Add files using upload-large-folder tool

scenefun3d_test/scenefun3d/scenefun3d_421657_42445633/interval_006/cam_9/trajectory.json

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+{"camera_info":{"cam_id":"42445633","intrinsics":{"fx":1596.53,"fy":1596.53,"cx":956.534,"cy":739.531},"T_base_to_cam":[[0.16059009209482022,0.9869002855475619,-0.015448259031920708,2.6858205295616173],[0.14593207326061014,-0.03921987919298309,-0.9885168845649261,165.77293540926684],[-0.976173474498686,0.1564916210607714,-0.15031872878299302,24.967904932563126],[0.0,0.0,0.0,1.0]],"extrinsic_source":"scenefun3d_verify_alignment","intrinsic_source":"scenefun3d_pincam","depth_source":"hires_depth_faro","distortion":null},"trajectory_3d":[{"frame_idx":0,"position_3d":[-0.12244650087305464,0.6476042662376642,1.802055508736828]},{"frame_idx":1,"position_3d":[-0.12068729864851006,0.6507578817674683,1.7809333973344912]},{"frame_idx":2,"position_3d":[-0.11892809642396548,0.6539114972972724,1.7598112859321544]},{"frame_idx":3,"position_3d":[-0.1171688941994209,0.6570651128270765,1.7386891745298176]},{"frame_idx":4,"position_3d":[-0.11540969197487633,0.6602187283568806,1.7175670631274809]},{"frame_idx":5,"position_3d":[-0.11365048975033175,0.6633723438866846,1.696444951725144]},{"frame_idx":6,"position_3d":[-0.11189128752578717,0.6665259594164887,1.6753228403228073]},{"frame_idx":7,"position_3d":[-0.11013208530124259,0.6696795749462928,1.6542007289204705]},{"frame_idx":8,"position_3d":[-0.10837288307669801,0.6728331904760969,1.6330786175181338]},{"frame_idx":9,"position_3d":[-0.10661368085215343,0.675986806005901,1.611956506115797]},{"frame_idx":10,"position_3d":[-0.10485447862760885,0.6791404215357051,1.5908343947134602]},{"frame_idx":11,"position_3d":[-0.10309527640306428,0.6822940370655092,1.5697122833111234]},{"frame_idx":12,"position_3d":[-0.1013360741785197,0.6854476525953133,1.5485901719087867]},{"frame_idx":13,"position_3d":[-0.09957687195397512,0.6886012681251173,1.52746806050645]},{"frame_idx":14,"position_3d":[-0.09781766972943054,0.6917548836549214,1.5063459491041131]}]}

scenefun3d_test/scenefun3d/scenefun3d_421657_42445633/interval_008/cam_15/trajectory.json

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+{"camera_info":{"cam_id":"42445633","intrinsics":{"fx":1595.18,"fy":1595.18,"cx":956.259,"cy":739.746},"T_base_to_cam":[[-0.8947420503825838,-0.4465812213804893,0.001369666923015378,-0.038130560391994146],[-0.1926014046183002,0.383113333975568,-0.9033985124346743,150.6393044119749],[0.4029160734150816,-0.8085724371016086,-0.42879978048424594,73.4432053881402],[0.0,0.0,0.0,1.0]],"extrinsic_source":"scenefun3d_verify_alignment","intrinsic_source":"scenefun3d_pincam","depth_source":"hires_depth_faro","distortion":null},"trajectory_3d":[{"frame_idx":0,"position_3d":[-0.07017963795085724,-0.6148762055282191,1.8783726725795304]},{"frame_idx":1,"position_3d":[-0.05148494338995524,-0.6103195730114107,1.8689424462380935]},{"frame_idx":2,"position_3d":[-0.03279024882905324,-0.6057629404946023,1.8595122198966565]},{"frame_idx":3,"position_3d":[-0.014095554268151234,-0.601206307977794,1.8500819935552195]},{"frame_idx":4,"position_3d":[0.00459914029275077,-0.5966496754609856,1.8406517672137825]},{"frame_idx":5,"position_3d":[0.023293834853652773,-0.5920930429441772,1.8312215408723456]},{"frame_idx":6,"position_3d":[0.041988529414554776,-0.5875364104273688,1.8217913145309086]},{"frame_idx":7,"position_3d":[0.06068322397545678,-0.5829797779105604,1.8123610881894716]},{"frame_idx":8,"position_3d":[0.07937791853635878,-0.5784231453937521,1.8029308618480346]},{"frame_idx":9,"position_3d":[0.09807261309726079,-0.5738665128769437,1.7935006355065977]},{"frame_idx":10,"position_3d":[0.11676730765816279,-0.5693098803601353,1.7840704091651607]},{"frame_idx":11,"position_3d":[0.1354620022190648,-0.5647532478433269,1.7746401828237237]},{"frame_idx":12,"position_3d":[0.1541566967799668,-0.5601966153265185,1.7652099564822867]},{"frame_idx":13,"position_3d":[0.1728513913408688,-0.5556399828097102,1.7557797301408498]},{"frame_idx":14,"position_3d":[0.1915460859017708,-0.5510833502929018,1.7463495037994128]}]}

scenefun3d_test/scenefun3d/scenefun3d_435324_42899216/interval_000/cam_11/trajectory.json

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scenefun3d_test/scenefun3d/scenefun3d_435324_42899216/interval_001/cam_7/trajectory.json

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+{"camera_info":{"cam_id":"42899216","intrinsics":{"fx":1592.01,"fy":1592.01,"cx":956.002,"cy":739.899},"T_base_to_cam":[[0.2820093668899588,-0.9594106904692954,-0.001357939451645529,0.07008415863376816],[-0.5369334374835959,-0.15665302972282835,-0.8289525390459385,-1.1771778110578472],[0.7950932025230589,0.23450150381583557,-0.5593173017257177,2.013255130037711],[0.0,0.0,0.0,1.0]],"extrinsic_source":"scenefun3d_verify_alignment","intrinsic_source":"scenefun3d_pincam","depth_source":"hires_depth_faro","distortion":null},"trajectory_3d":[{"frame_idx":0,"position_3d":[0.4426607592512156,-0.5116355493137803,1.5677372679006183]},{"frame_idx":1,"position_3d":[0.36523530441701185,-0.5081457150933113,1.5627530347120064]},{"frame_idx":2,"position_3d":[0.28897783362858387,-0.49982991599598553,1.550613503667806]},{"frame_idx":3,"position_3d":[0.21484732882671123,-0.4867927280203908,1.5314713364144175]},{"frame_idx":4,"position_3d":[0.14377602412079826,-0.4691981013696729,1.5055672568115968]},{"frame_idx":5,"position_3d":[0.07665768240405332,-0.44726729868260473,1.4732270236902463]},{"frame_idx":6,"position_3d":[0.014336355766533429,-0.42127611252752434,1.4348573342461073]},{"frame_idx":7,"position_3d":[-0.042404228949618615,-0.3915513971507693,1.3909407095865522]},{"frame_idx":8,"position_3d":[-0.09285052596994312,-0.35846695809488394,1.3420294267476942]},{"frame_idx":9,"position_3d":[-0.13636814383978618,-0.32243885137703465,1.2887385734902193]},{"frame_idx":10,"position_3d":[-0.17240982326492452,-0.2839201513431928,1.2317383132139132]},{"frame_idx":11,"position_3d":[-0.2005223192147175,-0.24339525299535436,1.1717454572640722]},{"frame_idx":12,"position_3d":[-0.2203521007413464,-0.20137378044333704,1.109514450612931]},{"frame_idx":13,"position_3d":[-0.23164979683660664,-0.15838417808590874,1.045827884276399]},{"frame_idx":14,"position_3d":[-0.23427333241702433,-0.11496706511586241,0.9814866537779646]}]}

scenefun3d_test/scenefun3d/scenefun3d_435324_42899216/interval_003/cam_29/trajectory.json

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+{"camera_info":{"cam_id":"42899216","intrinsics":{"fx":1608.28,"fy":1608.28,"cx":955.808,"cy":739.799},"T_base_to_cam":[[-0.9688965892914225,0.24506125194283632,-0.034414852253908446,1.3157026809346977],[0.16382020420235996,0.5309341109379788,-0.8314276339751976,0.061213252931765515],[-0.1854786778973414,-0.8112052469250355,-0.5545662335616428,0.35961897474917504],[0.0,0.0,0.0,1.0]],"extrinsic_source":"scenefun3d_verify_alignment","intrinsic_source":"scenefun3d_pincam","depth_source":"hires_depth_faro","distortion":null},"trajectory_3d":[{"frame_idx":0,"position_3d":[0.9286245584161847,-0.36074935430652433,2.8173689239815483]},{"frame_idx":1,"position_3d":[0.9102948020938378,-0.3543176802697082,2.808322528250821]},{"frame_idx":2,"position_3d":[0.8919650457714909,-0.3478860062328921,2.7992761325200934]},{"frame_idx":3,"position_3d":[0.873635289449144,-0.341454332196076,2.790229736789366]},{"frame_idx":4,"position_3d":[0.8553055331267971,-0.3350226581592599,2.7811833410586386]},{"frame_idx":5,"position_3d":[0.8369757768044502,-0.3285909841224438,2.772136945327911]},{"frame_idx":6,"position_3d":[0.8186460204821033,-0.3221593100856277,2.763090549597184]},{"frame_idx":7,"position_3d":[0.8003162641597564,-0.3157276360488116,2.7540441538664564]},{"frame_idx":8,"position_3d":[0.7819865078374095,-0.3092959620119955,2.744997758135729]},{"frame_idx":9,"position_3d":[0.7636567515150626,-0.3028642879751794,2.7359513624050016]},{"frame_idx":10,"position_3d":[0.7453269951927157,-0.2964326139383633,2.726904966674274]},{"frame_idx":11,"position_3d":[0.7269972388703688,-0.2900009399015472,2.7178585709435468]},{"frame_idx":12,"position_3d":[0.7086674825480219,-0.2835692658647311,2.7088121752128194]},{"frame_idx":13,"position_3d":[0.690337726225675,-0.277137591827915,2.699765779482092]},{"frame_idx":14,"position_3d":[0.6720079699033281,-0.27070591779109887,2.6907193837513645]}]}

scenefun3d_test/scenefun3d/scenefun3d_435324_42899216/interval_005/cam_14/trajectory.json

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+{"camera_info":{"cam_id":"42899216","intrinsics":{"fx":1596.08,"fy":1596.08,"cx":956.235,"cy":739.478},"T_base_to_cam":[[-0.8036958243296627,0.5947012716681214,-0.020085303865844506,1.088736967490492],[0.028106000797546882,0.00422310434611084,-0.9995960274575176,0.14910688914515885],[-0.5943762063493392,-0.8039356708505981,-0.020108765744483947,0.6910959988434253],[0.0,0.0,0.0,1.0]],"extrinsic_source":"scenefun3d_verify_alignment","intrinsic_source":"scenefun3d_pincam","depth_source":"hires_depth_faro","distortion":null},"trajectory_3d":[{"frame_idx":0,"position_3d":[-0.15347618440834365,0.8933988787271714,2.6631092942816927]},{"frame_idx":1,"position_3d":[-0.166227255101379,0.8937011978562903,2.645890047120601]},{"frame_idx":2,"position_3d":[-0.17897832579441436,0.8940035169854093,2.628670799959509]},{"frame_idx":3,"position_3d":[-0.19172939648744972,0.8943058361145282,2.611451552798417]},{"frame_idx":4,"position_3d":[-0.20448046718048507,0.8946081552436471,2.594232305637325]},{"frame_idx":5,"position_3d":[-0.21723153787352042,0.894910474372766,2.577013058476233]},{"frame_idx":6,"position_3d":[-0.22998260856655578,0.895212793501885,2.5597938113151413]},{"frame_idx":7,"position_3d":[-0.24273367925959113,0.8955151126310039,2.5425745641540494]},{"frame_idx":8,"position_3d":[-0.2554847499526265,0.8958174317601229,2.5253553169929575]},{"frame_idx":9,"position_3d":[-0.2682358206456618,0.8961197508892418,2.5081360698318655]},{"frame_idx":10,"position_3d":[-0.28098689133869714,0.8964220700183607,2.4909168226707736]},{"frame_idx":11,"position_3d":[-0.29373796203173247,0.8967243891474797,2.4736975755096817]},{"frame_idx":12,"position_3d":[-0.3064890327247678,0.8970267082765986,2.45647832834859]},{"frame_idx":13,"position_3d":[-0.3192401034178031,0.8973290274057175,2.439259081187498]},{"frame_idx":14,"position_3d":[-0.33199117411083845,0.8976313465348364,2.422039834026406]}]}

scenefun3d_test/scenefun3d/scenefun3d_435324_42899216/interval_006/cam_30/trajectory.json

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+{"camera_info":{"cam_id":"42899216","intrinsics":{"fx":1608.28,"fy":1608.28,"cx":955.808,"cy":739.799},"T_base_to_cam":[[-0.9688965892914225,0.24506125194283632,-0.034414852253908446,1.3157026809346977],[0.16382020420235996,0.5309341109379788,-0.8314276339751976,0.061213252931765515],[-0.1854786778973414,-0.8112052469250355,-0.5545662335616428,0.35961897474917504],[0.0,0.0,0.0,1.0]],"extrinsic_source":"scenefun3d_verify_alignment","intrinsic_source":"scenefun3d_pincam","depth_source":"hires_depth_faro","distortion":null},"trajectory_3d":[{"frame_idx":0,"position_3d":[0.9135001649198384,-0.7465888261726256,2.5763968571437865]},{"frame_idx":1,"position_3d":[0.8951704085974915,-0.7401571521358095,2.567350461413059]},{"frame_idx":2,"position_3d":[0.8768406522751446,-0.7337254780989934,2.5583040656823317]},{"frame_idx":3,"position_3d":[0.8585108959527977,-0.7272938040621773,2.5492576699516043]},{"frame_idx":4,"position_3d":[0.8401811396304508,-0.7208621300253611,2.540211274220877]},{"frame_idx":5,"position_3d":[0.8218513833081039,-0.714430455988545,2.5311648784901495]},{"frame_idx":6,"position_3d":[0.803521626985757,-0.7079987819517289,2.522118482759422]},{"frame_idx":7,"position_3d":[0.7851918706634101,-0.7015671079149128,2.5130720870286947]},{"frame_idx":8,"position_3d":[0.7668621143410632,-0.6951354338780967,2.5040256912979673]},{"frame_idx":9,"position_3d":[0.7485323580187163,-0.6887037598412806,2.49497929556724]},{"frame_idx":10,"position_3d":[0.7302026016963694,-0.6822720858044645,2.4859328998365124]},{"frame_idx":11,"position_3d":[0.7118728453740225,-0.6758404117676484,2.476886504105785]},{"frame_idx":12,"position_3d":[0.6935430890516756,-0.6694087377308323,2.4678401083750576]},{"frame_idx":13,"position_3d":[0.6752133327293287,-0.6629770636940162,2.45879371264433]},{"frame_idx":14,"position_3d":[0.6568835764069818,-0.6565453896572001,2.449747316913603]}]}

scenefun3d_test/scenefun3d/scenefun3d_435324_42899216/interval_009/cam_5/trajectory.json

