Add files using upload-large-folder tool

scenefun3d_test/scenefun3d/scenefun3d_435357_42899632/interval_000/cam_8/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"42899632","intrinsics":{"fx":1595.63,"fy":1595.63,"cx":714.425,"cy":956.322},"T_base_to_cam":[[0.9406073557847122,0.33917235967243453,-0.014829453055451497,7.017926585794454],[0.17326955108549366,-0.5171651347290548,-0.8381634005892348,227.34870572558984],[-0.2919511344563036,0.7858131672700014,-0.5452175723825913,149.87460989199909],[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":[-0.25291398614117355,0.375759274865743,1.6009091927008967]},{"frame_idx":1,"position_3d":[-0.25288528063637744,0.3756208561778821,1.600811075934505]},{"frame_idx":2,"position_3d":[-0.2528378086561396,0.375486727851221,1.60071429452058]},{"frame_idx":3,"position_3d":[-0.2527721671881553,0.37535857662729055,1.600620065541556]},{"frame_idx":4,"position_3d":[-0.25268918171197063,0.3752380140820868,1.6005295739815169]},{"frame_idx":5,"position_3d":[-0.2525898958180979,0.3751265563595676,1.6004439578243348]},{"frame_idx":6,"position_3d":[-0.2524755580842595,0.375025605105263,1.6003642937428617]},{"frame_idx":7,"position_3d":[-0.2523476063737987,0.3749364298397691,1.6002915835591445]},{"frame_idx":8,"position_3d":[-0.252207649753714,0.3748601519937902,1.6002267416459308]},{"frame_idx":9,"position_3d":[-0.25205744825970766,0.37479773080549694,1.6001705834279014]},{"frame_idx":10,"position_3d":[-0.25189889076271565,0.37474995125754973,1.600123815127232]},{"frame_idx":11,"position_3d":[-0.2517339712152599,0.3747174142054863,1.6000870248824388]},{"frame_idx":12,"position_3d":[-0.2515647635763383,0.3747005288216148,1.6000606753521964]},{"frame_idx":13,"position_3d":[-0.2513933957301867,0.3746995074494346,1.600045097897136]},{"frame_idx":14,"position_3d":[-0.2512220227269005,0.3747143629332934,1.600040488412793]}]}

scenefun3d_test/scenefun3d/scenefun3d_435357_42899632/interval_001/cam_2/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"42899632","intrinsics":{"fx":1589.3,"fy":1589.3,"cx":714.282,"cy":956.701},"T_base_to_cam":[[-0.9625562598195471,-0.26980903743841156,0.02623985515894746,-6.058465344281271],[-0.08677107062304477,0.21495542454450933,-0.9727615055921056,264.70835376109653],[0.25681944627526804,-0.9386145368443041,-0.23031830851979018,64.47138726171707],[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":[-0.1317207440426813,0.14392876676294009,1.8236423655428098]},{"frame_idx":1,"position_3d":[-0.06287078080096237,0.15242264688095886,1.795611999262977]},{"frame_idx":2,"position_3d":[0.002274312813962731,0.16255623423930748,1.760234152285239]},{"frame_idx":3,"position_3d":[0.06289529945182257,0.17420209309731044,1.717953721562045]},{"frame_idx":4,"position_3d":[0.11822983503253034,0.18721377002274361,1.6693024080414172]},{"frame_idx":5,"position_3d":[0.16758205566531326,0.20142763562871888,1.6148920302190266]},{"frame_idx":6,"position_3d":[0.21033132854088868,0.2166649423081642,1.5554068301656265]},{"frame_idx":7,"position_3d":[0.24594005674914038,0.23273407208869423,1.4915948687860054]},{"frame_idx":8,"position_3d":[0.2739604398721842,0.24943294633979257,1.4242586185190746]},{"frame_idx":9,"position_3d":[0.29404010533444297,0.26655156702883914,1.3542448717813431]},{"frame_idx":10,"position_3d":[0.30592653969223543,0.2838746575682141,1.2824340920609598]},{"frame_idx":11,"position_3d":[0.30947026413684253,0.30118437004329357,1.2097293415784935]},{"frame_idx":12,"position_3d":[0.30462671427725646,0.31826302477637425,1.13704492475554]},{"frame_idx":13,"position_3d":[0.2914568005632547,0.33489584777492143,1.0652948903061292]},{"frame_idx":14,"position_3d":[0.2701261423011526,0.35087367163913963,0.9953815365438018]}]}

