update submap visibility (remove cam2 in bod 1)
Browse files- bod_1_2_merged/submaps_visibility/not_used/submap_1_no_cam2_bod_1.json +1559 -0
- bod_1_2_merged/submaps_visibility/not_used/submap_2_no_cam2_bod_1.json +761 -0
- bod_1_2_merged/submaps_visibility/submap_0_no_cam2_bod_1.json +0 -0
- bod_1_2_merged/submaps_visibility/submap_3_no_cam2_bod_1.json +0 -0
- bod_1_2_merged/submaps_visibility/submap_4_no_cam2_bod_1.json +0 -0
- bod_1_2_merged/submaps_visibility/submap_5_no_cam2_bod_1.json +0 -0
- bod_1_2_merged/submaps_visibility/submap_6_no_cam2_bod_1.json +0 -0
- bod_1_2_merged/submaps_visibility/submap_7_no_cam2_bod_1.json +0 -0
- bod_1_2_merged/submaps_visibility/submap_8_no_cam2_bod_1.json +0 -0
- bod_1_2_merged/submaps_visibility/submap_9_no_cam2_bod_1.json +0 -0
- bod_1_2_merged/submaps_visibility/submap_cluster_10.png +3 -0
- bod_1_2_merged/transforms_colmap_scaled_lidar_no_cam2_bod_1.json +0 -0
bod_1_2_merged/submaps_visibility/not_used/submap_1_no_cam2_bod_1.json
ADDED
|
@@ -0,0 +1,1559 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"camera_model": "OPENCV_FISHEYE",
|
| 3 |
+
"frames": [
|
| 4 |
+
{
|
| 5 |
+
"fl_x": 696.606841349597,
|
| 6 |
+
"fl_y": 695.7715776898048,
|
| 7 |
+
"cx": 719.9762618618234,
|
| 8 |
+
"cy": 540.337171717488,
|
| 9 |
+
"w": 1440,
|
| 10 |
+
"h": 1080,
|
| 11 |
+
"k1": -0.03876086692446946,
|
| 12 |
+
"k2": 0.0004825051613441947,
|
| 13 |
+
"k3": -0.001968125526280523,
|
| 14 |
+
"k4": 0.0005141727820895353,
|
| 15 |
+
"file_path": "images/alphasense_driver_ros_cam1_debayered_image_compressed/1710488114.742992497.jpg",
|
| 16 |
+
"transform_matrix": [
|
| 17 |
+
[
|
| 18 |
+
0.25609386340346624,
|
| 19 |
+
-0.006306841773416075,
|
| 20 |
+
0.9666313448641796,
|
| 21 |
+
-0.12719453870528463
|
| 22 |
+
],
|
| 23 |
+
[
|
| 24 |
+
0.9634532504507397,
|
| 25 |
+
0.0829475941234169,
|
| 26 |
+
-0.2547106806261598,
|
| 27 |
+
23.35805694591506
|
| 28 |
+
],
|
| 29 |
+
[
|
| 30 |
+
-0.07857332450005826,
|
| 31 |
+
0.9965339534486426,
|
| 32 |
+
0.02731871704576469,
|
| 33 |
+
0.46572471623830214
|
| 34 |
+
],
|
| 35 |
+
[
|
| 36 |
+
0.0,
|
| 37 |
+
0.0,
|
| 38 |
+
0.0,
|
| 39 |
+
1.0
|
| 40 |
+
]
|
| 41 |
+
],
|
| 42 |
+
"colmap_img_id": 2862,
|
| 43 |
+
"depth_file_path": "depths_euc_accum_0_sky/alphasense_driver_ros_cam1_debayered_image_compressed/1710488114.742992497.png",
|
| 44 |
+
"normal_file_path": "normals_euc_accum_0/alphasense_driver_ros_cam1_debayered_image_compressed/1710488114.742992497.png"
|
| 45 |
+
},
|
| 46 |
+
{
|
| 47 |
+
"fl_x": 696.606841349597,
|
| 48 |
+
"fl_y": 695.7715776898048,
|
| 49 |
+
"cx": 719.9762618618234,
|
| 50 |
+
"cy": 540.337171717488,
|
| 51 |
+
"w": 1440,
|
| 52 |
+
"h": 1080,
|
| 53 |
+
"k1": -0.03876086692446946,
|
| 54 |
+
"k2": 0.0004825051613441947,
|
| 55 |
+
"k3": -0.001968125526280523,
|
| 56 |
+
"k4": 0.0005141727820895353,
|
| 57 |
+
"file_path": "images/alphasense_driver_ros_cam1_debayered_image_compressed/1710488113.743003997.jpg",
|
| 58 |
+
"transform_matrix": [
|
| 59 |
+
[
|
| 60 |
+
0.3115750674087464,
|
| 61 |
+
-0.01046966906009307,
|
| 62 |
+
0.9501638613412996,
|
| 63 |
+
-0.13784898025096548
|
| 64 |
+
],
|
| 65 |
+
[
|
| 66 |
+
0.948879420299212,
|
| 67 |
+
0.05655553341536899,
|
| 68 |
+
-0.3105307027859477,
|
| 69 |
+
22.360494196896653
|
| 70 |
+
],
|
| 71 |
+
[
|
| 72 |
+
-0.05048587031899686,
|
| 73 |
+
0.9983445585918095,
|
| 74 |
+
0.027555747644696895,
|
| 75 |
+
0.46213095679918825
|
| 76 |
+
],
|
| 77 |
+
[
|
| 78 |
+
0.0,
|
| 79 |
+
0.0,
|
| 80 |
+
0.0,
|
| 81 |
+
1.0
|
| 82 |
+
]
|
| 83 |
+
],
|
| 84 |
+
"colmap_img_id": 2861,
|
| 85 |
+
"depth_file_path": "depths_euc_accum_0_sky/alphasense_driver_ros_cam1_debayered_image_compressed/1710488113.743003997.png",
|
| 86 |
+
"normal_file_path": "normals_euc_accum_0/alphasense_driver_ros_cam1_debayered_image_compressed/1710488113.743003997.png"
|
| 87 |
+
},
|
| 88 |
+
{
|
| 89 |
+
"fl_x": 696.606841349597,
|
| 90 |
+
"fl_y": 695.7715776898048,
|
| 91 |
+
"cx": 719.9762618618234,
|
| 92 |
+
"cy": 540.337171717488,
|
| 93 |
+
"w": 1440,
|
| 94 |
+
"h": 1080,
|
| 95 |
+
"k1": -0.03876086692446946,
|
| 96 |
+
"k2": 0.0004825051613441947,
|
| 97 |
+
"k3": -0.001968125526280523,
|
| 98 |
+
"k4": 0.0005141727820895353,
|
| 99 |
+
"file_path": "images/alphasense_driver_ros_cam1_debayered_image_compressed/1710488112.743015497.jpg",
|
| 100 |
+
"transform_matrix": [
|
| 101 |
+
[
|
| 102 |
+
0.30512664471137074,
|
| 103 |
+
0.03271760989950208,
|
| 104 |
+
0.9517495934801581,
|
| 105 |
+
-0.06374980534742403
|
| 106 |
+
],
|
| 107 |
+
[
|
| 108 |
+
0.9491313149627733,
|
| 109 |
+
0.07116361371031527,
|
| 110 |
+
-0.30673357664384604,
|
| 111 |
+
21.339431243511243
|
| 112 |
+
],
|
| 113 |
+
[
|
| 114 |
+
-0.07776552992308387,
|
| 115 |
+
0.9969279302367612,
|
| 116 |
+
-0.009339393429388847,
|
| 117 |
+
0.4623609171946372
|
| 118 |
+
],
|
| 119 |
+
[
|
| 120 |
+
0.0,
|
| 121 |
+
0.0,
|
| 122 |
+
0.0,
|
| 123 |
+
1.0
|
| 124 |
+
]
|
| 125 |
+
],
|
| 126 |
+
"colmap_img_id": 2860,
|
| 127 |
+
"depth_file_path": "depths_euc_accum_0_sky/alphasense_driver_ros_cam1_debayered_image_compressed/1710488112.743015497.png",
|
| 128 |
+
"normal_file_path": "normals_euc_accum_0/alphasense_driver_ros_cam1_debayered_image_compressed/1710488112.743015497.png"
|
| 129 |
+
},
|
| 130 |
+
{
|
| 131 |
+
"fl_x": 696.606841349597,
|
| 132 |
+
"fl_y": 695.7715776898048,
|
| 133 |
+
"cx": 719.9762618618234,
|
| 134 |
+
"cy": 540.337171717488,
|
| 135 |
+
"w": 1440,
|
| 136 |
+
"h": 1080,
|
| 137 |
+
"k1": -0.03876086692446946,
|
| 138 |
+
"k2": 0.0004825051613441947,
|
| 139 |
+
"k3": -0.001968125526280523,
|
| 140 |
+
"k4": 0.0005141727820895353,
|
| 141 |
+
"file_path": "images/alphasense_driver_ros_cam1_debayered_image_compressed/1710488110.693039097.jpg",
|
| 142 |
+
"transform_matrix": [
|
| 143 |
+
[
|
| 144 |
+
0.36435329574545966,
|
| 145 |
+
-0.04764848336784536,
|
| 146 |
+
0.9300410194782631,
|
| 147 |
+
-0.03379575302663185
|
| 148 |
+
],
|
| 149 |
+
[
|
| 150 |
+
0.9285141857525221,
|
| 151 |
+
0.09523316935117301,
|
| 152 |
+
-0.3588760932573554,
|
| 153 |
+
19.278260590092223
|
| 154 |
+
],
|
| 155 |
+
[
|
| 156 |
+
-0.07147085235082054,
|
| 157 |
+
0.9943139672598763,
|
| 158 |
+
0.07894081185402288,
|
| 159 |
+
0.3968902956630048
|
| 160 |
+
],
|
| 161 |
+
[
|
| 162 |
+
0.0,
|
| 163 |
+
0.0,
|
| 164 |
+
0.0,
|
| 165 |
+
1.0
|
| 166 |
+
]
|
| 167 |
+
],
|
| 168 |
+
"colmap_img_id": 2859,
|
| 169 |
+
"depth_file_path": "depths_euc_accum_0_sky/alphasense_driver_ros_cam1_debayered_image_compressed/1710488110.693039097.png",
|
| 170 |
+
"normal_file_path": "normals_euc_accum_0/alphasense_driver_ros_cam1_debayered_image_compressed/1710488110.693039097.png"
|
| 171 |
+
},
|
| 172 |
+
{
|
| 173 |
+
"fl_x": 696.606841349597,
|
| 174 |
+
"fl_y": 695.7715776898048,
|
| 175 |
+
"cx": 719.9762618618234,
|
| 176 |
+
"cy": 540.337171717488,
|
| 177 |
+
"w": 1440,
|
| 178 |
+
"h": 1080,
|
| 179 |
+
"k1": -0.03876086692446946,
|
| 180 |
+
"k2": 0.0004825051613441947,
|
| 181 |
+
"k3": -0.001968125526280523,
|
| 182 |
+
"k4": 0.0005141727820895353,
|
| 183 |
+
"file_path": "images/alphasense_driver_ros_cam1_debayered_image_compressed/1710488111.743026997.jpg",
|
| 184 |
+
"transform_matrix": [
|
| 185 |
+
[
|
| 186 |
+
0.3362186486099598,
|
| 187 |
+
0.010446584562137849,
|
| 188 |
+
0.9417260159929103,
|
| 189 |
+
-0.036754657673999325
|
| 190 |
+
],
|
| 191 |
+
[
|
| 192 |
+
0.9394550588360561,
|
| 193 |
+
0.06655773491494943,
|
| 194 |
+
-0.3361461889570284,
|
| 195 |
+
20.30596746470116
|
| 196 |
+
],
|
| 197 |
+
[
|
| 198 |
+
-0.06619073012314748,
|
| 199 |
+
0.9977278871485836,
|
| 200 |
+
0.012563854973185174,
|
| 201 |
+
0.41617629935363
|
| 202 |
+
],
|
| 203 |
+
[
|
| 204 |
+
0.0,
|
| 205 |
+
0.0,
|
| 206 |
+
0.0,
|
| 207 |
+
1.0
|
| 208 |
+
]
|
| 209 |
+
],
|
| 210 |
+
"colmap_img_id": 2858,
|
| 211 |
+
"depth_file_path": "depths_euc_accum_0_sky/alphasense_driver_ros_cam1_debayered_image_compressed/1710488111.743026997.png",
|
| 212 |
+
"normal_file_path": "normals_euc_accum_0/alphasense_driver_ros_cam1_debayered_image_compressed/1710488111.743026997.png"
|
| 213 |
+
},
|
| 214 |
+
{
|
| 215 |
+
"fl_x": 696.606841349597,
|
| 216 |
+
"fl_y": 695.7715776898048,
|
| 217 |
+
"cx": 719.9762618618234,
|
| 218 |
+
"cy": 540.337171717488,
|
| 219 |
+
"w": 1440,
|
| 220 |
+
"h": 1080,
|
| 221 |
+
"k1": -0.03876086692446946,
|
| 222 |
+
"k2": 0.0004825051613441947,
|
| 223 |
+
"k3": -0.001968125526280523,
|
| 224 |
+
"k4": 0.0005141727820895353,
|
| 225 |
+
"file_path": "images/alphasense_driver_ros_cam1_debayered_image_compressed/1710488108.593063197.jpg",
|
| 226 |
+
"transform_matrix": [
|
| 227 |
+
[
|
| 228 |
+
0.4919225005796372,
|
| 229 |
+
-0.02068244167073406,
|
| 230 |
+
0.8703932961770869,
|
| 231 |
+
-0.3922200391798045
|
| 232 |
+
],
|
| 233 |
+
[
|
| 234 |
+
0.8682090190773402,
|
| 235 |
+
0.08629309209171176,
|
| 236 |
+
-0.4886374949285153,
|
| 237 |
+
17.184458586397923
|
| 238 |
+
],
|
| 239 |
+
[
|
| 240 |
+
-0.06500271237602527,
|
| 241 |
+
0.9960550882676056,
|
| 242 |
+
0.06040619603957606,
|
| 243 |
+
0.39731546460493994
|
| 244 |
+
],
|
| 245 |
+
[
|
| 246 |
+
0.0,
|
| 247 |
+
0.0,
|
| 248 |
+
0.0,
|
| 249 |
+
1.0
|
| 250 |
+
]
|
| 251 |
+
],
|
| 252 |
+
"colmap_img_id": 2857,
|
| 253 |
+
"depth_file_path": "depths_euc_accum_0_sky/alphasense_driver_ros_cam1_debayered_image_compressed/1710488108.593063197.png",
|
| 254 |
+
"normal_file_path": "normals_euc_accum_0/alphasense_driver_ros_cam1_debayered_image_compressed/1710488108.593063197.png"
|
| 255 |
+
},
|
| 256 |
+
{
|
| 257 |
+
"fl_x": 696.606841349597,
|
| 258 |
+
"fl_y": 695.7715776898048,
|
| 259 |
+
"cx": 719.9762618618234,
|
| 260 |
+
"cy": 540.337171717488,
|
| 261 |
+
"w": 1440,
|
| 262 |
+
"h": 1080,
|
| 263 |
+
"k1": -0.03876086692446946,
|
| 264 |
+
"k2": 0.0004825051613441947,
|
| 265 |
+
"k3": -0.001968125526280523,
|
| 266 |
+
"k4": 0.0005141727820895353,
|
| 267 |
+
"file_path": "images/alphasense_driver_ros_cam1_debayered_image_compressed/1710488109.693050597.jpg",
|
| 268 |
+
"transform_matrix": [
|
| 269 |
+
[
|
| 270 |
+
0.4335582243570253,
|
| 271 |
+
-0.05456202601426352,