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+{"camera_info":{"cam_id":"42899216","intrinsics":{"fx":1595.63,"fy":1595.63,"cx":956.314,"cy":739.508},"T_base_to_cam":[[-0.7792746400112891,0.6266735219761188,0.003366346583857316,1.028194724131579],[0.07542277432801275,0.09911889738018642,-0.9922131067945038,0.09980262214018024],[-0.6221273507473701,-0.7729526124130656,-0.1245062986996065,0.6856803639236152],[0.0,0.0,0.0,1.0]],"extrinsic_source":"scenefun3d_verify_alignment","intrinsic_source":"scenefun3d_pincam","depth_source":"hires_depth_faro","distortion":null},"trajectory_3d":[{"frame_idx":0,"position_3d":[-0.5130024630584675,0.6744981861637529,2.9295847078215065]},{"frame_idx":1,"position_3d":[-0.4956123679119406,0.6760377313763704,2.9171590060384105]},{"frame_idx":2,"position_3d":[-0.4782222727654136,0.6775772765889878,2.9047333042553145]},{"frame_idx":3,"position_3d":[-0.4608321776188867,0.6791168218016053,2.8923076024722185]},{"frame_idx":4,"position_3d":[-0.4434420824723597,0.6806563670142227,2.8798819006891225]},{"frame_idx":5,"position_3d":[-0.42605198732583277,0.6821959122268402,2.8674561989060265]},{"frame_idx":6,"position_3d":[-0.4086618921793058,0.6837354574394576,2.8550304971229306]},{"frame_idx":7,"position_3d":[-0.39127179703277887,0.6852750026520751,2.8426047953398346]},{"frame_idx":8,"position_3d":[-0.3738817018862519,0.6868145478646925,2.8301790935567386]},{"frame_idx":9,"position_3d":[-0.35649160673972496,0.68835409307731,2.8177533917736426]},{"frame_idx":10,"position_3d":[-0.339101511593198,0.6898936382899274,2.8053276899905466]},{"frame_idx":11,"position_3d":[-0.32171141644667106,0.6914331835025449,2.7929019882074506]},{"frame_idx":12,"position_3d":[-0.3043213213001441,0.6929727287151624,2.7804762864243546]},{"frame_idx":13,"position_3d":[-0.28693122615361716,0.6945122739277798,2.7680505846412586]},{"frame_idx":14,"position_3d":[-0.2695411310070902,0.6960518191403973,2.7556248828581626]}]}

scenefun3d_test/scenefun3d/scenefun3d_435324_42899216/interval_010/cam_15/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"42899216","intrinsics":{"fx":1593.82,"fy":1593.82,"cx":956.109,"cy":739.744},"T_base_to_cam":[[-0.3443996803962227,0.9380739879835105,0.03749737606409487,0.5659349900060189],[0.43323196502631944,0.19423472016695809,-0.8801039358854712,-0.3149994722639126],[-0.8328859013228724,-0.2868624523188353,-0.4732980127015223,1.109522669874692],[0.0,0.0,0.0,1.0]],"extrinsic_source":"scenefun3d_verify_alignment","intrinsic_source":"scenefun3d_pincam","depth_source":"hires_depth_faro","distortion":null},"trajectory_3d":[{"frame_idx":0,"position_3d":[1.222259307304384,-0.7545954787066287,2.259600656881563]},{"frame_idx":1,"position_3d":[1.2071449461328485,-0.7481063167374571,2.245866373617278]},{"frame_idx":2,"position_3d":[1.192030584961313,-0.7416171547682855,2.2321320903529926]},{"frame_idx":3,"position_3d":[1.1769162237897777,-0.7351279927991139,2.2183978070887074]},{"frame_idx":4,"position_3d":[1.1618018626182423,-0.7286388308299423,2.204663523824422]},{"frame_idx":5,"position_3d":[1.1466875014467068,-0.7221496688607707,2.190929240560137]},{"frame_idx":6,"position_3d":[1.1315731402751714,-0.7156605068915991,2.1771949572958516]},{"frame_idx":7,"position_3d":[1.116458779103636,-0.7091713449224275,2.1634606740315663]},{"frame_idx":8,"position_3d":[1.1013444179321006,-0.7026821829532559,2.149726390767281]},{"frame_idx":9,"position_3d":[1.0862300567605652,-0.6961930209840843,2.1359921075029957]},{"frame_idx":10,"position_3d":[1.0711156955890297,-0.6897038590149127,2.1222578242387105]},{"frame_idx":11,"position_3d":[1.0560013344174943,-0.6832146970457411,2.108523540974425]},{"frame_idx":12,"position_3d":[1.040886973245959,-0.6767255350765695,2.09478925771014]},{"frame_idx":13,"position_3d":[1.0257726120744235,-0.6702363731073979,2.0810549744458546]},{"frame_idx":14,"position_3d":[1.010658250902888,-0.6637472111382263,2.0673206911815694]}]}

scenefun3d_test/scenefun3d/scenefun3d_466162_44796576/interval_000/cam_15/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"44796576","intrinsics":{"fx":1599.24,"fy":1599.24,"cx":963.283,"cy":695.22},"T_base_to_cam":[[0.9605637314199101,0.27745858139641,0.01827713024932684,-1.248809890557401],[-0.0068671006336277485,0.08938209584813592,-0.9959737365366029,53.805167481677366],[-0.2779751082553018,0.9565707378711136,0.0877625355101302,-2.9697298654978415],[0.0,0.0,0.0,1.0]],"extrinsic_source":"scenefun3d_verify_alignment","intrinsic_source":"scenefun3d_pincam","depth_source":"hires_depth_faro","distortion":null},"trajectory_3d":[{"frame_idx":0,"position_3d":[-0.5225378998979309,0.35386617974354806,3.165192507504626]},{"frame_idx":1,"position_3d":[-0.5223155717786695,0.3527928228447116,3.1651990936302163]},{"frame_idx":2,"position_3d":[-0.5219879187866902,0.35174797376689887,3.1651490724008693]},{"frame_idx":3,"position_3d":[-0.5215590613484756,0.35074477209349897,3.165043072862567]},{"frame_idx":4,"position_3d":[-0.5210343925951404,0.34979583366762607,3.164882428021006]},{"frame_idx":5,"position_3d":[-0.5204205105406776,0.34891309194057246,3.1646691580782775]},{"frame_idx":6,"position_3d":[-0.5197251351081047,0.3481076479017345,3.1644059450276534]},{"frame_idx":7,"position_3d":[-0.5189570110469526,0.34738963047723004,3.1640960989259646]},{"frame_idx":8,"position_3d":[-0.5181257979629661,0.3467680691527757,3.163743516267717]},{"frame_idx":9,"position_3d":[-0.5172419488429576,0.3462507804226647,3.1633526309844116]},{"frame_idx":10,"position_3d":[-0.5163165786024323,0.3458442694928162,3.1629283586852823]},{"frame_idx":11,"position_3d":[-0.5153613243090771,0.34555364847403613,3.1624760348406595]},{"frame_idx":12,"position_3d":[-0.5143881988398824,0.3453825720942579,3.162001347685334]},{"frame_idx":13,"position_3d":[-0.513409439812244,0.345333191738218,3.1615102666857036]},{"frame_idx":14,"position_3d":[-0.5124373556888234,0.34540612839254486,3.1610089674702704]}]}

scenefun3d_test/scenefun3d/scenefun3d_466162_44796576/interval_005/cam_33/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"44796576","intrinsics":{"fx":1599.24,"fy":1599.24,"cx":963.754,"cy":695.228},"T_base_to_cam":[[0.8580370316078765,0.5100607593721022,0.060087221089835635,-3.342096693682142],[0.11259676144405131,-0.07267168280941907,-0.9909797151455516,53.0692869843778],[-0.5010932265575495,0.8570629196659961,-0.11978618464473528,8.727157324678297],[0.0,0.0,0.0,1.0]],"extrinsic_source":"scenefun3d_verify_alignment","intrinsic_source":"scenefun3d_pincam","depth_source":"hires_depth_faro","distortion":null},"trajectory_3d":[{"frame_idx":0,"position_3d":[-0.8648803268896392,0.9350594448874148,2.158132006441865]},{"frame_idx":1,"position_3d":[-0.8485895522737975,0.937472321366804,2.14442170509651]},{"frame_idx":2,"position_3d":[-0.8322987776579558,0.9398851978461933,2.130711403751155]},{"frame_idx":3,"position_3d":[-0.8160080030421141,0.9422980743255825,2.1170011024058]},{"frame_idx":4,"position_3d":[-0.7997172284262724,0.9447109508049718,2.103290801060445]},{"frame_idx":5,"position_3d":[-0.7834264538104306,0.9471238272843611,2.08958049971509]},{"frame_idx":6,"position_3d":[-0.7671356791945889,0.9495367037637503,2.075870198369735]},{"frame_idx":7,"position_3d":[-0.7508449045787472,0.9519495802431396,2.06215989702438]},{"frame_idx":8,"position_3d":[-0.7345541299629055,0.9543624567225288,2.048449595679025]},{"frame_idx":9,"position_3d":[-0.7182633553470638,0.9567753332019181,2.03473929433367]},{"frame_idx":10,"position_3d":[-0.701972580731222,0.9591882096813074,2.021028992988315]},{"frame_idx":11,"position_3d":[-0.6856818061153803,0.9616010861606966,2.00731869164296]},{"frame_idx":12,"position_3d":[-0.6693910314995386,0.9640139626400859,1.9936083902976047]},{"frame_idx":13,"position_3d":[-0.6531002568836969,0.9664268391194751,1.9798980889522495]},{"frame_idx":14,"position_3d":[-0.6368094822678552,0.9688397155988644,1.9661877876068943]}]}

scenefun3d_test/scenefun3d/scenefun3d_466162_44796576/interval_010/cam_17/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"44796576","intrinsics":{"fx":1597.89,"fy":1597.89,"cx":963.871,"cy":695.323},"T_base_to_cam":[[0.21604197626203592,0.9763433520806313,0.008917586038272585,1.193285931267935],[0.2876539409347247,-0.05491787220819788,-0.9561585839058528,50.679670538674436],[-0.9330493420808545,0.20913556885446383,-0.2927135785753782,18.26090370744588],[0.0,0.0,0.0,1.0]],"extrinsic_source":"scenefun3d_verify_alignment","intrinsic_source":"scenefun3d_pincam","depth_source":"hires_depth_faro","distortion":null},"trajectory_3d":[{"frame_idx":0,"position_3d":[0.4620423120087178,-0.18322335391865607,2.981655467377797]},{"frame_idx":1,"position_3d":[0.4630760545775338,-0.17716948414242364,2.961125837315294]},{"frame_idx":2,"position_3d":[0.4641097971463498,-0.17111561436619122,2.940596207252791]},{"frame_idx":3,"position_3d":[0.4651435397151658,-0.1650617445899588,2.9200665771902883]},{"frame_idx":4,"position_3d":[0.4661772822839818,-0.15900787481372636,2.8995369471277854]},{"frame_idx":5,"position_3d":[0.4672110248527978,-0.15295400503749393,2.8790073170652826]},{"frame_idx":6,"position_3d":[0.4682447674216138,-0.1469001352612615,2.8584776870027797]},{"frame_idx":7,"position_3d":[0.4692785099904298,-0.14084626548502907,2.837948056940277]},{"frame_idx":8,"position_3d":[0.4703122525592458,-0.13479239570879664,2.817418426877774]},{"frame_idx":9,"position_3d":[0.4713459951280618,-0.1287385259325642,2.796888796815271]},{"frame_idx":10,"position_3d":[0.4723797376968778,-0.1226846561563318,2.7763591667527683]},{"frame_idx":11,"position_3d":[0.4734134802656938,-0.11663078638009938,2.7558295366902654]},{"frame_idx":12,"position_3d":[0.4744472228345098,-0.11057691660386697,2.7352999066277626]},{"frame_idx":13,"position_3d":[0.4754809654033258,-0.10452304682763455,2.7147702765652597]},{"frame_idx":14,"position_3d":[0.4765147079721418,-0.09846917705140214,2.694240646502757]}]}

scenefun3d_test/scenefun3d/scenefun3d_466162_44796576/interval_011/cam_13/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"44796576","intrinsics":{"fx":1597.89,"fy":1597.89,"cx":963.805,"cy":695.338},"T_base_to_cam":[[0.07712343528343091,0.9969388715648079,0.0128398634404851,1.2703673810383402],[0.3167536281194375,-0.012289057293167871,-0.9484282356319949,50.16539793154948],[-0.945367185173706,0.07721311698107441,-0.31673177889629467,19.544500844124805],[0.0,0.0,0.0,1.0]],"extrinsic_source":"scenefun3d_verify_alignment","intrinsic_source":"scenefun3d_pincam","depth_source":"hires_depth_faro","distortion":null},"trajectory_3d":[{"frame_idx":0,"position_3d":[1.339166269922543,-0.09975365247539258,3.176061895008502]},{"frame_idx":1,"position_3d":[1.3371924810287543,-0.09323759516999504,3.1557437054221995]},{"frame_idx":2,"position_3d":[1.3352186921349656,-0.08672153786459749,3.1354255158358972]},{"frame_idx":3,"position_3d":[1.3332449032411768,-0.08020548055919995,3.115107326249595]},{"frame_idx":4,"position_3d":[1.331271114347388,-0.0736894232538024,3.0947891366632927]},{"frame_idx":5,"position_3d":[1.3292973254535994,-0.06717336594840485,3.0744709470769904]},{"frame_idx":6,"position_3d":[1.3273235365598106,-0.06065730864300731,3.054152757490688]},{"frame_idx":7,"position_3d":[1.3253497476660219,-0.05414125133760976,3.033834567904386]},{"frame_idx":8,"position_3d":[1.3233759587722331,-0.047625194032212215,3.0135163783180836]},{"frame_idx":9,"position_3d":[1.3214021698784444,-0.04110913672681467,2.9931981887317813]},{"frame_idx":10,"position_3d":[1.3194283809846556,-0.03459307942141712,2.972879999145479]},{"frame_idx":11,"position_3d":[1.317454592090867,-0.028077022116019576,2.952561809559177]},{"frame_idx":12,"position_3d":[1.3154808031970782,-0.02156096481062203,2.9322436199728745]},{"frame_idx":13,"position_3d":[1.3135070143032894,-0.015044907505224485,2.9119254303865723]},{"frame_idx":14,"position_3d":[1.3115332254095007,-0.00852885019982694,2.89160724080027]}]}