scenefun3d_test/scenefun3d/scenefun3d_435357_42899632/interval_002/cam_0/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"42899632","intrinsics":{"fx":1590.66,"fy":1590.66,"cx":714.306,"cy":956.519},"T_base_to_cam":[[-0.9903679880009503,0.13327008556750464,0.03755439569184321,-9.808548259857432],[0.024697779463944407,0.4369132768583297,-0.8991645056353521,245.43260846496094],[-0.13623974468744393,-0.889576232145254,-0.435996398115573,117.92069508525718],[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":[1.1873075930872012,0.27059474840064013,2.6564159252087336]},{"frame_idx":1,"position_3d":[1.1952443197289715,0.27960006770535895,2.638664974025677]},{"frame_idx":2,"position_3d":[1.2031810463707417,0.28860538701007776,2.62091402284262]},{"frame_idx":3,"position_3d":[1.211117773012512,0.2976107063147966,2.6031630716595635]},{"frame_idx":4,"position_3d":[1.2190544996542823,0.3066160256195154,2.585412120476507]},{"frame_idx":5,"position_3d":[1.2269912262960525,0.3156213449242342,2.56766116929345]},{"frame_idx":6,"position_3d":[1.2349279529378228,0.32462666422895303,2.5499102181103934]},{"frame_idx":7,"position_3d":[1.242864679579593,0.33363198353367185,2.5321592669273367]},{"frame_idx":8,"position_3d":[1.2508014062213633,0.34263730283839067,2.51440831574428]},{"frame_idx":9,"position_3d":[1.2587381328631335,0.3516426221431095,2.4966573645612233]},{"frame_idx":10,"position_3d":[1.2666748595049038,0.3606479414478283,2.4789064133781666]},{"frame_idx":11,"position_3d":[1.274611586146674,0.3696532607525471,2.46115546219511]},{"frame_idx":12,"position_3d":[1.2825483127884443,0.37865858005726594,2.4434045110120532]},{"frame_idx":13,"position_3d":[1.2904850394302145,0.38766389936198475,2.4256535598289966]},{"frame_idx":14,"position_3d":[1.2984217660719848,0.39666921866670357,2.40790260864594]}]}

scenefun3d_test/scenefun3d/scenefun3d_435357_42899632/interval_003/cam_0/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"42899632","intrinsics":{"fx":1596.53,"fy":1596.53,"cx":714.222,"cy":956.688},"T_base_to_cam":[[-0.9819208139457215,0.18641261835740913,0.032891501292991246,-8.836247047513131],[0.015393399582312173,0.25182097268344117,-0.9676514046732246,264.0054059291136],[-0.1886652018509804,-0.9496507428701882,-0.25013777838748863,67.05902178907117],[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":[1.138021209241609,0.8290196418613505,2.6244804657905547]},{"frame_idx":1,"position_3d":[1.1470185914536641,0.8342308332795466,2.6057434897591216]},{"frame_idx":2,"position_3d":[1.1560159736657192,0.8394420246977428,2.5870065137276885]},{"frame_idx":3,"position_3d":[1.1650133558777742,0.8446532161159389,2.5682695376962554]},{"frame_idx":4,"position_3d":[1.1740107380898293,0.8498644075341351,2.5495325616648223]},{"frame_idx":5,"position_3d":[1.1830081203018843,0.8550755989523312,2.5307955856333892]},{"frame_idx":6,"position_3d":[1.1920055025139393,0.8602867903705274,2.512058609601956]},{"frame_idx":7,"position_3d":[1.2010028847259944,0.8654979817887235,2.493321633570523]},{"frame_idx":8,"position_3d":[1.2100002669380494,0.8707091732069197,2.47458465753909]},{"frame_idx":9,"position_3d":[1.2189976491501044,0.8759203646251158,2.455847681507657]},{"frame_idx":10,"position_3d":[1.2279950313621595,0.881131556043312,2.4371107054762238]},{"frame_idx":11,"position_3d":[1.2369924135742145,0.8863427474615081,2.4183737294447907]},{"frame_idx":12,"position_3d":[1.2459897957862696,0.8915539388797042,2.3996367534133576]},{"frame_idx":13,"position_3d":[1.2549871779983246,0.8967651302979004,2.3808997773819245]},{"frame_idx":14,"position_3d":[1.2639845602103796,0.9019763217160965,2.3621628013504914]}]}

scenefun3d_test/scenefun3d/scenefun3d_435357_42899632/interval_004/cam_3/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"42899632","intrinsics":{"fx":1597.44,"fy":1597.44,"cx":714.158,"cy":956.602},"T_base_to_cam":[[-0.9351221470869625,0.3505192432699668,0.05179604352572609,-13.815393139594384],[-0.045454112303127736,0.026302189180096525,-0.9986201072074751,272.2759732707958],[-0.35139791362813144,-0.936186121955343,-0.008663218571178799,1.2111091801295837],[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":[1.0574939948192217,1.5517967455711528,2.7318844666882143]},{"frame_idx":1,"position_3d":[1.069656624404395,1.5526404046244928,2.714262254725893]},{"frame_idx":2,"position_3d":[1.0818192539895684,1.5534840636778329,2.6966400427635717]},{"frame_idx":3,"position_3d":[1.0939818835747417,1.554327722731173,2.6790178308012504]},{"frame_idx":4,"position_3d":[1.106144513159915,1.555171381784513,2.661395618838929]},{"frame_idx":5,"position_3d":[1.1183071427450884,1.556015040837853,2.643773406876608]},{"frame_idx":6,"position_3d":[1.1304697723302617,1.556858699891193,2.6261511949142866]},{"frame_idx":7,"position_3d":[1.142632401915435,1.5577023589445331,2.6085289829519653]},{"frame_idx":8,"position_3d":[1.1547950315006084,1.5585460179978732,2.590906770989644]},{"frame_idx":9,"position_3d":[1.1669576610857817,1.5593896770512132,2.573284559027323]},{"frame_idx":10,"position_3d":[1.179120290670955,1.5602333361045533,2.5556623470650015]},{"frame_idx":11,"position_3d":[1.1912829202561284,1.5610769951578933,2.5380401351026802]},{"frame_idx":12,"position_3d":[1.2034455498413017,1.5619206542112334,2.520417923140359]},{"frame_idx":13,"position_3d":[1.215608179426475,1.5627643132645734,2.5027957111780377]},{"frame_idx":14,"position_3d":[1.2277708090116484,1.5636079723179135,2.4851734992157164]}]}

