515457 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75072.17556448367, + -341037.38548572565, + 521.0399792515457 + ], + "rotation_deg": [ + -2.007840848992178e-16, + -8.09255695343017, + 13.535332679748535 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.831469608077446, + -0.55557023934291, + -0.0, + 2530.730785745905 + ], + [ + -0.16567846365447728, + 0.2479553393727327, + -0.9544992385317261, + -714.8148317642025 + ], + [ + 0.5302913639794624, + -0.7936371112234062, + -0.29821335479446304, + 2305.467359900298 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.831469608077446, + -0.16567846365447728, + 0.5302913639794624, + 763.2268745995281 + ], + [ + -0.55557023934291, + 0.2479553393727327, + -0.7936371112234062, + 3412.9452968738456 + ], + [ + -0.0, + -0.9544992385317261, + -0.29821335479446304, + 5.230933014620345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76322.68745995281, + -341294.52968738455, + 523.0933014620346 + ], + "rotation_deg": [ + 0.0, + -17.350324630737294, + 56.25000000000001 + ] + } + } + ] + }, + { + "frame": 57, + "time": 1835.247312232852, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.42198309517070226, + -0.9066036991928468, + -0.0, + 2764.2987562348058 + ], + [ + -0.13680881278070098, + -0.06367832639027117, + -0.9885486429577803, + 324.64703665235936 + ], + [ + 0.8962218549693556, + 0.41715081903175594, + -0.1509025541746137, + -2100.5284605277434 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.42198309517070226, + -0.13680881278070098, + 0.8962218549693556, + 760.466739205849 + ], + [ + -0.9066036991928468, + -0.06367832639027117, + 0.41715081903175594, + 3403.0336158632826 + ], + [ + -0.0, + -0.9885486429577803, + -0.1509025541746137, + 3.954281483502503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76046.6739205849, + -340303.36158632825, + 395.4281483502503 + ], + "rotation_deg": [ + 0.0, + -8.679234504699709, + -24.959852218627933 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.45342001913365976, + -0.8912969686074508, + 8.673617312758614e-19, + 2688.0226611291487 + ], + [ + -0.02741312749614342, + -0.013945588542991145, + -0.9995269085927951, + 71.2805046496104 + ], + [ + 0.8908753020116738, + 0.45320551326305397, + -0.030756446699530957, + -2204.1514152022237 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.45342001913365976, + -0.02741312749614342, + 0.8908753020116738, + 746.7747877643135 + ], + [ + -0.8912969686074508, + -0.013945588542991145, + 0.45320551326305397, + 3395.754059855643 + ], + [ + 8.673617312758614e-19, + -0.9995269085927951, + -0.030756446699530957, + 3.4549177616889706 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74677.47877643135, + -339575.4059855643, + 345.49177616889705 + ], + "rotation_deg": [ + -4.971968885579842e-17, + -1.7624925374984748, + -26.96332168579103 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.23966510443363825, + -0.9708556214581102, + -3.4694469256179686e-18, + 3491.1338597299236 + ], + [ + -0.13669759921087077, + 0.03374512509027538, + -0.9900378946801104, + -7.298870534799985 + ], + [ + 0.9611838549123014, + -0.23727753718685038, + -0.1408011626460206, + 88.37383818260612 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.23966510443363825, + -0.13669759921087077, + 0.9611838549123014, + 750.7617227153497 + ], + [ + -0.9708556214581102, + 0.03374512509027538, + -0.23727753718685038, + 3410.6023592648485 + ], + [ + -3.4694469256179686e-18, + -0.9900378946801104, + -0.1408011626460206, + 5.216979738784385 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75076.17227153498, + -341060.23592648486, + 521.6979738784385 + ], + "rotation_deg": [ + 2.007849080227746e-16, + -8.09420871734619, + 13.866775512695312 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.831469608077446, + -0.55557023934291, + -0.0, + 2530.8454270416705 + ], + [ + -0.16567846365447728, + 0.2479553393727327, + -0.9544992385317261, + -714.8351347129977 + ], + [ + 0.5302913639794624, + -0.7936371112234062, + -0.29821335479446304, + 2305.5323440776765 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.831469608077446, + -0.16567846365447728, + 0.5302913639794624, + 763.2843710433633 + ], + [ + -0.55557023934291, + 0.2479553393727327, + -0.7936371112234062, + 3413.065596244494 + ], + [ + -0.0, + -0.9544992385317261, + -0.29821335479446304, + 5.230933014620345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76328.43710433634, + -341306.5596244494, + 523.0933014620346 + ], + "rotation_deg": [ + 0.0, + -17.350324630737294, + 56.25000000000001 + ] + } + } + ] + }, + { + "frame": 58, + "time": 1835.3139789029956, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.4129372805020154, + -0.9107594646072033, + -0.0, + 2785.4842512212963 + ], + [ + -0.13745995053878676, + -0.062324181476290104, + -0.988544616292651, + 320.54971108772344 + ], + [ + 0.9003263639676589, + 0.40820692840242967, + -0.15092893012616276, + -2073.316315990044 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.4129372805020154, + -0.13745995053878676, + 0.9003263639676589, + 760.4937912701687 + ], + [ + -0.9107594646072033, + -0.062324181476290104, + 0.40820692840242967, + 3403.2262190806255 + ], + [ + -0.0, + -0.988544616292651, + -0.15092893012616276, + 3.954281483502503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76049.37912701687, + -340322.62190806255, + 395.4281483502503 + ], + "rotation_deg": [ + 0.0, + -8.680763244628908, + -24.389484405517575 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.449989069408333, + -0.8930340628514805, + 8.673617312761047e-19, + 2696.6541601202016 + ], + [ + -0.027986642524487175, + -0.014102130869729328, + -0.9995088182428106, + 72.25734543420104 + ], + [ + 0.8925954191782645, + 0.44976804621038535, + -0.03133883006864141, + -2194.060572345991 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.449989069408333, + -0.027986642524487175, + 0.8925954191782645, + 746.9657556434088 + ], + [ + -0.8930340628514805, + -0.014102130869729328, + 0.44976804621038535, + 3396.0413287017586 + ], + [ + 8.673617312761047e-19, + -0.9995088182428106, + -0.03133883006864141, + 3.462563344561805 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74696.57556434088, + -339604.1328701759, + 346.2563344561805 + ], + "rotation_deg": [ + -4.9720588744393747e-17, + -1.7958767414093026, + -26.742982864379904 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.2452497257783672, + -0.9694599383190806, + -3.4694469256181535e-18, + 3490.797439652521 + ], + [ + -0.13652418618593154, + 0.034537290197126515, + -0.9900345055461997, + -10.126525307051514 + ], + [ + 0.9597987900651174, + -0.24280569280073772, + -0.14082499115246186, + 108.28454584267952 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.2452497257783672, + -0.13652418618593154, + 0.9597987900651174, + 750.8032294030378 + ], + [ + -0.9694599383190806, + 0.034537290197126515, + -0.24280569280073772, + 3410.8301156427815 + ], + [ + -3.4694469256181535e-18, + -0.9900345055461997, + -0.14082499115246186, + 5.223559685053313 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75080.32294030378, + -341083.01156427816, + 522.3559685053312 + ], + "rotation_deg": [ + 2.0078559535937484e-16, + -8.095587730407708, + 14.196592330932617 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.831469608077446, + -0.55557023934291, + -0.0, + 2530.9609328993092 + ], + [ + -0.16567846365447728, + 0.2479553393727327, + -0.9544992385317261, + -714.8549971024371 + ], + [ + 0.5302913639794624, + -0.7936371112234062, + -0.29821335479446304, + 2305.595918145266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.831469608077446, + -0.16567846365447728, + 0.5302913639794624, + 763.3434071043736 + ], + [ + -0.55557023934291, + 0.2479553393727327, + -0.7936371112234062, + 3413.185147585484 + ], + [ + -0.0, + -0.9544992385317261, + -0.29821335479446304, + 5.230933014620345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76334.34071043736, + -341318.5147585484, + 523.0933014620346 + ], + "rotation_deg": [ + 0.0, + -17.350324630737294, + 56.25000000000001 + ] + } + } + ] + }, + { + "frame": 59, + "time": 1835.3806455731392, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.40388468366657543, + -0.9148099050073463, + -3.469446925699879e-18, + 2806.316382370577 + ], + [ + -0.13809214170385356, + -0.060967093451456365, + -0.9885411341546307, + 316.4277922628563 + ], + [ + 0.9043272195839024, + 0.399256626100375, + -0.1509517354474392, + -2046.0023855262568 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.40388468366657543, + -0.13809214170385356, + 0.9043272195839024, + 760.5236309497902 + ], + [ + -0.9148099050073463, + -0.060967093451456365, + 0.399256626100375, + 3403.417706165617 + ], + [ + -3.469446925699879e-18, + -0.9885411341546307, + -0.1509517354474392, + 3.954281483502503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76052.36309497902, + -340341.7706165617, + 395.4281483502503 + ], + "rotation_deg": [ + 2.0108891856796118e-16, + -8.68208503723144, + -23.8212547302246 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.44699084465760486, + -0.8945385317538204, + -0.0, + 2704.1598428045745 + ], + [ + -0.028520977003397806, + -0.01425161147191071, + -0.999491593482019, + 73.18019718728353 + ], + [ + 0.8940837409229192, + 0.44676359480463523, + -0.03188345298926253, + -2185.246405099039 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.44699084465760486, + -0.028520977003397806, + 0.8940837409229192, + 747.1457540676357 + ], + [ + -0.8945385317538204, + -0.01425161147191071, + 0.44676359480463523, + 3396.3066392915443 + ], + [ + -0.0, + -0.999491593482019, + -0.03188345298926253, + 3.4697917194064676 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74714.57540676357, + -339630.66392915446, + 346.9791719406468 + ], + "rotation_deg": [ + 0.0, + -1.827096939086915, + -26.550783157348647 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.2507986033460001, + -0.9680392866819485, + -6.938893851236605e-18, + 3490.348338242824 + ], + [ + -0.13634269127611745, + 0.035323521492284064, + -0.990031776947068, + -12.940054208036251 + ], + [ + 0.9583896545114569, + -0.2482985887698476, + -0.14084417254651554, + 128.09337624038838 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.2507986033460001, + -0.13634269127611745, + 0.9583896545114569, + 750.8468464144325 + ], + [ + -0.9680392866819485, + 0.035323521492284064, + -0.2482985887698476, + 3411.0568065407733 + ], + [ + -6.938893851236605e-18, + -0.990031776947068, + -0.14084417254651554, + 5.23013963132224 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75084.68464144325, + -341105.6806540773, + 523.013963132224 + ], + "rotation_deg": [ + 4.0157229747799203e-16, + -8.096697807312008, + 14.524774551391594 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.831469608077446, + -0.55557023934291, + -0.0, + 2531.0776014780263 + ], + [ + -0.16567846365447728, + 0.2479553393727327, + -0.9544992385317261, + -714.8742456652462 + ], + [ + 0.5302913639794624, + -0.7936371112234062, + -0.29821335479446304, + 2305.657527521995 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.831469608077446, + -0.16567846365447728, + 0.5302913639794624, + 763.4045534890905 + ], + [ + -0.55557023934291, + 0.2479553393727327, + -0.7936371112234062, + 3413.3036334465323 + ], + [ + -0.0, + -0.9544992385317261, + -0.29821335479446304, + 5.230933014620345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76340.45534890905, + -341330.3633446532, + 523.0933014620346 + ], + "rotation_deg": [ + 0.0, + -17.350324630737294, + 56.25000000000001 + ] + } + } + ] + }, + { + "frame": 60, + "time": 1835.4473122432828, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.39482282537985974, + -0.9187572783706611, + 3.4694469257000448e-18, + 2826.8056377257426 + ], + [ + -0.1387061150049294, + -0.05960697293286204, + -0.9885381239173429, + 312.28142407287334 + ], + [ + 0.9082265949059837, + 0.39029741786629046, + -0.15097144734150342, + -2018.5791458170263 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.39482282537985974, + -0.1387061150049294, + 0.9082265949059837, + 760.5552137476153 + ], + [ + -0.9187572783706611, + -0.05960697293286204, + 0.39029741786629046, + 3403.6086240542127 + ], + [ + 3.4694469257000448e-18, + -0.9885381239173429, + -0.15097144734150342, + 3.954281483502503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76055.52137476153, + -340360.86240542127, + 395.4281483502503 + ], + "rotation_deg": [ + -2.0108953091194233e-16, + -8.683227539062504, + -23.25492477416993 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.44438548824242013, + -0.8958356645275658, + 1.7347234625531143e-18, + 2710.657245619995 + ], + [ + -0.02901956248239952, + -0.014395355033250866, + -0.9994751816562515, + 74.05617799866111 + ], + [ + 0.8953655119462144, + 0.4441522697767497, + -0.032393846166440574, + -2177.5944573871307 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.44438548824242013, + -0.02901956248239952, + 0.8953655119462144, + 747.315305311226 + ], + [ + -0.8958356645275658, + -0.014395355033250866, + 0.4441522697767497, + 3396.5530095817353 + ], + [ + 1.7347234625531143e-18, + -0.9994751816562515, + -0.032393846166440574, + 3.476652951186338 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74731.5305311226, + -339655.3009581735, + 347.6652951186338 + ], + "rotation_deg": [ + -9.944452410698009e-17, + -1.8563554286956796, + -26.38402938842774 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.25631151578176936, + -0.9665942307285161, + -6.9388938512368315e-18, + 3489.788557208227 + ], + [ + -0.13615324421410277, + 0.036103716837643414, + -0.9900297044637002, + -15.739168104443493 + ], + [ + 0.9569569999258979, + -0.2537560161020084, + -0.14085873982420363, + 147.80030465601556 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.25631151578176936, + -0.13615324421410277, + 0.9569569999258979, + 750.8915264503362 + ], + [ + -0.9665942307285161, + 0.036103716837643414, + -0.2537560161020084, + 3411.2829427823913 + ], + [ + -6.9388938512368315e-18, + -0.9900297044637002, + -0.14085873982420363, + 5.236719577591169 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75089.15264503362, + -341128.29427823913, + 523.6719577591168 + ], + "rotation_deg": [ + 4.0157313811127477e-16, + -8.09754085540771, + 14.851312637329107 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.831469608077446, + -0.55557023934291, + -0.0, + 2531.1948457787407 + ], + [ + -0.16567846365447728, + 0.2479553393727327, + -0.9544992385317261, + -714.8931805777784 + ], + [ + 0.5302913639794624, + -0.7936371112234062, + -0.29821335479446304, + 2305.7181329901246 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.831469608077446, + -0.16567846365447728, + 0.5302913639794624, + 763.4667628983163 + ], + [ + -0.55557023934291, + 0.2479553393727327, + -0.7936371112234062, + 3413.4215646512066 + ], + [ + -0.0, + -0.9544992385317261, + -0.29821335479446304, + 5.230933014620345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76346.67628983164, + -341342.1564651207, + 523.0933014620346 + ], + "rotation_deg": [ + 0.0, + -17.350324630737294, + 56.25000000000001 + ] + } + } + ] + }, + { + "frame": 61, + "time": 1835.5139789134264, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.3857494209123772, + -0.9226035899918043, + 3.469446925700188e-18, + 2846.9626716194443 + ], + [ + -0.13930249484696322, + -0.058243710843725226, + -0.9885355254499273, + 308.1104524620622 + ], + [ + 0.9120264232811794, + 0.38132700922307605, + -0.15098846073101987, + -1991.0385776637245 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.3857494209123772, + -0.13930249484696322, + 0.9120264232811794, + 760.5861404922045 + ], + [ + -0.9226035899918043, + -0.058243710843725226, + 0.38132700922307605, + 3403.8002549894577 + ], + [ + 3.469446925700188e-18, + -0.9885355254499273, + -0.15098846073101987, + 3.954281483502503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76058.61404922046, + -340380.0254989458, + 395.4281483502503 + ], + "rotation_deg": [ + -2.0109005949648827e-16, + -8.684213638305664, + -22.690273284912106 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.44213542738505973, + -0.8969483061197172, + 8.673617312767676e-19, + 2716.255096619442 + ], + [ + -0.02948566249804866, + -0.014534456335286671, + -0.9994595265872895, + 74.89146382283255 + ], + [ + 0.8964635278324733, + 0.4418964681183921, + -0.032873313350610875, + -2170.9949340419885 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.44213542738505973, + -0.02948566249804866, + 0.8964635278324733, + 747.4733886761817 + ], + [ + -0.8969483061197172, + -0.014534456335286671, + 0.4418964681183921, + 3396.7838971247147 + ], + [ + 8.673617312767676e-19, + -0.9994595265872895, + -0.032873313350610875, + 3.4831910970691906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74747.33886761816, + -339678.38971247146, + 348.31910970691905 + ], + "rotation_deg": [ + -4.972304087987846e-17, + -1.8838415145874026, + -26.24020957946779 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.2617882638375586, + -0.9651253311963772, + -6.938893851236991e-18, + 3489.1204373379533 + ], + [ + -0.13595605428329194, + 0.03687780048722596, + -0.9900282718866883, + -18.52382047875696 + ], + [ + 0.9555013631177791, + -0.25917778436745154, + -0.14086880836595894, + 167.40687276171255 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.2617882638375586, + -0.13595605428329194, + 0.9555013631177791, + 750.9348675881338 + ], + [ + -0.9651253311963772, + 0.03687780048722596, + -0.25917778436745154, + 3411.509775642834 + ], + [ + -6.938893851236991e-18, + -0.9900282718866883, + -0.14086880836595894, + 5.243299523860096 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75093.48675881338, + -341150.9775642834, + 524.3299523860096 + ], + "rotation_deg": [ + 4.0157371919009e-16, + -8.098123550415034, + 15.176198005676268 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.831469608077446, + -0.55557023934291, + -0.0, + 2531.3113638470595 + ], + [ + -0.16567846365447728, + 0.2479553393727327, + -0.9544992385317261, + -714.9125100472492 + ], + [ + 0.5302913639794624, + -0.7936371112234062, + -0.29821335479446304, + 2305.7800013269098 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.831469608077446, + -0.16567846365447728, + 0.5302913639794624, + 763.5276334094361 + ], + [ + -0.55557023934291, + 0.2479553393727327, + -0.7936371112234062, + 3413.540192474706 + ], + [ + -0.0, + -0.9544992385317261, + -0.29821335479446304, + 5.230933014620345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76352.76334094361, + -341354.0192474706, + 523.0933014620346 + ], + "rotation_deg": [ + 0.0, + -17.350324630737294, + 56.25000000000001 + ] + } + } + ] + }, + { + "frame": 62, + "time": 1835.58064558357, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.3766626365755137, + -0.9263505050508594, + -0.0, + 2866.7961998782775 + ], + [ + -0.13988184696812975, + -0.05687724570860523, + -0.9885332810833368, + 303.91485975026103 + ], + [ + 0.9157283029129863, + 0.3723435546681782, + -0.15100315407688358, + -1963.3740587282596 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.3766626365755137, + -0.13988184696812975, + 0.9157283029129863, + 760.614346587538 + ], + [ + -0.9263505050508594, + -0.05687724570860523, + 0.3723435546681782, + 3403.9936156865115 + ], + [ + -0.0, + -0.9885332810833368, + -0.15100315407688358, + 3.954281483502503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76061.4346587538, + -340399.36156865116, + 395.4281483502503 + ], + "rotation_deg": [ + 0.0, + -8.685065269470215, + -22.127111434936523 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.44020566632996483, + -0.8978969714454945, + -0.0, + 2721.0518305328796 + ], + [ + -0.029922343519893625, + -0.014669818015004258, + -0.9994445706479597, + 75.69142845102375 + ], + [ + 0.8973982515512134, + 0.4399611663468841, + -0.03332491889734993, + -2165.3448995030813 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.44020566632996483, + -0.029922343519893625, + 0.8973982515512134, + 747.6191523456076 + ], + [ + -0.8978969714454945, + -0.014669818015004258, + 0.4399611663468841, + 3397.0022337216187 + ], + [ + -0.0, + -0.9994445706479597, + -0.03332491889734993, + 3.4894449273626678 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74761.91523456076, + -339700.22337216185, + 348.9444927362668 + ], + "rotation_deg": [ + 0.0, + -1.9097307920455944, + -26.117004394531268 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.26722865417225594, + -0.9636331492789593, + -0.0, + 3488.3461039095087 + ], + [ + -0.13575123554412558, + 0.037645674605342974, + -0.9900274770084676, + -21.293907474383026 + ], + [ + 0.9540232948393398, + -0.2645637122324791, + -0.1408743946700758, + 186.91426673488857 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.26722865417225594, + -0.13575123554412558, + 0.9540232948393398, + 750.9748025332664 + ], + [ + -0.9636331492789593, + 0.037645674605342974, + -0.2645637122324791, + 3411.738295399313 + ], + [ + -0.0, + -0.9900274770084676, + -0.1408743946700758, + 5.249879470129024 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75097.48025332663, + -341173.82953993126, + 524.9879470129024 + ], + "rotation_deg": [ + 0.0, + -8.0984468460083, + 15.49942207336426 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.831469608077446, + -0.55557023934291, + -0.0, + 2531.425986958932 + ], + [ + -0.16567846365447728, + 0.2479553393727327, + -0.9544992385317261, + -714.9328221243663 + ], + [ + 0.5302913639794624, + -0.7936371112234062, + -0.29821335479446304, + 2305.8450147215453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.831469608077446, + -0.16567846365447728, + 0.5302913639794624, + 763.5850977278908 + ], + [ + -0.55557023934291, + 0.2479553393727327, + -0.7936371112234062, + 3413.660507194241 + ], + [ + -0.0, + -0.9544992385317261, + -0.29821335479446304, + 5.230933014620345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76358.50977278908, + -341366.0507194241, + 523.0933014620346 + ], + "rotation_deg": [ + 0.0, + -17.350324630737294, + 56.25000000000001 + ] + } + } + ] + }, + { + "frame": 63, + "time": 1835.6473122537136, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.36756085615475237, + -0.9299994715174762, + -3.469446925700417e-18, + 2886.312641821732 + ], + [ + -0.14044463502612528, + -0.055507504975581344, + -0.9885313456758787, + 299.69466239195987 + ], + [ + 0.9193336278327253, + 0.36334543036767575, + -0.1510158235644491, + -1935.5805436375495 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.36756085615475237, + -0.14044463502612528, + 0.9193336278327253, + 760.6392399108518 + ], + [ + -0.9299994715174762, + -0.055507504975581344, + 0.36334543036767575, + 3404.1888721748296 + ], + [ + -3.469446925700417e-18, + -0.9885313456758787, + -0.1510158235644491, + 3.954281483502503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76063.92399108518, + -340418.88721748296, + 395.4281483502503 + ], + "rotation_deg": [ + 2.0109090975887896e-16, + -8.685799598693844, + -21.565267562866197 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.4385637911190321, + -0.898700061822242, + -0.0, + 2725.1352998203492 + ], + [ + -0.030332463939548884, + -0.0148021803318192, + -0.9994302562404146, + 76.46076325985673 + ], + [ + 0.8981880315208636, + 0.43831392529078383, + -0.0337514878021958, + -2160.549276281983 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.4385637911190321, + -0.030332463939548884, + 0.8981880315208636, + 747.7530711727132 + ], + [ + -0.898700061822242, + -0.0148021803318192, + 0.43831392529078383, + 3397.209871493961 + ], + [ + -0.0, + -0.9994302562404146, + -0.0337514878021958, + 3.495448559937495 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74775.30711727132, + -339720.9871493961, + 349.54485599374954 + ], + "rotation_deg": [ + 0.0, + -1.934185147285462, + -26.012281417846694 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.2726325153245698, + -0.9621182419992869, + -6.938893851237096e-18, + 3487.4672212252462 + ], + [ + -0.13553899713427447, + 0.03840727272408822, + -0.9900273034910362, + -24.049129892106752 + ], + [ + 0.9525233280403442, + -0.26991363598614754, + -0.14087561409869653, + 206.32212381888493 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.2726325153245698, + -0.13553899713427447, + 0.9525233280403442, + 751.0107365185997 + ], + [ + -0.9621182419992869, + 0.03840727272408822, + -0.26991363598614754, + 3411.968645632286 + ], + [ + -6.938893851237096e-18, + -0.9900273034910362, + -0.14087561409869653, + 5.256459416397952 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75101.07365185997, + -341196.8645632286, + 525.6459416397952 + ], + "rotation_deg": [ + 4.015741119896102e-16, + -8.09851741790771, + 15.820977210998533 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.831469608077446, + -0.55557023934291, + -0.0, + 2531.538300352593 + ], + [ + -0.16567846365447728, + 0.2479553393727327, + -0.9544992385317261, + -714.9542509507771 + ], + [ + 0.5302913639794624, + -0.7936371112234062, + -0.29821335479446304, + 2305.9136025246885 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.831469608077446, + -0.16567846365447728, + 0.5302913639794624, + 763.6385610865464 + ], + [ + -0.55557023934291, + 0.2479553393727327, + -0.7936371112234062, + 3413.7826523902713 + ], + [ + -0.0, + -0.9544992385317261, + -0.29821335479446304, + 5.230933014620345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76363.85610865464, + -341378.26523902715, + 523.0933014620346 + ], + "rotation_deg": [ + 0.0, + -17.350324630737294, + 56.25000000000001 + ] + } + } + ] + }, + { + "frame": 64, + "time": 1835.7139789238572, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.35844275154472, + -0.9335517092614902, + -0.0, + 2905.516732661468 + ], + [ + -0.14099129387595508, + -0.054134448921663254, + -0.9885296740569459, + 295.45006030486 + ], + [ + 0.9228435656997509, + 0.35433129890970383, + -0.1510267653746567, + -1907.6544015833917 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.35844275154472, + -0.14099129387595508, + 0.9228435656997509, + 760.661059072221 + ], + [ + -0.9335517092614902, + -0.054134448921663254, + 0.35433129890970383, + 3404.3857926010414 + ], + [ + -0.0, + -0.9885296740569459, + -0.1510267653746567, + 3.954281483502503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76066.1059072221, + -340438.57926010416, + 395.4281483502503 + ], + "rotation_deg": [ + 0.0, + -8.686433792114258, + -21.004590988159176 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.43718007633845474, + -0.899373993871683, + 8.673617312773461e-19, + 2728.583830845488 + ], + [ + -0.030718667043390192, + -0.014932152024134407, + -0.9994165269450999, + 77.20356657004007 + ], + [ + 0.8988492318404618, + 0.4369249966902222, + -0.03415560989151575, + -2156.5209779812376 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.43718007633845474, + -0.030718667043390192, + 0.8988492318404618, + 747.87632244465 + ], + [ + -0.899373993871683, + -0.014932152024134407, + 0.4369249966902222, + 3397.4080631683332 + ], + [ + 8.673617312773461e-19, + -0.9994165269450999, + -0.03415560989151575, + 3.5012320185199117 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74787.632244465, + -339740.8063168333, + 350.12320185199115 + ], + "rotation_deg": [ + -4.972518020111431e-17, + -1.9573529958724978, + -25.924097061157244 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.2779996815536743, + -0.9605811663030125, + -6.938893851237046e-18, + 3486.4852971040864 + ], + [ + -0.1353194689357443, + 0.03916250973036725, + -0.9900277466609542, + -26.789056112153645 + ], + [ + 0.9510020068111514, + -0.27522740033348053, + -0.14087249961165973, + 225.6292009422602 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.2779996815536743, + -0.1353194689357443, + 0.9510020068111514, + 751.0429055653829 + ], + [ + -0.9605811663030125, + 0.03916250973036725, + -0.27522740033348053, + 3412.2005755522214 + ], + [ + -6.938893851237046e-18, + -0.9900277466609542, + -0.14087249961165973, + 5.26303936266688 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75104.29055653828, + -341220.0575552221, + 526.303936266688 + ], + "rotation_deg": [ + 4.0157393223144706e-16, + -8.098337173461909, + 16.140855789184567 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.831469608077446, + -0.55557023934291, + -0.0, + 2531.6483609413363 + ], + [ + -0.16567846365447728, + 0.2479553393727327, + -0.9544992385317261, + -714.9766952382389 + ], + [ + 0.5302913639794624, + -0.7936371112234062, + -0.29821335479446304, + 2305.985440540427 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.831469608077446, + -0.16567846365447728, + 0.5302913639794624, + 763.6882595066517 + ], + [ + -0.55557023934291, + 0.2479553393727327, + -0.7936371112234062, + 3413.906377273263 + ], + [ + -0.0, + -0.9544992385317261, + -0.29821335479446304, + 5.230933014620345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76368.82595066517, + -341390.6377273263, + 523.0933014620346 + ], + "rotation_deg": [ + 0.0, + -17.350324630737294, + 56.25000000000001 + ] + } + } + ] + }, + { + "frame": 65, + "time": 1835.7806455940008, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.34930719831882706, + -0.9370082610108896, + -0.0, + 2924.4123629092956 + ], + [ + -0.1415221598544014, + -0.05275802916127718, + -0.9885282336024412, + 291.1811732133373 + ], + [ + 0.9262591200073151, + 0.34530003023708267, + -0.15103619341582947, + -1879.5927403124601 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.34930719831882706, + -0.1415221598544014, + 0.9262591200073151, + 760.6802119609091 + ], + [ + -0.9370082610108896, + -0.05275802916127718, + 0.34530003023708267, + 3404.5841102022655 + ], + [ + -0.0, + -0.9885282336024412, + -0.15103619341582947, + 3.954281483502503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76068.02119609091, + -340458.41102022654, + 395.4281483502503 + ], + "rotation_deg": [ + 0.0, + -8.686980247497559, + -20.444946289062504 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.43602724798297915, + -0.8999334636607248, + 8.673617312775235e-19, + 2731.467918397454 + ], + [ + -0.031083386840987815, + -0.015060228527490147, + -0.9994033282810265, + 77.92339622627284 + ], + [ + 0.8993964972826761, + 0.43576708599476777, + -0.03453965024840302, + -2153.1799015142556 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.43602724798297915, + -0.031083386840987815, + 0.8993964972826761, + 747.9901398326259 + ], + [ + -0.8999334636607248, + -0.015060228527490147, + 0.43576708599476777, + 3397.597849233661 + ], + [ + 8.673617312775235e-19, + -0.9994033282810265, + -0.03453965024840302, + 3.5068217239890047 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74799.01398326259, + -339759.7849233661, + 350.6821723989005 + ], + "rotation_deg": [ + -4.972583689890694e-17, + -1.9793698787689213, + -25.850677490234382 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.28333004067953, + -0.959022464829962, + -1.0408340776855398e-17, + 3485.4018559672027 + ], + [ + -0.13509282659138042, + 0.039911323725284116, + -0.9900287947539942, + -29.51327437524034 + ], + [ + 0.9494598542255126, + -0.28050490076065165, + -0.14086513359708847, + 244.83426969954283 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.28333004067953, + -0.13509282659138042, + 0.9494598542255126, + 751.0717150308294 + ], + [ + -0.959022464829962, + 0.039911323725284116, + -0.28050490076065165, + 3412.43380255385 + ], + [ + -1.0408340776855398e-17, + -0.9900287947539942, + -0.14086513359708847, + 5.269619308935807 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75107.17150308294, + -341243.380255385, + 526.9619308935808 + ], + "rotation_deg": [ + 6.023602606583697e-16, + -8.097910881042475, + 16.459053039550774 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.831469608077446, + -0.55557023934291, + -0.0, + 2531.7563487602893 + ], + [ + -0.16567846365447728, + 0.2479553393727327, + -0.9544992385317261, + -715.0000177543068 + ], + [ + 0.5302913639794624, + -0.7936371112234062, + -0.29821335479446304, + 2306.0600895253037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.831469608077446, + -0.16567846365447728, + 0.5302913639794624, + 763.7345983454204 + ], + [ + -0.55557023934291, + 0.2479553393727327, + -0.7936371112234062, + 3414.0313992379483 + ], + [ + -0.0, + -0.9544992385317261, + -0.29821335479446304, + 5.230933014620345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76373.45983454204, + -341403.13992379484, + 523.0933014620346 + ], + "rotation_deg": [ + 0.0, + -17.350324630737294, + 56.25000000000001 + ] + } + } + ] + }, + { + "frame": 66, + "time": 1835.8473122641444, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.34015334524524454, + -0.9403699812937826, + -3.469446925700655e-18, + 2943.002530529991 + ], + [ + -0.14203752930728303, + -0.05137822527870311, + -0.9885269941865488, + 286.8882072314984 + ], + [ + 0.9295811099607291, + 0.33625076637671514, + -0.15104430514008393, + -1851.3935940808722 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.34015334524524454, + -0.14203752930728303, + 0.9295811099607291, + 760.6972435022881 + ], + [ + -0.9403699812937826, + -0.05137822527870311, + 0.33625076637671514, + 3404.7835493654115 + ], + [ + -3.469446925700655e-18, + -0.9885269941865488, + -0.15104430514008393, + 3.954281483502503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76069.7243502288, + -340478.3549365412, + 395.4281483502503 + ], + "rotation_deg": [ + 2.0109179495975557e-16, + -8.687450408935542, + -19.886217117309563 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.43508059289961637, + -0.9003915135551411, + -0.0, + 2733.850409817067 + ], + [ + -0.031428842017555164, + -0.015186814861409572, + -0.999390608592957, + 78.62334254173551 + ], + [ + 0.8998428211791683, + 0.43481546165844637, + -0.03490575131791358, + -2150.4533581027117 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.43508059289961637, + -0.031428842017555164, + 0.8998428211791683, + 748.0957947041638 + ], + [ + -0.9003915135551411, + -0.015186814861409572, + 0.43481546165844637, + 3397.780105282286 + ], + [ + -0.0, + -0.999390608592957, + -0.03490575131791358, + 3.5122409267183743 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74809.57947041639, + -339778.0105282286, + 351.2240926718374 + ], + "rotation_deg": [ + 0.0, + -2.00035858154297, + -25.790422439575217 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.2886234220847259, + -0.9574426981413051, + -0.0, + 3484.218484693925 + ], + [ + -0.13485923251382811, + 0.04065364252442838, + -0.9900304382973671, + -32.221328248129346 + ], + [ + 0.947897413289728, + -0.28574597517479977, + -0.1408535819567447, + 263.9357540634966 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.2886234220847259, + -0.13485923251382811, + 0.947897413289728, + 751.0977073661475 + ], + [ + -0.9574426981413051, + 0.04065364252442838, + -0.28574597517479977, + 3412.6680379066274 + ], + [ + -0.0, + -0.9900304382973671, + -0.1408535819567447, + 5.276199255204736 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75109.77073661475, + -341266.8037906627, + 527.6199255204735 + ], + "rotation_deg": [ + 0.0, + -8.097242355346678, + 16.775560379028327 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.831469608077446, + -0.55557023934291, + -0.0, + 2531.8625544310476 + ], + [ + -0.16567846365447728, + 0.2479553393727327, + -0.9544992385317261, + -715.0240570342175 + ], + [ + 0.5302913639794624, + -0.7936371112234062, + -0.29821335479446304, + 2306.137032674851 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.831469608077446, + -0.16567846365447728, + 0.5302913639794624, + 763.7781200540608 + ], + [ + -0.55557023934291, + 0.2479553393727327, + -0.7936371112234062, + 3414.157429553782 + ], + [ + -0.0, + -0.9544992385317261, + -0.29821335479446304, + 5.230933014620345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76377.81200540607, + -341415.7429553782, + 523.0933014620346 + ], + "rotation_deg": [ + 0.0, + -17.350324630737294, + 56.25000000000001 + ] + } + } + ] + }, + { + "frame": 67, + "time": 1835.913978934288, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.3309804333971371, + -0.9436376172600597, + 3.469446925700713e-18, + 2961.289787663381 + ], + [ + -0.14253768583087478, + -0.049995023692157685, + -0.9885259256711475, + 282.5713996466448 + ], + [ + 0.9328102480777062, + 0.3271827416818178, + -0.15105129799765749, + -1823.0553447265672 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.3309804333971371, + -0.14253768583087478, + 0.9328102480777062, + 760.7127994639641 + ], + [ + -0.9436376172600597, + -0.049995023692157685, + 0.3271827416818178, + 3404.9838422615726 + ], + [ + 3.469446925700713e-18, + -0.9885259256711475, + -0.15105129799765749, + 3.954281483502503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76071.2799463964, + -340498.3842261573, + 395.4281483502503 + ], + "rotation_deg": [ + -2.0109201232348652e-16, + -8.687855720520018, + -19.32829475402832 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.43431772878747177, + -0.9007597406972025, + -8.673617312778601e-19, + 2735.7874176339883 + ], + [ + -0.0317570646498774, + -0.01531224761556941, + -0.9993783187150816, + 79.30612389345548 + ], + [ + 0.9001997537049152, + 0.43404772471255265, + -0.03525586619934503, + -2148.2754434776525 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.43431772878747177, + -0.0317570646498774, + 0.9001997537049152, + 748.1945718579481 + ], + [ + -0.9007597406972025, + -0.01531224761556941, + 0.43404772471255265, + 3397.955577372257 + ], + [ + -8.673617312778601e-19, + -0.9993783187150816, + -0.03525586619934503, + 3.5175100870367864 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74819.4571857948, + -339795.55773722567, + 351.7510087036786 + ], + "rotation_deg": [ + 4.9727081294140544e-17, + -2.02043104171753, + -25.741888046264663 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.2938797403747615, + -0.9558424023850703, + 3.469446925618254e-18, + 3482.936804584694 + ], + [ + -0.13461884576479138, + 0.04138940827922083, + -0.9900326677677109, + -34.91279897621847 + ], + [ + 0.946315202779159, + -0.29095054550736893, + -0.14083791058519676, + 282.93228697391646 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.2938797403747615, + -0.13461884576479138, + 0.946315202779159, + 751.1215259236642 + ], + [ + -0.9558424023850703, + 0.04138940827922083, + -0.29095054550736893, + 3412.903003064458 + ], + [ + 3.469446925618254e-18, + -0.9900326677677109, + -0.14083791058519676, + 5.282779201473663 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75112.15259236642, + -341290.3003064458, + 528.2779201473663 + ], + "rotation_deg": [ + -2.0078596807379705e-16, + -8.096335411071772, + 17.09037399291993 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.831469608077446, + -0.55557023934291, + -0.0, + 2531.967358129598 + ], + [ + -0.16567846365447728, + 0.2479553393727327, + -0.9544992385317261, + -715.0486374213544 + ], + [ + 0.5302913639794624, + -0.7936371112234062, + -0.29821335479446304, + 2306.215707760369 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.831469608077446, + -0.16567846365447728, + 0.5302913639794624, + 763.8194679848996 + ], + [ + -0.55557023934291, + 0.2479553393727327, + -0.7936371112234062, + 3414.28418967467 + ], + [ + -0.0, + -0.9544992385317261, + -0.29821335479446304, + 5.230933014620345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76381.94679848995, + -341428.418967467, + 523.0933014620346 + ], + "rotation_deg": [ + 0.0, + -17.350324630737294, + 56.25000000000001 + ] + } + } + ] + }, + { + "frame": 68, + "time": 1835.9806456044316, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.321787989197415, + -0.9468117500370832, + 3.469446925700764e-18, + 2979.275929645151 + ], + [ + -0.14302284447767075, + -0.04860843090715946, + -0.9885250054511819, + 278.2310145224611 + ], + [ + 0.935947089391374, + 0.3180954760936898, + -0.15105732007600423, + -1794.5772948378967 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.321787989197415, + -0.14302284447767075, + 0.935947089391374, + 760.7275713061781 + ], + [ + -0.9468117500370832, + -0.04860843090715946, + 0.3180954760936898, + 3405.184742391002 + ], + [ + 3.469446925700764e-18, + -0.9885250054511819, + -0.15105732007600423, + 3.954281483502503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76072.75713061781, + -340518.47423910024, + 395.4281483502503 + ], + "rotation_deg": [ + -2.0109219952045826e-16, + -8.68820476531982, + -18.771089553833 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.4337184554201684, + -0.9010484456609105, + 8.673617312780202e-19, + 2737.3289739256247 + ], + [ + -0.03206988733448747, + -0.015436797063681063, + -0.9993664130952011, + 79.97408300169842 + ], + [ + 0.9004775516500293, + 0.43344366021147357, + -0.03559174618994507, + -2146.5866209926075 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.4337184554201684, + -0.03206988733448747, + 0.9004775516500293, + 748.2877248715196 + ], + [ + -0.9010484456609105, + -0.015436797063681063, + 0.43344366021147357, + 3398.1249120527764 + ], + [ + 8.673617312780202e-19, + -0.9993664130952011, + -0.03559174618994507, + 3.5226472100335564 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74828.77248715196, + -339812.4912052776, + 352.26472100335565 + ], + "rotation_deg": [ + -4.9727673701218736e-17, + -2.039687633514405, + -25.703775405883803 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.2990988517110631, + -0.9542221318462089, + -0.0, + 3481.5585072324757 + ], + [ + -0.13437182801272465, + 0.04211855722017551, + -0.9900354735938552, + -37.5872400769182 + ], + [ + 0.9447137593722837, + -0.29611847548190234, + -0.14081818537021662, + 301.8222506558097 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.2990988517110631, + -0.13437182801272465, + 0.9447137593722837, + 751.1438598081262 + ], + [ + -0.9542221318462089, + 0.04211855722017551, + -0.29611847548190234, + 3413.1384429249015 + ], + [ + -0.0, + -0.9900354735938552, + -0.14081818537021662, + 5.289359147742591 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75114.38598081261, + -341313.84429249016, + 528.9359147742591 + ], + "rotation_deg": [ + 0.0, + -8.095193862915037, + 17.403486251831065 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.831469608077446, + -0.55557023934291, + -0.0, + 2532.071191098269 + ], + [ + -0.16567846365447728, + 0.2479553393727327, + -0.9544992385317261, + -715.0735814918895 + ], + [ + 0.5302913639794624, + -0.7936371112234062, + -0.29821335479446304, + 2306.295546896795 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.831469608077446, + -0.16567846365447728, + 0.5302913639794624, + 763.8593312426837 + ], + [ + -0.55557023934291, + 0.2479553393727327, + -0.7936371112234062, + 3414.4114244981697 + ], + [ + -0.0, + -0.9544992385317261, + -0.29821335479446304, + 5.230933014620345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76385.93312426837, + -341441.142449817, + 523.0933014620346 + ], + "rotation_deg": [ + 0.0, + -17.350324630737294, + 56.25000000000001 + ] + } + } + ] + }, + { + "frame": 69, + "time": 1836.0473122745752, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.3125756098765301, + -0.9498928824400755, + -3.4694469257008074e-18, + 2996.9624859729065 + ], + [ + -0.14349317967837658, + -0.04721844850113467, + -0.9885242159436127, + 273.86727039976586 + ], + [ + 0.9389921159150216, + 0.30898856193318475, + -0.15106248655405247, + -1765.9589514946813 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.3125756098765301, + -0.14349317967837658, + 0.9389921159150216, + 760.7422361854698 + ], + [ + -0.9498928824400755, + -0.04721844850113467, + 0.30898856193318475, + 3405.3860326840386 + ], + [ + -3.4694469257008074e-18, + -0.9885242159436127, + -0.15106248655405247, + 3.954281483502503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76074.22361854698, + -340538.60326840385, + 395.4281483502503 + ], + "rotation_deg": [ + 2.0109236012736457e-16, + -8.688504219055176, + -18.214517593383786 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.4332645690511699, + -0.9012667824816931, + -0.0, + 2738.519714223221 + ], + [ + -0.03236896725164905, + -0.015560682940405631, + -0.9993548494431246, + 80.62925694033125 + ], + [ + 0.9006853282030801, + 0.43298505129533577, + -0.03591496783355661, + -2145.333168170609 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.4332645690511699, + -0.03236896725164905, + 0.9006853282030801, + 748.3764253425828 + ], + [ + -0.9012667824816931, + -0.015560682940405631, + 0.43298505129533577, + 3398.288678967864 + ], + [ + -0.0, + -0.9993548494431246, + -0.03591496783355661, + 3.5276681401872816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74837.64253425828, + -339828.8678967864, + 352.76681401872816 + ], + "rotation_deg": [ + 0.0, + -2.0582187175750737, + -25.674917221069354 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.3042807128467938, + -0.9525824099727261, + -1.0408340776853751e-17, + 3480.08529687126 + ], + [ + -0.13411835229816094, + 0.04284104704840213, + -0.9900388438160507, + -40.24427284760609 + ], + [ + 0.9430935869406349, + -0.3012497273542368, + -0.14079448867212538, + 320.60440989530105 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.3042807128467938, + -0.13411835229816094, + 0.9430935869406349, + 751.165383881179 + ], + [ + -0.9525824099727261, + 0.04284104704840213, + -0.3012497273542368, + 3413.3741336785292 + ], + [ + -1.0408340776853751e-17, + -0.9900388438160507, + -0.14079448867212538, + 5.295939094011519 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75116.5383881179, + -341337.4133678529, + 529.5939094011519 + ], + "rotation_deg": [ + 6.023541465995408e-16, + -8.09382247924804, + 17.714895248413075 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.831469608077446, + -0.55557023934291, + -0.0, + 2532.174490122151 + ], + [ + -0.16567846365447728, + 0.2479553393727327, + -0.9544992385317261, + -715.0987219410392 + ], + [ + 0.5302913639794624, + -0.7936371112234062, + -0.29821335479446304, + 2306.3760145873603 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.831469608077446, + -0.16567846365447728, + 0.5302913639794624, + 763.8983846890586 + ], + [ + -0.55557023934291, + 0.2479553393727327, + -0.7936371112234062, + 3414.538910214854 + ], + [ + -0.0, + -0.9544992385317261, + -0.29821335479446304, + 5.230933014620345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76389.83846890586, + -341453.8910214854, + 523.0933014620346 + ], + "rotation_deg": [ + 0.0, + -17.350324630737294, + 56.25000000000001 + ] + } + } + ] + }, + { + "frame": 70, + "time": 1836.1139789447188, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.30334302976711475, + -0.952881422996433, + -1.0408340777102534e-17, + 3014.3506782402533 + ], + [ + -0.14394886922742292, + -0.045825099607551184, + -0.9885235370460856, + 269.4804466523853 + ], + [ + 0.9419457137609458, + 0.2998617269186556, + -0.1510669290637242, + -1737.2001104194553 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.30334302976711475, + -0.14394886922742292, + 0.9419457137609458, + 760.7573311458593 + ], + [ + -0.952881422996433, + -0.045825099607551184, + 0.2998617269186556, + 3405.5875512642147 + ], + [ + -1.0408340777102534e-17, + -0.9885235370460856, + -0.1510669290637242, + 3.954281483502503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76075.73311458594, + -340558.75512642146, + 395.4281483502503 + ], + "rotation_deg": [ + 6.03277494700326e-16, + -8.688761711120602, + -17.658504486083977 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.43293979135412836, + -0.9014228403264716, + -0.0, + 2739.399287951583 + ], + [ + -0.032655810770211444, + -0.01568409326774417, + -0.9993435881824175, + 81.27345597788816 + ], + [ + 0.9008311342116332, + 0.4326556076788649, + -0.03622696204506815, + -2144.466906949901 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.43293979135412836, + -0.032655810770211444, + 0.9008311342116332, + 748.461645209332 + ], + [ + -0.9014228403264716, + -0.01568409326774417, + 0.4326556076788649, + 3398.4474093817976 + ], + [ + -0.0, + -0.9993435881824175, + -0.03622696204506815, + 3.532586820639127 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74846.1645209332, + -339844.7409381798, + 353.2586820639127 + ], + "rotation_deg": [ + 0.0, + -2.0761063098907475, + -25.65427207946779 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.30942519031104926, + -0.9509237885345864, + 3.4694469256177024e-18, + 3478.518933488626 + ], + [ + -0.13385856418350925, + 0.04355681516925231, + -0.9900427711200362, + -42.88349107242723 + ], + [ + 0.94145522183176, + -0.3063441751164911, + -0.14076686988744347, + 339.2773523868715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.30942519031104926, + -0.13385856418350925, + 0.94145522183176, + 751.1866329532847 + ], + [ + -0.9509237885345864, + 0.04355681516925231, + -0.3063441751164911, + 3413.6099083505837 + ], + [ + 3.4694469256177024e-18, + -0.9900427711200362, + -0.14076686988744347, + 5.302519040280447 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75118.66329532847, + -341360.9908350584, + 530.2519040280447 + ], + "rotation_deg": [ + -2.0078391905988753e-16, + -8.092224121093748, + 18.024593353271495 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.831469608077446, + -0.55557023934291, + -0.0, + 2532.2776071136846 + ], + [ + -0.16567846365447728, + 0.2479553393727327, + -0.9544992385317261, + -715.1239287599456 + ], + [ + 0.5302913639794624, + -0.7936371112234062, + -0.29821335479446304, + 2306.456694709331 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.831469608077446, + -0.16567846365447728, + 0.5302913639794624, + 763.9371631344865 + ], + [ + -0.55557023934291, + 0.2479553393727327, + -0.7936371112234062, + 3414.666479849965 + ], + [ + -0.0, + -0.9544992385317261, + -0.29821335479446304, + 5.230933014620345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76393.71631344865, + -341466.6479849965, + 523.0933014620346 + ], + "rotation_deg": [ + 0.0, + -17.350324630737294, + 56.25000000000001 + ] + } + } + ] + }, + { + "frame": 71, + "time": 1836.1806456148624, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.2940901557934088, + -0.9557776834941317, + -0.0, + 3031.441400403123 + ], + [ + -0.14439006258611606, + -0.04442842382104189, + -0.9885229511666156, + 265.07083397452845 + ], + [ + 0.9448081755049641, + 0.2907148708464542, + -0.15107076278258105, + -1708.3009300757865 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.2940901557934088, + -0.14439006258611606, + 0.9448081755049641, + 760.7732007280931 + ], + [ + -0.9557776834941317, + -0.04442842382104189, + 0.2907148708464542, + 3405.7891973669257 + ], + [ + -0.0, + -0.9885229511666156, + -0.15107076278258105, + 3.954281483502503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76077.3200728093, + -340578.91973669257, + 395.4281483502503 + ], + "rotation_deg": [ + 0.0, + -8.688983917236326, + -17.102987289428704 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.4327295140285497, + -0.9015238031736128, + -0.0, + 2740.0031223158244 + ], + [ + -0.032931760487529764, + -0.015807175209026646, + -0.9993325934658107, + 81.90822118939423 + ], + [ + 0.9009221187882106, + 0.4324407106420498, + -0.036528997489127676, + -2143.9444255653793 