scenefun3d_test/scenefun3d/scenefun3d_466162_44796576/interval_012/cam_6/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"44796576","intrinsics":{"fx":1596.53,"fy":1596.53,"cx":962.961,"cy":695.209},"T_base_to_cam":[[-0.2873840117208016,0.9575211760537851,-0.023740834354218476,3.5362064051346755],[-0.11662899438382157,-0.059584742473101415,-0.9913865725000679,53.71126656357291],[-0.9506882283252889,-0.28213978073463947,0.1287984341936378,-4.827569399700015],[0.0,0.0,0.0,1.0]],"extrinsic_source":"scenefun3d_verify_alignment","intrinsic_source":"scenefun3d_pincam","depth_source":"hires_depth_faro","distortion":null},"trajectory_3d":[{"frame_idx":0,"position_3d":[1.3597636243739228,0.9891231435113923,2.852199917422375]},{"frame_idx":1,"position_3d":[1.3502256157181989,0.9866473683275555,2.83317150178702]},{"frame_idx":2,"position_3d":[1.340687607062475,0.9841715931437187,2.814143086151665]},{"frame_idx":3,"position_3d":[1.331149598406751,0.9816958179598819,2.79511467051631]},{"frame_idx":4,"position_3d":[1.321611589751027,0.9792200427760451,2.776086254880955]},{"frame_idx":5,"position_3d":[1.312073581095303,0.9767442675922083,2.7570578392455998]},{"frame_idx":6,"position_3d":[1.302535572439579,0.9742684924083715,2.7380294236102447]},{"frame_idx":7,"position_3d":[1.292997563783855,0.9717927172245348,2.7190010079748896]},{"frame_idx":8,"position_3d":[1.2834595551281311,0.969316942040698,2.6999725923395346]},{"frame_idx":9,"position_3d":[1.2739215464724072,0.9668411668568612,2.6809441767041795]},{"frame_idx":10,"position_3d":[1.2643835378166832,0.9643653916730244,2.6619157610688244]},{"frame_idx":11,"position_3d":[1.2548455291609593,0.9618896164891876,2.6428873454334694]},{"frame_idx":12,"position_3d":[1.2453075205052353,0.9594138413053508,2.6238589297981143]},{"frame_idx":13,"position_3d":[1.2357695118495113,0.956938066121514,2.6048305141627592]},{"frame_idx":14,"position_3d":[1.2262315031937874,0.9544622909376772,2.585802098527404]}]}

scenefun3d_test/scenefun3d/scenefun3d_466162_44796576/interval_013/cam_13/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"44796576","intrinsics":{"fx":1597.44,"fy":1597.44,"cx":963.745,"cy":695.431},"T_base_to_cam":[[0.048893411318685076,0.9986171041150831,-0.01932132755342486,3.045553967418251],[0.4147212894998411,-0.03789570409448528,-0.909159044197863,47.66387513732897],[-0.9086339672085841,0.036438921224263676,-0.4160006233827075,24.842703665592097],[0.0,0.0,0.0,1.0]],"extrinsic_source":"scenefun3d_verify_alignment","intrinsic_source":"scenefun3d_pincam","depth_source":"hires_depth_faro","distortion":null},"trajectory_3d":[{"frame_idx":0,"position_3d":[1.4061970252630107,-0.9673009854393939,3.039275830256045]},{"frame_idx":1,"position_3d":[1.4036135522257032,-0.9586142153663013,3.0198580712135574]},{"frame_idx":2,"position_3d":[1.4010300791883956,-0.9499274452932087,3.0004403121710697]},{"frame_idx":3,"position_3d":[1.398446606151088,-0.9412406752201161,2.981022553128582]},{"frame_idx":4,"position_3d":[1.3958631331137805,-0.9325539051470235,2.961604794086094]},{"frame_idx":5,"position_3d":[1.393279660076473,-0.9238671350739309,2.9421870350436063]},{"frame_idx":6,"position_3d":[1.3906961870391654,-0.9151803650008383,2.9227692760011186]},{"frame_idx":7,"position_3d":[1.3881127140018579,-0.9064935949277457,2.903351516958631]},{"frame_idx":8,"position_3d":[1.3855292409645503,-0.8978068248546531,2.883933757916143]},{"frame_idx":9,"position_3d":[1.3829457679272428,-0.8891200547815605,2.8645159988736553]},{"frame_idx":10,"position_3d":[1.3803622948899352,-0.8804332847084679,2.8450982398311675]},{"frame_idx":11,"position_3d":[1.3777788218526277,-0.8717465146353753,2.8256804807886797]},{"frame_idx":12,"position_3d":[1.3751953488153201,-0.8630597445622827,2.806262721746192]},{"frame_idx":13,"position_3d":[1.3726118757780126,-0.8543729744891901,2.786844962703704]},{"frame_idx":14,"position_3d":[1.370028402740705,-0.8456862044160975,2.7674272036612164]}]}

scenefun3d_test/scenefun3d/scenefun3d_466162_44796576/interval_015/cam_22/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"44796576","intrinsics":{"fx":1595.63,"fy":1595.63,"cx":963.381,"cy":695.271},"T_base_to_cam":[[-0.46953350768078084,0.8828753308422781,-0.008332787956036314,2.951686269305011],[0.20470856365284473,0.09967840855710797,-0.9737343676972234,52.04349005696867],[-0.8588554529908811,-0.4589067062679084,-0.22753449367110978,13.898197641998866],[0.0,0.0,0.0,1.0]],"extrinsic_source":"scenefun3d_verify_alignment","intrinsic_source":"scenefun3d_pincam","depth_source":"hires_depth_faro","distortion":null},"trajectory_3d":[{"frame_idx":0,"position_3d":[-0.7414434671081502,0.8221687317879329,2.0623936628213837]},{"frame_idx":1,"position_3d":[-0.7237518346019534,0.8256221329762786,2.0508064356738993]},{"frame_idx":2,"position_3d":[-0.7060602020957565,0.8290755341646243,2.039219208526415]},{"frame_idx":3,"position_3d":[-0.6883685695895596,0.83252893535297,2.0276319813789305]},{"frame_idx":4,"position_3d":[-0.6706769370833627,0.8359823365413157,2.016044754231446]},{"frame_idx":5,"position_3d":[-0.6529853045771659,0.8394357377296614,2.0044575270839617]},{"frame_idx":6,"position_3d":[-0.635293672070969,0.8428891389180071,1.9928702999364774]},{"frame_idx":7,"position_3d":[-0.6176020395647721,0.8463425401063528,1.981283072788993]},{"frame_idx":8,"position_3d":[-0.5999104070585752,0.8497959412946985,1.9696958456415086]},{"frame_idx":9,"position_3d":[-0.5822187745523784,0.8532493424830442,1.9581086184940242]},{"frame_idx":10,"position_3d":[-0.5645271420461815,0.8567027436713899,1.9465213913465398]},{"frame_idx":11,"position_3d":[-0.5468355095399846,0.8601561448597356,1.9349341641990554]},{"frame_idx":12,"position_3d":[-0.5291438770337877,0.8636095460480813,1.923346937051571]},{"frame_idx":13,"position_3d":[-0.5114522445275909,0.867062947236427,1.9117597099040866]},{"frame_idx":14,"position_3d":[-0.49376061202139404,0.8705163484247727,1.9001724827566022]}]}

scenefun3d_test/scenefun3d/scenefun3d_466162_44796576/interval_016/cam_33/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"44796576","intrinsics":{"fx":1597.89,"fy":1597.89,"cx":963.667,"cy":695.292},"T_base_to_cam":[[0.9442317899502808,-0.3290134263586273,0.013285033799138063,-4.806488756505283],[-0.07846273377103055,-0.26399612474637496,-0.9613270231966188,51.42491191120127],[0.31979669519315623,0.9066731557703979,-0.2750888262886789,15.6715501034644],[0.0,0.0,0.0,1.0]],"extrinsic_source":"scenefun3d_verify_alignment","intrinsic_source":"scenefun3d_pincam","depth_source":"hires_depth_faro","distortion":null},"trajectory_3d":[{"frame_idx":0,"position_3d":[0.054939900501304706,0.13922701216871047,1.3509740693120715]},{"frame_idx":1,"position_3d":[0.05429836711854737,0.13879545329801202,1.3524512155026733]},{"frame_idx":2,"position_3d":[0.05383315150931936,0.13834904582144184,1.3539887667409327]},{"frame_idx":3,"position_3d":[0.05355010402983109,0.13789340357202942,1.3555673874279204]},{"frame_idx":4,"position_3d":[0.053452784166365105,0.13743425651543095,1.3571672254925606]},{"frame_idx":5,"position_3d":[0.053542415772670784,0.13697737869228646,1.3587681620429428]},{"frame_idx":6,"position_3d":[0.05381787167929337,0.1365285156063087,1.3603500643730608]},{"frame_idx":7,"position_3d":[0.05427568786838384,0.13609331197124022,1.3618930391432724]},{"frame_idx":8,"position_3d":[0.05491010703573325,0.1356772407253031,1.3633776825505874]},{"frame_idx":9,"position_3d":[0.05571315099221359,0.13528553420582512,1.3647853243427486]},{"frame_idx":10,"position_3d":[0.05667472099413518,0.13492311834956214,1.3660982626074867]},{"frame_idx":11,"position_3d":[0.057782724740807936,0.13459455074618526,1.3672999863843383]},{"frame_idx":12,"position_3d":[0.0590232284422387,0.13430396332394628,1.3683753832995529]},{"frame_idx":13,"position_3d":[0.060380632044624974,0.13405501038828263,1.3693109296129617]},{"frame_idx":14,"position_3d":[0.06183786541008283,0.13385082266680612,1.3700948602868575]}]}

scenefun3d_test/scenefun3d/scenefun3d_467115_47333319/interval_003/cam_13/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"47333319","intrinsics":{"fx":1590.21,"fy":1590.21,"cx":724.161,"cy":964.61},"T_base_to_cam":[[0.252964664936871,-0.9674249634259499,-0.00989032020089431,1.7281205352821811],[-0.3664527135231711,-0.08634983529338824,-0.9264211324750259,-5.930482027629144],[0.8953889026813329,0.23797614604221218,-0.3763589601298398,-1.3831297391198192],[0.0,0.0,0.0,1.0]],"extrinsic_source":"scenefun3d_verify_alignment","intrinsic_source":"scenefun3d_pincam","depth_source":"hires_depth_faro","distortion":null},"trajectory_3d":[{"frame_idx":0,"position_3d":[0.08551426375989912,-0.7723816885617758,3.813098164474326]},{"frame_idx":1,"position_3d":[0.10275453877396633,-0.767762291059061,3.801239928618153]},{"frame_idx":2,"position_3d":[0.11999481378803353,-0.7631428935563462,3.78938169276198]},{"frame_idx":3,"position_3d":[0.13723508880210072,-0.7585234960536315,3.777523456905807]},{"frame_idx":4,"position_3d":[0.15447536381616794,-0.7539040985509167,3.765665221049634]},{"frame_idx":5,"position_3d":[0.17171563883023516,-0.7492847010482019,3.753806985193461]},{"frame_idx":6,"position_3d":[0.18895591384430238,-0.7446653035454871,3.741948749337288]},{"frame_idx":7,"position_3d":[0.2061961888583696,-0.7400459060427723,3.730090513481115]},{"frame_idx":8,"position_3d":[0.22343646387243682,-0.7354265085400575,3.718232277624942]},{"frame_idx":9,"position_3d":[0.24067673888650404,-0.7308071110373427,3.706374041768769]},{"frame_idx":10,"position_3d":[0.25791701390057126,-0.726187713534628,3.694515805912596]},{"frame_idx":11,"position_3d":[0.2751572889146385,-0.7215683160319132,3.6826575700564232]},{"frame_idx":12,"position_3d":[0.2923975639287057,-0.7169489185291984,3.6707993342002503]},{"frame_idx":13,"position_3d":[0.3096378389427729,-0.7123295210264836,3.6589410983440773]},{"frame_idx":14,"position_3d":[0.32687811395684013,-0.7077101235237688,3.6470828624879044]}]}

scenefun3d_test/scenefun3d/scenefun3d_467115_47333319/interval_005/cam_10/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"47333319","intrinsics":{"fx":1592.47,"fy":1592.47,"cx":724.19,"cy":964.261},"T_base_to_cam":[[0.9680461955231722,-0.2507673428366203,0.0015175967095155812,1.209484500519092],[-0.1383891908329486,-0.5392559718516635,-0.8306933421443317,-4.910182779104882],[0.20912913521007426,0.8039395105286087,-0.5567281816266423,-3.66294877273568],[0.0,0.0,0.0,1.0]],"extrinsic_source":"scenefun3d_verify_alignment","intrinsic_source":"scenefun3d_pincam","depth_source":"hires_depth_faro","distortion":null},"trajectory_3d":[{"frame_idx":0,"position_3d":[1.1930559450061409,-0.7434427444764253,2.697299866562062]},{"frame_idx":1,"position_3d":[1.1902352982169373,-0.7318676978411705,2.67948846794905]},{"frame_idx":2,"position_3d":[1.1874146514277337,-0.7202926512059156,2.6616770693360374]},{"frame_idx":3,"position_3d":[1.1845940046385302,-0.7087176045706607,2.643865670723025]},{"frame_idx":4,"position_3d":[1.1817733578493266,-0.6971425579354058,2.6260542721100126]},{"frame_idx":5,"position_3d":[1.178952711060123,-0.6855675113001509,2.6082428734970002]},{"frame_idx":6,"position_3d":[1.1761320642709194,-0.673992464664896,2.590431474883988]},{"frame_idx":7,"position_3d":[1.1733114174817159,-0.6624174180296412,2.5726200762709754]},{"frame_idx":8,"position_3d":[1.1704907706925123,-0.6508423713943863,2.554808677657963]},{"frame_idx":9,"position_3d":[1.1676701239033087,-0.6392673247591314,2.5369972790449506]},{"frame_idx":10,"position_3d":[1.1648494771141051,-0.6276922781238765,2.5191858804319383]},{"frame_idx":11,"position_3d":[1.1620288303249016,-0.6161172314886216,2.501374481818926]},{"frame_idx":12,"position_3d":[1.159208183535698,-0.6045421848533667,2.4835630832059135]},{"frame_idx":13,"position_3d":[1.1563875367464944,-0.5929671382181119,2.465751684592901]},{"frame_idx":14,"position_3d":[1.1535668899572908,-0.581392091582857,2.4479402859798887]}]}