scenefun3d_test/scenefun3d/scenefun3d_435357_42899632/interval_005/cam_3/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"42899632","intrinsics":{"fx":1596.08,"fy":1596.08,"cx":714.212,"cy":956.554},"T_base_to_cam":[[0.9962185038145617,-0.04117381567480431,0.0765075784498076,-18.96038254520877],[0.05361418210017557,-0.4015971412390137,-0.9142457304392407,248.19479329286762],[0.06836820997514442,0.9148904049400829,-0.3978710027299874,110.77943896663416],[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":[0.42319174825107453,0.5239139046157106,1.316117917202007]},{"frame_idx":1,"position_3d":[0.42483119636071326,0.5043229246777269,1.30759211000065]},{"frame_idx":2,"position_3d":[0.426470644470352,0.4847319447397431,1.299066302799293]},{"frame_idx":3,"position_3d":[0.4281100925799907,0.46514096480175937,1.290540495597936]},{"frame_idx":4,"position_3d":[0.42974954068962945,0.4455499848637756,1.282014688396579]},{"frame_idx":5,"position_3d":[0.4313889887992682,0.42595900492579186,1.273488881195222]},{"frame_idx":6,"position_3d":[0.4330284369089069,0.4063680249878081,1.264963073993865]},{"frame_idx":7,"position_3d":[0.43466788501854564,0.38677704504982435,1.2564372667925081]},{"frame_idx":8,"position_3d":[0.43630733312818437,0.3671860651118406,1.2479114595911511]},{"frame_idx":9,"position_3d":[0.4379467812378231,0.34759508517385684,1.2393856523897941]},{"frame_idx":10,"position_3d":[0.43958622934746183,0.3280041052358731,1.2308598451884372]},{"frame_idx":11,"position_3d":[0.44122567745710056,0.30841312529788933,1.2223340379870802]},{"frame_idx":12,"position_3d":[0.4428651255667393,0.2888221453599056,1.2138082307857232]},{"frame_idx":13,"position_3d":[0.444504573676378,0.2692311654219218,1.2052824235843662]},{"frame_idx":14,"position_3d":[0.44614402178601675,0.2496401854839381,1.1967566163830092]}]}

scenefun3d_test/scenefun3d/scenefun3d_455342_44358471/interval_001/cam_12/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"44358471","intrinsics":{"fx":1588.85,"fy":1588.85,"cx":968.435,"cy":711.97},"T_base_to_cam":[[0.8581088812234868,0.5127985417849827,-0.026206936268303033,6.2600485195154345],[-0.02500678732252809,-0.009241592342887031,-0.9996445636118739,285.3104985886705],[-0.512858468345002,0.8584592293837624,0.004893151607641255,-1.925317902913442],[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":[0.44563686251535284,0.7863434722543161,2.9464574576606952]},{"frame_idx":1,"position_3d":[0.44595693914121753,0.7858362207852695,2.946328507086775]},{"frame_idx":2,"position_3d":[0.4463278214293239,0.7853707944671089,2.9461794902403393]},{"frame_idx":3,"position_3d":[0.4467448453197082,0.784953046305832,2.946012281094693]},{"frame_idx":4,"position_3d":[0.44720276649498586,0.7845882297269499,2.94582898240186]},{"frame_idx":5,"position_3d":[0.4476958263306857,0.7842809325106135,2.9456318992492547]},{"frame_idx":6,"position_3d":[0.4482178243132939,0.7840350190976163,2.9454235100718718]},{"frame_idx":7,"position_3d":[0.44876219601530876,0.783853581991809,2.945206435484527]},{"frame_idx":8,"position_3d":[0.4493220956467257,0.7837389028700694,2.9449834053261057]},{"frame_idx":9,"position_3d":[0.44989048214481836,0.7836924238888918,2.9447572243302553]},{"frame_idx":10,"position_3d":[0.4504602077195876,0.7837147295484321,2.9445307368542317]},{"frame_idx":11,"position_3d":[0.4510241077413683,0.7838055393420797,2.944306791109457]},{"frame_idx":12,"position_3d":[0.4515750908402041,0.7839637112839903,2.9440882033436084]},{"frame_idx":13,"position_3d":[0.4521062280839393,0.784187256270221,2.9438777224246686]},{"frame_idx":14,"position_3d":[0.45261084011356095,0.784473363092866,2.9436779952723175]}]}

scenefun3d_test/scenefun3d/scenefun3d_455342_44358471/interval_002/cam_15/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"44358471","intrinsics":{"fx":1588.4,"fy":1588.4,"cx":968.301,"cy":711.967},"T_base_to_cam":[[0.719643998024271,0.6920987307138389,-0.05578407525392659,14.140861361384752],[-0.02760718810703705,-0.05175659191564688,-0.9982780666518221,284.9745603454293],[-0.6937941764475003,0.7199448604841694,-0.0181394208828283,4.363249710621043],[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":[0.6627177762913874,0.5813741768311047,2.1776940821119326]},{"frame_idx":1,"position_3d":[0.684506768807829,0.5794029039910781,2.2191727845578773]},{"frame_idx":2,"position_3d":[0.7107989045973981,0.5772292097859494,2.2579429730693614]},{"frame_idx":3,"position_3d":[0.7412635447974885,0.5748804296815547,2.2935170900308663]},{"frame_idx":4,"position_3d":[0.7755175788815879,0.5723861009505009,2.3254477702810172]},{"frame_idx":5,"position_3d":[0.8131302424964354,0.5697775912238242,2.3533334669890564]},{"frame_idx":6,"position_3d":[0.8536285345736985,0.5670877040248301,2.376823501339222]},{"frame_idx":7,"position_3d":[0.8965031655928491,0.5643502662457549,2.3956224725203255]},{"frame_idx":8,"position_3d":[0.9412149621923812,0.5615997027549688,2.4094939725623474]},{"frame_idx":9,"position_3d":[0.9872016475876669,0.5588706034842827,2.4182635593038273]},{"frame_idx":10,"position_3d":[1.0338849125277643,0.5561972884404857,2.4218209501032586]},{"frame_idx":11,"position_3d":[1.0806776878697901,0.553613376111347,2.420121408707292]},{"frame_idx":12,"position_3d":[1.126991527314018,0.5511513606936264,2.4131863078350784]},{"frame_idx":13,"position_3d":[1.172244007457521,0.5488422034596963,2.4011028604039257]},{"frame_idx":14,"position_3d":[1.2158660521063944,0.5467149434015777,2.38402302277626]}]}

