Add files using upload-large-folder tool

scenefun3d_test/scenefun3d/scenefun3d_421393_42444923/interval_002/cam_15/trajectory.json

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+{"camera_info":{"cam_id":"42444923","intrinsics":{"fx":1601.05,"fy":1601.05,"cx":717.797,"cy":959.04},"T_base_to_cam":[[-0.44658700439798893,-0.8943971774371506,0.024773705723785455,-3.601886559240785],[-0.46244312943580285,0.20702510159966647,-0.8621409161762764,122.65789048276626],[0.7659676230366739,-0.39647735912673,-0.5060625496511691,71.84188002325119],[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":[-0.111545219637879,0.5859999118290347,1.3933805087506954]},{"frame_idx":1,"position_3d":[-0.10987410445881216,0.5969449292761531,1.3750339112293577]},{"frame_idx":2,"position_3d":[-0.10820298927974531,0.6078899467232715,1.35668731370802]},{"frame_idx":3,"position_3d":[-0.10653187410067846,0.6188349641703899,1.3383407161866823]},{"frame_idx":4,"position_3d":[-0.10486075892161162,0.6297799816175083,1.3199941186653446]},{"frame_idx":5,"position_3d":[-0.10318964374254477,0.6407249990646267,1.3016475211440068]},{"frame_idx":6,"position_3d":[-0.10151852856347793,0.651670016511745,1.2833009236226691]},{"frame_idx":7,"position_3d":[-0.09984741338441108,0.6626150339588635,1.2649543261013314]},{"frame_idx":8,"position_3d":[-0.09817629820534424,0.6735600514059819,1.2466077285799937]},{"frame_idx":9,"position_3d":[-0.09650518302627739,0.6845050688531003,1.228261131058656]},{"frame_idx":10,"position_3d":[-0.09483406784721055,0.6954500863002187,1.2099145335373183]},{"frame_idx":11,"position_3d":[-0.0931629526681437,0.706395103747337,1.1915679360159805]},{"frame_idx":12,"position_3d":[-0.09149183748907685,0.7173401211944554,1.1732213384946428]},{"frame_idx":13,"position_3d":[-0.08982072231001001,0.7282851386415738,1.1548747409733051]},{"frame_idx":14,"position_3d":[-0.08814960713094316,0.7392301560886922,1.1365281434519674]}]}

scenefun3d_test/scenefun3d/scenefun3d_421393_42444923/interval_004/cam_8/trajectory.json

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+{"camera_info":{"cam_id":"42444923","intrinsics":{"fx":1602.41,"fy":1602.41,"cx":717.98,"cy":959.322},"T_base_to_cam":[[-0.6880487301870971,-0.7250189662548675,-0.030601363672986104,4.181358295242777],[-0.203917902293012,0.2336464548521242,-0.9506980715555554,135.31629395305112],[0.6964240331955387,-0.6478864350376211,-0.30860449329506157,43.75252798150424],[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":[-0.06866994144828809,-0.024417856470762445,1.2711870785565793]},{"frame_idx":1,"position_3d":[-0.09570842386558655,-0.020896252634119504,1.2630194478271985]},{"frame_idx":2,"position_3d":[-0.12356797369030521,-0.018303061094794716,1.2577933347449228]},{"frame_idx":3,"position_3d":[-0.1518982409189109,-0.01667089274099987,1.2555744607140233]},{"frame_idx":4,"position_3d":[-0.1803429560034,-0.01602027303679007,1.2563907293628591]},{"frame_idx":5,"position_3d":[-0.20854441014757694,-0.0163593839024441,1.2602318756395612]},{"frame_idx":6,"position_3d":[-0.23614795370271383,-0.017683960822069654,1.2670495949010148]},{"frame_idx":7,"position_3d":[-0.26280645609265585,-0.01997734647236501,1.2767581503717744]},{"frame_idx":8,"position_3d":[-0.28818467118222607,-0.023210700198124358,1.28923545133376]},{"frame_idx":9,"position_3d":[-0.31196345319188973,-0.02734336070021074,1.3043245884878762]},{"frame_idx":10,"position_3d":[-0.33384377014110467,-0.03232335737498495,1.3218358071794887]},{"frame_idx":11,"position_3d":[-0.3535504643489789,-0.03808806387480032,1.3415488936733044]},{"frame_idx":12,"position_3d":[-0.37083571270175814,-0.044564985670661056,1.3632159444688647]},{"frame_idx":13,"position_3d":[-0.3854821431722714,-0.05167267171298665,1.3865644838308997]},{"frame_idx":14,"position_3d":[-0.39730556839929515,-0.05932173872581936,1.4113008903297934]}]}

scenefun3d_test/scenefun3d/scenefun3d_421393_42444923/interval_005/cam_16/trajectory.json