scenefun3d_test/scenefun3d/scenefun3d_467115_47333319/interval_006/cam_8/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"47333319","intrinsics":{"fx":1608.73,"fy":1608.73,"cx":724.279,"cy":964.079},"T_base_to_cam":[[-0.9548160424925511,0.2968680331529207,-0.013989134740185816,0.9937723184136059],[0.1970901384543394,0.5972652584284682,-0.7774507626843161,-6.253634641109632],[-0.22244505461554326,-0.745079580961854,-0.6287882121277371,-2.1915442627692485],[0.0,0.0,0.0,1.0]],"extrinsic_source":"scenefun3d_verify_alignment","intrinsic_source":"scenefun3d_pincam","depth_source":"hires_depth_faro","distortion":null},"trajectory_3d":[{"frame_idx":0,"position_3d":[-0.35842296749888514,0.12380159999927365,1.0535109732224517]},{"frame_idx":1,"position_3d":[-0.35998321369195474,0.13731495003942612,1.0369538395339561]},{"frame_idx":2,"position_3d":[-0.36154345988502434,0.1508283000795786,1.0203967058454606]},{"frame_idx":3,"position_3d":[-0.36310370607809395,0.16434165011973106,1.003839572156965]},{"frame_idx":4,"position_3d":[-0.36466395227116355,0.17785500015988354,0.9872824384684696]},{"frame_idx":5,"position_3d":[-0.36622419846423315,0.191368350200036,0.9707253047799742]},{"frame_idx":6,"position_3d":[-0.36778444465730276,0.20488170024018848,0.9541681710914788]},{"frame_idx":7,"position_3d":[-0.36934469085037236,0.21839505028034095,0.9376110374029833]},{"frame_idx":8,"position_3d":[-0.37090493704344196,0.23190840032049342,0.9210539037144879]},{"frame_idx":9,"position_3d":[-0.37246518323651157,0.2454217503606459,0.9044967700259925]},{"frame_idx":10,"position_3d":[-0.37402542942958117,0.25893510040079837,0.8879396363374971]},{"frame_idx":11,"position_3d":[-0.37558567562265077,0.27244845044095084,0.8713825026490016]},{"frame_idx":12,"position_3d":[-0.3771459218157204,0.2859618004811033,0.8548253689605062]},{"frame_idx":13,"position_3d":[-0.37870616800879,0.2994751505212558,0.8382682352720108]},{"frame_idx":14,"position_3d":[-0.3802664142018596,0.31298850056140826,0.8217111015835153]}]}

scenefun3d_test/scenefun3d/scenefun3d_467115_47333319/interval_007/cam_1/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"47333319","intrinsics":{"fx":1608.28,"fy":1608.28,"cx":724.332,"cy":964.008},"T_base_to_cam":[[-0.87636390680847,0.4803308746360302,-0.035616761711049855,0.1347679681504344],[0.34164032368707653,0.5677893689874851,-0.7489306521272736,-6.105211406744108],[-0.3395116965207312,-0.6685039142265212,-0.6616905051377382,-2.4001729905239517],[0.0,0.0,0.0,1.0]],"extrinsic_source":"scenefun3d_verify_alignment","intrinsic_source":"scenefun3d_pincam","depth_source":"hires_depth_faro","distortion":null},"trajectory_3d":[{"frame_idx":0,"position_3d":[0.10546302725667742,0.22055756628887035,0.9907576455187921]},{"frame_idx":1,"position_3d":[0.10787376915517138,0.2347353908415806,0.9748717622282476]},{"frame_idx":2,"position_3d":[0.11028451105366535,0.24891321539429084,0.958985878937703]},{"frame_idx":3,"position_3d":[0.11269525295215932,0.26309103994700106,0.9430999956471585]},{"frame_idx":4,"position_3d":[0.11510599485065329,0.2772688644997113,0.927214112356614]},{"frame_idx":5,"position_3d":[0.11751673674914725,0.2914466890524215,0.9113282290660695]},{"frame_idx":6,"position_3d":[0.11992747864764122,0.3056245136051317,0.895442345775525]},{"frame_idx":7,"position_3d":[0.12233822054613519,0.3198023381578419,0.8795564624849804]},{"frame_idx":8,"position_3d":[0.12474896244462916,0.33398016271055214,0.8636705791944359]},{"frame_idx":9,"position_3d":[0.12715970434312313,0.34815798726326236,0.8477846959038914]},{"frame_idx":10,"position_3d":[0.1295704462416171,0.3623358118159726,0.8318988126133469]},{"frame_idx":11,"position_3d":[0.13198118814011106,0.3765136363686828,0.8160129293228023]},{"frame_idx":12,"position_3d":[0.13439193003860503,0.390691460921393,0.8001270460322578]},{"frame_idx":13,"position_3d":[0.136802671937099,0.4048692854741032,0.7842411627417133]},{"frame_idx":14,"position_3d":[0.13921341383559296,0.41904711002681344,0.7683552794511688]}]}

scenefun3d_test/scenefun3d/scenefun3d_467115_47333319/interval_009/cam_9/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"47333319","intrinsics":{"fx":1597.89,"fy":1597.89,"cx":724.014,"cy":964.63},"T_base_to_cam":[[0.9783977042402612,0.199391303975062,0.05459890325373727,-0.4600568333661947],[0.05563376463676793,0.00041321030479155724,-0.9984511572879191,-5.643866503464686],[-0.19910503903650267,0.979919862619576,-0.010688604862390372,-2.391469397749083],[0.0,0.0,0.0,1.0]],"extrinsic_source":"scenefun3d_verify_alignment","intrinsic_source":"scenefun3d_pincam","depth_source":"hires_depth_faro","distortion":null},"trajectory_3d":[{"frame_idx":0,"position_3d":[0.0332564506659625,0.24223043169557545,0.9869798735922828]},{"frame_idx":1,"position_3d":[0.011287215763092367,0.23800362142924597,0.9528945673119805]},{"frame_idx":2,"position_3d":[-0.010105202770649885,0.2292681610737413,0.9193032369852183]},{"frame_idx":3,"position_3d":[-0.030651782860032093,0.21613390411146405,0.886628313080999]},{"frame_idx":4,"position_3d":[-0.05009413933902683,0.1987660214443883,0.8552807017258506]},{"frame_idx":5,"position_3d":[-0.06818777329419275,0.17738292427413274,0.8256546173208719]},{"frame_idx":6,"position_3d":[-0.08470514678037268,0.15225351745437532,0.79812262506691]},{"frame_idx":7,"position_3d":[-0.09943854424237458,0.12369381785629595,0.7730309557409926]},{"frame_idx":8,"position_3d":[-0.11220268465859745,0.09206298027306416,0.7506951516434186]},{"frame_idx":9,"position_3d":[-0.12283705155738052,0.05775878083992854,0.7313960984702504]},{"frame_idx":10,"position_3d":[-0.1312079116047682,0.021212614768520897,0.7153764930127122]},{"frame_idx":11,"position_3d":[-0.13720999637877843,-0.01711592869823135,0.7028377911042241]},{"frame_idx":12,"position_3d":[-0.14076782618088737,-0.05674484588749487,0.6939376741964095]},{"frame_idx":13,"position_3d":[-0.14183665923703254,-0.09717578017238135,0.6887880664233524]},{"frame_idx":14,"position_3d":[-0.14040305435138153,-0.13790028909568383,0.6874537270906711]}]}

scenefun3d_test/scenefun3d/scenefun3d_467115_47333319/interval_010/cam_9/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"47333319","intrinsics":{"fx":1600.15,"fy":1600.15,"cx":724.052,"cy":964.69},"T_base_to_cam":[[0.4949582714017942,-0.8689090117959206,0.003665895632047722,0.7729922662538565],[-0.0956690782470116,-0.05868846321585097,-0.993681584690352,-5.353485139604143],[0.8636340295740526,0.4914802066260642,-0.11217606454358275,-3.305268076165599],[0.0,0.0,0.0,1.0]],"extrinsic_source":"scenefun3d_verify_alignment","intrinsic_source":"scenefun3d_pincam","depth_source":"hires_depth_faro","distortion":null},"trajectory_3d":[{"frame_idx":0,"position_3d":[0.10047526919629979,0.07011857640904218,1.1170901412475613]},{"frame_idx":1,"position_3d":[0.12413136716663448,0.07414457247553449,1.0822000122257158]},{"frame_idx":2,"position_3d":[0.14370638270538585,0.07842804757243982,1.0448957051496912]},{"frame_idx":3,"position_3d":[0.15895414863446558,0.08291513451508443,1.0056463433254315]},{"frame_idx":4,"position_3d":[0.16968291545035558,0.08754940558169609,0.964945510250887]},{"frame_idx":5,"position_3d":[0.17575776268537055,0.09227258212474544,0.9233050425171436]},{"frame_idx":6,"position_3d":[0.17710229561082172,0.09702526745875278,0.8812485931663152]},{"frame_idx":7,"position_3d":[0.17369960594505535,0.10174769380807071,0.8393050464507087]},{"frame_idx":8,"position_3d":[0.165592484484905,0.10638047392134095,0.7980018668064855]},{"frame_idx":9,"position_3d":[0.15288288298659347,0.1108653479006375,0.757858465682335]},{"frame_idx":10,"position_3d":[0.13573063206324462,0.11514591585348621,0.7193796696391369]},{"frame_idx":11,"position_3d":[0.11435143122218733,0.11916834715423665,0.6830493718630521]},{"frame_idx":12,"position_3d":[0.08901413631849917,0.12288205739541284,0.6493244469279448]},{"frame_idx":13,"position_3d":[0.06003737853663495,0.12624034451598715,0.6186290053325308]},{"frame_idx":14,"position_3d":[0.02778555741840809,0.12920097610689477,0.5913490600647828]}]}

scenefun3d_test/scenefun3d/scenefun3d_467115_47333319/interval_011/cam_11/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"47333319","intrinsics":{"fx":1585.69,"fy":1585.69,"cx":724.035,"cy":964.247},"T_base_to_cam":[[0.7908675256040752,-0.6118443289527026,0.013231555966853492,0.35167665444734914],[0.1551074268042758,0.17948282180521563,-0.9714564338286062,-5.3911441637936175],[0.5920052728608447,0.7703456586528246,0.23684873463817063,1.985487435939099],[0.0,0.0,0.0,1.0]],"extrinsic_source":"scenefun3d_verify_alignment","intrinsic_source":"scenefun3d_pincam","depth_source":"hires_depth_faro","distortion":null},"trajectory_3d":[{"frame_idx":0,"position_3d":[-0.9878192079726555,1.0196538658918763,3.501809888216669]},{"frame_idx":1,"position_3d":[-0.9768924250391279,1.0074972804747155,3.466087581779995]},{"frame_idx":2,"position_3d":[-0.9661032461923683,0.9912473158639087,3.4319878368924317]},{"frame_idx":3,"position_3d":[-0.9555873516164023,0.9711083247928859,3.399939477631072]},{"frame_idx":4,"position_3d":[-0.9454769847869866,0.94733356675928,3.3703455307085184]},{"frame_idx":5,"position_3d":[-0.9358992894331727,0.9202220231397996,3.3435781571781304]},{"frame_idx":6,"position_3d":[-0.926974710631143,0.8901146373259436,3.319973972292845]},{"frame_idx":7,"position_3d":[-0.9188154801374944,0.8573900271630335,3.299829812373061]},{"frame_idx":8,"position_3d":[-0.9115242050097802,0.8224597236111287,3.283399001917684]},{"frame_idx":9,"position_3d":[-0.9051925772632278,0.785762995504429,3.270888167901568]},{"frame_idx":10,"position_3d":[-0.8999002207904462,0.7477613254908134,3.2624546413214213]},{"frame_idx":11,"position_3d":[-0.8957136900447772,0.7089326066197859,3.258204478667235]},{"frame_idx":12,"position_3d":[-0.8926856330794295,0.6697651325600968,3.2581911282003873]},{"frame_idx":13,"position_3d":[-0.8908541294676617,0.6307514570235448,3.262414757810745]},{"frame_idx":14,"position_3d":[-0.8902422114300552,0.5923821996162638,3.2708222529053512]}]}

scenefun3d_test/scenefun3d/scenefun3d_467115_47333319/interval_012/cam_1/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"47333319","intrinsics":{"fx":1598.34,"fy":1598.34,"cx":724.149,"cy":964.475},"T_base_to_cam":[[0.7438530347331103,-0.6681987244833782,-0.013897025477739855,1.0351993693339259],[0.06397739108846884,0.09188795929944499,-0.9937119785759336,-5.798694778441939],[0.6652740458997749,0.7382865754803958,0.11110074850141383,-1.4285988229633784],[0.0,0.0,0.0,1.0]],"extrinsic_source":"scenefun3d_verify_alignment","intrinsic_source":"scenefun3d_pincam","depth_source":"hires_depth_faro","distortion":null},"trajectory_3d":[{"frame_idx":0,"position_3d":[0.1737807336427606,0.2970069859890643,1.0609591942803491]},{"frame_idx":1,"position_3d":[0.20468790785292146,0.29362061007868145,1.0345366493536832]},{"frame_idx":2,"position_3d":[0.23838265251332086,0.29059887897690007,1.0117242587888091]},{"frame_idx":3,"position_3d":[0.274441236659708,0.2879797927055743,0.9928089016331377]},{"frame_idx":4,"position_3d":[0.3124102026747642,0.2857962877941952,0.9780284494778473]},{"frame_idx":5,"position_3d":[0.35181206878074295,0.2840758230839225,0.9675687750846088]},{"frame_idx":6,"position_3d":[0.3921513336498663,0.28284003441672473,0.9615614149277616]},{"frame_idx":7,"position_3d":[0.4329207076210184,0.2821044625521132,0.9600819150468296]},{"frame_idx":8,"position_3d":[0.4736074921615703,0.2818783577330741,0.9631488810112414]},{"frame_idx":9,"position_3d":[0.5137000273489021,0.282164563358896,0.9707237439444993]},{"frame_idx":10,"position_3d":[0.5526941262908025,0.2829594802277738,0.98271124555018]},{"frame_idx":11,"position_3d":[0.5900994155681739,0.28425311179885976,0.9989606360402813]},{"frame_idx":12,"position_3d":[0.6254455019652989,0.28602918990456505,1.0192675699012743]},{"frame_idx":13,"position_3d":[0.6582878879374567,0.28826537933220586,1.0433766756574996]},{"frame_idx":14,"position_3d":[0.6882135614254512,0.2909335587022623,1.0709847673156436]}]}

