Add files using upload-large-folder tool

scenefun3d_test/scenefun3d/scenefun3d_421657_42445642/interval_000/cam_12/trajectory.json

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+{"camera_info":{"cam_id":"42445642","intrinsics":{"fx":1597.89,"fy":1597.89,"cx":963.855,"cy":695.241},"T_base_to_cam":[[-0.8995824803206888,-0.4266085060741034,0.09357640538778603,-15.964587076226861],[-0.08767760262559565,-0.033496945864018635,-0.9955855526350365,166.65775335852126],[0.4278597890640178,-0.9038158756975917,-0.007270745428742842,3.157403957722965],[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":[0.3631177502619902,0.4549341837239069,2.4091619415844248]},{"frame_idx":1,"position_3d":[0.3062430256949504,0.45005161006514116,2.3457416922331653]},{"frame_idx":2,"position_3d":[0.24266042337276328,0.44448896852816866,2.289111209726342]},{"frame_idx":3,"position_3d":[0.1731695314111156,0.43831621255783665,2.23998265523925]},{"frame_idx":4,"position_3d":[0.09864423809597975,0.4316109681419885,2.1989738488496147]},{"frame_idx":5,"position_3d":[0.020021742231375927,0.42445755761962695,2.16660050009165]},{"frame_idx":6,"position_3d":[-0.06170923267936379,0.4169459392785761,2.1432697226094426]},{"frame_idx":7,"position_3d":[-0.14552087220532064,0.4091705760778172,2.1292749144666625]},{"frame_idx":8,"position_3d":[-0.23035919635080976,0.40122924772097057,2.1247920684956827]},{"frame_idx":9,"position_3d":[-0.3151573139653594,0.39322182101978964,2.1298775590855956]},{"frame_idx":10,"position_3d":[-0.39884883951895267,0.3852489940110589,2.144467433241563]},{"frame_idx":11,"position_3d":[-0.480381303518799,0.3774110296203551,2.1683782148308315]},{"frame_idx":12,"position_3d":[-0.5587293879238627,0.3698064947975843,2.2013092119015574]},{"frame_idx":13,"position_3d":[-0.6329078201141328,0.3625310209803967,2.2428462980585664]},{"frame_idx":14,"position_3d":[-0.7019837632654877,0.3556761014733716,2.2924671203430558]}]}

scenefun3d_test/scenefun3d/scenefun3d_421657_42445642/interval_001/cam_12/trajectory.json

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+{"camera_info":{"cam_id":"42445642","intrinsics":{"fx":1592.47,"fy":1592.47,"cx":963.611,"cy":695.219},"T_base_to_cam":[[0.2909466263913194,0.9556348049896594,0.0459584604168346,-9.260973059572633],[0.013594642698763537,0.04390231680835566,-0.9989433278563663,166.9987350883033],[-0.9566426952009841,0.29126398004427967,-0.00021828275818308596,-0.6418017705551701],[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":[-0.10008137751599655,0.612150682043989,1.5889530393863196]},{"frame_idx":1,"position_3d":[-0.09555901765933167,0.6125061767075739,1.5680101274985143]},{"frame_idx":2,"position_3d":[-0.09103665780266679,0.6128616713711588,1.547067215610709]},{"frame_idx":3,"position_3d":[-0.0865142979460019,0.6132171660347436,1.5261243037229038]},{"frame_idx":4,"position_3d":[-0.08199193808933702,0.6135726606983285,1.5051813918350985]},{"frame_idx":5,"position_3d":[-0.07746957823267214,0.6139281553619134,1.4842384799472932]},{"frame_idx":6,"position_3d":[-0.07294721837600726,0.6142836500254982,1.463295568059488]},{"frame_idx":7,"position_3d":[-0.06842485851934238,0.6146391446890831,1.4423526561716826]},{"frame_idx":8,"position_3d":[-0.0639024986626775,0.614994639352668,1.4214097442838773]},{"frame_idx":9,"position_3d":[-0.05938013880601262,0.6153501340162528,1.400466832396072]},{"frame_idx":10,"position_3d":[-0.054857778949347735,0.6157056286798377,1.3795239205082668]},{"frame_idx":11,"position_3d":[-0.050335419092682854,0.6160611233434226,1.3585810086204615]},{"frame_idx":12,"position_3d":[-0.04581305923601797,0.6164166180070074,1.3376380967326562]},{"frame_idx":13,"position_3d":[-0.04129069937935309,0.6167721126705923,1.316695184844851]},{"frame_idx":14,"position_3d":[-0.03676833952268821,0.6171276073341772,1.2957522729570456]}]}

scenefun3d_test/scenefun3d/scenefun3d_421657_42445642/interval_002/cam_15/trajectory.json