scenefun3d_test/scenefun3d/scenefun3d_455342_44358471/interval_003/cam_9/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"44358471","intrinsics":{"fx":1587.04,"fy":1587.04,"cx":968.295,"cy":712.252},"T_base_to_cam":[[-0.9940602425653075,-0.10883065927206557,0.0003489318123903462,0.6054728381202095],[-0.05024805574699863,0.45611750364085935,-0.888499834420962,251.94769981984533],[0.09653686883594603,-0.8832398940688979,-0.4588768053416007,133.6341618211037],[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":[-0.6006302549710689,0.408004850381559,1.440686398461736]},{"frame_idx":1,"position_3d":[-0.5792171333908227,0.4076575753649467,1.4414221278425656]},{"frame_idx":2,"position_3d":[-0.5578040118105765,0.4073103003483344,1.4421578572233953]},{"frame_idx":3,"position_3d":[-0.5363908902303303,0.4069630253317221,1.442893586604225]},{"frame_idx":4,"position_3d":[-0.514977768650084,0.40661575031510977,1.4436293159850546]},{"frame_idx":5,"position_3d":[-0.49356464706983777,0.40626847529849747,1.4443650453658843]},{"frame_idx":6,"position_3d":[-0.4721515254895915,0.40592120028188516,1.445100774746714]},{"frame_idx":7,"position_3d":[-0.4507384039093452,0.40557392526527286,1.4458365041275436]},{"frame_idx":8,"position_3d":[-0.42932528232909895,0.40522665024866056,1.4465722335083733]},{"frame_idx":9,"position_3d":[-0.40791216074885267,0.40487937523204826,1.447307962889203]},{"frame_idx":10,"position_3d":[-0.3864990391686064,0.40453210021543595,1.4480436922700326]},{"frame_idx":11,"position_3d":[-0.3650859175883601,0.40418482519882365,1.4487794216508623]},{"frame_idx":12,"position_3d":[-0.34367279600811385,0.40383755018221135,1.449515151031692]},{"frame_idx":13,"position_3d":[-0.32225967442786757,0.40349027516559904,1.4502508804125216]},{"frame_idx":14,"position_3d":[-0.3008465528476213,0.40314300014898674,1.4509866097933513]}]}

scenefun3d_test/scenefun3d/scenefun3d_455342_44358471/interval_004/cam_3/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"44358471","intrinsics":{"fx":1588.4,"fy":1588.4,"cx":968.678,"cy":711.981},"T_base_to_cam":[[0.4123962317796967,-0.9110026508694555,-0.0018756659434791545,0.7483830410291713],[0.034156867466390295,0.017519649182952235,-0.9992629135004409,285.192837463032],[0.9103640241237512,0.41202819321174045,0.038342034112429924,-9.318553971678256],[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":[-0.8314316472101811,1.3082826462068056,3.307627600729486]},{"frame_idx":1,"position_3d":[-0.837314060168566,1.3075251875109581,3.287036166889646]},{"frame_idx":2,"position_3d":[-0.8431964731269509,1.3067677288151107,3.2664447330498065]},{"frame_idx":3,"position_3d":[-0.8490788860853358,1.3060102701192633,3.245853299209967]},{"frame_idx":4,"position_3d":[-0.8549612990437206,1.3052528114234159,3.2252618653701273]},{"frame_idx":5,"position_3d":[-0.8608437120021055,1.3044953527275684,3.2046704315302876]},{"frame_idx":6,"position_3d":[-0.8667261249604904,1.303737894031721,3.184078997690448]},{"frame_idx":7,"position_3d":[-0.8726085379188753,1.3029804353358736,3.1634875638506084]},{"frame_idx":8,"position_3d":[-0.8784909508772601,1.3022229766400262,3.1428961300107687]},{"frame_idx":9,"position_3d":[-0.884373363835645,1.3014655179441788,3.122304696170929]},{"frame_idx":10,"position_3d":[-0.8902557767940299,1.3007080592483313,3.1017132623310895]},{"frame_idx":11,"position_3d":[-0.8961381897524148,1.299950600552484,3.08112182849125]},{"frame_idx":12,"position_3d":[-0.9020206027107996,1.2991931418566365,3.06053039465141]},{"frame_idx":13,"position_3d":[-0.9079030156691845,1.298435683160789,3.0399389608115706]},{"frame_idx":14,"position_3d":[-0.9137854286275694,1.2976782244649416,3.019347526971731]}]}