scenefun3d_test/scenefun3d/scenefun3d_467115_47333319/interval_013/cam_8/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"47333319","intrinsics":{"fx":1600.6,"fy":1600.6,"cx":724.027,"cy":964.581},"T_base_to_cam":[[0.4634436790204946,-0.8860311491256823,0.012990733427018397,0.9543665657588549],[0.03490673610663597,0.0036054874106939416,-0.9993840704328407,-5.558830654639635],[0.8854385784176848,0.4636116944594413,0.03259939585506372,-2.4106970262526435],[0.0,0.0,0.0,1.0]],"extrinsic_source":"scenefun3d_verify_alignment","intrinsic_source":"scenefun3d_pincam","depth_source":"hires_depth_faro","distortion":null},"trajectory_3d":[{"frame_idx":0,"position_3d":[-0.34521671124845055,0.30746002662871685,0.7788291870804911]},{"frame_idx":1,"position_3d":[-0.33117690626116275,0.30725856124361,0.7670581511299281]},{"frame_idx":2,"position_3d":[-0.31590751916080717,0.3071267285372197,0.7569318271449407]},{"frame_idx":3,"position_3d":[-0.29960057134967555,0.3070661863823198,0.7485775595250699]},{"frame_idx":4,"position_3d":[-0.28246113215800434,0.30707769613163566,0.7421004080328947]},{"frame_idx":5,"position_3d":[-0.2647047399781631,0.3071611130433915,0.7375818266065599]},{"frame_idx":6,"position_3d":[-0.246554691744312,0.30731538810152237,0.7350786390292439]},{"frame_idx":7,"position_3d":[-0.22823923484389502,0.30753858120765976,0.7346223243371145]},{"frame_idx":8,"position_3d":[-0.20998869677431056,0.3078278855789944,0.7362186209521853]},{"frame_idx":9,"position_3d":[-0.19203258864099246,0.3081796630451984,0.7398474545183288]},{"frame_idx":10,"position_3d":[-0.1745967189220938,0.3085894898005282,0.7454631903479526]},{"frame_idx":11,"position_3d":[-0.15790035379585698,0.30905221203574856,0.7529952073046733]},{"frame_idx":12,"position_3d":[-0.14215345974120114,0.30956201075027384,0.762348785905082]},{"frame_idx":13,"position_3d":[-0.1275540630874243,0.3101124749294768,0.7734062994712061]},{"frame_idx":14,"position_3d":[-0.114285759718215,0.3106966821669172,0.7860286933542325]}]}

scenefun3d_test/scenefun3d/scenefun3d_467115_47333319/interval_014/cam_15/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"47333319","intrinsics":{"fx":1592.92,"fy":1592.92,"cx":724.258,"cy":964.387},"T_base_to_cam":[[0.6540253638270633,-0.7560095589994756,-0.02646450778488041,1.2323477361898183],[-0.4006756785557838,-0.3165273020053719,-0.8598078085822798,-5.662643617605153],[0.6416461829425466,0.5729397994437273,-0.5099315269020358,-2.5593580170177717],[0.0,0.0,0.0,1.0]],"extrinsic_source":"scenefun3d_verify_alignment","intrinsic_source":"scenefun3d_pincam","depth_source":"hires_depth_faro","distortion":null},"trajectory_3d":[{"frame_idx":0,"position_3d":[1.4328974603588762,-1.790624895436121,3.792887761683015]},{"frame_idx":1,"position_3d":[1.4577071810929858,-1.7703510645519622,3.7574159891070473]},{"frame_idx":2,"position_3d":[1.4869332161444182,-1.7517263086903168,3.7244955629923737]},{"frame_idx":3,"position_3d":[1.5202080311650612,-1.7349848449624798,3.694540476798262]},{"frame_idx":4,"position_3d":[1.5571131760495327,-1.7203372069884526,3.6679274331139493]},{"frame_idx":5,"position_3d":[1.5971845471880468,-1.7079675973145159,3.6449911064050133]},{"frame_idx":6,"position_3d":[1.6399182238385854,-1.6980315709593343,3.6260199342877857]},{"frame_idx":7,"position_3d":[1.6847768052226115,-1.690654079219341,3.6112524902589707]},{"frame_idx":8,"position_3d":[1.7311961686516657,-1.6859278983336865,3.6008744834955015]},{"frame_idx":9,"position_3d":[1.7785925636974855,-1.6839124627692021,3.595016423453889]},{"frame_idx":10,"position_3d":[1.8263699531923407,-1.6846331177974945,3.5937519786380814]},{"frame_idx":11,"position_3d":[1.8739275087422467,-1.6880808007634487,3.597097050175286]},{"frame_idx":12,"position_3d":[1.9206671664926267,-1.6942121550533757,3.605009571850066]},{"frame_idx":13,"position_3d":[1.9660011481282889,-1.702950075329585,3.6173900391114095]},{"frame_idx":14,"position_3d":[2.0093593525267757,-1.714184677174744,3.6340827604001906]}]}

scenefun3d_test/scenefun3d/scenefun3d_467115_47333319/interval_016/cam_17/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"47333319","intrinsics":{"fx":1589.75,"fy":1589.75,"cx":724.213,"cy":964.365},"T_base_to_cam":[[-0.16696091481112685,-0.9858149164504102,-0.017117342939338254,1.6168013098509728],[-0.523533303262405,0.1033520234881059,-0.8457134500621764,-6.065406690428048],[0.8354860461435527,-0.1322395921983483,-0.5333626880037897,-1.8991433172691288],[0.0,0.0,0.0,1.0]],"extrinsic_source":"scenefun3d_verify_alignment","intrinsic_source":"scenefun3d_pincam","depth_source":"hires_depth_faro","distortion":null},"trajectory_3d":[{"frame_idx":0,"position_3d":[-1.083628367605593,-0.7372755771173978,3.203250438280153]},{"frame_idx":1,"position_3d":[-1.062688964647263,-0.7351548296116003,3.1992221002562617]},{"frame_idx":2,"position_3d":[-1.0417495616889332,-0.7330340821058028,3.1951937622323703]},{"frame_idx":3,"position_3d":[-1.0208101587306033,-0.7309133346000053,3.191165424208479]},{"frame_idx":4,"position_3d":[-0.9998707557722735,-0.7287925870942078,3.1871370861845874]},{"frame_idx":5,"position_3d":[-0.9789313528139436,-0.7266718395884103,3.183108748160696]},{"frame_idx":6,"position_3d":[-0.9579919498556138,-0.7245510920826128,3.1790804101368044]},{"frame_idx":7,"position_3d":[-0.9370525468972839,-0.7224303445768153,3.175052072112913]},{"frame_idx":8,"position_3d":[-0.916113143938954,-0.7203095970710178,3.1710237340890215]},{"frame_idx":9,"position_3d":[-0.8951737409806242,-0.7181888495652203,3.16699539606513]},{"frame_idx":10,"position_3d":[-0.8742343380222943,-0.7160681020594228,3.1629670580412386]},{"frame_idx":11,"position_3d":[-0.8532949350639645,-0.7139473545536253,3.158938720017347]},{"frame_idx":12,"position_3d":[-0.8323555321056346,-0.7118266070478279,3.1549103819934556]},{"frame_idx":13,"position_3d":[-0.8114161291473048,-0.7097058595420304,3.150882043969564]},{"frame_idx":14,"position_3d":[-0.7904767261889749,-0.7075851120362329,3.1468537059456727]}]}

scenefun3d_test/scenefun3d/scenefun3d_467115_47333319/interval_017/cam_7/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"47333319","intrinsics":{"fx":1606.02,"fy":1606.02,"cx":724.211,"cy":964.215},"T_base_to_cam":[[0.9561671224819621,-0.29243722346053463,-0.014996806968748222,1.6163388518612554],[0.043651919112078594,0.19299466800978093,-0.9802283244620241,-5.836996172448703],[0.28954955334518667,0.9366074569714294,0.19730060238913394,-0.4175542179251616],[0.0,0.0,0.0,1.0]],"extrinsic_source":"scenefun3d_verify_alignment","intrinsic_source":"scenefun3d_pincam","depth_source":"hires_depth_faro","distortion":null},"trajectory_3d":[{"frame_idx":0,"position_3d":[0.48112315683563,0.6869425182854778,1.3167245901677653]},{"frame_idx":1,"position_3d":[0.4696728953090952,0.6744969619660074,1.2540222768951086]},{"frame_idx":2,"position_3d":[0.4511380741289993,0.6624878885688686,1.1929499999534918]},{"frame_idx":3,"position_3d":[0.42575177942583586,0.6510663191598571,1.1342757786604163]},{"frame_idx":4,"position_3d":[0.3938332585849684,0.6403758866012402,1.0787374753922185]},{"frame_idx":5,"position_3d":[0.3557839055255281,0.6305510292851759,1.0270335165365703]},{"frame_idx":6,"position_3d":[0.3120822129389861,0.6217153004929287,0.9798141093754171]},{"frame_idx":7,"position_3d":[0.2632777549659309,0.6139798146406703,0.9376730653511487]},{"frame_idx":8,"position_3d":[0.2099842759823799,0.6074418499512264,0.9011403325431734]},{"frame_idx":9,"position_3d":[0.15287197240814787,0.6021836251239823,0.8706753312633368]},{"frame_idx":10,"position_3d":[0.09265906459801121,0.5982712653870335,0.8466611765789385]},{"frame_idx":11,"position_3d":[0.03010276480402528,0.5957539709340762,0.8293998604184717]},{"frame_idx":12,"position_3d":[-0.03401024520788998,0.5946633982034247,0.8191084538479033]},{"frame_idx":13,"position_3d":[-0.09887370713759984,0.5950132617799319,0.8159163772760714]},{"frame_idx":14,"position_3d":[-0.16367192531668098,0.5967991619261276,0.8198637729179525]}]}

scenefun3d_test/scenefun3d/scenefun3d_467115_47333319/interval_019/cam_17/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"47333319","intrinsics":{"fx":1585.69,"fy":1585.69,"cx":724.015,"cy":964.309},"T_base_to_cam":[[0.7882128669173973,-0.6150474678774711,0.02090666600316554,0.39901154067716127],[0.1435118383435471,0.15066937333749966,-0.978112003910258,-5.46652674636107],[0.5984353170402898,0.773960820840174,0.20702613149863788,1.814708528401914],[0.0,0.0,0.0,1.0]],"extrinsic_source":"scenefun3d_verify_alignment","intrinsic_source":"scenefun3d_pincam","depth_source":"hires_depth_faro","distortion":null},"trajectory_3d":[{"frame_idx":0,"position_3d":[-0.3795676334371145,1.5563150349238182,3.314774189746447]},{"frame_idx":1,"position_3d":[-0.35492993259117733,1.5503913472752322,3.2842991857771513]},{"frame_idx":2,"position_3d":[-0.3269724064589963,1.545147333908937,3.2567001042409296]},{"frame_idx":3,"position_3d":[-0.29604663715301804,1.5406489413356612,3.2323240196014598]},{"frame_idx":4,"position_3d":[-0.26254153416581466,1.5369527394520421,3.211477475266417]},{"frame_idx":5,"position_3d":[-0.22687844360756376,1.5341052101413524,3.194422628626261]},{"frame_idx":6,"position_3d":[-0.18950584953424246,1.5321421627368488,3.1813739542729444]},{"frame_idx":7,"position_3d":[-0.15089373400040695,1.5310882836986297,3.1724955468574776]},{"frame_idx":8,"position_3d":[-0.11152766676216647,1.5309568261670756,3.167899057504482]},{"frame_idx":9,"position_3d":[-0.07190269895576612,1.5317494432969194,3.1676422897345162]},{"frame_idx":10,"position_3d":[-0.03251713754231325,1.533456167467866,3.171728472551268]},{"frame_idx":11,"position_3d":[0.006133721191382946,1.536055535633201,3.1801062198349586]},{"frame_idx":12,"position_3d":[0.043563820270995646,1.5395148592300574,3.1926701765526126]},{"frame_idx":13,"position_3d":[0.07930245448314938,1.5437906352570578,3.209262343658729]},{"frame_idx":14,"position_3d":[0.11290018976658772,1.5488290933498001,3.229674065024948]}]}

scenefun3d_test/scenefun3d/scenefun3d_467115_47333319/interval_020/cam_7/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"47333319","intrinsics":{"fx":1595.63,"fy":1595.63,"cx":724.392,"cy":963.934},"T_base_to_cam":[[0.8243889933436216,-0.5645499212566906,-0.04081879546182998,1.6299720875751933],[-0.4121360938586637,-0.5492647191138449,-0.7269471153225053,-3.0002876989107263],[0.3879776124891912,0.616110099532424,-0.6854791882043783,-5.776790926674532],[0.0,0.0,0.0,1.0]],"extrinsic_source":"scenefun3d_verify_alignment","intrinsic_source":"scenefun3d_pincam","depth_source":"hires_depth_faro","distortion":null},"trajectory_3d":[{"frame_idx":0,"position_3d":[0.24274361415905577,-0.2777801070190078,0.650567786643129]},{"frame_idx":1,"position_3d":[0.24899495760844156,-0.24860553509922484,0.61925605088686]},{"frame_idx":2,"position_3d":[0.25041933270299294,-0.21899151779820003,0.5877657210603908]},{"frame_idx":3,"position_3d":[0.2469988270994542,-0.18931046856594683,0.5564928063324045]},{"frame_idx":4,"position_3d":[0.23877645564041347,-0.1599356438179067,0.5258305817505731]},{"frame_idx":5,"position_3d":[0.2258556194176992,-0.1312364490189566,0.49616464257965026]},{"frame_idx":6,"position_3d":[0.20839880544365583,-0.10357379319535397,0.4678680552172892]},{"frame_idx":7,"position_3d":[0.18662554328268635,-0.0772955502943274,0.441296665667634]},{"frame_idx":8,"position_3d":[0.16080964433960593,-0.05273218446734898,0.4167846245713509]},{"frame_idx":9,"position_3d":[0.13127575852235723,-0.030192594291689776,0.3946401850674432]},{"frame_idx":10,"position_3d":[0.0983952915810519,-0.009960228191583546,0.3751418263311756]},{"frame_idx":11,"position_3d":[0.06258173446516811,0.007710480090168628,0.3585347515368679]},{"frame_idx":12,"position_3d":[0.02428546343494798,0.022597311144139952,0.34502780428570784]},{"frame_idx":13,"position_3d":[-0.01601192368138947,0.03451305443228617,0.334790842276292]},{"frame_idx":14,"position_3d":[-0.05780366385976767,0.04330786256908353,0.32795260124551256]}]}

scenefun3d_test/scenefun3d/scenefun3d_467115_47333319/interval_021/cam_9/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"47333319","intrinsics":{"fx":1593.37,"fy":1593.37,"cx":724.153,"cy":964.479},"T_base_to_cam":[[0.8492943579326997,-0.5279101144651899,0.003163009489939528,1.4467140267627847],[-0.2395087496457241,-0.3906438370072614,-0.888837978177905,-5.506657978654571],[0.4704621689645461,0.7541275115347499,-0.458210698172337,-2.561602040289768],[0.0,0.0,0.0,1.0]],"extrinsic_source":"scenefun3d_verify_alignment","intrinsic_source":"scenefun3d_pincam","depth_source":"hires_depth_faro","distortion":null},"trajectory_3d":[{"frame_idx":0,"position_3d":[0.5244432783668773,-0.8356267523053234,3.026168018555174]},{"frame_idx":1,"position_3d":[0.5280822915780378,-0.8262047263101577,3.0072691645564573]},{"frame_idx":2,"position_3d":[0.5317213047891982,-0.8167827003149921,2.9883703105577406]},{"frame_idx":3,"position_3d":[0.5353603180003587,-0.8073606743198265,2.969471456559024]},{"frame_idx":4,"position_3d":[0.5389993312115191,-0.7979386483246609,2.950572602560307]},{"frame_idx":5,"position_3d":[0.5426383444226796,-0.7885166223294953,2.9316737485615905]},{"frame_idx":6,"position_3d":[0.54627735763384,-0.7790945963343296,2.9127748945628738]},{"frame_idx":7,"position_3d":[0.5499163708450004,-0.769672570339164,2.893876040564157]},{"frame_idx":8,"position_3d":[0.5535553840561609,-0.7602505443439984,2.8749771865654403]},{"frame_idx":9,"position_3d":[0.5571943972673213,-0.7508285183488328,2.8560783325667236]},{"frame_idx":10,"position_3d":[0.5608334104784818,-0.7414064923536672,2.837179478568007]},{"frame_idx":11,"position_3d":[0.5644724236896422,-0.7319844663585016,2.81828062456929]},{"frame_idx":12,"position_3d":[0.5681114369008027,-0.722562440363336,2.7993817705705735]},{"frame_idx":13,"position_3d":[0.5717504501119631,-0.7131404143681703,2.7804829165718568]},{"frame_idx":14,"position_3d":[0.5753894633231236,-0.7037183883730047,2.76158406257314]}]}