|
| 272 |
+
0.8994722071357198,
|
| 273 |
+
-0.1393123691431255
|
| 274 |
+
],
|
| 275 |
+
[
|
| 276 |
+
0.899069631828886,
|
| 277 |
+
0.09357917768074119,
|
| 278 |
+
-0.4276876601302264,
|
| 279 |
+
18.257090222368177
|
| 280 |
+
],
|
| 281 |
+
[
|
| 282 |
+
-0.06083636425243703,
|
| 283 |
+
0.9941156486152981,
|
| 284 |
+
0.08962708275253464,
|
| 285 |
+
0.4071144896553691
|
| 286 |
+
],
|
| 287 |
+
[
|
| 288 |
+
0.0,
|
| 289 |
+
0.0,
|
| 290 |
+
0.0,
|
| 291 |
+
1.0
|
| 292 |
+
]
|
| 293 |
+
],
|
| 294 |
+
"colmap_img_id": 2856,
|
| 295 |
+
"depth_file_path": "depths_euc_accum_0_sky/alphasense_driver_ros_cam1_debayered_image_compressed/1710488109.693050597.png",
|
| 296 |
+
"normal_file_path": "normals_euc_accum_0/alphasense_driver_ros_cam1_debayered_image_compressed/1710488109.693050597.png"
|
| 297 |
+
},
|
| 298 |
+
{
|
| 299 |
+
"fl_x": 696.606841349597,
|
| 300 |
+
"fl_y": 695.7715776898048,
|
| 301 |
+
"cx": 719.9762618618234,
|
| 302 |
+
"cy": 540.337171717488,
|
| 303 |
+
"w": 1440,
|
| 304 |
+
"h": 1080,
|
| 305 |
+
"k1": -0.03876086692446946,
|
| 306 |
+
"k2": 0.0004825051613441947,
|
| 307 |
+
"k3": -0.001968125526280523,
|
| 308 |
+
"k4": 0.0005141727820895353,
|
| 309 |
+
"file_path": "images/alphasense_driver_ros_cam1_debayered_image_compressed/1710488107.493075797.jpg",
|
| 310 |
+
"transform_matrix": [
|
| 311 |
+
[
|
| 312 |
+
0.5522168221295197,
|
| 313 |
+
0.0049529281686619235,
|
| 314 |
+
0.8336858220335353,
|
| 315 |
+
-0.6831352797549859
|
| 316 |
+
],
|
| 317 |
+
[
|
| 318 |
+
0.8321827207979943,
|
| 319 |
+
0.05703870606949882,
|
| 320 |
+
-0.5515600649205533,
|
| 321 |
+
16.133475874079718
|
| 322 |
+
],
|
| 323 |
+
[
|
| 324 |
+
-0.0502841979395333,
|
| 325 |
+
0.9983596819345586,
|
| 326 |
+
0.027375991764764254,
|
| 327 |
+
0.4020793101549054
|
| 328 |
+
],
|
| 329 |
+
[
|
| 330 |
+
0.0,
|
| 331 |
+
0.0,
|
| 332 |
+
0.0,
|
| 333 |
+
1.0
|
| 334 |
+
]
|
| 335 |
+
],
|
| 336 |
+
"colmap_img_id": 2854,
|
| 337 |
+
"depth_file_path": "depths_euc_accum_0_sky/alphasense_driver_ros_cam1_debayered_image_compressed/1710488107.493075797.png",
|
| 338 |
+
"normal_file_path": "normals_euc_accum_0/alphasense_driver_ros_cam1_debayered_image_compressed/1710488107.493075797.png"
|
| 339 |
+
},
|
| 340 |
+
{
|
| 341 |
+
"fl_x": 696.606841349597,
|
| 342 |
+
"fl_y": 695.7715776898048,
|
| 343 |
+
"cx": 719.9762618618234,
|
| 344 |
+
"cy": 540.337171717488,
|
| 345 |
+
"w": 1440,
|
| 346 |
+
"h": 1080,
|
| 347 |
+
"k1": -0.03876086692446946,
|
| 348 |
+
"k2": 0.0004825051613441947,
|
| 349 |
+
"k3": -0.001968125526280523,
|
| 350 |
+
"k4": 0.0005141727820895353,
|
| 351 |
+
"file_path": "images/alphasense_driver_ros_cam1_debayered_image_compressed/1710488041.893808226.jpg",
|
| 352 |
+
"transform_matrix": [
|
| 353 |
+
[
|
| 354 |
+
0.11564744861566215,
|
| 355 |
+
-0.05580614588023006,
|
| 356 |
+
-0.9917214032734613,
|
| 357 |
+
-0.3823297647171454
|
| 358 |
+
],
|
| 359 |
+
[
|
| 360 |
+
-0.9929158432837429,
|
| 361 |
+
0.020918493165864246,
|
| 362 |
+
-0.11696386108453993,
|
| 363 |
+
21.120202917966516
|
| 364 |
+
],
|
| 365 |
+
[
|
| 366 |
+
0.02727261969121599,
|
| 367 |
+
0.9982224655484686,
|
| 368 |
+
-0.05299163603356778,
|
| 369 |
+
0.6271432038479405
|
| 370 |
+
],
|
| 371 |
+
[
|
| 372 |
+
0.0,
|
| 373 |
+
0.0,
|
| 374 |
+
0.0,
|
| 375 |
+
1.0
|
| 376 |
+
]
|
| 377 |
+
],
|
| 378 |
+
"colmap_img_id": 2797,
|
| 379 |
+
"depth_file_path": "depths_euc_accum_0_sky/alphasense_driver_ros_cam1_debayered_image_compressed/1710488041.893808226.png",
|
| 380 |
+
"normal_file_path": "normals_euc_accum_0/alphasense_driver_ros_cam1_debayered_image_compressed/1710488041.893808226.png"
|
| 381 |
+
},
|
| 382 |
+
{
|
| 383 |
+
"fl_x": 696.606841349597,
|
| 384 |
+
"fl_y": 695.7715776898048,
|
| 385 |
+
"cx": 719.9762618618234,
|
| 386 |
+
"cy": 540.337171717488,
|
| 387 |
+
"w": 1440,
|
| 388 |
+
"h": 1080,
|
| 389 |
+
"k1": -0.03876086692446946,
|
| 390 |
+
"k2": 0.0004825051613441947,
|
| 391 |
+
"k3": -0.001968125526280523,
|
| 392 |
+
"k4": 0.0005141727820895353,
|
| 393 |
+
"file_path": "images/alphasense_driver_ros_cam1_debayered_image_compressed/1710488040.793820826.jpg",
|
| 394 |
+
"transform_matrix": [
|
| 395 |
+
[
|
| 396 |
+
0.18430104545039055,
|
| 397 |
+
-0.035876931733080084,
|
| 398 |
+
-0.9822148290548831,
|
| 399 |
+
-0.3319502631327833
|
| 400 |
+
],
|
| 401 |
+
[
|
| 402 |
+
-0.9827484968792091,
|
| 403 |
+
0.008976110502559774,
|
| 404 |
+
-0.1847290483976478,
|
| 405 |
+
22.230597871226056
|
| 406 |
+
],
|
| 407 |
+
[
|
| 408 |
+
0.015443980301328734,
|
| 409 |
+
0.9993159036108978,
|
| 410 |
+
-0.03360369418362244,
|
| 411 |
+
0.6174740914616965
|
| 412 |
+
],
|
| 413 |
+
[
|
| 414 |
+
0.0,
|
| 415 |
+
0.0,
|
| 416 |
+
0.0,
|
| 417 |
+
1.0
|
| 418 |
+
]
|
| 419 |
+
],
|
| 420 |
+
"colmap_img_id": 2795,
|
| 421 |
+
"depth_file_path": "depths_euc_accum_0_sky/alphasense_driver_ros_cam1_debayered_image_compressed/1710488040.793820826.png",
|
| 422 |
+
"normal_file_path": "normals_euc_accum_0/alphasense_driver_ros_cam1_debayered_image_compressed/1710488040.793820826.png"
|
| 423 |
+
},
|
| 424 |
+
{
|
| 425 |
+
"fl_x": 698.3137471841843,
|
| 426 |
+
"fl_y": 696.6121509638851,
|
| 427 |
+
"cx": 715.130726637838,
|
| 428 |
+
"cy": 554.9440824853361,
|
| 429 |
+
"w": 1440,
|
| 430 |
+
"h": 1080,
|
| 431 |
+
"k1": -0.04543139410915913,
|
| 432 |
+
"k2": 0.007729565151437663,
|
| 433 |
+
"k3": -0.006584893481708932,
|
| 434 |
+
"k4": 0.0013593371115840738,
|
| 435 |
+
"file_path": "images/alphasense_driver_ros_cam0_debayered_image_compressed/1710486880.106184839.jpg",
|
| 436 |
+
"transform_matrix": [
|
| 437 |
+
[
|
| 438 |
+
0.9987109758628409,
|
| 439 |
+
0.008838848842598588,
|
| 440 |
+
-0.049982611398670176,
|
| 441 |
+
-0.4506130165306037
|
| 442 |
+
],
|
| 443 |
+
[
|
| 444 |
+
-0.04956058821036887,
|
| 445 |
+
-0.042829599657643526,
|
| 446 |
+
-0.9978523806101823,
|
| 447 |
+
15.970585334598686
|
| 448 |
+
],
|
| 449 |
+
[
|
| 450 |
+
-0.010960601595489165,
|
| 451 |
+
0.9990432924274618,
|
| 452 |
+
-0.04233633272215819,
|
| 453 |
+
0.5253620267785831
|
| 454 |
+
],
|
| 455 |
+
[
|
| 456 |
+
0.0,
|
| 457 |
+
0.0,
|
| 458 |
+
0.0,
|
| 459 |
+
1.0
|
| 460 |
+
]
|
| 461 |
+
],
|
| 462 |
+
"colmap_img_id": 17,
|
| 463 |
+
"depth_file_path": "depths_euc_accum_0_sky/alphasense_driver_ros_cam0_debayered_image_compressed/1710486880.106184839.png",
|
| 464 |
+
"normal_file_path": "normals_euc_accum_0/alphasense_driver_ros_cam0_debayered_image_compressed/1710486880.106184839.png"
|
| 465 |
+
},
|
| 466 |
+
{
|
| 467 |
+
"fl_x": 698.3137471841843,
|
| 468 |
+
"fl_y": 696.6121509638851,
|
| 469 |
+
"cx": 715.130726637838,
|
| 470 |
+
"cy": 554.9440824853361,
|
| 471 |
+
"w": 1440,
|
| 472 |
+
"h": 1080,
|
| 473 |
+
"k1": -0.04543139410915913,
|
| 474 |
+
"k2": 0.007729565151437663,
|
| 475 |
+
"k3": -0.006584893481708932,
|
| 476 |
+
"k4": 0.0013593371115840738,
|
| 477 |
+
"file_path": "images/alphasense_driver_ros_cam0_debayered_image_compressed/1710486879.006191639.jpg",
|
| 478 |
+
"transform_matrix": [
|
| 479 |
+
[
|
| 480 |
+
0.9966921993442118,
|
| 481 |
+
0.020652437801241662,
|
| 482 |
+
-0.07860112326973819,
|
| 483 |
+
-0.5332106660094875
|
| 484 |
+
],
|
| 485 |
+
[
|
| 486 |
+
-0.07869873495101254,
|
| 487 |
+
0.0039556856098823005,
|
| 488 |
+
-0.9968905966396043,
|
| 489 |
+
14.899092560722398
|
| 490 |
+
],
|
| 491 |
+
[
|
| 492 |
+
-0.02027729970950341,
|
| 493 |
+
0.9997788902373471,
|
| 494 |
+
0.005567921719040036,
|
| 495 |
+
0.4690912939256865
|
| 496 |
+
],
|
| 497 |
+
[
|
| 498 |
+
0.0,
|
| 499 |
+
0.0,
|
| 500 |
+
0.0,
|
| 501 |
+
1.0
|
| 502 |
+
]
|
| 503 |
+
],
|
| 504 |
+
"colmap_img_id": 18,
|
| 505 |
+
"depth_file_path": "depths_euc_accum_0_sky/alphasense_driver_ros_cam0_debayered_image_compressed/1710486879.006191639.png",
|
| 506 |
+
"normal_file_path": "normals_euc_accum_0/alphasense_driver_ros_cam0_debayered_image_compressed/1710486879.006191639.png"
|
| 507 |
+
},
|
| 508 |
+
{
|
| 509 |
+
"fl_x": 698.3137471841843,
|
| 510 |
+
"fl_y": 696.6121509638851,
|
| 511 |
+
"cx": 715.130726637838,
|
| 512 |
+
"cy": 554.9440824853361,
|
| 513 |
+
"w": 1440,
|
| 514 |
+
"h": 1080,
|
| 515 |
+
"k1": -0.04543139410915913,
|
| 516 |
+
"k2": 0.007729565151437663,
|
| 517 |
+
"k3": -0.006584893481708932,
|
| 518 |
+
"k4": 0.0013593371115840738,
|
| 519 |
+
"file_path": "images/alphasense_driver_ros_cam0_debayered_image_compressed/1710486881.206175898.jpg",
|
| 520 |
+
"transform_matrix": [
|
| 521 |
+
[
|
| 522 |
+
0.9947768024631064,
|
| 523 |
+
0.0136315383495874,
|
| 524 |
+
-0.1011597471502499,
|
| 525 |
+
-0.42032120567158604
|
| 526 |
+
],
|
| 527 |
+
[
|
| 528 |
+
-0.10008805925936216,
|
| 529 |
+
-0.0642800373748008,
|
| 530 |
+
-0.9929000237631125,
|
| 531 |
+
17.064402425765383
|
| 532 |
+
],
|
| 533 |
+
[
|
| 534 |
+
-0.020037307078876545,
|
| 535 |
+
0.9978387935720467,
|
| 536 |
+
-0.06257993582378349,
|
| 537 |
+
0.5855168949594668
|
| 538 |
+
],
|
| 539 |
+
[
|
| 540 |
+
0.0,
|
| 541 |
+
0.0,
|
| 542 |
+
0.0,
|
| 543 |
+
1.0
|
| 544 |
+
]
|
| 545 |
+
],
|
| 546 |
+
"colmap_img_id": 19,
|
| 547 |
+
"depth_file_path": "depths_euc_accum_0_sky/alphasense_driver_ros_cam0_debayered_image_compressed/1710486881.206175898.png",
|
| 548 |
+
"normal_file_path": "normals_euc_accum_0/alphasense_driver_ros_cam0_debayered_image_compressed/1710486881.206175898.png"
|
| 549 |
+
},
|
| 550 |
+
{
|
| 551 |
+
"fl_x": 698.3137471841843,
|
| 552 |
+
"fl_y": 696.6121509638851,
|
| 553 |
+
"cx": 715.130726637838,
|
| 554 |
+
"cy": 554.9440824853361,
|
| 555 |
+
"w": 1440,
|
| 556 |
+
"h": 1080,
|
| 557 |
+
"k1": -0.04543139410915913,
|
| 558 |
+
"k2": 0.007729565151437663,
|
| 559 |
+
"k3": -0.006584893481708932,
|
| 560 |
+
"k4": 0.0013593371115840738,
|
| 561 |
+
"file_path": "images/alphasense_driver_ros_cam0_debayered_image_compressed/1710486882.306168298.jpg",
|
| 562 |
+
"transform_matrix": [
|
| 563 |
+
[
|
| 564 |
+
0.9933067160861031,
|
| 565 |
+
-0.0034960151752121867,
|
| 566 |
+
-0.11545365154960388,
|
| 567 |
+
-0.4114987387150515
|
| 568 |
+
],
|
| 569 |
+
[
|
| 570 |
+
-0.11547092756501295,
|
| 571 |
+
-0.05488424961531161,
|
| 572 |