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+{"camera_info":{"cam_id":"42444923","intrinsics":{"fx":1601.96,"fy":1601.96,"cx":717.941,"cy":959.21},"T_base_to_cam":[[-0.6641050450671129,-0.7474476622532125,-0.016925758730870488,2.2399703181186053],[-0.30444318700825507,0.29103520331398935,-0.9069800749279127,129.07180401708212],[0.6828461283485943,-0.5971771116044158,-0.42083329523119073,59.700365823615755],[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":[0.03213505187132082,-0.15148635366642793,1.0948620108553655]},{"frame_idx":1,"position_3d":[0.0010572526732196552,-0.14534594281212557,1.0828781326243446]},{"frame_idx":2,"position_3d":[-0.028318852209333226,-0.13780251649046568,1.0678020334215665]},{"frame_idx":3,"position_3d":[-0.05562384121302665,-0.128950937664241,1.0498233039418625]},{"frame_idx":4,"position_3d":[-0.08051433825841554,-0.11890252007299701,1.0291680371399416]},{"frame_idx":5,"position_3d":[-0.10267733090335135,-0.10778362839817127,1.0060959849803033]},{"frame_idx":6,"position_3d":[-0.12183410665605615,-0.09573408915390592,0.9808972919055711]},{"frame_idx":7,"position_3d":[-0.1377437579464195,-0.08290543228750313,0.9538888461017822]},{"frame_idx":8,"position_3d":[-0.15020621167847037,-0.069458985602418,0.9254102944455844]},{"frame_idx":9,"position_3d":[-0.15906474526564413,-0.05556384596752558,0.8958197712476952]},{"frame_idx":10,"position_3d":[-0.16420795750824116,-0.04139475282588244,0.8654893945061493]},{"frame_idx":11,"position_3d":[-0.16557116952814957,-0.027129890744844072,0.8348005863065662]},{"frame_idx":12,"position_3d":[-0.16313723814326497,-0.012948648641745303,0.804139276218117]},{"frame_idx":13,"position_3d":[-0.15693677145295215,0.0009706361358190734,0.7738910480052703]},{"frame_idx":14,"position_3d":[-0.1470477439234364,0.01445292050561404,0.7444362906882336]}]}

scenefun3d_test/scenefun3d/scenefun3d_421393_42444923/interval_008/cam_14/trajectory.json

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+{"camera_info":{"cam_id":"42444923","intrinsics":{"fx":1601.05,"fy":1601.05,"cx":717.895,"cy":958.954},"T_base_to_cam":[[-0.41803327383224465,-0.9083361208422598,0.013178525802664598,-1.9815955440380524],[-0.5057002322000597,0.22063239675306323,-0.8340195565187938,118.6468239575361],[0.7546624789413487,-0.35531230921013024,-0.5515774703537694,78.31739671231739],[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":[-0.07564853959346451,0.3423582899423252,1.3257980919370311]},{"frame_idx":1,"position_3d":[-0.07478219571646291,0.3541400546851464,1.30792008474101]},{"frame_idx":2,"position_3d":[-0.07391585183946131,0.36592181942796764,1.2900420775449888]},{"frame_idx":3,"position_3d":[-0.07304950796245971,0.37770358417078886,1.2721640703489676]},{"frame_idx":4,"position_3d":[-0.0721831640854581,0.3894853489136101,1.2542860631529464]},{"frame_idx":5,"position_3d":[-0.0713168202084565,0.4012671136564313,1.2364080559569253]},{"frame_idx":6,"position_3d":[-0.0704504763314549,0.41304887839925253,1.218530048760904]},{"frame_idx":7,"position_3d":[-0.0695841324544533,0.42483064314207375,1.200652041564883]},{"frame_idx":8,"position_3d":[-0.0687177885774517,0.43661240788489497,1.1827740343688617]},{"frame_idx":9,"position_3d":[-0.0678514447004501,0.4483941726277162,1.1648960271728406]},{"frame_idx":10,"position_3d":[-0.0669851008234485,0.4601759373705374,1.1470180199768194]},{"frame_idx":11,"position_3d":[-0.0661187569464469,0.47195770211335863,1.1291400127807982]},{"frame_idx":12,"position_3d":[-0.06525241306944529,0.48373946685617986,1.111262005584777]},{"frame_idx":13,"position_3d":[-0.06438606919244369,0.4955212315990011,1.0933839983887559]},{"frame_idx":14,"position_3d":[-0.06351972531544209,0.5073029963418223,1.0755059911927347]}]}