scenefun3d_test/scenefun3d/scenefun3d_467115_47333319/interval_023/cam_17/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"47333319","intrinsics":{"fx":1609.64,"fy":1609.64,"cx":724.103,"cy":964.679},"T_base_to_cam":[[-0.47700119586735934,-0.8787355421927343,0.0171378536681262,1.6041783354712416],[-0.24215972063057922,0.11265639192161014,-0.9636738073971522,-6.206494429695013],[0.8448837368805417,-0.46382365641097406,-0.2665315870742635,0.35651533569970667],[0.0,0.0,0.0,1.0]],"extrinsic_source":"scenefun3d_verify_alignment","intrinsic_source":"scenefun3d_pincam","depth_source":"hires_depth_faro","distortion":null},"trajectory_3d":[{"frame_idx":0,"position_3d":[-0.2517314057436535,-0.09847286429667523,3.2007082049090863]},{"frame_idx":1,"position_3d":[-0.2730091545833363,-0.09800102782966841,3.1982145232667816]},{"frame_idx":2,"position_3d":[-0.2942869034230191,-0.09752919136266158,3.195720841624477]},{"frame_idx":3,"position_3d":[-0.3155646522627019,-0.09705735489565476,3.193227159982172]},{"frame_idx":4,"position_3d":[-0.3368424011023847,-0.09658551842864793,3.1907334783398675]},{"frame_idx":5,"position_3d":[-0.35812014994206753,-0.0961136819616411,3.188239796697563]},{"frame_idx":6,"position_3d":[-0.37939789878175034,-0.09564184549463428,3.185746115055258]},{"frame_idx":7,"position_3d":[-0.40067564762143315,-0.09517000902762746,3.1832524334129535]},{"frame_idx":8,"position_3d":[-0.42195339646111596,-0.09469817256062063,3.180758751770649]},{"frame_idx":9,"position_3d":[-0.44323114530079877,-0.0942263360936138,3.178265070128344]},{"frame_idx":10,"position_3d":[-0.4645088941404816,-0.09375449962660698,3.1757713884860395]},{"frame_idx":11,"position_3d":[-0.4857866429801644,-0.09328266315960015,3.173277706843735]},{"frame_idx":12,"position_3d":[-0.5070643918198472,-0.09281082669259333,3.17078402520143]},{"frame_idx":13,"position_3d":[-0.52834214065953,-0.0923389902255865,3.1682903435591254]},{"frame_idx":14,"position_3d":[-0.5496198894992128,-0.09186715375857968,3.1657966619168207]}]}

scenefun3d_test/scenefun3d/scenefun3d_467115_47333319/interval_024/cam_13/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"47333319","intrinsics":{"fx":1590.21,"fy":1590.21,"cx":724.168,"cy":964.598},"T_base_to_cam":[[-0.5649754570827047,-0.825076161479235,-0.007215306845903602,1.3406505269418276],[-0.3222747565374558,0.22871261048772795,-0.9186019394180553,-6.4309149083183055],[0.7595667937666264,-0.5166622393426683,-0.39511823071646146,-0.31773548812669805],[0.0,0.0,0.0,1.0]],"extrinsic_source":"scenefun3d_verify_alignment","intrinsic_source":"scenefun3d_pincam","depth_source":"hires_depth_faro","distortion":null},"trajectory_3d":[{"frame_idx":0,"position_3d":[-0.271319749897843,-0.32611783965419416,2.4161848303711384]},{"frame_idx":1,"position_3d":[-0.2922047596251109,-0.3241327565171691,2.411819113121887]},{"frame_idx":2,"position_3d":[-0.31308976935237876,-0.32214767338014405,2.4074533958726354]},{"frame_idx":3,"position_3d":[-0.3339747790796466,-0.320162590243119,2.403087678623384]},{"frame_idx":4,"position_3d":[-0.3548597888069145,-0.31817750710609394,2.3987219613741324]},{"frame_idx":5,"position_3d":[-0.37574479853418236,-0.3161924239690689,2.394356244124881]},{"frame_idx":6,"position_3d":[-0.3966298082614502,-0.3142073408320438,2.3899905268756294]},{"frame_idx":7,"position_3d":[-0.4175148179887181,-0.31222225769501877,2.385624809626378]},{"frame_idx":8,"position_3d":[-0.43839982771598596,-0.3102371745579937,2.3812590923771264]},{"frame_idx":9,"position_3d":[-0.4592848374432538,-0.30825209142096865,2.376893375127875]},{"frame_idx":10,"position_3d":[-0.4801698471705217,-0.3062670082839436,2.3725276578786234]},{"frame_idx":11,"position_3d":[-0.5010548568977896,-0.30428192514691854,2.368161940629372]},{"frame_idx":12,"position_3d":[-0.5219398666250575,-0.3022968420098935,2.3637962233801204]},{"frame_idx":13,"position_3d":[-0.5428248763523255,-0.30031175887286843,2.359430506130869]},{"frame_idx":14,"position_3d":[-0.5637098860795934,-0.29832667573584337,2.3550647888816174]}]}

scenefun3d_test/scenefun3d/scenefun3d_467115_47333319/interval_025/cam_13/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"47333319","intrinsics":{"fx":1589.75,"fy":1589.75,"cx":724.238,"cy":964.455},"T_base_to_cam":[[0.4679715168230756,-0.8830254763549725,-0.035618359737412786,1.5524479297737779],[-0.4383188300469145,-0.1969184643881357,-0.8769833074861362,-5.705958011390644],[0.7673846901447892,0.4260154064010977,-0.4791989261677176,-2.4104542177948027],[0.0,0.0,0.0,1.0]],"extrinsic_source":"scenefun3d_verify_alignment","intrinsic_source":"scenefun3d_pincam","depth_source":"hires_depth_faro","distortion":null},"trajectory_3d":[{"frame_idx":0,"position_3d":[0.7945495634491174,-1.4457636849355042,3.5628000706370346]},{"frame_idx":1,"position_3d":[0.8084008319969311,-1.4383720953988413,3.5482161604203872]},{"frame_idx":2,"position_3d":[0.8222521005447448,-1.4309805058621783,3.53363225020374]},{"frame_idx":3,"position_3d":[0.8361033690925586,-1.4235889163255153,3.5190483399870924]},{"frame_idx":4,"position_3d":[0.8499546376403723,-1.4161973267888524,3.504464429770445]},{"frame_idx":5,"position_3d":[0.863805906188186,-1.4088057372521894,3.4898805195537976]},{"frame_idx":6,"position_3d":[0.8776571747359997,-1.4014141477155264,3.4752966093371502]},{"frame_idx":7,"position_3d":[0.8915084432838134,-1.3940225581788634,3.460712699120503]},{"frame_idx":8,"position_3d":[0.9053597118316271,-1.3866309686422005,3.4461287889038554]},{"frame_idx":9,"position_3d":[0.9192109803794408,-1.3792393791055375,3.431544878687208]},{"frame_idx":10,"position_3d":[0.9330622489272545,-1.3718477895688745,3.4169609684705606]},{"frame_idx":11,"position_3d":[0.9469135174750682,-1.3644562000322116,3.4023770582539132]},{"frame_idx":12,"position_3d":[0.960764786022882,-1.3570646104955486,3.387793148037266]},{"frame_idx":13,"position_3d":[0.9746160545706957,-1.3496730209588856,3.3732092378206184]},{"frame_idx":14,"position_3d":[0.9884673231185094,-1.3422814314222227,3.358625327603971]}]}

scenefun3d_test/scenefun3d/scenefun3d_467115_47333319/interval_026/cam_19/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"47333319","intrinsics":{"fx":1608.73,"fy":1608.73,"cx":724.072,"cy":964.469},"T_base_to_cam":[[0.9461318804075138,-0.32320965749899877,0.019234920741243472,-0.16426604149956164],[0.05858131506475339,0.11245326220803764,-0.9919286735164249,-5.661213438262915],[0.31843789724501403,0.9396221480564143,0.12532966320876976,0.973545247128325],[0.0,0.0,0.0,1.0]],"extrinsic_source":"scenefun3d_verify_alignment","intrinsic_source":"scenefun3d_pincam","depth_source":"hires_depth_faro","distortion":null},"trajectory_3d":[{"frame_idx":0,"position_3d":[-1.2867990199617714,1.207696606199491,3.1275482328702]},{"frame_idx":1,"position_3d":[-1.28784493631774,1.2050206674290211,3.106313142002902]},{"frame_idx":2,"position_3d":[-1.2888908526737086,1.2023447286585514,3.085078051135604]},{"frame_idx":3,"position_3d":[-1.2899367690296772,1.1996687898880816,3.063842960268306]},{"frame_idx":4,"position_3d":[-1.2909826853856459,1.1969928511176118,3.042607869401008]},{"frame_idx":5,"position_3d":[-1.2920286017416145,1.194316912347142,3.02137277853371]},{"frame_idx":6,"position_3d":[-1.2930745180975831,1.1916409735766722,3.000137687666412]},{"frame_idx":7,"position_3d":[-1.2941204344535517,1.1889650348062024,2.978902596799114]},{"frame_idx":8,"position_3d":[-1.2951663508095204,1.1862890960357326,2.957667505931816]},{"frame_idx":9,"position_3d":[-1.296212267165489,1.1836131572652628,2.936432415064518]},{"frame_idx":10,"position_3d":[-1.2972581835214576,1.180937218494793,2.9151973241972198]},{"frame_idx":11,"position_3d":[-1.2983040998774262,1.1782612797243233,2.8939622333299218]},{"frame_idx":12,"position_3d":[-1.2993500162333949,1.1755853409538535,2.8727271424626237]},{"frame_idx":13,"position_3d":[-1.3003959325893635,1.1729094021833837,2.8514920515953257]},{"frame_idx":14,"position_3d":[-1.301441848945332,1.170233463412914,2.8302569607280277]}]}

scenefun3d_test/scenefun3d/scenefun3d_467115_47333319/interval_027/cam_19/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"47333319","intrinsics":{"fx":1608.73,"fy":1608.73,"cx":724.121,"cy":964.236},"T_base_to_cam":[[0.869043017518393,-0.49473632990266525,-0.0004444963073636232,-0.23584187899615394],[0.12098123029512442,0.21338398543487985,-0.9694487179197284,-5.438882069158094],[0.4797163491260269,0.8424388634401716,0.2452936724557478,1.6212317554606623],[0.0,0.0,0.0,1.0]],"extrinsic_source":"scenefun3d_verify_alignment","intrinsic_source":"scenefun3d_pincam","depth_source":"hires_depth_faro","distortion":null},"trajectory_3d":[{"frame_idx":0,"position_3d":[-1.0280346310940067,1.6300904199905037,2.7804044620352473]},{"frame_idx":1,"position_3d":[-1.025214435780697,1.6245916900497477,2.759886320284523]},{"frame_idx":2,"position_3d":[-1.0223942404673871,1.6190929601089916,2.739368178533799]},{"frame_idx":3,"position_3d":[-1.0195740451540773,1.6135942301682356,2.718850036783075]},{"frame_idx":4,"position_3d":[-1.0167538498407676,1.6080955002274795,2.698331895032351]},{"frame_idx":5,"position_3d":[-1.0139336545274578,1.6025967702867234,2.677813753281627]},{"frame_idx":6,"position_3d":[-1.011113459214148,1.5970980403459674,2.6572956115309028]},{"frame_idx":7,"position_3d":[-1.0082932639008382,1.5915993104052113,2.6367774697801787]},{"frame_idx":8,"position_3d":[-1.0054730685875284,1.5861005804644552,2.6162593280294546]},{"frame_idx":9,"position_3d":[-1.0026528732742186,1.5806018505236992,2.5957411862787305]},{"frame_idx":10,"position_3d":[-0.9998326779609088,1.575103120582943,2.5752230445280064]},{"frame_idx":11,"position_3d":[-0.997012482647599,1.569604390642187,2.5547049027772823]},{"frame_idx":12,"position_3d":[-0.9941922873342892,1.564105660701431,2.5341867610265583]},{"frame_idx":13,"position_3d":[-0.9913720920209794,1.558606930760675,2.513668619275834]},{"frame_idx":14,"position_3d":[-0.9885518967076696,1.5531082008199188,2.49315047752511]}]}

scenefun3d_test/scenefun3d/scenefun3d_467115_47333319/interval_028/cam_18/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"47333319","intrinsics":{"fx":1583.43,"fy":1583.43,"cx":724.19,"cy":964.529},"T_base_to_cam":[[-0.6277835489740465,-0.7781207031413018,-0.02039575888357603,0.9680041368654916],[-0.31551625261967925,0.2783354482426449,-0.9071818299461252,-6.800874365456077],[0.7115738260858009,-0.563078635356068,-0.4202441438439833,-0.3002959380065521],[0.0,0.0,0.0,1.0]],"extrinsic_source":"scenefun3d_verify_alignment","intrinsic_source":"scenefun3d_pincam","depth_source":"hires_depth_faro","distortion":null},"trajectory_3d":[{"frame_idx":0,"position_3d":[-0.7750058490634996,-1.0663659025795411,3.1009157501291615]},{"frame_idx":1,"position_3d":[-0.8010767540324971,-1.064238993963131,3.0975896907905267]},{"frame_idx":2,"position_3d":[-0.8274216417701012,-1.063344562561528,3.096937479590035]},{"frame_idx":3,"position_3d":[-0.8537092100273516,-1.063693856368569,3.0989673184619533]},{"frame_idx":4,"position_3d":[-0.8796088773810108,-1.0652824828119651,3.103653681004728]},{"frame_idx":5,"position_3d":[-0.9047949404867697,-1.0680904639924482,3.1109376334902934]},{"frame_idx":6,"position_3d":[-0.928950669987779,-1.072082487917445,3.120727575989895]},{"frame_idx":7,"position_3d":[-0.951772293570083,-1.0772083525698726,3.1329003942963434]},{"frame_idx":8,"position_3d":[-0.9729728160757196,-1.0834035972276306,3.1473030081566016]},{"frame_idx":9,"position_3d":[-0.9922856286333509,-1.090590313094583,3.1637542963447856]},{"frame_idx":10,"position_3d":[-1.0094678614195096,-1.0986781230488734,3.182047374366669]},{"frame_idx":11,"position_3d":[-1.0243034378875464,-1.1075653181876697,3.2019521961522357]},{"frame_idx":12,"position_3d":[-1.0366057920555736,-1.117140136875631,3.2232184470184855]},{"frame_idx":13,"position_3d":[-1.0462202146819362,-1.127282170212317,3.2455786915218092]},{"frame_idx":14,"position_3d":[-1.0530257988236895,-1.137863876243974,3.2687517366138614]}]}