+
-0.9917934180218381,
|
| 573 |
+
18.16603282739861
|
| 574 |
+
],
|
| 575 |
+
[
|
| 576 |
+
-0.00286926219056775,
|
| 577 |
+
0.9984866033262834,
|
| 578 |
+
-0.054920581865298204,
|
| 579 |
+
0.6161237822697008
|
| 580 |
+
],
|
| 581 |
+
[
|
| 582 |
+
0.0,
|
| 583 |
+
0.0,
|
| 584 |
+
0.0,
|
| 585 |
+
1.0
|
| 586 |
+
]
|
| 587 |
+
],
|
| 588 |
+
"colmap_img_id": 20,
|
| 589 |
+
"depth_file_path": "depths_euc_accum_0_sky/alphasense_driver_ros_cam0_debayered_image_compressed/1710486882.306168298.png",
|
| 590 |
+
"normal_file_path": "normals_euc_accum_0/alphasense_driver_ros_cam0_debayered_image_compressed/1710486882.306168298.png"
|
| 591 |
+
},
|
| 592 |
+
{
|
| 593 |
+
"fl_x": 698.3137471841843,
|
| 594 |
+
"fl_y": 696.6121509638851,
|
| 595 |
+
"cx": 715.130726637838,
|
| 596 |
+
"cy": 554.9440824853361,
|
| 597 |
+
"w": 1440,
|
| 598 |
+
"h": 1080,
|
| 599 |
+
"k1": -0.04543139410915913,
|
| 600 |
+
"k2": 0.007729565151437663,
|
| 601 |
+
"k3": -0.006584893481708932,
|
| 602 |
+
"k4": 0.0013593371115840738,
|
| 603 |
+
"file_path": "images/alphasense_driver_ros_cam0_debayered_image_compressed/1710486883.406160698.jpg",
|
| 604 |
+
"transform_matrix": [
|
| 605 |
+
[
|
| 606 |
+
0.9993016482199651,
|
| 607 |
+
-0.01731213632336586,
|
| 608 |
+
-0.033113528969033246,
|
| 609 |
+
-0.3822377786124309
|
| 610 |
+
],
|
| 611 |
+
[
|
| 612 |
+
-0.03458816579415362,
|
| 613 |
+
-0.09327184322112149,
|
| 614 |
+
-0.9950397087800722,
|
| 615 |
+
19.21860517312404
|
| 616 |
+
],
|
| 617 |
+
[
|
| 618 |
+
0.014137703203065136,
|
| 619 |
+
0.9954901572582501,
|
| 620 |
+
-0.09380550170478437,
|
| 621 |
+
0.6174400649052194
|
| 622 |
+
],
|
| 623 |
+
[
|
| 624 |
+
0.0,
|
| 625 |
+
0.0,
|
| 626 |
+
0.0,
|
| 627 |
+
1.0
|
| 628 |
+
]
|
| 629 |
+
],
|
| 630 |
+
"colmap_img_id": 21,
|
| 631 |
+
"depth_file_path": "depths_euc_accum_0_sky/alphasense_driver_ros_cam0_debayered_image_compressed/1710486883.406160698.png",
|
| 632 |
+
"normal_file_path": "normals_euc_accum_0/alphasense_driver_ros_cam0_debayered_image_compressed/1710486883.406160698.png"
|
| 633 |
+
},
|
| 634 |
+
{
|
| 635 |
+
"fl_x": 698.3137471841843,
|
| 636 |
+
"fl_y": 696.6121509638851,
|
| 637 |
+
"cx": 715.130726637838,
|
| 638 |
+
"cy": 554.9440824853361,
|
| 639 |
+
"w": 1440,
|
| 640 |
+
"h": 1080,
|
| 641 |
+
"k1": -0.04543139410915913,
|
| 642 |
+
"k2": 0.007729565151437663,
|
| 643 |
+
"k3": -0.006584893481708932,
|
| 644 |
+
"k4": 0.0013593371115840738,
|
| 645 |
+
"file_path": "images/alphasense_driver_ros_cam0_debayered_image_compressed/1710486884.506152998.jpg",
|
| 646 |
+
"transform_matrix": [
|
| 647 |
+
[
|
| 648 |
+
0.9954015234880517,
|
| 649 |
+
0.00014822420135684675,
|
| 650 |
+
-0.09579031823338359,
|
| 651 |
+
-0.3131832938096023
|
| 652 |
+
],
|
| 653 |
+
[
|
| 654 |
+
-0.09579002297202063,
|
| 655 |
+
-0.00138533330377764,
|
| 656 |
+
-0.9954005989302285,
|
| 657 |
+
20.306862470970387
|
| 658 |
+
],
|
| 659 |
+
[
|
| 660 |
+
-0.0002802439768347202,
|
| 661 |
+
0.9999990294401405,
|
| 662 |
+
-0.0013647644814659978,
|
| 663 |
+
0.6320992928462571
|
| 664 |
+
],
|
| 665 |
+
[
|
| 666 |
+
0.0,
|
| 667 |
+
0.0,
|
| 668 |
+
0.0,
|
| 669 |
+
1.0
|
| 670 |
+
]
|
| 671 |
+
],
|
| 672 |
+
"colmap_img_id": 22,
|
| 673 |
+
"depth_file_path": "depths_euc_accum_0_sky/alphasense_driver_ros_cam0_debayered_image_compressed/1710486884.506152998.png",
|
| 674 |
+
"normal_file_path": "normals_euc_accum_0/alphasense_driver_ros_cam0_debayered_image_compressed/1710486884.506152998.png"
|
| 675 |
+
},
|
| 676 |
+
{
|
| 677 |
+
"fl_x": 698.3137471841843,
|
| 678 |
+
"fl_y": 696.6121509638851,
|
| 679 |
+
"cx": 715.130726637838,
|
| 680 |
+
"cy": 554.9440824853361,
|
| 681 |
+
"w": 1440,
|
| 682 |
+
"h": 1080,
|
| 683 |
+
"k1": -0.04543139410915913,
|
| 684 |
+
"k2": 0.007729565151437663,
|
| 685 |
+
"k3": -0.006584893481708932,
|
| 686 |
+
"k4": 0.0013593371115840738,
|
| 687 |
+
"file_path": "images/alphasense_driver_ros_cam0_debayered_image_compressed/1710486886.806137198.jpg",
|
| 688 |
+
"transform_matrix": [
|
| 689 |
+
[
|
| 690 |
+
0.9993689699453651,
|
| 691 |
+
-0.02756878450710171,
|
| 692 |
+
0.022396964775208132,
|
| 693 |
+
-0.29576301761587764
|
| 694 |
+
],
|
| 695 |
+
[
|
| 696 |
+
0.020940202938606794,
|
| 697 |
+
-0.05204106758412343,
|
| 698 |
+
-0.99842537787538,
|
| 699 |
+
22.53484928113734
|
| 700 |
+
],
|
| 701 |
+
[
|
| 702 |
+
0.028690936046613737,
|
| 703 |
+
0.9982643384422312,
|
| 704 |
+
-0.05143093216405309,
|
| 705 |
+
0.684534503807227
|
| 706 |
+
],
|
| 707 |
+
[
|
| 708 |
+
0.0,
|
| 709 |
+
0.0,
|
| 710 |
+
0.0,
|
| 711 |
+
1.0
|
| 712 |
+
]
|
| 713 |
+
],
|
| 714 |
+
"colmap_img_id": 23,
|
| 715 |
+
"depth_file_path": "depths_euc_accum_0_sky/alphasense_driver_ros_cam0_debayered_image_compressed/1710486886.806137198.png",
|
| 716 |
+
"normal_file_path": "normals_euc_accum_0/alphasense_driver_ros_cam0_debayered_image_compressed/1710486886.806137198.png"
|
| 717 |
+
},
|
| 718 |
+
{
|
| 719 |
+
"fl_x": 698.3137471841843,
|
| 720 |
+
"fl_y": 696.6121509638851,
|
| 721 |
+
"cx": 715.130726637838,
|
| 722 |
+
"cy": 554.9440824853361,
|
| 723 |
+
"w": 1440,
|
| 724 |
+
"h": 1080,
|
| 725 |
+
"k1": -0.04543139410915913,
|
| 726 |
+
"k2": 0.007729565151437663,
|
| 727 |
+
"k3": -0.006584893481708932,
|
| 728 |
+
"k4": 0.0013593371115840738,
|
| 729 |
+
"file_path": "images/alphasense_driver_ros_cam0_debayered_image_compressed/1710486885.706144798.jpg",
|
| 730 |
+
"transform_matrix": [
|
| 731 |
+
[
|
| 732 |
+
0.9961211465726999,
|
| 733 |
+
-0.03373292017773872,
|
| 734 |
+
-0.08126962191971332,
|
| 735 |
+
-0.3135065364773695
|
| 736 |
+
],
|
| 737 |
+
[
|
| 738 |
+
-0.0821917415767725,
|
| 739 |
+
-0.02691193071014246,
|
| 740 |
+
-0.9962531132207466,
|
| 741 |
+
21.44904022176878
|
| 742 |
+
],
|
| 743 |
+
[
|
| 744 |
+
0.0314194043111563,
|
| 745 |
+
0.999068485180938,
|
| 746 |
+
-0.029580110733350713,
|
| 747 |
+
0.6588312057822833
|
| 748 |
+
],
|
| 749 |
+
[
|
| 750 |
+
0.0,
|
| 751 |
+
0.0,
|
| 752 |
+
0.0,
|
| 753 |
+
1.0
|
| 754 |
+
]
|
| 755 |
+
],
|
| 756 |
+
"colmap_img_id": 24,
|
| 757 |
+
"depth_file_path": "depths_euc_accum_0_sky/alphasense_driver_ros_cam0_debayered_image_compressed/1710486885.706144798.png",
|
| 758 |
+
"normal_file_path": "normals_euc_accum_0/alphasense_driver_ros_cam0_debayered_image_compressed/1710486885.706144798.png"
|
| 759 |
+
},
|
| 760 |
+
{
|
| 761 |
+
"fl_x": 698.3137471841843,
|
| 762 |
+
"fl_y": 696.6121509638851,
|
| 763 |
+
"cx": 715.130726637838,
|
| 764 |
+
"cy": 554.9440824853361,
|
| 765 |
+
"w": 1440,
|
| 766 |
+
"h": 1080,
|
| 767 |
+
"k1": -0.04543139410915913,
|
| 768 |
+
"k2": 0.007729565151437663,
|
| 769 |
+
"k3": -0.006584893481708932,
|
| 770 |
+
"k4": 0.0013593371115840738,
|
| 771 |
+
"file_path": "images/alphasense_driver_ros_cam0_debayered_image_compressed/1710487284.452384107.jpg",
|
| 772 |
+
"transform_matrix": [
|
| 773 |
+
[
|
| 774 |
+
0.9237304522899373,
|
| 775 |
+
-0.0392188991550399,
|
| 776 |
+
-0.3810300899683587,
|
| 777 |
+
-0.5956040456400604
|
| 778 |
+
],
|
| 779 |
+
[
|
| 780 |
+
-0.38102178501447415,
|
| 781 |
+
0.007979394382741149,
|
| 782 |
+
-0.9245316266140758,
|
| 783 |
+
15.458759338390333
|
| 784 |
+
],
|
| 785 |
+
[
|
| 786 |
+
0.039299501989371294,
|
| 787 |
+
0.9991987826325407,
|
| 788 |
+
-0.007572445380186684,
|
| 789 |
+
0.46438543784536895
|
| 790 |
+
],
|
| 791 |
+
[
|
| 792 |
+
0.0,
|
| 793 |
+
0.0,
|
| 794 |
+
0.0,
|
| 795 |
+
1.0
|
| 796 |
+
]
|
| 797 |
+
],
|
| 798 |
+
"colmap_img_id": 372,
|
| 799 |
+
"depth_file_path": "depths_euc_accum_0_sky/alphasense_driver_ros_cam0_debayered_image_compressed/1710487284.452384107.png",
|
| 800 |
+
"normal_file_path": "normals_euc_accum_0/alphasense_driver_ros_cam0_debayered_image_compressed/1710487284.452384107.png"
|
| 801 |
+
},
|
| 802 |
+
{
|
| 803 |
+
"fl_x": 698.3137471841843,
|
| 804 |
+
"fl_y": 696.6121509638851,
|
| 805 |
+
"cx": 715.130726637838,
|
| 806 |
+
"cy": 554.9440824853361,
|
| 807 |
+
"w": 1440,
|
| 808 |
+
"h": 1080,
|
| 809 |
+
"k1": -0.04543139410915913,
|
| 810 |
+
"k2": 0.007729565151437663,
|
| 811 |
+
"k3": -0.006584893481708932,
|
| 812 |
+
"k4": 0.0013593371115840738,
|
| 813 |
+
"file_path": "images/alphasense_driver_ros_cam0_debayered_image_compressed/1710487285.752374607.jpg",
|
| 814 |
+
"transform_matrix": [
|
| 815 |
+
[
|
| 816 |
+
0.9796563994973486,
|
| 817 |
+
-0.04954219061047277,
|
| 818 |
+
-0.1944708468470479,
|
| 819 |
+
-0.43179498186257936
|
| 820 |
+
],
|
| 821 |
+
[
|
| 822 |
+
-0.19296571501004184,
|
| 823 |
+
0.03358645784544816,
|
| 824 |
+
-0.9806305026257645,
|
| 825 |
+
16.504832032356326
|
| 826 |
+
],
|
| 827 |
+
[
|
| 828 |
+
0.055114170179326294,
|
| 829 |
+
0.9982071534500795,
|
| 830 |
+
0.02334324413042756,
|
| 831 |
+
0.45068368119216806
|
| 832 |
+
],
|
| 833 |
+
[
|
| 834 |
+
0.0,
|
| 835 |
+
0.0,
|
| 836 |
+
0.0,
|
| 837 |
+
1.0
|
| 838 |
+
]
|
| 839 |
+
],
|
| 840 |
+
"colmap_img_id": 373,
|
| 841 |
+
"depth_file_path": "depths_euc_accum_0_sky/alphasense_driver_ros_cam0_debayered_image_compressed/1710487285.752374607.png",
|
| 842 |
+
"normal_file_path": "normals_euc_accum_0/alphasense_driver_ros_cam0_debayered_image_compressed/1710487285.752374607.png"
|
| 843 |
+
},
|
| 844 |
+
{
|
| 845 |
+
"fl_x": 698.3137471841843,
|
| 846 |
+
"fl_y": 696.6121509638851,
|
| 847 |
+
"cx": 715.130726637838,
|
| 848 |
+
"cy": 554.9440824853361,
|
| 849 |
+
"w": 1440,
|
| 850 |
+
"h": 1080,
|
| 851 |
+
"k1": -0.04543139410915913,
|
| 852 |
+
"k2": 0.007729565151437663,
|
| 853 |
+
"k3": -0.006584893481708932,
|
| 854 |
+
"k4": 0.0013593371115840738,
|
| 855 |
+
"file_path": "images/alphasense_driver_ros_cam0_debayered_image_compressed/1710487287.052359813.jpg",
|
| 856 |
+
"transform_matrix": [
|
| 857 |
+
[
|
| 858 |
+
0.9857427130867739,
|
| 859 |
+
-0.032506176057715205,
|
| 860 |
+
-0.16508983043916337,
|
| 861 |
+
-0.3924631335833124
|
| 862 |
+
],
|
| 863 |
+
[
|
| 864 |
+
-0.16366945155609883,
|
| 865 |
+
0.04237242861991716,
|
| 866 |
+
-0.9856048335515488,
|
| 867 |
+
17.51453138153792
|
| 868 |
+
],
|
| 869 |
+
[
|
| 870 |
+
0.039033501298919394,
|
| 871 |
+
0.9985729446620082,
|
| 872 |
+
0.036448044740320554,