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+{"camera_info":{"cam_id":"42445642","intrinsics":{"fx":1593.37,"fy":1593.37,"cx":964.075,"cy":695.59},"T_base_to_cam":[[-0.13119272908276636,0.9912841680861297,0.01200691207620358,-2.2744415201659267],[0.5033851739665176,0.07704538214893464,-0.8606203435430886,143.85594848061783],[-0.8540443984164494,-0.10686303004928538,-0.5091055473496344,84.82737205087662],[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":[0.06231864603431303,-0.5124681125064683,1.6476944688409532]},{"frame_idx":1,"position_3d":[0.05783832421987646,-0.5018716734043688,1.6296161429155813]},{"frame_idx":2,"position_3d":[0.05335800240543989,-0.4912752343022693,1.6115378169902095]},{"frame_idx":3,"position_3d":[0.04887768059100332,-0.4806787952001699,1.5934594910648376]},{"frame_idx":4,"position_3d":[0.04439735877656675,-0.4700823560980704,1.5753811651394658]},{"frame_idx":5,"position_3d":[0.039917036962130184,-0.45948591699597097,1.557302839214094]},{"frame_idx":6,"position_3d":[0.035436715147693615,-0.4488894778938715,1.5392245132887221]},{"frame_idx":7,"position_3d":[0.030956393333257046,-0.43829303879177206,1.5211461873633503]},{"frame_idx":8,"position_3d":[0.026476071518820476,-0.4276965996896726,1.5030678614379784]},{"frame_idx":9,"position_3d":[0.021995749704383907,-0.41710016058757315,1.4849895355126066]},{"frame_idx":10,"position_3d":[0.017515427889947338,-0.4065037214854737,1.4669112095872348]},{"frame_idx":11,"position_3d":[0.013035106075510769,-0.39590728238337425,1.448832883661863]},{"frame_idx":12,"position_3d":[0.0085547842610742,-0.3853108432812748,1.430754557736491]},{"frame_idx":13,"position_3d":[0.004074462446637631,-0.37471440417917534,1.4126762318111192]},{"frame_idx":14,"position_3d":[-0.0004058593677989386,-0.3641179650770759,1.3945979058857474]}]}

scenefun3d_test/scenefun3d/scenefun3d_421657_42445642/interval_004/cam_18/trajectory.json

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+{"camera_info":{"cam_id":"42445642","intrinsics":{"fx":1592.01,"fy":1592.01,"cx":964.144,"cy":695.271},"T_base_to_cam":[[-0.9443141483292189,0.3154777754480337,0.093512365297976,-17.30031232352743],[-0.04243140116147384,0.1650689998618995,-0.9853688656945004,164.43623362690377],[-0.3262979703595107,-0.9344656218839474,-0.14249082797258028,24.959338116240414],[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":[-0.14177697659863497,-0.31738484356910135,1.8395213517662512]},{"frame_idx":1,"position_3d":[-0.12678181349522338,-0.30898789226050694,1.7912946601665996]},{"frame_idx":2,"position_3d":[-0.10642629974638755,-0.30037803421657605,1.745113485485686]},{"frame_idx":3,"position_3d":[-0.08096641774806326,-0.2916635433977671,1.7015585827900648]},{"frame_idx":4,"position_3d":[-0.050722340288547066,-0.282954009582392,1.6611776802522764]},{"frame_idx":5,"position_3d":[-0.016074404189914862,-0.27435896021156825,1.6244785911512791]},{"frame_idx":6,"position_3d":[0.02254167264819227,-0.2659864830180978,1.5919228278258253]},{"frame_idx":7,"position_3d":[0.06464027065396545,-0.25794186676051295,1.5639197978890265]},{"frame_idx":8,"position_3d":[0.10969197553130658,-0.25032627715584793,1.5408216556900745]},{"frame_idx":9,"position_3d":[0.15713023595177503,-0.2432354846620494,1.5229188737689752]},{"frame_idx":10,"position_3d":[0.2063584882662636,-0.23675866010890048,1.5104365899958223]},{"frame_idx":11,"position_3d":[0.25675765863902034,-0.23097725332309818,1.5035317763314533]},{"frame_idx":12,"position_3d":[0.307693948260328,-0.22596396884942432,1.5022912648139637]},{"frame_idx":13,"position_3d":[0.358526803734275,-0.22178185164891076,1.5067306555954474]},{"frame_idx":14,"position_3d":[0.4086169724093667,-0.21848349427187488,1.5167941207610327]}]}

scenefun3d_test/scenefun3d/scenefun3d_421657_42445642/interval_006/cam_1/trajectory.json

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+{"camera_info":{"cam_id":"42445642","intrinsics":{"fx":1596.98,"fy":1596.98,"cx":963.881,"cy":695.311},"T_base_to_cam":[[0.6080102013746764,0.7931129755382025,0.035991708173739756,-5.817081247583471],[0.24131449618957806,-0.14142565505202648,-0.9600865054888934,160.04636601042688],[-0.7563669142374586,0.59242771046436,-0.27737789912114663,47.54678606981487],[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":[-0.9282713918621699,-0.5306692717400097,2.802700354259372]},{"frame_idx":1,"position_3d":[-0.9166249524304821,-0.5253042413650667,2.785531761681372]},{"frame_idx":2,"position_3d":[-0.9049785129987944,-0.5199392109901237,2.768363169103372]},{"frame_idx":3,"position_3d":[-0.8933320735671066,-0.5145741806151808,2.7511945765253722]},{"frame_idx":4,"position_3d":[-0.8816856341354189,-0.5092091502402378,2.7340259839473724]},{"frame_idx":5,"position_3d":[-0.8700391947037311,-0.5038441198652949,2.7168573913693725]},{"frame_idx":6,"position_3d":[-0.8583927552720434,-0.49847908949035186,2.6996887987913727]},{"frame_idx":7,"position_3d":[-0.8467463158403556,-0.49311405911540884,2.682520206213373]},{"frame_idx":8,"position_3d":[-0.8350998764086679,-0.48774902874046583,2.665351613635373]},{"frame_idx":9,"position_3d":[-0.8234534369769801,-0.4823839983655228,2.648183021057373]},{"frame_idx":10,"position_3d":[-0.8118069975452924,-0.4770189679905798,2.6310144284793733]},{"frame_idx":11,"position_3d":[-0.8001605581136046,-0.4716539376156368,2.6138458359013734]},{"frame_idx":12,"position_3d":[-0.7885141186819169,-0.4662889072406938,2.5966772433233736]},{"frame_idx":13,"position_3d":[-0.7768676792502291,-0.46092387686575076,2.5795086507453737]},{"frame_idx":14,"position_3d":[-0.7652212398185414,-0.45555884649080775,2.562340058167374]}]}

scenefun3d_test/scenefun3d/scenefun3d_421657_42445642/interval_007/cam_5/trajectory.json