scenefun3d_test/scenefun3d/scenefun3d_455342_44358471/interval_005/cam_10/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"44358471","intrinsics":{"fx":1587.04,"fy":1587.04,"cx":967.969,"cy":712.203},"T_base_to_cam":[[-0.6420070955564217,-0.7657762249529215,-0.03759870412740807,12.986926227669441],[-0.2824238437270571,0.28179881897512093,-0.9169657562410181,260.6113961367541],[0.7127858456434462,-0.5780797513501748,-0.39719030618744655,115.29255889214302],[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":[0.6213511499217343,0.0327946892597879,2.599882176331292]},{"frame_idx":1,"position_3d":[0.6373643664544923,0.03791668662449471,2.586595878399199]},{"frame_idx":2,"position_3d":[0.6533775829872503,0.04303868398920152,2.5733095804671064]},{"frame_idx":3,"position_3d":[0.6693907995200084,0.04816068135390833,2.5600232825350138]},{"frame_idx":4,"position_3d":[0.6854040160527664,0.05328267871861514,2.546736984602921]},{"frame_idx":5,"position_3d":[0.7014172325855244,0.05840467608332195,2.5334506866708284]},{"frame_idx":6,"position_3d":[0.7174304491182824,0.06352667344802876,2.5201643887387357]},{"frame_idx":7,"position_3d":[0.7334436656510404,0.06864867081273557,2.506878090806643]},{"frame_idx":8,"position_3d":[0.7494568821837984,0.07377066817744238,2.4935917928745504]},{"frame_idx":9,"position_3d":[0.7654700987165564,0.07889266554214919,2.4803054949424577]},{"frame_idx":10,"position_3d":[0.7814833152493144,0.084014662906856,2.467019197010365]},{"frame_idx":11,"position_3d":[0.7974965317820724,0.0891366602715628,2.4537328990782723]},{"frame_idx":12,"position_3d":[0.8135097483148304,0.09425865763626962,2.4404466011461796]},{"frame_idx":13,"position_3d":[0.8295229648475884,0.09938065500097643,2.427160303214087]},{"frame_idx":14,"position_3d":[0.8455361813803464,0.10450265236568324,2.4138740052819943]}]}

scenefun3d_test/scenefun3d/scenefun3d_455342_44358471/interval_006/cam_6/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"44358471","intrinsics":{"fx":1588.4,"fy":1588.4,"cx":968.291,"cy":711.967},"T_base_to_cam":[[0.7620215278492788,0.645041180326525,-0.05696548759744008,14.573468132935758],[-0.033210275261893296,-0.04892534547257736,-0.9982501631291718,284.96210361775513],[-0.6466995196467058,0.7625799540070224,-0.01586017135366674,3.635983410344614],[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":[-0.26433049646009366,0.16436827931687503,2.751845417695244]},{"frame_idx":1,"position_3d":[-0.2362115608652226,0.16719504553427242,2.794430100862551]},{"frame_idx":2,"position_3d":[-0.20826448812415546,0.1642940086957039,2.8371227875566793]},{"frame_idx":3,"position_3d":[-0.18084072889188044,0.15570165102263525,2.879386592471577]},{"frame_idx":4,"position_3d":[-0.15428515285237915,0.14152602639820733,2.9206900237384077]},{"frame_idx":5,"position_3d":[-0.1289317117822524,0.12194540152696134,2.9605136667441823]},{"frame_idx":6,"position_3d":[-0.10509923991336623,0.09720601412759637,2.9983567160718874]},{"frame_idx":7,"position_3d":[-0.08308744440739413,0.06761897635078634,3.0337432734191787]},{"frame_idx":8,"position_3d":[-0.06317313636436493,0.03355636236337384,3.0662283322956547]},{"frame_idx":9,"position_3d":[-0.04560674976247041,-0.004553470700160454,3.095403374237674]},{"frame_idx":10,"position_3d":[-0.03060919210548429,-0.046231269577202395,3.1209015061650613]},{"frame_idx":11,"position_3d":[-0.018369066382728814,-0.09095291176485101,3.14240207427447]},{"frame_idx":12,"position_3d":[-0.009040299277054005,-0.1381559966644954,3.1596346964470032]},{"frame_idx":13,"position_3d":[-0.0027402054474904725,-0.18724691809565475,3.1723826624602416]},{"frame_idx":14,"position_3d":[0.0004519877706554362,-0.23760832923811614,3.180485659245026]}]}

scenefun3d_test/scenefun3d/scenefun3d_455342_44358471/interval_007/cam_10/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"44358471","intrinsics":{"fx":1588.85,"fy":1588.85,"cx":968.331,"cy":711.966},"T_base_to_cam":[[0.9881127182315976,-0.15304369735405787,-0.014521803233847275,3.771896103458893],[-0.015426424637586741,-0.004725011861818899,-0.999869841372269,285.34264998171847],[0.15295516170389248,0.988208126339338,-0.0070297613779484215,1.1002031311152536],[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":[-0.5568811882232394,0.1927127251429397,3.0602154051289814]},{"frame_idx":1,"position_3d":[-0.569997940611071,0.19856982535799253,3.10686554816389]},{"frame_idx":2,"position_3d":[-0.5832752769671687,0.19896482019600395,3.1538351870775037]},{"frame_idx":3,"position_3d":[-0.5965462270831646,0.1938927423677046,3.200533651408065]},{"frame_idx":4,"position_3d":[-0.6096439010613655,0.18341737619467344,3.2463736808715367]},{"frame_idx":5,"position_3d":[-0.6224035880520479,0.1676704554844854,3.290778810500411]},{"frame_idx":6,"position_3d":[-0.6346648275879613,0.14685000690164726,3.3331906200251487]},{"frame_idx":7,"position_3d":[-0.6462734274678046,0.1212178596673939,3.373075756333071]},{"frame_idx":8,"position_3d":[-0.6570834028126222,0.09109635290531429,3.4099326406932104]},{"frame_idx":9,"position_3d":[-0.6669588119103594,0.05686428203984687,3.443297776399876]},{"frame_idx":10,"position_3d":[-0.6757754657617663,0.01895213522403507,3.4727515775126543]},{"frame_idx":11,"position_3d":[-0.6834224898291196,-0.022163320298772327,3.497923645393058]},{"frame_idx":12,"position_3d":[-0.6898037183478657,-0.06596503381963306,3.5184974266823166]},{"frame_idx":13,"position_3d":[-0.6948389036669063,-0.11190217337667613,3.5342141941435328]},{"frame_idx":14,"position_3d":[-0.6984647254093719,-0.15939705278662253,3.5448763003068002]}]}