|
| 873 |
+
0.44017517726933086
|
| 874 |
+
],
|
| 875 |
+
[
|
| 876 |
+
0.0,
|
| 877 |
+
0.0,
|
| 878 |
+
0.0,
|
| 879 |
+
1.0
|
| 880 |
+
]
|
| 881 |
+
],
|
| 882 |
+
"colmap_img_id": 374,
|
| 883 |
+
"depth_file_path": "depths_euc_accum_0_sky/alphasense_driver_ros_cam0_debayered_image_compressed/1710487287.052359813.png",
|
| 884 |
+
"normal_file_path": "normals_euc_accum_0/alphasense_driver_ros_cam0_debayered_image_compressed/1710487287.052359813.png"
|
| 885 |
+
},
|
| 886 |
+
{
|
| 887 |
+
"fl_x": 698.3137471841843,
|
| 888 |
+
"fl_y": 696.6121509638851,
|
| 889 |
+
"cx": 715.130726637838,
|
| 890 |
+
"cy": 554.9440824853361,
|
| 891 |
+
"w": 1440,
|
| 892 |
+
"h": 1080,
|
| 893 |
+
"k1": -0.04543139410915913,
|
| 894 |
+
"k2": 0.007729565151437663,
|
| 895 |
+
"k3": -0.006584893481708932,
|
| 896 |
+
"k4": 0.0013593371115840738,
|
| 897 |
+
"file_path": "images/alphasense_driver_ros_cam0_debayered_image_compressed/1710487288.452349613.jpg",
|
| 898 |
+
"transform_matrix": [
|
| 899 |
+
[
|
| 900 |
+
0.9856264419665902,
|
| 901 |
+
-0.011858880614883216,
|
| 902 |
+
-0.16852265084208196,
|
| 903 |
+
-0.3730917882816802
|
| 904 |
+
],
|
| 905 |
+
[
|
| 906 |
+
-0.16784290986149364,
|
| 907 |
+
0.044729351551345706,
|
| 908 |
+
-0.9847984782274102,
|
| 909 |
+
18.541053521267113
|
| 910 |
+
],
|
| 911 |
+
[
|
| 912 |
+
0.019216516476897687,
|
| 913 |
+
0.9989287522443016,
|
| 914 |
+
0.04209600259092358,
|
| 915 |
+
0.4537690804183846
|
| 916 |
+
],
|
| 917 |
+
[
|
| 918 |
+
0.0,
|
| 919 |
+
0.0,
|
| 920 |
+
0.0,
|
| 921 |
+
1.0
|
| 922 |
+
]
|
| 923 |
+
],
|
| 924 |
+
"colmap_img_id": 375,
|
| 925 |
+
"depth_file_path": "depths_euc_accum_0_sky/alphasense_driver_ros_cam0_debayered_image_compressed/1710487288.452349613.png",
|
| 926 |
+
"normal_file_path": "normals_euc_accum_0/alphasense_driver_ros_cam0_debayered_image_compressed/1710487288.452349613.png"
|
| 927 |
+
},
|
| 928 |
+
{
|
| 929 |
+
"fl_x": 698.3137471841843,
|
| 930 |
+
"fl_y": 696.6121509638851,
|
| 931 |
+
"cx": 715.130726637838,
|
| 932 |
+
"cy": 554.9440824853361,
|
| 933 |
+
"w": 1440,
|
| 934 |
+
"h": 1080,
|
| 935 |
+
"k1": -0.04543139410915913,
|
| 936 |
+
"k2": 0.007729565151437663,
|
| 937 |
+
"k3": -0.006584893481708932,
|
| 938 |
+
"k4": 0.0013593371115840738,
|
| 939 |
+
"file_path": "images/alphasense_driver_ros_cam0_debayered_image_compressed/1710487291.452313798.jpg",
|
| 940 |
+
"transform_matrix": [
|
| 941 |
+
[
|
| 942 |
+
0.9864345358276841,
|
| 943 |
+
0.01462081017992645,
|
| 944 |
+
-0.16350271690741067,
|
| 945 |
+
-0.24405665812682453
|
| 946 |
+
],
|
| 947 |
+
[
|
| 948 |
+
-0.16317867351898763,
|
| 949 |
+
-0.02114085663327564,
|
| 950 |
+
-0.9863700039485159,
|
| 951 |
+
20.68333909150605
|
| 952 |
+
],
|
| 953 |
+
[
|
| 954 |
+
-0.017878116092195164,
|
| 955 |
+
0.999669593461006,
|
| 956 |
+
-0.018468266689111525,
|
| 957 |
+
0.49591084792529516
|
| 958 |
+
],
|
| 959 |
+
[
|
| 960 |
+
0.0,
|
| 961 |
+
0.0,
|
| 962 |
+
0.0,
|
| 963 |
+
1.0
|
| 964 |
+
]
|
| 965 |
+
],
|
| 966 |
+
"colmap_img_id": 376,
|
| 967 |
+
"depth_file_path": "depths_euc_accum_0_sky/alphasense_driver_ros_cam0_debayered_image_compressed/1710487291.452313798.png",
|
| 968 |
+
"normal_file_path": "normals_euc_accum_0/alphasense_driver_ros_cam0_debayered_image_compressed/1710487291.452313798.png"
|
| 969 |
+
},
|
| 970 |
+
{
|
| 971 |
+
"fl_x": 698.3137471841843,
|
| 972 |
+
"fl_y": 696.6121509638851,
|
| 973 |
+
"cx": 715.130726637838,
|
| 974 |
+
"cy": 554.9440824853361,
|
| 975 |
+
"w": 1440,
|
| 976 |
+
"h": 1080,
|
| 977 |
+
"k1": -0.04543139410915913,
|
| 978 |
+
"k2": 0.007729565151437663,
|
| 979 |
+
"k3": -0.006584893481708932,
|
| 980 |
+
"k4": 0.0013593371115840738,
|
| 981 |
+
"file_path": "images/alphasense_driver_ros_cam0_debayered_image_compressed/1710487289.852339413.jpg",
|
| 982 |
+
"transform_matrix": [
|
| 983 |
+
[
|
| 984 |
+
0.9908416829461731,
|
| 985 |
+
0.010365771232759823,
|
| 986 |
+
-0.1346302719418872,
|
| 987 |
+
-0.32972925182003665
|
| 988 |
+
],
|
| 989 |
+
[
|
| 990 |
+
-0.13479831789952318,
|
| 991 |
+
0.01771182325308142,
|
| 992 |
+
-0.9907147444186502,
|
| 993 |
+
19.5986698749103
|
| 994 |
+
],
|
| 995 |
+
[
|
| 996 |
+
-0.00788497481641684,
|
| 997 |
+
0.9997893988754839,
|
| 998 |
+
0.01894690128603564,
|
| 999 |
+
0.48830502475388887
|
| 1000 |
+
],
|
| 1001 |
+
[
|
| 1002 |
+
0.0,
|
| 1003 |
+
0.0,
|
| 1004 |
+
0.0,
|
| 1005 |
+
1.0
|
| 1006 |
+
]
|
| 1007 |
+
],
|
| 1008 |
+
"colmap_img_id": 377,
|
| 1009 |
+
"depth_file_path": "depths_euc_accum_0_sky/alphasense_driver_ros_cam0_debayered_image_compressed/1710487289.852339413.png",
|
| 1010 |
+
"normal_file_path": "normals_euc_accum_0/alphasense_driver_ros_cam0_debayered_image_compressed/1710487289.852339413.png"
|
| 1011 |
+
},
|
| 1012 |
+
{
|
| 1013 |
+
"fl_x": 698.3137471841843,
|
| 1014 |
+
"fl_y": 696.6121509638851,
|
| 1015 |
+
"cx": 715.130726637838,
|
| 1016 |
+
"cy": 554.9440824853361,
|
| 1017 |
+
"w": 1440,
|
| 1018 |
+
"h": 1080,
|
| 1019 |
+
"k1": -0.04543139410915913,
|
| 1020 |
+
"k2": 0.007729565151437663,
|
| 1021 |
+
"k3": -0.006584893481708932,
|
| 1022 |
+
"k4": 0.0013593371115840738,
|
| 1023 |
+
"file_path": "images/alphasense_driver_ros_cam0_debayered_image_compressed/1710487292.752301298.jpg",
|
| 1024 |
+
"transform_matrix": [
|
| 1025 |
+
[
|
| 1026 |
+
0.9939172339810398,
|
| 1027 |
+
-0.017219641254893808,
|
| 1028 |
+
-0.1087750704460019,
|
| 1029 |
+
-0.23491726231163235
|
| 1030 |
+
],
|
| 1031 |
+
[
|
| 1032 |
+
-0.10639110912765934,
|
| 1033 |
+
0.10503291874049522,
|
| 1034 |
+
-0.9887613553731959,
|
| 1035 |
+
21.746224941177886
|
| 1036 |
+
],
|
| 1037 |
+
[
|
| 1038 |
+
0.028451078961375546,
|
| 1039 |
+
0.9943196517900593,
|
| 1040 |
+
0.10256201133961972,
|
| 1041 |
+
0.4958262997837521
|
| 1042 |
+
],
|
| 1043 |
+
[
|
| 1044 |
+
0.0,
|
| 1045 |
+
0.0,
|
| 1046 |
+
0.0,
|
| 1047 |
+
1.0
|
| 1048 |
+
]
|
| 1049 |
+
],
|
| 1050 |
+
"colmap_img_id": 378,
|
| 1051 |
+
"depth_file_path": "depths_euc_accum_0_sky/alphasense_driver_ros_cam0_debayered_image_compressed/1710487292.752301298.png",
|
| 1052 |
+
"normal_file_path": "normals_euc_accum_0/alphasense_driver_ros_cam0_debayered_image_compressed/1710487292.752301298.png"
|
| 1053 |
+
},
|
| 1054 |
+
{
|
| 1055 |
+
"fl_x": 698.3137471841843,
|
| 1056 |
+
"fl_y": 696.6121509638851,
|
| 1057 |
+
"cx": 715.130726637838,
|
| 1058 |
+
"cy": 554.9440824853361,
|
| 1059 |
+
"w": 1440,
|
| 1060 |
+
"h": 1080,
|
| 1061 |
+
"k1": -0.04543139410915913,
|
| 1062 |
+
"k2": 0.007729565151437663,
|
| 1063 |
+
"k3": -0.006584893481708932,
|
| 1064 |
+
"k4": 0.0013593371115840738,
|
| 1065 |
+
"file_path": "images/alphasense_driver_ros_cam0_debayered_image_compressed/1710487294.152287898.jpg",
|
| 1066 |
+
"transform_matrix": [
|
| 1067 |
+
[
|
| 1068 |
+
0.9788699802654,
|
| 1069 |
+
0.044460968077950455,
|
| 1070 |
+
-0.19959154303924825,
|
| 1071 |
+
-0.17668165027976812
|
| 1072 |
+
],
|
| 1073 |
+
[
|
| 1074 |
+
-0.19990158277270448,
|
| 1075 |
+
0.0025946458660964606,
|
| 1076 |
+
-0.9798125458565008,
|
| 1077 |
+
22.736543259697253
|
| 1078 |
+
],
|
| 1079 |
+
[
|
| 1080 |
+
-0.04304554495164662,
|
| 1081 |
+
0.9990077527879354,
|
| 1082 |
+
0.011427638838130529,
|
| 1083 |
+
0.5283751731335249
|
| 1084 |
+
],
|
| 1085 |
+
[
|
| 1086 |
+
0.0,
|
| 1087 |
+
0.0,
|
| 1088 |
+
0.0,
|
| 1089 |
+
1.0
|
| 1090 |
+
]
|
| 1091 |
+
],
|
| 1092 |
+
"colmap_img_id": 379,
|
| 1093 |
+
"depth_file_path": "depths_euc_accum_0_sky/alphasense_driver_ros_cam0_debayered_image_compressed/1710487294.152287898.png",
|
| 1094 |
+
"normal_file_path": "normals_euc_accum_0/alphasense_driver_ros_cam0_debayered_image_compressed/1710487294.152287898.png"
|
| 1095 |
+
},
|
| 1096 |
+
{
|
| 1097 |
+
"fl_x": 698.3137471841843,
|
| 1098 |
+
"fl_y": 696.6121509638851,
|
| 1099 |
+
"cx": 715.130726637838,
|
| 1100 |
+
"cy": 554.9440824853361,
|
| 1101 |
+
"w": 1440,
|
| 1102 |
+
"h": 1080,
|
| 1103 |
+
"k1": -0.04543139410915913,
|
| 1104 |
+
"k2": 0.007729565151437663,
|
| 1105 |
+
"k3": -0.006584893481708932,
|
| 1106 |
+
"k4": 0.0013593371115840738,
|
| 1107 |
+
"file_path": "images/alphasense_driver_ros_cam0_debayered_image_compressed/1710488106.393088497.jpg",
|
| 1108 |
+
"transform_matrix": [
|
| 1109 |
+
[
|
| 1110 |
+
0.8329735371136643,
|
| 1111 |
+
0.074188846750065,
|
| 1112 |
+
-0.5483166069765235,
|
| 1113 |
+
-0.8115912290610958
|
| 1114 |
+
],
|
| 1115 |
+
[
|
| 1116 |
+
-0.5494512924784734,
|
| 1117 |
+
-0.005965581028315611,
|
| 1118 |
+
-0.8355044518353747,
|
| 1119 |
+
15.143176176364237
|
| 1120 |
+
],
|
| 1121 |
+
[
|
| 1122 |
+
-0.06525613888430118,
|
| 1123 |
+
0.9972263669101863,
|
| 1124 |
+
0.035793986604216364,
|
| 1125 |
+
0.42037613818995717
|
| 1126 |
+
],
|
| 1127 |
+
[
|
| 1128 |
+
0.0,
|
| 1129 |
+
0.0,
|
| 1130 |
+
0.0,
|
| 1131 |
+
1.0
|
| 1132 |
+
]
|
| 1133 |
+
],
|
| 1134 |
+
"colmap_img_id": 1144,
|
| 1135 |
+
"depth_file_path": "depths_euc_accum_0_sky/alphasense_driver_ros_cam0_debayered_image_compressed/1710488106.393088497.png",
|
| 1136 |
+
"normal_file_path": "normals_euc_accum_0/alphasense_driver_ros_cam0_debayered_image_compressed/1710488106.393088497.png"
|
| 1137 |
+
},
|
| 1138 |
+
{
|
| 1139 |
+
"fl_x": 698.3137471841843,
|
| 1140 |
+
"fl_y": 696.6121509638851,
|
| 1141 |
+
"cx": 715.130726637838,
|
| 1142 |
+
"cy": 554.9440824853361,
|
| 1143 |
+
"w": 1440,
|
| 1144 |
+
"h": 1080,
|
| 1145 |
+
"k1": -0.04543139410915913,
|
| 1146 |
+
"k2": 0.007729565151437663,
|
| 1147 |
+
"k3": -0.006584893481708932,
|
| 1148 |
+
"k4": 0.0013593371115840738,
|
| 1149 |
+
"file_path": "images/alphasense_driver_ros_cam0_debayered_image_compressed/1710488107.493075797.jpg",
|
| 1150 |
+
"transform_matrix": [
|
| 1151 |
+
[
|
| 1152 |
+
0.8333753645935797,
|
| 1153 |
+
-0.0018398026391983624,
|
| 1154 |
+
-0.5527043665602506,
|
| 1155 |
+
-0.6182619058391904
|
| 1156 |
+
],
|
| 1157 |
+
[
|
| 1158 |
+
-0.551673764260003,
|
| 1159 |
+
0.05836072571665347,
|
| 1160 |
+
-0.8320156750452626,
|
| 1161 |
+
16.164513185662834
|
| 1162 |
+
],
|
| 1163 |
+
[
|
| 1164 |
+
0.03378697257402215,
|
| 1165 |
+
0.9982938649616524,
|
| 1166 |
+
0.04762142022459989,
|