scenefun3d_test/scenefun3d/scenefun3d_467115_47333319/interval_030/cam_1/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"47333319","intrinsics":{"fx":1609.19,"fy":1609.19,"cx":724.262,"cy":964.486},"T_base_to_cam":[[-0.864830117362549,0.5013922143665487,-0.025975285855759533,0.18619242241304387],[0.2567865933962563,0.39727683031450745,-0.8810401611431812,-6.3926146742381516],[-0.43142729811015124,-0.7686201711299708,-0.47232776646890934,-0.801611934790955],[0.0,0.0,0.0,1.0]],"extrinsic_source":"scenefun3d_verify_alignment","intrinsic_source":"scenefun3d_pincam","depth_source":"hires_depth_faro","distortion":null},"trajectory_3d":[{"frame_idx":0,"position_3d":[0.05755990333869773,0.21248810802704643,0.860867883009084]},{"frame_idx":1,"position_3d":[0.0648639030827087,0.2259234118703891,0.8354051289679684]},{"frame_idx":2,"position_3d":[0.07534426695643096,0.23881391956154918,0.8107839098771045]},{"frame_idx":3,"position_3d":[0.08886919830330367,0.25099752548706356,0.787313851852124]},{"frame_idx":4,"position_3d":[0.10526861326429197,0.26232101373332606,0.7652901044903359]},{"frame_idx":5,"position_3d":[0.12433627968109924,0.272641984865599,0.7449896291932905]},{"frame_idx":6,"position_3d":[0.14583241058521637,0.2818306466835271,0.7266677162164583]},{"frame_idx":7,"position_3d":[0.1694866796581784,0.28977144643336417,0.7105547742461445]},{"frame_idx":8,"position_3d":[0.19500162074186628,0.2963645239508967,0.6968534328765726]},{"frame_idx":9,"position_3d":[0.22205636864803893,0.301526967460949,0.6857359944251683]},{"frame_idx":10,"position_3d":[0.2503106942242459,0.30519385624106266,0.677342267130946]},{"frame_idx":11,"position_3d":[0.2794092829328248,0.30731907703724937,0.6717778069847846]},{"frame_idx":12,"position_3d":[0.30898620313737085,0.3078759039649152,0.6691125903015971]},{"frame_idx":13,"position_3d":[0.338669507905383,0.3068573346023663,0.6693801337275692]},{"frame_idx":14,"position_3d":[0.36808591245674904,0.3042761780503244,0.6725770727488871]}]}

scenefun3d_test/scenefun3d/scenefun3d_467115_47333319/interval_031/cam_9/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"47333319","intrinsics":{"fx":1598.79,"fy":1598.79,"cx":724.309,"cy":964.348},"T_base_to_cam":[[0.5998366662753949,-0.799689681097443,-0.026313261635348584,-0.33030893079469126],[-0.4537475968674358,-0.31289496300894576,-0.834391910591574,-3.2115879343120772],[0.659021313865225,0.5124384412491907,-0.5505431425433001,-6.060310722784311],[0.0,0.0,0.0,1.0]],"extrinsic_source":"scenefun3d_verify_alignment","intrinsic_source":"scenefun3d_pincam","depth_source":"hires_depth_faro","distortion":null},"trajectory_3d":[{"frame_idx":0,"position_3d":[0.27944173909121117,-0.3138770102630737,1.0401929766980897]},{"frame_idx":1,"position_3d":[0.26112753828266294,-0.30704504496375445,1.0314124315918645]},{"frame_idx":2,"position_3d":[0.24281333747411474,-0.3002130796644352,1.0226318864856392]},{"frame_idx":3,"position_3d":[0.22449913666556653,-0.293381114365116,1.013851341379414]},{"frame_idx":4,"position_3d":[0.20618493585701833,-0.28654914906579676,1.0050707962731886]},{"frame_idx":5,"position_3d":[0.18787073504847013,-0.27971718376647753,0.9962902511669633]},{"frame_idx":6,"position_3d":[0.16955653423992192,-0.2728852184671583,0.9875097060607381]},{"frame_idx":7,"position_3d":[0.15124233343137372,-0.26605325316783907,0.9787291609545128]},{"frame_idx":8,"position_3d":[0.13292813262282552,-0.25922128786851983,0.9699486158482875]},{"frame_idx":9,"position_3d":[0.11461393181427731,-0.2523893225692006,0.9611680707420622]},{"frame_idx":10,"position_3d":[0.09629973100572911,-0.24555735726988137,0.952387525635837]},{"frame_idx":11,"position_3d":[0.07798553019718091,-0.23872539197056214,0.9436069805296117]},{"frame_idx":12,"position_3d":[0.059671329388632705,-0.2318934266712429,0.9348264354233864]},{"frame_idx":13,"position_3d":[0.0413571285800845,-0.22506146137192368,0.9260458903171611]},{"frame_idx":14,"position_3d":[0.023042927771536294,-0.21822949607260445,0.9172653452109358]}]}

scenefun3d_test/scenefun3d/scenefun3d_467115_47333319/interval_032/cam_1/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"47333319","intrinsics":{"fx":1596.98,"fy":1596.98,"cx":724.148,"cy":964.688},"T_base_to_cam":[[0.6661712343683192,-0.7457963506428467,-0.0019209029133300248,1.3203770739287057],[-0.20924244289341515,-0.1844292022812468,-0.9603142555631978,-5.086689845911203],[0.7158445966773698,0.6401356674281751,-0.2789136796467659,-3.5474914598486285],[0.0,0.0,0.0,1.0]],"extrinsic_source":"scenefun3d_verify_alignment","intrinsic_source":"scenefun3d_pincam","depth_source":"hires_depth_faro","distortion":null},"trajectory_3d":[{"frame_idx":0,"position_3d":[0.04169938989473554,0.12028722079428977,1.4204446734296798]},{"frame_idx":1,"position_3d":[0.05138937645705411,0.12558387731819526,1.4020807614401487]},{"frame_idx":2,"position_3d":[0.06107936301937268,0.13088053384210074,1.3837168494506176]},{"frame_idx":3,"position_3d":[0.07076934958169126,0.13617719036600623,1.3653529374610864]},{"frame_idx":4,"position_3d":[0.08045933614400984,0.14147384688991171,1.3469890254715553]},{"frame_idx":5,"position_3d":[0.09014932270632842,0.1467705034138172,1.3286251134820242]},{"frame_idx":6,"position_3d":[0.099839309268647,0.15206715993772268,1.310261201492493]},{"frame_idx":7,"position_3d":[0.10952929583096557,0.15736381646162817,1.291897289502962]},{"frame_idx":8,"position_3d":[0.11921928239328415,0.16266047298553366,1.2735333775134308]},{"frame_idx":9,"position_3d":[0.12890926895560273,0.16795712950943914,1.2551694655238996]},{"frame_idx":10,"position_3d":[0.1385992555179213,0.17325378603334463,1.2368055535343685]},{"frame_idx":11,"position_3d":[0.14828924208023986,0.1785504425572501,1.2184416415448374]},{"frame_idx":12,"position_3d":[0.15797922864255842,0.1838470990811556,1.2000777295553062]},{"frame_idx":13,"position_3d":[0.167669215204877,0.18914375560506108,1.181713817565775]},{"frame_idx":14,"position_3d":[0.17735920176719555,0.19444041212896657,1.163349905576244]}]}

scenefun3d_test/scenefun3d/scenefun3d_467115_47333319/interval_033/cam_6/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"47333319","intrinsics":{"fx":1595.63,"fy":1595.63,"cx":724.298,"cy":964.451},"T_base_to_cam":[[-0.995193421212662,0.08973503833259763,-0.039213228258898725,2.5719287269169318],[0.07894364651484573,0.4981867929998651,-0.8634684823173621,-6.243643601513687],[-0.057947864930265935,-0.8624137882570969,-0.5028762300746248,-1.703887623728169],[0.0,0.0,0.0,1.0]],"extrinsic_source":"scenefun3d_verify_alignment","intrinsic_source":"scenefun3d_pincam","depth_source":"hires_depth_faro","distortion":null},"trajectory_3d":[{"frame_idx":0,"position_3d":[-0.23465815464236073,-0.36720240154341344,0.6321286082390536]},{"frame_idx":1,"position_3d":[-0.21418299937997606,-0.3641734373111407,0.6265809000518612]},{"frame_idx":2,"position_3d":[-0.1937078441175914,-0.361144473078868,0.6210331918646688]},{"frame_idx":3,"position_3d":[-0.17323268885520673,-0.35811550884659527,0.6154854836774764]},{"frame_idx":4,"position_3d":[-0.15275753359282207,-0.35508654461432254,0.6099377754902839]},{"frame_idx":5,"position_3d":[-0.1322823783304374,-0.3520575803820498,0.6043900673030915]},{"frame_idx":6,"position_3d":[-0.11180722306805274,-0.3490286161497771,0.5988423591158991]},{"frame_idx":7,"position_3d":[-0.09133206780566808,-0.34599965191750437,0.5932946509287067]},{"frame_idx":8,"position_3d":[-0.07085691254328341,-0.34297068768523165,0.5877469427415143]},{"frame_idx":9,"position_3d":[-0.05038175728089875,-0.3399417234529589,0.5821992345543219]},{"frame_idx":10,"position_3d":[-0.02990660201851408,-0.3369127592206862,0.5766515263671295]},{"frame_idx":11,"position_3d":[-0.009431446756129412,-0.3338837949884135,0.571103818179937]},{"frame_idx":12,"position_3d":[0.011043708506255256,-0.33085483075614075,0.5655561099927446]},{"frame_idx":13,"position_3d":[0.031518863768639924,-0.327825866523868,0.5600084018055522]},{"frame_idx":14,"position_3d":[0.05199401903102459,-0.3247969022915953,0.5544606936183598]}]}

scenefun3d_test/scenefun3d/scenefun3d_467115_47333319/interval_035/cam_1/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"47333319","intrinsics":{"fx":1596.98,"fy":1596.98,"cx":724.148,"cy":964.688},"T_base_to_cam":[[0.6661712343683192,-0.7457963506428467,-0.0019209029133300248,1.3203770739287057],[-0.20924244289341515,-0.1844292022812468,-0.9603142555631978,-5.086689845911203],[0.7158445966773698,0.6401356674281751,-0.2789136796467659,-3.5474914598486285],[0.0,0.0,0.0,1.0]],"extrinsic_source":"scenefun3d_verify_alignment","intrinsic_source":"scenefun3d_pincam","depth_source":"hires_depth_faro","distortion":null},"trajectory_3d":[{"frame_idx":0,"position_3d":[0.03836991204466744,0.08648393051850523,1.4095812223942534]},{"frame_idx":1,"position_3d":[0.048059898606986014,0.0917805870424107,1.3912173104047223]},{"frame_idx":2,"position_3d":[0.057749885169304585,0.09707724356631617,1.3728533984151912]},{"frame_idx":3,"position_3d":[0.06743987173162316,0.10237390009022164,1.35448948642566]},{"frame_idx":4,"position_3d":[0.07712985829394174,0.10767055661412711,1.336125574436129]},{"frame_idx":5,"position_3d":[0.08681984485626032,0.11296721313803258,1.3177616624465978]},{"frame_idx":6,"position_3d":[0.0965098314185789,0.11826386966193805,1.2993977504570666]},{"frame_idx":7,"position_3d":[0.10619981798089748,0.12356052618584352,1.2810338384675355]},{"frame_idx":8,"position_3d":[0.11588980454321605,0.128857182709749,1.2626699264780044]},{"frame_idx":9,"position_3d":[0.12557979110553463,0.13415383923365448,1.2443060144884732]},{"frame_idx":10,"position_3d":[0.1352697776678532,0.13945049575755997,1.225942102498942]},{"frame_idx":11,"position_3d":[0.14495976423017176,0.14474715228146545,1.207578190509411]},{"frame_idx":12,"position_3d":[0.15464975079249033,0.15004380880537094,1.1892142785198798]},{"frame_idx":13,"position_3d":[0.1643397373548089,0.15534046532927642,1.1708503665303487]},{"frame_idx":14,"position_3d":[0.17402972391712745,0.1606371218531819,1.1524864545408176]}]}

scenefun3d_test/scenefun3d/scenefun3d_467115_47333319/interval_036/cam_6/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"47333319","intrinsics":{"fx":1605.12,"fy":1605.12,"cx":724.132,"cy":964.674},"T_base_to_cam":[[0.9552007203707307,-0.29588426927429334,0.006639502937324349,-1.1863923879790654],[-0.01601338001479749,-0.07407086086714727,-0.9971244050924143,-5.561245767400622],[0.2955252196746311,0.9523476291598657,-0.07549064690306917,-2.8068804733087513],[0.0,0.0,0.0,1.0]],"extrinsic_source":"scenefun3d_verify_alignment","intrinsic_source":"scenefun3d_pincam","depth_source":"hires_depth_faro","distortion":null},"trajectory_3d":[{"frame_idx":0,"position_3d":[-0.14450576047279284,-0.03031824882093037,0.8289521759622631]},{"frame_idx":1,"position_3d":[-0.14617532978969064,-0.028567520016324743,0.8076606010928885]},{"frame_idx":2,"position_3d":[-0.14784489910658843,-0.026816791211719114,0.7863690262235139]},{"frame_idx":3,"position_3d":[-0.14951446842348623,-0.025066062407113485,0.7650774513541393]},{"frame_idx":4,"position_3d":[-0.15118403774038403,-0.023315333602507857,0.7437858764847647]},{"frame_idx":5,"position_3d":[-0.15285360705728182,-0.021564604797902228,0.7224943016153901]},{"frame_idx":6,"position_3d":[-0.15452317637417962,-0.0198138759932966,0.7012027267460155]},{"frame_idx":7,"position_3d":[-0.1561927456910774,-0.01806314718869097,0.6799111518766409]},{"frame_idx":8,"position_3d":[-0.1578623150079752,-0.016312418384085342,0.6586195770072663]},{"frame_idx":9,"position_3d":[-0.159531884324873,-0.014561689579479713,0.6373280021378916]},{"frame_idx":10,"position_3d":[-0.1612014536417708,-0.012810960774874085,0.616036427268517]},{"frame_idx":11,"position_3d":[-0.1628710229586686,-0.011060231970268456,0.5947448523991424]},{"frame_idx":12,"position_3d":[-0.1645405922755664,-0.009309503165662827,0.5734532775297678]},{"frame_idx":13,"position_3d":[-0.16621016159246418,-0.0075587743610572,0.5521617026603932]},{"frame_idx":14,"position_3d":[-0.16787973090936198,-0.005808045556451572,0.5308701277910186]}]}