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+{"camera_info":{"cam_id":"42445642","intrinsics":{"fx":1592.92,"fy":1592.92,"cx":963.883,"cy":695.594},"T_base_to_cam":[[-0.8591713713908634,0.5112349384703263,-0.0215265480183153,3.098283204211612],[0.2795710455307743,0.43377484238894615,-0.8565508838424463,142.92599559650245],[-0.42856106342407374,-0.7419421970731195,-0.5156134124701759,86.32977386570263],[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":[-0.4432883512100001,-0.07830120725819256,1.4799414889045153]},{"frame_idx":1,"position_3d":[-0.4338373309398606,-0.06846361738694556,1.4634162441302936]},{"frame_idx":2,"position_3d":[-0.4243863106697211,-0.058626027515698564,1.446890999356072]},{"frame_idx":3,"position_3d":[-0.4149352903995816,-0.048788437644451566,1.4303657545818502]},{"frame_idx":4,"position_3d":[-0.4054842701294421,-0.03895084777320457,1.4138405098076285]},{"frame_idx":5,"position_3d":[-0.3960332498593026,-0.029113257901957568,1.3973152650334069]},{"frame_idx":6,"position_3d":[-0.3865822295891631,-0.01927566803071057,1.3807900202591852]},{"frame_idx":7,"position_3d":[-0.3771312093190236,-0.00943807815946357,1.3642647754849635]},{"frame_idx":8,"position_3d":[-0.3676801890488841,0.00039951171178342904,1.3477395307107418]},{"frame_idx":9,"position_3d":[-0.3582291687787446,0.010237101583030428,1.3312142859365201]},{"frame_idx":10,"position_3d":[-0.3487781485086051,0.020074691454277427,1.3146890411622985]},{"frame_idx":11,"position_3d":[-0.3393271282384656,0.029912281325524426,1.2981637963880768]},{"frame_idx":12,"position_3d":[-0.3298761079683261,0.039749871196771425,1.281638551613855]},{"frame_idx":13,"position_3d":[-0.3204250876981866,0.049587461068018424,1.2651133068396334]},{"frame_idx":14,"position_3d":[-0.3109740674280471,0.05942505093926542,1.2485880620654117]}]}

scenefun3d_test/scenefun3d/scenefun3d_423070_42447205/interval_000/cam_9/trajectory.json

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+{"camera_info":{"cam_id":"42447205","intrinsics":{"fx":1597.44,"fy":1597.44,"cx":937.043,"cy":707.592},"T_base_to_cam":[[0.8406610527036494,-0.5415315413912929,-0.005708252408735431,-0.08038194458024388],[-0.2218104954213283,-0.33467951774714466,-0.9158546415897468,101.52333127912074],[0.49405374058713125,0.771189477417132,-0.4014694151899427,46.647576739345354],[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":[-0.04861179469324077,0.011629630668579694,2.5424342554339248]},{"frame_idx":1,"position_3d":[-0.1106129557573011,0.018180269656010578,2.5283721260875134]},{"frame_idx":2,"position_3d":[-0.17048783773013776,0.02746770377163086,2.5080364332673195]},{"frame_idx":3,"position_3d":[-0.2274834792307266,0.03937513814274182,2.4816829101096003]},{"frame_idx":4,"position_3d":[-0.28088312699755624,0.053752829873272394,2.4496429674587348]},{"frame_idx":5,"position_3d":[-0.3300152494767615,0.0704199711475801,2.4123195261835653]},{"frame_idx":6,"position_3d":[-0.37426198172104486,0.0891669629936399,2.370181950213692]},{"frame_idx":7,"position_3d":[-0.41306689539988245,0.10975805111172955,2.323760144015727]},{"frame_idx":8,"position_3d":[-0.4459419962086275,0.13193429062153647,2.273637888737169]},{"frame_idx":9,"position_3d":[-0.4724738606800323,0.15541680244427097,2.220445500819756]},{"frame_idx":10,"position_3d":[-0.4923288352242225,0.17991028036889145,2.164851905404492]},{"frame_idx":11,"position_3d":[-0.5052572320161804,0.20510670469904888,2.107556224209879]},{"frame_idx":12,"position_3d":[-0.5110964689650167,0.2306892157794856,2.0492789836706677]},{"frame_idx":13,"position_3d":[-0.5097731142780954,0.2563360986900465,1.9907530538998817]},{"frame_idx":14,"position_3d":[-0.5013038099084328,0.2817248289974631,1.9327144324219236]}]}