scenefun3d_test/scenefun3d/scenefun3d_421393_42444923/interval_012/cam_15/trajectory.json

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+{"camera_info":{"cam_id":"42444923","intrinsics":{"fx":1592.47,"fy":1592.47,"cx":718.126,"cy":959.234},"T_base_to_cam":[[-0.8291352702517704,-0.5477935517620556,-0.11161061003522799,14.715595303274986],[0.07523797791005116,0.08848723614041454,-0.993231723073844,141.52249101596982],[0.5539620477113304,-0.8319208097458212,-0.03215300930437259,5.058773818842541],[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":[0.13888681071289533,0.1086112646653703,0.4218582554507426]},{"frame_idx":1,"position_3d":[0.12113664693068976,0.11122364134795593,0.4101411377487415]},{"frame_idx":2,"position_3d":[0.1033864831484842,0.11383601803054155,0.3984240200467404]},{"frame_idx":3,"position_3d":[0.08563631936627863,0.11644839471312718,0.38670690234473926]},{"frame_idx":4,"position_3d":[0.06788615558407307,0.1190607713957128,0.37498978464273813]},{"frame_idx":5,"position_3d":[0.0501359918018675,0.12167314807829843,0.363272666940737]},{"frame_idx":6,"position_3d":[0.03238582801966193,0.12428552476088406,0.3515555492387359]},{"frame_idx":7,"position_3d":[0.01463566423745636,0.12689790144346969,0.33983843153673476]},{"frame_idx":8,"position_3d":[-0.0031144995447492108,0.1295102781260553,0.32812131383473364]},{"frame_idx":9,"position_3d":[-0.02086466332695478,0.13212265480864094,0.3164041961327325]},{"frame_idx":10,"position_3d":[-0.03861482710916035,0.13473503149122656,0.3046870784307314]},{"frame_idx":11,"position_3d":[-0.05636499089136592,0.1373474081738122,0.29296996072873027]},{"frame_idx":12,"position_3d":[-0.07411515467357149,0.13995978485639782,0.28125284302672915]},{"frame_idx":13,"position_3d":[-0.09186531845577706,0.14257216153898344,0.269535725324728]},{"frame_idx":14,"position_3d":[-0.10961548223798262,0.14518453822156907,0.2578186076227269]}]}

scenefun3d_test/scenefun3d/scenefun3d_421393_42444924/interval_000/cam_12/trajectory.json