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.4327295140285497, + -0.032931760487529764, + 0.9009221187882106, + 748.5441115133647 + ], + [ + -0.9015238031736128, + -0.015807175209026646, + 0.4324407106420498, + 3398.6016133285552 + ], + [ + -0.0, + -0.9993325934658107, + -0.036528997489127676, + 3.537415521353318 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74854.41115133646, + -339860.1613328555, + 353.7415521353318 + ], + "rotation_deg": [ + 0.0, + -2.0934231281280526, + -25.64090728759767 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.3145322823737416, + -0.9492467768419152, + -6.938893851234916e-18, + 3476.8611426473976 + ], + [ + -0.13359263459777457, + 0.0442658298068228, + -0.9900472434650472, + -45.50460317687438 + ], + [ + 0.9397991538624657, + -0.3114018214258204, + -0.1407354113649977, + 357.8403403917778 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.3145322823737416, + -0.13359263459777457, + 0.9397991538624657, + 751.2079493936371 + ], + [ + -0.9492467768419152, + 0.0442658298068228, + -0.3114018214258204, + 3413.8456625246945 + ], + [ + -6.938893851234916e-18, + -0.9900472434650472, + -0.1407354113649977, + 5.309098986549375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75120.79493936371, + -341384.56625246943, + 530.9098986549375 + ], + "rotation_deg": [ + 4.015660241154866e-16, + -8.090403556823727, + 18.33258056640625 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.831469608077446, + -0.55557023934291, + -0.0, + 2532.3807687318194 + ], + [ + -0.16567846365447728, + 0.2479553393727327, + -0.9544992385317261, + -715.1491193348093 + ], + [ + 0.5302913639794624, + -0.7936371112234062, + -0.29821335479446304, + 2306.5373228385724 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.831469608077446, + -0.16567846365447728, + 0.5302913639794624, + 763.976008948161 + ], + [ + -0.55557023934291, + 0.2479553393727327, + -0.7936371112234062, + 3414.7940289871317 + ], + [ + -0.0, + -0.9544992385317261, + -0.29821335479446304, + 5.230933014620345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76397.6008948161, + -341479.4028987132, + 523.0933014620346 + ], + "rotation_deg": [ + 0.0, + -17.350324630737294, + 56.25000000000001 + ] + } + } + ] + }, + { + "frame": 72, + "time": 1836.247312285006, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.28481697564343206, + -0.9585819163667385, + -0.0, + 3048.235423636103 + ], + [ + -0.14481683885736402, + -0.04302845000657877, + -0.9885224507685151, + 260.6386043777857 + ], + [ + 0.9475797444292023, + 0.28154797685296573, + -0.15107403707285283, + -1679.2616277334434 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.28481697564343206, + -0.14481683885736402, + 0.9475797444292023, + 760.7899636439258 + ], + [ + -0.9585819163667385, + -0.04302845000657877, + 0.28154797685296573, + 3405.990937692522 + ], + [ + -0.0, + -0.9885224507685151, + -0.15107403707285283, + 3.954281483502503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76078.99636439259, + -340599.0937692522, + 395.4281483502503 + ], + "rotation_deg": [ + 0.0, + -8.689173698425291, + -16.547908782958984 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.43262077998256293, + -0.9015759872175382, + -0.0, + 2740.3625859943695 + ], + [ + -0.03319802730379409, + -0.015930056556158503, + -0.9993218321848344, + 82.53492045255705 + ], + [ + 0.90096456589229, + 0.43232739361134065, + -0.03682221801769401, + -2143.7270239357463 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.43262077998256293, + -0.03319802730379409, + 0.90096456589229, + 748.6242793692105 + ], + [ + -0.9015759872175382, + -0.015930056556158503, + 0.43232739361134065, + 3398.751795847911 + ], + [ + -0.0, + -0.9993218321848344, + -0.03682221801769401, + 3.5421650398983733 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74862.42793692106, + -339875.1795847911, + 354.21650398983735 + ], + "rotation_deg": [ + 0.0, + -2.110234737396241, + -25.63399696350099 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.3149085184175327, + -0.9491220285232425, + -0.0, + 3476.8583876347 + ], + [ + -0.13345933610233773, + 0.04428037758892404, + -0.9900645705042197, + -45.657002718002026 + ], + [ + 0.9396920926063835, + -0.3117797693187486, + -0.14061346499032013, + 359.22460147547775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.3149085184175327, + -0.13345933610233773, + 0.9396920926063835, + 751.2384605004014 + ], + [ + -0.9491220285232425, + 0.04428037758892404, + -0.3117797693187486, + 3413.98355499332 + ], + [ + -0.0, + -0.9900645705042197, + -0.14061346499032013, + 5.30843355386097 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75123.84605004014, + -341398.355499332, + 530.8433553860971 + ], + "rotation_deg": [ + 0.0, + -8.083346366882324, + 18.355291366577163 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.831469608077446, + -0.55557023934291, + -0.0, + 2532.484052107434 + ], + [ + -0.16567846365447728, + 0.2479553393727327, + -0.9544992385317261, + -715.1742655008692 + ], + [ + 0.5302913639794624, + -0.7936371112234062, + -0.29821335479446304, + 2306.6178088274 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.831469608077446, + -0.16567846365447728, + 0.5302913639794624, + 764.0150387328965 + ], + [ + -0.55557023934291, + 0.2479553393727327, + -0.7936371112234062, + 3414.9215219498224 + ], + [ + -0.0, + -0.9544992385317261, + -0.29821335479446304, + 5.230933014620345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76401.50387328965, + -341492.1521949822, + 523.0933014620346 + ], + "rotation_deg": [ + 0.0, + -17.350324630737294, + 56.25000000000001 + ] + } + } + ] + }, + { + "frame": 73, + "time": 1836.3139789551497, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.27552352803991487, + -0.9612943282348224, + -0.0, + 3064.733380995462 + ], + [ + -0.14522931854840893, + -0.04162522657838436, + -0.9885220207695238, + 256.18401567832944 + ], + [ + 0.9502606111414341, + 0.27236107671339016, + -0.15107685065764168, + -1650.082465705253 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.27552352803991487, + -0.14522931854840893, + 0.9502606111414341, + 760.8076439956105 + ], + [ + -0.9612943282348224, + -0.04162522657838436, + 0.27236107671339016, + 3406.1927664146356 + ], + [ + -0.0, + -0.9885220207695238, + -0.15107685065764168, + 3.954281483502503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76080.76439956106, + -340619.27664146357, + 395.4281483502503 + ], + "rotation_deg": [ + 0.0, + -8.689336776733393, + -15.993215560913079 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.4326019617211001, + -0.9015850169091406, + -0.0, + 2740.5057378835486 + ], + [ + -0.03345569064442167, + -0.016052837094751346, + -0.9993112744208955, + 83.15472298289556 + ], + [ + 0.9009640707384704, + 0.43230402080220776, + -0.03710763852105395, + -2143.7798646799797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.4326019617211001, + -0.03345569064442167, + 0.9009640707384704, + 748.7024687236573 + ], + [ + -0.9015850169091406, + -0.016052837094751346, + 0.43230402080220776, + 3398.8984256907356 + ], + [ + -0.0, + -0.9993112744208955, + -0.03710763852105395, + 3.5468448781345905 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74870.24687236572, + -339889.84256907355, + 354.68448781345904 + ], + "rotation_deg": [ + 0.0, + -2.1265993118286137, + -25.63280105590822 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.3105671393997829, + -0.9505514462274179, + 3.469446925614865e-18, + 3478.527368009024 + ], + [ + -0.1334585696190287, + 0.04360400098223846, + -0.9900946930943441, + -43.35255563981863 + ], + [ + 0.9411359415250988, + -0.3074908788238633, + -0.1404012072946452, + 343.4704052037977 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.3105671393997829, + -0.1334585696190287, + 0.9411359415250988, + 751.2781883300553 + ], + [ + -0.9505514462274179, + 0.04360400098223846, + -0.3074908788238633, + 3414.023578676979 + ], + [ + 3.469446925614865e-18, + -0.9900946930943441, + -0.1404012072946452, + 5.300522742215235 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75127.81883300553, + -341402.3578676979, + 530.0522742215235 + ], + "rotation_deg": [ + -2.0077338966535373e-16, + -8.071063041687008, + 18.093412399292003 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.831469608077446, + -0.55557023934291, + -0.0, + 2532.587471646667 + ], + [ + -0.16567846365447728, + 0.2479553393727327, + -0.9544992385317261, + -715.199361848446 + ], + [ + 0.5302913639794624, + -0.7936371112234062, + -0.29821335479446304, + 2306.698135360914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.831469608077446, + -0.16567846365447728, + 0.5302913639794624, + 764.0542745451705 + ], + [ + -0.55557023934291, + 0.2479553393727327, + -0.7936371112234062, + 3415.0489516585535 + ], + [ + -0.0, + -0.9544992385317261, + -0.29821335479446304, + 5.230933014620345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76405.42745451705, + -341504.89516585536, + 523.0933014620346 + ], + "rotation_deg": [ + 0.0, + -17.350324630737294, + 56.25000000000001 + ] + } + } + ] + }, + { + "frame": 74, + "time": 1836.3806456252933, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.2662100167462242, + -0.9639150517467684, + -0.0, + 3080.935527541542 + ], + [ + -0.14562758061622072, + -0.040218814515141435, + -0.9885216511148669, + 251.70733699304603 + ], + [ + 0.9528508977668131, + 0.263154367238957, + -0.1510792693523591, + -1620.7642168661182 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.2662100167462242, + -0.14562758061622072, + 0.9528508977668131, + 760.8262666299332 + ], + [ + -0.9639150517467684, + -0.040218814515141435, + 0.263154367238957, + 3406.394676348171 + ], + [ + -0.0, + -0.9885216511148669, + -0.1510792693523591, + 3.954281483502503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76082.62666299332, + -340639.46763481706, + 395.4281483502503 + ], + "rotation_deg": [ + 0.0, + -8.689476966857905, + -15.438864707946772 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.432662767736585, + -0.9015558382122083, + -0.0, + 2740.4573027809042 + ], + [ + -0.03370572321740091, + -0.016175605411998178, + -0.9993008926304167, + 83.76867785674946 + ], + [ + 0.90092555237327, + 0.4323602931250988, + -0.03738617404465461, + -2144.0720849875643 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.432662767736585, + -0.03370572321740091, + 0.90092555237327, + 748.778964584857 + ], + [ + -0.9015558382122083, + -0.016175605411998178, + 0.4323602931250988, + 3399.041914140229 + ], + [ + -0.0, + -0.9993008926304167, + -0.03738617404465461, + 3.5514633976990284 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74877.8964584857, + -339904.1914140229, + 355.14633976990285 + ], + "rotation_deg": [ + 0.0, + -2.1425693035125737, + -25.636665344238295 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.3062059624201823, + -0.9519652874860142, + -1.040834077683958e-17, + 3480.128067100811 + ], + [ + -0.1334516177654034, + 0.04292559990532848, + -0.9901252741893644, + -41.04575445875959 + ], + [ + 0.9425648904145659, + -0.30318226472518184, + -0.14018538338174807, + 327.65935521931294 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.3062059624201823, + -0.1334516177654034, + 0.9425648904145659, + 751.3181450519274 + ], + [ + -0.9519652874860142, + 0.04292559990532848, + -0.30318226472518184, + 3414.0635316591715 + ], + [ + -1.040834077683958e-17, + -0.9901252741893644, + -0.14018538338174807, + 5.292611930569501 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75131.81450519274, + -341406.35316591716, + 529.2611930569501 + ], + "rotation_deg": [ + 6.023015656828359e-16, + -8.05857372283935, + 17.830732345581048 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.831469608077446, + -0.55557023934291, + -0.0, + 2532.691042223193 + ], + [ + -0.16567846365447728, + 0.2479553393727327, + -0.9544992385317261, + -715.2244027427057 + ], + [ + 0.5302913639794624, + -0.7936371112234062, + -0.29821335479446304, + 2306.7782844035537 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.831469608077446, + -0.16567846365447728, + 0.5302913639794624, + 764.0937392496629 + ], + [ + -0.55557023934291, + 0.2479553393727327, + -0.7936371112234062, + 3415.1763106658186 + ], + [ + -0.0, + -0.9544992385317261, + -0.29821335479446304, + 5.230933014620345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76409.37392496629, + -341517.6310665819, + 523.0933014620346 + ], + "rotation_deg": [ + 0.0, + -17.350324630737294, + 56.25000000000001 + ] + } + } + ] + }, + { + "frame": 75, + "time": 1836.4473122954369, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.256876701041091, + -0.966444183831765, + -0.0, + 3096.841954030507 + ], + [ + -0.146011667738583, + -0.03880927233012784, + -0.9885213367780199, + 247.20880156660795 + ], + [ + 0.9553506958401696, + 0.25392810177724096, + -0.15108132606484265, + -1591.3078240798634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.256876701041091, + -0.146011667738583, + 0.9553506958401696, + 760.8458571080572 + ], + [ + -0.966444183831765, + -0.03880927233012784, + 0.25392810177724096, + 3406.5966590558064 + ], + [ + -0.0, + -0.9885213367780199, + -0.15108132606484265, + 3.954281483502503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76084.58571080572, + -340659.6659055806, + 395.4281483502503 + ], + "rotation_deg": [ + 0.0, + -8.68959617614746, + -14.884817123413086 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.43279397717032414, + -0.9014928581664374, + 1.7347234625580784e-18, + 2740.2393470134034 + ], + [ + -0.03394899081278137, + -0.01629843056623503, + -0.9992906620117449, + 84.3776857639682 + ], + [ + 0.9008533935265772, + 0.43248698307990757, + -0.03765863563765528, + -2144.5760082299457 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.43279397717032414, + -0.03394899081278137, + 0.9008533935265772, + 748.8540212822531 + ], + [ + -0.9014928581664374, + -0.01629843056623503, + 0.43248698307990757, + 3399.182621853216 + ], + [ + 1.7347234625580784e-18, + -0.9992906620117449, + -0.03765863563765528, + 3.5560279568323008 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74885.40212822531, + -339918.2621853216, + 355.60279568323006 + ], + "rotation_deg": [ + -9.946288660071522e-17, + -2.1581912040710454, + -25.645004272460945 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.30182517852891744, + -0.9533632894159432, + -0.0, + 3481.6597230873017 + ], + [ + -0.13343843840120462, + 0.04224526047959867, + -0.9901563114599929, + -38.736922049756856 + ], + [ + 0.9439786772744974, + -0.29885410767402365, + -0.1399659929320462, + 311.7922399204668 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.30182517852891744, + -0.13343843840120462, + 0.9439786772744974, + 751.3583543092054 + ], + [ + -0.9533632894159432, + 0.04224526047959867, + -0.29885410767402365, + 3414.1034061136993 + ], + [ + -0.0, + -0.9901563114599929, + -0.1399659929320462, + 5.284701118923765 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75135.83543092055, + -341410.34061136993, + 528.4701118923765 + ], + "rotation_deg": [ + 0.0, + -8.045878410339355, + 17.567260742187507 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.831469608077446, + -0.55557023934291, + -0.0, + 2532.7947791476 + ], + [ + -0.16567846365447728, + 0.2479553393727327, + -0.9544992385317261, + -715.2493823259335 + ], + [ + 0.5302913639794624, + -0.7936371112234062, + -0.29821335479446304, + 2306.8582372063793 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.831469608077446, + -0.16567846365447728, + 0.5302913639794624, + 764.133456489561 + ], + [ + -0.55557023934291, + 0.2479553393727327, + -0.7936371112234062, + 3415.3035911454185 + ], + [ + -0.0, + -0.9544992385317261, + -0.29821335479446304, + 5.230933014620345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76413.3456489561, + -341530.35911454185, + 523.0933014620346 + ], + "rotation_deg": [ + 0.0, + -17.350324630737294, + 56.25000000000001 + ] + } + } + ] + }, + { + "frame": 76, + "time": 1836.5139789655805, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.24752388099864542, + -0.9688817927566645, + -6.9388938514019585e-18, + 3112.45262223828 + ], + [ + -0.14638165068489123, + -0.037396671663549604, + -0.9885210677022794, + 242.68870882944205 + ], + [ + 0.9577600636070569, + 0.24468257293836626, + -0.15108308661020894, + -1561.7143391297852 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.24752388099864542, + -0.14638165068489123, + 0.9577600636070569, + 760.8664416737388 + ], + [ + -0.9688817927566645, + -0.037396671663549604, + 0.24468257293836626, + 3406.798704939632 + ], + [ + -6.9388938514019585e-18, + -0.9885210677022794, + -0.15108308661020894, + 3.954281483502503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76086.64416737387, + -340679.8704939632, + 395.4281483502503 + ], + "rotation_deg": [ + 4.0218600113241704e-16, + -8.68969821929931, + -14.331036567687983 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.4329875033526723, + -0.901399923419355, + -0.0, + 2739.8711602975773 + ], + [ + -0.034186265169763926, + -0.01642137437582421, + -0.9992805600717708, + 84.98255060552535 + ], + [ + 0.9007514188122075, + 0.4326759979740889, + -0.03792574699227247, + -2145.2673493921043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.4329875033526723, + -0.034186265169763926, + 0.9007514188122075, + 748.9278662100816 + ], + [ + -0.901399923419355, + -0.01642137437582421, + 0.4326759979740889, + 3399.3208648783107 + ], + [ + -0.0, + -0.9992805600717708, + -0.03792574699227247, + 3.5605450307861473 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74892.78662100816, + -339932.0864878311, + 356.05450307861474 + ], + "rotation_deg": [ + 0.0, + -2.1735064983367924, + -25.657304763793963 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.29742494955349513, + -0.9547452012883336, + -1.0408340776829327e-17, + 3483.121593042752 + ], + [ + -0.13341897591083934, + 0.04156306009835221, + -0.9901878048643918, + -36.426361539134355 + ], + [ + 0.9453770542346506, + -0.294506560076715, + -0.13974301914011758, + 295.86973985151036 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.29742494955349513, + -0.13341897591083934, + 0.9453770542346506, + 751.3988404922202 + ], + [ + -0.9547452012883336, + 0.04156306009835221, + -0.294506560076715, + 3414.1431938241144 + ], + [ + -1.0408340776829327e-17, + -0.9901878048643918, + -0.13974301914011758, + 5.276790307278031 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75139.88404922202, + -341414.3193824114, + 527.679030727803 + ], + "rotation_deg": [ + 6.022635301466733e-16, + -8.03297615051269, + 17.303005218505856 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.831469608077446, + -0.55557023934291, + -0.0, + 2532.8986981348935 + ], + [ + -0.16567846365447728, + 0.2479553393727327, + -0.9544992385317261, + -715.2742945198648 + ], + [ + 0.5302913639794624, + -0.7936371112234062, + -0.29821335479446304, + 2306.937974314532 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.831469608077446, + -0.16567846365447728, + 0.5302913639794624, + 764.1734506551959 + ], + [ + -0.55557023934291, + 0.2479553393727327, + -0.7936371112234062, + 3415.430784880906 + ], + [ + -0.0, + -0.9544992385317261, + -0.29821335479446304, + 5.230933014620345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76417.34506551959, + -341543.0784880906, + 523.0933014620346 + ], + "rotation_deg": [ + 0.0, + -17.350324630737294, + 56.25000000000001 + ] + } + } + ] + }, + { + "frame": 77, + "time": 1836.580645635724, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.23815194710662993, + -0.9712279084176489, + -0.0, + 3127.7672942099366 + ], + [ + -0.1467375792638664, + -0.03598109147454169, + -0.9885208363449305, + 238.1473673371194 + ], + [ + 0.9600790236996406, + 0.23541816367709723, + -0.15108460034976706, + -1531.9850952456752 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.23815194710662993, + -0.1467375792638664, + 0.9600790236996406, + 760.8880472196407 + ], + [ + -0.9712279084176489, + -0.03598109147454169, + 0.23541816367709723, + 3407.0008033197137 + ], + [ + -0.0, + -0.9885208363449305, + -0.15108460034976706, + 3.954281483502503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76088.80472196407, + -340700.08033197135, + 395.4281483502503 + ], + "rotation_deg": [ + 0.0, + -8.689785957336424, + -13.777492523193358 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.4332361262449142, + -0.9012804551948855, + 1.734723462558619e-18, + 2739.369917055045 + ], + [ + -0.03441823544100632, + -0.01654448724445346, + -0.9992705664688347, + 85.58397406792493 + ], + [ + 0.9006230294970357, + 0.43292011240868106, + -0.03818815276544591, + -2146.1244127083087 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.4332361262449142, + -0.03441823544100632, + 0.9006230294970357, + 749.0007031159535 + ], + [ + -0.9012804551948855, + -0.01654448724445346, + 0.43292011240868106, + 3399.4569199497537 + ], + [ + 1.734723462558619e-18, + -0.9992705664688347, + -0.03818815276544591, + 3.5650203177821 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74900.07031159535, + -339945.6919949754, + 356.50203177821 + ], + "rotation_deg": [ + -9.946488682047922e-17, + -2.1885521411895756, + -25.67310905456544 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.2930054396878235, + -0.9561107740807783, + 6.938893851216061e-18, + 3484.5129409582923 + ], + [ + -0.13339317538492873, + 0.04087907705317193, + -0.9902197543070962, + -34.11437853473171 + ], + [ + 0.9467597749876555, + -0.29013977663488194, + -0.1395164451940525, + 279.89254153210237 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.2930054396878235, + -0.13339317538492873, + 0.9467597749876555, + 751.4396287051462 + ], + [ + -0.9561107740807783, + 0.04087907705317193, + -0.29013977663488194, + 3414.1828861714034 + ], + [ + 6.938893851216061e-18, + -0.9902197543070962, + -0.1395164451940525, + 5.268879495632295 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75143.96287051462, + -341418.2886171403, + 526.8879495632295 + ], + "rotation_deg": [ + -4.014960654081013e-16, + -8.019865989685055, + 17.037973403930675 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.831469608077446, + -0.55557023934291, + -0.0, + 2533.002815269964 + ], + [ + -0.16567846365447728, + 0.2479553393727327, + -0.9544992385317261, + -715.2991330281482 + ], + [ + 0.5302913639794624, + -0.7936371112234062, + -0.29821335479446304, + 2307.017475575114 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.831469608077446, + -0.16567846365447728, + 0.5302913639794624, + 764.213746850742 + ], + [ + -0.55557023934291, + 0.2479553393727327, + -0.7936371112234062, + 3415.557883253267 + ], + [ + -0.0, + -0.9544992385317261, + -0.29821335479446304, + 5.230933014620345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76421.3746850742, + -341555.7883253267, + 523.0933014620346 + ], + "rotation_deg": [ + 0.0, + -17.350324630737294, + 56.25000000000001 + ] + } + } + ] + }, + { + "frame": 78, + "time": 1836.6473123058677, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.22876131706857267, + -0.9734825421203258, + -3.469446925701003e-18, + 3142.7856477962655 + ], + [ + -0.14707948506594976, + -0.03456260925251945, + -0.9885206376775307, + 233.58506692051608 + ], + [ + 0.9623075827276226, + 0.22613528470448135, + -0.15108590019106116, + -1502.1215088634494 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.22876131706857267, + -0.14707948506594976, + 0.9623075827276226, + 760.9107012510848 + ], + [ + -0.9734825421203258, + -0.03456260925251945, + 0.22613528470448135, + 3407.202942501315 + ], + [ + -3.469446925701003e-18, + -0.9885206376775307, + -0.15108590019106116, + 3.954281483502503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76091.07012510848, + -340720.2942501315, + 395.4281483502503 + ], + "rotation_deg": [ + 2.0109308804538203e-16, + -8.689861297607411, + -13.224156379699696 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.43353346425338646, + -0.901137467522274, + -0.0, + 2738.750761507724 + ], + [ + -0.03464551175642497, + -0.01666781071027111, + -0.9992606629910247, + 86.18256711888768 + ], + [ + 0.9004712217272531, + 0.43321294004150124, + -0.03844642274161478, + -2147.1280145789488 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.43353346425338646, + -0.03464551175642497, + 0.9004712217272531, + 749.0727149882186 + ], + [ + -0.901137467522274, + -0.01666781071027111, + 0.43321294004150124, + 3399.5910291439895 + ], + [ + -0.0, + -0.9992606629910247, + -0.03844642274161478, + 3.569458832255106 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74907.27149882186, + -339959.10291439894, + 356.9458832255106 + ], + "rotation_deg": [ + 0.0, + -2.2033607959747323, + -25.69201278686525 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.2885668154848647, + -0.957459760512641, + -1.040834077681878e-17, + 3485.8330378138735 + ], + [ + -0.13336096685358031, + 0.040193385771445364, + -0.9902521619567944, + -31.80127670952935 + ], + [ + 0.9481265970419439, + -0.2857539150093296, + -0.13928623779291394, + 263.86133798459247 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.2885668154848647, + -0.13336096685358031, + 0.9481265970419439, + 751.480744730109 + ], + [ + -0.957459760512641, + 0.040193385771445364, + -0.2857539150093296, + 3414.222474121148 + ], + [ + -1.040834077681878e-17, + -0.9902521619567944, + -0.13928623779291394, + 5.260968683986559 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75148.0744730109, + -341422.2474121148, + 526.0968683986559 + ], + "rotation_deg": [ + 6.022243886716492e-16, + -8.006546020507805, + 16.772172927856438 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.831469608077446, + -0.55557023934291, + -0.0, + 2533.1071469706117 + ], + [ + -0.16567846365447728, + 0.2479553393727327, + -0.9544992385317261, + -715.3238913391086 + ], + [ + 0.5302913639794624, + -0.7936371112234062, + -0.29821335479446304, + 2307.09672014604 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.831469608077446, + -0.16567846365447728, + 0.5302913639794624, + 764.2543708583249 + ], + [ + -0.55557023934291, + 0.2479553393727327, + -0.7936371112234062, + 3415.6848772280846 + ], + [ + -0.0, + -0.9544992385317261, + -0.29821335479446304, + 5.230933014620345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76425.4370858325, + -341568.48772280844, + 523.0933014620346 + ], + "rotation_deg": [ + 0.0, + -17.350324630737294, + 56.25000000000001 + ] + } + } + ] + }, + { + "frame": 79, + "time": 1836.7139789760113, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.2193525015206403, + -0.9756456734269042, + 3.4694469257010135e-18, + 3157.5071819009377 + ], + [ + -0.147407379252825, + -0.03314131171015886, + -0.9885204691861184, + 229.00211343711211 + ], + [ + 0.9644457183107227, + 0.21683443933360158, + -0.1510870025879036, + -1472.1252907475694 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.2193525015206403, + -0.147407379252825, + 0.9644457183107227, + 760.9344318484913 + ], + [ + -0.9756456734269042, + -0.03314131171015886, + 0.21683443933360158, + 3407.4051098317696 + ], + [ + 3.4694469257010135e-18, + -0.9885204691861184, + -0.1510870025879036, + 3.954281483502503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76093.44318484912, + -340740.51098317694, + 395.4281483502503 + ], + "rotation_deg": [ + -2.0109312232131266e-16, + -8.689925193786618, + -12.671005249023434 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.4338738554689226, + -0.9009736275499589, + -1.7347234625591498e-18, + 2738.0271034723523 + ], + [ + -0.03486864177882219, + -0.01679138165750968, + -0.9992508330356957, + 86.77887687013721 + ], + [ + 0.9002986463548113, + 0.43354881463456185, + -0.03870106846924228, + -2148.261128562016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.4338738554689226, + -0.03486864177882219, + 0.9002986463548113, + 749.1440665911947 + ], + [ + -0.9009736275499589, + -0.01679138165750968, + 0.43354881463456185, + 3399.723403975101 + ], + [ + -1.7347234625591498e-18, + -0.9992508330356957, + -0.03870106846924228, + 3.573864986907919 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74914.40665911947, + -339972.3403975101, + 357.3864986907919 + ], + "rotation_deg": [ + 9.946685107575855e-17, + -2.2179617881774902, + -25.713657379150398 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.2841092139309663, + -0.9587919245381287, + -0.0, + 3487.0811699538976 + ], + [ + -0.13332231391511395, + 0.03950606678725133, + -0.9902850252827822, + -29.48735534615536 + ], + [ + 0.9494772844602483, + -0.2813491021768138, + -0.13905239659313298, + 247.7767121116903 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.2841092139309663, + -0.13332231391511395, + 0.9494772844602483, + 751.5222149899492 + ], + [ + -0.9587919245381287, + 0.03950606678725133, + -0.2813491021768138, + 3414.2619482098726 + ], + [ + -0.0, + -0.9902850252827822, + -0.13905239659313298, + 5.2530578723408246 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75152.22149899493, + -341426.19482098724, + 525.3057872340825 + ], + "rotation_deg": [ + 0.0, + -7.993016242980956, + 16.505609512329105 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.831469608077446, + -0.55557023934291, + -0.0, + 2533.211709949 + ], + [ + -0.16567846365447728, + 0.2479553393727327, + -0.9544992385317261, + -715.3485627285305 + ], + [ + 0.5302913639794624, + -0.7936371112234062, + -0.29821335479446304, + 2307.175686504937 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.831469608077446, + -0.16567846365447728, + 0.5302913639794624, + 764.2953491007854 + ], + [ + -0.55557023934291, + 0.2479553393727327, + -0.7936371112234062, + 3415.8117573418813 + ], + [ + -0.0, + -0.9544992385317261, + -0.29821335479446304, + 5.230933014620345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76429.53491007854, + -341581.1757341881, + 523.0933014620346 + ], + "rotation_deg": [ + 0.0, + -17.350324630737294, + 56.25000000000001 + ] + } + } + ] + }, + { + "frame": 80, + "time": 1836.7806456461549, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.20992602406636884, + -0.9777172722314392, + 3.469446925701021e-18, + 3171.931352595622 + ], + [ + -0.14772128786613045, + -0.031717290378766756, + -0.9885203258417099, + 224.3988406171257 + ], + [ + 0.9664933960137512, + 0.20751614325893314, + -0.15108794044775584, + -1441.998185475453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.20992602406636884, + -0.14772128786613045, + 0.9664933960137512, + 760.9592676259838 + ], + [ + -0.9777172722314392, + -0.031717290378766756, + 0.20751614325893314, + 3407.6072917490064 + ], + [ + 3.469446925701021e-18, + -0.9885203258417099, + -0.15108794044775584, + 3.954281483502503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76095.92676259838, + -340760.7291749006, + 395.4281483502503 + ], + "rotation_deg": [ + -2.0109315148163878e-16, + -8.689979553222651, + -12.11801719665527 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.4342522985095644, + -0.9007912861696432, + -0.0, + 2737.2107684208495 + ], + [ + -0.03508810752923, + -0.016915229508613752, + -0.9992410618667991, + 87.37337478779422 + ], + [ + 0.9001076397919898, + 0.4339227310078221, + -0.03895253910603413, + -2149.5087117933863 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.4342522985095644, + -0.03508810752923, + 0.9001076397919898, + 749.2149066878435 + ], + [ + -0.9007912861696432, + -0.016915229508613752, + 0.4339227310078221, + 3399.8542289971847 + ], + [ + -0.0, + -0.9992410618667991, + -0.03895253910603413, + 3.5782426649189607 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74921.49066878435, + -339985.42289971845, + 357.8242664918961 + ], + "rotation_deg": [ + 0.0, + -2.2323808670043954, + -25.73772621154786 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.27963290202587393, + -0.9601069940921105, + 3.469446925602644e-18, + 3488.2565976335472 + ], + [ + -0.13327717574760217, + 0.038817218973970884, + -0.9903183417143545, + -27.17297963155868 + ], + [ + 0.9508115655059084, + -0.2769255938685828, + -0.13881492124673211, + 231.6397127646155 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.27963290202587393, + -0.13327717574760217, + 0.9508115655059084, + 751.5640665071286 + ], + [ + -0.9601069940921105, + 0.038817218973970884, + -0.2769255938685828, + 3414.301298531421 + ], + [ + 3.469446925602644e-18, + -0.9903183417143545, + -0.13881492124673211, + 5.24514706069509 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75156.40665071286, + -341430.1298531421, + 524.514706069509 + ], + "rotation_deg": [ + -2.0072804799051816e-16, + -7.97927665710449, + 16.238296508789062 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.831469608077446, + -0.55557023934291, + -0.0, + 2533.316521169919 + ], + [ + -0.16567846365447728, + 0.2479553393727327, + -0.9544992385317261, + -715.3731402630901 + ], + [ + 0.5302913639794624, + -0.7936371112234062, + -0.29821335479446304, + 2307.254352460136 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.831469608077446, + -0.16567846365447728, + 0.5302913639794624, + 764.3367086005849 + ], + [ + -0.55557023934291, + 0.2479553393727327, + -0.7936371112234062, + 3415.9385136885016 + ], + [ + -0.0, + -0.9544992385317261, + -0.29821335479446304, + 5.230933014620345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76433.67086005848, + -341593.85136885016, + 523.0933014620346 + ], + "rotation_deg": [ + 0.0, + -17.350324630737294, + 56.25000000000001 + ] + } + } + ] + }, + { + "frame": 81, + "time": 1836.8473123162985, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.2004824543341226, + -0.9796972927920983, + -1.7347234628505139e-18, + 3186.057527691554 + ], + [ + -0.14802121883438807, + -0.030290639224767, + -0.988520205129939, + 219.7755768589766 + ], + [ + 0.9684505683523058, + 0.19818095836200836, + -0.15108873022436803, + -1411.742086015042 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.2004824543341226, + -0.14802121883438807, + 0.9684505683523058, + 760.9852376873845 + ], + [ + -0.9796972927920983, + -0.030290639224767, + 0.19818095836200836, + 3407.8094738224877 + ], + [ + -1.7347234628505139e-18, + -0.988520205129939, + -0.15108873022436803, + 3.954281483502503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76098.52376873845, + -340780.94738224876, + 395.4281483502503 + ], + "rotation_deg": [ + 1.0054658801892494e-16, + -8.690025329589838, + -11.565173149108881 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.4346644230260065, + -0.9005924935038424, + -0.0, + 2736.3120736822757 + ], + [ + -0.03530434419900808, + -0.017039385196150225, + -0.9992313358941539, + 87.9665014045148 + ], + [ + 0.8999002388564765, + 0.43433031521536236, + -0.039201242212216686, + -2150.8576181731823 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.4346644230260065, + -0.03530434419900808, + 0.8999002388564765, + 749.2853699881576 + ], + [ + -0.9005924935038424, + -0.017039385196150225, + 0.43433031521536236, + 3399.9836649725994 + ], + [ + -0.0, + -0.9992313358941539, + -0.039201242212216686, + 3.582595283485245 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74928.53699881576, + -339998.36649725994, + 358.2595283485245 + ], + "rotation_deg": [ + 0.0, + -2.2466413974761976, + -25.763942718505877 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.27513798960109237, + -0.961404746544487, + -6.9388938512015986e-18, + 3489.358630917685 + ], + [ + -0.13322547938278595, + 0.038126908248341335, + -0.9903521144071178, + -24.858426337489238 + ], + [ + 0.9521292228095622, + -0.272483491769915, + -0.13857377019094794, + 215.45082126369695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.27513798960109237, + -0.13322547938278595, + 0.9521292228095622, + 751.6063268599999 + ], + [ + -0.961404746544487, + 0.038126908248341335, + -0.272483491769915, + 3414.3405147231288 + ], + [ + -6.9388938512015986e-18, + -0.9903521144071178, + -0.13857377019094794, + 5.237236249049354 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75160.63268599998, + -341434.0514723129, + 523.7236249049354 + ], + "rotation_deg": [ + 4.014424056446382e-16, + -7.9653248786926225, + 15.9702377319336 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.831469608077446, + -0.55557023934291, + -0.0, + 2533.4215978067423 + ], + [ + -0.16567846365447728, + 0.2479553393727327, + -0.9544992385317261, + -715.3976168041705 + ], + [ + 0.5302913639794624, + -0.7936371112234062, + -0.29821335479446304, + 2307.3326951628796 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.831469608077446, + -0.16567846365447728, + 0.5302913639794624, + 764.3784769360761 + ], + [ + -0.55557023934291, + 0.2479553393727327, + -0.7936371112234062, + 3416.065135905282 + ], + [ + -0.0, + -0.9544992385317261, + -0.29821335479446304, + 5.230933014620345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76437.84769360762, + -341606.5135905282, + 523.0933014620346 + ], + "rotation_deg": [ + 0.0, + -17.350324630737294, + 56.25000000000001 + ] + } + } + ] + }, + { + "frame": 82, + "time": 1836.913978986442, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.19102237603661795, + -0.9815856823799564, + -1.7347234628505166e-18, + 3199.8850405692115 + ], + [ + -0.14830721154634843, + -0.02886146002482412, + -0.9885200995066219, + 215.13270124143125 + ], + [ + 0.9703171759651208, + 0.18882945957848524, + -0.15108942127882455, + -1381.3589215312509 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.19102237603661795, + -0.14830721154634843, + 0.9703171759651208, + 761.0123715789722 + ], + [ + -0.9815856823799564, + -0.02886146002482412, + 0.18882945957848524, + 3408.0116407877604 + ], + [ + -1.7347234628505166e-18, + -0.9885200995066219, + -0.15108942127882455, + 3.954281483502503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76101.23715789722, + -340801.164078776, + 395.4281483502503 + ], + "rotation_deg": [ + 1.0054659876232238e-16, + -8.690065383911126, + -11.012454986572262 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.4351063100669315, + -0.9003790862408672, + -0.0, + 2735.340261269229 + ], + [ + -0.03551773189236385, + -0.01716386964312363, + -0.9992216432304177, + 88.55862107745624 + ], + [ + 0.8996782685569774, + 0.4347676452570034, + -0.03944753127890047, + -2152.2960577043236 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.4351063100669315, + -0.03551773189236385, + 0.8996782685569774, + 749.3555788552376 + ], + [ + -0.9003790862408672, + -0.01716386964312363, + 0.4347676452570034, + 3400.111851658475 + ], + [ + -0.0, + -0.9992216432304177, + -0.03944753127890047, + 3.586925849740143 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74935.55788552375, + -340011.18516584754, + 358.6925849740143 + ], + "rotation_deg": [ + 0.0, + -2.260763645172119, + -25.79205894470216 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.2706247166530362, + -0.9626849239166799, + -6.938893851197861e-18, + 3490.3865561042567 + ], + [ + -0.1331672028745457, + 0.037435235194895854, + -0.9903863383773385, + -22.54405228508553 + ], + [ + 0.9534299960967866, + -0.2680230241841317, + -0.1383289595495969, + 199.21098333838094 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.2706247166530362, + -0.1331672028745457, + 0.9534299960967866, + 751.6490241358202 + ], + [ + -0.9626849239166799, + 0.037435235194895854, + -0.2680230241841317, + 3414.379585952107 + ], + [ + -6.938893851197861e-18, + -0.9903863383773385, + -0.1383289595495969, + 5.22932543740362 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75164.90241358202, + -341437.9585952107, + 522.932543740362 + ], + "rotation_deg": [ + 4.0142853332772716e-16, + -7.951161861419672, + 15.70144462585449 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.831469608077446, + -0.55557023934291, + -0.0, + 2533.526957194741 + ], + [ + -0.16567846365447728, + 0.2479553393727327, + -0.9544992385317261, + -715.421985012245 + ], + [ + 0.5302913639794624, + -0.7936371112234062, + -0.29821335479446304, + 2307.4106911213544 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.831469608077446, + -0.16567846365447728, + 0.5302913639794624, + 764.4206821945168 + ], + [ + -0.55557023934291, + 0.2479553393727327, + -0.7936371112234062, + 3416.191613159333 + ], + [ + -0.0, + -0.9544992385317261, + -0.29821335479446304, + 5.230933014620345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76442.06821945167, + -341619.1613159333, + 523.0933014620346 + ], + "rotation_deg": [ + 0.0, + -17.350324630737294, + 56.25000000000001 + ] + } + } + ] + }, + { + "frame": 83, + "time": 1836.9806456565857, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.18154646918078599, + -0.983382366899056, + 1.7347234628505185e-18, + 3213.413078657264 + ], + [ + -0.14857923787738608, + -0.02742985530162595, + -0.9885200114868219, + 210.47054419253965 + ], + [ + 0.9720931481946382, + 0.17946231914245797, + -0.15108999715748206, + -1350.8509453266904 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.18154646918078599, + -0.14857923787738608, + 0.9720931481946382, + 761.0406992387558 + ], + [ + -0.983382366899056, + -0.02742985530162595, + 0.17946231914245797, + 3408.2137765756534 + ], + [ + 1.7347234628505185e-18, + -0.9885200114868219, + -0.15108999715748206, + 3.954281483502503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76104.06992387558, + -340821.37765756535, + 395.4281483502503 + ], + "rotation_deg": [ + -1.0054660771519287e-16, + -8.690098762512205, + -10.459850311279297 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.43557449225180644, + -0.9001526879921987, + -0.0, + 2734.3035001708445 + ], + [ + -0.0357286065562401, + -0.01728869986969779, + -0.9992119732721206, + 89.15005103004827 + ], + [ + 0.8994433420844624, + 0.4352312510446633, + -0.03969171820455776, + -2153.813598995192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.43557449225180644, + -0.0357286065562401, + 0.8994433420844624, + 749.4256447974949 + ], + [ + -0.9001526879921987, + -0.01728869986969779, + 0.4352312510446633, + 3400.2389102575476 + ], + [ + -0.0, + -0.9992119732721206, + -0.03969171820455776, + 3.59123700996102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74942.56447974949, + -340023.89102575474, + 359.123700996102 + ], + "rotation_deg": [ + 0.0, + -2.2747654914855975, + -25.821855545043967 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.266093277693466, + -0.9639472846407878, + -3.4694469255970356e-18, + 3491.339680395169 + ], + [ + -0.13310227958759832, + 0.036742280836585824, + -0.9904210155118426, + -20.230181055770082 + ], + [ + 0.9547136478611309, + -0.2635443762665165, + -0.13808045598847685, + 182.92097964030538 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.266093277693466, + -0.13310227958759832, + 0.9547136478611309, + 751.6921868802591 + ], + [ + -0.9639472846407878, + 0.036742280836585824, + -0.2635443762665165, + 3414.4185009018747 + ], + [ + -3.4694469255970356e-18, + -0.9904210155118426, + -0.13808045598847685, + 5.221414625757884 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75169.21868802591, + -341441.85009018745, + 522.1414625757884 + ], + "rotation_deg": [ + 2.0070723915170305e-16, + -7.93678569793701, + 15.431925773620616 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.831469608077446, + -0.55557023934291, + -0.0, + 2533.632616781671 + ], + [ + -0.16567846365447728, + 0.2479553393727327, + -0.9544992385317261, + -715.4462373519291 + ], + [ + 0.5302913639794624, + -0.7936371112234062, + -0.29821335479446304, + 2307.4883162168585 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.831469608077446, + -0.16567846365447728, + 0.5302913639794624, + 764.4633529215757 + ], + [ + -0.55557023934291, + 0.2479553393727327, + -0.7936371112234062, + 3416.3179341341724 + ], + [ + -0.0, + -0.9544992385317261, + -0.29821335479446304, + 5.230933014620345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76446.33529215757, + -341631.79341341724, + 523.0933014620346 + ], + "rotation_deg": [ + 0.0, + -17.350324630737294, + 56.25000000000001 + ] + } + } + ] + }, + { + "frame": 84, + "time": 1837.0473123267293, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.1720553635552186, + -0.9850872813471309, + -0.0, + 3226.6408987833483 + ], + [ + -0.1488373196436821, + -0.02599592911894882, + -0.9885199360410122, + 205.78947950712202 + ], + [ + 0.9737784159493943, + 0.17008015825092113, + -0.15109049076771905, + -1320.2202386499516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.1720553635552186, + -0.1488373196436821, + 0.9737784159493943, + 761.0702509420198 + ], + [ + -0.9850872813471309, + -0.02599592911894882, + 0.17008015825092113, + 3408.4158643370733 + ], + [ + -0.0, + -0.9885199360410122, + -0.15109049076771905, + 3.954281483502503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76107.02509420198, + -340841.5864337073, + 395.4281483502503 + ], + "rotation_deg": [ + 0.0, + -8.690127372741701, + -9.907343864440918 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.4360659537640848, + -0.8999147092740616, + -0.0, + 2733.2088873406915 + ], + [ + -0.03593727464997535, + -0.017413896877588302, + -0.9992023160933271, + 89.74109923753677 + ], + [ + 0.8991968602589953, + 0.4357181141081248, + -0.039934089928589205, + -2155.4011701395243 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.4360659537640848, + -0.03593727464997535, + 0.8991968602589953, + 749.495669771987 + ], + [ + -0.8999147092740616, + -0.017413896877588302, + 0.4357181141081248, + 3400.36494557392 + ], + [ + -0.0, + -0.9992023160933271, + -0.039934089928589205, + 3.5955310928719597 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74949.5669771987, + -340036.494557392, + 359.553109287196 + ], + "rotation_deg": [ + 0.0, + -2.2886633872985844, + -25.853141784667983 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.2615438535465669, + -0.9651915937636486, + 3.4694469255951166e-18, + 3492.217322303082 + ], + [ + -0.13303066812141143, + 0.03604813158875108, + -0.990456144182129, + -17.917135702124536 + ], + [ + 0.9559799436826514, + -0.25904771863927756, + -0.13782825089327932, + 166.5815386825898 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.2615438535465669, + -0.13303066812141143, + 0.9559799436826514, + 751.7358440431613 + ], + [ + -0.9651915937636486, + 0.03604813158875108, + -0.25904771863927756, + 3414.4572477596234 + ], + [ + 3.4694469255951166e-18, + -0.990456144182129, + -0.13782825089327932, + 5.213503814112148 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75173.58440431612, + -341445.72477596236, + 521.3503814112148 + ], + "rotation_deg": [ + -2.0070012063506847e-16, + -7.922195911407469, + 15.161688804626472 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.831469608077446, + -0.55557023934291, + -0.0, + 2533.738594075604 + ], + [ + -0.16567846365447728, + 0.2479553393727327, + -0.9544992385317261, + -715.4703660978084 + ], + [ + 0.5302913639794624, + -0.7936371112234062, + -0.29821335479446304, + 2307.565545722459 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.831469608077446, + -0.16567846365447728, + 0.5302913639794624, + 764.5065180670979 + ], + [ + -0.55557023934291, + 0.2479553393727327, + -0.7936371112234062, + 3416.444087016994 + ], + [ + -0.0, + -0.9544992385317261, + -0.29821335479446304, + 5.230933014620345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76450.6518067098, + -341644.4087016994, + 523.0933014620346 + ], + "rotation_deg": [ + 0.0, + -17.350324630737294, + 56.25000000000001 + ] + } + } + ] + }, + { + "frame": 85, + "time": 1837.113978996873, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.16254976982841102, + -0.9867003457629526, + -0.0, + 3239.567645477107 + ], + [ + -0.14908144420716316, + -0.024559791172286974, + -0.9885198731693157, + 201.0898741096059 + ], + [ + 0.9753729002713277, + 0.16068367905926118, + -0.15109090210955428, + -1289.4691521503469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.16254976982841102, + -0.14908144420716316, + 0.9753729002713277, + 761.1010572429179 + ], + [ + -0.9867003457629526, + -0.024559791172286974, + 0.16068367905926118, + 3408.617886464294 + ], + [ + -0.0, + -0.9885198731693157, + -0.15109090210955428, + 3.954281483502503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76110.10572429179, + -340861.78864642937, + 395.4281483502503 + ], + "rotation_deg": [ + 0.0, + -8.690151214599604, + -9.354925155639647 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.4365780403447429, + -0.8996663907742379, + -0.0, + 2732.062663191591 + ], + [ + -0.036143999626742515, + -0.01753947539785791, + -0.9991926631504808, + 90.33201951572107 + ], + [ + 0.898940055406763, + 0.4362255779456811, + -0.0401748918012504, + -2157.050788892318 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.4365780403447429, + -0.036143999626742515, + 0.898940055406763, + 749.5657473208735 + ], + [ + -0.8996663907742379, + -0.01753947539785791, + 0.4362255779456811, + 3400.4900479095286 + ], + [ + -0.0, + -0.9991926631504808, + -0.0401748918012504, + 3.5998101477501536 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74956.57473208735, + -340049.00479095284, + 359.98101477501535 + ], + "rotation_deg": [ + 0.0, + -2.3024713993072514, + -25.885749816894545 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.2569766755752671, + -0.9664176054947904, + -0.0, + 3493.0188003033286 + ], + [ + -0.1329523341386543, + 0.035352883311176024, + -0.9904917215649355, + -15.605266239313355 + ], + [ + 0.9572286371626293, + -0.25453327168189976, + -0.13757234388743908, + 150.19356766369023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.2569766755752671, + -0.1329523341386543, + 0.9572286371626293, + 751.7800249203386 + ], + [ + -0.9664176054947904, + 0.035352883311176024, + -0.25453327168189976, + 3414.495814204408 + ], + [ + -0.0, + -0.9904917215649355, + -0.13757234388743908, + 5.205593002466414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75178.00249203386, + -341449.5814204408, + 520.5593002466414 + ], + "rotation_deg": [ + 0.0, + -7.907392501831051, + 14.890744209289553 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.831469608077446, + -0.55557023934291, + -0.0, + 2533.844906589966 + ], + [ + -0.16567846365447728, + 0.2479553393727327, + -0.9544992385317261, + -715.4943633411532 + ], + [ + 0.5302913639794624, + -0.7936371112234062, + -0.29821335479446304, + 2307.6423543244764 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.831469608077446, + -0.16567846365447728, + 0.5302913639794624, + 764.5502069268955 + ], + [ + -0.55557023934291, + 0.2479553393727327, + -0.7936371112234062, + 3416.5700594868504 + ], + [ + -0.0, + -0.9544992385317261, + -0.29821335479446304, + 5.230933014620345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76455.02069268955, + -341657.00594868505, + 523.0933014620346 + ], + "rotation_deg": [ + 0.0, + -17.350324630737294, + 56.25000000000001 + ] + } + } + ] + }, + { + "frame": 86, + "time": 1837.1806456670165, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.15303039809847216, + -0.988221481884412, + -0.0, + 3252.192469768963 + ], + [ + -0.14931161549154065, + -0.02312155359730284, + -0.9885198203569583, + 196.37211596810707 + ], + [ + 0.9768765213898071, + 0.15127358277287625, + -0.15109124763667578, + -1258.60003339616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.15303039809847216, + -0.14931161549154065, + 0.9768765213898071, + 761.1331489114446 + ], + [ + -0.988221481884412, + -0.02312155359730284, + 0.15127358277287625, + 3408.8198246097663 + ], + [ + -0.0, + -0.9885198203569583, + -0.15109124763667578, + 3.954281483502503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76113.31489114446, + -340881.98246097664, + 395.4281483502503 + ], + "rotation_deg": [ + 0.0, + -8.69017124176025, + -8.802583694458006 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.43710833937254706, + -0.8994088612255129, + -0.0, + 2730.8704991274244 + ], + [ + -0.03634901902781665, + -0.01766544675068113, + -0.999183006664352, + 90.92303411848914 + ], + [ + 0.8986740486379746, + 0.43675122791602394, + -0.040414344216831245, + -2158.755198903255 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.43710833937254706, + -0.03634901902781665, + 0.8986740486379746, + 749.6359635598772 + ], + [ + -0.8994088612255129, + -0.01766544675068113, + 0.43675122791602394, + 3400.6142947330145 + ], + [ + -0.0, + -0.999183006664352, + -0.040414344216831245, + 3.604075977959531 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74963.59635598771, + -340061.42947330145, + 360.4075977959531 + ], + "rotation_deg": [ + 0.0, + -2.3162021636962904, + -25.91952705383302 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.25239196154678906, + -0.9676250811892819, + -0.0, + 3493.7434459896936 + ], + [ + -0.13286722898002382, + 0.03465662600057668, + -0.9905277470810325, + -13.294913449315725 + ], + [ + 0.9584594910536185, + -0.25000124290971537, + -0.13731271810300802, + 133.75792271674655 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.25239196154678906, + -0.13286722898002382, + 0.9584594910536185, + 751.8247590907284 + ], + [ + -0.9676250811892819, + 0.03465662600057668, + -0.25000124290971537, + 3414.534187396733 + ], + [ + -0.0, + -0.9905277470810325, + -0.13731271810300802, + 5.197682190820679 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75182.47590907285, + -341453.41873967333, + 519.7682190820678 + ], + "rotation_deg": [ + 0.0, + -7.892374515533441, + 14.61910152435302 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.831469608077446, + -0.55557023934291, + -0.0, + 2533.951571785504 + ], + [ + -0.16567846365447728, + 0.2479553393727327, + -0.9544992385317261, + -715.5182209977497 + ], + [ + 0.5302913639794624, + -0.7936371112234062, + -0.29821335479446304, + 2307.718716147559 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.831469608077446, + -0.16567846365447728, + 0.5302913639794624, + 764.5944490799054 + ], + [ + -0.55557023934291, + 0.2479553393727327, + -0.7936371112234062, + 3416.695838704248 + ], + [ + -0.0, + -0.9544992385317261, + -0.29821335479446304, + 5.230933014620345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76459.44490799055, + -341669.58387042483, + 523.0933014620346 + ], + "rotation_deg": [ + 0.0, + -17.350324630737294, + 56.25000000000001 + ] + } + } + ] + }, + { + "frame": 87, + "time": 1837.24731233716, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.14349799092234433, + -0.9896506083468297, + -1.7347234628505252e-18, + 3264.5144877244848 + ], + [ + -0.14952783709106648, + -0.0216813328143905, + -0.9885197750891271, + 191.63660753262377 + ], + [ + 0.9782891964459189, + 0.14185060277804554, + -0.15109154380276524, + -1227.6153380975582 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.14349799092234433, + -0.14952783709106648, + 0.9782891964459189, + 761.1665568673832 + ], + [ + -0.9896506083468297, + -0.0216813328143905, + 0.14185060277804554, + 3409.021659702636 + ], + [ + -1.7347234628505252e-18, + -0.9885197750891271, + -0.15109154380276524, + 3.954281483502503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76116.65568673832, + -340902.1659702636, + 395.4281483502503 + ], + "rotation_deg": [ + 1.0054663176022186e-16, + -8.690188407897947, + -8.250310897827147 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.4376548294517999, + -0.8991430643993845, + -0.0, + 2729.637137913188 + ], + [ + -0.03655254137366042, + -0.017791825232623307, + -0.9991733396533451, + 91.51435318756178 + ], + [ + 0.8983997769360932, + 0.43729304070566605, + -0.040652642614855, + -2160.508324887091 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.4376548294517999, + -0.03655254137366042, + 0.8983997769360932, + 749.7063980375488 + ], + [ + -0.8991430643993845, + -0.017791825232623307, + 0.43729304070566605, + 3400.7377521482304 + ], + [ + -0.0, + -0.9991733396533451, + -0.040652642614855, + 3.608330170460351 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74970.63980375488, + -340073.775214823, + 360.83301704603514 + ], + "rotation_deg": [ + 0.0, + -2.3298668861389173, + -25.954345703125018 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.24778991551137128, + -0.9688137890073961, + -6.93889385117843e-18, + 3494.390602783315 + ], + [ + -0.1327753214634807, + 0.033959452333083874, + -0.9905642178109937, + -10.986414179445095 + ], + [ + 0.9596722724951156, + -0.24545182566526216, + -0.13704937315307458, + 117.27540826984804 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.24778991551137128, + -0.1327753214634807, + 0.9596722724951156, + 751.8700763505102 + ], + [ + -0.9688137890073961, + 0.033959452333083874, + -0.24545182566526216, + 3414.572353969292 + ], + [ + -6.93889385117843e-18, + -0.9905642178109937, + -0.13704937315307458, + 5.1897713791749425 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75187.00763505102, + -341457.2353969292, + 518.9771379174942 + ], + "rotation_deg": [ + 4.013564472579997e-16, + -7.877141952514644, + 14.346769332885739 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.831469608077446, + -0.55557023934291, + -0.0, + 2534.0586070103564 + ], + [ + -0.16567846365447728, + 0.2479553393727327, + -0.9544992385317261, + -715.541930816517 + ], + [ + 0.5302913639794624, + -0.7936371112234062, + -0.29821335479446304, + 2307.7946047822575 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.831469608077446, + -0.16567846365447728, + 0.5302913639794624, + 764.6392743223073 + ], + [ + -0.55557023934291, + 0.2479553393727327, + -0.7936371112234062, + 3416.8214113018794 + ], + [ + -0.0, + -0.9544992385317261, + -0.29821335479446304, + 5.230933014620345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76463.92743223073, + -341682.14113018796, + 523.0933014620346 + ], + "rotation_deg": [ + 0.0, + -17.350324630737294, + 56.25000000000001 + ] + } + } + ] + }, + { + "frame": 88, + "time": 1837.3139790073037, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.13395328238609402, + -0.9909876478231154, + -0.0, + 3276.5328359733553 + ], + [ + -0.149730097028879, + -0.020239241137934644, + -0.988519737365867, + 186.8837255323194 + ], + [ + 0.9796108490451895, + 0.1324154645193773, + -0.15109179060782937, + -1196.5175006279349 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.13395328238609402, + -0.149730097028879, + 0.9796108490451895, + 761.2013121084005 + ], + [ + -0.9909876478231154, + -0.020239241137934644, + 0.1324154645193773, + 3409.223371964689 + ], + [ + -0.0, + -0.988519737365867, + -0.15109179060782937, + 3.954281483502503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76120.13121084006, + -340922.3371964689, + 395.4281483502503 + ], + "rotation_deg": [ + 0.0, + -8.690202713012692, + -7.698097705841062 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.43821564066559326, + -0.8988698750520251, + -3.469446925122992e-18, + 2728.3669683409626 + ], + [ + -0.03675475442474985, + -0.017918620597687826, + -0.9991636557957122, + 92.10615542830138 + ], + [ + 0.8981181088914354, + 0.4378491447044692, + -0.04088996163897424, + -2162.3045458667493 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.43821564066559326, + -0.03675475442474985, + 0.8981181088914354, + 749.777124477648 + ], + [ + -0.8988698750520251, + -0.017918620597687826, + 0.4378491447044692, + 3400.860476187848 + ], + [ + -3.469446925122992e-18, + -0.9991636557957122, + -0.04088996163897424, + 3.6125741217776404 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74977.7124477648, + -340086.04761878477, + 361.257412177764 + ], + "rotation_deg": [ + 1.989510591593121e-16, + -2.343475580215455, + -25.99008750915528 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.24317075997518797, + -0.9699834954745825, + 3.469446925587199e-18, + 3494.9596212695315 + ], + [ + -0.1326765568486233, + 0.03326145167447994, + -0.9906011342085672, + -8.680111725254365 + ], + [ + 0.9608667501813425, + -0.24088523243073198, + -0.1367822839140289, + 100.74689279325966 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.24317075997518797, + -0.1326765568486233, + 0.9608667501813425, + 751.9160066413565 + ], + [ + -0.9699834954745825, + 0.03326145167447994, + -0.24088523243073198, + 3414.610300020136 + ], + [ + 3.469446925587199e-18, + -0.9906011342085672, + -0.1367822839140289, + 5.181860567529209 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75191.60066413565, + -341461.0300020136, + 518.1860567529209 + ], + "rotation_deg": [ + -2.0067074502136707e-16, + -7.861693382263183, + 14.073757171630874 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.831469608077446, + -0.55557023934291, + -0.0, + 2534.166029436606 + ], + [ + -0.16567846365447728, + 0.2479553393727327, + -0.9544992385317261, + -715.565484389703 + ], + [ + 0.5302913639794624, + -0.7936371112234062, + -0.29821335479446304, + 2307.86999331766 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.831469608077446, + -0.16567846365447728, + 0.5302913639794624, + 764.6847125957737 + ], + [ + -0.55557023934291, + 0.2479553393727327, + -0.7936371112234062, + 3416.9467633777954 + ], + [ + -0.0, + -0.9544992385317261, + -0.29821335479446304, + 5.230933014620345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76468.47125957737, + -341694.67633777956, + 523.0933014620346 + ], + "rotation_deg": [ + 0.0, + -17.350324630737294, + 56.25000000000001 + ] + } + } + ] + }, + { + "frame": 89, + "time": 1837.3806456774473, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.12439704765380734, + -0.9922325203978227, + -3.4694469257010536e-18, + 3288.2466114417207 + ], + [ + -0.14991839929009115, + -0.018795399140107548, + -0.9885197046723248, + 182.1138870963156 + ], + [ + 0.9808413977349878, + 0.1229689337343861, + -0.151092004505544, + -1165.3090895011283 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.12439704765380734, + -0.14991839929009115, + 0.9808413977349878, + 761.2374456339035 + ], + [ + -0.9922325203978227, + -0.018795399140107548, + 0.1229689337343861, + 3409.4249409259 + ], + [ + -3.4694469257010536e-18, + -0.9885197046723248, + -0.151092004505544, + 3.954281483502503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76123.74456339034, + -340942.49409259, + 395.4281483502503 + ], + "rotation_deg": [ + 2.0109327784524143e-16, + -8.690215110778803, + -7.145937442779537 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.4387891741690435, + -0.8985900403588102, + -1.734723462561757e-18, + 2727.0637370318564 + ], + [ + -0.036955818960073016, + -0.01804584132243007, + -0.9991539496273614, + 92.6985945941145 + ], + [ + 0.8978297863658371, + 0.43841793957825465, + -0.041126450980280456, + -2164.1390592541215 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.4387891741690435, + -0.036955818960073016, + 0.8978297863658371, + 749.8482114195793 + ], + [ + -0.8985900403588102, + -0.01804584132243007, + 0.43841793957825465, + 3400.9825139531713 + ], + [ + -1.734723462561757e-18, + -0.9991539496273614, + -0.041126450980280456, + 3.616809060853422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74984.82114195793, + -340098.25139531714, + 361.6809060853422 + ], + "rotation_deg": [ + 9.947649592348345e-17, + -2.3570368289947514, + -26.026651382446303 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.23853475214283315, + -0.9711339619332428, + -6.9388938511703184e-18, + 3495.4498592697682 + ], + [ + -0.13257090425535445, + 0.032562724636826204, + -0.990638493250259, + -6.376369933678322 + ], + [ + 0.9620426842121904, + -0.23630170921100385, + -0.13651144998776515, + 84.17336589640973 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.23853475214283315, + -0.13257090425535445, + 0.9620426842121904, + 751.9625799744354 + ], + [ + -0.9711339619332428, + 0.032562724636826204, + -0.23630170921100385, + 3414.648011108104 + ], + [ + -6.9388938511703184e-18, + -0.990638493250259, + -0.13651144998776515, + 5.173949755883473 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75196.25799744354, + -341464.8011108104, + 517.3949755883473 + ], + "rotation_deg": [ + 4.0132635461866663e-16, + -7.8460288047790465, + 13.80007648468017 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.831469608077446, + -0.55557023934291, + -0.0, + 2534.273855994548 + ], + [ + -0.16567846365447728, + 0.2479553393727327, + -0.9544992385317261, + -715.5888731643402 + ], + [ + 0.5302913639794624, + -0.7936371112234062, + -0.29821335479446304, + 2307.9448543780627 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.831469608077446, + -0.16567846365447728, + 0.5302913639794624, + 764.7307939114727 + ], + [ + -0.55557023934291, + 0.2479553393727327, + -0.7936371112234062, + 3417.0718804908365 + ], + [ + -0.0, + -0.9544992385317261, + -0.29821335479446304, + 5.230933014620345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76473.07939114727, + -341707.18804908363, + 523.0933014620346 + ], + "rotation_deg": [ + 0.0, + -17.350324630737294, + 56.25000000000001 + ] + } + } + ] + }, + { + "frame": 90, + "time": 1837.447312347591, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.11483007846767523, + -0.9933851484087666, + -0.0, + 3299.654906534497 + ], + [ + -0.15009273195851794, + -0.01734992738298146, + -0.9885196770085225, + 177.32749732662523 + ], + [ + 0.9819807657725573, + 0.11351179293276356, + -0.15109218549591252, + -1133.9927347076202 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.11483007846767523, + -0.15009273195851794, + 0.9819807657725573, + 761.2749883641208 + ], + [ + -0.9933851484087666, + -0.01734992738298146, + 0.11351179293276356, + 3409.6263454404757 + ], + [ + -0.0, + -0.9885196770085225, + -0.15109218549591252, + 3.954281483502503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76127.49883641208, + -340962.6345440476, + 395.4281483502503 + ], + "rotation_deg": [ + 0.0, + -8.690225601196289, + -6.59382438659668 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.4393740121907308, + -0.8983042231958053, + -5.204170387686058e-18, + 2725.73076363384 + ], + [ + -0.03715588537290955, + -0.018173498477737523, + -0.9991442158843913, + 93.29182513528998 + ], + [ + 0.897535467151745, + 0.4389980060472295, + -0.04136225200899392, + -2166.0076069819083 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.4393740121907308, + -0.03715588537290955, + 0.897535467151745, + 749.919722768067 + ], + [ + -0.8983042231958053, + -0.018173498477737523, + 0.4389980060472295, + 3401.103904619462 + ], + [ + -5.204170387686058e-18, + -0.9991442158843913, + -0.04136225200899392, + 3.621036069156677 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74991.9722768067, + -340110.3904619462, + 362.1036069156677 + ], + "rotation_deg": [ + 2.984323950944658e-16, + -2.370558738708496, + -26.063947677612312 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.23388210316855942, + -0.9722649648205224, + -0.0, + 3495.8606903414247 + ], + [ + -0.13245832752705947, + 0.031863363738440696, + -0.9906762930039286, + -4.075529061728657 + ], + [ + 0.9631998506020591, + -0.23170145669463793, + -0.13623686272721547, + 67.55565062184662 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.23388210316855942, + -0.13245832752705947, + 0.9631998506020591, + 752.009826349623 + ], + [ + -0.9722649648205224, + 0.031863363738440696, + -0.23170145669463793, + 3414.6854722510866 + ], + [ + -0.0, + -0.9906762930039286, + -0.13623686272721547, + 5.166038944237738 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75200.9826349623, + -341468.54722510866, + 516.6038944237738 + ], + "rotation_deg": [ + 0.0, + -7.830147743225096, + 13.52573585510254 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.831469608077446, + -0.55557023934291, + -0.0, + 2534.3821033045524 + ], + [ + -0.16567846365447728, + 0.2479553393727327, + -0.9544992385317261, + -715.612088455201 + ], + [ + 0.5302913639794624, + -0.7936371112234062, + -0.29821335479446304, + 2308.01916016443 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.831469608077446, + -0.16567846365447728, + 0.5302913639794624, + 764.7775482692805 + ], + [ + -0.55557023934291, + 0.2479553393727327, + -0.7936371112234062, + 3417.196747658891 + ], + [ + -0.0, + -0.9544992385317261, + -0.29821335479446304, + 5.230933014620345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76477.75482692805, + -341719.6747658891, + 523.0933014620346 + ], + "rotation_deg": [ + 0.0, + -17.350324630737294, + 56.25000000000001 + ] + } + } + ] + }, + { + "frame": 91, + "time": 1837.5139790177345, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.10525315843189212, + -0.9944454598619829, + -0.0, + 3310.7568396260526 + ], + [ + -0.15025308399254997, + -0.015902945201784254, + -0.9885196543744775, + 172.5249578960223 + ], + [ + 0.983028882015513, + 0.1040448165792113, + -0.15109233357893745, + -1102.5710436437112 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.10525315843189212, + -0.15025308399254997, + 0.983028882015513, + 761.3139710543447 + ], + [ + -0.9944454598619829, + -0.015902945201784254, + 0.1040448165792113, + 3409.8275637041606 + ], + [ + -0.0, + -0.9885196543744775, + -0.15109233357893745, + 3.954281483502503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76131.39710543447, + -340982.7563704161, + 395.4281483502503 + ], + "rotation_deg": [ + 0.0, + -8.690234184265137, + -6.041752338409424 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.43996888795669625, + -0.8980130164035193, + 1.734723462562282e-18, + 2724.37101238299 + ], + [ + -0.037355079228144294, + -0.018301597379247653, + -0.9991344502063909, + 93.8859630104986 + ], + [ + 0.8972357398591816, + 0.4395880761369465, + -0.041597481144480475, + -2167.9063864341642 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.43996888795669625, + -0.037355079228144294, + 0.8972357398591816, + 749.9917182623252 + ], + [ + -0.8980130164035193, + -0.018301597379247653, + 0.4395880761369465, + 3401.2246803237176 + ], + [ + 1.734723462562282e-18, + -0.9991344502063909, + -0.041597481144480475, + 3.6252560983801083 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 74999.17182623252, + -340122.4680323718, + 362.52560983801084 + ], + "rotation_deg": [ + -9.947843733797512e-17, + -2.3840479850769047, + -26.10189628601076 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.22921305885813512, + -0.9733762754705383, + -0.0, + 3496.191495471519 + ], + [ + -0.13233879847639704, + 0.031163468402516457, + -0.9907145303542026, + -1.7779470579486958 + ], + [ + 0.964338019064086, + -0.227084709652372, + -0.13595852172501793, + 50.89469145426429 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.22921305885813512, + -0.13233879847639704, + 0.964338019064086, + 752.0577756698672 + ], + [ + -0.9733762754705383, + 0.031163468402516457, + -0.227084709652372, + 3414.7226679275964 + ], + [ + -0.0, + -0.9907145303542026, + -0.13595852172501793, + 5.158128132592003 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75205.77756698671, + -341472.26679275965, + 515.8128132592003 + ], + "rotation_deg": [ + 0.0, + -7.814050197601316, + 13.25074577331543 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.831469608077446, + -0.55557023934291, + -0.0, + 2534.490787606736 + ], + [ + -0.16567846365447728, + 0.2479553393727327, + -0.9544992385317261, + -715.6351214593753 + ], + [ + 0.5302913639794624, + -0.7936371112234062, + -0.29821335479446304, + 2308.0928825010606 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.831469608077446, + -0.16567846365447728, + 0.5302913639794624, + 764.8250055721448 + ], + [ + -0.55557023934291, + 0.2479553393727327, + -0.7936371112234062, + 3417.321349360473 + ], + [ + -0.0, + -0.9544992385317261, + -0.29821335479446304, + 5.230933014620345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76482.50055721449, + -341732.1349360473, + 523.0933014620346 + ], + "rotation_deg": [ + 0.0, + -17.350324630737294, + 56.25000000000001 + ] + } + } + ] + }, + { + "frame": 92, + "time": 1837.5806456878781, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.09566710440233914, + -0.995413384044675, + -0.0, + 3321.5515086236846 + ], + [ + -0.15039944456233242, + -0.014454576958302897, + -0.9885196367702049, + 167.70668785355682 + ], + [ + 0.9839856765851462, + 0.09456881200799626, + -0.1510924487546211, + -1071.046737237172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.09566710440233914, + -0.15039944456233242, + 0.9839856765851462, + 761.3544242043189 + ], + [ + -0.995413384044675, + -0.014454576958302897, + 0.09456881200799626, + 3410.0285732735124 + ], + [ + -0.0, + -0.9885196367702049, + -0.1510924487546211, + 3.954281483502503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76135.4424204319, + -341002.85732735123, + 395.4281483502503 + ], + "rotation_deg": [ + 0.0, + -8.690240859985348, + -5.489717006683347 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.4405727154158543, + -0.8977169277846444, + -0.0, + 2722.987019228793 + ], + [ + -0.03755351177526304, + -0.018430144452169596, + -0.9991246486444109, + 94.48111694412628 + ], + [ + 0.8969311084871021, + 0.4401870626561176, + -0.04183224232907115, + -2169.832139858724 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.4405727154158543, + -0.03755351177526304, + 0.8969311084871021, + 750.0642538737857 + ], + [ + -0.8977169277846444, + -0.018430144452169596, + 0.4401870626561176, + 3401.344866949899 + ], + [ + -0.0, + -0.9991246486444109, + -0.04183224232907115, + 3.629469986013296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75006.42538737856, + -340134.4866949899, + 362.9469986013296 + ], + "rotation_deg": [ + 0.0, + -2.3975105285644545, + -26.140428543090835 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.22452788361106896, + -0.9744676646667833, + 3.4694469255788965e-18, + 3496.4416665366157 + ], + [ + -0.13221228149700354, + 0.03046313882776595, + -0.9907532032721958, + 0.5160097904902345 + ], + [ + 0.9654569597241752, + -0.22245172157311194, + -0.13567641832430322, + 34.1914968397968 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.22452788361106896, + -0.13221228149700354, + 0.9654569597241752, + 752.1064576506855 + ], + [ + -0.9744676646667833, + 0.03046313882776595, + -0.22245172157311194, + 3414.7595820821252 + ], + [ + 3.4694469255788965e-18, + -0.9907532032721958, + -0.13567641832430322, + 5.150217320946267 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75210.64576506855, + -341475.9582082125, + 515.0217320946267 + ], + "rotation_deg": [ + -2.0063994440152757e-16, + -7.797735691070553, + 12.97511768341065 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.831469608077446, + -0.55557023934291, + -0.0, + 2534.599924688686 + ], + [ + -0.16567846365447728, + 0.2479553393727327, + -0.9544992385317261, + -715.6579632725932 + ], + [ + 0.5302913639794624, + -0.7936371112234062, + -0.29821335479446304, + 2308.1659928878244 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.831469608077446, + -0.16567846365447728, + 0.5302913639794624, + 764.8731955355834 + ], + [ + -0.55557023934291, + 0.2479553393727327, + -0.7936371112234062, + 3417.4456695400745 + ], + [ + -0.0, + -0.9544992385317261, + -0.29821335479446304, + 5.230933014620345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76487.31955355834, + -341744.56695400743, + 523.0933014620346 + ], + "rotation_deg": [ + 0.0, + -17.350324630737294, + 56.25000000000001 + ] + } + } + ] + }, + { + "frame": 93, + "time": 1837.6473123580217, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.08607273348310679, + -0.9962888559804058, + -0.0, + 3332.038031310762 + ], + [ + -0.15053182011554184, + -0.013004948470272589, + -0.9885196216808179, + 162.87312442292384 + ], + [ + 0.9848510827649029, + 0.08508458658193878, + -0.15109254747663417, + -1039.4225392740766 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.08607273348310679, + -0.15053182011554184, + 0.9848510827649029, + 761.3963779628133 + ], + [ + -0.9962888559804058, + -0.013004948470272589, + 0.08508458658193878, + 3410.2293510878926 + ], + [ + -0.0, + -0.9885196216808179, + -0.15109254747663417, + 3.954281483502503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76139.63779628133, + -341022.93510878924, + 395.4281483502503 + ], + "rotation_deg": [ + 0.0, + -8.690246582031252, + -4.937714099884033 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.4411844993865321, + -0.8974164236858242, + -0.0, + 2721.581107855133 + ], + [ + -0.03775128915432893, + -0.01855914731128173, + -0.9991148073260974, + 95.07739563009885 + ], + [ + 0.8966220356696616, + 0.44079396926734005, + -0.042066635343647296, + -2171.7818815673777 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.4411844993865321, + -0.03775128915432893, + 0.8966220356696616, + 750.1373821404159 + ], + [ + -0.8974164236858242, + -0.01855914731128173, + 0.44079396926734005, + 3401.4644848248663 + ], + [ + -0.0, + -0.9991148073260974, + -0.042066635343647296, + 3.6336784690470676 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75013.73821404159, + -340146.44848248665, + 363.36784690470677 + ], + "rotation_deg": [ + 0.0, + -2.410952091217043, + -26.179481506347674 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.21982681176993224, + -0.9755389140506221, + -0.0, + 3496.610608662729 + ], + [ + -0.13207874311587978, + 0.029762471372041133, + -0.9907923096768351, + 2.805989782082259 + ], + [ + 0.9665564533189572, + -0.2178027161905779, + -0.13539054386287513, + 17.446966151938554 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.21982681176993224, + -0.13207874311587978, + 0.9665564533189572, + 752.1559017248408 + ], + [ + -0.9755389140506221, + 0.029762471372041133, + -0.2178027161905779, + 3414.7961981348035 + ], + [ + -0.0, + -0.9907923096768351, + -0.13539054386287513, + 5.142306509300532 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75215.59017248408, + -341479.61981348036, + 514.2306509300532 + ], + "rotation_deg": [ + 0.0, + -7.781203746795651, + 12.69886112213135 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.831469608077446, + -0.55557023934291, + -0.0, + 2534.7095298115673 + ], + [ + -0.16567846365447728, + 0.2479553393727327, + -0.9544992385317261, + -715.6806049074123 + ], + [ + 0.5302913639794624, + -0.7936371112234062, + -0.29821335479446304, + 2308.2384625583813 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.831469608077446, + -0.16567846365447728, + 0.5302913639794624, + 764.9221475923588 + ], + [ + -0.55557023934291, + 0.2479553393727327, + -0.7936371112234062, + 3417.569691617825 + ], + [ + -0.0, + -0.9544992385317261, + -0.29821335479446304, + 5.230933014620345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76492.21475923588, + -341756.9691617825, + 523.0933014620346 + ], + "rotation_deg": [ + 0.0, + -17.350324630737294, + 56.25000000000001 + ] + } + } + ] + }, + { + "frame": 94, + "time": 1837.7139790281653, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.07647086301261996, + -0.9970718164255294, + -0.0, + 3342.2155453761875 + ], + [ + -0.15065020163030524, + -0.011554183702629102, + -0.9885196091063211, + 158.02468679338648 + ], + [ + 0.9856250420020697, + 0.0755929481841095, + -0.15109262974497717, + -1007.7011819169874 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.07647086301261996, + -0.15065020163030524, + 0.9856250420020697, + 761.4398620270191 + ], + [ + -0.9970718164255294, + -0.011554183702629102, + 0.0755929481841095, + 3410.4298734950557 + ], + [ + -0.0, + -0.9885196091063211, + -0.15109262974497717, + 3.954281483502503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76143.98620270191, + -341042.9873495056, + 395.4281483502503 + ], + "rotation_deg": [ + 0.0, + -8.690251350402834, + -4.385739326477051 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.44180339518792555, + -0.8971118993751122, + -0.0, + 2720.1552445710936 + ], + [ + -0.03794849990482332, + -0.01868861187987574, + -0.9991049229890608, + 95.67488858896952 + ], + [ + 0.8963089135606006, + 0.44140795029664703, + -0.04230074333541232, + -2173.753080142955 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.44180339518792555, + -0.03794849990482332, + 0.8963089135606006, + 750.2111524442895 + ], + [ + -0.8971118993751122, + -0.01868861187987574, + 0.44140795029664703, + 3401.5835493369727 + ], + [ + -0.0, + -0.9991049229890608, + -0.04230074333541232, + 3.637882196033355 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75021.11524442895, + -340158.35493369726, + 363.7882196033355 + ], + "rotation_deg": [ + 0.0, + -2.424377441406251, + -26.219001770019545 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.21511009617956256, + -0.976589804637351, + 1.7347234627873016e-18, + 3496.697737528252 + ], + [ + -0.13193815848957519, + 0.02906156692162687, + -0.9908318463101794, + 5.091632085735875 + ], + [ + 0.9676362787200679, + -0.2131379353521434, + -0.13510089791931293, + 0.6620626976596312 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.21511009617956256, + -0.13193815848957519, + 0.9676362787200679, + 752.2061369418267 + ], + [ + -0.976589804637351, + 0.02906156692162687, + -0.2131379353521434, + 3414.8324989960593 + ], + [ + 1.7347234627873016e-18, + -0.9908318463101794, + -0.13510089791931293, + 5.1343956976547975 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75220.61369418267, + -341483.24989960593, + 513.4395697654797 + ], + "rotation_deg": [ + -1.0031200973212022e-16, + -7.764454364776609, + 12.421986579895021 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.831469608077446, + -0.55557023934291, + -0.0, + 2534.8196176346937 + ], + [ + -0.16567846365447728, + 0.2479553393727327, + -0.9544992385317261, + -715.7030373135065 + ], + [ + 0.5302913639794624, + -0.7936371112234062, + -0.29821335479446304, + 2308.310262545117 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.831469608077446, + -0.16567846365447728, + 0.5302913639794624, + 764.9718907919648 + ], + [ + -0.55557023934291, + 0.2479553393727327, + -0.7936371112234062, + 3417.693398504153 + ], + [ + -0.0, + -0.9544992385317261, + -0.29821335479446304, + 5.230933014620345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76497.18907919648, + -341769.3398504153, + 523.0933014620346 + ], + "rotation_deg": [ + 0.0, + -17.350324630737294, + 56.25000000000001 + ] + } + } + ] + }, + { + "frame": 95, + "time": 1837.780645698309, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.06686232715736762, + -0.9977622107531939, + -0.0, + 3352.083192001716 + ], + [ + -0.15075459720827333, + -0.010102410264072515, + -0.9885195965318175, + 153.1618196449926 + ], + [ + 0.9863074977970586, + 0.06609472116413952, + -0.1510927120133191, + -975.8854552083645 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.06686232715736762, + -0.15075459720827333, + 0.9863074977970586, + 761.4849055388049 + ], + [ + -0.9977622107531939, + -0.010102410264072515, + 0.06609472116413952, + 3410.6301162802934 + ], + [ + -0.0, + -0.9885195965318175, + -0.1510927120133191, + 3.954281483502503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76148.49055388049, + -341063.01162802934, + 395.4281483502503 + ], + "rotation_deg": [ + 0.0, + -8.690256118774416, + -3.8337893486022954 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.44242867857482293, + -0.8968036933323454, + 1.7347234625633442e-18, + 2718.7111097908937 + ], + [ + -0.038145219239408036, + -0.018818543085308136, + -0.9990949928236674, + 96.27367175619516 + ], + [ + 0.8959920779722578, + 0.4420282806204451, + -0.0425346369760995, + -2175.7435671060225 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.44242867857482293, + -0.038145219239408036, + 0.8959920779722578, + 750.2856112406397 + ], + [ + -0.8968036933323454, + -0.018818543085308136, + 0.4420282806204451, + 3401.7020714869573 + ], + [ + 1.7347234625633442e-18, + -0.9990949928236674, + -0.0425346369760995, + 3.6420817376978545 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75028.56112406397, + -340170.2071486957, + 364.20817376978545 + ], + "rotation_deg": [ + -9.948236605232544e-17, + -2.437790632247926, + -26.25894355773928 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.21037800824763583, + -0.9776201172468566, + 1.7347234627862107e-18, + 3496.7024808896194 + ], + [ + -0.1317904953935518, + 0.02836052720042756, + -0.9908718109931453, + 7.372567295498025 + ], + [ + 0.9686962155594058, + -0.20845763958629307, + -0.13480747182184014, + -16.16218627296297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.21037800824763583, + -0.1317904953935518, + 0.9686962155594058, + 752.2571918642058 + ], + [ + -0.9776201172468566, + 0.02836052720042756, + -0.20845763958629307, + 3414.8684670860607 + ], + [ + 1.7347234627862107e-18, + -0.9908718109931453, + -0.13480747182184014, + 5.126484886009061 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75225.71918642058, + -341486.84670860606, + 512.6484886009061 + ], + "rotation_deg": [ + -1.0030796386293246e-16, + -7.747487068176267, + 12.144505500793462 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.831469608077446, + -0.55557023934291, + -0.0, + 2534.930202140137 + ], + [ + -0.16567846365447728, + 0.2479553393727327, + -0.9544992385317261, + -715.7252513996613 + ], + [ + 0.5302913639794624, + -0.7936371112234062, + -0.29821335479446304, + 2308.381363749545 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.831469608077446, + -0.16567846365447728, + 0.5302913639794624, + 765.022453696964 + ], + [ + -0.55557023934291, + 0.2479553393727327, + -0.7936371112234062, + 3417.816772619227 + ], + [ + -0.0, + -0.9544992385317261, + -0.29821335479446304, + 5.230933014620345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76502.24536969641, + -341781.6772619227, + 523.0933014620346 + ], + "rotation_deg": [ + 0.0, + -17.350324630737294, + 56.25000000000001 + ] + } + } + ] + }, + { + "frame": 96, + "time": 1837.8473123684525, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.057247972793591353, + -0.9983599899890943, + -0.0, + 3361.6401225554614 + ], + [ + -0.15084496657356827, + -0.00864975422597631, + -0.9885195889871121, + 148.28492562630368 + ], + [ + 0.9868984067628566, + 0.05659074296399667, + -0.15109276137432381, + -943.9782041514468 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.057247972793591353, + -0.15084496657356827, + 0.9868984067628566, + 761.5315369752946 + ], + [ + -0.9983599899890943, + -0.00864975422597631, + 0.05659074296399667, + 3410.8300547008926 + ], + [ + -0.0, + -0.9885195889871121, + -0.15109276137432381, + 3.954281483502503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76153.15369752946, + -341083.00547008927, + 395.4281483502503 + ], + "rotation_deg": [ + 0.0, + -8.690258979797367, + -3.281861543655396 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.4430596560339396, + -0.8964921311395248, + -0.0, + 2717.250314949215 + ], + [ + -0.038341518324605126, + -0.018948944815751753, + -0.9990850141318974, + 96.8738143123956 + ], + [ + 0.8956718519220371, + 0.4426542658883581, + -0.04276838277732091, + -2177.751264584364 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.4430596560339396, + -0.038341518324605126, + 0.8956718519220371, + 750.3608022412976 + ], + [ + -0.8964921311395248, + -0.018948944815751753, + 0.4426542658883581, + 3401.82005838148 + ], + [ + -0.0, + -0.9990850141318974, + -0.04276838277732091, + 3.646277596279181 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75036.08022412976, + -340182.005838148, + 364.6277596279181 + ], + "rotation_deg": [ + 0.0, + -2.451195478439332, + -26.299263000488295 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.20563082171030195, + -0.978629636360327, + -5.204170388355326e-18, + 3496.6242795567587 + ], + [ + -0.13163573084738037, + 0.027659456136291095, + -0.9909122003742411, + 9.648425239937456 + ], + [ + 0.9697360458527755, + -0.20376209153259378, + -0.13451026514019912, + -33.02474715064673 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.20563082171030195, + -0.13163573084738037, + 0.9697360458527755, + 752.3090944582592 + ], + [ + -0.978629636360327, + 0.027659456136291095, + -0.20376209153259378, + 3414.9040843605635 + ], + [ + -5.204170388355326e-18, + -0.9909122003742411, + -0.13451026514019912, + 5.118574074363327 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75230.90944582592, + -341490.40843605634, + 511.8574074363327 + ], + "rotation_deg": [ + 3.009116259915799e-16, + -7.7303018569946245, + 11.866429328918459 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.831469608077446, + -0.55557023934291, + -0.0, + 2535.0412965561645 + ], + [ + -0.16567846365447728, + 0.2479553393727327, + -0.9544992385317261, + -715.7472380582992 + ], + [ + 0.5302913639794624, + -0.7936371112234062, + -0.29821335479446304, + 2308.451737020806 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.831469608077446, + -0.16567846365447728, + 0.5302913639794624, + 765.0738642736376 + ], + [ + -0.55557023934291, + 0.2479553393727327, + -0.7936371112234062, + 3417.939795918802 + ], + [ + -0.0, + -0.9544992385317261, + -0.29821335479446304, + 5.230933014620345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76507.38642736376, + -341793.97959188017, + 523.0933014620346 + ], + "rotation_deg": [ + 0.0, + -17.350324630737294, + 56.25000000000001 + ] + } + } + ] + }, + { + "frame": 97, + "time": 1837.9139790385962, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.04762864704036834, + -0.9988651120051716, + -0.0, + 3370.8855121837787 + ], + [ + -0.15092133615820638, + -0.007196346097532712, + -0.9885195814424043, + 143.39447328244287 + ], + [ + 0.9873977222420748, + 0.047081850592995036, + -0.1510928107353281, + -911.9822695453196 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.04762864704036834, + -0.15092133615820638, + 0.9873977222420748, + 761.5797840359443 + ], + [ + -0.9988651120051716, + -0.007196346097532712, + 0.047081850592995036, + 3411.029663525846 + ], + [ + -0.0, + -0.9885195814424043, + -0.1510928107353281, + 3.954281483502503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76157.97840359443, + -341102.9663525846, + 395.4281483502503 + ], + "rotation_deg": [ + 0.0, + -8.690261840820314, + -2.729953289031982 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.443695754259108, + -0.896177481112107, + -0.0, + 2715.7741847452157 + ], + [ + -0.038537458635680415, + -0.019079821951527496, + -0.9990749845112735, + 97.47538137341262 + ], + [ + 0.8953485014699851, + 0.4432853319962465, + -0.043002038933402674, + -2179.7744569054357 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.443695754259108, + -0.038537458635680415, + 0.8953485014699851, + 750.4367665594884 + ], + [ + -0.896177481112107, + -0.019079821951527496, + 0.4432853319962465, + 3401.937513676728 + ], + [ + -0.0, + -0.9990749845112735, + -0.043002038933402674, + 3.650470213747317 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75043.67665594885, + -340193.7513676728, + 365.0470213747317 + ], + "rotation_deg": [ + 0.0, + -2.4645953178405775, + -26.339923858642603 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.20086881259860506, + -0.9796181501611873, + 1.7347234627839952e-18, + 3496.4625875318015 + ], + [ + -0.13147384308824317, + 0.02695845799158107, + -0.9909530110587099, + 11.918835316355363 + ], + [ + 0.9707555551410473, + -0.19905155616510942, + -0.13420927744029207, + -49.9245799659623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.20086881259860506, + -0.13147384308824317, + 0.9707555551410473, + 752.3618719811284 + ], + [ + -0.9796181501611873, + 0.02695845799158107, + -0.19905155616510942, + 3414.939332342958 + ], + [ + 1.7347234627839952e-18, + -0.9909530110587099, + -0.13420927744029207, + 5.110663262717591 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75236.18719811284, + -341493.9332342958, + 511.0663262717592 + ], + "rotation_deg": [ + -1.0029974448897791e-16, + -7.712898731231687, + 11.587769508361822 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.831469608077446, + -0.55557023934291, + -0.0, + 2535.1529132812066 + ], + [ + -0.16567846365447728, + 0.2479553393727327, + -0.9544992385317261, + -715.7689881921253 + ], + [ + 0.5302913639794624, + -0.7936371112234062, + -0.29821335479446304, + 2308.52135324095 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.831469608077446, + -0.16567846365447728, + 0.5302913639794624, + 765.1261497791269 + ], + [ + -0.55557023934291, + 0.2479553393727327, + -0.7936371112234062, + 3418.062449926269 + ], + [ + -0.0, + -0.9544992385317261, + -0.29821335479446304, + 5.230933014620345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76512.61497791269, + -341806.2449926269, + 523.0933014620346 + ], + "rotation_deg": [ + 0.0, + -17.350324630737294, + 56.25000000000001 + ] + } + } + ] + }, + { + "frame": 98, + "time": 1837.9806457087398, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.0380052013772269, + -0.9992775413608957, + -0.0, + 3379.818555863064 + ], + [ + -0.1509836841518751, + -0.005742313905156863, + -0.9885195764125976, + 138.49088606397143 + ], + [ + 0.9878054117162377, + 0.0375688858510272, + -0.15109284364266412, + -879.9005200133114 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.0380052013772269, + -0.1509836841518751, + 0.9878054117162377, + 761.6296741611254 + ], + [ + -0.9992775413608957, + -0.005742313905156863, + 0.0375688858510272, + 3411.228916805337 + ], + [ + -0.0, + -0.9885195764125976, + -0.15109284364266412, + 3.954281483502503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76162.96741611254, + -341122.8916805337, + 395.4281483502503 + ], + "rotation_deg": [ + 0.0, + -8.690263748168949, + -2.178062200546265 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.44433646031855, + -0.8958599834971877, + -0.0, + 2714.2839010973516 + ], + [ + -0.0387330931631983, + -0.019211177896504616, + -0.9990649018646587, + 98.07842652850692 + ], + [ + 0.8950222649007895, + 0.4439209653088695, + -0.0432356553217711, + -2181.811609901376 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.44433646031855, + -0.0387330931631983, + 0.8950222649007895, + 750.5135434552067 + ], + [ + -0.8958599834971877, + -0.019211177896504616, + 0.4439209653088695, + 3402.054437703253 + ], + [ + -0.0, + -0.9990649018646587, + -0.0432356553217711, + 3.6546599790358436 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75051.35434552067, + -340205.4437703253, + 365.46599790358437 + ], + "rotation_deg": [ + 0.0, + -2.4779930114746107, + -26.38089370727541 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.19609222656087413, + -0.9805854571032546, + -0.0, + 3496.216869739825 + ], + [ + -0.13130481245308107, + 0.02625763297381988, + -0.9909942396085221, + 14.18344221594348 + ], + [ + 0.9717545389994987, + -0.19432626841224193, + -0.1339045082842451, + -66.86075439204838 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.19609222656087413, + -0.13130481245308107, + 0.9717545389994987, + 752.4155514994536 + ], + [ + -0.9805854571032546, + 0.02625763297381988, + -0.19432626841224193, + 3414.9741918869363 + ], + [ + -0.0, + -0.9909942396085221, + -0.1339045082842451, + 5.102752451071856 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75241.55514994536, + -341497.41918869363, + 510.27524510718564 + ], + "rotation_deg": [ + 0.0, + -7.695277690887448, + 11.308535575866703 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.831469608077446, + -0.55557023934291, + -0.0, + 2535.2650641832333 + ], + [ + -0.16567846365447728, + 0.2479553393727327, + -0.9544992385317261, + -715.7904925693507 + ], + [ + 0.5302913639794624, + -0.7936371112234062, + -0.29821335479446304, + 2308.5901828615506 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.831469608077446, + -0.16567846365447728, + 0.5302913639794624, + 765.1793372800722 + ], + [ + -0.55557023934291, + 0.2479553393727327, + -0.7936371112234062, + 3418.18471549532 + ], + [ + -0.0, + -0.9544992385317261, + -0.29821335479446304, + 5.230933014620345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76517.93372800722, + -341818.47154953197, + 523.0933014620346 + ], + "rotation_deg": [ + 0.0, + -17.350324630737294, + 56.25000000000001 + ] + } + } + ] + }, + { + "frame": 99, + "time": 1838.0473123788834, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.028378493690022436, + -0.9995972494439376, + -0.0, + 3388.4384580523456 + ], + [ + -0.1510320226489882, + -0.004287788210821824, + -0.9885195713827899, + 133.57462487266238 + ], + [ + 0.9881214443921188, + 0.0280526966311605, + -0.15109287654999995, + -847.7358657805158 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.028378493690022436, + -0.1510320226489882, + 0.9881214443921188, + 761.6812541093308 + ], + [ + -0.9995972494439376, + -0.004287788210821824, + 0.0280526966311605, + 3411.4277791509153 + ], + [ + -0.0, + -0.9885195713827899, + -0.15109287654999995, + 3.954281483502503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76168.12541093308, + -341142.77791509154, + 395.4281483502503 + ], + "rotation_deg": [ + 0.0, + -8.690265655517582, + -1.6261862516403203 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.44498132156670833, + -0.8955398502896147, + -0.0, + 2712.780486227225 + ], + [ + -0.038928473829995765, + -0.019343018321121626, + -0.999054764048246, + 98.6830107463978 + ], + [ + 0.894693352225692, + 0.4445607124132694, + -0.04346928181785611, + -2183.8613836432164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.44498132156670833, + -0.038928473829995765, + 0.894693352225692, + 750.5911901119957 + ], + [ + -0.8955398502896147, + -0.019343018321121626, + 0.4445607124132694, + 3402.1708190587733 + ], + [ + -0.0, + -0.999054764048246, + -0.04346928181785611, + 3.6588472344063137 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75059.11901119957, + -340217.08190587733, + 365.8847234406314 + ], + "rotation_deg": [ + 0.0, + -2.491391420364381, + -26.42214393615724 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.19130137669418415, + -0.9815313460480565, + -1.7347234627817337e-18, + 3495.8866029912997 + ], + [ + -0.13112861871732226, + 0.025557090342178772, + -0.991035882542367, + 16.441861950002593 + ], + [ + 0.9727327833549348, + -0.18958653010758653, + -0.13359595723047424, + -83.83212452546961 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.19130137669418415, + -0.13112861871732226, + 0.9727327833549348, + 752.470179466627 + ], + [ + -0.9815313460480565, + 0.025557090342178772, + -0.18958653010758653, + 3415.0086344505808 + ], + [ + -1.7347234627817337e-18, + -0.991035882542367, + -0.13359595723047424, + 5.094841639426122 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75247.0179466627, + -341500.86344505806, + 509.48416394261216 + ], + "rotation_deg": [ + 1.0029135731661391e-16, + -7.6774387359619105, + 11.028740882873535 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.831469608077446, + -0.55557023934291, + -0.0, + 2535.3777720297876 + ], + [ + -0.16567846365447728, + 0.2479553393727327, + -0.9544992385317261, + -715.8117364165277 + ], + [ + 0.5302913639794624, + -0.7936371112234062, + -0.29821335479446304, + 2308.658178596849 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.831469608077446, + -0.16567846365447728, + 0.5302913639794624, + 765.2334732298658 + ], + [ + -0.55557023934291, + 0.2479553393727327, + -0.7936371112234062, + 3418.306564084036 + ], + [ + -0.0, + -0.9544992385317261, + -0.29821335479446304, + 5.230933014620345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76523.34732298658, + -341830.6564084036, + 523.0933014620346 + ], + "rotation_deg": [ + 0.0, + -17.350324630737294, + 56.25000000000001 + ] + } + } + ] + }, + { + "frame": 100, + "time": 1838.113979049027, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.01874938615343074, + -0.9998242148092181, + -2.168404328563164e-19, + 3396.744435224159 + ], + [ + -0.15106634840019278, + -0.002832899282684791, + -0.9885195663529809, + 128.6461411235633 + ], + [ + 0.9883457990722352, + 0.0185341352100009, + -0.15109290945733553, + -815.4912602680965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.01874938615343074, + -0.15106634840019278, + 0.9883457990722352, + 761.7345907751759 + ], + [ + -0.9998242148092181, + -0.002832899282684791, + 0.0185341352100009, + 3411.626204576276 + ], + [ + -2.168404328563164e-19, + -0.9885195663529809, + -0.15109290945733553, + 3.954281483502503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76173.45907751759, + -341162.6204576276, + 395.4281483502503 + ], + "rotation_deg": [ + 1.256833162396063e-17, + -8.690267562866211, + -1.0743236541748042 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.4456299455520667, + -0.8952172650408735, + -0.0, + 2711.2648007662683 + ], + [ + -0.039123640283574485, + -0.019475345673289617, + -0.9990445694171344, + 99.2891753267569 + ], + [ + 0.8943619454814105, + 0.4452041802667656, + -0.04370295582342368, + -2185.922633669294 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.4456299455520667, + -0.039123640283574485, + 0.8943619454814105, + 750.6697826305752 + ], + [ + -0.8952172650408735, + -0.019475345673289617, + 0.4452041802667656, + 3402.2866337239934 + ], + [ + -0.0, + -0.9990445694171344, + -0.04370295582342368, + 3.663032281048895 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75066.97826305752, + -340228.66337239934, + 366.3032281048895 + ], + "rotation_deg": [ + 0.0, + -2.5047926902771014, + -26.463649749755877 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.18649654570683663, + -0.9824556165239312, + 1.7347234627805864e-18, + 3495.471270062031 + ], + [ + -0.13094523571441435, + 0.024856933714634544, + -0.9910779374448823, + 18.69372806536311 + ], + [ + 0.9736900856514836, + -0.18483261324893244, + -0.13328361558562576, + -100.83767608848612 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.18649654570683663, + -0.13094523571441435, + 0.9736900856514836, + 752.525822540835 + ], + [ + -0.9824556165239312, + 0.024856933714634544, + -0.18483261324893244, + 3415.0426209317143 + ], + [ + 1.7347234627805864e-18, + -0.9910779374448823, + -0.13328361558562576, + 5.086930827780386 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75252.58225408349, + -341504.2620931714, + 508.6930827780386 + ], + "rotation_deg": [ + -1.0028710160355496e-16, + -7.659381389617917, + 10.748396873474123 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.831469608077446, + -0.55557023934291, + -0.0, + 2535.491070521121 + ], + [ + -0.16567846365447728, + 0.2479553393727327, + -0.9544992385317261, + -715.8326989942371 + ], + [ + 0.5302913639794624, + -0.7936371112234062, + -0.29821335479446304, + 2308.725274065649 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.831469608077446, + -0.16567846365447728, + 0.5302913639794624, + 765.2886242866938 + ], + [ + -0.55557023934291, + 0.2479553393727327, + -0.7936371112234062, + 3418.427956590242 + ], + [ + -0.0, + -0.9544992385317261, + -0.29821335479446304, + 5.230933014620345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76528.86242866938, + -341842.7956590242, + 523.0933014620346 + ], + "rotation_deg": [ + 0.0, + -17.350324630737294, + 56.25000000000001 + ] + } + } + ] + }, + { + "frame": 101, + "time": 