scenefun3d_test/scenefun3d/scenefun3d_423070_42447205/interval_004/cam_11/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"42447205","intrinsics":{"fx":1589.3,"fy":1589.3,"cx":937.611,"cy":707.367},"T_base_to_cam":[[0.6726686203027633,-0.7391157423001422,0.03499781056132201,-4.445568204872427],[0.020108308842427258,-0.029020843212578584,-0.9993765289292762,111.38117876957367],[0.7396705909899852,0.672952977661397,-0.0046590429473570005,1.4113506086719705],[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":[-0.40027774917131786,0.8755314638595166,2.460061427392496]},{"frame_idx":1,"position_3d":[-0.399527796087861,0.8541162525253179,2.45996159075791]},{"frame_idx":2,"position_3d":[-0.3987778430044041,0.8327010411911191,2.459861754123324]},{"frame_idx":3,"position_3d":[-0.39802788992094723,0.8112858298569203,2.4597619174887377]},{"frame_idx":4,"position_3d":[-0.39727793683749035,0.7898706185227216,2.4596620808541516]},{"frame_idx":5,"position_3d":[-0.3965279837540335,0.7684554071885228,2.4595622442195655]},{"frame_idx":6,"position_3d":[-0.3957780306705766,0.747040195854324,2.4594624075849794]},{"frame_idx":7,"position_3d":[-0.3950280775871197,0.7256249845201252,2.4593625709503932]},{"frame_idx":8,"position_3d":[-0.39427812450366284,0.7042097731859265,2.459262734315807]},{"frame_idx":9,"position_3d":[-0.39352817142020596,0.6827945618517277,2.459162897681221]},{"frame_idx":10,"position_3d":[-0.3927782183367491,0.6613793505175289,2.459063061046635]},{"frame_idx":11,"position_3d":[-0.3920282652532922,0.6399641391833302,2.4589632244120487]},{"frame_idx":12,"position_3d":[-0.39127831216983533,0.6185489278491314,2.4588633877774626]},{"frame_idx":13,"position_3d":[-0.39052835908637845,0.5971337165149326,2.4587635511428765]},{"frame_idx":14,"position_3d":[-0.3897784060029216,0.5757185051807339,2.4586637145082904]}]}

scenefun3d_test/scenefun3d/scenefun3d_438775_44358170/interval_003/cam_12/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"44358170","intrinsics":{"fx":1591.11,"fy":1591.11,"cx":967.953,"cy":712.347},"T_base_to_cam":[[0.5265549014374601,-0.850027725512169,-0.01388530276209099,1.306896365351241],[-0.4526023464190142,-0.2664666432835023,-0.8509680628749973,138.18584126059952],[0.7196464769511409,0.4543659250844315,-0.5250338601785409,87.33635379826882],[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":[-1.0464392540909422,-0.822128645510162,2.056580224452844]},{"frame_idx":1,"position_3d":[-1.0467677855455453,-0.8218304866537338,2.0560805248444423]},{"frame_idx":2,"position_3d":[-1.0470946109233852,-0.8215985555728769,2.0555458057919487]},{"frame_idx":3,"position_3d":[-1.0474156202057072,-0.8214357689355024,2.0549827916977]},{"frame_idx":4,"position_3d":[-1.047726776514532,-0.8213441738780265,2.0543985627906]},{"frame_idx":5,"position_3d":[-1.0480241668787391,-0.8213249222614416,2.053800466088132]},{"frame_idx":6,"position_3d":[-1.0483040514419486,-0.8213782561859964,2.053196023003354]},{"frame_idx":7,"position_3d":[-1.0485629104933853,-0.8215035049466444,2.052592834758763]},{"frame_idx":8,"position_3d":[-1.0487974887302842,-0.8216990934675494,2.051998486796513]},{"frame_idx":9,"position_3d":[-1.0490048361952105,-0.8219625621095781,2.051420453387078]},{"frame_idx":10,"position_3d":[-1.049182345373487,-0.8222905976016888,2.0508660036359636]},{"frame_idx":11,"position_3d":[-1.0493277839842037,-0.8226790747072376,2.05034211007049]},{"frame_idx":12,"position_3d":[-1.0494393230524455,-0.8231231081012225,2.0498553609562133]},{"frame_idx":13,"position_3d":[-1.0495155599097126,-0.82361711380608,2.0494118774456638]},{"frame_idx":14,"position_3d":[-1.0495555358332913,-0.8241548794134429,2.0490172366013018]}]}

scenefun3d_test/scenefun3d/scenefun3d_438775_44358170/interval_005/cam_15/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"44358170","intrinsics":{"fx":1590.66,"fy":1590.66,"cx":967.021,"cy":712.43},"T_base_to_cam":[[-0.48439462893519364,0.8626508170252531,-0.14558643942482796,24.24402838241568],[0.5314340707332939,0.15795564247381866,-0.8322426590090919,137.0834641059593],[-0.694938610182638,-0.48050346814185046,-0.5349549001374576,85.63693613337496],[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":[0.021913744020189085,0.2933142384014218,1.658641645326341]},{"frame_idx":1,"position_3d":[0.02637297296127663,0.3036953488658412,1.6404336389487644]},{"frame_idx":2,"position_3d":[0.030832201902364173,0.3140764593302606,1.6222256325711877]},{"frame_idx":3,"position_3d":[0.03529143084345172,0.32445756979468005,1.604017626193611]},{"frame_idx":4,"position_3d":[0.03975065978453926,0.33483868025909946,1.5858096198160343]},{"frame_idx":5,"position_3d":[0.044209888725626804,0.3452197907235189,1.5676016134384576]},{"frame_idx":6,"position_3d":[0.04866911766671435,0.3556009011879383,1.549393607060881]},{"frame_idx":7,"position_3d":[0.05312834660780189,0.3659820116523577,1.5311856006833042]},{"frame_idx":8,"position_3d":[0.057587575548889436,0.37636312211677714,1.5129775943057275]},{"frame_idx":9,"position_3d":[0.06204680448997698,0.38674423258119656,1.4947695879281508]},{"frame_idx":10,"position_3d":[0.06650603343106452,0.397125343045616,1.4765615815505742]},{"frame_idx":11,"position_3d":[0.07096526237215206,0.4075064535100354,1.4583535751729975]},{"frame_idx":12,"position_3d":[0.0754244913132396,0.4178875639744548,1.4401455687954208]},{"frame_idx":13,"position_3d":[0.07988372025432713,0.42826867443887423,1.421937562417844]},{"frame_idx":14,"position_3d":[0.08434294919541467,0.43864978490329365,1.4037295560402674]}]}