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+{"camera_info":{"cam_id":"42444924","intrinsics":{"fx":1599.24,"fy":1599.24,"cx":718.168,"cy":958.8},"T_base_to_cam":[[-0.7066635459586948,-0.7036374783222877,-0.07430297378527728,9.47736051536483],[-0.3896605401026615,0.47467531421844666,-0.7892072031846397,111.57271470604915],[0.5905855537515168,-0.5287510238021965,-0.6096155005642026,87.416025390757],[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":[0.15073901497538778,0.3234844585280001,1.2682857361262734]},{"frame_idx":1,"position_3d":[0.1504369187826362,0.3229911499134345,1.2689611936189351]},{"frame_idx":2,"position_3d":[0.15023007859097726,0.3224747041304778,1.2696549941750412]},{"frame_idx":3,"position_3d":[0.1501210955358325,0.32194161578449937,1.2703584128500462]},{"frame_idx":4,"position_3d":[0.1501113401423538,0.32139858877075506,1.271062603745979]},{"frame_idx":5,"position_3d":[0.1502009350902744,0.32085245196901424,1.2717587112537418]},{"frame_idx":6,"position_3d":[0.15038875367114,0.3203100733664348,1.272437981417534]},{"frame_idx":7,"position_3d":[0.15067243395732127,0.3197782736886396,1.2730918720209239]},{"frame_idx":8,"position_3d":[0.15104840850462442,0.3192637406251342,1.2737121600101777]},{"frame_idx":9,"position_3d":[0.15151194921497158,0.31877294472773127,1.274291044903931]},{"frame_idx":10,"position_3d":[0.15205722679497752,0.31831205803960705,1.2748212468887683]},{"frame_idx":11,"position_3d":[0.15267738406269626,0.3178868764782774,1.2752960983670996]},{"frame_idx":12,"position_3d":[0.15336462218066263,0.3175027469485721,1.2757096278060698]},{"frame_idx":13,"position_3d":[0.15411029873079835,0.31716450010220437,1.2760566348330484]},{"frame_idx":14,"position_3d":[0.15490503639783382,0.3168763895895227,1.276332755633333]}]}

scenefun3d_test/scenefun3d/scenefun3d_421393_42444924/interval_001/cam_7/trajectory.json

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+{"camera_info":{"cam_id":"42444924","intrinsics":{"fx":1601.5,"fy":1601.5,"cx":717.994,"cy":959.31},"T_base_to_cam":[[0.5427680721593457,0.838557479383613,-0.04716114517512038,6.602591663764108],[0.2313666630491229,-0.20326257053985275,-0.9513957087600539,135.26625590230427],[-0.8073860830321148,0.5054756979196259,-0.3043386793339391,43.560509877495996],[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":[-0.029235232819292634,0.20626122380483025,0.9561961508204249]},{"frame_idx":1,"position_3d":[-0.0737047381345447,0.22673278631874572,0.899090941685163]},{"frame_idx":2,"position_3d":[-0.12467519040167296,0.24586186097879537,0.8471898994657526]},{"frame_idx":3,"position_3d":[-0.18150560660967302,0.26340788857218145,0.801145709881789]},{"frame_idx":4,"position_3d":[-0.24348131130095374,0.2791502176214748,0.7615374053327515]},{"frame_idx":5,"position_3d":[-0.3098229240298808,0.2928908792049684,0.7288630832296178]},{"frame_idx":6,"position_3d":[-0.3796961605240877,0.3044570765307324,0.7035336421309181]},{"frame_idx":7,"position_3d":[-0.4522223242932636,0.3137033579565312,0.6858676144549526]},{"frame_idx":8,"position_3d":[-0.5264893567473508,0.32051344612861804,0.6760871607498147]},{"frame_idx":9,"position_3d":[-0.601563306862503,0.3248017002369236,0.6743152758955978]},{"frame_idx":10,"position_3d":[-0.676500076157102,0.3265141929979331,0.6805742423724153]},{"frame_idx":11,"position_3d":[-0.7503572912779416,0.3256293888215653,0.6947853500452842]},{"frame_idx":12,"position_3d":[-0.8222061548919231,0.32215841463371336,0.7167698859897415]},{"frame_idx":13,"position_3d":[-0.8911431258514187,0.3161449199486957,0.7462513819105606]},{"frame_idx":14,"position_3d":[-0.9563012817484509,0.3076645279512873,0.7828590908909752]}]}

scenefun3d_test/scenefun3d/scenefun3d_421393_42444924/interval_002/cam_11/trajectory.json