1838.1806457191706, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + 0.009118743103105507, + -0.9999584233978029, + -0.0, + 3404.7357233986063 + ], + [ + -0.1510866428191439, + -0.00137777756548819, + -0.9885195638380762, + 123.70587679322763 + ], + [ + 0.9884784643752551, + 0.00901405602323879, + -0.1510929259110033, + -783.1696824880107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.009118743103105507, + -0.1510866428191439, + 0.9884784643752551, + 761.7897603652432 + ], + [ + -0.9999584233978029, + -0.00137777756548819, + 0.00901405602323879, + 3411.8241405770123 + ], + [ + -0.0, + -0.9885195638380762, + -0.1510929259110033, + 3.954281483502503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76178.97603652431, + -341182.41405770124, + 395.4281483502503 + ], + "rotation_deg": [ + 0.0, + -8.690268516540527, + -0.5224727392196653 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.44628197013091164, + -0.8948923975183114, + -1.7347234625649774e-18, + 2709.73762461793 + ], + [ + -0.039318627966992634, + -0.01960816160760242, + -0.9990343164742458, + 99.89695589702248 + ], + [ + 0.8940282130616042, + 0.44585100618160556, + -0.043936710581529405, + -2187.994311931554 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.44628197013091164, + -0.039318627966992634, + 0.8940282130616042, + 750.7494053592293 + ], + [ + -0.8948923975183114, + -0.01960816160760242, + 0.44585100618160556, + 3402.4018493843046 + ], + [ + -1.7347234625649774e-18, + -0.9990343164742458, + -0.043936710581529405, + 3.667215384010934 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75074.94053592293, + -340240.18493843044, + 366.72153840109337 + ], + "rotation_deg": [ + 9.948840811394226e-17, + -2.5181987285614027, + -26.505388259887713 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.18167801845968864, + -0.9833580719191564, + -5.2041703883382844e-18, + 3494.9703624400677 + ], + [ + -0.13075466282787981, + 0.024157271623928746, + -0.9911203985270681, + 20.93867769912025 + ], + [ + 0.9746262437454163, + -0.18006479141371332, + -0.1329674993967925, + -117.87639917076454 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.18167801845968864, + -0.13075466282787981, + 0.9746262437454163, + 752.5825567609322 + ], + [ + -0.9833580719191564, + 0.024157271623928746, + -0.18006479141371332, + 3415.0761057427944 + ], + [ + -5.2041703883382844e-18, + -0.9911203985270681, + -0.1329674993967925, + 5.079020016134652 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75258.25567609322, + -341507.61057427945, + 507.90200161346513 + ], + "rotation_deg": [ + 3.008484154615927e-16, + -7.6411066055297825, + 10.467514991760252 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.831469608077446, + -0.55557023934291, + -0.0, + 2535.6049975541473 + ], + [ + -0.16567846365447728, + 0.2479553393727327, + -0.9544992385317261, + -715.8533564008035 + ], + [ + 0.5302913639794624, + -0.7936371112234062, + -0.29821335479446304, + 2308.791392765234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.831469608077446, + -0.16567846365447728, + 0.5302913639794624, + 765.3448664894112 + ], + [ + -0.55557023934291, + 0.2479553393727327, + -0.7936371112234062, + 3418.5488474263943 + ], + [ + -0.0, + -0.9544992385317261, + -0.29821335479446304, + 5.230933014620345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76534.48664894112, + -341854.88474263943, + 523.0933014620346 + ], + "rotation_deg": [ + 0.0, + -17.350324630737294, + 56.25000000000001 + ] + } + } + ] + }, + { + "frame": 102, + "time": 1838.2473123893142, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.0005125642389924852, + -0.9999998686389416, + -1.3552527053519774e-20, + 3412.4115794745967 + ], + [ + -0.1510929213555099, + 7.74448384249743e-05, + -0.9885195613231709, + 118.75430559315289 + ], + [ + 0.9885194312926711, + -0.000506679780512732, + -0.15109294236467094, + -750.7741371649347 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.0005125642389924852, + -0.1510929213555099, + 0.9885194312926711, + 761.8468384839497 + ], + [ + -0.9999998686389416, + 7.74448384249743e-05, + -0.000506679780512732, + 3412.02153223636 + ], + [ + -1.3552527053519774e-20, + -0.9885195613231709, + -0.15109294236467094, + 3.954281483502503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76184.68384839497, + -341202.15322363604, + 395.4281483502503 + ], + "rotation_deg": [ + 7.855207304944456e-19, + -8.69026947021484, + 0.029367769137024855 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.44693712298224736, + -0.8945653738550084, + -1.734723462565255e-18, + 2708.199518907063 + ], + [ + -0.03951347422810439, + -0.01974147335307492, + -0.9990240035075608, + 100.50640836809295 + ], + [ + 0.8936922795717676, + 0.44650091711875056, + -0.04417058349096731, + -2190.0756390412735 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.44693712298224736, + -0.03951347422810439, + 0.8936922795717676, + 750.8301411156724 + ], + [ + -0.8945653738550084, + -0.01974147335307492, + 0.44650091711875056, + 3402.516429748367 + ], + [ + -1.734723462565255e-18, + -0.9990240035075608, + -0.04417058349096731, + 3.6713967765340954 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75083.01411156724, + -340251.6429748367, + 367.13967765340954 + ], + "rotation_deg": [ + 9.948943513696746e-17, + -2.5316116809844975, + -26.547342300415046 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.1768460819286112, + -0.9842385195197852, + -3.4694469255565183e-18, + 3494.383382459389 + ], + [ + -0.13055687640093905, + 0.023458208150204295, + -0.9911632632895607, + 23.176345611704747 + ], + [ + 0.9755410624865756, + -0.17528334098363368, + -0.13264759996388478, + -134.94727872938037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.1768460819286112, + -0.13055687640093905, + 0.9755410624865756, + 752.6404576323355 + ], + [ + -0.9842385195197852, + 0.023458208150204295, + -0.17528334098363368, + 3415.1090409122976 + ], + [ + -3.4694469255565183e-18, + -0.9911632632895607, + -0.13264759996388478, + 5.071109204488916 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75264.04576323355, + -341510.9040912298, + 507.1109204488916 + ], + "rotation_deg": [ + 2.0055693646185223e-16, + -7.622613906860346, + 10.186106681823725 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.831469608077446, + -0.55557023934291, + -0.0, + 2535.7195892577756 + ], + [ + -0.16567846365447728, + 0.2479553393727327, + -0.9544992385317261, + -715.8736842318103 + ], + [ + 0.5302913639794624, + -0.7936371112234062, + -0.29821335479446304, + 2308.8564565837532 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.831469608077446, + -0.16567846365447728, + 0.5302913639794624, + 765.4022753434346 + ], + [ + -0.55557023934291, + 0.2479553393727327, + -0.7936371112234062, + 3418.66918862097 + ], + [ + -0.0, + -0.9544992385317261, + -0.29821335479446304, + 5.230933014620345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76540.22753434346, + -341866.918862097, + 523.0933014620346 + ], + "rotation_deg": [ + 0.0, + -17.350324630737294, + 56.25000000000001 + ] + } + } + ] + }, + { + "frame": 103, + "time": 1838.3139790594578, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.010143665071433359, + -0.9999485517059958, + -3.252606492844746e-19, + 3419.771291619694 + ], + [ + -0.15108516772917757, + 0.0015326361902234258, + -0.9885195613231709, + 113.79187470750061 + ], + [ + 0.9884687034998502, + -0.010027211422493543, + -0.15109294236467094, + -718.3076301239878 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.010143665071433359, + -0.15108516772917757, + 0.9884687034998502, + 761.9058914650019 + ], + [ + -0.9999485517059958, + 0.0015326361902234258, + -0.010027211422493543, + 3412.2183262523763 + ], + [ + -3.252606492844746e-19, + -0.9885195613231709, + -0.15109294236467094, + 3.954281483502503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76190.58914650019, + -341221.83262523764, + 395.4281483502503 + ], + "rotation_deg": [ + 1.8852497531866693e-17, + -8.69026947021484, + 0.5811991691589351 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.44759510237737876, + -0.8942363358350988, + -0.0, + 2706.651124783379 + ], + [ + -0.03970820230635122, + -0.019875279234694843, + -0.9990136295090978, + 101.11754739637803 + ], + [ + 0.8933542858804079, + 0.447153610981192, + -0.044404595320610606, + -2192.1657397945937 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.44759510237737876, + -0.03970820230635122, + 0.8933542858804079, + 750.9120626381764 + ], + [ + -0.8942363358350988, + -0.019875279234694843, + 0.447153610981192, + 3402.630338762504 + ], + [ + -0.0, + -0.9990136295090978, + -0.044404595320610606, + 3.675576663871045 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75091.20626381764, + -340263.0338762504, + 367.5576663871045 + ], + "rotation_deg": [ + 0.0, + -2.5450327396392827, + -26.589492797851577 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.1720010579595828, + -0.9850967648209915, + 1.734723462777079e-18, + 3493.709851007281 + ], + [ + -0.1303518613749881, + 0.0227598535130435, + -0.9912065280778471, + 25.406350565156295 + ], + [ + 0.9764343437166362, + -0.17048857276992307, + -0.13232391683114847, + -152.04916965640504 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.1720010579595828, + -0.1303518613749881, + 0.9764343437166362, + 752.6995914584945 + ], + [ + -0.9850967648209915, + 0.0227598535130435, + -0.17048857276992307, + 3415.141380107987 + ], + [ + 1.734723462777079e-18, + -0.9912065280778471, + -0.13232391683114847, + 5.063198392843181 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75269.95914584945, + -341514.1380107987, + 506.3198392843181 + ], + "rotation_deg": [ + -1.0027409121499408e-16, + -7.603903293609618, + 9.90418529510498 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.831469608077446, + -0.55557023934291, + -0.0, + 2535.834875020497 + ], + [ + -0.16567846365447728, + 0.2479553393727327, + -0.9544992385317261, + -715.8936600138782 + ], + [ + 0.5302913639794624, + -0.7936371112234062, + -0.29821335479446304, + 2308.920393590078 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.831469608077446, + -0.16567846365447728, + 0.5302913639794624, + 765.4609171522138 + ], + [ + -0.55557023934291, + 0.2479553393727327, + -0.7936371112234062, + 3418.788933841732 + ], + [ + -0.0, + -0.9544992385317261, + -0.29821335479446304, + 5.230933014620345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76546.09171522138, + -341878.8933841732, + 523.0933014620346 + ], + "rotation_deg": [ + 0.0, + -17.350324630737294, + 56.25000000000001 + ] + } + } + ] + }, + { + "frame": 104, + "time": 1838.3806457296014, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.019773682899704315, + -0.9998044816185724, + -4.3368086571263285e-19, + 3426.8141781439713 + ], + [ + -0.15106341620637995, + 0.0029876642330861135, + -0.9885195588082655, + 108.8190693533038 + ], + [ + 0.9883262848836362, + -0.019546672443915947, + -0.15109295881833867, + -685.7731720436302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.019773682899704315, + -0.15106341620637995, + 0.9883262848836362, + 761.9669694414667 + ], + [ + -0.9998044816185724, + 0.0029876642330861135, + -0.019546672443915947, + 3412.4144746650336 + ], + [ + -4.3368086571263285e-19, + -0.9885195588082655, + -0.15109295881833867, + 3.954281483502503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76196.69694414668, + -341241.44746650336, + 395.4281483502503 + ], + "rotation_deg": [ + 2.5136663439772773e-17, + -8.690270423889158, + 1.1330224275588985 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.4482556665141684, + -0.8939053962461229, + -3.4694469251316304e-18, + 2705.092950999984 + ], + [ + -0.039902841681745176, + -0.02000958375346378, + -0.9990031930798493, + 101.7304127637357 + ], + [ + 0.8930143435349968, + 0.4478088453722674, + -0.04463877515250521, + -2194.2639065262383 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.4482556665141684, + -0.039902841681745176, + 0.8930143435349968, + 750.9952257609481 + ], + [ + -0.8939053962461229, + -0.02000958375346378, + 0.4478088453722674, + 3402.7435445024694 + ], + [ + -3.4694469251316304e-18, + -0.9990031930798493, + -0.04463877515250521, + 3.6797552266441276 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75099.52257609481, + -340274.35445024696, + 367.9755226644128 + ], + "rotation_deg": [ + 1.9898301524112703e-16, + -2.5584635734558114, + -26.631824493408217 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.16714323772634124, + -0.9859326235003868, + -1.7347234627758885e-18, + 3492.949301836293 + ], + [ + -0.13013962105198043, + 0.0220623165322195, + -0.9912501869970459, + 27.628327442522657 + ], + [ + 0.9773058970622633, + -0.16568076690023956, + -0.13199646603857673, + -169.18101981461572 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.16714323772634124, + -0.13013962105198043, + 0.9773058970622633, + 752.7600084109728 + ], + [ + -0.9859326235003868, + 0.0220623165322195, + -0.16568076690023956, + 3415.173082360485 + ], + [ + -1.7347234627758885e-18, + -0.9912501869970459, + -0.13199646603857673, + 5.055287581197446 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75276.00084109728, + -341517.3082360485, + 505.52875811974457 + ], + "rotation_deg": [ + 1.0026967471291245e-16, + -7.584975719451902, + 9.621762275695803 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.831469608077446, + -0.55557023934291, + -0.0, + 2535.9508737970746 + ], + [ + -0.16567846365447728, + 0.2479553393727327, + -0.9544992385317261, + -715.9132652760834 + ], + [ + 0.5302913639794624, + -0.7936371112234062, + -0.29821335479446304, + 2308.983144663842 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.831469608077446, + -0.16567846365447728, + 0.5302913639794624, + 765.5208420873122 + ], + [ + -0.55557023934291, + 0.2479553393727327, + -0.7936371112234062, + 3418.908042119302 + ], + [ + -0.0, + -0.9544992385317261, + -0.29821335479446304, + 5.230933014620345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76552.08420873122, + -341890.8042119302, + 523.0933014620346 + ], + "rotation_deg": [ + 0.0, + -17.350324630737294, + 56.25000000000001 + ] + } + } + ] + }, + { + "frame": 105, + "time": 1838.447312399745, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.02940174385869524, + -0.9995676752767008, + -0.0, + 3433.539596181215 + ], + [ + -0.1510276364357947, + 0.004442396439881042, + -0.9885195588082656, + 103.8363234961798 + ], + [ + 0.9880921971794621, + -0.02906419908724864, + -0.15109295881833873, + -653.1737587403865 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.02940174385869524, + -0.1510276364357947, + 0.9880921971794621, + 762.0301016678873 + ], + [ + -0.9995676752767008, + 0.004442396439881042, + -0.02906419908724864, + 3412.60993796652 + ], + [ + -0.0, + -0.9885195588082656, + -0.15109295881833873, + 3.954281483502503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76203.01016678872, + -341260.993796652, + 395.4281483502503 + ], + "rotation_deg": [ + 0.0, + -8.690270423889162, + 1.6848386526107784 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.4489186631592521, + -0.8935726237230579, + -0.0, + 2703.5253050522233 + ], + [ + -0.04009741620263261, + -0.020144393415755312, + -0.9989926929801761, + 102.34504614756065 + ], + [ + 0.8926725201151857, + 0.4484664674508145, + -0.044873147910427166, + -2196.3696871788466 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.4489186631592521, + -0.04009741620263261, + 0.8926725201151857, + 751.0796648289087 + ], + [ + -0.8935726237230579, + -0.020144393415755312, + 0.4484664674508145, + 3402.856022428581 + ], + [ + -0.0, + -0.9989926929801761, + -0.044873147910427166, + 3.6839326238010077 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75107.96648289087, + -340285.6022428581, + 368.3932623801008 + ], + "rotation_deg": [ + 0.0, + -2.571905612945558, + -26.67432785034182 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.16227293082016853, + -0.9867459125443755, + -6.9388938510987485e-18, + 3492.1012909354163 + ], + [ + -0.12992013528453725, + 0.021365704035005612, + -0.9912942374183032, + 29.841897188687724 + ], + [ + 0.9781555365653065, + -0.16086022242418505, + -0.1316652388760184, + -186.34169326786363 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.16227293082016853, + -0.12992013528453725, + 0.9781555365653065, + 752.8217378515654 + ], + [ + -0.9867459125443755, + 0.021365704035005612, + -0.16086022242418505, + 3415.2041151703875 + ], + [ + -6.9388938510987485e-18, + -0.9912942374183032, + -0.1316652388760184, + 5.04737676955171 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75282.17378515654, + -341520.41151703877, + 504.737676955171 + ], + "rotation_deg": [ + 4.0106087600425473e-16, + -7.565830707550046, + 9.338850021362306 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.831469608077446, + -0.55557023934291, + -0.0, + 2536.0675919452474 + ], + [ + -0.16567846365447728, + 0.2479553393727327, + -0.9544992385317261, + -715.9324870954085 + ], + [ + 0.5302913639794624, + -0.7936371112234062, + -0.29821335479446304, + 2309.0446684420062 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.831469608077446, + -0.16567846365447728, + 0.5302913639794624, + 765.582079510525 + ], + [ + -0.55557023934291, + 0.2479553393727327, + -0.7936371112234062, + 3419.0264809542773 + ], + [ + -0.0, + -0.9544992385317261, + -0.29821335479446304, + 5.230933014620345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76558.20795105249, + -341902.6480954277, + 523.0933014620346 + ], + "rotation_deg": [ + 0.0, + -17.350324630737294, + 56.25000000000001 + ] + } + } + ] + }, + { + "frame": 106, + "time": 1838.5139790698886, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.03902697161077801, + -0.99923815754148, + -0.0, + 3439.946939131126 + ], + [ + -0.1509778650677122, + 0.005896701211201377, + -0.98851955629336, + 98.84411558913773 + ], + [ + 0.9877664599352455, + -0.038578924951926365, + -0.15109297527200635, + -620.5123711401476 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.03902697161077801, + -0.1509778650677122, + 0.9877664599352455, + 762.0952945170568 + ], + [ + -0.99923815754148, + 0.005896701211201377, + -0.038578924951926365, + 3412.804687220662 + ], + [ + -0.0, + -0.98851955629336, + -0.15109297527200635, + 3.954281483502503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76209.52945170568, + -341280.4687220662, + 395.4281483502503 + ], + "rotation_deg": [ + 0.0, + -8.690271377563478, + 2.2366487979888925 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.44958382133760777, + -0.8932381471877885, + 1.7347234625663824e-18, + 2701.948807925811 + ], + [ + -0.04029194132543686, + -0.02027970369070264, + -0.9989821285100374, + 102.96144461886529 + ], + [ + 0.8923289439076354, + 0.4491262059996358, + -0.04510772604617663, + -2198.482255765512 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.44958382133760777, + -0.04029194132543686, + 0.8923289439076354, + 751.1653907760061 + ], + [ + -0.8932381471877885, + -0.02027970369070264, + 0.4491262059996358, + 3402.9677576325084 + ], + [ + 1.7347234625663824e-18, + -0.9989821285100374, + -0.04510772604617663, + 3.6881089952156305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75116.53907760061, + -340296.77576325083, + 368.81089952156304 + ], + "rotation_deg": [ + -9.949360550177746e-17, + -2.585359573364259, + -26.716985702514666 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.157390465275138, + -0.9875364506895306, + -0.0, + 3491.165400386764 + ], + [ + -0.1296934093166775, + 0.020670129210135082, + -0.9913386733797147, + 32.046674757587525 + ], + [ + 0.9789830746173246, + -0.15602725622594604, + -0.13133025137953924, + -203.52996698648926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.157390465275138, + -0.1296934093166775, + 0.9789830746173246, + 752.884786329069 + ], + [ + -0.9875364506895306, + 0.020670129210135082, + -0.15602725622594604, + 3415.2344566248166 + ], + [ + -0.0, + -0.9913386733797147, + -0.13133025137953924, + 5.039465957905976 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75288.4786329069, + -341523.44566248165, + 503.94659579059754 + ], + "rotation_deg": [ + 0.0, + -7.5464692115783665, + 9.055461883544925 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.831469608077446, + -0.55557023934291, + -0.0, + 2536.185022735998 + ], + [ + -0.16567846365447728, + 0.2479553393727327, + -0.9544992385317261, + -715.9513189534437 + ], + [ + 0.5302913639794624, + -0.7936371112234062, + -0.29821335479446304, + 2309.1049440609268 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.831469608077446, + -0.16567846365447728, + 0.5302913639794624, + 765.6446359706487 + ], + [ + -0.55557023934291, + 0.2479553393727327, + -0.7936371112234062, + 3419.1442284337786 + ], + [ + -0.0, + -0.9544992385317261, + -0.29821335479446304, + 5.230933014620345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76564.46359706487, + -341914.42284337786, + 523.0933014620346 + ], + "rotation_deg": [ + 0.0, + -17.350324630737294, + 56.25000000000001 + ] + } + } + ] + }, + { + "frame": 107, + "time": 1838.5806457400322, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.04864847764266675, + -0.9988159618383413, + 4.336808657126328e-19, + 3446.0356310180196 + ], + [ + -0.1509140742632683, + 0.007350443172982271, + -0.9885195562933599, + 93.84288456488254 + ], + [ + 0.987349111219721, + -0.048089971897268595, + -0.15109297527200638, + -587.7920230239962 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.04864847764266675, + -0.1509140742632683, + 0.987349111219721, + 762.16253240823 + ], + [ + -0.9988159618383413, + 0.007350443172982271, + -0.048089971897268595, + 3412.998704812269 + ], + [ + 4.336808657126328e-19, + -0.9885195562933599, + -0.15109297527200638, + 3.954281483502503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76216.253240823, + -341299.8704812269, + 395.4281483502503 + ], + "rotation_deg": [ + -2.513666350372329e-17, + -8.69027137756348, + 2.7884531021118173 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.45025104880200945, + -0.8929020064109442, + 1.7347234625666684e-18, + 2700.3636625393738 + ], + [ + -0.04048643970104328, + -0.020415523547680784, + -0.9989714983915245, + 103.57965588492961 + ], + [ + 0.8919836536196208, + 0.4497879680940453, + -0.04534253448168168, + -2200.6013102744864 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.45025104880200945, + -0.04048643970104328, + 0.8919836536196208, + 751.2523921251703 + ], + [ + -0.8929020064109442, + -0.020415523547680784, + 0.4497879680940453, + 3403.0787456986345 + ], + [ + 1.7347234625666684e-18, + -0.9989714983915245, + -0.04534253448168168, + 3.6922844639770647 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75125.23921251703, + -340307.87456986343, + 369.2284463977065 + ], + "rotation_deg": [ + -9.949466421950449e-17, + -2.5988268852233896, + -26.759792327880877 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.15249613823669622, + -0.9883040664810067, + -1.734723462772253e-18, + 3490.1412302368803 + ], + [ + -0.1294594341750291, + 0.019975698208238746, + -0.991383491079095, + 34.242285254201754 + ], + [ + 0.979788335364575, + -0.15118215504279706, + -0.1309915030837139, + -220.74470596561545 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.15249613823669622, + -0.1294594341750291, + 0.979788335364575, + 752.9491385074809 + ], + [ + -0.9883040664810067, + 0.019975698208238746, + -0.15118215504279706, + 3415.264096144149 + ], + [ + -1.734723462772253e-18, + -0.991383491079095, + -0.1309915030837139, + 5.03155514626024 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75294.9138507481, + -341526.4096144149, + 503.155514626024 + ], + "rotation_deg": [ + 1.0025619218342357e-16, + -7.526891231536863, + 8.771609306335446 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.831469608077446, + -0.55557023934291, + -0.0, + 2536.3031475401817 + ], + [ + -0.16567846365447728, + 0.2479553393727327, + -0.9544992385317261, + -715.9697607677599 + ], + [ + 0.5302913639794624, + -0.7936371112234062, + -0.29821335479446304, + 2309.163971256772 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.831469608077446, + -0.16567846365447728, + 0.5302913639794624, + 765.7084961316807 + ], + [ + -0.55557023934291, + 0.2479553393727327, + -0.7936371112234062, + 3419.261273978183 + ], + [ + -0.0, + -0.9544992385317261, + -0.29821335479446304, + 5.230933014620345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76570.84961316807, + -341926.1273978183, + 523.0933014620346 + ], + "rotation_deg": [ + 0.0, + -17.350324630737294, + 56.25000000000001 + ] + } + } + ] + }, + { + "frame": 108, + "time": 1838.6473124101758, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.05826539252080019, + -0.998301128935752, + 8.673617314252656e-19, + 3451.8051443573813 + ], + [ + -0.1508362866288461, + 0.008803491443687677, + -0.9885195562933599, + 88.83308966084243 + ], + [ + 0.9868401888194988, + -0.05759648039723435, + -0.15109297527200638, + -555.0156460765423 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.05826539252080019, + -0.1508362866288461, + 0.9868401888194988, + 762.2317817239186 + ], + [ + -0.998301128935752, + 0.008803491443687677, + -0.05759648039723435, + 3413.191983500901 + ], + [ + 8.673617314252656e-19, + -0.9885195562933599, + -0.15109297527200638, + 3.954281483502503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76223.17817239187, + -341319.1983500901, + 395.4281483502503 + ], + "rotation_deg": [ + -5.027332700744658e-17, + -8.69027137756348, + 3.3402528762817387 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.4509201939964192, + -0.8925642714372064, + -1.7347234625669563e-18, + 2698.770236398392 + ], + [ + -0.04068092051967138, + -0.02055185173740584, + -0.9989608020817613, + 104.19968219783063 + ], + [ + 0.8916367188577567, + 0.45045160189330935, + -0.045577581510268084, + -2202.7263593337984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.4509201939964192, + -0.04068092051967138, + 0.8916367188577567, + 751.3406389682375 + ], + [ + -0.8925642714372064, + -0.02055185173740584, + 0.45045160189330935, + 3403.1889918563047 + ], + [ + -1.7347234625669563e-18, + -0.9989608020817613, + -0.045577581510268084, + 3.6964591384036947 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75134.06389682375, + -340318.8991856305, + 369.6459138403695 + ], + "rotation_deg": [ + 9.949572955236096e-17, + -2.6123080253601074, + -26.802738189697276 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.15237042548653362, + -0.9883234558772003, + -0.0, + 3490.2354894987166 + ], + [ + -0.13030690182964388, + 0.02008949393798642, + -0.9912701567024373, + 34.512464782508935 + ], + [ + 0.9796955466676394, + -0.1510402566891487, + -0.13184641329543592, + -221.23898368204152 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.15237042548653362, + -0.13030690182964388, + 0.9796955466676394, + 753.0527301261136 + ], + [ + -0.9883234558772003, + 0.02008949393798642, + -0.1510402566891487, + 3415.3722695973447 + ], + [ + -0.0, + -0.9912701567024373, + -0.13184641329543592, + 5.041609573002736 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75305.27301261136, + -341537.22695973446, + 504.1609573002736 + ], + "rotation_deg": [ + 0.0, + -7.576302528381346, + 8.764321327209473 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.831469608077446, + -0.55557023934291, + -0.0, + 2536.4219385581905 + ], + [ + -0.16567846365447728, + 0.2479553393727327, + -0.9544992385317261, + -715.9878180077715 + ], + [ + 0.5302913639794624, + -0.7936371112234062, + -0.29821335479446304, + 2309.2217675356364 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.831469608077446, + -0.16567846365447728, + 0.5302913639794624, + 765.773626689596 + ], + [ + -0.55557023934291, + 0.2479553393727327, + -0.7936371112234062, + 3419.3776173925125 + ], + [ + -0.0, + -0.9544992385317261, + -0.29821335479446304, + 5.230933014620345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76577.3626689596, + -341937.76173925126, + 523.0933014620346 + ], + "rotation_deg": [ + 0.0, + -17.350324630737294, + 56.25000000000001 + ] + } + } + ] + }, + { + "frame": 109, + "time": 1838.7139790803194, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.06787682439742482, + -0.9976937088654619, + -0.0, + 3457.2549717922 + ], + [ + -0.1507445097238915, + 0.010255711271388065, + -0.98851955629336, + 83.81519007849191 + ], + [ + 0.9862397421919433, + -0.06709756884285771, + -0.15109297527200635, + -522.1862446045785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.06787682439742482, + -0.1507445097238915, + 0.9862397421919433, + 762.3029975898909 + ], + [ + -0.9976937088654619, + 0.010255711271388065, + -0.06709756884285771, + 3413.3845235525996 + ], + [ + -0.0, + -0.98851955629336, + -0.15109297527200635, + 3.954281483502503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76230.29975898909, + -341338.45235526, + 395.4281483502503 + ], + "rotation_deg": [ + 0.0, + -8.690271377563478, + 3.8920481204986577 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.45159110557399235, + -0.8922250127442397, + 1.7347234625672462e-18, + 2697.168909834528 + ], + [ + -0.04087540046098296, + -0.020688690656833576, + -0.9989500386486104, + 104.82154348011362 + ], + [ + 0.8912882093122558, + 0.451116955594133, + -0.04581288373845916, + -2204.856904484321 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.45159110557399235, + -0.04087540046098296, + 0.8912882093122558, + 751.4300898014912 + ], + [ + -0.8922250127442397, + -0.020688690656833576, + 0.451116955594133, + 3403.298508198152 + ], + [ + 1.7347234625672462e-18, + -0.9989500386486104, + -0.04581288373845916, + 3.7006331138156963 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75143.00898014913, + -340329.8508198152, + 370.06331138156963 + ], + "rotation_deg": [ + -9.949680159361328e-17, + -2.6258039474487314, + -26.84581375122072 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.1538434386487431, + -0.9880952364953137, + -5.204170388339798e-18, + 3490.715661245023 + ], + [ + -0.13152064390320103, + 0.020477366314538715, + -0.991101910852818, + 34.1295083757057 + ], + [ + 0.9793030766766281, + -0.15247452716747692, + -0.13310523121479714, + -216.13101121857719 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.1538434386487431, + -0.13152064390320103, + 0.9793030766766281, + 753.1702039973351 + ], + [ + -0.9880952364953137, + 0.020477366314538715, + -0.15247452716747692, + 3415.506160261004 + ], + [ + -5.204170388339798e-18, + -0.991101910852818, + -0.13310523121479714, + 5.057652412541309 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75317.0203997335, + -341550.6160261004, + 505.7652412541309 + ], + "rotation_deg": [ + 3.008540273845742e-16, + -7.649068832397457, + 8.849725723266598 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.831469608077446, + -0.55557023934291, + -0.0, + 2536.541362862561 + ], + [ + -0.16567846365447728, + 0.2479553393727327, + -0.9544992385317261, + -716.0054998596977 + ], + [ + 0.5302913639794624, + -0.7936371112234062, + -0.29821335479446304, + 2309.2783623000923 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.831469608077446, + -0.16567846365447728, + 0.5302913639794624, + 765.8399831523208 + ], + [ + -0.55557023934291, + 0.2479553393727327, + -0.7936371112234062, + 3419.4932659959927 + ], + [ + -0.0, + -0.9544992385317261, + -0.29821335479446304, + 5.230933014620345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76583.99831523208, + -341949.32659959927, + 523.0933014620346 + ], + "rotation_deg": [ + 0.0, + -17.350324630737294, + 56.25000000000001 + ] + } + } + ] + }, + { + "frame": 110, + "time": 1838.780645750463, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.07748189441597134, + -0.9969937592772141, + 8.673617314252656e-19, + 3462.3846427232106 + ], + [ + -0.15063875225887569, + 0.011706969867030563, + -0.9885195562933599, + 78.78963883962591 + ], + [ + 0.9855478283249555, + -0.07659236846721262, + -0.15109297527200638, + -489.30678248459856 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.07748189441597134, + -0.15063875225887569, + 0.9855478283249555, + 762.3761332900274 + ], + [ + -0.9969937592772141, + 0.011706969867030563, + -0.07659236846721262, + 3413.5763278254226 + ], + [ + 8.673617314252656e-19, + -0.9885195562933599, + -0.15109297527200638, + 3.954281483502503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76237.61332900274, + -341357.63278254226, + 395.4281483502503 + ], + "rotation_deg": [ + -5.027332700744658e-17, + -8.69027137756348, + 4.4438395500183105 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.452263662090014, + -0.8918842861901588, + -0.0, + 2695.5599938947767 + ], + [ + -0.041069891864830566, + -0.020826042104377756, + -0.9989392073357006, + 105.44525427866556 + ], + [ + 0.8909381802249018, + 0.45178390734641055, + -0.04604845361519402, + -2206.9925374116096 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.452263662090014, + -0.041069891864830566, + 0.8909381802249018, + 751.520700989389 + ], + [ + -0.8918842861901588, + -0.020826042104377756, + 0.45178390734641055, + 3403.4073088417485 + ], + [ + -0.0, + -0.9989392073357006, + -0.04604845361519402, + 3.7048064740948248 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75152.0700989389, + -340340.7308841749, + 370.48064740948246 + ], + "rotation_deg": [ + 0.0, + -2.6393153667449964, + -26.88901138305666 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.1553242491592995, + -0.9878635420052203, + -0.0, + 3491.189628532149 + ], + [ + -0.1327392750922513, + 0.020870927371003926, + -0.9909312232635813, + 33.73113878933079 + ], + [ + 0.9789048277721986, + -0.15391564938273694, + -0.1343700526135657, + -210.99599554381558 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.1553242491592995, + -0.1327392750922513, + 0.9789048277721986, + 753.2888575080683 + ], + [ + -0.9878635420052203, + 0.020870927371003926, + -0.15391564938273694, + 3415.6393660307904 + ], + [ + -0.0, + -0.9909312232635813, + -0.1343700526135657, + 5.073695252079882 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75328.88575080683, + -341563.936603079, + 507.3695252079882 + ], + "rotation_deg": [ + 0.0, + -7.722194671630858, + 8.935602188110357 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.831469608077446, + -0.55557023934291, + -0.0, + 2536.661387494681 + ], + [ + -0.16567846365447728, + 0.2479553393727327, + -0.9544992385317261, + -716.0228164476691 + ], + [ + 0.5302913639794624, + -0.7936371112234062, + -0.29821335479446304, + 2309.3337879547075 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.831469608077446, + -0.16567846365447728, + 0.5302913639794624, + 765.9075192545575 + ], + [ + -0.55557023934291, + 0.2479553393727327, + -0.7936371112234062, + 3419.6082297056 + ], + [ + -0.0, + -0.9544992385317261, + -0.29821335479446304, + 5.230933014620345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76590.75192545576, + -341960.82297056, + 523.0933014620346 + ], + "rotation_deg": [ + 0.0, + -17.350324630737294, + 56.25000000000001 + ] + } + } + ] + }, + { + "frame": 111, + "time": 1838.8473124206066, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.08707972430808254, + -0.9962013459208073, + -0.0, + 3467.193709425435 + ], + [ + -0.15051902416813126, + 0.013157134530437015, + -0.98851955629336, + 73.75689109852377 + ], + [ + 0.9847645122134976, + -0.08608001108483204, + -0.15109297527200638, + -456.3802375447869 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.08707972430808254, + -0.15051902416813126, + 0.9847645122134976, + 762.4511520951777 + ], + [ + -0.9962013459208073, + 0.013157134530437015, + -0.08608001108483204, + 3413.767394742059 + ], + [ + -0.0, + -0.98851955629336, + -0.15109297527200638, + 3.954281483502503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76245.11520951777, + -341376.7394742059, + 395.4281483502503 + ], + "rotation_deg": [ + 0.0, + -8.69027137756348, + 4.995627880096437 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.452937831305395, + -0.8915421027480223, + 1.734723462567831e-18, + 2693.9435711602455 + ], + [ + -0.04126440132044194, + -0.02096391004596099, + -0.99892830756729, + 106.07083246123192 + ], + [ + 0.8905866421607771, + 0.4524524244944181, + -0.046284299432042965, + -2209.1331263007646 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.452937831305395, + -0.04126440132044194, + 0.8905866421607771, + 751.6124386364093 + ], + [ + -0.8915421027480223, + -0.02096391004596099, + 0.4524524244944181, + 3403.5154029691294 + ], + [ + 1.734723462567831e-18, + -0.99892830756729, + -0.046284299432042965, + 3.7089792930570256 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75161.24386364092, + -340351.54029691295, + 370.8979293057026 + ], + "rotation_deg": [ + -9.949896608640388e-17, + -2.6528427600860605, + -26.93232917785646 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.1568128972810411, + -0.987628328495252, + -1.7347234627893153e-18, + 3491.6572785450808 + ], + [ + -0.13396281573386615, + 0.021270245756478203, + -0.9907580636291146, + 33.317136204977196 + ], + [ + 0.978500729994515, + -0.15536364363335783, + -0.13564092169094136, + -205.83377457377168 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.1568128972810411, + -0.13396281573386615, + 0.978500729994515, + 753.4086544486081 + ], + [ + -0.987628328495252, + 0.021270245756478203, + -0.15536364363335783, + 3415.771892392212 + ], + [ + -1.7347234627893153e-18, + -0.9907580636291146, + -0.13564092169094136, + 5.089738091618455 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75340.86544486081, + -341577.1892392212, + 508.9738091618455 + ], + "rotation_deg": [ + 1.0031948006156604e-16, + -7.79568290710449, + 9.021953582763672 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.831469608077446, + -0.55557023934291, + -0.0, + 2536.7819853948668 + ], + [ + -0.16567846365447728, + 0.2479553393727327, + -0.9544992385317261, + -716.0397751310154 + ], + [ + 0.5302913639794624, + -0.7936371112234062, + -0.29821335479446304, + 2309.3880680546795 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.831469608077446, + -0.16567846365447728, + 0.5302913639794624, + 765.9761987866008 + ], + [ + -0.55557023934291, + 0.2479553393727327, + -0.7936371112234062, + 3419.722514006843 + ], + [ + -0.0, + -0.9544992385317261, + -0.29821335479446304, + 5.230933014620345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76597.61987866007, + -341972.2514006843, + 523.0933014620346 + ], + "rotation_deg": [ + 0.0, + -17.350324630737294, + 56.25000000000001 + ] + } + } + ] + }, + { + "frame": 112, + "time": 1838.9139790907502, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.09666942818124935, + -0.9953165434449031, + -8.673617314252656e-19, + 3471.6817366250384 + ], + [ + -0.15038533673054644, + 0.014606071409473474, + -0.9885195562933599, + 68.71741062300636 + ], + [ + 0.9838898676492353, + -0.09555962097362584, + -0.15109297527200635, + -423.40964396707045 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.09666942818124935, + -0.15038533673054644, + 0.9838898676492353, + 762.5280405238186 + ], + [ + -0.9953165434449031, + 0.014606071409473474, + -0.09555962097362584, + 3413.9577095892314 + ], + [ + -8.673617314252656e-19, + -0.9885195562933599, + -0.15109297527200635, + 3.954281483502503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76252.80405238186, + -341395.77095892315, + 395.4281483502503 + ], + "rotation_deg": [ + 5.027332700744658e-17, + -8.690271377563478, + 5.547413349151613 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.4536134623440377, + -0.8911985338746097, + -3.4694469251362523e-18, + 2692.3199967957476 + ], + [ + -0.04145894563582923, + -0.021102296693912368, + -0.9989173383724037, + 106.69829824755085 + ], + [ + 0.8902336657518803, + 0.45312235569377135, + -0.04652043779347909, + -2211.2781948898037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.4536134623440377, + -0.04145894563582923, + 0.8902336657518803, + 751.7052918855345 + ], + [ + -0.8911985338746097, + -0.021102296693912368, + 0.45312235569377135, + 3403.6227861849934 + ], + [ + -3.4694469251362523e-18, + -0.9989173383724037, + -0.04652043779347909, + 3.71315163566033 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75170.52918855345, + -340362.27861849935, + 371.315163566033 + ], + "rotation_deg": [ + 1.9900011738578781e-16, + -2.666387081146241, + -26.97575759887696 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.15830943952282453, + -0.987389548941029, + -3.469446925588222e-18, + 3492.118490644794 + ], + [ + -0.13519125267684395, + 0.02167538785741993, + -0.990582405840572, + 32.8872665999 + ], + [ + 0.9780907145548815, + -0.15681854665125297, + -0.13691784955844774, + -200.6441559729791 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.15830943952282453, + -0.13519125267684395, + 0.9780907145548815, + 753.5295819254549 + ], + [ + -0.987389548941029, + 0.02167538785741993, + -0.15681854665125297, + 3415.9037316970284 + ], + [ + -3.469446925588222e-18, + -0.990582405840572, + -0.13691784955844774, + 5.105780931157028 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75352.95819254548, + -341590.3731697028, + 510.5780931157028 + ], + "rotation_deg": [ + 2.00674538987013e-16, + -7.869534492492672, + 9.108783721923825 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.831469608077446, + -0.55557023934291, + -0.0, + 2536.9031415934287 + ], + [ + -0.16567846365447728, + 0.2479553393727327, + -0.9544992385317261, + -716.0563761494891 + ], + [ + 0.5302913639794624, + -0.7936371112234062, + -0.29821335479446304, + 2309.441203367391 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.831469608077446, + -0.16567846365447728, + 0.5302913639794624, + 766.0460088549507 + ], + [ + -0.55557023934291, + 0.2479553393727327, + -0.7936371112234062, + 3419.8361112514795 + ], + [ + -0.0, + -0.9544992385317261, + -0.29821335479446304, + 5.230933014620345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76604.60088549508, + -341983.61112514796, + 523.0933014620346 + ], + "rotation_deg": [ + 0.0, + -17.350324630737294, + 56.25000000000001 + ] + } + } + ] + }, + { + "frame": 113, + "time": 1838.9806457608938, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.10625012504336025, + -0.9943394344630357, + 1.7347234628505312e-18, + 3475.8483155871954 + ], + [ + -0.15023770242844595, + 0.016053647392421645, + -0.9885195562933599, + 63.67166091405171 + ], + [ + 0.9829239762972645, + -0.10503032725564265, + -0.15109297527200635, + -390.39803418756594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.10625012504336025, + -0.15023770242844595, + 0.9829239762972645, + 762.6067932718851 + ], + [ + -0.9943394344630357, + 0.016053647392421645, + -0.10503032725564265, + 3414.1472527200094 + ], + [ + 1.7347234628505312e-18, + -0.9885195562933599, + -0.15109297527200635, + 3.954281483502503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76260.67932718851, + -341414.72527200094, + 395.4281483502503 + ], + "rotation_deg": [ + -1.0054665401489316e-16, + -8.690271377563478, + 6.099196434020998 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.4542905231716155, + -0.8908535909769122, + -0.0, + 2690.689323968274 + ], + [ + -0.04165352404094282, + -0.021241202168529833, + -0.9989062995423577, + 107.32765173103058 + ], + [ + 0.889879262323969, + 0.453793668661551, + -0.04675686867658422, + -2213.4276322986916 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.4542905231716155, + -0.04165352404094282, + 0.889879262323969, + 751.799257881353 + ], + [ + -0.8908535909769122, + -0.021241202168529833, + 0.453793668661551, + 3403.72944877068 + ], + [ + -0.0, + -0.9989062995423577, + -0.04675686867658422, + 3.717323559067804 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75179.9257881353, + -340372.944877068, + 371.7323559067804 + ], + "rotation_deg": [ + 0.0, + -2.679948329925539, + -27.01929473876955 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.15981394861609086, + -0.9871471530768515, + -1.7347234627989766e-18, + 3492.573141795052 + ], + [ + -0.13642460439978196, + 0.022086428198228213, + -0.990404218995359, + 32.4412931622592 + ], + [ + 0.9776747048332611, + -0.1582804101555148, + -0.13820088020775156, + -195.426898981911 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.15981394861609086, + -0.13642460439978196, + 0.9776747048332611, + 753.6516352910922 + ], + [ + -0.9871471530768515, + 0.022086428198228213, + -0.1582804101555148, + 3416.034871363987 + ], + [ + -1.7347234627989766e-18, + -0.990404218995359, + -0.13820088020775156, + 5.121823770695601 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75365.16352910922, + -341603.4871363987, + 512.1823770695601 + ], + "rotation_deg": [ + 1.0035532149837907e-16, + -7.943752288818358, + 9.1960973739624 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.831469608077446, + -0.55557023934291, + -0.0, + 2537.024845236331 + ], + [ + -0.16567846365447728, + 0.2479553393727327, + -0.9544992385317261, + -716.0726171534956 + ], + [ + 0.5302913639794624, + -0.7936371112234062, + -0.29821335479446304, + 2309.493186372433 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.831469608077446, + -0.16567846365447728, + 0.5302913639794624, + 766.1169448120916 + ], + [ + -0.55557023934291, + 0.2479553393727327, + -0.7936371112234062, + 3419.9490088582593 + ], + [ + -0.0, + -0.9544992385317261, + -0.29821335479446304, + 5.230933014620345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76611.69448120915, + -341994.9008858259, + 523.0933014620346 + ], + "rotation_deg": [ + 0.0, + -17.350324630737294, + 56.25000000000001 + ] + } + } + ] + }, + { + "frame": 114, + "time": 1839.0473124310374, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.11582091819313405, + -0.9932701117565649, + -0.0, + 3479.693061560134 + ], + [ + -0.15007613528044125, + 0.017499726994018073, + -0.98851955629336, + 58.62011437764193 + ], + [ + 0.9818669298737766, + -0.11449124352410961, + -0.15109297527200627, + -357.34849890301456 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.11582091819313405, + -0.15007613528044125, + 0.9818669298737766, + 762.6874023529615 + ], + [ + -0.9932701117565649, + 0.017499726994018073, + -0.11449124352410961, + 3414.336006071677 + ], + [ + -0.0, + -0.98851955629336, + -0.15109297527200627, + 3.954281483502503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76268.74023529615, + -341433.6006071677, + 395.4281483502503 + ], + "rotation_deg": [ + 0.0, + -8.690271377563475, + 6.650976657867432 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.45496892249993853, + -0.8905073158370147, + -0.0, + 2689.051756214849 + ], + [ + -0.04184814460442091, + -0.021380627559919707, + -0.9988951904771148, + 107.95890284185242 + ], + [ + 0.889523473196194, + 0.4544662717486335, + -0.04699360037151274, + -2215.5811460957666 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.45496892249993853, + -0.04184814460442091, + 0.889523473196194, + 751.8943309395165 + ], + [ + -0.8905073158370147, + -0.021380627559919707, + 0.4544662717486335, + 3403.8353822474246 + ], + [ + -0.0, + -0.9988951904771148, + -0.04699360037151274, + 3.721495113582949 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75189.43309395165, + -340383.53822474246, + 372.1495113582949 + ], + "rotation_deg": [ + 0.0, + -2.6935269832611093, + -27.0629348754883 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.16132643135682898, + -0.986901100691285, + -1.7347234628039135e-18, + 3493.0210948092713 + ], + [ + -0.13766287397184304, + 0.02250343035654338, + -0.9902234741471241, + 31.979004498910246 + ], + [ + 0.9772526362163945, + -0.15974922053214835, + -0.13949004103332335, + -190.18199236051322 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.16132643135682898, + -0.13766287397184304, + 0.9772526362163945, + 753.7748072841206 + ], + [ + -0.986901100691285, + 0.02250343035654338, + -0.15974922053214835, + 3416.165300395246 + ], + [ + -1.7347234628039135e-18, + -0.9902234741471241, + -0.13949004103332335, + 5.137866610234173 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75377.48072841206, + -341616.5300395246, + 513.7866610234173 + ], + "rotation_deg": [ + 1.0037363929038281e-16, + -8.01833820343017, + 9.283895492553713 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.831469608077446, + -0.55557023934291, + -0.0, + 2537.147084175866 + ], + [ + -0.16567846365447728, + 0.2479553393727327, + -0.9544992385317261, + -716.0884966191184 + ], + [ + 0.5302913639794624, + -0.7936371112234062, + -0.29821335479446304, + 2309.5440121921647 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.831469608077446, + -0.16567846365447728, + 0.5302913639794624, + 766.1889993966234 + ], + [ + -0.55557023934291, + 0.2479553393727327, + -0.7936371112234062, + 3420.061195829339 + ], + [ + -0.0, + -0.9544992385317261, + -0.29821335479446304, + 5.230933014620345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76618.89993966234, + -342006.1195829339, + 523.0933014620346 + ], + "rotation_deg": [ + 0.0, + -17.350324630737294, + 56.25000000000001 + ] + } + } + ] + }, + { + "frame": 115, + "time": 1839.113979101181, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.1253809449316984, + -0.9921086728015404, + -1.7347234628505312e-18, + 3483.2156330144358 + ], + [ + -0.14990065001447875, + 0.018944179866524375, + -0.9885195562933599, + 53.56322603773452 + ], + [ + 0.9807188247357562, + -0.12394151698430034, + -0.1510929752720063, + -324.2640150889751 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.1253809449316984, + -0.14990065001447875, + 0.9807188247357562, + 762.7698570966635 + ], + [ + -0.9921086728015404, + 0.018944179866524375, + -0.12394151698430034, + 3414.523953308777 + ], + [ + -1.7347234628505312e-18, + -0.9885195562933599, + -0.1510929752720063, + 3.954281483502503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76276.98570966635, + -341452.3953308777, + 395.4281483502503 + ], + "rotation_deg": [ + 1.0054665401489316e-16, + -8.690271377563477, + 7.202755451202394 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.45564862843503134, + -0.8901597201655859, + -3.4694469251380472e-18, + 2687.40735266817 + ], + [ + -0.0420428176998433, + -0.02152057859561894, + -0.9988840103719587, + 108.59207892729812 + ], + [ + 0.8891663094671907, + 0.4551401325424175, + -0.04723064532448096, + -2217.7386208467624 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.45564862843503134, + -0.0420428176998433, + 0.8891663094671907, + 751.9905025708636 + ], + [ + -0.8901597201655859, + -0.02152057859561894, + 0.4551401325424175, + 3403.940579559261 + ], + [ + -3.4694469251380472e-18, + -0.9988840103719587, + -0.04723064532448096, + 3.725666343472844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75199.05025708636, + -340394.0579559261, + 372.5666343472844 + ], + "rotation_deg": [ + 1.9900675707171208e-16, + -2.7071237564086914, + -27.10667610168458 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.1628469764872661, + -0.9866513377323093, + -3.4694469256178453e-18, + 3493.4622282909936 + ], + [ + -0.13890604578291676, + 0.02292646723972411, + -0.9900401444107504, + 31.500142876241654 + ], + [ + 0.9768244325352728, + -0.1612250453309701, + -0.14078534284565558, + -184.9091361689975 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.1628469764872661, + -0.13890604578291676, + 0.9768244325352728, + 753.899088027573 + ], + [ + -0.9866513377323093, + 0.02292646723972411, + -0.1612250453309701, + 3416.29500951805 + ], + [ + -3.4694469256178453e-18, + -0.9900401444107504, + -0.14078534284565558, + 5.153909449772748 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75389.9088027573, + -341629.500951805, + 515.3909449772748 + ], + "rotation_deg": [ + 2.0078445176656192e-16, + -8.093293190002436, + 9.372183799743645 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.831469608077446, + -0.55557023934291, + -0.0, + 2537.2698450479684 + ], + [ + -0.16567846365447728, + 0.2479553393727327, + -0.9544992385317261, + -716.1040138835291 + ], + [ + 0.5302913639794624, + -0.7936371112234062, + -0.29821335479446304, + 2309.593678705056 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.831469608077446, + -0.16567846365447728, + 0.5302913639794624, + 766.2621627315791 + ], + [ + -0.55557023934291, + 0.2479553393727327, + -0.7936371112234062, + 3420.1726628919637 + ], + [ + -0.0, + -0.9544992385317261, + -0.29821335479446304, + 5.230933014620345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76626.21627315792, + -342017.2662891964, + 523.0933014620346 + ], + "rotation_deg": [ + 0.0, + -17.350324630737294, + 56.25000000000001 + ] + } + } + ] + }, + { + "frame": 116, + "time": 1839.1806457713246, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.13492931047371792, + -0.9908552271523254, + -0.0, + 3486.415706456808 + ], + [ + -0.14971124688025045, + 0.02038686859408101, + -0.9885195588082656, + 48.5014636239923 + ], + [ + 0.9794797716717449, + -0.1333802634627263, + -0.1510929588183387, + -291.1476753601515 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.13492931047371792, + -0.14971124688025045, + 0.9794797716717449, + 762.8541441629693 + ], + [ + -0.9908552271523254, + 0.02038686859408101, + -0.1333802634627263, + 3414.711079959548 + ], + [ + -0.0, + -0.9885195588082656, + -0.1510929588183387, + 3.954281483502503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76285.41441629693, + -341471.1079959548, + 395.4281483502503 + ], + "rotation_deg": [ + 0.0, + -8.69027042388916, + 7.754532337188718 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.45632954987680047, + -0.8898108461404795, + 1.7347234625693268e-18, + 2685.7563234296376 + ], + [ + -0.04223754774075184, + -0.02166105440503276, + -0.9988727588050992, + 109.22718029943162 + ], + [ + 0.8888078130103259, + 0.4558151596643422, + -0.04746800766803099, + -2219.8997618065832 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.45632954987680047, + -0.04223754774075184, + 0.8888078130103259, + 752.0877615183875 + ], + [ + -0.8898108461404795, + -0.02166105440503276, + 0.4558151596643422, + 3404.045035244463 + ], + [ + 1.7347234625693268e-18, + -0.9988727588050992, + -0.04746800766803099, + 3.729837287692519 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75208.77615183876, + -340404.50352444634, + 372.9837287692519 + ], + "rotation_deg": [ + -9.950449936823817e-17, + -2.7207388877868666, + -27.15051269531252 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.1643756396597362, + -0.9863978148224236, + -3.4694469256280108e-18, + 3493.8964133054124 + ], + [ + -0.14015412061904842, + 0.02335561056757949, + -0.9898542003388763, + 31.00446653749773 + ], + [ + 0.9763900198441571, + -0.16270791857370465, + -0.14208681283686647, + -179.60814375024844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.1643756396597362, + -0.14015412061904842, + 0.9763900198441571, + 754.0244650431738 + ], + [ + -0.9863978148224236, + 0.02335561056757949, + -0.16270791857370465, + 3416.423991319898 + ], + [ + -3.4694469256280108e-18, + -0.9898542003388763, + -0.14208681283686647, + 5.16995228931132 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75402.44650431738, + -341642.3991319898, + 516.995228931132 + ], + "rotation_deg": [ + 2.0082216911837002e-16, + -8.168619155883786, + 9.460966110229494 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.831469608077446, + -0.55557023934291, + -0.0, + 2537.3931133591673 + ], + [ + -0.16567846365447728, + 0.2479553393727327, + -0.9544992385317261, + -716.1191691761401 + ], + [ + 0.5302913639794624, + -0.7936371112234062, + -0.29821335479446304, + 2309.642186645392 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.831469608077446, + -0.16567846365447728, + 0.5302913639794624, + 766.3364223386833 + ], + [ + -0.55557023934291, + 0.2479553393727327, + -0.7936371112234062, + 3420.2834026336327 + ], + [ + -0.0, + -0.9544992385317261, + -0.29821335479446304, + 5.230933014620345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76633.64223386833, + -342028.34026336326, + 523.0933014620346 + ], + "rotation_deg": [ + 0.0, + -17.350324630737294, + 56.25000000000001 + ] + } + } + ] + }, + { + "frame": 117, + "time": 1839.2473124414682, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.14446513764100738, + -0.9895098908077494, + -1.7347234628505314e-18, + 3489.2929950924063 + ], + [ + -0.14950797603290505, + 0.021827664924491844, + -0.9885195588082655, + 43.43530121485751 + ], + [ + 0.9781498803616587, + -0.14280661519688986, + -0.15109295881833865, + -258.00251263635266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.14446513764100738, + -0.14950797603290505, + 0.9781498803616587, + 762.9402475725977 + ], + [ + -0.9895098908077494, + 0.021827664924491844, + -0.14280661519688986, + 3414.8973735437703 + ], + [ + -1.7347234628505314e-18, + -0.9885195588082655, + -0.15109295881833865, + 3.954281483502503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76294.02475725977, + -341489.73735437705, + 395.4281483502503 + ], + "rotation_deg": [ + 1.0054665375909109e-16, + -8.690270423889157, + 8.30630779266357 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.45701168468457687, + -0.8894606905657858, + -0.0, + 2684.0986601174986 + ], + [ + -0.04243233331065483, + -0.021802056388871505, + -0.9988614355490105, + 109.86421052340509 + ], + [ + 0.8884479805488967, + 0.45649135068518554, + -0.04770568737794412, + -2222.064541432401 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.45701168468457687, + -0.04243233331065483, + 0.8884479805488967, + 752.1860938075203 + ], + [ + -0.8894606905657858, + -0.021802056388871505, + 0.45649135068518554, + 3404.1487455941033 + ], + [ + -0.0, + -0.9988614355490105, + -0.04770568737794412, + 3.7340079805224007 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75218.60938075202, + -340414.8745594103, + 373.4007980522401 + ], + "rotation_deg": [ + 0.0, + -2.7343723773956317, + -27.194444656372088 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.16591245988821762, + -0.9861404847453736, + -0.0, + 3494.323517290101 + ], + [ + -0.1414071315355706, + 0.02379093587751959, + -0.989665607425535, + 30.491744552495888 + ], + [ + 0.975949321472815, + -0.16419785662835498, + -0.14339451103653233, + -174.2788837006635 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.16591245988821762, + -0.1414071315355706, + 0.975949321472815, + 754.1509232816383 + ], + [ + -0.9861404847453736, + 0.02379093587751959, + -0.16419785662835498, + 3416.5522403751816 + ], + [ + -0.0, + -0.989665607425535, + -0.14339451103653233, + 5.185995128849893 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75415.09232816382, + -341655.22403751814, + 518.5995128849893 + ], + "rotation_deg": [ + 0.0, + -8.244319915771484, + 9.55024528503418 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.831469608077446, + -0.55557023934291, + -0.0, + 2537.5168735821326 + ], + [ + -0.16567846365447728, + 0.2479553393727327, + -0.9544992385317261, + -716.133963644985 + ], + [ + 0.5302913639794624, + -0.7936371112234062, + -0.29821335479446304, + 2309.6895396877135 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.831469608077446, + -0.16567846365447728, + 0.5302913639794624, + 766.4117631686511 + ], + [ + -0.55557023934291, + 0.2479553393727327, + -0.7936371112234062, + 3420.393409628737 + ], + [ + -0.0, + -0.9544992385317261, + -0.29821335479446304, + 5.230933014620345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76641.17631686511, + -342039.3409628737, + 523.0933014620346 + ], + "rotation_deg": [ + 0.0, + -17.350324630737294, + 56.25000000000001 + ] + } + } + ] + }, + { + "frame": 118, + "time": 1839.3139791116118, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.15398752571708788, + -0.9880727918142109, + -0.0, + 3491.8472365585085 + ], + [ + -0.14929084049552557, + 0.0232664307028637, + -0.9885195588082656, + 38.36521037488239 + ], + [ + 0.9767292798769306, + -0.1522196821262358, + -0.15109295881833865, + -224.8316483127782 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.15398752571708788, + -0.14929084049552557, + 0.9767292798769306, + 763.0281487545435 + ], + [ + -0.9880727918142109, + 0.0232664307028637, + -0.1522196821262358, + 3415.0828236891593 + ], + [ + -0.0, + -0.9885195588082656, + -0.15109295881833865, + 3.954281483502503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76302.81487545435, + -341508.2823689159, + 395.4281483502503 + ], + "rotation_deg": [ + 0.0, + -8.690270423889157, + 8.858080863952637 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.4576949715128137, + -0.8891092807140663, + -0.0, + 2682.434505551956 + ], + [ + -0.04262718553477107, + -0.02194358881659552, + -0.9988500397773595, + 110.50319227250986 + ], + [ + 0.8880868387082445, + 0.457168643763814, + -0.0479436968990906, + -2224.2327508818566 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.4576949715128137, + -0.04262718553477107, + 0.8880868387082445, + 752.285482811169 + ], + [ + -0.8891092807140663, + -0.02194358881659552, + 0.457168643763814, + 3404.2517087954097 + ], + [ + -0.0, + -0.9988500397773595, + -0.0479436968990906, + 3.7381784521292634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75228.5482811169, + -340425.17087954096, + 373.81784521292633 + ], + "rotation_deg": [ + 0.0, + -2.748024940490724, + -27.23846817016603 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.16745749238533733, + -0.9858792969953343, + -0.0, + 3494.7434102896914 + ], + [ + -0.14266504558053372, + 0.024232510873051723, + -0.98947434033748, + 29.96172257474866 + ], + [ + 0.9755022666703966, + -0.16569489305668977, + -0.14470843146081927, + -168.9211678672556 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.16745749238533733, + -0.14266504558053372, + 0.9755022666703966, + 754.2784451701231 + ], + [ + -0.9858792969953343, + 0.024232510873051723, + -0.16569489305668977, + 3416.679753360449 + ], + [ + -0.0, + -0.98947434033748, + -0.14470843146081927, + 5.202037968388465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75427.8445170123, + -341667.9753360449, + 520.2037968388465 + ], + "rotation_deg": [ + 0.0, + -8.320395469665524, + 9.640025138854984 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.831469608077446, + -0.55557023934291, + -0.0, + 2537.6411092591684 + ], + [ + -0.16567846365447728, + 0.2479553393727327, + -0.9544992385317261, + -716.1483993774383 + ], + [ + 0.5302913639794624, + -0.7936371112234062, + -0.29821335479446304, + 2309.735744513135 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.831469608077446, + -0.16567846365447728, + 0.5302913639794624, + 766.4881676486393 + ], + [ + -0.55557023934291, + 0.2479553393727327, + -0.7936371112234062, + 3420.502680553826 + ], + [ + -0.0, + -0.9544992385317261, + -0.29821335479446304, + 5.230933014620345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76648.81676486394, + -342050.2680553826, + 523.0933014620346 + ], + "rotation_deg": [ + 0.0, + -17.350324630737294, + 56.25000000000001 + ] + } + } + ] + }, + { + "frame": 119, + "time": 1839.3806457817554, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.1634956328163062, + -0.9865440578352268, + -5.2041703885515935e-18, + 3494.0782132992586 + ], + [ + -0.14905985955717024, + 0.024703038726203223, + -0.9885195588082655, + 33.2916372555861 + ], + [ + 0.9752180964154487, + -0.1616186320303099, + -0.15109295881833865, + -191.63800131775173 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.1634956328163062, + -0.14905985955717024, + 0.9752180964154487, + 763.1178266091146 + ], + [ + -0.9865440578352268, + 0.024703038726203223, + -0.1616186320303099, + 3415.2674222352284 + ], + [ + -5.2041703885515935e-18, + -0.9885195588082655, + -0.15109295881833865, + 3.954281483502503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76311.78266091146, + -341526.74222352286, + 395.4281483502503 + ], + "rotation_deg": [ + 3.0163996127727325e-16, + -8.690270423889157, + 9.409853935241692 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.4583793786872917, + -0.8887566287765465, + -0.0, + 2680.763931946977 + ], + [ + -0.042822100041097884, + -0.022085649744119785, + -0.9988385714535909, + 111.14411533105574 + ], + [ + 0.8877243997522747, + 0.4578470070580079, + -0.04818203205021956, + -2226.4042713285535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.4583793786872917, + -0.042822100041097884, + 0.8877243997522747, + 752.3859093281383 + ], + [ + -0.8887566287765465, + -0.022085649744119785, + 0.4578470070580079, + 3404.3539250592717 + ], + [ + -0.0, + -0.9988385714535909, + -0.04818203205021956, + 3.7423487290598696 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75238.59093281382, + -340435.3925059272, + 374.23487290598695 + ], + "rotation_deg": [ + 0.0, + -2.7616963386535653, + -27.282581329345717 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.16901079213140607, + -0.9856142004573161, + -0.0, + 3495.1559618163005 + ], + [ + -0.14392787791388492, + 0.024680412117369297, + -0.9892803663355108, + 29.414151758151693 + ], + [ + 0.9750487769105453, + -0.16719905960910367, + -0.1460286174387792, + -163.53480538417372 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.16901079213140607, + -0.14392787791388492, + 0.9750487769105453, + 754.407010675172 + ], + [ + -0.9856142004573161, + 0.024680412117369297, + -0.16719905960910367, + 3416.8065291571925 + ], + [ + -0.0, + -0.9892803663355108, + -0.1460286174387792, + 5.218080807927039 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75440.7010675172, + -341680.65291571926, + 521.8080807927039 + ], + "rotation_deg": [ + 0.0, + -8.396848678588867, + 9.730309486389162 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.831469608077446, + -0.55557023934291, + -0.0, + 2537.765803111655 + ], + [ + -0.16567846365447728, + 0.2479553393727327, + -0.9544992385317261, + -716.1624794152716 + ], + [ + 0.5302913639794624, + -0.7936371112234062, + -0.29821335479446304, + 2309.780810857533 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.831469608077446, + -0.16567846365447728, + 0.5302913639794624, + 766.5656157451917 + ], + [ + -0.55557023934291, + 0.2479553393727327, + -0.7936371112234062, + 3420.61121429039 + ], + [ + -0.0, + -0.9544992385317261, + -0.29821335479446304, + 5.230933014620345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76656.56157451918, + -342061.121429039, + 523.0933014620346 + ], + "rotation_deg": [ + 0.0, + -17.350324630737294, + 56.25000000000001 + ] + } + } + ] + }, + { + "frame": 120, + "time": 1839.447312451899, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.17298856075226587, + -0.9849238335266638, + 1.7347234628505314e-18, + 3495.985724024918 + ], + [ + -0.14881505507432186, + 0.026137353284871236, + -0.9885195588082655, + 28.215058605565876 + ], + [ + 0.9736164729723701, + -0.17100257703427182, + -0.15109295881833865, + -158.42469075974128 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.17298856075226587, + -0.14881505507432186, + 0.9736164729723701, + 763.2092575871192 + ], + [ + -0.9849238335266638, + 0.026137353284871236, + -0.17100257703427182, + 3415.4511633219076 + ], + [ + 1.7347234628505314e-18, + -0.9885195588082655, + -0.15109295881833865, + 3.954281483502503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76320.92575871192, + -341545.11633219075, + 395.4281483502503 + ], + "rotation_deg": [ + -1.0054665375909109e-16, + -8.690270423889157, + 9.961626052856445 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.459064874572528, + -0.8884027470318339, + -1.7347234625705584e-18, + 2679.0870148874324 + ], + [ + -0.04301708724689735, + -0.022228244821900372, + -0.9988270297388484, + 111.78700638247082 + ], + [ + 0.8873606753194413, + 0.4585264083967909, + -0.04842070527537598, + -2228.5789810775937 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.459064874572528, + -0.04301708724689735, + 0.8873606753194413, + 752.4873516758369 + ], + [ + -0.8884027470318339, + -0.022228244821900372, + 0.4585264083967909, + 3404.455396729584 + ], + [ + -1.7347234625705584e-18, + -0.9988270297388484, + -0.04842070527537598, + 3.746518834675371 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75248.73516758368, + -340445.53967295843, + 374.6518834675371 + ], + "rotation_deg": [ + 9.950905495972594e-17, + -2.775387287139894, + -27.326782226562514 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.17057241387011582, + -0.9853451434023114, + -5.204170388505249e-18, + 3495.5610409064134 + ], + [ + -0.14519562679709422, + 0.025134714178068323, + -0.9890836547543312, + 28.848776858843852 + ], + [ + 0.9745887752404324, + -0.1687103877761952, + -0.1473550957101921, + -158.1196048145027 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.17057241387011582, + -0.14519562679709422, + 0.9745887752404324, + 754.5365973818052 + ], + [ + -0.9853451434023114, + 0.025134714178068323, + -0.1687103877761952, + 3416.9325689394345 + ], + [ + -5.204170388505249e-18, + -0.9890836547543312, + -0.1473550957101921, + 5.234123647465612 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75453.65973818052, + -341693.2568939435, + 523.4123647465613 + ], + "rotation_deg": [ + 3.014679294363209e-16, + -8.473681449890133, + 9.821102142333983 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.831469608077446, + -0.55557023934291, + -0.0, + 2537.8909371544696 + ], + [ + -0.16567846365447728, + 0.2479553393727327, + -0.9544992385317261, + -716.1762077632701 + ], + [ + 0.5302913639794624, + -0.7936371112234062, + -0.29821335479446304, + 2309.8247515391286 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.831469608077446, + -0.16567846365447728, + 0.5302913639794624, + 766.6440850433282 + ], + [ + -0.55557023934291, + 0.2479553393727327, + -0.7936371112234062, + 3420.7190120124533 + ], + [ + -0.0, + -0.9544992385317261, + -0.29821335479446304, + 5.230933014620345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76664.40850433282, + -342071.9012012453, + 523.0933014620346 + ], + "rotation_deg": [ + 0.0, + -17.350324630737294, + 56.25000000000001 + ] + } + } + ] + }, + { + "frame": 121, + "time": 1839.5139791220427, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.18246541285873638, + -0.9832122726605331, + -5.2041703885515935e-18, + 3497.569600880343 + ], + [ + -0.1485564502808483, + 0.027569238898914942, + -0.9885195588082655, + 23.135951031744145 + ], + [ + 0.9719245615543405, + -0.1803706307659949, + -0.15109295881833856, + -125.19483482031507 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.18246541285873638, + -0.1485564502808483, + 0.9719245615543405, + 763.3024157843386 + ], + [ + -0.9832122726605331, + 0.027569238898914942, + -0.1803706307659949, + 3415.6340434612102 + ], + [ + -5.2041703885515935e-18, + -0.9885195588082655, + -0.15109295881833856, + 3.954281483502503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76330.24157843385, + -341563.404346121, + 395.4281483502503 + ], + "rotation_deg": [ + 3.0163996127727325e-16, + -8.690270423889153, + 10.513396263122553 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.45975145713484067, + -0.8880476325414027, + 1.7347234625708708e-18, + 2677.4037590112393 + ], + [ + -0.04321214205614989, + -0.022371373503218488, + -0.9988154145919548, + 112.43185927268051 + ], + [ + 0.8869956625586293, + 0.45920684554133434, + -0.048659712392857386, + -2230.756848428387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.45975145713484067, + -0.04321214205614989, + 0.8869956625586293, + 752.5897857966316 + ], + [ + -0.8880476325414027, + -0.022371373503218488, + 0.45920684554133434, + 3404.556128373081 + ], + [ + 1.7347234625708708e-18, + -0.9988154145919548, + -0.048659712392857386, + 3.750688789533579 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75258.97857966316, + -340455.6128373081, + 375.0688789533579 + ], + "rotation_deg": [ + -9.951021214281666e-17, + -2.7890975475311293, + -27.371070861816428 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.1721424121041675, + -0.9850720734824222, + -3.4694469256810886e-18, + 3495.9585161637874 + ], + [ + -0.1464682898342843, + 0.02559549233764359, + -0.9888841746357422, + 28.26533919927123 + ], + [ + 0.9741221839449231, + -0.1702289083893184, + -0.14868789289970552, + -152.67537373729323 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.1721424121041675, + -0.1464682898342843, + 0.9741221839449231, + 754.6671805878864 + ], + [ + -0.9850720734824222, + 0.02559549233764359, + -0.1702289083893184, + 3417.0578762444247 + ], + [ + -3.4694469256810886e-18, + -0.9888841746357422, + -0.14868789289970552, + 5.250166487004185 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75466.71805878864, + -341705.7876244425, + 525.0166487004185 + ], + "rotation_deg": [ + 2.0101916152035367e-16, + -8.550895690917962, + 9.912406921386717 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.831469608077446, + -0.55557023934291, + -0.0, + 2538.016492813728 + ], + [ + -0.16567846365447728, + 0.2479553393727327, + -0.9544992385317261, + -716.1895893911253 + ], + [ + 0.5302913639794624, + -0.7936371112234062, + -0.29821335479446304, + 2309.867582464542 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.831469608077446, + -0.16567846365447728, + 0.5302913639794624, + 766.7235508409128 + ], + [ + -0.55557023934291, + 0.2479553393727327, + -0.7936371112234062, + 3420.826077257264 + ], + [ + -0.0, + -0.9544992385317261, + -0.29821335479446304, + 5.230933014620345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76672.35508409128, + -342082.6077257264, + 523.0933014620346 + ], + "rotation_deg": [ + 0.0, + -17.350324630737294, + 56.25000000000001 + ] + } + } + ] + }, + { + "frame": 122, + "time": 1839.5806457921863, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.19192534309244785, + -0.981409528524584, + 1.7347234628505314e-18, + 3498.829714078146 + ], + [ + -0.14828406833744917, + 0.028998567737154406, + -0.9885195588082655, + 18.054764553395547 + ], + [ + 0.9701425136893026, + -0.18972195689513977, + -0.15109295881833867, + -91.95137773242874 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.19192534309244785, + -0.14828406833744917, + 0.9701425136893026, + 763.3972730502734 + ], + [ + -0.981409528524584, + 0.028998567737154406, + -0.18972195689513977, + 3415.816061590397 + ], + [ + 1.7347234628505314e-18, + -0.9885195588082655, + -0.15109295881833867, + 3.954281483502503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76339.72730502734, + -341581.6061590397, + 395.4281483502503 + ], + "rotation_deg": [ + -1.0054665375909109e-16, + -8.690270423889158, + 11.065166473388674 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.460439065230991, + -0.8876913130188955, + 1.734723462571186e-18, + 2675.714320939149 + ], + [ + -0.04340727194070235, + -0.02251503808078719, + -0.9988037253649421, + 113.0786869031613 + ], + [ + 0.8866293886963191, + 0.45988825693407615, + -0.04889906168965604, + -2232.937661400064 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.460439065230991, + -0.04340727194070235, + 0.8866293886963191, + 752.6931853770288 + ], + [ + -0.8876913130188955, + -0.02251503808078719, + 0.45988825693407615, + 3404.656126848402 + ], + [ + 1.734723462571186e-18, + -0.9988037253649421, + -0.04889906168965604, + 3.75485861172537 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75269.31853770289, + -340465.6126848402, + 375.485861172537 + ], + "rotation_deg": [ + -9.951137673346477e-17, + -2.80282759666443, + -27.41544342041017 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.17372085748250105, + -0.9847949348344276, + -0.0, + 3496.3482582783113 + ], + [ + -0.1477458635276352, + 0.026062825054871598, + -0.9886818947268288, + 27.663567914612813 + ], + [ + 0.9736489216848204, + -0.1717546678158906, + -0.15002703551506796, + -147.20186133014604 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.17372085748250105, + -0.1477458635276352, + 0.9736489216848204, + 754.7987334127597 + ], + [ + -0.9847949348344276, + 0.026062825054871598, + -0.1717546678158906, + 3417.1824570248546 + ], + [ + -0.0, + -0.9886818947268288, + -0.15002703551506796, + 5.266209326542757 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75479.87334127598, + -341718.24570248544, + 526.6209326542757 + ], + "rotation_deg": [ + 0.0, + -8.62849330902099, + 10.004228591918945 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.831469608077446, + -0.55557023934291, + -0.0, + 2538.1424510461193 + ], + [ + -0.16567846365447728, + 0.2479553393727327, + -0.9544992385317261, + -716.2026302283847 + ], + [ + 0.5302913639794624, + -0.7936371112234062, + -0.29821335479446304, + 2309.9093226126306 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.831469608077446, + -0.16567846365447728, + 0.5302913639794624, + 766.8039862572897 + ], + [ + -0.55557023934291, + 0.2479553393727327, + -0.7936371112234062, + 3420.9324159775147 + ], + [ + -0.0, + -0.9544992385317261, + -0.29821335479446304, + 5.230933014620345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76680.39862572897, + -342093.24159775145, + 523.0933014620346 + ], + "rotation_deg": [ + 0.0, + -17.350324630737294, + 56.25000000000001 + ] + } + } + ] + }, + { + "frame": 123, + "time": 1839.6473124623299, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.20136745783409377, + -0.9795157716573196, + -5.2041703885515935e-18, + 3499.7659618351213 + ], + [ + -0.14799793501129105, + 0.030425204780005547, + -0.9885195588082655, + 12.971973971652918 + ], + [ + 0.9682704979579082, + -0.19905567206152386, + -0.15109295881833856, + -58.69742586334547 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.20136745783409377, + -0.14799793501129105, + 0.9682704979579082, + 763.4937911839577 + ], + [ + -0.9795157716573196, + 0.030425204780005547, + -0.19905567206152386, + 3415.997225211488 + ], + [ + -5.2041703885515935e-18, + -0.9885195588082655, + -0.15109295881833856, + 3.954281483502503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76349.37911839577, + -341599.7225211488, + 395.4281483502503 + ], + "rotation_deg": [ + 3.0163996127727325e-16, + -8.690270423889153, + 11.616935729980462 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.4611276968828269, + -0.8873337856565245, + 1.7347234625715021e-18, + 2674.0187210613694 + ], + [ + -0.0436024791964974, + -0.02265924180423928, + -0.9987919616060073, + 113.72750127421187 + ], + [ + 0.8862618506486615, + 0.4605706402021376, + -0.04913875729607803, + -2235.1213817331936 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.4611276968828269, + -0.0436024791964974, + 0.8862618506486615, + 752.7975140526521 + ], + [ + -0.8873337856565245, + -0.02265924180423928, + 0.4605706402021376, + 3404.7554074595287 + ], + [ + 1.7347234625715021e-18, + -0.9987919616060073, + -0.04913875729607803, + 3.759028317170713 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75279.75140526521, + -340475.54074595287, + 375.9028317170713 + ], + "rotation_deg": [ + -9.95125487772039e-17, + -2.816577672958374, + -27.459899902343764 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.17530778761140356, + -0.9845136766966698, + -0.0, + 3496.730137000245 + ], + [ + -0.1490283445521077, + 0.026536786632035157, + -0.9884767834781472, + 27.043204624145876 + ], + [ + 0.973168912019399, + -0.17328767931398004, + -0.15137254994533966, + -141.69892235631545 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.17530778761140356, + -0.1490283445521077, + 0.973168912019399, + 754.9312189929464 + ], + [ + -0.9845136766966698, + 0.026536786632035157, + -0.17328767931398004, + 3417.306325787472 + ], + [ + -0.0, + -0.9884767834781472, + -0.15137254994533966, + 5.2822521660813315 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75493.12189929464, + -341730.6325787472, + 528.2252166081331 + ], + "rotation_deg": [ + 0.0, + -8.706476211547848, + 10.096570014953613 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.831469608077446, + -0.55557023934291, + -0.0, + 2538.2687892602985 + ], + [ + -0.16567846365447728, + 0.2479553393727327, + -0.9544992385317261, + -716.2153399795585 + ], + [ + 0.5302913639794624, + -0.7936371112234062, + -0.29821335479446304, + 2309.9500030448708 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.831469608077446, + -0.16567846365447728, + 0.5302913639794624, + 766.8853544289797 + ], + [ + -0.55557023934291, + 0.2479553393727327, + -0.7936371112234062, + 3421.0380426799525 + ], + [ + -0.0, + -0.9544992385317261, + -0.29821335479446304, + 5.230933014620345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76688.53544289796, + -342103.80426799523, + 523.0933014620346 + ], + "rotation_deg": [ + 0.0, + -17.350324630737294, + 56.25000000000001 + ] + } + } + ] + }, + { + "frame": 124, + "time": 1839.7139791324735, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.21079088151796918, + -0.977531178156931, + -0.0, + 3500.3782724663806 + ], + [ + -0.14769807690957068, + 0.03184901773565642, + -0.9885195588082656, + 7.8880460927922424 + ], + [ + 0.9663086884366675, + -0.20837091075130312, + -0.15109295881833856, + -25.436033274298268 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.21079088151796918, + -0.14769807690957068, + 0.9663086884366675, + 763.5919364133488 + ], + [ + -0.977531178156931, + 0.03184901773565642, + -0.20837091075130312, + 3416.1775395911654 + ], + [ + -0.0, + -0.9885195588082656, + -0.15109295881833856, + 3.954281483502503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76359.19364133487, + -341617.7539591165, + 395.4281483502503 + ], + "rotation_deg": [ + 0.0, + -8.690270423889153, + 12.168704032897946 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.4618173205777429, + -0.8869750630172157, + -0.0, + 2672.317050290466 + ], + [ + -0.043797759494335564, + -0.022803982637547796, + -0.9987801232699531, + 114.37829152242854 + ], + [ + 0.8858930610457358, + 0.4612539636603837, + -0.049378795029869936, + -2237.3078861581794 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.4618173205777429, + -0.043797759494335564, + 0.8858930610457358, + 752.9027398956762 + ], + [ + -0.8869750630172157, + -0.022803982637547796, + 0.4612539636603837, + 3404.8539831678577 + ], + [ + -0.0, + -0.9987801232699531, + -0.049378795029869936, + 3.763197919879182 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75290.27398956762, + -340485.39831678575, + 376.3197919879182 + ], + "rotation_deg": [ + 0.0, + -2.830347537994386, + -27.504438400268572 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.17690325624345907, + -0.9842282448347339, + -0.0, + 3497.1040207975416 + ], + [ + -0.1503157446642241, + 0.027017457419367872, + -0.988268806499847, + 26.403982186823068 + ], + [ + 0.9726820724268864, + -0.17482797122154528, + -0.15272447890857513, + -136.16636005904124 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.17690325624345907, + -0.1503157446642241, + 0.9726820724268864, + 755.0646049614104 + ], + [ + -0.9842282448347339, + 0.027017457419367872, + -0.17482797122154528, + 3417.429494792107 + ], + [ + -0.0, + -0.988268806499847, + -0.15272447890857513, + 5.298295005619905 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75506.46049614104, + -341742.9494792107, + 529.8295005619905 + ], + "rotation_deg": [ + 0.0, + -8.78484725952148, + 10.18943500518799 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.831469608077446, + -0.55557023934291, + -0.0, + 2538.395487355257 + ], + [ + -0.16567846365447728, + 0.2479553393727327, + -0.9544992385317261, + -716.2277270470582 + ], + [ + 0.5302913639794624, + -0.7936371112234062, + -0.29821335479446304, + 2309.9896506550813 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.831469608077446, + -0.16567846365447728, + 0.5302913639794624, + 766.9676229889469 + ], + [ + -0.55557023934291, + 0.2479553393727327, + -0.7936371112234062, + 3421.142969624409 + ], + [ + -0.0, + -0.9544992385317261, + -0.29821335479446304, + 5.230933014620345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76696.7622988947, + -342114.2969624409, + 523.0933014620346 + ], + "rotation_deg": [ + 0.0, + -17.350324630737294, + 56.25000000000001 + ] + } + } + ] + }, + { + "frame": 125, + "time": 1839.780645802617, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.22019475655555767, + -0.9754559288791262, + -0.0, + 3500.666604955678 + ], + [ + -0.14738450530848426, + 0.033269873405510304, + -0.988519561323171, + 2.8034387696491256 + ], + [ + 0.9642572663581712, + -0.21766682577520524, + -0.1510929423646709, + 7.829805356983601 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.22019475655555767, + -0.14738450530848426, + 0.9642572663581712, + 763.6916733244825 + ], + [ + -0.9754559288791262, + 0.033269873405510304, + -0.21766682577520524, + 3416.3570123498985 + ], + [ + -0.0, + -0.988519561323171, + -0.1510929423646709, + 3.954281483502503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76369.16733244825, + -341635.70123498986, + 395.4281483502503 + ], + "rotation_deg": [ + 0.0, + -8.690269470214838, + 12.720472335815431 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.4625079343585431, + -0.8866151423562499, + -0.0, + 2670.609328002918 + ], + [ + -0.04399311513076616, + -0.02294926381592584, + -0.9987682099022767, + 115.03106967702165 + ], + [ + 0.8855230168659425, + 0.46193822495429565, + -0.04961917902096486, + -2239.497139123915 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.4625079343585431, + -0.04399311513076616, + 0.8855230168659425, + 753.008829351039 + ], + [ + -0.8866151423562499, + -0.02294926381592584, + 0.46193822495429565, + 3404.9518691919634 + ], + [ + -0.0, + -0.9987682099022767, + -0.04961917902096486, + 3.767367432179203 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75300.8829351039, + -340495.18691919633, + 376.73674321792026 + ], + "rotation_deg": [ + 0.0, + -2.8441374301910414, + -27.54905891418458 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.17850733324947943, + -0.9839385814044285, + -3.469446925726368e-18, + 3497.4697798422453 + ], + [ + -0.15160802588295985, + 0.02750491230962459, + -0.9880579367054906, + 25.745614116098075 + ], + [ + 0.9721883241605035, + -0.17637558869588899, + -0.15408281564850254, + -130.6039212909566 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.17850733324947943, + -0.15160802588295985, + 0.9721883241605035, + 755.1988573765844 + ], + [ + -0.9839385814044285, + 0.02750491230962459, + -0.17637558869588899, + 3417.5519786399573 + ], + [ + -3.469446925726368e-18, + -0.9880579367054906, + -0.15408281564850254, + 5.3143378451584775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75519.88573765845, + -341755.19786399574, + 531.4337845158477 + ], + "rotation_deg": [ + 2.0118725860492707e-16, + -8.86360645294189, + 10.282828330993652 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.831469608077446, + -0.55557023934291, + -0.0, + 2538.5225252216023 + ], + [ + -0.16567846365447728, + 0.2479553393727327, + -0.9544992385317261, + -716.2398006747148 + ], + [ + 0.5302913639794624, + -0.7936371112234062, + -0.29821335479446304, + 2310.028295030232 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.831469608077446, + -0.16567846365447728, + 0.5302913639794624, + 767.0507579956244 + ], + [ + -0.55557023934291, + 0.2479553393727327, + -0.7936371112234062, + 3421.24721141208 + ], + [ + -0.0, + -0.9544992385317261, + -0.29821335479446304, + 5.230933014620345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76705.07579956244, + -342124.721141208, + 523.0933014620346 + ], + "rotation_deg": [ + 0.0, + -17.350324630737294, + 56.25000000000001 + ] + } + } + ] + }, + { + "frame": 126, + "time": 1839.8473124727607, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.22957819463577336, + -0.9732902201028114, + -3.469446925701062e-18, + 3500.6309481582234 + ], + [ + -0.14705728199968116, + 0.03468764466364855, + -0.9885195613231709, + -2.2813727062248517 + ], + [ + 0.9621164208361572, + -0.22694253793638827, + -0.15109294236467088, + 41.09698255007848 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.22957819463577336, + -0.14705728199968116, + 0.9621164208361572, + 763.7929648843995 + ], + [ + -0.9732902201028114, + 0.03468764466364855, + -0.22694253793638827, + 3416.5356535210017 + ], + [ + -3.469446925701062e-18, + -0.9885195613231709, + -0.15109294236467088, + 3.954281483502503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76379.29648843994, + -341653.5653521002, + 395.4281483502503 + ], + "rotation_deg": [ + 2.0109330700657808e-16, + -8.690269470214837, + 13.272239685058592 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.4631995362607516, + -0.8862540209261813, + -0.0, + 2668.89557644298 + ], + [ + -0.04418854839084203, + -0.023095088585644522, + -0.9987562210441203, + 115.68584776079145 + ], + [ + 0.8851517150824223, + 0.46262342171845855, + -0.04985991339895923, + -2241.6891047781105 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.4631995362607516, + -0.04418854839084203, + 0.8851517150824223, + 753.115747265556 + ], + [ + -0.8862540209261813, + -0.023095088585644522, + 0.46262342171845855, + 3405.049083075936 + ], + [ + -0.0, + -0.9987562210441203, + -0.04985991339895923, + 3.771536864919788 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75311.5747265556, + -340504.9083075936, + 377.1536864919788 + ], + "rotation_deg": [ + 0.0, + -2.8579475879669203, + -27.59376144409182 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.18012007184425943, + -0.9836446308087178, + -5.204170388607143e-18, + 3497.8272813235794 + ], + [ + -0.1529052147077092, + 0.0279992361020372, + -0.9878441365381947, + 25.06782820331115 + ], + [ + 0.9716875805471735, + -0.17793055817355002, + -0.15544761908253588, + -125.01140852101076 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.18012007184425943, + -0.1529052147077092, + 0.9716875805471735, + 755.3339407451593 + ], + [ + -0.9836446308087178, + 0.0279992361020372, + -0.17793055817355002, + 3417.673794331821 + ], + [ + -5.204170388607143e-18, + -0.9878441365381947, + -0.15544761908253588, + 5.33038068469705 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75533.39407451593, + -341767.37943318207, + 533.038068469705 + ], + "rotation_deg": [ + 3.018462026700568e-16, + -8.942757606506342, + 10.376753807067868 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.831469608077446, + -0.55557023934291, + -0.0, + 2538.6498827928654 + ], + [ + -0.16567846365447728, + 0.2479553393727327, + -0.9544992385317261, + -716.2515709584441 + ], + [ + 0.5302913639794624, + -0.7936371112234062, + -0.29821335479446304, + 2310.0659684845828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.831469608077446, + -0.16567846365447728, + 0.5302913639794624, + 767.1347239557028 + ], + [ + -0.55557023934291, + 0.2479553393727327, + -0.7936371112234062, + 3421.350785043764 + ], + [ + -0.0, + -0.9544992385317261, + -0.29821335479446304, + 5.230933014620345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76713.47239557028, + -342135.0785043764, + 523.0933014620346 + ], + "rotation_deg": [ + 0.0, + -17.350324630737294, + 56.25000000000001 + ] + } + } + ] + }, + { + "frame": 127, + "time": 1839.9139791429043, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.23894034181680007, + -0.9710342491655332, + -6.938893851402124e-18, + 3500.271321297863 + ], + [ + -0.14671642071549876, + 0.036102199017207494, + -0.9885195613231709, + -7.365931722158573 + ], + [ + 0.9598863494010551, + -0.23619720362676244, + -0.15109294236467088, + 74.36250803344629 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.23894034181680007, + -0.14671642071549876, + 0.9598863494010551, + 763.895772609951 + ], + [ + -0.9710342491655332, + 0.036102199017207494, + -0.23619720362676244, + 3416.713475481598 + ], + [ + -6.938893851402124e-18, + -0.9885195613231709, + -0.15109294236467088, + 3.954281483502503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76389.5772609951, + -341671.34754815977, + 395.4281483502503 + ], + "rotation_deg": [ + 4.0218661401315616e-16, + -8.690269470214837, + 13.824007034301758 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.46389209482168825, + -0.8858917114195987, + -0.0, + 2667.1758953874846 + ], + [ + -0.04438406232175237, + -0.023241458726530502, + -0.9987441562322565, + 116.34263334842248 + ], + [ + 0.8847791680864261, + 0.46330952212264936, + -0.05010100229310908, + -2243.883658427085 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.46389209482168825, + -0.04438406232175237, + 0.8847791680864261, + 753.2234570621507 + ], + [ + -0.8858917114195987, + -0.023241458726530502, + 0.46330952212264936, + 3405.1456446284383 + ], + [ + -0.0, + -0.9987441562322565, + -0.05010100229310908, + 3.77570622764807 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75322.34570621507, + -340514.5644628438, + 377.570622764807 + ], + "rotation_deg": [ + 0.0, + -2.871778249740602, + -27.638544082641623 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.1817415249734348, + -0.9833463368011953, + -3.4694469257499884e-18, + 3498.1763918612833 + ], + [ + -0.15420728835089503, + 0.028500505567628804, + -0.9876273757859555, + 24.370342008575566 + ], + [ + 0.9711797616614848, + -0.17949290672098914, + -0.15681889865699244, + -119.38862556228665 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.1817415249734348, + -0.15420728835089503, + 0.9711797616614848, + 755.4698181907494 + ], + [ + -0.9833463368011953, + 0.028500505567628804, + -0.17949290672098914, + 3417.794961198261 + ], + [ + -3.4694469257499884e-18, + -0.9876273757859555, + -0.15681889865699244, + 5.346423524235622 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75546.98181907494, + -341779.4961198261, + 534.6423524235622 + ], + "rotation_deg": [ + 2.0127496716236564e-16, + -9.022301673889153, + 10.471215248107907 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.831469608077446, + -0.55557023934291, + -0.0, + 2538.7775401469366 + ], + [ + -0.16567846365447728, + 0.2479553393727327, + -0.9544992385317261, + -716.2630488009854 + ], + [ + 0.5302913639794624, + -0.7936371112234062, + -0.29821335479446304, + 2310.102705914816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.831469608077446, + -0.16567846365447728, + 0.5302913639794624, + 767.2194839927962 + ], + [ + -0.55557023934291, + 0.2479553393727327, + -0.7936371112234062, + 3421.4537098500255 + ], + [ + -0.0, + -0.9544992385317261, + -0.29821335479446304, + 5.230933014620345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76721.94839927962, + -342145.37098500255, + 523.0933014620346 + ], + "rotation_deg": [ + 0.0, + -17.350324630737294, + 56.25000000000001 + ] + } + } + ] + }, + { + "frame": 128, + "time": 1839.9806458130479, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.24828031373697387, + -0.9686882294168077, + -3.469446925701062e-18, + 3499.587775423471 + ], + [ + -0.14636195369154287, + 0.03751340284538219, + -0.9885195613231709, + -12.449764014599262 + ], + [ + 0.9575672629530413, + -0.24542994863750414, + -0.15109294236467086, + 107.62327895657646 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.24828031373697387, + -0.14636195369154287, + 0.9575672629530413, + 764.0000567421116 + ], + [ + -0.9686882294168077, + 0.03751340284538219, + -0.24542994863750414, + 3416.890492860823 + ], + [ + -3.469446925701062e-18, + -0.9885195613231709, + -0.15109294236467086, + 3.954281483502503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76400.00567421116, + -341689.0492860823, + 395.4281483502503 + ], + "rotation_deg": [ + 2.0109330700657808e-16, + -8.690269470214835, + 14.375773429870602 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.46458560809856425, + -0.885528211152918, + -0.0, + 2665.450312615155 + ], + [ + -0.044579651839681114, + -0.02338837362594654, + -0.998732015418043, + 117.00141972146184 + ], + [ + 0.8844053732802566, + 0.4639965240115112, + -0.05034244152050076, + -2246.0807651697564 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.46458560809856425, + -0.044579651839681114, + 0.8844053732802566, + 753.331920918915 + ], + [ + -0.885528211152918, + -0.02338837362594654, + 0.4639965240115112, + 3405.2415758379557 + ], + [ + -0.0, + -0.998732015418043, + -0.05034244152050076, + 3.7798755287655257 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75333.1920918915, + -340524.15758379555, + 377.98755287655257 + ], + "rotation_deg": [ + 0.0, + -2.8856291770935076, + -27.68340682983401 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.18337176167111452, + -0.9830436394289074, + -1.7347234628810252e-18, + 3498.516979338924 + ], + [ + -0.1555142389955845, + 0.02900880370491973, + -0.9874076213890762, + 23.652862619210097 + ], + [ + 0.9706647812801229, + -0.1810626763725427, + -0.15819668013970192, + -113.73531853596248 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.18337176167111452, + -0.1555142389955845, + 0.9706647812801229, + 755.6064516280536 + ], + [ + -0.9830436394289074, + 0.02900880370491973, + -0.1810626763725427, + 3417.915500807039 + ], + [ + -1.7347234628810252e-18, + -0.9874076213890762, + -0.15819668013970192, + 5.362466363774197 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75560.64516280536, + -341791.55008070386, + 536.2466363774197 + ], + "rotation_deg": [ + 1.0065988114969893e-16, + -9.10224056243896, + 10.566217422485359 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.831469608077446, + -0.55557023934291, + -0.0, + 2538.9054775994523 + ], + [ + -0.16567846365447728, + 0.2479553393727327, + -0.9544992385317261, + -716.2742458600944 + ], + [ + 0.5302913639794624, + -0.7936371112234062, + -0.29821335479446304, + 2310.1385446342124 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.831469608077446, + -0.16567846365447728, + 0.5302913639794624, + 767.3050000216037 + ], + [ + -0.55557023934291, + 0.2479553393727327, + -0.7936371112234062, + 3421.5560073986235 + ], + [ + -0.0, + -0.9544992385317261, + -0.29821335479446304, + 5.230933014620345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76730.50000216038, + -342155.60073986236, + 523.0933014620346 + ], + "rotation_deg": [ + 0.0, + -17.350324630737294, + 56.25000000000001 + ] + } + } + ] + }, + { + "frame": 129, + "time": 1840.0473124831915, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.25759726041790026, + -0.9662523746026151, + 3.469446925701062e-18, + 3498.5804307920507 + ], + [ + -0.14599391322332253, + 0.038921127722437124, + -0.9885195613231709, + -17.532426528379922 + ], + [ + 0.9551593727842047, + -0.25463993274832447, + -0.15109294236467088, + 140.87639664858094 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.25759726041790026, + -0.14599391322332253, + 0.9551593727842047, + 764.1057026541229 + ], + [ + -0.9662523746026151, + 0.038921127722437124, + -0.25463993274832447, + 3417.0667849344686 + ], + [ + 3.469446925701062e-18, + -0.9885195613231709, + -0.15109294236467088, + 3.954281483502503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76410.57026541229, + -341706.67849344685, + 395.4281483502503 + ], + "rotation_deg": [ + -2.0109330700657808e-16, + -8.690269470214837, + 14.927539825439464 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.46528007414149536, + -0.8851635174400739, + 1.734723462573446e-18, + 2663.7189479569906 + ], + [ + -0.044775319218953114, + -0.02353583652673986, + -0.9987197981355067, + 117.66221698048766 + ], + [ + 0.8840303276950758, + 0.4646844250279493, + -0.050584235210003825, + -2248.2803530682827 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.46528007414149536, + -0.044775319218953114, + 0.8840303276950758, + 753.4410261814087 + ], + [ + -0.8851635174400739, + -0.02353583652673986, + 0.4646844250279493, + 3405.336963273556 + ], + [ + 1.734723462573446e-18, + -0.9987197981355067, + -0.050584235210003825, + 3.784044775665454 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75344.10261814087, + -340533.69632735563, + 378.4044775665454 + ], + "rotation_deg": [ + -9.95197391533263e-17, + -2.899500608444216, + -27.72834968566897 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.18501081795712263, + -0.9827364841293094, + 1.7347234628871422e-18, + 3498.848954582104 + ], + [ + -0.15682607517278416, + 0.029524212149738646, + -0.9871848373242151, + 22.915100240046996 + ], + [ + 0.970142555759798, + -0.18263987558999606, + -0.1595810056000345, + -108.05126567505988 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.18501081795712263, + -0.15682607517278416, + 0.970142555759798, + 755.7437281708466 + ], + [ + -0.9827364841293094, + 0.029524212149738646, + -0.18263987558999606, + 3418.0354993569836 + ], + [ + 1.7347234628871422e-18, + -0.9871848373242151, + -0.1595810056000345, + 5.3785092033127695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75574.37281708466, + -341803.54993569833, + 537.8509203312769 + ], + "rotation_deg": [ + -1.0068259768361796e-16, + -9.18257713317871, + 10.661763191223143 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.831469608077446, + -0.55557023934291, + -0.0, + 2539.0336491784524 + ], + [ + -0.16567846365447728, + 0.2479553393727327, + -0.9544992385317261, + -716.2852022120477 + ], + [ + 0.5302913639794624, + -0.7936371112234062, + -0.29821335479446304, + 2310.1736129159526 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.831469608077446, + -0.16567846365447728, + 0.5302913639794624, + 767.3911591559003 + ], + [ + -0.55557023934291, + 0.2479553393727327, + -0.7936371112234062, + 3421.6577638883896 + ], + [ + -0.0, + -0.9544992385317261, + -0.29821335479446304, + 5.230933014620345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76739.11591559002, + -342165.77638883895, + 523.0933014620346 + ], + "rotation_deg": [ + 0.0, + -17.350324630737294, + 56.25000000000001 + ] + } + } + ] + }, + { + "frame": 130, + "time": 1840.113979153335, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.26689031781634, + -0.963726910621413, + -6.938893851402124e-18, + 3497.2495647071128 + ], + [ + -0.14561233344249985, + 0.040325243097537905, + -0.9885195613231709, + -22.613509423349846 + ], + [ + 0.9526629021995968, + -0.26382630183556044, + -0.15109294236467088, + 174.1191797464957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.26689031781634, + -0.14561233344249985, + 0.9526629021995968, + 764.2123655686534 + ], + [ + -0.963726910621413, + 0.040325243097537905, + -0.26382630183556044, + 3417.24263096254 + ], + [ + -6.938893851402124e-18, + -0.9885195613231709, + -0.15109294236467088, + 3.954281483502503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76421.23655686533, + -341724.26309625397, + 395.4281483502503 + ], + "rotation_deg": [ + 4.0218661401315616e-16, + -8.690269470214837, + 15.479306221008308 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.46597546153900293, + -0.8847976431046325, + -3.4694469251475548e-18, + 2661.9822805667177 + ], + [ + -0.044971063833685265, + -0.023683847249266858, + -0.9987075041257776, + 118.32501573559908 + ], + [ + 0.883654044036232, + 0.46537319348622186, + -0.050826383334329525, + -2250.4821522317975 