scenefun3d_test/scenefun3d/scenefun3d_455342_44358471/interval_008/cam_14/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"44358471","intrinsics":{"fx":1587.04,"fy":1587.04,"cx":968.202,"cy":712.175},"T_base_to_cam":[[-0.947846805302317,-0.3135495529866853,-0.057211113431233335,17.11813472438484],[-0.07580930749159566,0.39613236746816594,-0.9150585207196918,259.79055731683593],[0.3095793639373211,-0.862998160638779,-0.3992427734577646,116.49194123714585],[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":[-0.8316374718198922,0.08169592728427233,1.9791570696939829]},{"frame_idx":1,"position_3d":[-0.8328634242505615,0.0620875304117075,1.9706018674056023]},{"frame_idx":2,"position_3d":[-0.8340893766812307,0.04247913353914268,1.9620466651172217]},{"frame_idx":3,"position_3d":[-0.8353153291119,0.022870736666577855,1.9534914628288411]},{"frame_idx":4,"position_3d":[-0.8365412815425692,0.003262339794013032,1.9449362605404605]},{"frame_idx":5,"position_3d":[-0.8377672339732385,-0.01634605707855179,1.93638105825208]},{"frame_idx":6,"position_3d":[-0.8389931864039077,-0.03595445395111661,1.9278258559636994]},{"frame_idx":7,"position_3d":[-0.840219138834577,-0.05556285082368144,1.9192706536753188]},{"frame_idx":8,"position_3d":[-0.8414450912652462,-0.07517124769624627,1.9107154513869382]},{"frame_idx":9,"position_3d":[-0.8426710436959155,-0.09477964456881109,1.9021602490985576]},{"frame_idx":10,"position_3d":[-0.8438969961265848,-0.11438804144137592,1.893605046810177]},{"frame_idx":11,"position_3d":[-0.845122948557254,-0.13399643831394073,1.8850498445217965]},{"frame_idx":12,"position_3d":[-0.8463489009879233,-0.15360483518650556,1.8764946422334159]},{"frame_idx":13,"position_3d":[-0.8475748534185925,-0.17321323205907038,1.8679394399450353]},{"frame_idx":14,"position_3d":[-0.8488008058492618,-0.1928216289316352,1.8593842376566547]}]}

scenefun3d_test/scenefun3d/scenefun3d_455342_44358471/interval_011/cam_15/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"44358471","intrinsics":{"fx":1589.3,"fy":1589.3,"cx":968.813,"cy":712.008},"T_base_to_cam":[[-0.9413311324555292,0.3346720572556513,0.043477731797564645,-13.096085012461451],[-0.09862018673597486,-0.14957934721608201,-0.9838191285264645,281.19931179500367],[-0.3227534009706983,-0.9303873564159612,0.17380911708873859,-47.18930646721796],[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":[1.008566759721397,0.7565116675857553,1.8649789265549046]},{"frame_idx":1,"position_3d":[0.9897441693141644,0.7540878764107929,1.8550280974351216]},{"frame_idx":2,"position_3d":[0.9709215789069319,0.7516640852358305,1.8450772683153387]},{"frame_idx":3,"position_3d":[0.9520989884996993,0.7492402940608681,1.8351264391955557]},{"frame_idx":4,"position_3d":[0.9332763980924668,0.7468165028859057,1.8251756100757728]},{"frame_idx":5,"position_3d":[0.9144538076852342,0.7443927117109433,1.8152247809559898]},{"frame_idx":6,"position_3d":[0.8956312172780017,0.741968920535981,1.8052739518362069]},{"frame_idx":7,"position_3d":[0.8768086268707691,0.7395451293610186,1.795323122716424]},{"frame_idx":8,"position_3d":[0.8579860364635365,0.7371213381860562,1.785372293596641]},{"frame_idx":9,"position_3d":[0.839163446056304,0.7346975470110938,1.775421464476858]},{"frame_idx":10,"position_3d":[0.8203408556490714,0.7322737558361314,1.765470635357075]},{"frame_idx":11,"position_3d":[0.8015182652418389,0.729849964661169,1.755519806237292]},{"frame_idx":12,"position_3d":[0.7826956748346063,0.7274261734862066,1.7455689771175091]},{"frame_idx":13,"position_3d":[0.7638730844273738,0.7250023823112443,1.7356181479977262]},{"frame_idx":14,"position_3d":[0.7450504940201412,0.7225785911362819,1.7256673188779432]}]}