| 1167 |
+
0.4047457678044243
|
| 1168 |
+
],
|
| 1169 |
+
[
|
| 1170 |
+
0.0,
|
| 1171 |
+
0.0,
|
| 1172 |
+
0.0,
|
| 1173 |
+
1.0
|
| 1174 |
+
]
|
| 1175 |
+
],
|
| 1176 |
+
"colmap_img_id": 1145,
|
| 1177 |
+
"depth_file_path": "depths_euc_accum_0_sky/alphasense_driver_ros_cam0_debayered_image_compressed/1710488107.493075797.png",
|
| 1178 |
+
"normal_file_path": "normals_euc_accum_0/alphasense_driver_ros_cam0_debayered_image_compressed/1710488107.493075797.png"
|
| 1179 |
+
},
|
| 1180 |
+
{
|
| 1181 |
+
"fl_x": 698.3137471841843,
|
| 1182 |
+
"fl_y": 696.6121509638851,
|
| 1183 |
+
"cx": 715.130726637838,
|
| 1184 |
+
"cy": 554.9440824853361,
|
| 1185 |
+
"w": 1440,
|
| 1186 |
+
"h": 1080,
|
| 1187 |
+
"k1": -0.04543139410915913,
|
| 1188 |
+
"k2": 0.007729565151437663,
|
| 1189 |
+
"k3": -0.006584893481708932,
|
| 1190 |
+
"k4": 0.0013593371115840738,
|
| 1191 |
+
"file_path": "images/alphasense_driver_ros_cam0_debayered_image_compressed/1710488109.693050597.jpg",
|
| 1192 |
+
"transform_matrix": [
|
| 1193 |
+
[
|
| 1194 |
+
0.8990113802864117,
|
| 1195 |
+
-0.05959628600222505,
|
| 1196 |
+
-0.4338511505231522,
|
| 1197 |
+
-0.07245621258324209
|
| 1198 |
+
],
|
| 1199 |
+
[
|
| 1200 |
+
-0.4275802866229299,
|
| 1201 |
+
0.09460807147139025,
|
| 1202 |
+
-0.8990130206531592,
|
| 1203 |
+
18.288619379351058
|
| 1204 |
+
],
|
| 1205 |
+
[
|
| 1206 |
+
0.09462365775520915,
|
| 1207 |
+
0.9937291358852295,
|
| 1208 |
+
0.0595715358692365,
|
| 1209 |
+
0.41338413248182176
|
| 1210 |
+
],
|
| 1211 |
+
[
|
| 1212 |
+
0.0,
|
| 1213 |
+
0.0,
|
| 1214 |
+
0.0,
|
| 1215 |
+
1.0
|
| 1216 |
+
]
|
| 1217 |
+
],
|
| 1218 |
+
"colmap_img_id": 1146,
|
| 1219 |
+
"depth_file_path": "depths_euc_accum_0_sky/alphasense_driver_ros_cam0_debayered_image_compressed/1710488109.693050597.png",
|
| 1220 |
+
"normal_file_path": "normals_euc_accum_0/alphasense_driver_ros_cam0_debayered_image_compressed/1710488109.693050597.png"
|
| 1221 |
+
},
|
| 1222 |
+
{
|
| 1223 |
+
"fl_x": 698.3137471841843,
|
| 1224 |
+
"fl_y": 696.6121509638851,
|
| 1225 |
+
"cx": 715.130726637838,
|
| 1226 |
+
"cy": 554.9440824853361,
|
| 1227 |
+
"w": 1440,
|
| 1228 |
+
"h": 1080,
|
| 1229 |
+
"k1": -0.04543139410915913,
|
| 1230 |
+
"k2": 0.007729565151437663,
|
| 1231 |
+
"k3": -0.006584893481708932,
|
| 1232 |
+
"k4": 0.0013593371115840738,
|
| 1233 |
+
"file_path": "images/alphasense_driver_ros_cam0_debayered_image_compressed/1710488108.593063197.jpg",
|
| 1234 |
+
"transform_matrix": [
|
| 1235 |
+
[
|
| 1236 |
+
0.8703085032978076,
|
| 1237 |
+
-0.02613637247276438,
|
| 1238 |
+
-0.4918129716889298,
|
| 1239 |
+
-0.3223221171413204
|
| 1240 |
+
],
|
| 1241 |
+
[
|
| 1242 |
+
-0.488086366430704,
|
| 1243 |
+
0.08772250614398372,
|
| 1244 |
+
-0.868375760152419,
|
| 1245 |
+
17.211263054477488
|
| 1246 |
+
],
|
| 1247 |
+
[
|
| 1248 |
+
0.06583925874433649,
|
| 1249 |
+
0.9958020144334833,
|
| 1250 |
+
0.06358883595579208,
|
| 1251 |
+
0.40180247825740867
|
| 1252 |
+
],
|
| 1253 |
+
[
|
| 1254 |
+
0.0,
|
| 1255 |
+
0.0,
|
| 1256 |
+
0.0,
|
| 1257 |
+
1.0
|
| 1258 |
+
]
|
| 1259 |
+
],
|
| 1260 |
+
"colmap_img_id": 1147,
|
| 1261 |
+
"depth_file_path": "depths_euc_accum_0_sky/alphasense_driver_ros_cam0_debayered_image_compressed/1710488108.593063197.png",
|
| 1262 |
+
"normal_file_path": "normals_euc_accum_0/alphasense_driver_ros_cam0_debayered_image_compressed/1710488108.593063197.png"
|
| 1263 |
+
},
|
| 1264 |
+
{
|
| 1265 |
+
"fl_x": 698.3137471841843,
|
| 1266 |
+
"fl_y": 696.6121509638851,
|
| 1267 |
+
"cx": 715.130726637838,
|
| 1268 |
+
"cy": 554.9440824853361,
|
| 1269 |
+
"w": 1440,
|
| 1270 |
+
"h": 1080,
|
| 1271 |
+
"k1": -0.04543139410915913,
|
| 1272 |
+
"k2": 0.007729565151437663,
|
| 1273 |
+
"k3": -0.006584893481708932,
|
| 1274 |
+
"k4": 0.0013593371115840738,
|
| 1275 |
+
"file_path": "images/alphasense_driver_ros_cam0_debayered_image_compressed/1710488111.743026997.jpg",
|
| 1276 |
+
"transform_matrix": [
|
| 1277 |
+
[
|
| 1278 |
+
0.9415583837504926,
|
| 1279 |
+
0.004064760134186808,
|
| 1280 |
+
-0.3368253074135204,
|
| 1281 |
+
0.027131232176861753
|
| 1282 |
+
],
|
| 1283 |
+
[
|
| 1284 |
+
-0.33632347796470213,
|
| 1285 |
+
0.06722124325545246,
|
| 1286 |
+
-0.9393443578501539,
|
| 1287 |
+
20.345422143296034
|
| 1288 |
+
],
|
| 1289 |
+
[
|
| 1290 |
+
0.01882360642617418,
|
| 1291 |
+
0.9977298142183795,
|
| 1292 |
+
0.06465979941872446,
|
| 1293 |
+
0.41884290461886187
|
| 1294 |
+
],
|
| 1295 |
+
[
|
| 1296 |
+
0.0,
|
| 1297 |
+
0.0,
|
| 1298 |
+
0.0,
|
| 1299 |
+
1.0
|
| 1300 |
+
]
|
| 1301 |
+
],
|
| 1302 |
+
"colmap_img_id": 1148,
|
| 1303 |
+
"depth_file_path": "depths_euc_accum_0_sky/alphasense_driver_ros_cam0_debayered_image_compressed/1710488111.743026997.png",
|
| 1304 |
+
"normal_file_path": "normals_euc_accum_0/alphasense_driver_ros_cam0_debayered_image_compressed/1710488111.743026997.png"
|
| 1305 |
+
},
|
| 1306 |
+
{
|
| 1307 |
+
"fl_x": 698.3137471841843,
|
| 1308 |
+
"fl_y": 696.6121509638851,
|
| 1309 |
+
"cx": 715.130726637838,
|
| 1310 |
+
"cy": 554.9440824853361,
|
| 1311 |
+
"w": 1440,
|
| 1312 |
+
"h": 1080,
|
| 1313 |
+
"k1": -0.04543139410915913,
|
| 1314 |
+
"k2": 0.007729565151437663,
|
| 1315 |
+
"k3": -0.006584893481708932,
|
| 1316 |
+
"k4": 0.0013593371115840738,
|
| 1317 |
+
"file_path": "images/alphasense_driver_ros_cam0_debayered_image_compressed/1710488110.693039097.jpg",
|
| 1318 |
+
"transform_matrix": [
|
| 1319 |
+
[
|
| 1320 |
+
0.9296388387989374,
|
| 1321 |
+
-0.05285265620736589,
|
| 1322 |
+
-0.3646617969137848,
|
| 1323 |
+
0.030717807305490896
|
| 1324 |
+
],
|
| 1325 |
+
[
|
| 1326 |
+
-0.3587816764523895,
|
| 1327 |
+
0.09563446343910671,
|
| 1328 |
+
-0.9285094280860736,
|
| 1329 |
+
19.315790913108792
|
| 1330 |
+
],
|
| 1331 |
+
[
|
| 1332 |
+
0.0839484248725214,
|
| 1333 |
+
0.9940123973746703,
|
| 1334 |
+
0.06994294694165,
|
| 1335 |
+
0.3995446427544876
|
| 1336 |
+
],
|
| 1337 |
+
[
|
| 1338 |
+
0.0,
|
| 1339 |
+
0.0,
|
| 1340 |
+
0.0,
|
| 1341 |
+
1.0
|
| 1342 |
+
]
|
| 1343 |
+
],
|
| 1344 |
+
"colmap_img_id": 1149,
|
| 1345 |
+
"depth_file_path": "depths_euc_accum_0_sky/alphasense_driver_ros_cam0_debayered_image_compressed/1710488110.693039097.png",
|
| 1346 |
+
"normal_file_path": "normals_euc_accum_0/alphasense_driver_ros_cam0_debayered_image_compressed/1710488110.693039097.png"
|
| 1347 |
+
},
|
| 1348 |
+
{
|
| 1349 |
+
"fl_x": 698.3137471841843,
|
| 1350 |
+
"fl_y": 696.6121509638851,
|
| 1351 |
+
"cx": 715.130726637838,
|
| 1352 |
+
"cy": 554.9440824853361,
|
| 1353 |
+
"w": 1440,
|
| 1354 |
+
"h": 1080,
|
| 1355 |
+
"k1": -0.04543139410915913,
|
| 1356 |
+
"k2": 0.007729565151437663,
|
| 1357 |
+
"k3": -0.006584893481708932,
|
| 1358 |
+
"k4": 0.0013593371115840738,
|
| 1359 |
+
"file_path": "images/alphasense_driver_ros_cam0_debayered_image_compressed/1710488112.743015497.jpg",
|
| 1360 |
+
"transform_matrix": [
|
| 1361 |
+
[
|
| 1362 |
+
0.9511099601766689,
|
| 1363 |
+
0.026469656100090753,
|
| 1364 |
+
-0.30771610448379083,
|
| 1365 |
+
-0.005975420616528004
|
| 1366 |
+
],
|
| 1367 |
+
[
|
| 1368 |
+
-0.30883769066257094,
|
| 1369 |
+
0.07176497140998112,
|
| 1370 |
+
-0.9484034319342878,
|
| 1371 |
+
21.380028531296922
|
| 1372 |
+
],
|
| 1373 |
+
[
|
| 1374 |
+
-0.0030206752467764088,
|
| 1375 |
+
0.9970702814668919,
|
| 1376 |
+
0.07643120656241133,
|
| 1377 |
+
0.4622864808780029
|
| 1378 |
+
],
|
| 1379 |
+
[
|
| 1380 |
+
0.0,
|
| 1381 |
+
0.0,
|
| 1382 |
+
0.0,
|
| 1383 |
+
1.0
|
| 1384 |
+
]
|
| 1385 |
+
],
|
| 1386 |
+
"colmap_img_id": 1150,
|
| 1387 |
+
"depth_file_path": "depths_euc_accum_0_sky/alphasense_driver_ros_cam0_debayered_image_compressed/1710488112.743015497.png",
|
| 1388 |
+
"normal_file_path": "normals_euc_accum_0/alphasense_driver_ros_cam0_debayered_image_compressed/1710488112.743015497.png"
|
| 1389 |
+
},
|
| 1390 |
+
{
|
| 1391 |
+
"fl_x": 698.3137471841843,
|
| 1392 |
+
"fl_y": 696.6121509638851,
|
| 1393 |
+
"cx": 715.130726637838,
|
| 1394 |
+
"cy": 554.9440824853361,
|
| 1395 |
+
"w": 1440,
|
| 1396 |
+
"h": 1080,
|
| 1397 |
+
"k1": -0.04543139410915913,
|
| 1398 |
+
"k2": 0.007729565151437663,
|
| 1399 |
+
"k3": -0.006584893481708932,
|
| 1400 |
+
"k4": 0.0013593371115840738,
|
| 1401 |
+
"file_path": "images/alphasense_driver_ros_cam0_debayered_image_compressed/1710488113.743003997.jpg",
|
| 1402 |
+
"transform_matrix": [
|
| 1403 |
+
[
|
| 1404 |
+
0.9492504119025276,
|
| 1405 |
+
-0.015818958334518223,
|
| 1406 |
+
-0.31412324979232814,
|
| 1407 |
+
-0.07582133426053161
|
| 1408 |
+
],
|
| 1409 |
+
[
|
| 1410 |
+
-0.3127883163461139,
|
| 1411 |
+
0.05721847489097452,
|
| 1412 |
+
-0.9480978405673722,
|
| 1413 |
+
22.398416057172454
|
| 1414 |
+
],
|
| 1415 |
+
[
|
| 1416 |
+
0.032971573517895605,
|
| 1417 |
+
0.9982363481101865,
|
| 1418 |
+
0.04936667551488867,
|
| 1419 |
+
0.46445322748197343
|
| 1420 |
+
],
|
| 1421 |
+
[
|
| 1422 |
+
0.0,
|
| 1423 |
+
0.0,
|
| 1424 |
+
0.0,
|
| 1425 |
+
1.0
|
| 1426 |
+
]
|
| 1427 |
+
],
|
| 1428 |
+
"colmap_img_id": 1151,
|
| 1429 |
+
"depth_file_path": "depths_euc_accum_0_sky/alphasense_driver_ros_cam0_debayered_image_compressed/1710488113.743003997.png",
|
| 1430 |
+
"normal_file_path": "normals_euc_accum_0/alphasense_driver_ros_cam0_debayered_image_compressed/1710488113.743003997.png"
|
| 1431 |
+
},
|
| 1432 |
+
{
|
| 1433 |
+
"fl_x": 696.606841349597,
|
| 1434 |
+
"fl_y": 695.7715776898048,
|
| 1435 |
+
"cx": 719.9762618618234,
|
| 1436 |
+
"cy": 540.337171717488,
|
| 1437 |
+
"w": 1440,
|
| 1438 |
+
"h": 1080,
|
| 1439 |
+
"k1": -0.03876086692446946,
|
| 1440 |
+
"k2": 0.0004825051613441947,
|
| 1441 |
+
"k3": -0.001968125526280523,
|
| 1442 |
+
"k4": 0.0005141727820895353,
|
| 1443 |
+
"file_path": "images/alphasense_driver_ros_cam1_debayered_image_compressed/1710487291.452313798.jpg",
|
| 1444 |
+
"transform_matrix": [
|
| 1445 |
+
[
|
| 1446 |
+
0.16167708003896142,
|
| 1447 |
+
0.02139722555899063,
|
| 1448 |
+
0.9866117172061426,
|
| 1449 |
+
-0.2978537494939888
|
| 1450 |
+
],
|
| 1451 |
+
[
|
| 1452 |
+
0.9866955039619939,
|
| 1453 |
+
-0.020831724369605786,
|
| 1454 |
+
-0.1612390204664369,
|
| 1455 |
+
20.63377833564573
|
| 1456 |
+
],
|
| 1457 |