scenefun3d_test/scenefun3d/scenefun3d_438775_44358170/interval_006/cam_4/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"44358170","intrinsics":{"fx":1594.27,"fy":1594.27,"cx":968.141,"cy":712.14},"T_base_to_cam":[[0.7701290644237677,0.637873002820562,-0.004388211760063931,1.1368388172167228],[0.2308370335322364,-0.2850984481505989,-0.9302865896121245,152.3365803678619],[-0.5946557727625361,0.7154277791187588,-0.3668073128842873,59.851590398783124],[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":[-0.6605401349600446,0.2603174455325359,2.4606873172284267]},{"frame_idx":1,"position_3d":[-0.6440562531410017,0.26504283677647256,2.447836792288295]},{"frame_idx":2,"position_3d":[-0.6275723713219588,0.26976822802040923,2.4349862673481635]},{"frame_idx":3,"position_3d":[-0.6110884895029158,0.2744936192643459,2.422135742408032]},{"frame_idx":4,"position_3d":[-0.5946046076838729,0.2792190105082826,2.4092852174679003]},{"frame_idx":5,"position_3d":[-0.57812072586483,0.28394440175221924,2.3964346925277686]},{"frame_idx":6,"position_3d":[-0.5616368440457871,0.2886697929961559,2.383584167587637]},{"frame_idx":7,"position_3d":[-0.5451529622267441,0.2933951842400926,2.3707336426475054]},{"frame_idx":8,"position_3d":[-0.5286690804077012,0.29812057548402926,2.357883117707374]},{"frame_idx":9,"position_3d":[-0.5121851985886583,0.30284596672796593,2.345032592767242]},{"frame_idx":10,"position_3d":[-0.49570131676961543,0.3075713579719026,2.3321820678271106]},{"frame_idx":11,"position_3d":[-0.47921743495057256,0.3122967492158393,2.319331542886979]},{"frame_idx":12,"position_3d":[-0.4627335531315297,0.31702214045977595,2.3064810179468473]},{"frame_idx":13,"position_3d":[-0.44624967131248683,0.3217475317037126,2.2936304930067157]},{"frame_idx":14,"position_3d":[-0.42976578949344396,0.3264729229476493,2.280779968066584]}]}

scenefun3d_test/scenefun3d/scenefun3d_438775_44358170/interval_007/cam_12/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"44358170","intrinsics":{"fx":1592.47,"fy":1592.47,"cx":968.334,"cy":712.199},"T_base_to_cam":[[-0.9900906037002725,0.09640811774005932,0.10210813531863606,-19.060382963479114],[-0.051576716093201955,0.4266491831031123,-0.9029453565496021,147.10707039391298],[-0.130615614768952,-0.8992641154806887,-0.41744893314902964,68.90579098231484],[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":[-1.3160825151919013,-1.3751694335078355,3.531380329631858]},{"frame_idx":1,"position_3d":[-1.3170871366554786,-1.3972613085027834,3.5789194999205765]},{"frame_idx":2,"position_3d":[-1.3239241090916611,-1.4197108097667714,3.625805623856367]},{"frame_idx":3,"position_3d":[-1.33650745360516,-1.4422356217959011,3.6714490812267746]},{"frame_idx":4,"position_3d":[-1.3546789273376914,-1.4645524820097058,3.7152758790724154]},{"frame_idx":5,"position_3d":[-1.378210013463734,-1.4863807429424527,3.7567348699814804]},{"frame_idx":6,"position_3d":[-1.406804794922199,-1.5074459015478607,3.795304683088221]},{"frame_idx":7,"position_3d":[-1.440103675745167,-1.527483051234177,3.8305002806140926]},{"frame_idx":8,"position_3d":[-1.477687903185829,-1.5462402132182713,3.8618790574992468]},{"frame_idx":9,"position_3d":[-1.5190848337772416,-1.5634815053050346,3.889046407417962]},{"frame_idx":10,"position_3d":[-1.5637738770981593,-1.578990108242845,3.911660685182147]},{"frame_idx":11,"position_3d":[-1.6111930424996348,-1.5925709923514588,3.9294375031278075]},{"frame_idx":12,"position_3d":[-1.6607460064635038,-1.6040533701333977,3.9421533074549266]},{"frame_idx":13,"position_3d":[-1.7118096117166213,-1.6132928440258227,3.9496481895462097]},{"frame_idx":14,"position_3d":[-1.7637417037951353,-1.6201732222836693,3.9518278969107263]}]}