scenefun3d_test/scenefun3d/scenefun3d_455342_44358471/interval_012/cam_10/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"44358471","intrinsics":{"fx":1587.04,"fy":1587.04,"cx":968.445,"cy":712.258},"T_base_to_cam":[[-0.9575245066171622,-0.2882130937589979,0.008946050157874835,-1.2601789521742963],[-0.13509739527254888,0.4209903261290697,-0.8969480693419836,254.52969360432792],[0.25474597743268257,-0.8600583456322055,-0.44204539256761954,128.64539665861787],[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":[0.3313866768150233,0.5089042992725581,1.7983663200524376]},{"frame_idx":1,"position_3d":[0.3315783778898349,0.48968398350094416,1.7888939187831314]},{"frame_idx":2,"position_3d":[0.3317700789646465,0.47046366772933024,1.7794215175138253]},{"frame_idx":3,"position_3d":[0.3319617800394581,0.4512433519577163,1.7699491162445191]},{"frame_idx":4,"position_3d":[0.3321534811142697,0.4320230361861024,1.760476714975213]},{"frame_idx":5,"position_3d":[0.33234518218908127,0.41280272041448846,1.7510043137059068]},{"frame_idx":6,"position_3d":[0.33253688326389286,0.39358240464287453,1.7415319124366007]},{"frame_idx":7,"position_3d":[0.33272858433870445,0.3743620888712606,1.7320595111672945]},{"frame_idx":8,"position_3d":[0.33292028541351604,0.3551417730996467,1.7225871098979884]},{"frame_idx":9,"position_3d":[0.3331119864883276,0.33592145732803275,1.7131147086286822]},{"frame_idx":10,"position_3d":[0.3333036875631392,0.3167011415564188,1.703642307359376]},{"frame_idx":11,"position_3d":[0.3334953886379508,0.2974808257848049,1.69416990609007]},{"frame_idx":12,"position_3d":[0.3336870897127624,0.27826051001319096,1.6846975048207637]},{"frame_idx":13,"position_3d":[0.333878790787574,0.25904019424157704,1.6752251035514576]},{"frame_idx":14,"position_3d":[0.3340704918623856,0.2398198784699631,1.6657527022821514]}]}

scenefun3d_test/scenefun3d/scenefun3d_466437_45260951/interval_007/cam_8/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"45260951","intrinsics":{"fx":1590.66,"fy":1590.66,"cx":714.615,"cy":956.51},"T_base_to_cam":[[-0.9324312385195483,-0.35692305293906235,-0.05637304066271795,-0.32511248841923057],[-0.12651872885579812,0.46860783549433027,-0.87429955264888,36.14667603116816],[0.33847451407988494,-0.808091969267099,-0.48210203538712393,19.06161169007059],[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":[0.28720531040944,-0.35194085562602595,2.277399838700493]},{"frame_idx":1,"position_3d":[0.2815131761150821,-0.34373273119204967,2.263179868446326]},{"frame_idx":2,"position_3d":[0.2740217722729068,-0.33579371616972664,2.2496583240623877]},{"frame_idx":3,"position_3d":[0.26482530763284323,-0.32822364827928646,2.237005246814689]},{"frame_idx":4,"position_3d":[0.2540394330736532,-0.32111772551670703,2.2253797564911064]},{"frame_idx":5,"position_3d":[0.2417997872260287,-0.31456530898368024,2.2149280503777256]},{"frame_idx":6,"position_3d":[0.22826029073811163,-0.3086487991199095,2.205781564743143]},{"frame_idx":7,"position_3d":[0.21359121063403635,-0.30344259946977076,2.198055321951128]},{"frame_idx":8,"position_3d":[0.19797701910731014,-0.2990121810145719,2.1918464839876615]},{"frame_idx":9,"position_3d":[0.1816140736759465,-0.29541325883697567,2.187233130592585]},{"frame_idx":10,"position_3d":[0.16470814787274696,-0.2926910914715087,2.184273277361572]},{"frame_idx":11,"position_3d":[0.14747184352373333,-0.29087991175222994,2.183004146166349]},{"frame_idx":12,"position_3d":[0.13012191715683122,-0.2900024963149804,2.1834416970680635]},{"frame_idx":13,"position_3d":[0.11287655416276618,-0.2900698791679716,2.1855804276102533]},{"frame_idx":14,"position_3d":[0.09595262498718124,-0.2910812129327309,2.1893934420154295]}]}

scenefun3d_test/scenefun3d/scenefun3d_467115_47333310/interval_018/cam_1/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"47333310","intrinsics":{"fx":1596.98,"fy":1596.98,"cx":724.152,"cy":964.478},"T_base_to_cam":[[0.9988620110880166,0.04531226439413523,0.014882254556318347,-0.6338020877441137],[0.010679115859449449,0.09162718485723813,-0.9957361173923531,-5.631338510420309],[-0.046482677307396233,0.9947619100521559,0.09103901921551535,1.0731454617107632],[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":[-0.8815104900645822,0.9644341999338382,3.7094613979758577]},{"frame_idx":1,"position_3d":[-0.913496014212148,0.9589398957440818,3.6545963472290457]},{"frame_idx":2,"position_3d":[-0.9514531681902032,0.9537147506392991,3.6036514039324383]},{"frame_idx":3,"position_3d":[-0.9949046187642199,0.9488244738508826,3.5572672303069353]},{"frame_idx":4,"position_3d":[-1.043303938732111,0.9443305634468514,3.5160271342486014]},{"frame_idx":5,"position_3d":[-1.0960424785633407,0.9402895329579636,3.4804497338934315]},{"frame_idx":6,"position_3d":[-1.1524570205199176,0.9367522006872775,3.4509824356933803]},{"frame_idx":7,"position_3d":[-1.2118381190042584,0.9337630506405049,3.427995808020638]},{"frame_idx":8,"position_3d":[-1.2734390222492065,0.9313596731138294,3.4117789210553418]},{"frame_idx":9,"position_3d":[-1.3364850631547798,0.929572291974121,3.4025357115603367]},{"frame_idx":10,"position_3d":[-1.400183401176426,0.928423384576274,3.4003824182580575]},{"frame_idx":11,"position_3d":[-1.4637329927548863,0.9279273990974283,3.4053461200611506]},{"frame_idx":12,"position_3d":[-1.5263346649037297,0.9280905728427576,3.417364395539435]},{"frame_idx":13,"position_3d":[-1.5872011652733482,0.928910853807739,3.4362861079056057]},{"frame_idx":14,"position_3d":[-1.6455670623060277,0.9303779264832995,3.461873305648025]}]}