+
[
|
| 1458 |
+
0.017102755662830732,
|
| 1459 |
+
0.9995539995408784,
|
| 1460 |
+
-0.02448055862457102,
|
| 1461 |
+
0.49135161275350436
|
| 1462 |
+
],
|
| 1463 |
+
[
|
| 1464 |
+
0.0,
|
| 1465 |
+
0.0,
|
| 1466 |
+
0.0,
|
| 1467 |
+
1.0
|
| 1468 |
+
]
|
| 1469 |
+
],
|
| 1470 |
+
"colmap_img_id": 2094,
|
| 1471 |
+
"depth_file_path": "depths_euc_accum_0_sky/alphasense_driver_ros_cam1_debayered_image_compressed/1710487291.452313798.png",
|
| 1472 |
+
"normal_file_path": "normals_euc_accum_0/alphasense_driver_ros_cam1_debayered_image_compressed/1710487291.452313798.png"
|
| 1473 |
+
},
|
| 1474 |
+
{
|
| 1475 |
+
"fl_x": 696.606841349597,
|
| 1476 |
+
"fl_y": 695.7715776898048,
|
| 1477 |
+
"cx": 719.9762618618234,
|
| 1478 |
+
"cy": 540.337171717488,
|
| 1479 |
+
"w": 1440,
|
| 1480 |
+
"h": 1080,
|
| 1481 |
+
"k1": -0.03876086692446946,
|
| 1482 |
+
"k2": 0.0004825051613441947,
|
| 1483 |
+
"k3": -0.001968125526280523,
|
| 1484 |
+
"k4": 0.0005141727820895353,
|
| 1485 |
+
"file_path": "images/alphasense_driver_ros_cam1_debayered_image_compressed/1710487292.752301298.jpg",
|
| 1486 |
+
"transform_matrix": [
|
| 1487 |
+
[
|
| 1488 |
+
0.10801317608113441,
|
| 1489 |
+
-0.009441117127908107,
|
| 1490 |
+
0.9941046318674126,
|
| 1491 |
+
-0.288561260714538
|
| 1492 |
+
],
|
| 1493 |
+
[
|
| 1494 |
+
0.9888114623285146,
|
| 1495 |
+
0.10450471032062682,
|
| 1496 |
+
-0.10644556115003825,
|
| 1497 |
+
21.692183605200842
|
| 1498 |
+
],
|
| 1499 |
+
[
|
| 1500 |
+
-0.10288365157113384,
|
| 1501 |
+
0.9944795778839193,
|
| 1502 |
+
0.020623370510431373,
|
| 1503 |
+
0.4933732521175678
|
| 1504 |
+
],
|
| 1505 |
+
[
|
| 1506 |
+
0.0,
|
| 1507 |
+
0.0,
|
| 1508 |
+
0.0,
|
| 1509 |
+
1.0
|
| 1510 |
+
]
|
| 1511 |
+
],
|
| 1512 |
+
"colmap_img_id": 2095,
|
| 1513 |
+
"depth_file_path": "depths_euc_accum_0_sky/alphasense_driver_ros_cam1_debayered_image_compressed/1710487292.752301298.png",
|
| 1514 |
+
"normal_file_path": "normals_euc_accum_0/alphasense_driver_ros_cam1_debayered_image_compressed/1710487292.752301298.png"
|
| 1515 |
+
},
|
| 1516 |
+
{
|
| 1517 |
+
"fl_x": 696.606841349597,
|
| 1518 |
+
"fl_y": 695.7715776898048,
|
| 1519 |
+
"cx": 719.9762618618234,
|
| 1520 |
+
"cy": 540.337171717488,
|
| 1521 |
+
"w": 1440,
|
| 1522 |
+
"h": 1080,
|
| 1523 |
+
"k1": -0.03876086692446946,
|
| 1524 |
+
"k2": 0.0004825051613441947,
|
| 1525 |
+
"k3": -0.001968125526280523,
|
| 1526 |
+
"k4": 0.0005141727820895353,
|
| 1527 |
+
"file_path": "images/alphasense_driver_ros_cam1_debayered_image_compressed/1710487294.152287898.jpg",
|
| 1528 |
+
"transform_matrix": [
|
| 1529 |
+
[
|
| 1530 |
+
0.19755741276843455,
|
| 1531 |
+
0.051011226740317425,
|
| 1532 |
+
0.9789631879732204,
|
| 1533 |
+
-0.2362038727715312
|
| 1534 |
+
],
|
| 1535 |
+
[
|
| 1536 |
+
0.980198083100918,
|
| 1537 |
+
0.0034937092208931746,
|
| 1538 |
+
-0.1979886660421906,
|
| 1539 |
+
22.690669960296233
|
| 1540 |
+
],
|
| 1541 |
+
[
|
| 1542 |
+
-0.013519857452228187,
|
| 1543 |
+
0.9986919688984826,
|
| 1544 |
+
-0.0493108985128405,
|
| 1545 |
+
0.5278239622747174
|
| 1546 |
+
],
|
| 1547 |
+
[
|
| 1548 |
+
0.0,
|
| 1549 |
+
0.0,
|
| 1550 |
+
0.0,
|
| 1551 |
+
1.0
|
| 1552 |
+
]
|
| 1553 |
+
],
|
| 1554 |
+
"colmap_img_id": 2096,
|
| 1555 |
+
"depth_file_path": "depths_euc_accum_0_sky/alphasense_driver_ros_cam1_debayered_image_compressed/1710487294.152287898.png",
|
| 1556 |
+
"normal_file_path": "normals_euc_accum_0/alphasense_driver_ros_cam1_debayered_image_compressed/1710487294.152287898.png"
|
| 1557 |
+
}
|
| 1558 |
+
]
|
| 1559 |
+
}
|
bod_1_2_merged/submaps_visibility/not_used/submap_2_no_cam2_bod_1.json
ADDED
|
@@ -0,0 +1,761 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"camera_model": "OPENCV_FISHEYE",
|
| 3 |
+
"frames": [
|
| 4 |
+
{
|
| 5 |
+
"fl_x": 698.3137471841843,
|
| 6 |
+
"fl_y": 696.6121509638851,
|
| 7 |
+
"cx": 715.130726637838,
|
| 8 |
+
"cy": 554.9440824853361,
|
| 9 |
+
"w": 1440,
|
| 10 |
+
"h": 1080,
|
| 11 |
+
"k1": -0.04543139410915913,
|
| 12 |
+
"k2": 0.007729565151437663,
|
| 13 |
+
"k3": -0.006584893481708932,
|
| 14 |
+
"k4": 0.0013593371115840738,
|
| 15 |
+
"file_path": "images/alphasense_driver_ros_cam0_debayered_image_compressed/1710487118.454028531.jpg",
|
| 16 |
+
"transform_matrix": [
|
| 17 |
+
[
|
| 18 |
+
-0.9944223323307234,
|
| 19 |
+
0.01705622110031463,
|
| 20 |
+
0.10408318924640303,
|
| 21 |
+
-0.204029196615795
|
| 22 |
+
],
|
| 23 |
+
[
|
| 24 |
+
0.10397647836160032,
|
| 25 |
+
-0.0070305432863382485,
|
| 26 |
+
0.9945549071864354,
|
| 27 |
+
-63.647644250000184
|
| 28 |
+
],
|
| 29 |
+
[
|
| 30 |
+
0.0176951097607517,
|
| 31 |
+
0.999829813909785,
|
| 32 |
+
0.005217883448185037,
|
| 33 |
+
0.19765522999018442
|
| 34 |
+
],
|
| 35 |
+
[
|
| 36 |
+
0.0,
|
| 37 |
+
0.0,
|
| 38 |
+
0.0,
|
| 39 |
+
1.0
|
| 40 |
+
]
|
| 41 |
+
],
|
| 42 |
+
"colmap_img_id": 223,
|
| 43 |
+
"depth_file_path": "depths_euc_accum_0_sky/alphasense_driver_ros_cam0_debayered_image_compressed/1710487118.454028531.png",
|
| 44 |
+
"normal_file_path": "normals_euc_accum_0/alphasense_driver_ros_cam0_debayered_image_compressed/1710487118.454028531.png"
|
| 45 |
+
},
|
| 46 |
+
{
|
| 47 |
+
"fl_x": 698.3137471841843,
|
| 48 |
+
"fl_y": 696.6121509638851,
|
| 49 |
+
"cx": 715.130726637838,
|
| 50 |
+
"cy": 554.9440824853361,
|
| 51 |
+
"w": 1440,
|
| 52 |
+
"h": 1080,
|
| 53 |
+
"k1": -0.04543139410915913,
|
| 54 |
+
"k2": 0.007729565151437663,
|
| 55 |
+
"k3": -0.006584893481708932,
|
| 56 |
+
"k4": 0.0013593371115840738,
|
| 57 |
+
"file_path": "images/alphasense_driver_ros_cam0_debayered_image_compressed/1710487117.204040231.jpg",
|
| 58 |
+
"transform_matrix": [
|
| 59 |
+
[
|
| 60 |
+
-0.9967415908972665,
|
| 61 |
+
0.035914694892837815,
|
| 62 |
+
0.07222420415858687,
|
| 63 |
+
-0.2759933574284661
|
| 64 |
+
],
|
| 65 |
+
[
|
| 66 |
+
0.07004717946141013,
|
| 67 |
+
-0.05857111464676758,
|
| 68 |
+
0.9958226836031284,
|
| 69 |
+
-62.60823630607162
|
| 70 |
+
],
|
| 71 |
+
[
|
| 72 |
+
0.039994919991017425,
|
| 73 |
+
0.9976369876963208,
|
| 74 |
+
0.055864542915184855,
|
| 75 |
+
0.1955688141271642
|
| 76 |
+
],
|
| 77 |
+
[
|
| 78 |
+
0.0,
|
| 79 |
+
0.0,
|
| 80 |
+
0.0,
|
| 81 |
+
1.0
|
| 82 |
+
]
|
| 83 |
+
],
|
| 84 |
+
"colmap_img_id": 222,
|
| 85 |
+
"depth_file_path": "depths_euc_accum_0_sky/alphasense_driver_ros_cam0_debayered_image_compressed/1710487117.204040231.png",
|
| 86 |
+
"normal_file_path": "normals_euc_accum_0/alphasense_driver_ros_cam0_debayered_image_compressed/1710487117.204040231.png"
|
| 87 |
+
},
|
| 88 |
+
{
|
| 89 |
+
"fl_x": 698.3137471841843,
|
| 90 |
+
"fl_y": 696.6121509638851,
|
| 91 |
+
"cx": 715.130726637838,
|
| 92 |
+
"cy": 554.9440824853361,
|
| 93 |
+
"w": 1440,
|
| 94 |
+
"h": 1080,
|
| 95 |
+
"k1": -0.04543139410915913,
|
| 96 |
+
"k2": 0.007729565151437663,
|
| 97 |
+
"k3": -0.006584893481708932,
|
| 98 |
+
"k4": 0.0013593371115840738,
|
| 99 |
+
"file_path": "images/alphasense_driver_ros_cam0_debayered_image_compressed/1710487114.654063931.jpg",
|
| 100 |
+
"transform_matrix": [
|
| 101 |
+
[
|
| 102 |
+
-0.990221536808582,
|
| 103 |
+
0.041629277633993725,
|
| 104 |
+
0.133147704764758,
|
| 105 |
+
-0.24198693630060397
|
| 106 |
+
],
|
| 107 |
+
[
|
| 108 |
+
0.12888169982807784,
|
| 109 |
+
-0.092304743549049,
|
| 110 |
+
0.9873547193221746,
|
| 111 |
+
-60.54776712972546
|
| 112 |
+
],
|
| 113 |
+
[
|
| 114 |
+
0.053393028476352175,
|
| 115 |
+
0.9948602100606978,
|
| 116 |
+
0.08603689294777714,
|
| 117 |
+
0.1731655839488337
|
| 118 |
+
],
|
| 119 |
+
[
|
| 120 |
+
0.0,
|
| 121 |
+
0.0,
|
| 122 |
+
0.0,
|
| 123 |
+
1.0
|
| 124 |
+
]
|
| 125 |
+
],
|
| 126 |
+
"colmap_img_id": 221,
|
| 127 |
+
"depth_file_path": "depths_euc_accum_0_sky/alphasense_driver_ros_cam0_debayered_image_compressed/1710487114.654063931.png",
|
| 128 |
+
"normal_file_path": "normals_euc_accum_0/alphasense_driver_ros_cam0_debayered_image_compressed/1710487114.654063931.png"
|
| 129 |
+
},
|
| 130 |
+
{
|
| 131 |
+
"fl_x": 698.3137471841843,
|
| 132 |
+
"fl_y": 696.6121509638851,
|
| 133 |
+
"cx": 715.130726637838,
|
| 134 |
+
"cy": 554.9440824853361,
|
| 135 |
+
"w": 1440,
|
| 136 |
+
"h": 1080,
|
| 137 |
+
"k1": -0.04543139410915913,
|
| 138 |
+
"k2": 0.007729565151437663,
|
| 139 |
+
"k3": -0.006584893481708932,
|
| 140 |
+
"k4": 0.0013593371115840738,
|
| 141 |
+
"file_path": "images/alphasense_driver_ros_cam0_debayered_image_compressed/1710487115.954051731.jpg",
|
| 142 |
+
"transform_matrix": [
|
| 143 |
+
[
|
| 144 |
+
-0.9931336063747033,
|
| 145 |
+
-0.00847322621575785,
|
| 146 |
+
0.11667837985964816,
|
| 147 |
+
-0.3036105800411417
|
| 148 |
+
],
|
| 149 |
+
[
|
| 150 |
+
0.1169557703028884,
|
| 151 |
+
-0.049377151126154005,
|
| 152 |
+
0.9919088893338551,
|
| 153 |
+
-61.576056012306005
|
| 154 |
+
],
|
| 155 |
+
[
|
| 156 |
+
-0.0026434224092622416,
|
| 157 |
+
0.9987442622534367,
|
| 158 |
+
0.050029100869440644,
|
| 159 |
+
0.18852573588978772
|
| 160 |
+
],
|
| 161 |
+
[
|
| 162 |
+
0.0,
|
| 163 |
+
0.0,
|
| 164 |
+
0.0,
|
| 165 |
+
1.0
|
| 166 |
+
]
|
| 167 |
+
],
|
| 168 |
+
"colmap_img_id": 220,
|
| 169 |
+
"depth_file_path": "depths_euc_accum_0_sky/alphasense_driver_ros_cam0_debayered_image_compressed/1710487115.954051731.png",
|
| 170 |
+
"normal_file_path": "normals_euc_accum_0/alphasense_driver_ros_cam0_debayered_image_compressed/1710487115.954051731.png"
|
| 171 |
+
},
|
| 172 |
+
{
|
| 173 |
+
"fl_x": 698.3137471841843,
|
| 174 |
+
"fl_y": 696.6121509638851,
|
| 175 |
+
"cx": 715.130726637838,
|
| 176 |
+
"cy": 554.9440824853361,
|
| 177 |
+
"w": 1440,
|
| 178 |
+
"h": 1080,
|
| 179 |
+
"k1": -0.04543139410915913,
|
| 180 |
+
"k2": 0.007729565151437663,
|
| 181 |
+
"k3": -0.006584893481708932,
|
| 182 |
+
"k4": 0.0013593371115840738,
|
| 183 |
+
"file_path": "images/alphasense_driver_ros_cam0_debayered_image_compressed/1710487113.454075031.jpg",
|
| 184 |
+
"transform_matrix": [
|
| 185 |
+
[
|
| 186 |
+
-0.9943410607424168,
|
| 187 |
+
0.07076034917953844,
|
| 188 |
+
0.07923905543124433,
|
| 189 |
+
-0.1903100124541246
|
| 190 |
+
],
|
| 191 |
+
[
|
| 192 |
+
0.07461077210516195,
|
| 193 |
+
-0.06581847726047901,
|
| 194 |
+
0.995038270991113,
|
| 195 |