scenefun3d_test/scenefun3d/scenefun3d_438775_44358170/interval_008/cam_17/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"44358170","intrinsics":{"fx":1590.66,"fy":1590.66,"cx":967.184,"cy":712.565},"T_base_to_cam":[[-0.12243341763906967,0.9857132639455435,-0.115669440765657,20.502701466666643],[0.6180311375696852,-0.015469689435116063,-0.7860014005732441,129.39614366988016],[-0.7765613763505995,-0.16772015379972577,-0.6073074828864359,97.67665603024926],[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":[-0.09490395052754508,0.11982456730146396,1.3978484211517497]},{"frame_idx":1,"position_3d":[-0.08288424504733606,0.12914420732594573,1.3827535656223815]},{"frame_idx":2,"position_3d":[-0.07086453956712704,0.1384638473504275,1.3676587100930133]},{"frame_idx":3,"position_3d":[-0.05884483408691802,0.14778348737490926,1.3525638545636451]},{"frame_idx":4,"position_3d":[-0.046825128606708996,0.15710312739939103,1.337468999034277]},{"frame_idx":5,"position_3d":[-0.03480542312649997,0.1664227674238728,1.3223741435049088]},{"frame_idx":6,"position_3d":[-0.02278571764629095,0.17574240744835457,1.3072792879755406]},{"frame_idx":7,"position_3d":[-0.010766012166081926,0.18506204747283633,1.2921844324461724]},{"frame_idx":8,"position_3d":[0.001253693314127096,0.1943816874973181,1.2770895769168042]},{"frame_idx":9,"position_3d":[0.013273398794336118,0.20370132752179987,1.261994721387436]},{"frame_idx":10,"position_3d":[0.02529310427454514,0.21302096754628164,1.246899865858068]},{"frame_idx":11,"position_3d":[0.037312809754754164,0.2223406075707634,1.2318050103286997]},{"frame_idx":12,"position_3d":[0.04933251523496319,0.23166024759524517,1.2167101547993315]},{"frame_idx":13,"position_3d":[0.06135222071517221,0.24097988761972694,1.2016152992699634]},{"frame_idx":14,"position_3d":[0.07337192619538123,0.2502995276442087,1.1865204437405952]}]}

scenefun3d_test/scenefun3d/scenefun3d_438775_44358170/interval_009/cam_1/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"44358170","intrinsics":{"fx":1595.18,"fy":1595.18,"cx":968.325,"cy":711.966},"T_base_to_cam":[[-0.46829813803819775,-0.8829811093948874,-0.03226785337965832,4.760477864031424],[0.027164753252721663,0.02211468362425517,-0.9993863201729938,163.77299743027586],[0.8831528350691492,-0.46888730119291244,0.013629698798984013,-0.8488914384074736],[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":[-0.6203411843564872,0.6947978729542115,2.3794159888053206]},{"frame_idx":1,"position_3d":[-0.5875962739706393,0.6930615580003452,2.3296246137240324]},{"frame_idx":2,"position_3d":[-0.5494831629755563,0.6912062418080961,2.2838166062320555]},{"frame_idx":3,"position_3d":[-0.5064811458557436,0.6892552560550612,2.2425680286020264]},{"frame_idx":4,"position_3d":[-0.4591309979268342,0.6872331355190733,2.2063976056306247]},{"frame_idx":5,"position_3d":[-0.40802817477222997,0.685165309539134,2.1757602013732846]},{"frame_idx":6,"position_3d":[-0.3538153240436487,0.6830777822267217,2.151041098964778]},{"frame_idx":7,"position_3d":[-0.2971742037940309,0.6809968054490014,2.1325511554602485]},{"frame_idx":8,"position_3d":[-0.23881710897445907,0.678948548696364,2.1205228926273816]},{"frame_idx":9,"position_3d":[-0.17947791391186435,0.6769587699859001,2.1151075728502606]},{"frame_idx":10,"position_3d":[-0.11990284341356183,0.6750524919393902,2.116373296917125]},{"frame_idx":11,"position_3d":[-0.06084108855732872,0.6732536871093175,2.124304147613443]},{"frame_idx":12,"position_3d":[-0.00303538517891052,0.6715849765101112,2.1388003898901227]},{"frame_idx":13,"position_3d":[0.052787326462058824,0.6700673451457645,2.1596797250896183]},{"frame_idx":14,"position_3d":[0.10592504337760239,0.6687198781112343,2.186679583457324]}]}

scenefun3d_test/scenefun3d/scenefun3d_438775_44358170/interval_010/cam_8/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"44358170","intrinsics":{"fx":1593.82,"fy":1593.82,"cx":968.52,"cy":712.142},"T_base_to_cam":[[-0.956744804227901,0.286755622454562,0.04909778583207183,-9.586210147956974],[0.04667177055664294,0.3178595338561413,-0.9469884173366981,155.0237088593837],[-0.28716045238859644,-0.9037347673556954,-0.31749385010819264,51.57853978172684],[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":[-0.8436032232258874,-0.4753145349179704,2.831804064280533]},{"frame_idx":1,"position_3d":[-0.8643491939677298,-0.49089575098411,2.8750699414293726]},{"frame_idx":2,"position_3d":[-0.8798233964517288,-0.5068786325578291,2.92034910082599]},{"frame_idx":3,"position_3d":[-0.8898312336033067,-0.5230621856298542,2.967072130769392]},{"frame_idx":4,"position_3d":[-0.8942468510636001,-0.5392428926303885,3.0146514620487075]},{"frame_idx":5,"position_3d":[-0.8930147198810449,-0.5552172717806353,3.0624887569669275]},{"frame_idx":6,"position_3d":[-0.8861503348201608,-0.5707844359942297,3.1099824337846105]},{"frame_idx":7,"position_3d":[-0.8737400195058975,-0.5857486191489065,3.156535231959301]},{"frame_idx":8,"position_3d":[-0.8559398408539645,-0.5999216379590745,3.2015617230433895]},{"frame_idx":9,"position_3d":[-0.832973646438814,-0.6131252584898187,3.244495672786515]},{"frame_idx":10,"position_3d":[-0.8051302494805129,-0.6251934375520459,3.2847971618598]},{"frame_idx":11,"position_3d":[-0.7727597968509272,-0.6359744107919281,3.321959375654679]},{"frame_idx":12,"position_3d":[-0.7362693657736479,-0.6453326012157073,3.355514977770663]},{"frame_idx":13,"position_3d":[-0.6961178445917131,-0.653150324149056,3.3850419870417294]},{"frame_idx":14,"position_3d":[-0.6528101619804408,-0.6593292671901388,3.410169084194325]}]}