scenefun3d_test/scenefun3d/scenefun3d_467115_47333310/interval_025/cam_15/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"47333310","intrinsics":{"fx":1592.47,"fy":1592.47,"cx":724.464,"cy":963.472},"T_base_to_cam":[[0.9129129580154414,0.4034296764328493,-0.06192275236763335,-3.4897732180072802],[0.28221589832337013,-0.7335242734292005,-0.6183011620753246,-3.1708198948382846],[-0.2948628796933075,0.5469795576284823,-0.783498082777182,-5.174512391273355],[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":[0.03141493665797368,-0.18326245788726592,0.5769367276419146]},{"frame_idx":1,"position_3d":[0.01612901485563864,-0.17091709486797083,0.5683859218293548]},{"frame_idx":2,"position_3d":[0.0008430930533036007,-0.15857173184867573,0.5598351160167949]},{"frame_idx":3,"position_3d":[-0.014442828749031439,-0.14622636882938064,0.5512843102042351]},{"frame_idx":4,"position_3d":[-0.02972875055136648,-0.13388100581008555,0.5427335043916752]},{"frame_idx":5,"position_3d":[-0.04501467235370152,-0.12153564279079046,0.5341826985791154]},{"frame_idx":6,"position_3d":[-0.06030059415603656,-0.10919027977149537,0.5256318927665555]},{"frame_idx":7,"position_3d":[-0.0755865159583716,-0.09684491675220028,0.5170810869539957]},{"frame_idx":8,"position_3d":[-0.09087243776070664,-0.08449955373290519,0.5085302811414358]},{"frame_idx":9,"position_3d":[-0.10615835956304168,-0.0721541907136101,0.499979475328876]},{"frame_idx":10,"position_3d":[-0.12144428136537672,-0.059808827694315,0.49142866951631614]},{"frame_idx":11,"position_3d":[-0.13673020316771176,-0.04746346467501991,0.4828778637037563]},{"frame_idx":12,"position_3d":[-0.1520161249700468,-0.03511810165572482,0.47432705789119645]},{"frame_idx":13,"position_3d":[-0.16730204677238183,-0.02277273863642973,0.4657762520786366]},{"frame_idx":14,"position_3d":[-0.18258796857471687,-0.010427375617134636,0.45722544626607675]}]}

scenefun3d_test/scenefun3d/scenefun3d_467115_47333310/interval_037/cam_19/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"47333310","intrinsics":{"fx":1604.21,"fy":1604.21,"cx":724.09,"cy":964.703},"T_base_to_cam":[[0.8955978518023368,0.4433879572318987,0.036216118355827026,-1.295853719490637],[0.09360165308415447,-0.1082257274808846,-0.9897100193749412,-5.512176903823333],[-0.43490598798700497,0.8897720558058434,-0.13842857479613752,-2.7879089214560664],[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":[0.17870977851585557,0.45622615874836203,0.8518389722324149]},{"frame_idx":1,"position_3d":[0.16260779149503135,0.45763197805274,0.8377700931180705]},{"frame_idx":2,"position_3d":[0.14650580447420714,0.4590377973571179,0.8237012140037261]},{"frame_idx":3,"position_3d":[0.13040381745338292,0.46044361666149586,0.8096323348893817]},{"frame_idx":4,"position_3d":[0.11430183043255872,0.4618494359658738,0.7955634557750373]},{"frame_idx":5,"position_3d":[0.09819984341173452,0.46325525527025174,0.7814945766606929]},{"frame_idx":6,"position_3d":[0.08209785639091031,0.4646610745746297,0.7674256975463485]},{"frame_idx":7,"position_3d":[0.06599586937008611,0.4660668938790076,0.7533568184320041]},{"frame_idx":8,"position_3d":[0.04989388234926191,0.46747271318338557,0.7392879393176597]},{"frame_idx":9,"position_3d":[0.03379189532843771,0.4688785324877635,0.7252190602033153]},{"frame_idx":10,"position_3d":[0.01768990830761351,0.47028435179214145,0.7111501810889709]},{"frame_idx":11,"position_3d":[0.0015879212867893067,0.4716901710965194,0.6970813019746265]},{"frame_idx":12,"position_3d":[-0.014514065734034895,0.47309599040089734,0.6830124228602821]},{"frame_idx":13,"position_3d":[-0.030616052754859097,0.4745018097052753,0.6689435437459377]},{"frame_idx":14,"position_3d":[-0.0467180397756833,0.4759076290096532,0.6548746646315933]}]}