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.46597546153900293, + -0.044971063833685265, + 0.883654044036232, + 753.550430083451 + ], + [ + -0.8847976431046325, + -0.023683847249266858, + 0.46537319348622186, + 3405.4320934277725 + ], + [ + -3.4694469251475548e-18, + -0.9987075041257776, + -0.050826383334329525, + 3.7882139748539583 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75355.0430083451, + -340543.20934277726, + 378.82139748539583 + ], + "rotation_deg": [ + 1.9904192846679524e-16, + -2.9133925437927255, + -27.773370742797866 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.18665876229196895, + -0.9824248095704983, + -5.204170388680034e-18, + 3499.1723825039808 + ], + [ + -0.15814277137379223, + 0.03004681242013731, + -0.9869589925248187, + 22.156696618015644 + ], + [ + 0.9696129998190821, + -0.18422454535024227, + -0.16097188410507424, + -102.33587271458615 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.18665876229196895, + -0.15814277137379223, + 0.9696129998190821, + 755.8813048489766 + ], + [ + -0.9824248095704983, + 0.03004681242013731, + -0.18422454535024227, + 3418.155243014817 + ], + [ + -5.204170388680034e-18, + -0.9869589925248187, + -0.16097188410507424, + 5.394552042851342 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75588.13048489766, + -341815.5243014817, + 539.4552042851342 + ], + "rotation_deg": [ + 3.0211691033415796e-16, + -9.263312339782706, + 10.75785732269287 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.831469608077446, + -0.55557023934291, + -0.0, + 2539.161928700392 + ], + [ + -0.16567846365447728, + 0.2479553393727327, + -0.9544992385317261, + -716.2960456361795 + ], + [ + 0.5302913639794624, + -0.7936371112234062, + -0.29821335479446304, + 2310.2083197466777 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.831469608077446, + -0.16567846365447728, + 0.5302913639794624, + 767.4776184255336 + ], + [ + -0.55557023934291, + 0.2479553393727327, + -0.7936371112234062, + 3421.7592654860446 + ], + [ + -0.0, + -0.9544992385317261, + -0.29821335479446304, + 5.230933014620345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76747.76184255336, + -342175.92654860445, + 523.0933014620346 + ], + "rotation_deg": [ + 0.0, + -17.350324630737294, + 56.25000000000001 + ] + } + } + ] + }, + { + "frame": 131, + "time": 1840.1806458234787, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.27615862410451997, + -0.9611120716819129, + -1.0408340777103187e-17, + 3495.5955553581357 + ], + [ + -0.14521724973635805, + 0.0417256187545915, + -0.9885195613231709, + -27.692631554741915 + ], + [ + 0.9500780827191169, + -0.27298820396558054, + -0.1510929423646709, + 207.34913462576358 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.27615862410451997, + -0.14521724973635805, + 0.9500780827191169, + 764.3195498490225 + ], + [ + -0.9611120716819129, + 0.0417256187545915, + -0.27298820396558054, + 3417.4184435617826 + ], + [ + -1.0408340777103187e-17, + -0.9885195613231709, + -0.1510929423646709, + 3.954281483502503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76431.95498490224, + -341741.84435617825, + 395.4281483502503 + ], + "rotation_deg": [ + 6.032799210197342e-16, + -8.690269470214838, + 16.031072616577145 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.4666717683636214, + -0.8844305855251559, + -1.7347234625741104e-18, + 2660.240903609029 + ], + [ + -0.04516688795452862, + -0.023832409030388396, + -0.9986951329171035, + 118.9898166781552 + ], + [ + 0.8832765193962381, + 0.46606282704717844, + -0.05106889002180346, + -2252.6859111343497 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.4666717683636214, + -0.04516688795452862, + 0.8832765193962381, + 753.659639041515 + ], + [ + -0.8844305855251559, + -0.023832409030388396, + 0.46606282704717844, + 3405.5273860937186 + ], + [ + -1.7347234625741104e-18, + -0.9986951329171035, + -0.05106889002180346, + 3.7923831320564094 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75365.9639041515, + -340552.7386093719, + 379.23831320564096 + ], + "rotation_deg": [ + 9.952219703667709e-17, + -2.9273052215576185, + -27.818470001220717 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.1883156464789644, + -0.982108556775273, + -0.0, + 3499.487423453155 + ], + [ + -0.1594643340861972, + 0.03057669028195953, + -0.9867300503004084, + 21.3772725836384 + ], + [ + 0.9690760251531745, + -0.18581670870605588, + -0.16236935745076042, + -96.5884321327752 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.1883156464789644, + -0.1594643340861972, + 0.9690760251531745, + 756.0186878994218 + ], + [ + -0.982108556775273, + 0.03057669028195953, + -0.18581670870605588, + 3418.275151286942 + ], + [ + -0.0, + -0.9867300503004084, + -0.16236935745076042, + 5.410594882389915 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75601.86878994218, + -341827.51512869424, + 541.0594882389914 + ], + "rotation_deg": [ + 0.0, + -9.344449043273919, + 10.854503631591792 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.831469608077446, + -0.55557023934291, + -0.0, + 2539.290138681597 + ], + [ + -0.16567846365447728, + 0.2479553393727327, + -0.9544992385317261, + -716.3069619572411 + ], + [ + 0.5302913639794624, + -0.7936371112234062, + -0.29821335479446304, + 2310.243259900502 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.831469608077446, + -0.16567846365447728, + 0.5302913639794624, + 767.5638840674821 + ], + [ + -0.55557023934291, + 0.2479553393727327, + -0.7936371112234062, + 3421.86093169799 + ], + [ + -0.0, + -0.9544992385317261, + -0.29821335479446304, + 5.230933014620345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76756.38840674821, + -342186.093169799, + 523.0933014620346 + ], + "rotation_deg": [ + 0.0, + -17.350324630737294, + 56.25000000000001 + ] + } + } + ] + }, + { + "frame": 132, + "time": 1840.2473124936223, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.28540130379758794, + -0.9584081050317954, + -0.0, + 3493.618793971588 + ], + [ + -0.1448086994622764, + 0.04312212241401659, + -0.988519561323171, + -32.76940676087832 + ], + [ + 0.9474051587519416, + -0.2821247737044635, + -0.15109294236467097, + 240.563734838888 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.28540130379758794, + -0.1448086994622764, + 0.9474051587519416, + 764.4267473070088 + ], + [ + -0.9584081050317954, + 0.04312212241401659, + -0.2821247737044635, + 3417.594640984129 + ], + [ + -0.0, + -0.988519561323171, + -0.15109294236467097, + 3.954281483502503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76442.67473070088, + -341759.4640984129, + 395.4281483502503 + ], + "rotation_deg": [ + 0.0, + -8.690269470214842, + 16.58283805847168 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.4673689926809776, + -0.8840623420779601, + -0.0, + 2658.495421785414 + ], + [ + -0.045362790166664245, + -0.023981523175797506, + -0.9986826842468353, + 119.65661057646618 + ], + [ + 0.8828977510515907, + 0.4667533234608537, + -0.051311755244690734, + -2254.891372173379 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.4673689926809776, + -0.045362790166664245, + 0.8828977510515907, + 753.7681469652991 + ], + [ + -0.8840623420779601, + -0.023981523175797506, + 0.4667533234608537, + 3405.623266647512 + ], + [ + -0.0, + -0.9986826842468353, + -0.051311755244690734, + 3.796552252311134 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75376.81469652991, + -340562.3266647512, + 379.6552252311134 + ], + "rotation_deg": [ + 0.0, + -2.941238641738893, + -27.86364746093752 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.17198507115837186, + -0.9850995560341348, + -5.204170388660655e-18, + 3497.2104176163393 + ], + [ + -0.1571460860970429, + 0.02743558316934522, + -0.9871942039946032, + 30.327012284372877 + ], + [ + 0.9724845716522081, + -0.1697826666891713, + -0.1595230515954839, + -153.8685621791092 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.17198507115837186, + -0.1571460860970429, + 0.9724845716522081, + 755.8685611914495 + ], + [ + -0.9850995560341348, + 0.02743558316934522, + -0.1697826666891713, + 3418.144175081502 + ], + [ + -5.204170388660655e-18, + -0.9871942039946032, + -0.1595230515954839, + 5.393067613294027 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75586.85611914496, + -341814.4175081502, + 539.3067613294028 + ], + "rotation_deg": [ + 3.020449271687896e-16, + -9.17921352386474, + 9.903255462646479 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.831469608077446, + -0.55557023934291, + -0.0, + 2539.4180943781653 + ], + [ + -0.16567846365447728, + 0.2479553393727327, + -0.9544992385317261, + -716.3181404613841 + ], + [ + 0.5302913639794624, + -0.7936371112234062, + -0.29821335479446304, + 2310.279039230536 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.831469608077446, + -0.16567846365447728, + 0.5302913639794624, + 767.6494498334891 + ], + [ + -0.55557023934291, + 0.2479553393727327, + -0.7936371112234062, + 3421.963187648036 + ], + [ + -0.0, + -0.9544992385317261, + -0.29821335479446304, + 5.230933014620345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76764.94498334892, + -342196.31876480364, + 523.0933014620346 + ], + "rotation_deg": [ + 0.0, + -17.350324630737294, + 56.25000000000001 + ] + } + } + ] + }, + { + "frame": 133, + "time": 1840.313979163766, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.2946175157837052, + -0.9556152569907191, + -3.469446925701062e-18, + 3491.3196279431063 + ], + [ + -0.14438671983741638, + 0.04451462698975157, + -0.9885195613231709, + -37.84345753721775 + ], + [ + 0.9446443737898794, + -0.2912351795966849, + -0.15109294236467088, + 273.76051057734566 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.2946175157837052, + -0.14438671983741638, + 0.9446443737898794, + 764.5335040870405 + ], + [ + -0.9556152569907191, + 0.04451462698975157, + -0.2912351795966849, + 3417.771579454064 + ], + [ + -3.469446925701062e-18, + -0.9885195613231709, + -0.15109294236467088, + 3.954281483502503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76453.35040870405, + -341777.1579454064, + 395.4281483502503 + ], + "rotation_deg": [ + 2.0109330700657808e-16, + -8.690269470214837, + 17.13460350036621 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.46806713254977395, + -0.8836929101371312, + -1.734723462574783e-18, + 2656.7463602697326 + ], + [ + -0.04555876904997029, + -0.02413119099077964, + -0.9986701578519396, + 120.32538903060765 + ], + [ + 0.8825177362772901, + 0.46744468046912624, + -0.05155497897510847, + -2257.0982986372924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.46806713254977395, + -0.04555876904997029, + 0.8825177362772901, + 753.8755021443226 + ], + [ + -0.8836929101371312, + -0.02413119099077964, + 0.46744468046912624, + 3405.720098389061 + ], + [ + -1.734723462574783e-18, + -0.9986701578519396, + -0.05155497897510847, + 3.8007213400518585 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75387.55021443225, + -340572.0098389061, + 380.07213400518583 + ], + "rotation_deg": [ + 9.952468591989369e-17, + -2.9551928043365483, + -27.90890312194825 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.1631383222230608, + -0.9866032068781474, + -0.0, + 3495.630929094771 + ], + [ + -0.15632016523661116, + 0.025848091014245036, + -0.9873681593667671, + 35.12210665802171 + ], + [ + 0.9741405920034815, + -0.161077586140284, + -0.1584427917398762, + -184.85570433944042 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.1631383222230608, + -0.15632016523661116, + 0.9741405920034815, + 755.837108043842 + ], + [ + -0.9866032068781474, + 0.025848091014245036, + -0.161077586140284, + 3418.116734168567 + ], + [ + -0.0, + -0.9873681593667671, + -0.1584427917398762, + 5.389395463351648 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75583.7108043842, + -341811.6734168567, + 538.9395463351648 + ], + "rotation_deg": [ + 0.0, + -9.116521835327143, + 9.389102935791016 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.831469608077446, + -0.55557023934291, + -0.0, + 2539.5456218062486 + ], + [ + -0.16567846365447728, + 0.2479553393727327, + -0.9544992385317261, + -716.3297460374351 + ], + [ + 0.5302913639794624, + -0.7936371112234062, + -0.29821335479446304, + 2310.3161855007365 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.831469608077446, + -0.16567846365447728, + 0.5302913639794624, + 767.7338638740734 + ], + [ + -0.55557023934291, + 0.2479553393727327, + -0.7936371112234062, + 3422.066396414061 + ], + [ + -0.0, + -0.9544992385317261, + -0.29821335479446304, + 5.230933014620345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76773.38638740734, + -342206.6396414061, + 523.0933014620346 + ], + "rotation_deg": [ + 0.0, + -17.350324630737294, + 56.25000000000001 + ] + } + } + ] + }, + { + "frame": 134, + "time": 1840.3806458339095, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.3038064053646111, + -0.9527337865633997, + -6.938893851402124e-18, + 3488.698436230385 + ], + [ + -0.1439513499955626, + 0.045903003342922466, + -0.9885195613231709, + -42.91441523856262 + ], + [ + 0.9417959838641653, + -0.3003185767562757, + -0.15109294236467097, + 306.93704999451535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.3038064053646111, + -0.1439513499955626, + 0.9417959838641653, + 764.6392697670647 + ], + [ + -0.9527337865633997, + 0.045903003342922466, + -0.3003185767562757, + 3417.949666745796 + ], + [ + -6.938893851402124e-18, + -0.9885195613231709, + -0.15109294236467097, + 3.954281483502503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76463.92697670647, + -341794.9666745796, + 395.4281483502503 + ], + "rotation_deg": [ + 4.0218661401315616e-16, + -8.690269470214842, + 17.686368942260746 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.4687661860217752, + -0.8833222870745412, + -0.0, + 2654.9943356960607 + ], + [ + -0.04575482317901088, + -0.024281413780195587, + -0.998657553469002, + 120.99614033470701 + ], + [ + 0.8821364723468601, + 0.4681368958057021, + -0.0517985611850254, + -2259.306394456129 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.4687661860217752, + -0.04575482317901088, + 0.8821364723468601, + 753.9811563508837 + ], + [ + -0.8833222870745412, + -0.024281413780195587, + 0.4681368958057021, + 3405.81829612217 + ], + [ + -0.0, + -0.998657553469002, + -0.0517985611850254, + 3.804890399180264 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75398.11563508837, + -340581.829612217, + 380.4890399180264 + ], + "rotation_deg": [ + 0.0, + -2.9691677093505877, + -27.95423698425295 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.15454047320527492, + -0.9879864584808281, + -5.204170388633045e-18, + 3493.832335817919 + ], + [ + -0.15554302482797047, + 0.024329981908513015, + -0.9875294524254435, + 39.71774959710304 + ], + [ + 0.9756657259734091, + -0.15261327002487451, + -0.1574343703677669, + -214.9231013541298 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.15454047320527492, + -0.15554302482797047, + 0.9756657259734091, + 755.8094292739474 + ], + [ + -0.9879864584808281, + 0.024329981908513015, + -0.15261327002487451, + 3418.0925861651835 + ], + [ + -5.204170388633045e-18, + -0.9875294524254435, + -0.1574343703677669, + 5.386163971402353 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75580.94292739475, + -341809.25861651835, + 538.6163971402353 + ], + "rotation_deg": [ + 3.0194238836429134e-16, + -9.05800914764404, + 8.890146255493164 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.831469608077446, + -0.55557023934291, + -0.0, + 2539.6724953735675 + ], + [ + -0.16567846365447728, + 0.2479553393727327, + -0.9544992385317261, + -716.3419723395543 + ], + [ + 0.5302913639794624, + -0.7936371112234062, + -0.29821335479446304, + 2310.3553185450114 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.831469608077446, + -0.16567846365447728, + 0.5302913639794624, + 767.8165778392125 + ], + [ + -0.55557023934291, + 0.2479553393727327, + -0.7936371112234062, + 3422.170972604482 + ], + [ + -0.0, + -0.9544992385317261, + -0.29821335479446304, + 5.230933014620345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76781.65778392126, + -342217.0972604482, + 523.0933014620346 + ], + "rotation_deg": [ + 0.0, + -17.350324630737294, + 56.25000000000001 + ] + } + } + ] + }, + { + "frame": 135, + "time": 1840.4473125040531, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.31296708875870494, + -0.9497639713917879, + -0.0, + 3485.7555617460525 + ], + [ + -0.14350263188645374, + 0.047287117940367746, + -0.988519561323171, + -47.98188794452985 + ], + [ + 0.938860263429308, + -0.30937409154781703, + -0.1510929423646709, + 340.0907889668011 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.31296708875870494, + -0.14350263188645374, + 0.938860263429308, + 764.7435229692337 + ], + [ + -0.9497639713917879, + 0.047287117940367746, + -0.30937409154781703, + 3418.129246319993 + ], + [ + -0.0, + -0.988519561323171, + -0.1510929423646709, + 3.954281483502503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76474.35229692337, + -341812.9246319993, + 395.4281483502503 + ], + "rotation_deg": [ + 0.0, + -8.690269470214838, + 18.23813247680665 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.4694661511417883, + -0.8829504702598642, + -0.0, + 2653.2398951304394 + ], + [ + -0.045950954792169936, + -0.024432194799354125, + -0.9986448706176658, + 121.66886177469564 + ], + [ + 0.8817539563411612, + 0.4688299670944269, + -0.05204250600181141, + -2261.51536050738 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.4694661511417883, + -0.045950954792169936, + 0.8817539563411612, + 754.0845904525557 + ], + [ + -0.8829504702598642, + -0.024432194799354125, + 0.4688299670944269, + 3405.9182102937853 + ], + [ + -0.0, + -0.9986448706176658, + -0.05204250600181141, + 3.8090594331298275 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75408.45904525557, + -340591.8210293785, + 380.90594331298274 + ], + "rotation_deg": [ + 0.0, + -2.983163595199586, + -27.999649047851573 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.1461395161371156, + -0.9892639899557697, + 1.7347234628735865e-18, + 3491.8249524472185 + ], + [ + -0.15481533480025758, + 0.0228701725202054, + -0.98767867614907, + 44.15222843925214 + ], + [ + 0.977074947609023, + -0.1443388849136062, + -0.15649547295919292, + -244.25558915340633 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.1461395161371156, + -0.15481533480025758, + 0.977074947609023, + 755.7850719564402 + ], + [ + -0.9892639899557697, + 0.0228701725202054, + -0.1443388849136062, + 3418.071335922206 + ], + [ + 1.7347234628735865e-18, + -0.98767867614907, + -0.15649547295919292, + 5.383320258486974 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75578.50719564402, + -341807.1335922206, + 538.3320258486974 + ], + "rotation_deg": [ + -1.0063225643630668e-16, + -9.00353908538818, + 8.403271675109863 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.831469608077446, + -0.55557023934291, + -0.0, + 2539.7984779501535 + ], + [ + -0.16567846365447728, + 0.2479553393727327, + -0.9544992385317261, + -716.3549922471964 + ], + [ + 0.5302913639794624, + -0.7936371112234062, + -0.29821335479446304, + 2310.396991703128 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.831469608077446, + -0.16567846365447728, + 0.5302913639794624, + 767.8970724888379 + ], + [ + -0.55557023934291, + 0.2479553393727327, + -0.7936371112234062, + 3422.2772664943054 + ], + [ + -0.0, + -0.9544992385317261, + -0.29821335479446304, + 5.230933014620345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76789.70724888379, + -342227.7266494305, + 523.0933014620346 + ], + "rotation_deg": [ + 0.0, + -17.350324630737294, + 56.25000000000001 + ] + } + } + ] + }, + { + "frame": 136, + "time": 1840.5139791741967, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.32209877975059165, + -0.9467060663601875, + -1.0408340777103187e-17, + 3482.491235436948 + ], + [ + -0.14304060402130903, + 0.04866685199049103, + -0.9885195613231709, + -53.04551575706801 + ], + [ + 0.9358374644434346, + -0.31840094678199304, + -0.15109294236467088, + 373.2193728754398 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.32209877975059165, + -0.14304060402130903, + 0.9358374644434346, + 764.8458509801937 + ], + [ + -0.9467060663601875, + 0.04866685199049103, + -0.31840094678199304, + 3418.3105349487555 + ], + [ + -1.0408340777103187e-17, + -0.9885195613231709, + -0.15109294236467088, + 3.954281483502503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76484.58509801938, + -341831.05349487555, + 395.4281483502503 + ], + "rotation_deg": [ + 6.032799210197342e-16, + -8.690269470214837, + 18.78989791870117 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.47016702594765, + -0.8825774570605921, + -1.7347234625758075e-18, + 2651.4834236045044 + ], + [ + -0.0461471624485594, + -0.024583535360877318, + -0.9986321090307013, + 122.34354295745838 + ], + [ + 0.8813701855283832, + 0.46952389205071676, + -0.052286813396977536, + -2263.724936242171 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.47016702594765, + -0.0461471624485594, + 0.8813701855283832, + 754.1853940340386 + ], + [ + -0.8825774570605921, + -0.024583535360877318, + 0.46952389205071676, + 3406.020064621101 + ], + [ + -1.7347234625758075e-18, + -0.9986321090307013, + -0.052286813396977536, + 3.8132284449220113 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75418.53940340386, + -340602.0064621101, + 381.3228444922011 + ], + "rotation_deg": [ + 9.95284779039565e-17, + -2.9971804618835463, + -28.045139312744155 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.13789371504626963, + -0.9904470320773029, + -0.0, + 3489.6151441954794 + ], + [ + -0.15413658946927478, + 0.02145946856128409, + -0.9878164824479532, + 48.456496958089446 + ], + [ + 0.978379902945079, + -0.13621368557113306, + -0.15562325461288223, + -273.0010269602374 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.13789371504626963, + -0.15413658946927478, + 0.978379902945079, + 755.7636375170338 + ], + [ + -0.9904470320773029, + 0.02145946856128409, + -0.13621368557113306, + 3418.052635708386 + ], + [ + -0.0, + -0.9878164824479532, + -0.15562325461288223, + 5.380817791121441 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75576.36375170338, + -341805.2635708386, + 538.0817791121441 + ], + "rotation_deg": [ + 0.0, + -8.952944755554197, + 7.92598295211792 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.831469608077446, + -0.55557023934291, + -0.0, + 2539.9233524159504 + ], + [ + -0.16567846365447728, + 0.2479553393727327, + -0.9544992385317261, + -716.3689292073869 + ], + [ + 0.5302913639794624, + -0.7936371112234062, + -0.29821335479446304, + 2310.441600095194 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.831469608077446, + -0.16567846365447728, + 0.5302913639794624, + 767.9749373129243 + ], + [ + -0.55557023934291, + 0.2479553393727327, + -0.7936371112234062, + 3422.3855016494176 + ], + [ + -0.0, + -0.9544992385317261, + -0.29821335479446304, + 5.230933014620345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76797.49373129243, + -342238.55016494176, + 523.0933014620346 + ], + "rotation_deg": [ + 0.0, + -17.350324630737294, + 56.25000000000001 + ] + } + } + ] + }, + { + "frame": 137, + "time": 1840.5806458443403, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.331200599764322, + -0.9435603651678853, + -6.938893851402124e-18, + 3478.9056602148967 + ], + [ + -0.14256531077601756, + 0.05004207274666804, + -0.9885195613231709, + -58.10486593886532 + ], + [ + 0.9327278772340447, + -0.3273982739692729, + -0.15109294236467088, + 406.319970553701 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.331200599764322, + -0.14256531077601756, + 0.9327278772340447, + 764.9459472124174 + ], + [ + -0.9435603651678853, + 0.05004207274666804, + -0.3273982739692729, + 3418.4936362147237 + ], + [ + -6.938893851402124e-18, + -0.9885195613231709, + -0.15109294236467088, + 3.954281483502503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76494.59472124174, + -341849.3636214724, + 395.4281483502503 + ], + "rotation_deg": [ + 4.0218661401315616e-16, + -8.690269470214837, + 19.34166336059569 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.4708687791020913, + -0.8822032605170451, + 1.7347234625761538e-18, + 2649.725232619782 + ], + [ + -0.046343441859397205, + -0.024735433277512237, + -0.9986192686590812, + 123.02016135958432 + ], + [ + 0.8809851730215008, + 0.47021863915710654, + -0.05253147918643916, + -2265.9348150859487 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.4708687791020913, + -0.046343441859397205, + 0.8809851730215008, + 754.2832628598375 + ], + [ + -0.8822032605170451, + -0.024735433277512237, + 0.47021863915710654, + 3406.1239695924683 + ], + [ + 1.7347234625761538e-18, + -0.9986192686590812, + -0.05253147918643916, + 3.8173974372156994 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75428.32628598374, + -340612.39695924683, + 381.73974372156994 + ], + "rotation_deg": [ + -9.952975765360987e-17, + -3.011218070983888, + -28.090705871582045 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.1297705103819619, + -0.9915440558216284, + -0.0, + 3487.206841584096 + ], + [ + -0.15350525376456747, + 0.020090337903174365, + -0.9879435790517653, + 52.65506045388349 + ], + [ + 0.9795895829818452, + -0.12820594344545658, + -0.15481435650066327, + -301.2744691468768 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.1297705103819619, + -0.15350525376456747, + 0.9795895829818452, + 755.7447752103561 + ], + [ + -0.9915440558216284, + 0.020090337903174365, + -0.12820594344545658, + 3418.0361795202243 + ], + [ + -0.0, + -0.9879435790517653, + -0.15481435650066327, + 5.378615619839771 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75574.47752103562, + -341803.6179520224, + 537.8615619839771 + ], + "rotation_deg": [ + 0.0, + -8.906029701232908, + 7.456331253051755 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.831469608077446, + -0.55557023934291, + -0.0, + 2540.0469270491467 + ], + [ + -0.16567846365447728, + 0.2479553393727327, + -0.9544992385317261, + -716.3838610023672 + ], + [ + 0.5302913639794624, + -0.7936371112234062, + -0.29821335479446304, + 2310.489392680849 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.831469608077446, + -0.16567846365447728, + 0.5302913639794624, + 768.0498679926188 + ], + [ + -0.55557023934291, + 0.2479553393727327, + -0.7936371112234062, + 3422.4957884250193 + ], + [ + -0.0, + -0.9544992385317261, + -0.29821335479446304, + 5.230933014620345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76804.98679926188, + -342249.5788425019, + 523.0933014620346 + ], + "rotation_deg": [ + 0.0, + -17.350324630737294, + 56.25000000000001 + ] + } + } + ] + }, + { + "frame": 138, + "time": 1840.647312514484, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.34027170471018237, + -0.9403271595426913, + -6.938893851402124e-18, + 3474.998999176257 + ], + [ + -0.14207679622859215, + 0.051412652672901335, + -0.9885195613231709, + -63.15950966423646 + ], + [ + 0.9295317901797936, + -0.3363652387104449, + -0.1510929423646709, + 439.389776426516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.34027170471018237, + -0.14207679622859215, + 0.9295317901797936, + 765.0435751110927 + ], + [ + -0.9403271595426913, + 0.051412652672901335, + -0.3363652387104449, + 3418.6785791224243 + ], + [ + -6.938893851402124e-18, + -0.9885195613231709, + -0.1510929423646709, + 3.954281483502503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76504.35751110927, + -341867.8579122424, + 395.4281483502503 + ], + "rotation_deg": [ + 4.0218661401315616e-16, + -8.690269470214838, + 19.893428802490227 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.4715714380220678, + -0.8818278623641911, + -0.0, + 2647.9653845788575 + ], + [ + -0.0465397980932463, + -0.02488789530107283, + -0.9986063487986259, + 123.69873319835484 + ], + [ + 0.8805989000939978, + 0.470914235260574, + -0.05277651165234425, + -2268.144892580722 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.4715714380220678, + -0.0465397980932463, + 0.8805989000939978, + 754.377962782305 + ], + [ + -0.8818278623641911, + -0.02488789530107283, + 0.470914235260574, + 3406.2299610802597 + ], + [ + -0.0, + -0.9986063487986259, + -0.05277651165234425, + 3.821566412350713 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75437.7962782305, + -340622.99610802595, + 382.1566412350713 + ], + "rotation_deg": [ + 0.0, + -3.0252768993377703, + -28.13635063171388 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.12174413945349716, + -0.992561516737742, + 1.7347234628631095e-18, + 3484.6022773776813 + ], + [ + -0.15291933628705132, + 0.018756553309920494, + -0.9880606602316779, + 56.7676286782427 + ], + [ + 0.9807109872514932, + -0.12029059571246932, + -0.1540653499893477, + -329.1666999992922 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.12174413945349716, + -0.15291933628705132, + 0.9807109872514932, + 755.7281763804799 + ], + [ + -0.992561516737742, + 0.018756553309920494, + -0.12029059571246932, + 3418.021698074642 + ], + [ + 1.7347234628631095e-18, + -0.9880606602316779, + -0.1540653499893477, + 5.3766777091119025 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75572.81763804799, + -341802.1698074642, + 537.6677709111902 + ], + "rotation_deg": [ + -1.005933520225363e-16, + -8.86259365081787, + 6.992772579193112 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.831469608077446, + -0.55557023934291, + -0.0, + 2540.169026966621 + ], + [ + -0.16567846365447728, + 0.2479553393727327, + -0.9544992385317261, + -716.3998353032057 + ], + [ + 0.5302913639794624, + -0.7936371112234062, + -0.29821335479446304, + 2310.5405220421235 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.831469608077446, + -0.16567846365447728, + 0.5302913639794624, + 768.1216303069191 + ], + [ + -0.55557023934291, + 0.2479553393727327, + -0.7936371112234062, + 3422.60816257631 + ], + [ + -0.0, + -0.9544992385317261, + -0.29821335479446304, + 5.230933014620345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76812.16303069191, + -342260.816257631, + 523.0933014620346 + ], + "rotation_deg": [ + 0.0, + -17.350324630737294, + 56.25000000000001 + ] + } + } + ] + }, + { + "frame": 139, + "time": 1840.7139791846275, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.3493112221544312, + -0.9370067609558522, + -0.0, + 3470.7714199006627 + ], + [ + -0.14157510744013962, + 0.052778459950610895, + -0.988519561323171, + -68.20898980849225 + ], + [ + 0.9262495111761102, + -0.3453009785876707, + -0.15109294236467097, + 472.42579977370707 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.3493112221544312, + -0.14157510744013962, + 0.9262495111761102, + 765.1385535168142 + ], + [ + -0.9370067609558522, + 0.052778459950610895, + -0.3453009785876707, + 3418.8653381607414 + ], + [ + -0.0, + -0.988519561323171, + -0.15109294236467097, + 3.954281483502503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76513.85535168143, + -341886.53381607414, + 395.4281483502503 + ], + "rotation_deg": [ + 0.0, + -8.690269470214842, + 20.44519233703614 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.47227500072452366, + -0.8814512599631648, + 1.734723462576852e-18, + 2646.2039436080686 + ], + [ + -0.046736226025557416, + -0.025040920788977055, + -0.9985933493985066, + 124.3792428889654 + ], + [ + 0.8802113642020124, + 0.47161067815418056, + -0.053021906610249546, + -2270.35500113916 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.47227500072452366, + -0.046736226025557416, + 0.8802113642020124, + 754.4693151053176 + ], + [ + -0.8814512599631648, + -0.025040920788977055, + 0.47161067815418056, + 3406.3380204045957 + ], + [ + 1.734723462576852e-18, + -0.9985933493985066, + -0.053021906610249546, + 3.825735372386092 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75446.93151053177, + -340633.8020404596, + 382.5735372386092 + ], + "rotation_deg": [ + -9.953234102527473e-17, + -3.0393567085266127, + -28.182073593139663 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.11379424416732004, + -0.9935043381859929, + -1.7347234628601553e-18, + 3481.802578595503 + ], + [ + -0.15237659279272733, + 0.01745294765123994, + -0.9881683908055153, + 60.81010525672065 + ], + [ + 0.9817495828424613, + -0.11244787598821591, + -0.1533728521427175, + -356.74925964642233 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.11379424416732004, + -0.15237659279272733, + 0.9817495828424613, + 755.7135694101886 + ], + [ + -0.9935043381859929, + 0.01745294765123994, + -0.11244787598821591, + 3418.0089544025295 + ], + [ + -1.7347234628601553e-18, + -0.9881683908055153, + -0.1533728521427175, + 5.3749723476713775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75571.35694101886, + -341800.89544025296, + 537.4972347671378 + ], + "rotation_deg": [ + 1.0058238528872079e-16, + -8.822439193725582, + 6.5340838432311985 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.831469608077446, + -0.55557023934291, + -0.0, + 2540.289493099034 + ], + [ + -0.16567846365447728, + 0.2479553393727327, + -0.9544992385317261, + -716.4168770693535 + ], + [ + 0.5302913639794624, + -0.7936371112234062, + -0.29821335479446304, + 2310.5950680673795 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.831469608077446, + -0.16567846365447728, + 0.5302913639794624, + 768.1900454951491 + ], + [ + -0.55557023934291, + 0.2479553393727327, + -0.7936371112234062, + 3422.7226053202985 + ], + [ + -0.0, + -0.9544992385317261, + -0.29821335479446304, + 5.230933014620345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76819.00454951491, + -342272.26053202985, + 523.0933014620346 + ], + "rotation_deg": [ + 0.0, + -17.350324630737294, + 56.25000000000001 + ] + } + } + ] + }, + { + "frame": 140, + "time": 1840.7806458547711, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.35831837628073754, + -0.933599454380483, + -3.469446925701062e-18, + 3466.223064112298 + ], + [ + -0.14106028746808588, + 0.05413937735942538, + -0.9885195613231709, + -73.25291228763228 + ], + [ + 0.922881321924503, + -0.35420472669131353, + -0.1510929423646709, + 505.4254623163002 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.35831837628073754, + -0.14106028746808588, + 0.922881321924503, + 765.230632802974 + ], + [ + -0.933599454380483, + 0.05413937735942538, + -0.35420472669131353, + 3419.0539115130664 + ], + [ + -3.469446925701062e-18, + -0.9885195613231709, + -0.1510929423646709, + 3.954281483502503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76523.0632802974, + -341905.3911513066, + 395.4281483502503 + ], + "rotation_deg": [ + 2.0109330700657808e-16, + -8.690269470214838, + 20.996957778930653 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.4729794358888611, + -0.8810734664182404, + 1.7347234625772044e-18, + 2644.44110333418 + ], + [ + -0.046932728693738754, + -0.02519451145490762, + -0.9985802699682726, + 125.06168626681202 + ], + [ + 0.8798225781359189, + 0.472307936126692, + -0.05326766818633709, + -2272.564835451832 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.4729794358888611, + -0.046932728693738754, + 0.8798225781359189, + 754.5570727224986 + ], + [ + -0.8810734664182404, + -0.02519451145490762, + 0.472307936126692, + 3406.448152544527 + ], + [ + 1.7347234625772044e-18, + -0.9985802699682726, + -0.05326766818633709, + 3.8299043191337927 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75455.70727224986, + -340644.8152544527, + 382.99043191337927 + ], + "rotation_deg": [ + -9.953364470247505e-17, + -3.0534577369689955, + -28.227872848510756 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.11557456855108562, + -0.9932988065553233, + 1.7347234628673263e-18, + 3482.5992352786834 + ], + [ + -0.1540093739101019, + 0.017919649983483065, + -0.9879068776419605, + 60.48454106516107 + ], + [ + 0.9812867222613821, + -0.11417691201100698, + -0.15504838431000773, + -350.6030080885792 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.11557456855108562, + -0.1540093739101019, + 0.9812867222613821, + 755.8571701785279 + ], + [ + -0.9932988065553233, + 0.017919649983483065, + -0.11417691201100698, + 3418.147033442501 + ], + [ + 1.7347234628673263e-18, + -0.9879068776419605, + -0.15504838431000773, + 5.392664098656115 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75585.71701785279, + -341814.7033442501, + 539.2664098656115 + ], + "rotation_deg": [ + -1.0060901089360412e-16, + -8.919602394104004, + 6.636766433715819 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.831469608077446, + -0.55557023934291, + -0.0, + 2540.4081226535113 + ], + [ + -0.16567846365447728, + 0.2479553393727327, + -0.9544992385317261, + -716.4350284625104 + ], + [ + 0.5302913639794624, + -0.7936371112234062, + -0.29821335479446304, + 2310.6531657046658 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.831469608077446, + -0.16567846365447728, + 0.5302913639794624, + 768.2548663941259 + ], + [ + -0.55557023934291, + 0.2479553393727327, + -0.7936371112234062, + 3422.8391215452975 + ], + [ + -0.0, + -0.9544992385317261, + -0.29821335479446304, + 5.230933014620345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76825.48663941259, + -342283.91215452977, + 523.0933014620346 + ], + "rotation_deg": [ + 0.0, + -17.350324630737294, + 56.25000000000001 + ] + } + } + ] + }, + { + "frame": 141, + "time": 1840.8473125249147, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.3672922695127711, + -0.9301055793597615, + -6.938893851402124e-18, + 3461.3541353296955 + ], + [ + -0.14053238761500858, + 0.055495269281897186, + -0.9885195613231709, + -78.29081009622205 + ], + [ + 0.9194275580700544, + -0.36307559574959447, + -0.15109294236467094, + 538.3857086897326 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.3672922695127711, + -0.14053238761500858, + 0.9194275580700544, + 765.319572463427 + ], + [ + -0.9301055793597615, + 0.055495269281897186, + -0.36307559574959447, + 3419.2442699313683 + ], + [ + -6.938893851402124e-18, + -0.9885195613231709, + -0.15109294236467094, + 3.954281483502503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76531.9572463427, + -341924.4269931368, + 395.4281483502503 + ], + "rotation_deg": [ + 4.0218661401315616e-16, + -8.69026947021484, + 21.548721313476555 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.47368477087367755, + -0.880694463388042, + -0.0, + 2642.676878153162 + ], + [ + -0.04712930013715058, + -0.025348668198753744, + -0.9985671104583468, + 125.7460491586644 + ], + [ + 0.8794325236744025, + 0.473006036270658, + -0.053513792195962674, + -2274.774262662323 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.47368477087367755, + -0.04712930013715058, + 0.8794325236744025, + 754.6409977055862 + ], + [ + -0.880694463388042, + -0.025348668198753744, + 0.473006036270658, + 3406.5603350129472 + ], + [ + -0.0, + -0.9985671104583468, + -0.053513792195962674, + 3.834073254188337 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75464.09977055862, + -340656.03350129473, + 383.4073254188337 + ], + "rotation_deg": [ + 0.0, + -3.0675797462463397, + -28.273750305175792 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.1270382941920549, + -0.9918978131888248, + -0.0, + 3486.7965481854853 + ], + [ + -0.1574827446997653, + 0.02016975840184911, + -0.987315737729243, + 55.487219206798706 + ], + [ + 0.9793163208622736, + -0.12542690809152338, + -0.15876912300375196, + -310.8615753609651 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.1270382941920549, + -0.1574827446997653, + 0.9793163208622736, + 756.1267830253778 + ], + [ + -0.9918978131888248, + 0.02016975840184911, + -0.12542690809152338, + 3418.436300989737 + ], + [ + -0.0, + -0.987315737729243, + -0.15876912300375196, + 5.428184898944404 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75612.67830253778, + -341843.6300989737, + 542.8184898944404 + ], + "rotation_deg": [ + 0.0, + -9.135458946228027, + 7.298480033874515 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.831469608077446, + -0.55557023934291, + -0.0, + 2540.5247052208415 + ], + [ + -0.16567846365447728, + 0.2479553393727327, + -0.9544992385317261, + -716.4543233149502 + ], + [ + 0.5302913639794624, + -0.7936371112234062, + -0.29821335479446304, + 2310.7149232418187 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.831469608077446, + -0.16567846365447728, + 0.5302913639794624, + 768.3158550255985 + ], + [ + -0.55557023934291, + 0.2479553393727327, + -0.7936371112234062, + 3422.957688684351 + ], + [ + -0.0, + -0.9544992385317261, + -0.29821335479446304, + 5.230933014620345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76831.58550255984, + -342295.7688684351, + 523.0933014620346 + ], + "rotation_deg": [ + 0.0, + -17.350324630737294, + 56.25000000000001 + ] + } + } + ] + }, + { + "frame": 142, + "time": 1840.9139791950583, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.3762321316663976, + -0.9265254357554131, + -0.0, + 3456.164759849755 + ], + [ + -0.13999145318789769, + 0.05684601934864014, + -0.988519561323171, + -83.32225613195311 + ], + [ + 0.9158885160319552, + -0.37191282442041323, + -0.15109294236467102, + 571.3037445940627 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.3762321316663976, + -0.13999145318789769, + 0.9158885160319552, + 765.4053009612347 + ], + [ + -0.9265254357554131, + 0.05684601934864014, + -0.37191282442041323, + 3419.4362827149603 + ], + [ + -0.0, + -0.988519561323171, + -0.15109294236467102, + 3.954281483502503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76540.53009612348, + -341943.62827149604, + 395.4281483502503 + ], + "rotation_deg": [ + 0.0, + -8.690269470214846, + 22.100486755371094 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.47439100367488285, + -0.8803142482274933, + 1.7347234625779153e-18, + 2640.9111892616565 + ], + [ + -0.04732593888256374, + -0.025503392330137233, + -0.9985538705991474, + 126.43232738680143 + ], + [ + 0.8790411980776965, + 0.47370497625202723, + -0.053760278609717715, + -2276.983162196243 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.47439100367488285, + -0.04732593888256374, + 0.8790411980776965, + 754.7210211537605 + ], + [ + -0.8803142482274933, + -0.025503392330137233, + 0.47370497625202723, + 3406.674443836022 + ], + [ + 1.7347234625779153e-18, + -0.9985538705991474, + -0.053760278609717715, + 3.838242178952903 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75472.10211537605, + -340667.4443836022, + 383.8242178952903 + ], + "rotation_deg": [ + -9.953627613333221e-17, + -3.081722736358644, + -28.319705963134783 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.13750325584207368, + -0.990501314806209, + -3.469446925798238e-18, + 3490.239789727793 + ], + [ + -0.16071386784270095, + 0.022310601467164865, + -0.9867488483627492, + 50.67526622210748 + ], + [ + 0.9773760313389397, + -0.13568118036448978, + -0.16225507899305633, + -274.52078697395734 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.13750325584207368, + -0.16071386784270095, + 0.9773760313389397, + 756.3735938430873 + ], + [ + -0.990501314806209, + 0.022310601467164865, + -0.13568118036448978, + 3418.709200405164 + ], + [ + -3.469446925798238e-18, + -0.9867488483627492, + -0.16225507899305633, + 5.461368343942727 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75637.35938430873, + -341870.9200405164, + 546.1368343942727 + ], + "rotation_deg": [ + 2.0145416735227713e-16, + -9.337813377380368, + 7.90339612960815 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.831469608077446, + -0.55557023934291, + -0.0, + 2540.6391145602965 + ], + [ + -0.16567846365447728, + 0.2479553393727327, + -0.9544992385317261, + -716.4747422919454 + ], + [ + 0.5302913639794624, + -0.7936371112234062, + -0.29821335479446304, + 2310.780278793675 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.831469608077446, + -0.16567846365447728, + 0.5302913639794624, + 768.3729424447561 + ], + [ + -0.55557023934291, + 0.2479553393727327, + -0.7936371112234062, + 3423.078182693356 + ], + [ + -0.0, + -0.9544992385317261, + -0.29821335479446304, + 5.230933014620345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76837.2942444756, + -342307.8182693356, + 523.0933014620346 + ], + "rotation_deg": [ + 0.0, + -17.350324630737294, + 56.25000000000001 + ] + } + } + ] + }, + { + "frame": 143, + "time": 1840.980645865202, + "cameras": [ + { + "name": "cam01", + "extrinsic_w2c": [ + [ + -0.38513707187103097, + -0.9228593803340832, + -0.0, + 3450.655161826232 + ], + [ + -0.13943753809167486, + 0.05819149295539717, + -0.988519561323171, + -88.34672579306526 + ], + [ + 0.9122645484810235, + -0.3807155320607506, + -0.15109294236467102, + 604.1761378430575 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.38513707187103097, + -0.13943753809167486, + 0.9122645484810235, + 765.48791215887 + ], + [ + -0.9228593803340832, + 0.05819149295539717, + -0.3807155320607506, + 3419.6297464541726 + ], + [ + -0.0, + -0.988519561323171, + -0.15109294236467102, + 3.954281483502503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76548.791215887, + -341962.97464541724, + 395.4281483502503 + ], + "rotation_deg": [ + 0.0, + -8.690269470214846, + 22.652250289916992 + ] + } + }, + { + "name": "cam02", + "extrinsic_w2c": [ + [ + 0.47509810298876726, + -0.8799328341052369, + -0.0, + 2639.1438916174307 + ], + [ + -0.04752265161791563, + -0.02565868752428841, + -0.9985405496712355, + 127.12053686160877 + ], + [ + 0.8786486140019608, + 0.47440472426507474, + -0.05400713570827116, + -2279.1914353332054 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + 0.47509810298876726, + -0.04752265161791563, + 0.8786486140019608, + 754.7972396243271 + ], + [ + -0.8799328341052369, + -0.02565868752428841, + 0.47440472426507474, + 3406.7902822973715 + ], + [ + -0.0, + -0.9985405496712355, + -0.05400713570827116, + 3.8424110946622885 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75479.7239624327, + -340679.02822973713, + 384.24110946622886 + ], + "rotation_deg": [ + 0.0, + -3.0958871841430677, + -28.365737915039084 + ] + } + }, + { + "name": "cam03", + "extrinsic_w2c": [ + [ + -0.14705954320792744, + -0.9891276412837099, + -1.7347234629140755e-18, + 3493.060732282083 + ], + [ + -0.16372989217541256, + 0.024342705782188452, + -0.9862048241026958, + 46.0678305025285 + ], + [ + 0.9754824511105846, + -0.14503083202593137, + -0.16552959051828692, + -241.28508553033055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.14705954320792744, + -0.16372989217541256, + 0.9754824511105846, + 756.599967248269 + ], + [ + -0.9891276412837099, + 0.024342705782188452, + -0.14503083202593137, + 3418.9677303107787 + ], + [ + -1.7347234629140755e-18, + -0.9862048241026958, + -0.16552959051828692, + 5.492494916285879 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 75659.9967248269, + -341896.7730310779, + 549.2494916285879 + ], + "rotation_deg": [ + 1.0078264817621195e-16, + -9.528000831603999, + 8.456561088562003 + ] + } + }, + { + "name": "cam04", + "extrinsic_w2c": [ + [ + -0.831469608077446, + -0.55557023934291, + -0.0, + 2540.751321600035 + ], + [ + -0.16567846365447728, + 0.2479553393727327, + -0.9544992385317261, + -716.4962206102347 + ], + [ + 0.5302913639794624, + -0.7936371112234062, + -0.29821335479446304, + 2310.8490250067607 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "c2w": [ + [ + -0.831469608077446, + -0.16567846365447728, + 0.5302913639794624, + 768.4262251701925 + ], + [ + -0.55557023934291, + 0.2479553393727327, + -0.7936371112234062, + 3423.200406794098 + ], + [ + -0.0, + -0.9544992385317261, + -0.29821335479446304, + 5.230933014620345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ue_pose": { + "location_cm": [ + 76842.62251701925, + -342320.0406794098, + 523.0933014620346 + ], + "rotation_deg": [ + 0.0, + -17.350324630737294, + 56.25000000000001 + ] + } + } + ] + } + ] +} \ No newline at end of file diff --git a/clips/clip_00249/caption.txt b/clips/clip_00249/caption.txt new file mode 100644 index 0000000000000000000000000000000000000000..f596a1c60c82c56d5451a17e04653c3118076793 --- /dev/null +++ b/clips/clip_00249/caption.txt @@ -0,0 +1 @@ +A short-haired woman in a gray patterned top, black pants, and dark flats carrying a small brown handbag walks briskly then breaks into a jog along a colonnaded downtown sidewalk, passing parked cars and ornate gold-trimmed doorways under overcast dusk light. diff --git a/clips/clip_00249/depth.zip b/clips/clip_00249/depth.zip new file mode 100644 index 0000000000000000000000000000000000000000..774d9b5cea92a196da810eb31a1c7b6186b52892 --- /dev/null +++ b/clips/clip_00249/depth.zip @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bb06236cb2109355c53043a94bccebed3c5c9cbd302d4446aa25f8933bdddad8 +size 178713370 diff --git a/clips/clip_00249/meta.json b/clips/clip_00249/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..566a47b9bd4fc0519fc8ab6dc3be02fe40514488 --- /dev/null +++ b/clips/clip_00249/meta.json @@ -0,0 +1,291 @@ +{ + "mode": "pie", + "clip": "clip_00228", + "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": [ + 75533.88646938096, + -339554.52561469044, + 59.10417115127626 + ], + "intrinsics_mode": "per_camera", + "clip_index": 21, + "target": { + "tracked": true, + "kind": "pedestrian", + "aim_z_cm": 110.0, + "moving_at_acquire": true, + "motion_kinds": [ + "arc", + "translation", + "random_polyline", + "static" + ], + "model_id": "arch_389d3c08", + "identity": { + "model_id": "arch_389d3c08", + "primary_mesh": "/Game/Crowd/Character/Female/NormalWeight/Meshes/f_tal_nrw_base.f_tal_nrw_base", + "meshes": [ + "/Game/Crowd/Character/Accessories/purseB.purseB", + "/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_oxfords.f_tal_nrw_oxfords", + "/Game/Crowd/Character/Female/NormalWeight/Meshes/f_tal_nrw_scoopneck_croppedJacket.f_tal_nrw_scoopneck_croppedJacket", + "/Game/Crowd/Character/Female/NormalWeight/Meshes/f_tal_nrw_slacks.f_tal_nrw_slacks", + "/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": 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": [ + 59.55, + 25.921, + 33.343, + 67.45 + ], + "hfov_range_deg": [ + 25.0, + 90.0 + ], + "bench": { + "mode": true, + "clip_id": 249, + "bg_ratio": 0.0, + "placement_fallbacks": [], + "target_reacquires": 0, + "motion_gate": { + "enabled": true, + "required_travel_m": 1.78, + "travel_m": 19.07, + "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": 8 + } + }, + "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": [ + 30, + 30, + 30, + 29 + ], + "open_frames_est": [ + 15, + 16, + 15, + 14 + ], + "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, + false, + false + ], + "cycles": [ + 0, + 0, + 0, + 0 + ], + "segments": [], + "num_allowed": 0, + "num_effective": 0, + "num_departed": 0 + }, + "visibility": { + "frames": 144, + "states": [ + "visible", + "occluded", + "out_of_frustum", + "target_absent" + ], + "per_cam_ratio": [ + { + "visible": 0.9792, + "occluded": 0.0208, + "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": 0.9653, + "occluded": 0.0347, + "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": [ + 0.9792, + 1.0, + 0.9653, + 1.0 + ], + "non_oos_cams": [ + 1, + 2, + 3, + 4 + ], + "min_visible_ratio_non_oos": 0.9653, + "gate1_cams": [ + 1, + 2, + 3, + 4 + ], + "min_visible_ratio_gate1": 0.9653, + "target_absent_frames": 0, + "bbox_sources": { + "colliding": 144 + } + }, + "smoothing": { + "rot_cap_frac_hfov": 0.06, + "rot_cap_deg_per_cam": [ + 3.5729999999999995, + 1.5552599999999999, + 2.0005800000000002, + 4.047 + ], + "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": 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": 1.0, + "render_lod_natural": 1, + "render_lod_forced": 1, + "sample_log": "ok=1 n=256 comps=7 skinned=6 static=1 tris=147215 area_m2=2.771 half_cm=84.6 centre_off_cm=7.1", + "npz_written": true + } +} \ No newline at end of file diff --git a/clips/clip_00249/points_target.npz b/clips/clip_00249/points_target.npz new file mode 100644 index 0000000000000000000000000000000000000000..b1b93fe53f0acd7abfad9bfe7803bd5d5433c649 --- /dev/null +++ b/clips/clip_00249/points_target.