scenefun3d_test/scenefun3d/scenefun3d_467115_47333319/interval_037/cam_1/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"47333319","intrinsics":{"fx":1596.98,"fy":1596.98,"cx":724.24,"cy":964.628},"T_base_to_cam":[[0.8130423670293503,-0.5821886075183728,-0.004305193506650651,1.9944006185747027],[-0.21879608174523016,-0.2986854233740756,-0.9289323400962979,-4.7143304289922865],[0.5395279270142057,0.7562033080724175,-0.37022448977895356,-3.843584269303162],[0.0,0.0,0.0,1.0]],"extrinsic_source":"scenefun3d_verify_alignment","intrinsic_source":"scenefun3d_pincam","depth_source":"hires_depth_faro","distortion":null},"trajectory_3d":[{"frame_idx":0,"position_3d":[0.3726656452633541,0.15680182896528105,1.124914856026554]},{"frame_idx":1,"position_3d":[0.37755561711321434,0.16453145388362908,1.1055363951124717]},{"frame_idx":2,"position_3d":[0.38244558896307457,0.1722610788019771,1.0861579341983894]},{"frame_idx":3,"position_3d":[0.3873355608129348,0.17999070372032513,1.066779473284307]},{"frame_idx":4,"position_3d":[0.39222553266279503,0.18772032863867316,1.0474010123702246]},{"frame_idx":5,"position_3d":[0.39711550451265526,0.1954499535570212,1.0280225514561423]},{"frame_idx":6,"position_3d":[0.4020054763625155,0.20317957847536922,1.00864409054206]},{"frame_idx":7,"position_3d":[0.4068954482123757,0.21090920339371724,0.9892656296279776]},{"frame_idx":8,"position_3d":[0.41178542006223595,0.21863882831206527,0.9698871687138952]},{"frame_idx":9,"position_3d":[0.4166753919120962,0.2263684532304133,0.9505087077998129]},{"frame_idx":10,"position_3d":[0.4215653637619564,0.23409807814876132,0.9311302468857305]},{"frame_idx":11,"position_3d":[0.42645533561181664,0.24182770306710935,0.9117517859716482]},{"frame_idx":12,"position_3d":[0.4313453074616769,0.24955732798545738,0.8923733250575658]},{"frame_idx":13,"position_3d":[0.4362352793115371,0.2572869529038054,0.8729948641434835]},{"frame_idx":14,"position_3d":[0.44112525116139734,0.2650165778221534,0.8536164032294011]}]}

scenefun3d_test/scenefun3d/scenefun3d_467115_47333319/interval_038/cam_16/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"47333319","intrinsics":{"fx":1597.44,"fy":1597.44,"cx":724.115,"cy":964.575},"T_base_to_cam":[[-0.700004517582046,-0.7141355787913117,0.0020125777314610183,1.1758004370141297],[-0.2873364319308655,0.2790684753975987,-0.9162742825838226,-6.523972293958595],[0.6537824181254541,-0.6419744240572656,-0.4005463626178324,-0.15932057901669938],[0.0,0.0,0.0,1.0]],"extrinsic_source":"scenefun3d_verify_alignment","intrinsic_source":"scenefun3d_pincam","depth_source":"hires_depth_faro","distortion":null},"trajectory_3d":[{"frame_idx":0,"position_3d":[0.47047226902210126,-0.23464264574628046,1.7862132000530178]},{"frame_idx":1,"position_3d":[0.47051539568777545,-0.25427709465879095,1.777630063711207]},{"frame_idx":2,"position_3d":[0.47055852235344964,-0.27391154357130143,1.7690469273693963]},{"frame_idx":3,"position_3d":[0.4706016490191238,-0.2935459924838119,1.7604637910275855]},{"frame_idx":4,"position_3d":[0.470644775684798,-0.3131804413963224,1.7518806546857748]},{"frame_idx":5,"position_3d":[0.4706879023504722,-0.3328148903088329,1.743297518343964]},{"frame_idx":6,"position_3d":[0.4707310290161464,-0.35244933922134336,1.7347143820021533]},{"frame_idx":7,"position_3d":[0.47077415568182057,-0.37208378813385384,1.7261312456603426]},{"frame_idx":8,"position_3d":[0.47081728234749476,-0.3917182370463643,1.7175481093185319]},{"frame_idx":9,"position_3d":[0.47086040901316895,-0.4113526859588748,1.7089649729767211]},{"frame_idx":10,"position_3d":[0.47090353567884313,-0.4309871348713853,1.7003818366349104]},{"frame_idx":11,"position_3d":[0.4709466623445173,-0.4506215837838958,1.6917987002930996]},{"frame_idx":12,"position_3d":[0.4709897890101915,-0.47025603269640626,1.683215563951289]},{"frame_idx":13,"position_3d":[0.4710329156758657,-0.48989048160891674,1.6746324276094782]},{"frame_idx":14,"position_3d":[0.4710760423415399,-0.5095249305214272,1.6660492912676674]}]}

scenefun3d_test/scenefun3d/scenefun3d_467115_47333319/interval_039/cam_12/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"47333319","intrinsics":{"fx":1607.38,"fy":1607.38,"cx":724.177,"cy":964.679},"T_base_to_cam":[[0.762754741241851,0.6466834362410164,-0.002395413239549171,-0.15328757078050695],[0.1969738647664063,-0.2358530562394536,-0.9516168517115986,-6.0338774030137285],[-0.6159598211832185,0.7253784316851586,-0.307277772599837,-1.6741003867362558],[0.0,0.0,0.0,1.0]],"extrinsic_source":"scenefun3d_verify_alignment","intrinsic_source":"scenefun3d_pincam","depth_source":"hires_depth_faro","distortion":null},"trajectory_3d":[{"frame_idx":0,"position_3d":[1.1161542643818032,-1.3682006784996936,3.2533508969397307]},{"frame_idx":1,"position_3d":[1.0981924926003128,-1.364606447601867,3.2422315474896886]},{"frame_idx":2,"position_3d":[1.0802307208188224,-1.3610122167040402,3.2311121980396464]},{"frame_idx":3,"position_3d":[1.062268949037332,-1.3574179858062134,3.2199928485896043]},{"frame_idx":4,"position_3d":[1.0443071772558417,-1.3538237549083867,3.208873499139562]},{"frame_idx":5,"position_3d":[1.0263454054743513,-1.35022952401056,3.19775414968952]},{"frame_idx":6,"position_3d":[1.0083836336928609,-1.3466352931127332,3.186634800239478]},{"frame_idx":7,"position_3d":[0.9904218619113704,-1.3430410622149065,3.175515450789436]},{"frame_idx":8,"position_3d":[0.9724600901298799,-1.3394468313170798,3.1643961013393938]},{"frame_idx":9,"position_3d":[0.9544983183483894,-1.335852600419253,3.1532767518893516]},{"frame_idx":10,"position_3d":[0.9365365465668989,-1.3322583695214263,3.1421574024393095]},{"frame_idx":11,"position_3d":[0.9185747747854084,-1.3286641386235996,3.1310380529892674]},{"frame_idx":12,"position_3d":[0.9006130030039179,-1.3250699077257728,3.1199187035392253]},{"frame_idx":13,"position_3d":[0.8826512312224274,-1.321475676827946,3.108799354089183]},{"frame_idx":14,"position_3d":[0.8646894594409369,-1.3178814459301194,3.097680004639141]}]}

scenefun3d_test/scenefun3d/scenefun3d_467115_47333319/interval_040/cam_6/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"47333319","intrinsics":{"fx":1598.79,"fy":1598.79,"cx":724.258,"cy":964.27},"T_base_to_cam":[[0.6254262698721949,-0.7801463938026896,-0.014614554061342933,0.09032332489487162],[-0.453437873515772,-0.3481410293261494,-0.8204827350780906,-3.1556182711343728],[0.6350087210544811,0.5197782488103828,-0.5714844671978094,-5.795396596783747],[0.0,0.0,0.0,1.0]],"extrinsic_source":"scenefun3d_verify_alignment","intrinsic_source":"scenefun3d_pincam","depth_source":"hires_depth_faro","distortion":null},"trajectory_3d":[{"frame_idx":0,"position_3d":[-0.11106211796300815,-0.24547222007566427,1.0369811249688068]},{"frame_idx":1,"position_3d":[-0.10959042562959022,-0.24491185778433883,1.0361389748488752]},{"frame_idx":2,"position_3d":[-0.10824120636029406,-0.2442594732688096,1.035167840021192]},{"frame_idx":3,"position_3d":[-0.10703142737026633,-0.24352327064288168,1.034079933069681]},{"frame_idx":4,"position_3d":[-0.10597630233223675,-0.24271250808173084,1.0328889350554757]},{"frame_idx":5,"position_3d":[-0.10508910005575633,-0.24183738139497893,1.031609823469638]},{"frame_idx":6,"position_3d":[-0.10438097762421858,-0.24090889580847222,1.0302586838825176]},{"frame_idx":7,"position_3d":[-0.10386084008806228,-0.23993872756718088,1.0288525076583719]},{"frame_idx":8,"position_3d":[-0.10353522847859543,-0.2389390770996439,1.027408978279102]},{"frame_idx":9,"position_3d":[-0.10340823755073134,-0.23792251559050126,1.0259462489642077]},{"frame_idx":10,"position_3d":[-0.10348146428906974,-0.23690182689055314,1.024482714383519]},{"frame_idx":11,"position_3d":[-0.10375398782488889,-0.23588984675241878,1.0230367793335502]},{"frame_idx":12,"position_3d":[-0.10422238101660401,-0.23489930141349977,1.0216266272865062]},{"frame_idx":13,"position_3d":[-0.10488075354806124,-0.23394264755616082,1.0202699917225677]},{"frame_idx":14,"position_3d":[-0.10572082600268086,-0.23303191565772144,1.0189839331210895]}]}

scenefun3d_test/scenefun3d/scenefun3d_467115_47333319/interval_042/cam_8/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"47333319","intrinsics":{"fx":1598.34,"fy":1598.34,"cx":724.379,"cy":963.453},"T_base_to_cam":[[-0.9733564366695509,0.22539849851955193,-0.04210420476729225,-3.4298913488962595],[0.2003070822058338,0.7464674492207417,-0.63455765701161,-5.401742668564889],[-0.11159892478039331,-0.6260845502957331,-0.7717278120353378,-3.4998177827637855],[0.0,0.0,0.0,1.0]],"extrinsic_source":"scenefun3d_verify_alignment","intrinsic_source":"scenefun3d_pincam","depth_source":"hires_depth_faro","distortion":null},"trajectory_3d":[{"frame_idx":0,"position_3d":[0.23128050133882905,0.4129526259862146,0.9057276082378065]},{"frame_idx":1,"position_3d":[0.2101021881030388,0.4108710764123895,0.9082435321889322]},{"frame_idx":2,"position_3d":[0.18892387486724854,0.4087895268385644,0.9107594561400578]},{"frame_idx":3,"position_3d":[0.1677455616314583,0.4067079772647393,0.9132753800911835]},{"frame_idx":4,"position_3d":[0.14656724839566804,0.40462642769091417,0.9157913040423091]},{"frame_idx":5,"position_3d":[0.12538893515987778,0.40254487811708906,0.9183072279934348]},{"frame_idx":6,"position_3d":[0.10421062192408753,0.40046332854326394,0.9208231519445604]},{"frame_idx":7,"position_3d":[0.08303230868829728,0.3983817789694388,0.9233390758956861]},{"frame_idx":8,"position_3d":[0.06185399545250703,0.3963002293956137,0.9258549998468117]},{"frame_idx":9,"position_3d":[0.040675682216716774,0.3942186798217886,0.9283709237979374]},{"frame_idx":10,"position_3d":[0.019497368980926518,0.3921371302479635,0.930886847749063]},{"frame_idx":11,"position_3d":[-0.001680944254863738,0.39005558067413837,0.9334027717001887]},{"frame_idx":12,"position_3d":[-0.022859257490653994,0.38797403110031325,0.9359186956513144]},{"frame_idx":13,"position_3d":[-0.04403757072644425,0.38589248152648814,0.93843461960244]},{"frame_idx":14,"position_3d":[-0.0652158839622345,0.383810931952663,0.9409505435535657]}]}

scenefun3d_test/scenefun3d/scenefun3d_467330_45261601/interval_000/cam_21/trajectory.json

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+{"camera_info":{"cam_id":"45261601","intrinsics":{"fx":1598.79,"fy":1598.79,"cx":951.525,"cy":722.751},"T_base_to_cam":[[0.9960821204215362,-0.08068678266590842,-0.03619464711198353,5.8292028111606795],[-0.05226008732637594,-0.2069044861382378,-0.9769643887514587,166.3937569897289],[0.07133927844586122,0.9750282953427025,-0.21031055758550893,38.222172313238545],[0.0,0.0,0.0,1.0]],"extrinsic_source":"scenefun3d_verify_alignment","intrinsic_source":"scenefun3d_pincam","depth_source":"hires_depth_faro","distortion":null},"trajectory_3d":[{"frame_idx":0,"position_3d":[-0.7776877689404049,-0.39306705992174784,2.538352512743174]},{"frame_idx":1,"position_3d":[-0.8246709061021958,-0.37960223282494804,2.4838896334850697]},{"frame_idx":2,"position_3d":[-0.8776331223465486,-0.367107684677123,2.434963036623431]},{"frame_idx":3,"position_3d":[-0.9359083870747965,-0.3557405416707373,2.3921880025016655]},{"frame_idx":4,"position_3d":[-0.9987638550208859,-0.34564375222446625,2.3561024519925073]},{"frame_idx":5,"position_3d":[-1.0654090822058029,-0.33694428932389037,2.3271601818309335]},{"frame_idx":6,"position_3d":[-1.1350059662292353,-0.3297515537625304,2.305725157856922]},{"frame_idx":7,"position_3d":[-1.2066792858935358,-0.32415599836339276,2.292066937933836]},{"frame_idx":8,"position_3d":[-1.2795277076180973,-0.32022799048223854,2.286357282101893]},{"frame_idx":9,"position_3d":[-1.3526351202320945,-0.3180169270972565,2.288667992595999]},{"frame_idx":10,"position_3d":[-1.4250821556039976,-0.3175506136134016,2.2989700108909847]},{"frame_idx":11,"position_3d":[-1.4959577502292558,-0.3188349141932947,2.3171337831294205]},{"frame_idx":12,"position_3d":[-1.5643706023824786,-0.3218536780119751,2.342930889336542]},{"frame_idx":13,"position_3d":[-1.629460380753778,-0.3265689423628954,2.376036915933965]},{"frame_idx":14,"position_3d":[-1.6904085436141656,-0.3329214100609826,2.416035535428663]}]}