scenefun3d_test/scenefun3d/scenefun3d_438775_44358170/interval_011/cam_15/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"44358170","intrinsics":{"fx":1591.11,"fy":1591.11,"cx":967.324,"cy":712.245},"T_base_to_cam":[[-0.8494809556356593,0.516274816026414,-0.10882288522741618,16.935265813010414],[0.31388929320512376,0.3287206050513871,-0.8907391736225801,146.38583073580313],[-0.4240938783141239,-0.7908243029596026,-0.44129503081832133,70.73842737242026],[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":[0.33908837246524826,-0.022029536292677676,1.77730764489543]},{"frame_idx":1,"position_3d":[0.3327882223535532,-0.012726873890557867,1.7590606655763295]},{"frame_idx":2,"position_3d":[0.32648807224185816,-0.0034242114884380573,1.740813686257229]},{"frame_idx":3,"position_3d":[0.3201879221301631,0.005878450913681752,1.7225667069381285]},{"frame_idx":4,"position_3d":[0.31388777201846807,0.015181113315801562,1.704319727619028]},{"frame_idx":5,"position_3d":[0.307587621906773,0.02448377571792137,1.6860727482999276]},{"frame_idx":6,"position_3d":[0.301287471795078,0.03378643812004118,1.6678257689808271]},{"frame_idx":7,"position_3d":[0.29498732168338293,0.043089100522160986,1.6495787896617267]},{"frame_idx":8,"position_3d":[0.2886871715716879,0.0523917629242808,1.6313318103426262]},{"frame_idx":9,"position_3d":[0.28238702145999284,0.06169442532640061,1.6130848310235257]},{"frame_idx":10,"position_3d":[0.2760868713482978,0.07099708772852042,1.5948378517044253]},{"frame_idx":11,"position_3d":[0.26978672123660274,0.08029975013064024,1.5765908723853248]},{"frame_idx":12,"position_3d":[0.2634865711249077,0.08960241253276005,1.5583438930662243]},{"frame_idx":13,"position_3d":[0.25718642101321265,0.09890507493487986,1.5400969137471239]},{"frame_idx":14,"position_3d":[0.2508862709015176,0.10820773733699968,1.5218499344280234]}]}

scenefun3d_test/scenefun3d/scenefun3d_438775_44358170/interval_012/cam_19/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"44358170","intrinsics":{"fx":1595.18,"fy":1595.18,"cx":968.53,"cy":711.975},"T_base_to_cam":[[-0.9729546425884904,0.2308209241198672,-0.008998025002935908,0.058012499974257614],[0.01498187540686556,0.024184558920029797,-0.9995952433455935,163.75884585059933],[-0.23050988454900606,-0.9726956400119688,-0.026988609206659797,4.115616882065892],[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":[-1.5009531016256008,-0.0032339266545307055,2.593775282717102]},{"frame_idx":1,"position_3d":[-1.5066895620228362,0.00038219243897712283,2.613869041700992]},{"frame_idx":2,"position_3d":[-1.5124939274385207,0.0016359135253883805,2.6342278228739615]},{"frame_idx":3,"position_3d":[-1.518293204609781,0.0005114703346155275,2.6545956027503195]},{"frame_idx":4,"position_3d":[-1.5240144642613693,-0.0029769966078003313,2.67471624468046]},{"frame_idx":5,"position_3d":[-1.529585758233615,-0.00878561780600265,2.6943367199178434]},{"frame_idx":6,"position_3d":[-1.5349370242722766,-0.016841346478183514,2.7132102896022943]},{"frame_idx":7,"position_3d":[-1.5400009671020414,-0.027042877162247604,2.731099607644331]},{"frame_idx":8,"position_3d":[-1.5447139047036569,-0.03926191969077683,2.74777970548995]},{"frame_idx":9,"position_3d":[-1.5490165691522728,-0.053344812514321334,2.763040821230725]},{"frame_idx":10,"position_3d":[-1.5528548519459835,-0.0691144550845403,2.77669103748151]},{"frame_idx":11,"position_3d":[-1.5561804844516347,-0.08637253499635347,2.7885586948529113]},{"frame_idx":12,"position_3d":[-1.5589516449108909,-0.1049020218814986,2.7984945506677086]},{"frame_idx":13,"position_3d":[-1.5611334843731122,-0.12446989669133626,2.806373655774113]},{"frame_idx":14,"position_3d":[-1.5626985649411282,-0.14483008204658734,2.812096925853848]}]}

scenefun3d_test/scenefun3d/scenefun3d_438775_44358170/interval_013/cam_3/trajectory.json