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2a06d95cbf249517bbfc8bad839821f185f7a74d22ed4f0e237c2993cfb36c3e +size 419441 diff --git a/clips/clip_00249/videos/cam01.mp4 b/clips/clip_00249/videos/cam01.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..7ba6336e329110bab058b1eff88d9c50889a7e74 --- /dev/null +++ b/clips/clip_00249/videos/cam01.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:322f6c73cc8d1cc5f6d072f6acc28446e80234c349328101771d10296127c25c +size 24707231 diff --git a/clips/clip_00249/videos/cam02.mp4 b/clips/clip_00249/videos/cam02.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..03ab2eee4ca4c1753c2ecd4413642472cd43b69b --- /dev/null +++ b/clips/clip_00249/videos/cam02.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:29a95715a988a0758dcf1beb07a2f84563c2ffe8f0208e6fcf3d35a962d21526 +size 29169299 diff --git a/clips/clip_00249/videos/cam03.mp4 b/clips/clip_00249/videos/cam03.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..60cbdc346c8f6484e4a463c39caf34ada643e4ab --- /dev/null +++ b/clips/clip_00249/videos/cam03.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fb0b92eace4662e4fe2f697c3906b2b96e0a225e71e3e5fae2c40d37232c5036 +size 25047510 diff --git a/clips/clip_00249/videos/cam04.mp4 b/clips/clip_00249/videos/cam04.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..cc7985b4f1715abf8f23931e997c4a3bd4ac353b --- /dev/null +++ b/clips/clip_00249/videos/cam04.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2593c94993f3e7b59149da4b253b0737e78b9535f6ed3a65ec2e8d5494ff571d +size 23788570 diff --git a/clips/clip_00249/videos_depth/cam01.mp4 b/clips/clip_00249/videos_depth/cam01.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..c5cc6eaf8a81dc6e266b4e066da9ca3b677a153e --- /dev/null +++ b/clips/clip_00249/videos_depth/cam01.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9b3ca633af82eee55327a7c09bfad9a9e28b9b5e013eae5c6471137fb4c79e2c +size 1026280 diff --git a/clips/clip_00249/videos_depth/cam02.mp4 b/clips/clip_00249/videos_depth/cam02.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..c881a383a299e8f09188eb8dbd3a9db59aa1a2d4 --- /dev/null +++ b/clips/clip_00249/videos_depth/cam02.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e3792ff6235cc9716efe7e3fe2db3765ec59d35dc884dbe1e84d091435639cdb +size 1050459 diff --git a/clips/clip_00249/videos_depth/cam03.mp4 b/clips/clip_00249/videos_depth/cam03.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..74cf6e1f792db9be6090bf180bbcc213c283c9ca --- /dev/null +++ b/clips/clip_00249/videos_depth/cam03.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:84bc6b9c978853a2f479ab36987730445d7036c45ce84dd56726ebecc692e1d9 +size 651181 diff --git a/clips/clip_00249/videos_depth/cam04.mp4 b/clips/clip_00249/videos_depth/cam04.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..3639cf6ee13eebdacdbd7d9a75da34e6d51c9682 --- /dev/null +++ b/clips/clip_00249/videos_depth/cam04.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:31c764d7693dcbba3f502c27e221df578d2ac7ce63e040074da5e07c90a99bdd +size 657048 diff --git a/clips/clip_00249/views/cam01/frame_0000.png b/clips/clip_00249/views/cam01/frame_0000.png new file mode 100644 index 0000000000000000000000000000000000000000..87dae830c96fd898e149dab36586cfe563fa003d --- /dev/null +++ b/clips/clip_00249/views/cam01/frame_0000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:124eb02b1d57ecf9fb77d90fa41e852eb53c406824c41dc8fbecc01f5c6d64f4 +size 3411233 diff --git a/clips/clip_00249/views/cam01/frame_0072.png b/clips/clip_00249/views/cam01/frame_0072.png new file mode 100644 index 0000000000000000000000000000000000000000..9a813446ad9f0e03b682dfa198a75b0e65943b51 --- /dev/null +++ b/clips/clip_00249/views/cam01/frame_0072.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ca75382b084ac2f5e9951ec1735f40bb2be44e781cdbd765c06e366fcaa564fe +size 3480087 diff --git a/clips/clip_00249/views/cam01/frame_0143.png b/clips/clip_00249/views/cam01/frame_0143.png new file mode 100644 index 0000000000000000000000000000000000000000..86b7a395d8912539bc761bf8249f3f8148bb5efb --- /dev/null +++ b/clips/clip_00249/views/cam01/frame_0143.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:113c37394e409e43fcc1d3a86f1bdc9452df95d6b4b88b065cd6271ff5af6532 +size 3354867 diff --git a/clips/clip_00249/views/cam02/frame_0000.png b/clips/clip_00249/views/cam02/frame_0000.png new file mode 100644 index 0000000000000000000000000000000000000000..833507e3ba02e1c27d551d151c8c2aad11ec687c --- /dev/null +++ b/clips/clip_00249/views/cam02/frame_0000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:01a82f2a33e82e94cfc87d7e5a2bb6e3259520b7e57aefd793d5199ea41bb336 +size 3560594 diff --git a/clips/clip_00249/views/cam02/frame_0072.png b/clips/clip_00249/views/cam02/frame_0072.png new file mode 100644 index 0000000000000000000000000000000000000000..eac0ffe492593fa38174ce15bf7920707b96a728 --- /dev/null +++ b/clips/clip_00249/views/cam02/frame_0072.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:45c69f68e429bf494488438a3333765dd6530446ff0791c0824348ede96f4604 +size 3503330 diff --git a/clips/clip_00249/views/cam03/frame_0000.png b/clips/clip_00249/views/cam03/frame_0000.png new file mode 100644 index 0000000000000000000000000000000000000000..c6f640dff8ec6623a3dd964096e89f4ff02c4a6a --- /dev/null +++ b/clips/clip_00249/views/cam03/frame_0000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b7cc0711fc44f050407d669c0f2a489a468b615b42bc134840b776c68d3641e3 +size 3268297 diff --git a/clips/clip_00249/views/cam03/frame_0072.png b/clips/clip_00249/views/cam03/frame_0072.png new file mode 100644 index 0000000000000000000000000000000000000000..aa063206d8a6073e2620b1e136ce9a49f31bf25c --- /dev/null +++ b/clips/clip_00249/views/cam03/frame_0072.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e48de12aa0cbbea15b37e89b9c876d44bdef419cfe98bcb9bd49bccbc20022aa +size 3313390 diff --git a/clips/clip_00249/views/cam04/frame_0000.png b/clips/clip_00249/views/cam04/frame_0000.png new file mode 100644 index 0000000000000000000000000000000000000000..7414756eaf85fc07f1ffe08b514c35bef649fbbf --- /dev/null +++ b/clips/clip_00249/views/cam04/frame_0000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e45bf23f73f555b1b20a83f07066d0c5d502d6189d6e363bb2d85685f24ebd25 +size 3351713 diff --git a/clips/clip_00249/views/cam04/frame_0072.png b/clips/clip_00249/views/cam04/frame_0072.png new file mode 100644 index 0000000000000000000000000000000000000000..7e1c12ccdb43d70cd83d6830fe7a0cae593692da --- /dev/null +++ b/clips/clip_00249/views/cam04/frame_0072.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9b0f50dacf2847757ebf01aff916732a48ee8eeeda16cd628cfef6ab514206c5 +size 3464260 diff --git a/clips/clip_00249/visibility.json b/clips/clip_00249/visibility.json new file mode 100644 index 0000000000000000000000000000000000000000..60d792939367130edf7e4e4b41b6f4e04fc8337d --- /dev/null +++ b/clips/clip_00249/visibility.json @@ -0,0 +1,9694 @@ +{ + "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": 249, + "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": 59.55, + "motion_kind": "arc", + "ratio": { + "visible": 0.9792, + "occluded": 0.0208, + "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": 25.921, + "motion_kind": "translation", + "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": "cam03", + "hfov_deg": 33.343, + "motion_kind": "random_polyline", + "ratio": { + "visible": 0.9653, + "occluded": 0.0347, + "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": 67.45, + "motion_kind": "static", + "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": 0.9792, + "occluded": 0.0208, + "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": 0.9653, + "occluded": 0.0347, + "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": [ + 0.9792, + 1.0, + 0.9653, + 1.0 + ], + "non_oos_cams": [ + 1, + 2, + 3, + 4 + ], + "min_visible_ratio_non_oos": 0.9653, + "gate1_cams": [ + 1, + 2, + 3, + 4 + ], + "min_visible_ratio_gate1": 0.9653, + "target_absent_frames": 0, + "bbox_sources": { + "colliding": 144 + } + }, + "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", + "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", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "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" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "visible", + "visible" + ], + [ + "visible", + "visible", + "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", + "visible", + "visible" + ] + ], + "visible_frac": [ + [ + 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, + 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, + 0.889, + 1.0 + ], + [ + 1.0, + 0.889, + 0.889, + 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 + ], + [ + 0.778, + 0.889, + 1.0, + 1.0 + ], + [ + 0.778, + 0.889, + 1.0, + 1.0 + ], + [ + 0.222, + 0.889, + 1.0, + 1.0 + ], + [ + 0.0, + 0.778, + 1.0, + 0.889 + ], + [ + 0.0, + 0.667, + 1.0, + 0.889 + ], + [ + 0.0, + 0.667, + 1.0, + 1.0 + ], + [ + 0.222, + 0.667, + 1.0, + 0.889 + ], + [ + 0.778, + 0.667, + 1.0, + 0.889 + ], + [ + 1.0, + 0.667, + 1.0, + 1.0 + ], + [ + 1.0, + 0.667, + 1.0, + 1.0 + ], + [ + 1.0, + 0.556, + 1.0, + 1.0 + ], + [ + 1.0, + 0.556, + 0.889, + 1.0 + ], + [ + 1.0, + 0.556, + 0.778, + 1.0 + ], + [ + 1.0, + 0.556, + 0.889, + 1.0 + ], + [ + 1.0, + 0.556, + 0.889, + 1.0 + ], + [ + 1.0, + 0.556, + 0.889, + 1.0 + ], + [ + 1.0, + 0.556, + 0.778, + 1.0 + ], + [ + 1.0, + 0.444, + 0.889, + 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 + ], + [ + 0.889, + 0.444, + 1.0, + 1.0 + ], + [ + 0.889, + 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, + 0.444, + 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, + 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, + 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, + 0.889 + ], + [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + [ + 1.0, + 1.0, + 1.0, + 0.889 + ], + [ + 1.0, + 1.0, + 1.0, + 0.889 + ], + [ + 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, + 0.889, + 1.0 + ], + [ + 0.889, + 1.0, + 0.889, + 1.0 + ], + [ + 0.778, + 1.0, + 1.0, + 1.0 + ], + [ + 0.889, + 1.0, + 1.0, + 1.0 + ], + [ + 0.889, + 0.889, + 1.0, + 1.0 + ], + [ + 0.778, + 0.889, + 1.0, + 1.0 + ], + [ + 0.778, + 0.889, + 1.0, + 1.0 + ], + [ + 1.0, + 0.778, + 1.0, + 1.0 + ], + [ + 1.0, + 0.889, + 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, + 0.889, + 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, + 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, + 0.556 + ], + [ + 1.0, + 1.0, + 1.0, + 0.222 + ], + [ + 1.0, + 1.0, + 1.0, + 0.444 + ], + [ + 1.0, + 1.0, + 1.0, + 0.444 + ], + [ + 1.0, + 1.0, + 1.0, + 0.222 + ], + [ + 1.0, + 1.0, + 0.778, + 0.444 + ], + [ + 0.556, + 1.0, + 0.556, + 0.667 + ], + [ + 0.556, + 1.0, + 0.556, + 0.778 + ], + [ + 0.444, + 1.0, + 0.444, + 0.778 + ], + [ + 0.222, + 1.0, + 0.444, + 0.889 + ], + [ + 0.444, + 1.0, + 0.444, + 1.0 + ], + [ + 0.444, + 1.0, + 0.444, + 0.889 + ], + [ + 0.556, + 0.778, + 0.556, + 1.0 + ], + [ + 0.667, + 0.778, + 0.556, + 1.0 + ], + [ + 0.778, + 0.778, + 0.556, + 1.0 + ], + [ + 0.889, + 0.778, + 0.778, + 1.0 + ], + [ + 0.889, + 0.778, + 0.889, + 1.0 + ], + [ + 0.889, + 0.778, + 0.889, + 1.0 + ], + [ + 0.889, + 0.556, + 0.889, + 1.0 + ], + [ + 1.0, + 0.556, + 0.889, + 1.0 + ], + [ + 1.0, + 0.444, + 0.778, + 1.0 + ], + [ + 1.0, + 0.444, + 0.889, + 1.0 + ], + [ + 1.0, + 0.222, + 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, + 0.111, + 0.556, + 1.0 + ], + [ + 1.0, + 0.333, + 0.0, + 1.0 + ], + [ + 1.0, + 0.444, + 1.0, + 1.0 + ] + ], + "target_world_cm": [ + [ + 76422.2, + -339968.7, + 163.1 + ], + [ + 76428.7, + -339980.3, + 163.1 + ], + [ + 76435.3, + -339991.9, + 163.1 + ], + [ + 76442.0, + -340003.5, + 163.1 + ], + [ + 76448.6, + -340015.0, + 163.1 + ], + [ + 76455.3, + -340026.6, + 163.1 + ], + [ + 76462.0, + -340038.1, + 163.1 + ], + [ + 76468.6, + -340049.7, + 163.1 + ], + [ + 76475.2, + -340061.3, + 163.1 + ], + [ + 76481.7, + -340072.9, + 163.1 + ], + [ + 76488.1, + -340084.6, + 163.1 + ], + [ + 76494.3, + -340096.4, + 163.1 + ], + [ + 76500.4, + -340108.3, + 163.1 + ], + [ + 76506.3, + -340120.2, + 163.1 + ], + [ + 76512.1, + -340132.2, + 163.1 + ], + [ + 76517.7, + -340144.4, + 163.1 + ], + [ + 76523.1, + -340156.5, + 163.1 + ], + [ + 76528.3, + -340168.8, + 163.1 + ], + [ + 76533.4, + -340181.1, + 163.1 + ], + [ + 76538.4, + -340193.5, + 163.1 + ], + [ + 76543.4, + -340205.9, + 163.1 + ], + [ + 76548.3, + -340218.3, + 163.1 + ], + [ + 76553.2, + -340230.6, + 163.1 + ], + [ + 76558.2, + -340243.0, + 163.1 + ], + [ + 76563.2, + -340255.4, + 163.1 + ], + [ + 76568.4, + -340267.7, + 163.1 + ], + [ + 76573.6, + -340279.9, + 163.1 + ], + [ + 76579.0, + -340292.1, + 163.1 + ], + [ + 76584.5, + -340304.3, + 163.1 + ], + [ + 76590.1, + -340316.4, + 163.1 + ], + [ + 76595.8, + -340328.4, + 163.1 + ], + [ + 76601.7, + -340340.4, + 163.1 + ], + [ + 76607.7, + -340352.3, + 163.1 + ], + [ + 76613.9, + -340364.1, + 163.1 + ], + [ + 76620.1, + -340375.9, + 163.1 + ], + [ + 76626.5, + -340387.6, + 163.1 + ], + [ + 76633.0, + -340399.2, + 163.1 + ], + [ + 76639.5, + -340410.8, + 163.1 + ], + [ + 76646.2, + -340422.4, + 163.1 + ], + [ + 76652.9, + -340433.9, + 163.1 + ], + [ + 76659.8, + -340445.4, + 163.1 + ], + [ + 76666.6, + -340456.8, + 163.1 + ], + [ + 76673.8, + -340468.0, + 163.1 + ], + [ + 76681.2, + -340479.1, + 163.1 + ], + [ + 76688.6, + -340490.2, + 163.1 + ], + [ + 76696.0, + -340501.3, + 163.1 + ], + [ + 76703.3, + -340512.4, + 163.1 + ], + [ + 76710.5, + -340523.6, + 163.1 + ], + [ + 76717.6, + -340535.0, + 163.1 + ], + [ + 76724.5, + -340546.4, + 163.1 + ], + [ + 76731.1, + -340557.9, + 163.1 + ], + [ + 76737.6, + -340569.6, + 163.1 + ], + [ + 76743.8, + -340581.4, + 163.1 + ], + [ + 76749.8, + -340593.3, + 163.1 + ], + [ + 76755.7, + -340605.3, + 163.1 + ], + [ + 76761.4, + -340617.3, + 163.1 + ], + [ + 76767.1, + -340629.4, + 163.1 + ], + [ + 76772.9, + -340641.4, + 163.1 + ], + [ + 76778.8, + -340653.3, + 163.1 + ], + [ + 76784.9, + -340665.2, + 163.1 + ], + [ + 76791.1, + -340677.0, + 163.1 + ], + [ + 76797.2, + -340688.8, + 163.1 + ], + [ + 76803.0, + -340700.9, + 163.1 + ], + [ + 76808.3, + -340713.1, + 163.1 + ], + [ + 76813.3, + -340725.5, + 163.1 + ], + [ + 76817.9, + -340738.0, + 163.1 + ], + [ + 76822.3, + -340750.6, + 163.1 + ], + [ + 76826.4, + -340763.2, + 163.1 + ], + [ + 76830.4, + -340776.0, + 163.1 + ], + [ + 76834.3, + -340788.7, + 163.1 + ], + [ + 76838.2, + -340801.5, + 163.1 + ], + [ + 76842.1, + -340814.2, + 163.1 + ], + [ + 76846.0, + -340827.0, + 163.1 + ], + [ + 76849.9, + -340839.7, + 163.1 + ], + [ + 76853.8, + -340852.5, + 163.1 + ], + [ + 76857.8, + -340865.2, + 163.1 + ], + [ + 76861.8, + -340877.9, + 163.1 + ], + [ + 76865.8, + -340890.6, + 163.1 + ], + [ + 76869.9, + -340903.3, + 163.1 + ], + [ + 76874.0, + -340916.0, + 163.1 + ], + [ + 76878.1, + -340928.7, + 163.1 + ], + [ + 76882.3, + -340941.3, + 163.1 + ], + [ + 76886.5, + -340954.0, + 163.1 + ], + [ + 76890.8, + -340966.6, + 163.1 + ], + [ + 76895.1, + -340979.2, + 163.1 + ], + [ + 76899.5, + -340991.8, + 163.1 + ], + [ + 76903.9, + -341004.4, + 163.1 + ], + [ + 76908.4, + -341017.0, + 163.1 + ], + [ + 76912.9, + -341029.5, + 163.1 + ], + [ + 76917.5, + -341042.0, + 163.1 + ], + [ + 76922.2, + -341054.5, + 163.1 + ], + [ + 76927.0, + -341067.0, + 163.1 + ], + [ + 76931.8, + -341079.4, + 163.1 + ], + [ + 76936.7, + -341091.8, + 163.1 + ], + [ + 76941.6, + -341104.2, + 163.1 + ], + [ + 76946.7, + -341116.5, + 163.1 + ], + [ + 76951.8, + -341128.8, + 163.1 + ], + [ + 76957.1, + -341141.1, + 163.1 + ], + [ + 76962.4, + -341153.3, + 163.1 + ], + [ + 76967.8, + -341165.5, + 163.1 + ], + [ + 76973.3, + -341177.6, + 163.1 + ], + [ + 76978.9, + -341189.7, + 163.1 + ], + [ + 76984.7, + -341201.7, + 163.1 + ], + [ + 76990.5, + -341213.7, + 163.1 + ], + [ + 76996.5, + -341225.6, + 163.1 + ], + [ + 77002.7, + -341237.5, + 163.1 + ], + [ + 77008.9, + -341249.2, + 163.1 + ], + [ + 77015.3, + -341261.0, + 163.1 + ], + [ + 77021.8, + -341272.6, + 163.1 + ], + [ + 77028.5, + -341284.2, + 163.1 + ], + [ + 77035.2, + -341295.6, + 163.1 + ], + [ + 77042.1, + -341307.1, + 163.1 + ], + [ + 77049.1, + -341318.4, + 163.1 + ], + [ + 77056.2, + -341329.7, + 163.1 + ], + [ + 77063.4, + -341340.9, + 163.1 + ], + [ + 77070.7, + -341352.1, + 163.1 + ], + [ + 77078.1, + -341363.2, + 163.1 + ], + [ + 77085.6, + -341374.2, + 163.1 + ], + [ + 77093.3, + -341385.1, + 163.1 + ], + [ + 77101.0, + -341395.9, + 163.1 + ], + [ + 77108.9, + -341406.7, + 163.1 + ], + [ + 77116.8, + -341417.4, + 163.1 + ], + [ + 77124.9, + -341428.1, + 163.1 + ], + [ + 77133.0, + -341438.6, + 163.1 + ], + [ + 77141.2, + -341449.1, + 163.1 + ], + [ + 77149.5, + -341459.5, + 163.1 + ], + [ + 77157.9, + -341469.9, + 163.1 + ], + [ + 77166.4, + -341480.2, + 163.1 + ], + [ + 77175.0, + -341490.4, + 163.1 + ], + [ + 77183.6, + -341500.6, + 163.1 + ], + [ + 77192.2, + -341510.8, + 163.1 + ], + [ + 77200.8, + -341520.9, + 163.1 + ], + [ + 77209.4, + -341531.1, + 163.1 + ], + [ + 77217.8, + -341541.5, + 163.1 + ], + [ + 77226.1, + -341551.9, + 163.1 + ], + [ + 77234.2, + -341562.6, + 163.1 + ], + [ + 77241.9, + -341573.4, + 163.1 + ], + [ + 77249.4, + -341584.4, + 163.1 + ], + [ + 77256.6, + -341595.6, + 163.1 + ], + [ + 77263.5, + -341607.1, + 163.1 + ], + [ + 77269.9, + -341618.7, + 163.1 + ], + [ + 77276.0, + -341630.6, + 163.1 + ], + [ + 77281.8, + -341642.6, + 163.1 + ], + [ + 77287.1, + -341654.9, + 163.1 + ] + ], + "target_bbox_cm": [ + [ + 76422.2, + -339968.7, + 163.1, + 53.8, + 53.8, + 88.0 + ], + [ + 76428.7, + -339980.3, + 163.1, + 53.9, + 53.9, + 88.0 + ], + [ + 76435.3, + -339991.9, + 163.1, + 53.9, + 53.9, + 88.0 + ], + [ + 76442.0, + -340003.5, + 163.1, + 54.0, + 54.0, + 88.0 + ], + [ + 76448.6, + -340015.0, + 163.1, + 54.1, + 54.1, + 88.0 + ], + [ + 76455.3, + -340026.6, + 163.1, + 54.1, + 54.1, + 88.0 + ], + [ + 76462.0, + -340038.1, + 163.1, + 54.2, + 54.2, + 88.0 + ], + [ + 76468.6, + -340049.1, + 163.1, + 54.2, + 54.7, + 88.0 + ], + [ + 76475.2, + -340060.9, + 163.1, + 54.2, + 54.6, + 88.0 + ], + [ + 76481.7, + -340072.9, + 163.1, + 54.2, + 54.2, + 88.0 + ], + [ + 76488.1, + -340084.6, + 163.1, + 54.2, + 54.2, + 88.0 + ], + [ + 76494.3, + -340096.4, + 163.1, + 54.2, + 54.2, + 88.0 + ], + [ + 76500.4, + -340108.3, + 163.1, + 54.2, + 54.2, + 88.0 + ], + [ + 76506.3, + -340120.2, + 163.1, + 54.1, + 54.1, + 88.0 + ], + [ + 76512.1, + -340132.2, + 163.1, + 54.0, + 54.0, + 88.0 + ], + [ + 76517.7, + -340144.4, + 163.1, + 53.9, + 53.9, + 88.0 + ], + [ + 76523.1, + -340156.5, + 163.1, + 53.8, + 53.8, + 88.0 + ], + [ + 76528.3, + -340168.8, + 163.1, + 53.7, + 53.7, + 88.0 + ], + [ + 76533.4, + -340181.1, + 163.1, + 53.6, + 53.6, + 88.0 + ], + [ + 76538.4, + -340193.5, + 163.1, + 53.5, + 53.5, + 88.0 + ], + [ + 76543.4, + -340205.9, + 163.1, + 53.3, + 53.3, + 88.0 + ], + [ + 76548.3, + -340218.3, + 163.1, + 53.2, + 53.2, + 88.0 + ], + [ + 76553.2, + -340230.6, + 163.1, + 53.1, + 53.1, + 88.0 + ], + [ + 76558.2, + -340243.0, + 163.1, + 53.1, + 53.1, + 88.0 + ], + [ + 76563.2, + -340255.4, + 163.1, + 53.0, + 53.0, + 88.0 + ], + [ + 76568.4, + -340267.7, + 163.1, + 53.0, + 53.0, + 88.0 + ], + [ + 76573.6, + -340279.9, + 163.1, + 53.0, + 53.0, + 88.0 + ], + [ + 76579.0, + -340292.1, + 163.1, + 53.0, + 53.0, + 88.0 + ], + [ + 76584.5, + -340304.3, + 163.1, + 53.0, + 53.0, + 88.0 + ], + [ + 76590.1, + -340316.4, + 163.1, + 53.1, + 53.1, + 88.0 + ], + [ + 76595.8, + -340328.4, + 163.1, + 53.2, + 53.2, + 88.0 + ], + [ + 76601.7, + -340340.4, + 163.1, + 53.2, + 53.2, + 88.0 + ], + [ + 76607.7, + -340352.3, + 163.1, + 53.3, + 53.3, + 88.0 + ], + [ + 76613.9, + -340364.1, + 163.1, + 53.4, + 53.4, + 88.0 + ], + [ + 76620.1, + -340375.9, + 163.1, + 53.5, + 53.5, + 88.0 + ], + [ + 76626.5, + -340387.6, + 163.1, + 53.6, + 53.6, + 88.0 + ], + [ + 76633.0, + -340399.2, + 163.1, + 53.7, + 53.7, + 88.0 + ], + [ + 76639.5, + -340410.8, + 163.1, + 53.8, + 53.8, + 88.0 + ], + [ + 76646.2, + -340422.4, + 163.1, + 53.9, + 53.9, + 88.0 + ], + [ + 76652.9, + -340433.9, + 163.1, + 54.0, + 54.0, + 88.0 + ], + [ + 76659.8, + -340445.4, + 163.1, + 54.1, + 54.1, + 88.0 + ], + [ + 76666.6, + -340456.8, + 163.1, + 54.2, + 54.2, + 88.0 + ], + [ + 76673.8, + -340468.0, + 163.1, + 54.2, + 54.2, + 88.0 + ], + [ + 76681.2, + -340479.1, + 163.1, + 54.3, + 54.3, + 88.0 + ], + [ + 76688.6, + -340490.2, + 163.1, + 54.5, + 54.5, + 88.0 + ], + [ + 76696.0, + -340501.3, + 163.1, + 54.5, + 54.5, + 88.0 + ], + [ + 76703.3, + -340512.4, + 163.1, + 54.6, + 54.6, + 88.0 + ], + [ + 76710.5, + -340523.6, + 163.1, + 54.7, + 54.7, + 88.0 + ], + [ + 76717.6, + -340535.0, + 163.1, + 54.7, + 54.7, + 88.0 + ], + [ + 76724.5, + -340546.4, + 163.1, + 54.7, + 54.7, + 88.0 + ], + [ + 76731.1, + -340557.9, + 163.1, + 54.6, + 54.6, + 88.0 + ], + [ + 76737.6, + -340569.6, + 163.1, + 54.6, + 54.6, + 88.0 + ], + [ + 76743.8, + -340581.4, + 163.1, + 54.5, + 54.5, + 88.0 + ], + [ + 76749.8, + -340593.3, + 163.1, + 54.4, + 54.4, + 88.0 + ], + [ + 76755.7, + -340605.3, + 163.1, + 54.3, + 54.3, + 88.0 + ], + [ + 76761.4, + -340617.3, + 163.1, + 54.2, + 54.2, + 88.0 + ], + [ + 76767.1, + -340629.4, + 163.1, + 54.1, + 54.1, + 88.0 + ], + [ + 76772.9, + -340641.4, + 163.1, + 53.9, + 53.9, + 88.0 + ], + [ + 76778.8, + -340653.3, + 163.1, + 53.9, + 53.9, + 88.0 + ], + [ + 76784.9, + -340665.2, + 163.1, + 53.8, + 53.8, + 88.0 + ], + [ + 76791.1, + -340677.0, + 163.1, + 53.8, + 53.8, + 88.0 + ], + [ + 76797.2, + -340688.8, + 163.1, + 53.9, + 53.9, + 88.0 + ], + [ + 76803.0, + -340700.9, + 163.1, + 53.9, + 53.9, + 88.0 + ], + [ + 76808.3, + -340713.1, + 163.1, + 53.8, + 53.8, + 88.0 + ], + [ + 76813.3, + -340725.3, + 163.1, + 53.7, + 53.9, + 88.0 + ], + [ + 76817.9, + -340738.0, + 163.1, + 53.5, + 53.5, + 88.0 + ], + [ + 76822.3, + -340750.6, + 163.1, + 53.3, + 53.3, + 88.0 + ], + [ + 76826.4, + -340763.2, + 163.1, + 53.1, + 53.1, + 88.0 + ], + [ + 76830.4, + -340776.0, + 163.1, + 52.9, + 52.9, + 88.0 + ], + [ + 76834.3, + -340788.7, + 163.1, + 52.7, + 52.7, + 88.0 + ], + [ + 76838.2, + -340801.5, + 163.1, + 52.5, + 52.5, + 88.0 + ], + [ + 76842.1, + -340814.2, + 163.1, + 52.3, + 52.3, + 88.0 + ], + [ + 76846.0, + -340827.0, + 163.1, + 52.2, + 52.2, + 88.0 + ], + [ + 76849.9, + -340839.7, + 163.1, + 52.1, + 52.1, + 88.0 + ], + [ + 76853.8, + -340852.5, + 163.1, + 52.0, + 52.0, + 88.0 + ], + [ + 76857.8, + -340865.2, + 163.1, + 52.0, + 52.0, + 88.0 + ], + [ + 76861.8, + -340877.9, + 163.1, + 51.9, + 51.9, + 88.0 + ], + [ + 76865.8, + -340890.6, + 163.1, + 51.9, + 51.9, + 88.0 + ], + [ + 76869.9, + -340903.3, + 163.1, + 51.9, + 51.9, + 88.0 + ], + [ + 76874.0, + -340916.0, + 163.1, + 51.9, + 51.9, + 88.0 + ], + [ + 76878.1, + -340928.7, + 163.1, + 51.9, + 51.9, + 88.0 + ], + [ + 76882.3, + -340941.3, + 163.1, + 51.9, + 51.9, + 88.0 + ], + [ + 76886.5, + -340954.0, + 163.1, + 51.9, + 51.9, + 88.0 + ], + [ + 76890.8, + -340966.6, + 163.1, + 52.0, + 52.0, + 88.0 + ], + [ + 76895.1, + -340979.2, + 163.1, + 52.0, + 52.0, + 88.0 + ], + [ + 76899.5, + -340991.8, + 163.1, + 52.0, + 52.0, + 88.0 + ], + [ + 76903.9, + -341004.4, + 163.1, + 52.1, + 52.1, + 88.0 + ], + [ + 76908.4, + -341017.0, + 163.1, + 52.1, + 52.1, + 88.0 + ], + [ + 76912.9, + -341029.5, + 163.1, + 52.1, + 52.1, + 88.0 + ], + [ + 76917.5, + -341042.0, + 163.1, + 52.2, + 52.2, + 88.0 + ], + [ + 76922.2, + -341054.5, + 163.1, + 52.2, + 52.2, + 88.0 + ], + [ + 76927.0, + -341066.0, + 163.1, + 52.3, + 53.3, + 88.0 + ], + [ + 76931.8, + -341078.8, + 163.1, + 52.4, + 52.9, + 88.0 + ], + [ + 76936.7, + -341091.8, + 163.1, + 52.4, + 52.4, + 88.0 + ], + [ + 76941.6, + -341104.2, + 163.1, + 52.5, + 52.5, + 88.0 + ], + [ + 76946.7, + -341116.5, + 163.1, + 52.6, + 52.6, + 88.0 + ], + [ + 76951.8, + -341128.8, + 163.1, + 52.6, + 52.6, + 88.0 + ], + [ + 76957.1, + -341141.1, + 163.1, + 52.7, + 52.7, + 88.0 + ], + [ + 76962.4, + -341153.3, + 163.1, + 52.8, + 52.8, + 88.0 + ], + [ + 76967.8, + -341165.5, + 163.1, + 52.8, + 52.8, + 88.0 + ], + [ + 76973.3, + -341177.6, + 163.1, + 52.9, + 52.9, + 88.0 + ], + [ + 76978.9, + -341189.7, + 163.1, + 53.0, + 53.0, + 88.0 + ], + [ + 76984.7, + -341201.7, + 163.1, + 53.1, + 53.1, + 88.0 + ], + [ + 76990.5, + -341213.7, + 163.1, + 53.2, + 53.2, + 88.0 + ], + [ + 76996.5, + -341225.6, + 163.1, + 53.3, + 53.3, + 88.0 + ], + [ + 77002.7, + -341237.5, + 163.1, + 53.4, + 53.4, + 88.0 + ], + [ + 77008.9, + -341249.2, + 163.1, + 53.5, + 53.5, + 88.0 + ], + [ + 77015.3, + -341261.0, + 163.1, + 53.6, + 53.6, + 88.0 + ], + [ + 77021.8, + -341272.6, + 163.1, + 53.7, + 53.7, + 88.0 + ], + [ + 77028.5, + -341284.2, + 163.1, + 53.8, + 53.8, + 88.0 + ], + [ + 77035.2, + -341295.6, + 163.1, + 53.9, + 53.9, + 88.0 + ], + [ + 77042.1, + -341307.1, + 163.1, + 54.0, + 54.0, + 88.0 + ], + [ + 77049.1, + -341318.4, + 163.1, + 54.1, + 54.1, + 88.0 + ], + [ + 77056.2, + -341329.7, + 163.1, + 54.2, + 54.2, + 88.0 + ], + [ + 77063.4, + -341340.9, + 163.1, + 54.3, + 54.3, + 88.0 + ], + [ + 77070.7, + -341352.1, + 163.1, + 54.4, + 54.4, + 88.0 + ], + [ + 77078.1, + -341363.2, + 163.1, + 54.5, + 54.5, + 88.0 + ], + [ + 77085.6, + -341374.2, + 163.1, + 54.6, + 54.6, + 88.0 + ], + [ + 77093.3, + -341385.1, + 163.1, + 54.7, + 54.7, + 88.0 + ], + [ + 77101.0, + -341395.9, + 163.1, + 54.8, + 54.8, + 88.0 + ], + [ + 77108.9, + -341406.7, + 163.1, + 54.8, + 54.8, + 88.0 + ], + [ + 77116.8, + -341417.4, + 163.1, + 54.9, + 54.9, + 88.0 + ], + [ + 77124.9, + -341428.1, + 163.1, + 55.0, + 55.0, + 88.0 + ], + [ + 77133.0, + -341438.6, + 163.1, + 55.1, + 55.1, + 88.0 + ], + [ + 77141.2, + -341449.1, + 163.1, + 55.1, + 55.1, + 88.0 + ], + [ + 77149.5, + -341459.5, + 163.1, + 55.2, + 55.2, + 88.0 + ], + [ + 77157.9, + -341469.9, + 163.1, + 55.3, + 55.3, + 88.0 + ], + [ + 77166.4, + -341480.2, + 163.1, + 55.3, + 55.3, + 88.0 + ], + [ + 77175.0, + -341490.4, + 163.1, + 55.4, + 55.4, + 88.0 + ], + [ + 77183.6, + -341500.6, + 163.1, + 55.5, + 55.5, + 88.0 + ], + [ + 77192.2, + -341510.8, + 163.1, + 55.5, + 55.5, + 88.0 + ], + [ + 77200.8, + -341520.9, + 163.1, + 55.6, + 55.6, + 88.0 + ], + [ + 77209.4, + -341531.1, + 163.1, + 55.6, + 55.6, + 88.0 + ], + [ + 77217.8, + -341541.5, + 163.1, + 55.6, + 55.6, + 88.0 + ], + [ + 77226.1, + -341551.9, + 163.1, + 55.6, + 55.6, + 88.0 + ], + [ + 77234.2, + -341562.6, + 163.1, + 55.6, + 55.6, + 88.0 + ], + [ + 77241.9, + -341573.4, + 163.1, + 55.5, + 55.5, + 88.0 + ], + [ + 77249.4, + -341584.4, + 163.1, + 55.5, + 55.5, + 88.0 + ], + [ + 77256.6, + -341595.6, + 163.1, + 55.4, + 55.4, + 88.0 + ], + [ + 77263.5, + -341607.1, + 163.1, + 55.3, + 55.3, + 88.0 + ], + [ + 77269.9, + -341618.7, + 163.1, + 55.1, + 55.1, + 88.0 + ], + [ + 77276.0, + -341630.6, + 163.1, + 55.0, + 55.0, + 88.0 + ], + [ + 77281.8, + -341642.6, + 163.1, + 54.8, + 54.8, + 88.0 + ], + [ + 77287.1, + -341654.9, + 163.1, + 54.5, + 54.5, + 88.0 + ] + ], + "target_bbox_format": "[cx,cy,cz,ex,ey,ez] (\uc911\uc2ec + \ubc18\ud06c\uae30, cm, UE)", + "target_world_cam01_m": [ + [ + 9.775026455827174e-06, + 1.0878756497339737, + 8.259123469737915 + ], + [ + -1.53227592818439e-05, + 1.087931096035902, + 8.258760714472373 + ], + [ + 1.0770726930786623e-05, + 1.0879113559905704, + 8.258889862947854 + ], + [ + 0.00025175370433316857, + 1.087812941807158, + 8.259533733899843 + ], + [ + -0.00012243404125911184, + 1.0879309019579182, + 8.258761984219746 + ], + [ + -0.0004050605605243618, + 1.0878408466100495, + 8.259351167821478 + ], + [ + 4.6809192554064794e-05, + 1.0878695455335787, + 8.259163406230982 + ], + [ + -0.00046535305182260345, + 1.0878606168716374, + 8.25922182165641 + ], + [ + -0.00025144953542621806, + 1.0878368095426936, + 8.259377580175624 + ], + [ + 0.00018619123693497386, + 1.0878816974366146, + 8.259083902878501 + ], + [ + 0.00047785324909455085, + 1.0878690116124403, + 8.259166899385491 + ], + [ + 4.516915078056627e-05, + 1.0878878824817662, + 8.259043437461969 + ], + [ + -0.00016771501100265596, + 1.0878348577274437, + 8.259390349850037 + ], + [ + -0.00012103113499506435, + 1.0879128180693556, + 8.258880297355518 + ], + [ + 0.00039992283382161986, + 1.0878989666599637, + 8.258970919656804 + ], + [ + -1.4533147805195767e-05, + 1.0877747594036578, + 8.259783540786884 + ], + [ + 0.0005652928139170399, + 1.087877395287478, + 8.259112049518535 + ], + [ + -4.382924248602649e-05, + 1.0878769729932856, + 8.259114812366079 + ], + [ + -1.7681853933027014e-05, + 1.0879046156174468, + 8.258933961576531 + ], + [ + -0.00037657378106814576, + 1.0878668994537293, + 8.259180718107473 + ], + [ + -8.485361831844784e-05, + 1.0877884905173687, + 8.259693705511836 + ], + [ + -0.00023528132533101598, + 1.0877987563898728, + 8.259626541442685 + ], + [ + 0.00023597723702550866, + 1.0879212595118588, + 8.25882506954531 + ], + [ + 0.00026154896545449446, + 1.0878583325083468, + 8.259236767009497 + ], + [ + -0.0004189539031358436, + 1.0886083695411912, + 8.509578598160715 + ], + [ + 8.65654585595621e-05, + 1.0889645297149855, + 8.657062091770513 + ], + [ + 0.00017643385945120826, + 1.0894594878432713, + 8.801375207958245 + ], + [ + 0.00046404704107771977, + 1.0897984231177134, + 8.944847525203386 + ], + [ + 0.00015658738061574695, + 1.089697332486253, + 8.928041814646804 + ], + [ + -9.351545554636687e-05, + 1.089481847841796, + 8.838507716116965 + ], + [ + -0.00027313205032442056, + 1.0893615896034703, + 8.760504719923574 + ], + [ + -0.000410182914492907, + 1.0891305842311567, + 8.693823931310817 + ], + [ + -0.00045936259925838385, + 1.0889840196306295, + 8.635684220405437 + ], + [ + 0.0002773019932647003, + 1.0888073805804765, + 8.585648368139118 + ], + [ + -0.00023838764582251315, + 1.0887180802733383, + 8.541852053486764 + ], + [ + 9.280490348828607e-05, + 1.0885850647568418, + 8.504272059654795 + ], + [ + 0.0006806002556913882, + 1.0885106097218795, + 8.4714211526898 + ], + [ + 0.0002024676196015207, + 1.088512957334558, + 8.442495088148007 + ], + [ + -3.225804493922624e-05, + 1.088353644914207, + 8.41849898052078 + ], + [ + -0.00032189007333727204, + 1.0883466524932146, + 8.396817695645495 + ], + [ + -0.0001269666768166644, + 1.0881519201192305, + 8.379273794465917 + ], + [ + -0.00018621821618580725, + 1.0882034330719534, + 8.362598112303658 + ], + [ + -0.0001185798023470852, + 1.0881869445340726, + 8.348546304267074 + ], + [ + 0.00041494792776575196, + 1.0881044541467304, + 8.336815050535279 + ], + [ + 0.0002938510615422274, + 1.0880673603435866, + 8.326416484689162 + ], + [ + 0.0001809662426239811, + 1.088034266737111, + 8.317408004123081 + ], + [ + 0.00021327763715817127, + 1.0880865215220297, + 8.309065889262456 + ], + [ + 0.00018078490438711015, + 1.0880989821260414, + 8.30205355074122 + ], + [ + -0.0003430604879213206, + 1.0879576246980491, + 8.296977344948118 + ], + [ + 0.00010242856887998641, + 1.0879176229840937, + 8.292035567459152 + ], + [ + 0.0002895736693062645, + 1.088016296908279, + 8.286880240593746 + ], + [ + 0.0003543056673152023, + 1.0879066854050734, + 8.283695275023547 + ], + [ + 0.00012922507903567748, + 1.0879251863592003, + 8.280193116456758 + ], + [ + -9.230315936292754e-05, + 1.0879517097359894, + 8.277092836176962 + ], + [ + -0.00021761618700111285, + 1.0878854307198367, + 8.274995153089549 + ], + [ + -0.0001994692320295144, + 1.0879696567803876, + 8.272252016415678 + ], + [ + -0.0006031759876350407, + 1.0879323877346678, + 8.270600757788543 + ], + [ + -0.00011747518828997272, + 1.0878782759912724, + 8.269315961405937 + ], + [ + 0.0003686966078930709, + 1.087913417305117, + 8.267669694434971 + ], + [ + -0.00015967381341397413, + 1.0878979172971412, + 8.26654724160312 + ], + [ + -0.0003048488006243133, + 1.087919734727393, + 8.265346737550999 + ], + [ + 0.00032639636629028246, + 1.0879358984839769, + 8.264328294904317 + ], + [ + -0.00010321545369151863, + 1.087819017452091, + 8.264305460177184 + ], + [ + -0.00014249116748032975, + 1.0878902274337179, + 8.263159934909481 + ], + [ + -0.00029040599110885523, + 1.0878311070723612, + 8.262960280512061 + ], + [ + -0.0003911966314262827, + 1.0878790259848756, + 8.262141233409011 + ], + [ + -0.0001996041232814605, + 1.0878119204187442, + 8.26214562806058 + ], + [ + 0.00039836766745793284, + 1.0878986205493106, + 8.261203438265738 + ], + [ + -0.0002804088894663437, + 1.0878402268161835, + 8.261262853842027 + ], + [ + 0.00016233220776484814, + 1.0878704427525463, + 8.26078826903995 + ], + [ + -0.00018065442009174149, + 1.0878178897289672, + 8.260894114986513 + ], + [ + 0.00038622899273832445, + 1.087819540396481, + 8.260677896191282 + ], + [ + -0.00011135620934510371, + 1.0878009683301002, + 8.260623984813037 + ], + [ + 0.00023229802445712266, + 1.087852793235129, + 8.260134139593902 + ], + [ + -0.0005103635021441733, + 1.0878938832261724, + 8.259735706645188 + ], + [ + -0.00016494324654559023, + 1.087863952503426, + 8.259821363966694 + ], + [ + 2.3972426333784824e-05, + 1.0878703452969205, + 8.259685223753877 + ], + [ + 4.91966507070174e-05, + 1.0879170371217697, + 8.259298637911343 + ], + [ + 0.00013245347963675158, + 1.0878611618093714, + 8.259594590451798 + ], + [ + 1.9899850030924426e-05, + 1.087853595247708, + 8.259585043935658 + ], + [ + -0.00029459071811288595, + 1.087898795111613, + 8.259239077342727 + ], + [ + 0.0003635698908510676, + 1.087883725268398, + 8.259295370176687 + ], + [ + -0.00018778115054374211, + 1.0878983405139024, + 8.259162732294499 + ], + [ + 0.00018976688761540572, + 1.0878584091057064, + 8.259393141176588 + ], + [ + 0.00031140530154516455, + 1.0878865717513975, + 8.25918244503373 + ], + [ + 0.0003361029903317103, + 1.0878390137568488, + 8.259471562859972 + ], + [ + 7.912116598163266e-05, + 1.087869559944977, + 8.259253205190817 + ], + [ + -0.00031849110337134334, + 1.0878339944575828, + 8.259470029520116 + ], + [ + -3.0331242214742815e-05, + 1.0879071864581817, + 8.25897794997104 + ], + [ + 7.835569522285368e-05, + 1.0879215486336022, + 8.258872528757365 + ], + [ + -2.182621756219305e-05, + 1.0878821844387403, + 8.259120374806116 + ], + [ + -0.0003597745148908871, + 1.0877943054191235, + 8.259687390514046 + ], + [ + -6.377099043675116e-05, + 1.087828072262397, + 8.259460302042498 + ], + [ + -4.0010514112509554e-05, + 1.0878212468031165, + 8.25949966946746 + ], + [ + -0.0003919318651242065, + 1.0879298879677606, + 8.258784480784357 + ], + [ + 1.4648595424660016e-05, + 1.087868224545815, + 8.259183505623014 + ], + [ + 1.4553722849086626e-05, + 1.087930394884296, + 8.258774114257903 + ], + [ + -0.0002928953922491928, + 1.087820019573087, + 8.259493597226651 + ], + [ + -3.7543749840551754e-05, + 1.0878503193382585, + 8.259293599417447 + ], + [ + -0.0001937329620886885, + 1.087870234917773, + 8.259161539850197 + ], + [ + 0.00019617126326920697, + 1.0878943746347858, + 8.2590018440834 + ], + [ + 8.661750916871824e-05, + 1.0879305531452985, + 8.258764266312028 + ], + [ + 0.0004316390654821589, + 1.0878410671278544, + 8.259348843771704 + ], + [ + 0.00018179042990595917, + 1.0879378946504659, + 8.258715353554749 + ], + [ + 0.0002931602371063491, + 1.0879258988756817, + 8.258792954179171 + ], + [ + -0.0002863593963411404, + 1.0878128455569112, + 8.259532600940247 + ], + [ + 0.00047888531253192923, + 1.0878927703088408, + 8.259008815207949 + ], + [ + -0.0004795130548700399, + 1.0878780090402245, + 8.259105390199238 + ], + [ + -0.00012828759690819425, + 1.0878953904818331, + 8.258991672833758 + ], + [ + -0.0005206405912758783, + 1.0878021763762717, + 8.259601522277649 + ], + [ + 0.00047770835499250097, + 1.087872412683197, + 8.25914200413473 + ], + [ + -0.0002627789981488604, + 1.0878328925066256, + 8.259400563260783 + ], + [ + 0.0003112147915089736, + 1.0877959815087195, + 8.259642051943729 + ], + [ + 0.00019809915738733253, + 1.0877875426796848, + 8.259697262634859 + ], + [ + 0.00038518842211487936, + 1.0877921645441475, + 8.259667024277178 + ], + [ + -0.00012780122506228508, + 1.0878261728693275, + 8.259444526210928 + ], + [ + -0.000353173881649127, + 1.0878706545196408, + 8.25915438814178 + ], + [ + -0.0002967148184325197, + 1.0879219562848093, + 8.25881874842031 + ], + [ + -0.00011701287894538837, + 1.0878271601310345, + 8.25943894841862 + ], + [ + 0.0004802984649359132, + 1.087880924666031, + 8.259087196125733 + ], + [ + 0.00019014613781109801, + 1.0878065201663283, + 8.259573984552503 + ], + [ + 0.0003355783937877277, + 1.087873629610673, + 8.259134923729903 + ], + [ + -0.0004213170059301774, + 1.087808583969224, + 8.25956048220472 + ], + [ + 0.0002630580011100392, + 1.0878446069615286, + 8.25932480323705 + ], + [ + 0.0002469366031618847, + 1.0878862046494548, + 8.259052652047778 + ], + [ + 0.0005137758280397975, + 1.0878978232504166, + 8.25897751909725 + ], + [ + 9.302449825554504e-05, + 1.087906846541118, + 8.258918484575936 + ], + [ + -3.474881759757409e-05, + 1.0878742066769007, + 8.259132029589637 + ], + [ + 0.00013390858703132835, + 1.087792249741483, + 8.259668229581735 + ], + [ + -6.508203796329326e-05, + 1.0878247593547208, + 8.259455536728979 + ], + [ + -0.0004254807845427422, + 1.0879118208771708, + 8.25888594017897 + ], + [ + 0.00029106373904141947, + 1.087923207523378, + 8.258811443500463 + ], + [ + 0.0004161130468673946, + 1.0878488559141601, + 8.259297885947944 + ], + [ + -0.000219114680930943, + 1.0879432478499922, + 8.258680330458958 + ], + [ + 0.00024786786843833397, + 1.0878759328113006, + 8.259120736424677 + ], + [ + -0.0005800690701107669, + 1.0878364366911057, + 8.25937913821889 + ], + [ + -8.079197323240805e-05, + 1.0879495377663062, + 8.258639178932128 + ], + [ + 0.00017210402666023583, + 1.0879254132772331, + 8.258797012443267 + ], + [ + 0.00044675231674773386, + 1.087872150020253, + 8.259145485185343 + ], + [ + -0.00027913384519706597, + 1.0878181119207113, + 8.259499027301274 + ], + [ + 0.0004938168490298267, + 1.0879063649104523, + 8.258921635626564 + ], + [ + 8.97407776392356e-05, + 1.0879280652468424, + 8.258779662037227 + ], + [ + 0.0002079434698316618, + 1.0877720929613446, + 8.259800104514738 + ], + [ + -0.00040506883578927955, + 1.087856365235055, + 8.259248756512306 + ] + ], + "target_bbox_centre_cam01_m": [ + [ + 9.775026455827174e-06, + 1.0878756497339737, + 8.259123469737915 + ], + [ + -1.53227592818439e-05, + 1.087931096035902, + 8.258760714472373 + ], + [ + 1.0770726930786623e-05, + 1.0879113559905704, + 8.258889862947854 + ], + [ + 0.00025175370433316857, + 1.087812941807158, + 8.259533733899843 + ], + [ + -0.00012243404125911184, + 1.0879309019579182, + 8.258761984219746 + ], + [ + -0.0004050605605243618, + 1.0878408466100495, + 8.259351167821478 + ], + [ + 4.6809192554064794e-05, + 1.0878695455335787, + 8.259163406230982 + ], + [ + 0.003196542261775903, + 1.0885787538136924, + 8.254523438713477 + ], + [ + 0.002220214658336772, + 1.088311993214404, + 8.25626870953056 + ], + [ + 0.00018619123693497386, + 1.0878816974366146, + 8.259083902878501 + ], + [ + 0.00047785324909455085, + 1.0878690116124403, + 8.259166899385491 + ], + [ + 4.516915078056627e-05, + 1.0878878824817662, + 8.259043437461969 + ], + [ + -0.00016771501100265596, + 1.0878348577274437, + 8.259390349850037 + ], + [ + -0.00012103113499506435, + 1.0879128180693556, + 8.258880297355518 + ], + [ + 0.00039992283382161986, + 1.0878989666599637, + 8.258970919656804 + ], + [ + -1.4533147805195767e-05, + 1.0877747594036578, + 8.259783540786884 + ], + [ + 0.0005652928139170399, + 1.087877395287478, + 8.259112049518535 + ], + [ + -4.382924248602649e-05, + 1.0878769729932856, + 8.259114812366079 + ], + [ + -1.7681853933027014e-05, + 1.0879046156174468, + 8.258933961576531 + ], + [ + -0.00037657378106814576, + 1.0878668994537293, + 8.259180718107473 + ], + [ + -8.485361831844784e-05, + 1.0877884905173687, + 8.259693705511836 + ], + [ + -0.00023528132533101598, + 1.0877987563898728, + 8.259626541442685 + ], + [ + 0.00023597723702550866, + 1.0879212595118588, + 8.25882506954531 + ], + [ + 0.00026154896545449446, + 1.0878583325083468, + 8.259236767009497 + ], + [ + -0.0004189539031358436, + 1.0886083695411912, + 8.509578598160715 + ], + [ + 8.65654585595621e-05, + 1.0889645297149855, + 8.657062091770513 + ], + [ + 0.00017643385945120826, + 1.0894594878432713, + 8.801375207958245 + ], + [ + 0.00046404704107771977, + 1.0897984231177134, + 8.944847525203386 + ], + [ + 0.00015658738061574695, + 1.089697332486253, + 8.928041814646804 + ], + [ + -9.351545554636687e-05, + 1.089481847841796, + 8.838507716116965 + ], + [ + -0.00027313205032442056, + 1.0893615896034703, + 8.760504719923574 + ], + [ + -0.000410182914492907, + 1.0891305842311567, + 8.693823931310817 + ], + [ + -0.00045936259925838385, + 1.0889840196306295, + 8.635684220405437 + ], + [ + 0.0002773019932647003, + 1.0888073805804765, + 8.585648368139118 + ], + [ + -0.00023838764582251315, + 1.0887180802733383, + 8.541852053486764 + ], + [ + 9.280490348828607e-05, + 1.0885850647568418, + 8.504272059654795 + ], + [ + 0.0006806002556913882, + 1.0885106097218795, + 8.4714211526898 + ], + [ + 0.0002024676196015207, + 1.088512957334558, + 8.442495088148007 + ], + [ + -3.225804493922624e-05, + 1.088353644914207, + 8.41849898052078 + ], + [ + -0.00032189007333727204, + 1.0883466524932146, + 8.396817695645495 + ], + [ + -0.0001269666768166644, + 1.0881519201192305, + 8.379273794465917 + ], + [ + -0.00018621821618580725, + 1.0882034330719534, + 8.362598112303658 + ], + [ + -0.0001185798023470852, + 1.0881869445340726, + 8.348546304267074 + ], + [ + 0.00041494792776575196, + 1.0881044541467304, + 8.336815050535279 + ], + [ + 0.0002938510615422274, + 1.0880673603435866, + 8.326416484689162 + ], + [ + 0.0001809662426239811, + 1.088034266737111, + 8.317408004123081 + ], + [ + 0.00021327763715817127, + 1.0880865215220297, + 8.309065889262456 + ], + [ + 0.00018078490438711015, + 1.0880989821260414, + 8.30205355074122 + ], + [ + -0.0003430604879213206, + 1.0879576246980491, + 8.296977344948118 + ], + [ + 0.00010242856887998641, + 1.0879176229840937, + 8.292035567459152 + ], + [ + 0.0002895736693062645, + 1.088016296908279, + 8.286880240593746 + ], + [ + 0.0003543056673152023, + 1.0879066854050734, + 8.283695275023547 + ], + [ + 0.00012922507903567748, + 1.0879251863592003, + 8.280193116456758 + ], + [ + -9.230315936292754e-05, + 1.0879517097359894, + 8.277092836176962 + ], + [ + -0.00021761618700111285, + 1.0878854307198367, + 8.274995153089549 + ], + [ + -0.0001994692320295144, + 1.0879696567803876, + 8.272252016415678 + ], + [ + -0.0006031759876350407, + 1.0879323877346678, + 8.270600757788543 + ], + [ + -0.00011747518828997272, + 1.0878782759912724, + 8.269315961405937 + ], + [ + 0.0003686966078930709, + 1.087913417305117, + 8.267669694434971 + ], + [ + -0.00015967381341397413, + 1.0878979172971412, + 8.26654724160312 + ], + [ + -0.0003048488006243133, + 1.087919734727393, + 8.265346737550999 + ], + [ + 0.00032639636629028246, + 1.0879358984839769, + 8.264328294904317 + ], + [ + -0.00010321545369151863, + 1.087819017452091, + 8.264305460177184 + ], + [ + -0.00014249116748032975, + 1.0878902274337179, + 8.263159934909481 + ], + [ + 0.0015766974279358692, + 1.0879393759702225, + 8.262251617913762 + ], + [ + -0.0003911966314262827, + 1.0878790259848756, + 8.262141233409011 + ], + [ + -0.0001996041232814605, + 1.0878119204187442, + 8.26214562806058 + ], + [ + 0.00039836766745793284, + 1.0878986205493106, + 8.261203438265738 + ], + [ + -0.0002804088894663437, + 1.0878402268161835, + 8.261262853842027 + ], + [ + 0.00016233220776484814, + 1.0878704427525463, + 8.26078826903995 + ], + [ + -0.00018065442009174149, + 1.0878178897289672, + 8.260894114986513 + ], + [ + 0.00038622899273832445, + 1.087819540396481, + 8.260677896191282 + ], + [ + -0.00011135620934510371, + 1.0878009683301002, + 8.260623984813037 + ], + [ + 0.00023229802445712266, + 1.087852793235129, + 8.260134139593902 + ], + [ + -0.0005103635021441733, + 1.0878938832261724, + 8.259735706645188 + ], + [ + -0.00016494324654559023, + 1.087863952503426, + 8.259821363966694 + ], + [ + 2.3972426333784824e-05, + 1.0878703452969205, + 8.259685223753877 + ], + [ + 4.91966507070174e-05, + 1.0879170371217697, + 8.259298637911343 + ], + [ + 0.00013245347963675158, + 1.0878611618093714, + 8.259594590451798 + ], + [ + 1.9899850030924426e-05, + 1.087853595247708, + 8.259585043935658 + ], + [ + -0.00029459071811288595, + 1.087898795111613, + 8.259239077342727 + ], + [ + 0.0003635698908510676, + 1.087883725268398, + 8.259295370176687 + ], + [ + -0.00018778115054374211, + 1.0878983405139024, + 8.259162732294499 + ], + [ + 0.00018976688761540572, + 1.0878584091057064, + 8.259393141176588 + ], + [ + 0.00031140530154516455, + 1.0878865717513975, + 8.25918244503373 + ], + [ + 0.0003361029903317103, + 1.0878390137568488, + 8.259471562859972 + ], + [ + 7.912116598163266e-05, + 1.087869559944977, + 8.259253205190817 + ], + [ + -0.00031849110337134334, + 1.0878339944575828, + 8.259470029520116 + ], + [ + -3.0331242214742815e-05, + 1.0879071864581817, + 8.25897794997104 + ], + [ + 7.835569522285368e-05, + 1.0879215486336022, + 8.258872528757365 + ], + [ + -2.182621756219305e-05, + 1.0878821844387403, + 8.259120374806116 + ], + [ + 0.00958468008411728, + 1.0879533348711163, + 8.25864694234815 + ], + [ + 0.0059087093140988145, + 1.0879147997241603, + 8.258892889170284 + ], + [ + -4.0010514112509554e-05, + 1.0878212468031165, + 8.25949966946746 + ], + [ + -0.0003919318651242065, + 1.0879298879677606, + 8.258784480784357 + ], + [ + 1.4648595424660016e-05, + 1.087868224545815, + 8.259183505623014 + ], + [ + 1.4553722849086626e-05, + 1.087930394884296, + 8.258774114257903 + ], + [ + -0.0002928953922491928, + 1.087820019573087, + 8.259493597226651 + ], + [ + -3.7543749840551754e-05, + 1.0878503193382585, + 8.259293599417447 + ], + [ + -0.0001937329620886885, + 1.087870234917773, + 8.259161539850197 + ], + [ + 0.00019617126326920697, + 1.0878943746347858, + 8.2590018440834 + ], + [ + 8.661750916871824e-05, + 1.0879305531452985, + 8.258764266312028 + ], + [ + 0.0004316390654821589, + 1.0878410671278544, + 8.259348843771704 + ], + [ + 0.00018179042990595917, + 1.0879378946504659, + 8.258715353554749 + ], + [ + 0.0002931602371063491, + 1.0879258988756817, + 8.258792954179171 + ], + [ + -0.0002863593963411404, + 1.0878128455569112, + 8.259532600940247 + ], + [ + 0.00047888531253192923, + 1.0878927703088408, + 8.259008815207949 + ], + [ + -0.0004795130548700399, + 1.0878780090402245, + 8.259105390199238 + ], + [ + -0.00012828759690819425, + 1.0878953904818331, + 8.258991672833758 + ], + [ + -0.0005206405912758783, + 1.0878021763762717, + 8.259601522277649 + ], + [ + 0.00047770835499250097, + 1.087872412683197, + 8.25914200413473 + ], + [ + -0.0002627789981488604, + 1.0878328925066256, + 8.259400563260783 + ], + [ + 0.0003112147915089736, + 1.0877959815087195, + 8.259642051943729 + ], + [ + 0.00019809915738733253, + 1.0877875426796848, + 8.259697262634859 + ], + [ + 0.00038518842211487936, + 1.0877921645441475, + 8.259667024277178 + ], + [ + -0.00012780122506228508, + 1.0878261728693275, + 8.259444526210928 + ], + [ + -0.000353173881649127, + 1.0878706545196408, + 8.25915438814178 + ], + [ + -0.0002967148184325197, + 1.0879219562848093, + 8.25881874842031 + ], + [ + -0.00011701287894538837, + 1.0878271601310345, + 8.25943894841862 + ], + [ + 0.0004802984649359132, + 1.087880924666031, + 8.259087196125733 + ], + [ + 0.00019014613781109801, + 1.0878065201663283, + 8.259573984552503 + ], + [ + 0.0003355783937877277, + 1.087873629610673, + 8.259134923729903 + ], + [ + -0.0004213170059301774, + 1.087808583969224, + 8.25956048220472 + ], + [ + 0.0002630580011100392, + 1.0878446069615286, + 8.25932480323705 + ], + [ + 0.0002469366031618847, + 1.0878862046494548, + 8.259052652047778 + ], + [ + 0.0005137758280397975, + 1.0878978232504166, + 8.25897751909725 + ], + [ + 9.302449825554504e-05, + 1.087906846541118, + 8.258918484575936 + ], + [ + -3.474881759757409e-05, + 1.0878742066769007, + 8.259132029589637 + ], + [ + 0.00013390858703132835, + 1.087792249741483, + 8.259668229581735 + ], + [ + -6.508203796329326e-05, + 1.0878247593547208, + 8.259455536728979 + ], + [ + -0.0004254807845427422, + 1.0879118208771708, + 8.25888594017897 + ], + [ + 0.00029106373904141947, + 1.087923207523378, + 8.258811443500463 + ], + [ + 0.0004161130468673946, + 1.0878488559141601, + 8.259297885947944 + ], + [ + -0.000219114680930943, + 1.0879432478499922, + 8.258680330458958 + ], + [ + 0.00024786786843833397, + 1.0878759328113006, + 8.259120736424677 + ], + [ + -0.0005800690701107669, + 1.0878364366911057, + 8.25937913821889 + ], + [ + -8.079197323240805e-05, + 1.0879495377663062, + 8.258639178932128 + ], + [ + 0.00017210402666023583, + 1.0879254132772331, + 8.258797012443267 + ], + [ + 0.00044675231674773386, + 1.087872150020253, + 8.259145485185343 + ], + [ + -0.00027913384519706597, + 1.0878181119207113, + 8.259499027301274 + ], + [ + 0.0004938168490298267, + 1.0879063649104523, + 8.258921635626564 + ], + [ + 8.97407776392356e-05, + 1.0879280652468424, + 8.258779662037227 + ], + [ + 0.0002079434698316618, + 1.0877720929613446, + 8.259800104514738 + ], + [ + -0.00040506883578927955, + 1.087856365235055, + 8.259248756512306 + ] + ], + "target_bbox_half_world_m": [ + [ + 0.5379999999999999, + 0.5379999999999999, + 0.88 + ], + [ + 0.539, + 0.539, + 0.88 + ], + [ + 0.539, + 0.539, + 0.88 + ], + [ + 0.54, + 0.54, + 0.88 + ], + [ + 0.541, + 0.541, + 0.88 + ], + [ + 0.541, + 0.541, + 0.88 + ], + [ + 0.542, + 0.542, + 0.88 + ], + [ + 0.542, + 0.547, + 0.88 + ], + [ + 0.542, + 0.546, + 0.88 + ], + [ + 0.542, + 0.542, + 0.88 + ], + [ + 0.542, + 0.542, + 0.88 + ], + [ + 0.542, + 0.542, + 0.88 + ], + [ + 0.542, + 0.542, + 0.88 + ], + [ + 0.541, + 0.541, + 0.88 + ], + [ + 0.54, + 0.54, + 0.88 + ], + [ + 0.539, + 0.539, + 0.88 + ], + [ + 0.5379999999999999, + 0.5379999999999999, + 0.88 + ], + [ + 0.537, + 0.537, + 0.88 + ], + [ + 0.536, + 0.536, + 0.88 + ], + [ + 0.535, + 0.535, + 0.88 + ], + [ + 0.5329999999999999, + 0.5329999999999999, + 0.88 + ], + [ + 0.532, + 0.532, + 0.88 + ], + [ + 0.531, + 0.531, + 0.88 + ], + [ + 0.531, + 0.531, + 0.88 + ], + [ + 0.53, + 0.53, + 0.88 + ], + [ + 0.53, + 0.53, + 0.88 + ], + [ + 0.53, + 0.53, + 0.88 + ], + [ + 0.53, + 0.53, + 0.88 + ], + [ + 0.53, + 0.53, + 0.88 + ], + [ + 0.531, + 0.531, + 0.88 + ], + [ + 0.532, + 0.532, + 0.88 + ], + [ + 0.532, + 0.532, + 0.88 + ], + [ + 0.5329999999999999, + 0.5329999999999999, + 0.88 + ], + [ + 0.534, + 0.534, + 0.88 + ], + [ + 0.535, + 0.535, + 0.88 + ], + [ + 0.536, + 0.536, + 0.88 + ], + [ + 0.537, + 0.537, + 0.88 + ], + [ + 0.5379999999999999, + 0.5379999999999999, + 0.88 + ], + [ + 0.539, + 0.539, + 0.88 + ], + [ + 0.54, + 0.54, + 0.88 + ], + [ + 0.541, + 0.541, + 0.88 + ], + [ + 0.542, + 0.542, + 0.88 + ], + [ + 0.542, + 0.542, + 0.88 + ], + [ + 