+
-59.501045767034135
|
| 196 |
+
],
|
| 197 |
+
[
|
| 198 |
+
0.07562464947037847,
|
| 199 |
+
0.9953194969632118,
|
| 200 |
+
0.060166530208919086,
|
| 201 |
+
0.17839813267531623
|
| 202 |
+
],
|
| 203 |
+
[
|
| 204 |
+
0.0,
|
| 205 |
+
0.0,
|
| 206 |
+
0.0,
|
| 207 |
+
1.0
|
| 208 |
+
]
|
| 209 |
+
],
|
| 210 |
+
"colmap_img_id": 219,
|
| 211 |
+
"depth_file_path": "depths_euc_accum_0_sky/alphasense_driver_ros_cam0_debayered_image_compressed/1710487113.454075031.png",
|
| 212 |
+
"normal_file_path": "normals_euc_accum_0/alphasense_driver_ros_cam0_debayered_image_compressed/1710487113.454075031.png"
|
| 213 |
+
},
|
| 214 |
+
{
|
| 215 |
+
"fl_x": 698.3137471841843,
|
| 216 |
+
"fl_y": 696.6121509638851,
|
| 217 |
+
"cx": 715.130726637838,
|
| 218 |
+
"cy": 554.9440824853361,
|
| 219 |
+
"w": 1440,
|
| 220 |
+
"h": 1080,
|
| 221 |
+
"k1": -0.04543139410915913,
|
| 222 |
+
"k2": 0.007729565151437663,
|
| 223 |
+
"k3": -0.006584893481708932,
|
| 224 |
+
"k4": 0.0013593371115840738,
|
| 225 |
+
"file_path": "images/alphasense_driver_ros_cam0_debayered_image_compressed/1710487112.254086231.jpg",
|
| 226 |
+
"transform_matrix": [
|
| 227 |
+
[
|
| 228 |
+
-0.9942220758540654,
|
| 229 |
+
0.007592615785777267,
|
| 230 |
+
0.10707388136218379,
|
| 231 |
+
-0.27394499747524037
|
| 232 |
+
],
|
| 233 |
+
[
|
| 234 |
+
0.10707412947947159,
|
| 235 |
+
-0.0003749777930621681,
|
| 236 |
+
0.9942509694176154,
|
| 237 |
+
-58.453027100189246
|
| 238 |
+
],
|
| 239 |
+
[
|
| 240 |
+
0.007589115933152318,
|
| 241 |
+
0.999971105371142,
|
| 242 |
+
-0.00044016152591676197,
|
| 243 |
+
0.19566520576608776
|
| 244 |
+
],
|
| 245 |
+
[
|
| 246 |
+
0.0,
|
| 247 |
+
0.0,
|
| 248 |
+
0.0,
|
| 249 |
+
1.0
|
| 250 |
+
]
|
| 251 |
+
],
|
| 252 |
+
"colmap_img_id": 218,
|
| 253 |
+
"depth_file_path": "depths_euc_accum_0_sky/alphasense_driver_ros_cam0_debayered_image_compressed/1710487112.254086231.png",
|
| 254 |
+
"normal_file_path": "normals_euc_accum_0/alphasense_driver_ros_cam0_debayered_image_compressed/1710487112.254086231.png"
|
| 255 |
+
},
|
| 256 |
+
{
|
| 257 |
+
"fl_x": 698.3137471841843,
|
| 258 |
+
"fl_y": 696.6121509638851,
|
| 259 |
+
"cx": 715.130726637838,
|
| 260 |
+
"cy": 554.9440824853361,
|
| 261 |
+
"w": 1440,
|
| 262 |
+
"h": 1080,
|
| 263 |
+
"k1": -0.04543139410915913,
|
| 264 |
+
"k2": 0.007729565151437663,
|
| 265 |
+
"k3": -0.006584893481708932,
|
| 266 |
+
"k4": 0.0013593371115840738,
|
| 267 |
+
"file_path": "images/alphasense_driver_ros_cam0_debayered_image_compressed/1710487111.054097331.jpg",
|
| 268 |
+
"transform_matrix": [
|
| 269 |
+
[
|
| 270 |
+
-0.9950047742406475,
|
| 271 |
+
0.01671252700285856,
|
| 272 |
+
0.09841844684558743,
|
| 273 |
+
-0.2767034439203515
|
| 274 |
+
],
|
| 275 |
+
[
|
| 276 |
+
0.09714509192081733,
|
| 277 |
+
-0.06490001718946779,
|
| 278 |
+
0.9931519616274759,
|
| 279 |
+
-57.4258555471643
|
| 280 |
+
],
|
| 281 |
+
[
|
| 282 |
+
0.022985437868680462,
|
| 283 |
+
0.9977518124313205,
|
| 284 |
+
0.06295228697989863,
|
| 285 |
+
0.20805887177149934
|
| 286 |
+
],
|
| 287 |
+
[
|
| 288 |
+
0.0,
|
| 289 |
+
0.0,
|
| 290 |
+
0.0,
|
| 291 |
+
1.0
|
| 292 |
+
]
|
| 293 |
+
],
|
| 294 |
+
"colmap_img_id": 217,
|
| 295 |
+
"depth_file_path": "depths_euc_accum_0_sky/alphasense_driver_ros_cam0_debayered_image_compressed/1710487111.054097331.png",
|
| 296 |
+
"normal_file_path": "normals_euc_accum_0/alphasense_driver_ros_cam0_debayered_image_compressed/1710487111.054097331.png"
|
| 297 |
+
},
|
| 298 |
+
{
|
| 299 |
+
"fl_x": 698.3137471841843,
|
| 300 |
+
"fl_y": 696.6121509638851,
|
| 301 |
+
"cx": 715.130726637838,
|
| 302 |
+
"cy": 554.9440824853361,
|
| 303 |
+
"w": 1440,
|
| 304 |
+
"h": 1080,
|
| 305 |
+
"k1": -0.04543139410915913,
|
| 306 |
+
"k2": 0.007729565151437663,
|
| 307 |
+
"k3": -0.006584893481708932,
|
| 308 |
+
"k4": 0.0013593371115840738,
|
| 309 |
+
"file_path": "images/alphasense_driver_ros_cam0_debayered_image_compressed/1710487109.954107531.jpg",
|
| 310 |
+
"transform_matrix": [
|
| 311 |
+
[
|
| 312 |
+
-0.9914172412749537,
|
| 313 |
+
-0.017041766945189038,
|
| 314 |
+
0.129620337455766,
|
| 315 |
+
-0.3096755362918393
|
| 316 |
+
],
|
| 317 |
+
[
|
| 318 |
+
0.12998594034789104,
|
| 319 |
+
-0.022453227388272448,
|
| 320 |
+
0.9912615739005142,
|
| 321 |
+
-56.409590699177585
|
| 322 |
+
],
|
| 323 |
+
[
|
| 324 |
+
-0.013982453813094927,
|
| 325 |
+
0.9996026364307151,
|
| 326 |
+
0.024475706856560288,
|
| 327 |
+
0.2037914990193418
|
| 328 |
+
],
|
| 329 |
+
[
|
| 330 |
+
0.0,
|
| 331 |
+
0.0,
|
| 332 |
+
0.0,
|
| 333 |
+
1.0
|
| 334 |
+
]
|
| 335 |
+
],
|
| 336 |
+
"colmap_img_id": 216,
|
| 337 |
+
"depth_file_path": "depths_euc_accum_0_sky/alphasense_driver_ros_cam0_debayered_image_compressed/1710487109.954107531.png",
|
| 338 |
+
"normal_file_path": "normals_euc_accum_0/alphasense_driver_ros_cam0_debayered_image_compressed/1710487109.954107531.png"
|
| 339 |
+
},
|
| 340 |
+
{
|
| 341 |
+
"fl_x": 698.3137471841843,
|
| 342 |
+
"fl_y": 696.6121509638851,
|
| 343 |
+
"cx": 715.130726637838,
|
| 344 |
+
"cy": 554.9440824853361,
|
| 345 |
+
"w": 1440,
|
| 346 |
+
"h": 1080,
|
| 347 |
+
"k1": -0.04543139410915913,
|
| 348 |
+
"k2": 0.007729565151437663,
|
| 349 |
+
"k3": -0.006584893481708932,
|
| 350 |
+
"k4": 0.0013593371115840738,
|
| 351 |
+
"file_path": "images/alphasense_driver_ros_cam0_debayered_image_compressed/1710487108.654119731.jpg",
|
| 352 |
+
"transform_matrix": [
|
| 353 |
+
[
|
| 354 |
+
-0.9993354727929861,
|
| 355 |
+
0.011903776709219747,
|
| 356 |
+
0.03445160254148517,
|
| 357 |
+
-0.44074043527814943
|
| 358 |
+
],
|
| 359 |
+
[
|
| 360 |
+
0.03396204968022688,
|
| 361 |
+
-0.039133901102873285,
|
| 362 |
+
0.9986566561967073,
|
| 363 |
+
-55.3501512923644
|
| 364 |
+
],
|
| 365 |
+
[
|
| 366 |
+
0.0132360114512356,
|
| 367 |
+
0.9991630687152757,
|
| 368 |
+
0.03870361890489296,
|
| 369 |
+
0.23390781960063156
|
| 370 |
+
],
|
| 371 |
+
[
|
| 372 |
+
0.0,
|
| 373 |
+
0.0,
|
| 374 |
+
0.0,
|
| 375 |
+
1.0
|
| 376 |
+
]
|
| 377 |
+
],
|
| 378 |
+
"colmap_img_id": 215,
|
| 379 |
+
"depth_file_path": "depths_euc_accum_0_sky/alphasense_driver_ros_cam0_debayered_image_compressed/1710487108.654119731.png",
|
| 380 |
+
"normal_file_path": "normals_euc_accum_0/alphasense_driver_ros_cam0_debayered_image_compressed/1710487108.654119731.png"
|
| 381 |
+
},
|
| 382 |
+
{
|
| 383 |
+
"fl_x": 698.3137471841843,
|
| 384 |
+
"fl_y": 696.6121509638851,
|
| 385 |
+
"cx": 715.130726637838,
|
| 386 |
+
"cy": 554.9440824853361,
|
| 387 |
+
"w": 1440,
|
| 388 |
+
"h": 1080,
|
| 389 |
+
"k1": -0.04543139410915913,
|
| 390 |
+
"k2": 0.007729565151437663,
|
| 391 |
+
"k3": -0.006584893481708932,
|
| 392 |
+
"k4": 0.0013593371115840738,
|
| 393 |
+
"file_path": "images/alphasense_driver_ros_cam0_debayered_image_compressed/1710487107.254132731.jpg",
|
| 394 |
+
"transform_matrix": [
|
| 395 |
+
[
|
| 396 |
+
-0.9960020005437514,
|
| 397 |
+
0.005632901092505541,
|
| 398 |
+
0.08915315663580348,
|
| 399 |
+
-0.4097169861458707
|
| 400 |
+
],
|
| 401 |
+
[
|
| 402 |
+
0.08930916170688191,
|
| 403 |
+
0.04075853421019973,
|
| 404 |
+
0.9951696415808967,
|
| 405 |
+
-54.246353294516624
|
| 406 |
+
],
|
| 407 |
+
[
|
| 408 |
+
0.0019719401766016866,
|
| 409 |
+
0.9991531475776463,
|
| 410 |
+
-0.04109865128713929,
|
| 411 |
+
0.22651185213437242
|
| 412 |
+
],
|
| 413 |
+
[
|
| 414 |
+
0.0,
|
| 415 |
+
0.0,
|
| 416 |
+
0.0,
|
| 417 |
+
1.0
|
| 418 |
+
]
|
| 419 |
+
],
|
| 420 |
+
"colmap_img_id": 214,
|
| 421 |
+
"depth_file_path": "depths_euc_accum_0_sky/alphasense_driver_ros_cam0_debayered_image_compressed/1710487107.254132731.png",
|
| 422 |
+
"normal_file_path": "normals_euc_accum_0/alphasense_driver_ros_cam0_debayered_image_compressed/1710487107.254132731.png"
|
| 423 |
+
},
|
| 424 |
+
{
|
| 425 |
+
"fl_x": 698.3137471841843,
|
| 426 |
+
"fl_y": 696.6121509638851,
|
| 427 |
+
"cx": 715.130726637838,
|
| 428 |
+
"cy": 554.9440824853361,
|
| 429 |
+
"w": 1440,
|
| 430 |
+
"h": 1080,
|
| 431 |
+
"k1": -0.04543139410915913,
|
| 432 |
+
"k2": 0.007729565151437663,
|
| 433 |
+
"k3": -0.006584893481708932,
|
| 434 |
+
"k4": 0.0013593371115840738,
|
| 435 |
+
"file_path": "images/alphasense_driver_ros_cam0_debayered_image_compressed/1710487103.654166231.jpg",
|
| 436 |
+
"transform_matrix": [
|
| 437 |
+
[
|
| 438 |
+
-0.9942861657113419,
|
| 439 |
+
-0.002410182113827892,
|
| 440 |
+
0.10672024970556242,
|
| 441 |
+
-0.28449711904750474
|
| 442 |
+
],
|
| 443 |
+
[
|
| 444 |
+
0.10599068853639657,
|
| 445 |
+
-0.14112328551959225,
|
| 446 |
+
0.9843018806381185,
|
| 447 |
+
-52.274610906207
|
| 448 |
+
],
|
| 449 |
+
[
|
| 450 |
+
0.012688365482599107,
|
| 451 |
+
0.9899890955492053,
|
| 452 |
+
0.1405723873136049,
|
| 453 |
+
-0.12299465746563171
|
| 454 |
+
],
|
| 455 |
+
[
|
| 456 |
+
0.0,
|
| 457 |
+
0.0,
|
| 458 |
+
0.0,
|
| 459 |
+
1.0
|
| 460 |
+
]
|
| 461 |
+
],
|
| 462 |
+
"colmap_img_id": 213,
|
| 463 |
+
"depth_file_path": "depths_euc_accum_0_sky/alphasense_driver_ros_cam0_debayered_image_compressed/1710487103.654166231.png",
|
| 464 |
+
"normal_file_path": "normals_euc_accum_0/alphasense_driver_ros_cam0_debayered_image_compressed/1710487103.654166231.png"
|
| 465 |
+
},
|
| 466 |
+
{
|
| 467 |
+
"fl_x": 698.3137471841843,
|
| 468 |
+
"fl_y": 696.6121509638851,
|
| 469 |
+
"cx": 715.130726637838,
|
| 470 |
+
"cy": 554.9440824853361,
|
| 471 |
+
"w": 1440,
|
| 472 |
+
"h": 1080,
|
| 473 |
+
"k1": -0.04543139410915913,
|
| 474 |
+
"k2": 0.007729565151437663,
|
| 475 |
+
"k3": -0.006584893481708932,
|
| 476 |
+
"k4": 0.0013593371115840738,
|
| 477 |
+
"file_path": "images/alphasense_driver_ros_cam0_debayered_image_compressed/1710487105.654147631.jpg",
|
| 478 |
+
"transform_matrix": [
|
| 479 |
+
[
|
| 480 |
+
-0.9899401015840054,
|
| 481 |
+
-0.010273507696809597,
|
| 482 |
+
0.1411136078323177,
|
| 483 |
+
-0.27498736124719514
|
| 484 |
+
],
|
| 485 |
+
[
|
| 486 |
+
0.14134283044166907,
|
| 487 |
+
-0.02678121199875813,
|
| 488 |
+
0.9895983887247467,
|
| 489 |
+
-53.232977745474926
|
| 490 |
+
],
|
| 491 |
+
[
|
| 492 |
+
-0.006387453216047147,
|
| 493 |
+
0.9995885262063989,
|
| 494 |
+
0.02796388238302473,
|
| 495 |
+