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+{"camera_info":{"cam_id":"44358170","intrinsics":{"fx":1595.18,"fy":1595.18,"cx":968.036,"cy":711.971},"T_base_to_cam":[[0.5915764610314179,0.802627762640546,-0.07632801184476584,12.770798796640198],[0.038584112599256926,-0.12274558539364777,-0.9916878478237487,162.4446472963091],[-0.8053251250324127,0.5837141388599407,-0.10358207898341634,16.844447170117256],[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":[0.5766168562962317,0.3996349151985896,2.941045402252511]},{"frame_idx":1,"position_3d":[0.6424057183652009,0.3900018506179189,2.984792931585496]},{"frame_idx":2,"position_3d":[0.7127500883466017,0.380818476405227,3.0208782731839214]},{"frame_idx":3,"position_3d":[0.7867653449731639,0.3722002788195562,3.0488476329399843]},{"frame_idx":4,"position_3d":[0.8635207034481561,0.3642556366959411,3.0683492799265517]},{"frame_idx":5,"position_3d":[0.9420509206042592,0.3570844585186748,3.079137969617648]},{"frame_idx":6,"position_3d":[1.0213684333964417,0.35077692601415106,3.081078027980665]},{"frame_idx":7,"position_3d":[1.1004757780802492,0.34541236006332976,3.074145057656039]},{"frame_idx":8,"position_3d":[1.1783781338971322,0.34105822319563617,3.0584262447682056]},{"frame_idx":9,"position_3d":[1.2540958335226937,0.33776927120851064,3.0341192625094964]},{"frame_idx":10,"position_3d":[1.3266766829517098,0.3355868645814856,3.0015297852850544]},{"frame_idx":11,"position_3d":[1.3952079358902207,0.3345384483441578,2.9610676446798325]},{"frame_idx":12,"position_3d":[1.4588277720697655,0.33463720693901683,2.913241675588622]},{"frame_idx":13,"position_3d":[1.5167361351372977,0.3358818984194313,2.8586533173220188]},{"frame_idx":14,"position_3d":[1.5682047938280281,0.3382568700678481,2.797989050158128]}]}

scenefun3d_test/scenefun3d/scenefun3d_466841_47331591/interval_011/cam_4/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"47331591","intrinsics":{"fx":1603.31,"fy":1603.31,"cx":960.45,"cy":719.458},"T_base_to_cam":[[-0.1439228500653098,-0.9891130674555346,-0.030684735908614036,3.2060914287801188],[-0.3439950174957657,0.07907940512243306,-0.9356355463659822,75.45858105061096],[0.927875875948484,-0.12410393818966892,-0.35163130031134693,26.99828737115615],[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":[0.0740353499216666,0.2323715367388104,0.9235989937624289]},{"frame_idx":1,"position_3d":[0.07346489908332005,0.21637244760966184,0.9137915348136333]},{"frame_idx":2,"position_3d":[0.07282075138591936,0.1993781095057681,0.9058379152408726]},{"frame_idx":3,"position_3d":[0.07211100736050254,0.18160223608913026,0.8998381564250721]},{"frame_idx":4,"position_3d":[0.07134459244999229,0.16326836928176458,0.8958677088144815]},{"frame_idx":5,"position_3d":[0.07053114476657257,0.14460706809633095,0.8939765030915113]},{"frame_idx":6,"position_3d":[0.06968089388683572,0.12585300922277537,0.8941883222654311]},{"frame_idx":7,"position_3d":[0.06880453220892148,0.1072420358327912,0.8965005025872285]},{"frame_idx":8,"position_3d":[0.06791308048940652,0.08900819171509577,0.9008839670477985]},{"frame_idx":9,"position_3d":[0.06701774925089606,0.07138077803899191,0.9072835910382042]},{"frame_idx":10,"position_3d":[0.06612979780319765,0.05458146975912026,0.915618895573618]},{"frame_idx":11,"position_3d":[0.06526039265096756,0.038821527924285906,0.9257850593632505]},{"frame_idx":12,"position_3d":[0.06442046706843567,0.024299142947193143,0.9376542369989017]},{"frame_idx":13,"position_3d":[0.06362058360713851,0.01119694224501294,0.9510771666851459]},{"frame_idx":14,"position_3d":[0.06287080126570509,-0.0003203064063508638,0.9658850472930133]}]}

scenefun3d_test/scenefun3d/scenefun3d_466841_47331591/interval_014/cam_12/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"47331591","intrinsics":{"fx":1602.41,"fy":1602.41,"cx":960.048,"cy":719.636},"T_base_to_cam":[[0.8313512115085898,-0.5532321305753929,-0.05281451336717005,3.590518163580078],[-0.3102618603362286,-0.38318025533079325,-0.8700060171891517,70.29465702288147],[0.4610778037857626,0.7396668855800153,-0.4902041995255226,37.880013426099154],[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":[0.006856358408093843,-0.1559354807275355,0.5417391800361173]},{"frame_idx":1,"position_3d":[0.016531796374008707,-0.14680334011056564,0.5249411568968009]},{"frame_idx":2,"position_3d":[0.02620723433992357,-0.1376711994935958,0.5081431337574844]},{"frame_idx":3,"position_3d":[0.035882672305838435,-0.12853905887662595,0.491345110618168]},{"frame_idx":4,"position_3d":[0.0455581102717533,-0.1194069182596561,0.47454708747885155]},{"frame_idx":5,"position_3d":[0.05523354823766816,-0.11027477764268626,0.4577490643395351]},{"frame_idx":6,"position_3d":[0.06490898620358303,-0.10114263702571641,0.44095104120021866]},{"frame_idx":7,"position_3d":[0.07458442416949788,-0.09201049640874656,0.4241530180609022]},{"frame_idx":8,"position_3d":[0.08425986213541274,-0.08287835579177671,0.4073549949215858]},{"frame_idx":9,"position_3d":[0.0939353001013276,-0.07374621517480687,0.39055697178226934]},{"frame_idx":10,"position_3d":[0.10361073806724246,-0.06461407455783702,0.3737589486429529]},{"frame_idx":11,"position_3d":[0.11328617603315731,-0.05548193394086718,0.35696092550363645]},{"frame_idx":12,"position_3d":[0.12296161399907217,-0.04634979332389734,0.34016290236432]},{"frame_idx":13,"position_3d":[0.13263705196498704,-0.0372176527069275,0.32336487922500357]},{"frame_idx":14,"position_3d":[0.1423124899309019,-0.02808551208995766,0.3065668560856871]}]}