0.5429999999999999, + 0.5429999999999999, + 0.88 + ], + [ + 0.545, + 0.545, + 0.88 + ], + [ + 0.545, + 0.545, + 0.88 + ], + [ + 0.546, + 0.546, + 0.88 + ], + [ + 0.547, + 0.547, + 0.88 + ], + [ + 0.547, + 0.547, + 0.88 + ], + [ + 0.547, + 0.547, + 0.88 + ], + [ + 0.546, + 0.546, + 0.88 + ], + [ + 0.546, + 0.546, + 0.88 + ], + [ + 0.545, + 0.545, + 0.88 + ], + [ + 0.544, + 0.544, + 0.88 + ], + [ + 0.5429999999999999, + 0.5429999999999999, + 0.88 + ], + [ + 0.542, + 0.542, + 0.88 + ], + [ + 0.541, + 0.541, + 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 + ], + [ + 0.539, + 0.539, + 0.88 + ], + [ + 0.539, + 0.539, + 0.88 + ], + [ + 0.5379999999999999, + 0.5379999999999999, + 0.88 + ], + [ + 0.537, + 0.539, + 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 + ], + [ + 0.523, + 0.523, + 0.88 + ], + [ + 0.522, + 0.522, + 0.88 + ], + [ + 0.521, + 0.521, + 0.88 + ], + [ + 0.52, + 0.52, + 0.88 + ], + [ + 0.52, + 0.52, + 0.88 + ], + [ + 0.519, + 0.519, + 0.88 + ], + [ + 0.519, + 0.519, + 0.88 + ], + [ + 0.519, + 0.519, + 0.88 + ], + [ + 0.519, + 0.519, + 0.88 + ], + [ + 0.519, + 0.519, + 0.88 + ], + [ + 0.519, + 0.519, + 0.88 + ], + [ + 0.519, + 0.519, + 0.88 + ], + [ + 0.52, + 0.52, + 0.88 + ], + [ + 0.52, + 0.52, + 0.88 + ], + [ + 0.52, + 0.52, + 0.88 + ], + [ + 0.521, + 0.521, + 0.88 + ], + [ + 0.521, + 0.521, + 0.88 + ], + [ + 0.521, + 0.521, + 0.88 + ], + [ + 0.522, + 0.522, + 0.88 + ], + [ + 0.522, + 0.522, + 0.88 + ], + [ + 0.523, + 0.5329999999999999, + 0.88 + ], + [ + 0.524, + 0.529, + 0.88 + ], + [ + 0.524, + 0.524, + 0.88 + ], + [ + 0.525, + 0.525, + 0.88 + ], + [ + 0.526, + 0.526, + 0.88 + ], + [ + 0.526, + 0.526, + 0.88 + ], + [ + 0.527, + 0.527, + 0.88 + ], + [ + 0.528, + 0.528, + 0.88 + ], + [ + 0.528, + 0.528, + 0.88 + ], + [ + 0.529, + 0.529, + 0.88 + ], + [ + 0.53, + 0.53, + 0.88 + ], + [ + 0.531, + 0.531, + 0.88 + ], + [ + 0.532, + 0.532, + 0.88 + ], + [ + 0.5329999999999999, + 0.5329999999999999, + 0.88 + ], + [ + 0.534, + 0.534, + 0.88 + ], + [ + 0.535, + 0.535, + 0.88 + ], + [ + 0.536, + 0.536, + 0.88 + ], + [ + 0.537, + 0.537, + 0.88 + ], + [ + 0.5379999999999999, + 0.5379999999999999, + 0.88 + ], + [ + 0.539, + 0.539, + 0.88 + ], + [ + 0.54, + 0.54, + 0.88 + ], + [ + 0.541, + 0.541, + 0.88 + ], + [ + 0.542, + 0.542, + 0.88 + ], + [ + 0.5429999999999999, + 0.5429999999999999, + 0.88 + ], + [ + 0.544, + 0.544, + 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 + ], + [ + 0.5479999999999999, + 0.5479999999999999, + 0.88 + ], + [ + 0.5489999999999999, + 0.5489999999999999, + 0.88 + ], + [ + 0.55, + 0.55, + 0.88 + ], + [ + 0.551, + 0.551, + 0.88 + ], + [ + 0.551, + 0.551, + 0.88 + ], + [ + 0.552, + 0.552, + 0.88 + ], + [ + 0.5529999999999999, + 0.5529999999999999, + 0.88 + ], + [ + 0.5529999999999999, + 0.5529999999999999, + 0.88 + ], + [ + 0.5539999999999999, + 0.5539999999999999, + 0.88 + ], + [ + 0.555, + 0.555, + 0.88 + ], + [ + 0.555, + 0.555, + 0.88 + ], + [ + 0.556, + 0.556, + 0.88 + ], + [ + 0.556, + 0.556, + 0.88 + ], + [ + 0.556, + 0.556, + 0.88 + ], + [ + 0.556, + 0.556, + 0.88 + ], + [ + 0.556, + 0.556, + 0.88 + ], + [ + 0.555, + 0.555, + 0.88 + ], + [ + 0.555, + 0.555, + 0.88 + ], + [ + 0.5539999999999999, + 0.5539999999999999, + 0.88 + ], + [ + 0.5529999999999999, + 0.5529999999999999, + 0.88 + ], + [ + 0.551, + 0.551, + 0.88 + ], + [ + 0.55, + 0.55, + 0.88 + ], + [ + 0.5479999999999999, + 0.5479999999999999, + 0.88 + ], + [ + 0.545, + 0.545, + 0.88 + ] + ], + "w2c_cam01": [ + [ + [ + 0.8314696080774457, + -0.5555702393429105, + -0.0, + 1253.3375632318462 + ], + [ + -0.0839427323661395, + -0.12562917492480077, + -0.9885195638380762, + 493.9509066852409 + ], + [ + 0.54919204432733, + 0.8219239783503218, + -0.1510929259110032, + -3205.4833506538926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.8260809260591664, + -0.5635515092706521, + -6.938893851402123e-18, + 1284.6011838151494 + ], + [ + -0.08514864578273774, + -0.12481498319811346, + -0.988519563838076, + 492.12456386590276 + ], + [ + 0.5570816858951855, + 0.81659716077135, + -0.15109292591100315, + -3193.5345741730584 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.8206156725310405, + -0.5714804616051438, + -0.0, + 1315.7472391647075 + ], + [ + -0.08634665438115607, + -0.12398922205805109, + -0.9885195638380762, + 490.2528229511973 + ], + [ + 0.5649196104983588, + 0.8111946507553133, + -0.15109292591100323, + -3181.2887824194977 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.8150742787635048, + -0.5793564706621929, + -6.938893851402123e-18, + 1346.7734493092348 + ], + [ + -0.08753666362493971, + -0.12315195666652504, + -0.988519563838076, + 488.3358277432719 + ], + [ + 0.5727051996357662, + 0.8057168746214826, + -0.1510929259110032, + -3168.746916213164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.8094573352719556, + -0.5871786971394866, + -0.0, + 1377.6767242320675 + ], + [ + -0.08871854670144758, + -0.12230327624623384, + -0.9885195638380762, + 486.37377793281274 + ], + [ + 0.5804376236406286, + 0.8001644161058852, + -0.15109292591100323, + -3155.9102820225744 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.803765285296887, + -0.5949465237747119, + 6.938893851402123e-18, + 1408.454871379193 + ], + [ + -0.08989221034671137, + -0.12144324776767997, + -0.988519563838076, + 484.3668216664572 + ], + [ + 0.5881162723370557, + 0.7945377133604284, + -0.1510929259110032, + -3142.779849091341 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.7979986952838257, + -0.6026591759239313, + -0.0, + 1439.1050957086672 + ], + [ + -0.09105753751751298, + -0.12057195681677488, + -0.9885195638380762, + 482.315150383376 + ], + [ + 0.5957403799743389, + 0.7888373263276038, + -0.1510929259110032, + -3129.356869902771 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.7921581406522854, + -0.6103158855857467, + -0.0, + 1469.6246326907894 + ], + [ + -0.09221441217427497, + -0.11968949033533578, + -0.9885195638380762, + 480.2189588302275 + ], + [ + 0.6033091873680502, + 0.7830638238208653, + -0.15109292591100318, + -3115.6426185792884 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.7862440822882144, + -0.617916048558996, + -1.3877787702804247e-17, + 1500.0113617707407 + ], + [ + -0.09336274302647664, + -0.11879591795996865, + -0.988519563838076, + 478.0783996347495 + ], + [ + 0.6108220972535022, + 0.7772176614349968, + -0.15109292591100323, + -3101.6380936819223 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.7802571087773492, + -0.6254589068855056, + -6.938893851402123e-18, + 1530.26252798131 + ], + [ + -0.0945024155520006, + -0.11789132862181381, + -0.988519563838076, + 475.89367115402325 + ], + [ + 0.6182783603741909, + 0.7712994209985214, + -0.1510929259110032, + -3087.3445929541494 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.7741978174837917, + -0.6329437095060932, + -0.0, + 1560.375359717388 + ], + [ + -0.09563331627111846, + -0.11697581257836062, + -0.9885195638380762, + 473.66497530686905 + ], + [ + 0.6256772342934005, + 0.7653096930175481, + -0.15109292591100323, + -3072.76343744198 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.7680666865542906, + -0.640369865785011, + 6.938893851402123e-18, + 1590.3476699759062 + ], + [ + -0.09675535594294753, + -0.11604944207419973, + -0.988519563838076, + 471.3924702466065 + ], + [ + 0.6330181351561209, + 0.7592489501495011, + -0.15109292591100323, + -3057.895661857354 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.7618643693492381, + -0.6477365843582463, + 6.938893851402123e-18, + 1620.176427814242 + ], + [ + -0.09786841499798463, + -0.11511231582746376, + -0.988519563838076, + 469.0763796648835 + ], + [ + 0.6403002806835223, + 0.7531178382539181, + -0.1510929259110032, + -3042.742729694157 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.7555913553017489, + -0.655043283908221, + 6.938893851402123e-18, + 1649.859417222852 + ], + [ + -0.0989724056032567, + -0.1141645077880335, + -0.988519563838076, + 466.71686599240877 + ], + [ + 0.6475230962317884, + 0.746916841145017, + -0.15109292591100323, + -3027.3057036489786 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.7492482687973354, + -0.6622892356849805, + 1.3877787702804247e-17, + 1679.3937629508573 + ], + [ + -0.10006721764980162, + -0.11320611229614212, + -0.988519563838076, + 464.3141442980525 + ], + [ + 0.6546858614173117, + 0.7406465760401009, + -0.1510929259110032, + -3011.5859908015254 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.7428357426576391, + -0.6694737182520862, + -6.938893851402123e-18, + 1708.7765225135572 + ], + [ + -0.10115274213367795, + -0.11223722496666233, + -0.988519563838076, + 461.8684373751487 + ], + [ + 0.6617878630860387, + 0.7343076684957517, + -0.15109292591100323, + -2995.585048768502 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.7363542829036411, + -0.6765961646724464, + -6.938893851402123e-18, + 1738.0052739162077 + ], + [ + -0.10222889339470229, + -0.11125792225578414, + -0.988519563838076, + 459.3799254432252 + ], + [ + 0.6688285408095452, + 0.7279006187236184, + -0.15109292591100323, + -2979.304056629155 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.7298045347111802, + -0.6836558645363894, + -0.0, + 1767.0769029564428 + ], + [ + -0.10329556409499957, + -0.11026830164501202, + -0.9885195638380762, + 456.8488500451444 + ], + [ + 0.6758071923339527, + 0.7214260644926492, + -0.15109292591100323, + -2962.7445946682487 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.7231871514774426, + -0.6906521149883946, + -0.0, + 1795.9882288700946 + ], + [ + -0.10435264803807355, + -0.10926846185803782, + -0.9885195638380762, + 454.2754650595618 + ], + [ + 0.6827231228728098, + 0.7148846516987554, + -0.15109292591100323, + -2945.9083238769963 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.716502655388956, + -0.6975843639450179, + -0.0, + 1824.7366181912926 + ], + [ + -0.10540006180802192, + -0.10825848179355131, + -0.9885195638380762, + 451.6599814752896 + ], + [ + 0.6895757866808129, + 0.7082768965335454, + -0.15109292591100323, + -2928.796624641486 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.709751758775148, + -0.7044518726751914, + 6.938893851402123e-18, + 1853.318620921574 + ], + [ + -0.10643769378780707, + -0.1072384690794891, + -0.988519563838076, + 449.00269248401116 + ], + [ + 0.6963644535078295, + 0.7016035031486048, + -0.1510929259110033, + -2911.4114151568783 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.702934994358265, + -0.7112540992546519, + -0.0, + 1881.7315815968163 + ], + [ + -0.10746546209650702, + -0.10620850420641345, + -0.9885195638380762, + 446.3038259535186 + ], + [ + 0.7030885876511064, + 0.6948649981503061, + -0.1510929259110033, + -2893.7541862393314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.6960530407597335, + -0.7179903651506255, + 6.938893851402123e-18, + 1909.9722868725207 + ], + [ + -0.10848326421262043, + -0.10516868970922046, + -0.988519563838076, + 443.56367089716645 + ], + [ + 0.7097475183677031, + 0.688062052369217, + -0.1510929259110032, + -2875.8268287474593 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.6891065844492044, + -0.7246599997714457, + -0.0, + 1938.0375874355345 + ], + [ + -0.10949099881449116, + -0.10411912930861751, + -0.9885195638380762, + 440.7825207290435 + ], + [ + 0.716340582764619, + 0.6811953443940278, + -0.15109292591100323, + -2857.6312623315043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.7067194032652615, + -0.7074939470047732, + -0.0, + 1866.1989502421873 + ], + [ + -0.10362796516125335, + -0.10351451628724702, + -0.9892148349849769, + 434.2566354389799 + ], + [ + 0.6998635036708636, + 0.6990973220188408, + -0.14647187639826392, + -2905.805809238459 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.7134251396496215, + -0.7007314536367824, + 6.9388938512844844e-18, + 1838.1046724044234 + ], + [ + -0.10082696212088965, + -0.10265343329204733, + -0.9895939552881411, + 429.20106036924494 + ], + [ + 0.6934396063420706, + 0.7060012099001362, + -0.14388816482149758, + -2924.357946753193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.7194607280247495, + -0.6945331243577209, + -6.938893851245728e-18, + 1812.4398174304283 + ], + [ + -0.09822737513643143, + -0.10175287016435806, + -0.9899483502623364, + 424.16486741699913 + ], + [ + 0.6875519161220538, + 0.7122289649517264, + -0.14142936088622052, + -2941.0232172568435 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.7249011383979495, + -0.6888529157587686, + -0.0, + 1788.9904742200197 + ], + [ + -0.0958076423382253, + -0.1008213326958238, + -0.9902807453157051, + 419.1605110235226 + ], + [ + 0.6821577742177521, + 0.7178556437888931, + -0.13908287369304637, + -2956.0239554437594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.717342130741536, + -0.6967210829759588, + -6.9388938512136626e-18, + 1821.5990768433846 + ], + [ + -0.09709550636680095, + -0.09996926908697085, + -0.9902416916498672, + 417.2646109865823 + ], + [ + 0.6899222593071346, + 0.7103420892043516, + -0.13936065591599348, + -2936.5428479068705 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.7041711640134135, + -0.7100302611663775, + -6.9388938512362615e-18, + 1877.023931507521 + ], + [ + -0.09998788668531174, + -0.09916279686273653, + -0.9900349298052894, + 416.7523116410991 + ], + [ + 0.7029547554449508, + 0.6971540530805996, + -0.14082200847389512, + -2901.855137636091 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.6913599999620976, + -0.7225104500645013, + 6.938893851256422e-18, + 1929.3552585542975 + ], + [ + -0.10267769317442592, + -0.0982508279884977, + -0.9898505271625371, + 415.7260791879089 + ], + [ + 0.7151773457166173, + 0.6843430645421348, + -0.14211239983482635, + -2867.8173213935693 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.6789032091212788, + -0.7342277798100733, + -0.0, + 1978.821952992354 + ], + [ + -0.10517755587419356, + -0.09725235434294441, + -0.9896866480432507, + 414.26015710546625 + ], + [ + 0.726655426299184, + 0.6719014454734511, + -0.14324921989539147, + -2834.4550134085875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.6667895157544291, + -0.7452460947096428, + 6.9388938512902276e-18, + 2025.6496527812421 + ], + [ + -0.10750081711227677, + -0.09618355372050366, + -0.9895414586129715, + 412.4197669190198 + ], + [ + 0.7374519037334496, + 0.6598158740691871, + -0.14424875044944283, + -2801.7724912836024 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.6550031794815682, + -0.7556261210870338, + 6.938893851304264e-18, + 2070.0568427799562 + ], + [ + -0.10966102370452278, + -0.09505801505159028, + -0.989413176410405, + 410.261484719475 + ], + [ + 0.7476264369343324, + 0.6480687803986638, + -0.14512603718651995, + -2769.7568936165303 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.6435255680221343, + -0.7654246163416677, + 6.93889385131664e-18, + 2112.2507545627254 + ], + [ + -0.11167154166493255, + -0.09388709318665939, + -0.9893000962878434, + 407.8341518504624 + ], + [ + 0.7572346430735482, + 0.6366399104022659, + -0.1458948930301233, + -2738.382958924483 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.632335991928841, + -0.7746942579568848, + 6.9388938513275274e-18, + 2152.4263459467998 + ], + [ + -0.11354523389231602, + -0.09268009587607635, + -0.9892006266115787, + 405.1792639655311 + ], + [ + 0.7663280419569649, + 0.6255071634032116, + -0.14656780219977472, + -2707.615854261381 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.6214126669947556, + -0.7834834377946129, + -0.0, + 2190.764865887525 + ], + [ + -0.11529435628134363, + -0.09144465596861136, + -0.989113282847042, + 402.33215578303276 + ], + [ + 0.7749538718887566, + 0.6146475269746287, + -0.14715608729712124, + -2677.4142325548596 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.6107335007364953, + -0.7918362148059063, + -0.0, + 2227.433094681177 + ], + [ + -0.11693035661663971, + -0.09018694106628088, + -0.9890367067822167, + 399.3225600645611 + ], + [ + 0.7831550789941761, + 0.604037854172133, + -0.1476698783528672, + -2647.732883796191 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.6002765854230336, + -0.7997924862068058, + -0.0, + 2262.5835520903233 + ], + [ + -0.11846380677515624, + -0.08891187483451468, + -0.9889696683911746, + 396.17530763921087 + ], + [ + 0.7909705067684324, + 0.5936553394713568, + -0.14811818031435986, + -2618.524511182673 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.590020436207972, + -0.8073883110727789, + -6.938893851359235e-18, + 2296.3554186930596 + ], + [ + -0.11990447452159454, + -0.08762337699256306, + -0.9889110479684808, + 392.9111971297783 + ], + [ + 0.7984352178296382, + 0.5834777316953071, + -0.1485090554310996, + -2589.7407107645517 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.5799445624901223, + -0.8146559423696241, + -6.938893851364843e-18, + 2328.8742129415573 + ], + [ + -0.12126123000863569, + -0.08632452956743386, + -0.988859843300229, + 389.54748871067045 + ], + [ + 0.8055805446265378, + 0.5734838929475371, + -0.1488496242821876, + -2561.3339200987593 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.5700295809534207, + -0.8216241700668666, + -6.938893851369739e-18, + 2360.2528725067605 + ], + [ + -0.12254209339215306, + -0.08501772548852733, + -0.9888151605329613, + 386.0984451635142 + ], + [ + 0.8124344328319963, + 0.5636538953176209, + -0.14914616536211944, + -2533.258016447288 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.5602570686613503, + -0.8283187894856611, + 6.938893851374005e-18, + 2390.5899132949717 + ], + [ + -0.12375433076274435, + -0.08370477582711235, + -0.9887762012311975, + 382.57600515216006 + ], + [ + 0.8190219033803046, + 0.5539688597396737, + -0.1494042309375088, + -2505.4696889275538 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.5506100944139651, + -0.8347625554188715, + -0.0, + 2419.978023057341 + ], + [ + -0.12490441870771007, + -0.08238706124385764, + -0.9887422608176963, + 378.98967483917227 + ], + [ + 0.8253650136864586, + 0.5444114732121202, + -0.14962868046387642, + -2477.926221735937 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.5410729041311, + -0.840975690739713, + -0.0, + 2448.498870044609 + ], + [ + -0.1259981833536808, + -0.08106560478871108, + -0.9887127113129539, + 375.3473405081578 + ], + [ + 0.831483352823562, + 0.5349656616493795, + -0.14982381263780986, + -2450.5878146716445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.5316309599602949, + -0.8469761049827172, + -6.938893851383776e-18, + 2476.225148070612 + ], + [ + -0.12704080961173403, + -0.07974112512819634, + -0.9886870008533964, + 371.65536980107976 + ], + [ + 0.8373942625994416, + 0.5256166229069468, + -0.14999338215212532, + -2423.417290447106 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.522270988142307, + -0.8527795816885263, + 6.938893851386227e-18, + 2503.2213507474407 + ], + [ + -0.12803690718756044, + -0.07841412185681995, + -0.9886646427840268, + 367.918939858281 + ], + [ + 0.8431130181561599, + 0.5163508634255257, + -0.1501406822127989, + -2396.3802797844023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.5129809251371883, + -0.8584000060842228, + 6.938893851388356e-18, + 2529.544551325756 + ], + [ + -0.1289905328343611, + -0.0770849049374507, + -0.98864521435644, + 364.1421553662288 + ], + [ + 0.848653055751821, + 0.5071561401440485, + -0.15026856117394216, + -2369.4452067980437 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.5037498177181845, + -0.8638495940549463, + 6.938893851390203e-18, + 2555.2451018967577 + ], + [ + -0.1299053159568066, + -0.07575367249602726, + -0.9886283376423753, + 360.32841975221817 + ], + [ + 0.8540261859549866, + 0.4980213482823986, + -0.1503795543222575, + -2342.5831452116213 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.4945677646382484, + -0.8691390718295466, + -0.0, + 2580.367277957632 + ], + [ + -0.13078445482604528, + -0.07442051286060974, + -0.9886136827099945, + 356.4804429908367 + ], + [ + 0.8592427764761199, + 0.48893646250499323, + -0.15047586752270878, + -2315.7677836781368 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.4854258749914458, + -0.8742778276319196, + 6.938893851393205e-18, + 2604.949885956993 + ], + [ + -0.13163072430353862, + -0.07308541690217071, + -0.9886009681643859, + 352.6002881803346 + ], + [ + 0.8643119048032901, + 0.4798924932965262, + -0.15055937729995947, + -2288.975386829838 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.4763161287089126, + -0.8792741014790293, + -0.0, + 2629.027079032261 + ], + [ + -0.13244663558105071, + -0.0717483531180644, + -0.9885899364995101, + 348.6897455182596 + ], + [ + 0.8692415261807839, + 0.47088133469289434, + -0.15063179545082805, + -2262.184387699353 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.46723137231511674, + -0.8841350828490702, + -6.93889385139546e-18, + 2652.6286623768337 + ], + [ + -0.13323434087617503, + -0.07040922267949655, + -0.9885803719338958, + 344.7501121972603 + ], + [ + 0.8740385871471404, + 0.4618957670315415, + -0.15069455390349784, + -2235.3755192059166 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.4581652495099937, + -0.888867034005337, + -0.0, + 2675.780558759319 + ], + [ + -0.1339957443146725, + -0.06906791598577908, + -0.9885720831011455, + 340.78247284448895 + ], + [ + 0.8787091335796923, + 0.452929378271249, + -0.15074891993790934, + -2208.531654403081 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.44911209476411657, + -0.8934754201076753, + -0.0, + 2698.5052853469597 + ], + [ + -0.13473251502980943, + -0.06772430521992794, + -0.9885649032189135, + 336.7876927938565 + ], + [ + 0.8832584404473529, + 0.44397645760234716, + -0.1507959962113743, + -2181.6376006973856 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.44006687923364135, + -0.8979650003210388, + -6.938893851397838e-18, + 2720.8224421332293 + ], + [ + -0.13544612453223168, + -0.06637825895873486, + -0.9885586852012408, + 332.7664837612789 + ], + [ + 0.887691098379651, + 0.43503193859134803, + -0.15083675368749572, + -2154.679891397425 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.4310251816639916, + -0.9023398986920188, + -0.0, + 2742.748847466066 + ], + [ + -0.13613785270908602, + -0.06502964435057908, + -0.9885533017573691, + 328.71943172344913 + ], + [ + 0.8920110845288213, + 0.4260913694774413, + -0.15087203165117957, + -2127.6468435327047 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.42198309517070226, + -0.9066036991928468, + -0.0, + 2764.2987562348058 + ], + [ + -0.13680881278070098, + -0.06367832639027117, + -0.9885486429577803, + 324.64703665235936 + ], + [ + 0.8962218549693556, + 0.41715081903175594, + -0.1509025541746137, + -2100.5284605277434 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.4129372805020154, + -0.9107594646072033, + -0.0, + 2785.4842512212963 + ], + [ + -0.13745995053878676, + -0.062324181476290104, + -0.988544616292651, + 320.54971108772344 + ], + [ + 0.9003263639676589, + 0.40820692840242967, + -0.15092893012616276, + -2073.316315990044 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.40388468366657543, + -0.9148099050073463, + -3.469446925699879e-18, + 2806.316382370577 + ], + [ + -0.13809214170385356, + -0.060967093451456365, + -0.9885411341546307, + 316.4277922628563 + ], + [ + 0.9043272195839024, + 0.399256626100375, + -0.1509517354474392, + -2046.0023855262568 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.39482282537985974, + -0.9187572783706611, + 3.4694469257000448e-18, + 2826.8056377257426 + ], + [ + -0.1387061150049294, + -0.05960697293286204, + -0.9885381239173429, + 312.28142407287334 + ], + [ + 0.9082265949059837, + 0.39029741786629046, + -0.15097144734150342, + -2018.5791458170263 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.3857494209123772, + -0.9226035899918043, + 3.469446925700188e-18, + 2846.9626716194443 + ], + [ + -0.13930249484696322, + -0.058243710843725226, + -0.9885355254499273, + 308.1104524620622 + ], + [ + 0.9120264232811794, + 0.38132700922307605, + -0.15098846073101987, + -1991.0385776637245 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.3766626365755137, + -0.9263505050508594, + -0.0, + 2866.7961998782775 + ], + [ + -0.13988184696812975, + -0.05687724570860523, + -0.9885332810833368, + 303.91485975026103 + ], + [ + 0.9157283029129863, + 0.3723435546681782, + -0.15100315407688358, + -1963.3740587282596 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.36756085615475237, + -0.9299994715174762, + -3.469446925700417e-18, + 2886.312641821732 + ], + [ + -0.14044463502612528, + -0.055507504975581344, + -0.9885313456758787, + 299.69466239195987 + ], + [ + 0.9193336278327253, + 0.36334543036767575, + -0.1510158235644491, + -1935.5805436375495 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.35844275154472, + -0.9335517092614902, + -0.0, + 2905.516732661468 + ], + [ + -0.14099129387595508, + -0.054134448921663254, + -0.9885296740569459, + 295.45006030486 + ], + [ + 0.9228435656997509, + 0.35433129890970383, + -0.1510267653746567, + -1907.6544015833917 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.34930719831882706, + -0.9370082610108896, + -0.0, + 2924.4123629092956 + ], + [ + -0.1415221598544014, + -0.05275802916127718, + -0.9885282336024412, + 291.1811732133373 + ], + [ + 0.9262591200073151, + 0.34530003023708267, + -0.15103619341582947, + -1879.5927403124601 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.34015334524524454, + -0.9403699812937826, + -3.469446925700655e-18, + 2943.002530529991 + ], + [ + -0.14203752930728303, + -0.05137822527870311, + -0.9885269941865488, + 286.8882072314984 + ], + [ + 0.9295811099607291, + 0.33625076637671514, + -0.15104430514008393, + -1851.3935940808722 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.3309804333971371, + -0.9436376172600597, + 3.469446925700713e-18, + 2961.289787663381 + ], + [ + -0.14253768583087478, + -0.049995023692157685, + -0.9885259256711475, + 282.5713996466448 + ], + [ + 0.9328102480777062, + 0.3271827416818178, + -0.15105129799765749, + -1823.0553447265672 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.321787989197415, + -0.9468117500370832, + 3.469446925700764e-18, + 2979.275929645151 + ], + [ + -0.14302284447767075, + -0.04860843090715946, + -0.9885250054511819, + 278.2310145224611 + ], + [ + 0.935947089391374, + 0.3180954760936898, + -0.15105732007600423, + -1794.5772948378967 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.3125756098765301, + -0.9498928824400755, + -3.4694469257008074e-18, + 2996.9624859729065 + ], + [ + -0.14349317967837658, + -0.04721844850113467, + -0.9885242159436127, + 273.86727039976586 + ], + [ + 0.9389921159150216, + 0.30898856193318475, + -0.15106248655405247, + -1765.9589514946813 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.30334302976711475, + -0.952881422996433, + -1.0408340777102534e-17, + 3014.3506782402533 + ], + [ + -0.14394886922742292, + -0.045825099607551184, + -0.9885235370460856, + 269.4804466523853 + ], + [ + 0.9419457137609458, + 0.2998617269186556, + -0.1510669290637242, + -1737.2001104194553 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.2940901557934088, + -0.9557776834941317, + -0.0, + 3031.441400403123 + ], + [ + -0.14439006258611606, + -0.04442842382104189, + -0.9885229511666156, + 265.07083397452845 + ], + [ + 0.9448081755049641, + 0.2907148708464542, + -0.15107076278258105, + -1708.3009300757865 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.28481697564343206, + -0.9585819163667385, + -0.0, + 3048.235423636103 + ], + [ + -0.14481683885736402, + -0.04302845000657877, + -0.9885224507685151, + 260.6386043777857 + ], + [ + 0.9475797444292023, + 0.28154797685296573, + -0.15107403707285283, + -1679.2616277334434 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.27552352803991487, + -0.9612943282348224, + -0.0, + 3064.733380995462 + ], + [ + -0.14522931854840893, + -0.04162522657838436, + -0.9885220207695238, + 256.18401567832944 + ], + [ + 0.9502606111414341, + 0.27236107671339016, + -0.15107685065764168, + -1650.082465705253 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.2662100167462242, + -0.9639150517467684, + -0.0, + 3080.935527541542 + ], + [ + -0.14562758061622072, + -0.040218814515141435, + -0.9885216511148669, + 251.70733699304603 + ], + [ + 0.9528508977668131, + 0.263154367238957, + -0.1510792693523591, + -1620.7642168661182 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.256876701041091, + -0.966444183831765, + -0.0, + 3096.841954030507 + ], + [ + -0.146011667738583, + -0.03880927233012784, + -0.9885213367780199, + 247.20880156660795 + ], + [ + 0.9553506958401696, + 0.25392810177724096, + -0.15108132606484265, + -1591.3078240798634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.24752388099864542, + -0.9688817927566645, + -6.9388938514019585e-18, + 3112.45262223828 + ], + [ + -0.14638165068489123, + -0.037396671663549604, + -0.9885210677022794, + 242.68870882944205 + ], + [ + 0.9577600636070569, + 0.24468257293836626, + -0.15108308661020894, + -1561.7143391297852 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.23815194710662993, + -0.9712279084176489, + -0.0, + 3127.7672942099366 + ], + [ + -0.1467375792638664, + -0.03598109147454169, + -0.9885208363449305, + 238.1473673371194 + ], + [ + 0.9600790236996406, + 0.23541816367709723, + -0.15108460034976706, + -1531.9850952456752 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.22876131706857267, + -0.9734825421203258, + -3.469446925701003e-18, + 3142.7856477962655 + ], + [ + -0.14707948506594976, + -0.03456260925251945, + -0.9885206376775307, + 233.58506692051608 + ], + [ + 0.9623075827276226, + 0.22613528470448135, + -0.15108590019106116, + -1502.1215088634494 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.2193525015206403, + -0.9756456734269042, + 3.4694469257010135e-18, + 3157.5071819009377 + ], + [ + -0.147407379252825, + -0.03314131171015886, + -0.9885204691861184, + 229.00211343711211 + ], + [ + 0.9644457183107227, + 0.21683443933360158, + -0.1510870025879036, + -1472.1252907475694 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.20992602406636884, + -0.9777172722314392, + 3.469446925701021e-18, + 3171.931352595622 + ], + [ + -0.14772128786613045, + -0.031717290378766756, + -0.9885203258417099, + 224.3988406171257 + ], + [ + 0.9664933960137512, + 0.20751614325893314, + -0.15108794044775584, + -1441.998185475453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.2004824543341226, + -0.9796972927920983, + -1.7347234628505139e-18, + 3186.057527691554 + ], + [ + -0.14802121883438807, + -0.030290639224767, + -0.988520205129939, + 219.7755768589766 + ], + [ + 0.9684505683523058, + 0.19818095836200836, + -0.15108873022436803, + -1411.742086015042 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.19102237603661795, + -0.9815856823799564, + -1.7347234628505166e-18, + 3199.8850405692115 + ], + [ + -0.14830721154634843, + -0.02886146002482412, + -0.9885200995066219, + 215.13270124143125 + ], + [ + 0.9703171759651208, + 0.18882945957848524, + -0.15108942127882455, + -1381.3589215312509 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.18154646918078599, + -0.983382366899056, + 1.7347234628505185e-18, + 3213.413078657264 + ], + [ + -0.14857923787738608, + -0.02742985530162595, + -0.9885200114868219, + 210.47054419253965 + ], + [ + 0.9720931481946382, + 0.17946231914245797, + -0.15108999715748206, + -1350.8509453266904 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.1720553635552186, + -0.9850872813471309, + -0.0, + 3226.6408987833483 + ], + [ + -0.1488373196436821, + -0.02599592911894882, + -0.9885199360410122, + 205.78947950712202 + ], + [ + 0.9737784159493943, + 0.17008015825092113, + -0.15109049076771905, + -1320.2202386499516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.16254976982841102, + -0.9867003457629526, + -0.0, + 3239.567645477107 + ], + [ + -0.14908144420716316, + -0.024559791172286974, + -0.9885198731693157, + 201.0898741096059 + ], + [ + 0.9753729002713277, + 0.16068367905926118, + -0.15109090210955428, + -1289.4691521503469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.15303039809847216, + -0.988221481884412, + -0.0, + 3252.192469768963 + ], + [ + -0.14931161549154065, + -0.02312155359730284, + -0.9885198203569583, + 196.37211596810707 + ], + [ + 0.9768765213898071, + 0.15127358277287625, + -0.15109124763667578, + -1258.60003339616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.14349799092234433, + -0.9896506083468297, + -1.7347234628505252e-18, + 3264.5144877244848 + ], + [ + -0.14952783709106648, + -0.0216813328143905, + -0.9885197750891271, + 191.63660753262377 + ], + [ + 0.9782891964459189, + 0.14185060277804554, + -0.15109154380276524, + -1227.6153380975582 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.13395328238609402, + -0.9909876478231154, + -0.0, + 3276.5328359733553 + ], + [ + -0.149730097028879, + -0.020239241137934644, + -0.988519737365867, + 186.8837255323194 + ], + [ + 0.9796108490451895, + 0.1324154645193773, + -0.15109179060782937, + -1196.5175006279349 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.12439704765380734, + -0.9922325203978227, + -3.4694469257010536e-18, + 3288.2466114417207 + ], + [ + -0.14991839929009115, + -0.018795399140107548, + -0.9885197046723248, + 182.1138870963156 + ], + [ + 0.9808413977349878, + 0.1229689337343861, + -0.151092004505544, + -1165.3090895011283 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.11483007846767523, + -0.9933851484087666, + -0.0, + 3299.654906534497 + ], + [ + -0.15009273195851794, + -0.01734992738298146, + -0.9885196770085225, + 177.32749732662523 + ], + [ + 0.9819807657725573, + 0.11351179293276356, + -0.15109218549591252, + -1133.9927347076202 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.10525315843189212, + -0.9944454598619829, + -0.0, + 3310.7568396260526 + ], + [ + -0.15025308399254997, + -0.015902945201784254, + -0.9885196543744775, + 172.5249578960223 + ], + [ + 0.983028882015513, + 0.1040448165792113, + -0.15109233357893745, + -1102.5710436437112 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.09566710440233914, + -0.995413384044675, + -0.0, + 3321.5515086236846 + ], + [ + -0.15039944456233242, + -0.014454576958302897, + -0.9885196367702049, + 167.70668785355682 + ], + [ + 0.9839856765851462, + 0.09456881200799626, + -0.1510924487546211, + -1071.046737237172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.08607273348310679, + -0.9962888559804058, + -0.0, + 3332.038031310762 + ], + [ + -0.15053182011554184, + -0.013004948470272589, + -0.9885196216808179, + 162.87312442292384 + ], + [ + 0.9848510827649029, + 0.08508458658193878, + -0.15109254747663417, + -1039.4225392740766 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.07647086301261996, + -0.9970718164255294, + -0.0, + 3342.2155453761875 + ], + [ + -0.15065020163030524, + -0.011554183702629102, + -0.9885196091063211, + 158.02468679338648 + ], + [ + 0.9856250420020697, + 0.0755929481841095, + -0.15109262974497717, + -1007.7011819169874 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.06686232715736762, + -0.9977622107531939, + -0.0, + 3352.083192001716 + ], + [ + -0.15075459720827333, + -0.010102410264072515, + -0.9885195965318175, + 153.1618196449926 + ], + [ + 0.9863074977970586, + 0.06609472116413952, + -0.1510927120133191, + -975.8854552083645 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.057247972793591353, + -0.9983599899890943, + -0.0, + 3361.6401225554614 + ], + [ + -0.15084496657356827, + -0.00864975422597631, + -0.9885195889871121, + 148.28492562630368 + ], + [ + 0.9868984067628566, + 0.05659074296399667, + -0.15109276137432381, + -943.9782041514468 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.04762864704036834, + -0.9988651120051716, + -0.0, + 3370.8855121837787 + ], + [ + -0.15092133615820638, + -0.007196346097532712, + -0.9885195814424043, + 143.39447328244287 + ], + [ + 0.9873977222420748, + 0.047081850592995036, + -0.1510928107353281, + -911.9822695453196 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.0380052013772269, + -0.9992775413608957, + -0.0, + 3379.818555863064 + ], + [ + -0.1509836841518751, + -0.005742313905156863, + -0.9885195764125976, + 138.49088606397143 + ], + [ + 0.9878054117162377, + 0.0375688858510272, + -0.15109284364266412, + -879.9005200133114 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.028378493690022436, + -0.9995972494439376, + -0.0, + 3388.4384580523456 + ], + [ + -0.1510320226489882, + -0.004287788210821824, + -0.9885195713827899, + 133.57462487266238 + ], + [ + 0.9881214443921188, + 0.0280526966311605, + -0.15109287654999995, + -847.7358657805158 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.01874938615343074, + -0.9998242148092181, + -2.168404328563164e-19, + 3396.744435224159 + ], + [ + -0.15106634840019278, + -0.002832899282684791, + -0.9885195663529809, + 128.6461411235633 + ], + [ + 0.9883457990722352, + 0.0185341352100009, + -0.15109290945733553, + -815.4912602680965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.009118743103105507, + -0.9999584233978029, + -0.0, + 3404.7357233986063 + ], + [ + -0.1510866428191439, + -0.00137777756548819, + -0.9885195638380762, + 123.70587679322763 + ], + [ + 0.9884784643752551, + 0.00901405602323879, + -0.1510929259110033, + -783.1696824880107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.0005125642389924852, + -0.9999998686389416, + -1.3552527053519774e-20, + 3412.4115794745967 + ], + [ + -0.1510929213555099, + 7.74448384249743e-05, + -0.9885195613231709, + 118.75430559315289 + ], + [ + 0.9885194312926711, + -0.000506679780512732, + -0.15109294236467094, + -750.7741371649347 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.010143665071433359, + -0.9999485517059958, + -3.252606492844746e-19, + 3419.771291619694 + ], + [ + -0.15108516772917757, + 0.0015326361902234258, + -0.9885195613231709, + 113.79187470750061 + ], + [ + 0.9884687034998502, + -0.010027211422493543, + -0.15109294236467094, + -718.3076301239878 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.019773682899704315, + -0.9998044816185724, + -4.3368086571263285e-19, + 3426.8141781439713 + ], + [ + -0.15106341620637995, + 0.0029876642330861135, + -0.9885195588082655, + 108.8190693533038 + ], + [ + 0.9883262848836362, + -0.019546672443915947, + -0.15109295881833867, + -685.7731720436302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.02940174385869524, + -0.9995676752767008, + -0.0, + 3433.539596181215 + ], + [ + -0.1510276364357947, + 0.004442396439881042, + -0.9885195588082656, + 103.8363234961798 + ], + [ + 0.9880921971794621, + -0.02906419908724864, + -0.15109295881833873, + -653.1737587403865 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.03902697161077801, + -0.99923815754148, + -0.0, + 3439.946939131126 + ], + [ + -0.1509778650677122, + 0.005896701211201377, + -0.98851955629336, + 98.84411558913773 + ], + [ + 0.9877664599352455, + -0.038578924951926365, + -0.15109297527200635, + -620.5123711401476 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.04864847764266675, + -0.9988159618383413, + 4.336808657126328e-19, + 3446.0356310180196 + ], + [ + -0.1509140742632683, + 0.007350443172982271, + -0.9885195562933599, + 93.84288456488254 + ], + [ + 0.987349111219721, + -0.048089971897268595, + -0.15109297527200638, + -587.7920230239962 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.05826539252080019, + -0.998301128935752, + 8.673617314252656e-19, + 3451.8051443573813 + ], + [ + -0.1508362866288461, + 0.008803491443687677, + -0.9885195562933599, + 88.83308966084243 + ], + [ + 0.9868401888194988, + -0.05759648039723435, + -0.15109297527200638, + -555.0156460765423 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.06787682439742482, + -0.9976937088654619, + -0.0, + 3457.2549717922 + ], + [ + -0.1507445097238915, + 0.010255711271388065, + -0.98851955629336, + 83.81519007849191 + ], + [ + 0.9862397421919433, + -0.06709756884285771, + -0.15109297527200635, + -522.1862446045785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.07748189441597134, + -0.9969937592772141, + 8.673617314252656e-19, + 3462.3846427232106 + ], + [ + -0.15063875225887569, + 0.011706969867030563, + -0.9885195562933599, + 78.78963883962591 + ], + [ + 0.9855478283249555, + -0.07659236846721262, + -0.15109297527200638, + -489.30678248459856 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.08707972430808254, + -0.9962013459208073, + -0.0, + 3467.193709425435 + ], + [ + -0.15051902416813126, + 0.013157134530437015, + -0.98851955629336, + 73.75689109852377 + ], + [ + 0.9847645122134976, + -0.08608001108483204, + -0.15109297527200638, + -456.3802375447869 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.09666942818124935, + -0.9953165434449031, + -8.673617314252656e-19, + 3471.6817366250384 + ], + [ + -0.15038533673054644, + 0.014606071409473474, + -0.9885195562933599, + 68.71741062300636 + ], + [ + 0.9838898676492353, + -0.09555962097362584, + -0.15109297527200635, + -423.40964396707045 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.10625012504336025, + -0.9943394344630357, + 1.7347234628505312e-18, + 3475.8483155871954 + ], + [ + -0.15023770242844595, + 0.016053647392421645, + -0.9885195562933599, + 63.67166091405171 + ], + [ + 0.9829239762972645, + -0.10503032725564265, + -0.15109297527200635, + -390.39803418756594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.11582091819313405, + -0.9932701117565649, + -0.0, + 3479.693061560134 + ], + [ + -0.15007613528044125, + 0.017499726994018073, + -0.98851955629336, + 58.62011437764193 + ], + [ + 0.9818669298737766, + -0.11449124352410961, + -0.15109297527200627, + -357.34849890301456 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.1253809449316984, + -0.9921086728015404, + -1.7347234628505312e-18, + 3483.2156330144358 + ], + [ + -0.14990065001447875, + 0.018944179866524375, + -0.9885195562933599, + 53.56322603773452 + ], + [ + 0.9807188247357562, + -0.12394151698430034, + -0.1510929752720063, + -324.2640150889751 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.13492931047371792, + -0.9908552271523254, + -0.0, + 3486.415706456808 + ], + [ + -0.14971124688025045, + 0.02038686859408101, + -0.9885195588082656, + 48.5014636239923 + ], + [ + 0.9794797716717449, + -0.1333802634627263, + -0.1510929588183387, + -291.1476753601515 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.14446513764100738, + -0.9895098908077494, + -1.7347234628505314e-18, + 3489.2929950924063 + ], + [ + -0.14950797603290505, + 0.021827664924491844, + -0.9885195588082655, + 43.43530121485751 + ], + [ + 0.9781498803616587, + -0.14280661519688986, + -0.15109295881833865, + -258.00251263635266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.15398752571708788, + -0.9880727918142109, + -0.0, + 3491.8472365585085 + ], + [ + -0.14929084049552557, + 0.0232664307028637, + -0.9885195588082656, + 38.36521037488239 + ], + [ + 0.9767292798769306, + -0.1522196821262358, + -0.15109295881833865, + -224.8316483127782 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.1634956328163062, + -0.9865440578352268, + -5.2041703885515935e-18, + 3494.0782132992586 + ], + [ + -0.14905985955717024, + 0.024703038726203223, + -0.9885195588082655, + 33.2916372555861 + ], + [ + 0.9752180964154487, + -0.1616186320303099, + -0.15109295881833865, + -191.63800131775173 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.17298856075226587, + -0.9849238335266638, + 1.7347234628505314e-18, + 3495.985724024918 + ], + [ + -0.14881505507432186, + 0.026137353284871236, + -0.9885195588082655, + 28.215058605565876 + ], + [ + 0.9736164729723701, + -0.17100257703427182, + -0.15109295881833865, + -158.42469075974128 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.18246541285873638, + -0.9832122726605331, + -5.2041703885515935e-18, + 3497.569600880343 + ], + [ + -0.1485564502808483, + 0.027569238898914942, + -0.9885195588082655, + 23.135951031744145 + ], + [ + 0.9719245615543405, + -0.1803706307659949, + -0.15109295881833856, + -125.19483482031507 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.19192534309244785, + -0.981409528524584, + 1.7347234628505314e-18, + 3498.829714078146 + ], + [ + -0.14828406833744917, + 0.028998567737154406, + -0.9885195588082655, + 18.054764553395547 + ], + [ + 0.9701425136893026, + -0.18972195689513977, + -0.15109295881833867, + -91.95137773242874 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.20136745783409377, + -0.9795157716573196, + -5.2041703885515935e-18, + 3499.7659618351213 + ], + [ + -0.14799793501129105, + 0.030425204780005547, + -0.9885195588082655, + 12.971973971652918 + ], + [ + 0.9682704979579082, + -0.19905567206152386, + -0.15109295881833856, + -58.69742586334547 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.21079088151796918, + -0.977531178156931, + -0.0, + 3500.3782724663806 + ], + [ + -0.14769807690957068, + 0.03184901773565642, + -0.9885195588082656, + 7.8880460927922424 + ], + [ + 0.9663086884366675, + -0.20837091075130312, + -0.15109295881833856, + -25.436033274298268 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.22019475655555767, + -0.9754559288791262, + -0.0, + 3500.666604955678 + ], + [ + -0.14738450530848426, + 0.033269873405510304, + -0.988519561323171, + 2.8034387696491256 + ], + [ + 0.9642572663581712, + -0.21766682577520524, + -0.1510929423646709, + 7.829805356983601 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.22957819463577336, + -0.9732902201028114, + -3.469446925701062e-18, + 3500.6309481582234 + ], + [ + -0.14705728199968116, + 0.03468764466364855, + -0.9885195613231709, + -2.2813727062248517 + ], + [ + 0.9621164208361572, + -0.22694253793638827, + -0.15109294236467088, + 41.09698255007848 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.23894034181680007, + -0.9710342491655332, + -6.938893851402124e-18, + 3500.271321297863 + ], + [ + -0.14671642071549876, + 0.036102199017207494, + -0.9885195613231709, + -7.365931722158573 + ], + [ + 0.9598863494010551, + -0.23619720362676244, + -0.15109294236467088, + 74.36250803344629 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.24828031373697387, + -0.9686882294168077, + -3.469446925701062e-18, + 3499.587775423471 + ], + [ + -0.14636195369154287, + 0.03751340284538219, + -0.9885195613231709, + -12.449764014599262 + ], + [ + 0.9575672629530413, + -0.24542994863750414, + -0.15109294236467086, + 107.62327895657646 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.25759726041790026, + -0.9662523746026151, + 3.469446925701062e-18, + 3498.5804307920507 + ], + [ + -0.14599391322332253, + 0.038921127722437124, + -0.9885195613231709, + -17.532426528379922 + ], + [ + 0.9551593727842047, + -0.25463993274832447, + -0.15109294236467088, + 140.87639664858094 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.26689031781634, + -0.963726910621413, + -6.938893851402124e-18, + 3497.2495647071128 + ], + [ + -0.14561233344249985, + 0.040325243097537905, + -0.9885195613231709, + -22.613509423349846 + ], + [ + 0.9526629021995968, + -0.26382630183556044, + -0.15109294236467088, + 174.1191797464957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.27615862410451997, + -0.9611120716819129, + -1.0408340777103187e-17, + 3495.5955553581357 + ], + [ + -0.14521724973635805, + 0.0417256187545915, + -0.9885195613231709, + -27.692631554741915 + ], + [ + 0.9500780827191169, + -0.27298820396558054, + -0.1510929423646709, + 207.34913462576358 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.28540130379758794, + -0.9584081050317954, + -0.0, + 3493.618793971588 + ], + [ + -0.1448086994622764, + 0.04312212241401659, + -0.988519561323171, + -32.76940676087832 + ], + [ + 0.9474051587519416, + -0.2821247737044635, + -0.15109294236467097, + 240.563734838888 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.2946175157837052, + -0.9556152569907191, + -3.469446925701062e-18, + 3491.3196279431063 + ], + [ + -0.14438671983741638, + 0.04451462698975157, + -0.9885195613231709, + -37.84345753721775 + ], + [ + 0.9446443737898794, + -0.2912351795966849, + -0.15109294236467088, + 273.76051057734566 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.3038064053646111, + -0.9527337865633997, + -6.938893851402124e-18, + 3488.698436230385 + ], + [ + -0.1439513499955626, + 0.045903003342922466, + -0.9885195613231709, + -42.91441523856262 + ], + [ + 0.9417959838641653, + -0.3003185767562757, + -0.15109294236467097, + 306.93704999451535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.31296708875870494, + -0.9497639713917879, + -0.0, + 3485.7555617460525 + ], + [ + -0.14350263188645374, + 0.047287117940367746, + -0.988519561323171, + -47.98188794452985 + ], + [ + 0.938860263429308, + -0.30937409154781703, + -0.1510929423646709, + 340.0907889668011 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.32209877975059165, + -0.9467060663601875, + -1.0408340777103187e-17, + 3482.491235436948 + ], + [ + -0.14304060402130903, + 0.04866685199049103, + -0.9885195613231709, + -53.04551575706801 + ], + [ + 0.9358374644434346, + -0.31840094678199304, + -0.15109294236467088, + 373.2193728754398 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.331200599764322, + -0.9435603651678853, + -6.938893851402124e-18, + 3478.9056602148967 + ], + [ + -0.14256531077601756, + 0.05004207274666804, + -0.9885195613231709, + -58.10486593886532 + ], + [ + 0.9327278772340447, + -0.3273982739692729, + -0.15109294236467088, + 406.319970553701 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.34027170471018237, + -0.9403271595426913, + -6.938893851402124e-18, + 3474.998999176257 + ], + [ + -0.14207679622859215, + 0.051412652672901335, + -0.9885195613231709, + -63.15950966423646 + ], + [ + 0.9295317901797936, + -0.3363652387104449, + -0.1510929423646709, + 439.389776426516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.3493112221544312, + -0.9370067609558522, + -0.0, + 3470.7714199006627 + ], + [ + -0.14157510744013962, + 0.052778459950610895, + -0.988519561323171, + -68.20898980849225 + ], + [ + 0.9262495111761102, + -0.3453009785876707, + -0.15109294236467097, + 472.42579977370707 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.35831837628073754, + -0.933599454380483, + -3.469446925701062e-18, + 3466.223064112298 + ], + [ + -0.14106028746808588, + 0.05413937735942538, + -0.9885195613231709, + -73.25291228763228 + ], + [ + 0.922881321924503, + -0.35420472669131353, + -0.1510929423646709, + 505.4254623163002 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.3672922695127711, + -0.9301055793597615, + -6.938893851402124e-18, + 3461.3541353296955 + ], + [ + -0.14053238761500858, + 0.055495269281897186, + -0.9885195613231709, + -78.29081009622205 + ], + [ + 0.9194275580700544, + -0.36307559574959447, + -0.15109294236467094, + 538.3857086897326 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.3762321316663976, + -0.9265254357554131, + -0.0, + 3456.164759849755 + ], + [ + -0.13999145318789769, + 0.05684601934864014, + -0.988519561323171, + -83.32225613195311 + ], + [ + 0.9158885160319552, + -0.37191282442041323, + -0.15109294236467102, + 571.3037445940627 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.38513707187103097, + -0.9228593803340832, + -0.0, + 3450.655161826232 + ], + [ + -0.13943753809167486, + 0.05819149295539717, + -0.988519561323171, + -88.34672579306526 + ], + [ + 0.9122645484810235, + -0.3807155320607506, + -0.15109294236467102, + 604.1761378430575 + ], + [ + 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