0.2759095869201616
|
| 496 |
+
],
|
| 497 |
+
[
|
| 498 |
+
0.0,
|
| 499 |
+
0.0,
|
| 500 |
+
0.0,
|
| 501 |
+
1.0
|
| 502 |
+
]
|
| 503 |
+
],
|
| 504 |
+
"colmap_img_id": 212,
|
| 505 |
+
"depth_file_path": "depths_euc_accum_0_sky/alphasense_driver_ros_cam0_debayered_image_compressed/1710487105.654147631.png",
|
| 506 |
+
"normal_file_path": "normals_euc_accum_0/alphasense_driver_ros_cam0_debayered_image_compressed/1710487105.654147631.png"
|
| 507 |
+
},
|
| 508 |
+
{
|
| 509 |
+
"fl_x": 698.3137471841843,
|
| 510 |
+
"fl_y": 696.6121509638851,
|
| 511 |
+
"cx": 715.130726637838,
|
| 512 |
+
"cy": 554.9440824853361,
|
| 513 |
+
"w": 1440,
|
| 514 |
+
"h": 1080,
|
| 515 |
+
"k1": -0.04543139410915913,
|
| 516 |
+
"k2": 0.007729565151437663,
|
| 517 |
+
"k3": -0.006584893481708932,
|
| 518 |
+
"k4": 0.0013593371115840738,
|
| 519 |
+
"file_path": "images/alphasense_driver_ros_cam0_debayered_image_compressed/1710487102.254179231.jpg",
|
| 520 |
+
"transform_matrix": [
|
| 521 |
+
[
|
| 522 |
+
-0.9937549787957892,
|
| 523 |
+
0.030963566317004268,
|
| 524 |
+
0.10720214400614117,
|
| 525 |
+
-0.23839656799145814
|
| 526 |
+
],
|
| 527 |
+
[
|
| 528 |
+
0.10567731912382287,
|
| 529 |
+
-0.04727946812672463,
|
| 530 |
+
0.9932758711035194,
|
| 531 |
+
-51.237766595716465
|
| 532 |
+
],
|
| 533 |
+
[
|
| 534 |
+
0.03582382365664887,
|
| 535 |
+
0.998401677409742,
|
| 536 |
+
0.04371206016685567,
|
| 537 |
+
-0.26225064354577804
|
| 538 |
+
],
|
| 539 |
+
[
|
| 540 |
+
0.0,
|
| 541 |
+
0.0,
|
| 542 |
+
0.0,
|
| 543 |
+
1.0
|
| 544 |
+
]
|
| 545 |
+
],
|
| 546 |
+
"colmap_img_id": 211,
|
| 547 |
+
"depth_file_path": "depths_euc_accum_0_sky/alphasense_driver_ros_cam0_debayered_image_compressed/1710487102.254179231.png",
|
| 548 |
+
"normal_file_path": "normals_euc_accum_0/alphasense_driver_ros_cam0_debayered_image_compressed/1710487102.254179231.png"
|
| 549 |
+
},
|
| 550 |
+
{
|
| 551 |
+
"fl_x": 698.3137471841843,
|
| 552 |
+
"fl_y": 696.6121509638851,
|
| 553 |
+
"cx": 715.130726637838,
|
| 554 |
+
"cy": 554.9440824853361,
|
| 555 |
+
"w": 1440,
|
| 556 |
+
"h": 1080,
|
| 557 |
+
"k1": -0.04543139410915913,
|
| 558 |
+
"k2": 0.007729565151437663,
|
| 559 |
+
"k3": -0.006584893481708932,
|
| 560 |
+
"k4": 0.0013593371115840738,
|
| 561 |
+
"file_path": "images/alphasense_driver_ros_cam0_debayered_image_compressed/1710487100.904191234.jpg",
|
| 562 |
+
"transform_matrix": [
|
| 563 |
+
[
|
| 564 |
+
-0.996236313096414,
|
| 565 |
+
0.06293536687824243,
|
| 566 |
+
0.05960157769695054,
|
| 567 |
+
-0.20579147849689772
|
| 568 |
+
],
|
| 569 |
+
[
|
| 570 |
+
0.05477847015051581,
|
| 571 |
+
-0.07576377838367913,
|
| 572 |
+
0.9956199923128293,
|
| 573 |
+
-50.15918597738615
|
| 574 |
+
],
|
| 575 |
+
[
|
| 576 |
+
0.06717535021147016,
|
| 577 |
+
0.9951376736316083,
|
| 578 |
+
0.07203112412725864,
|
| 579 |
+
-0.27201858589047195
|
| 580 |
+
],
|
| 581 |
+
[
|
| 582 |
+
0.0,
|
| 583 |
+
0.0,
|
| 584 |
+
0.0,
|
| 585 |
+
1.0
|
| 586 |
+
]
|
| 587 |
+
],
|
| 588 |
+
"colmap_img_id": 210,
|
| 589 |
+
"depth_file_path": "depths_euc_accum_0_sky/alphasense_driver_ros_cam0_debayered_image_compressed/1710487100.904191234.png",
|
| 590 |
+
"normal_file_path": "normals_euc_accum_0/alphasense_driver_ros_cam0_debayered_image_compressed/1710487100.904191234.png"
|
| 591 |
+
},
|
| 592 |
+
{
|
| 593 |
+
"fl_x": 698.3137471841843,
|
| 594 |
+
"fl_y": 696.6121509638851,
|
| 595 |
+
"cx": 715.130726637838,
|
| 596 |
+
"cy": 554.9440824853361,
|
| 597 |
+
"w": 1440,
|
| 598 |
+
"h": 1080,
|
| 599 |
+
"k1": -0.04543139410915913,
|
| 600 |
+
"k2": 0.007729565151437663,
|
| 601 |
+
"k3": -0.006584893481708932,
|
| 602 |
+
"k4": 0.0013593371115840738,
|
| 603 |
+
"file_path": "images/alphasense_driver_ros_cam0_debayered_image_compressed/1710487099.704202434.jpg",
|
| 604 |
+
"transform_matrix": [
|
| 605 |
+
[
|
| 606 |
+
-0.9944822070927597,
|
| 607 |
+
0.03163293216387138,
|
| 608 |
+
0.10002248436541472,
|
| 609 |
+
-0.2132326725907152
|
| 610 |
+
],
|
| 611 |
+
[
|
| 612 |
+
0.09864956151961791,
|
| 613 |
+
-0.04233699234160277,
|
| 614 |
+
0.9942212244221373,
|
| 615 |
+
-49.110823863361674
|
| 616 |
+
],
|
| 617 |
+
[
|
| 618 |
+
0.03568478370259323,
|
| 619 |
+
0.9986024918265437,
|
| 620 |
+
0.038982810698000636,
|
| 621 |
+
-0.2698412191918835
|
| 622 |
+
],
|
| 623 |
+
[
|
| 624 |
+
0.0,
|
| 625 |
+
0.0,
|
| 626 |
+
0.0,
|
| 627 |
+
1.0
|
| 628 |
+
]
|
| 629 |
+
],
|
| 630 |
+
"colmap_img_id": 209,
|
| 631 |
+
"depth_file_path": "depths_euc_accum_0_sky/alphasense_driver_ros_cam0_debayered_image_compressed/1710487099.704202434.png",
|
| 632 |
+
"normal_file_path": "normals_euc_accum_0/alphasense_driver_ros_cam0_debayered_image_compressed/1710487099.704202434.png"
|
| 633 |
+
},
|
| 634 |
+
{
|
| 635 |
+
"fl_x": 698.3137471841843,
|
| 636 |
+
"fl_y": 696.6121509638851,
|
| 637 |
+
"cx": 715.130726637838,
|
| 638 |
+
"cy": 554.9440824853361,
|
| 639 |
+
"w": 1440,
|
| 640 |
+
"h": 1080,
|
| 641 |
+
"k1": -0.04543139410915913,
|
| 642 |
+
"k2": 0.007729565151437663,
|
| 643 |
+
"k3": -0.006584893481708932,
|
| 644 |
+
"k4": 0.0013593371115840738,
|
| 645 |
+
"file_path": "images/alphasense_driver_ros_cam0_debayered_image_compressed/1710487098.404214434.jpg",
|
| 646 |
+
"transform_matrix": [
|
| 647 |
+
[
|
| 648 |
+
-0.996701346322933,
|
| 649 |
+
0.04540570085709023,
|
| 650 |
+
0.06726625132805746,
|
| 651 |
+
-0.23477243692461336
|
| 652 |
+
],
|
| 653 |
+
[
|
| 654 |
+
0.06520302087580629,
|
| 655 |
+
-0.04548758479881867,
|
| 656 |
+
0.996834713329065,
|
| 657 |
+
-48.00664913973232
|
| 658 |
+
],
|
| 659 |
+
[
|
| 660 |
+
0.04832175810876645,
|
| 661 |
+
0.9979324636260943,
|
| 662 |
+
0.04237694814909564,
|
| 663 |
+
-0.2985328124073802
|
| 664 |
+
],
|
| 665 |
+
[
|
| 666 |
+
0.0,
|
| 667 |
+
0.0,
|
| 668 |
+
0.0,
|
| 669 |
+
1.0
|
| 670 |
+
]
|
| 671 |
+
],
|
| 672 |
+
"colmap_img_id": 208,
|
| 673 |
+
"depth_file_path": "depths_euc_accum_0_sky/alphasense_driver_ros_cam0_debayered_image_compressed/1710487098.404214434.png",
|
| 674 |
+
"normal_file_path": "normals_euc_accum_0/alphasense_driver_ros_cam0_debayered_image_compressed/1710487098.404214434.png"
|
| 675 |
+
},
|
| 676 |
+
{
|
| 677 |
+
"fl_x": 698.3137471841843,
|
| 678 |
+
"fl_y": 696.6121509638851,
|
| 679 |
+
"cx": 715.130726637838,
|
| 680 |
+
"cy": 554.9440824853361,
|
| 681 |
+
"w": 1440,
|
| 682 |
+
"h": 1080,
|
| 683 |
+
"k1": -0.04543139410915913,
|
| 684 |
+
"k2": 0.007729565151437663,
|
| 685 |
+
"k3": -0.006584893481708932,
|
| 686 |
+
"k4": 0.0013593371115840738,
|
| 687 |
+
"file_path": "images/alphasense_driver_ros_cam0_debayered_image_compressed/1710487097.154263082.jpg",
|
| 688 |
+
"transform_matrix": [
|
| 689 |
+
[
|
| 690 |
+
-0.9961177550869909,
|
| 691 |
+
0.04193967344363164,
|
| 692 |
+
0.07739820276915645,
|
| 693 |
+
-0.1931729360699017
|
| 694 |
+
],
|
| 695 |
+
[
|
| 696 |
+
0.07406449217125541,
|
| 697 |
+
-0.07593283872196342,
|
| 698 |
+
0.9943584137538325,
|
| 699 |
+
-46.91663576349636
|
| 700 |
+
],
|
| 701 |
+
[
|
| 702 |
+
0.04758013240700344,
|
| 703 |
+
0.9962305294433941,
|
| 704 |
+
0.07253180822967384,
|
| 705 |
+
-0.32656989014434956
|
| 706 |
+
],
|
| 707 |
+
[
|
| 708 |
+
0.0,
|
| 709 |
+
0.0,
|
| 710 |
+
0.0,
|
| 711 |
+
1.0
|
| 712 |
+
]
|
| 713 |
+
],
|
| 714 |
+
"colmap_img_id": 207,
|
| 715 |
+
"depth_file_path": "depths_euc_accum_0_sky/alphasense_driver_ros_cam0_debayered_image_compressed/1710487097.154263082.png",
|
| 716 |
+
"normal_file_path": "normals_euc_accum_0/alphasense_driver_ros_cam0_debayered_image_compressed/1710487097.154263082.png"
|
| 717 |
+
},
|
| 718 |
+
{
|
| 719 |
+
"fl_x": 696.606841349597,
|
| 720 |
+
"fl_y": 695.7715776898048,
|
| 721 |
+
"cx": 719.9762618618234,
|
| 722 |
+
"cy": 540.337171717488,
|
| 723 |
+
"w": 1440,
|
| 724 |
+
"h": 1080,
|
| 725 |
+
"k1": -0.03876086692446946,
|
| 726 |
+
"k2": 0.0004825051613441947,
|
| 727 |
+
"k3": -0.001968125526280523,
|
| 728 |
+
"k4": 0.0005141727820895353,
|
| 729 |
+
"file_path": "images/alphasense_driver_ros_cam1_debayered_image_compressed/1710487117.204040231.jpg",
|
| 730 |
+
"transform_matrix": [
|
| 731 |
+
[
|
| 732 |
+
-0.06792903360826895,
|
| 733 |
+
0.03084153661727468,
|
| 734 |
+
-0.9972133402698409,
|
| 735 |
+
-0.2353736358647418
|
| 736 |
+
],
|
| 737 |
+
[
|
| 738 |
+
-0.9961071574331273,
|
| 739 |
+
-0.05837957561091794,
|
| 740 |
+
0.06604813443228179,
|
| 741 |
+
-62.553753073672624
|
| 742 |
+
],
|
| 743 |
+
[
|
| 744 |
+
-0.05617986564190323,
|
| 745 |
+
0.9978179316741976,
|
| 746 |
+
0.03468714352441367,
|
| 747 |
+
0.19209202180097873
|
| 748 |
+
],
|
| 749 |
+
[
|
| 750 |
+
0.0,
|
| 751 |
+
0.0,
|
| 752 |
+
0.0,
|
| 753 |
+
1.0
|
| 754 |
+
]
|
| 755 |
+
],
|
| 756 |
+
"colmap_img_id": 1941,
|
| 757 |
+
"depth_file_path": "depths_euc_accum_0_sky/alphasense_driver_ros_cam1_debayered_image_compressed/1710487117.204040231.png",
|
| 758 |
+
"normal_file_path": "normals_euc_accum_0/alphasense_driver_ros_cam1_debayered_image_compressed/1710487117.204040231.png"
|
| 759 |
+
}
|
| 760 |
+
]
|
| 761 |
+
}
|
bod_1_2_merged/submaps_visibility/submap_0_no_cam2_bod_1.json
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
bod_1_2_merged/submaps_visibility/submap_3_no_cam2_bod_1.json
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
bod_1_2_merged/submaps_visibility/submap_4_no_cam2_bod_1.json
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
bod_1_2_merged/submaps_visibility/submap_5_no_cam2_bod_1.json
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
bod_1_2_merged/submaps_visibility/submap_6_no_cam2_bod_1.json
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
bod_1_2_merged/submaps_visibility/submap_7_no_cam2_bod_1.json
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
bod_1_2_merged/submaps_visibility/submap_8_no_cam2_bod_1.json
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
bod_1_2_merged/submaps_visibility/submap_9_no_cam2_bod_1.json
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
bod_1_2_merged/submaps_visibility/submap_cluster_10.png
ADDED
|
Git LFS Details
|
bod_1_2_merged/transforms_colmap_scaled_lidar_no_cam2_bod_1.json
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|