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+{"camera_info":{"cam_id":"42444924","intrinsics":{"fx":1602.41,"fy":1602.41,"cx":717.838,"cy":957.862},"T_base_to_cam":[[-0.4019238088134124,-0.9142249287136957,0.05147845789607233,-7.5396681207158],[-0.7735524687051278,0.3089219270330439,-0.5533387941924848,78.91714900560906],[0.4899732952612027,-0.2622213239167042,-0.8313640280973487,117.82956250264635],[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":[-0.2337001988282097,0.0436281715707878,1.2006185048493734]},{"frame_idx":1,"position_3d":[-0.23307858649342536,0.061537771587405754,1.1888693134380723]},{"frame_idx":2,"position_3d":[-0.23245697415864103,0.07944737160402371,1.1771201220267713]},{"frame_idx":3,"position_3d":[-0.2318353618238567,0.09735697162064166,1.1653709306154703]},{"frame_idx":4,"position_3d":[-0.23121374948907236,0.11526657163725962,1.1536217392041692]},{"frame_idx":5,"position_3d":[-0.23059213715428803,0.13317617165387757,1.1418725477928682]},{"frame_idx":6,"position_3d":[-0.2299705248195037,0.15108577167049553,1.1301233563815671]},{"frame_idx":7,"position_3d":[-0.22934891248471936,0.16899537168711348,1.118374164970266]},{"frame_idx":8,"position_3d":[-0.22872730014993503,0.18690497170373144,1.106624973558965]},{"frame_idx":9,"position_3d":[-0.2281056878151507,0.2048145717203494,1.094875782147664]},{"frame_idx":10,"position_3d":[-0.22748407548036637,0.22272417173696735,1.083126590736363]},{"frame_idx":11,"position_3d":[-0.22686246314558203,0.2406337717535853,1.071377399325062]},{"frame_idx":12,"position_3d":[-0.2262408508107977,0.25854337177020326,1.0596282079137609]},{"frame_idx":13,"position_3d":[-0.22561923847601337,0.2764529717868212,1.0478790165024598]},{"frame_idx":14,"position_3d":[-0.22499762614122903,0.29436257180343917,1.0361298250911588]}]}

scenefun3d_test/scenefun3d/scenefun3d_421393_42444924/interval_004/cam_10/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"42444924","intrinsics":{"fx":1610.09,"fy":1610.09,"cx":717.857,"cy":959.352},"T_base_to_cam":[[-0.7719123322097783,-0.6357193688060702,0.003497928997636901,-0.3535990696391687],[-0.13579075310431743,0.15950156330517928,-0.9778139509510825,139.2265277990865],[0.6210573425649383,-0.7552616337588024,-0.20944603557518437,29.393931055972136],[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":[0.06585284825184906,0.1771656112461244,1.0225674426993585]},{"frame_idx":1,"position_3d":[0.04008803600409801,0.17961134639682413,1.0107190568955846]},{"frame_idx":2,"position_3d":[0.013130707403452072,0.1814328647988369,1.0017649560377526]},{"frame_idx":3,"position_3d":[-0.014680133501929243,0.18260725980138784,0.9958177431394403]},{"frame_idx":4,"position_3d":[-0.04299474925143502,0.18311976270591998,0.9929522078534969]},{"frame_idx":5,"position_3d":[-0.0714570671234925,0.18296392849104776,0.9932043859487657]},{"frame_idx":6,"position_3d":[-0.09970915695663905,0.18214171686244027,0.9965711061393815]},{"frame_idx":7,"position_3d":[-0.12739573232897852,0.18066346760838556,1.0030100299655307]},{"frame_idx":8,"position_3d":[-0.15416861849107855,0.17854777057095358,1.0124401842241488]},{"frame_idx":9,"position_3d":[-0.17969113086546032,0.17582123186794604,1.0247429792539309]},{"frame_idx":10,"position_3d":[-0.2036423090505094,0.17251813930552787,1.0397637002691296]},{"frame_idx":11,"position_3d":[-0.22572095308375148,0.1686800311891704,1.0573134529877533]},{"frame_idx":12,"position_3d":[-0.2456494112061409,0.16435517395535906,1.0771715390867613]},{"frame_idx":13,"position_3d":[-0.26317707149402786,0.15959795519314962,1.0990882316115291]},{"frame_idx":14,"position_3d":[-0.2780835134495068,0.1544681996886795,1.1227879154371965]}]}

scenefun3d_test/scenefun3d/scenefun3d_421393_42444924/interval_005/cam_16/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"42444924","intrinsics":{"fx":1615.96,"fy":1615.96,"cx":718.035,"cy":958.679},"T_base_to_cam":[[-0.7189251299037689,-0.6947123852774824,-0.022833294438601714,3.1017939573252415],[-0.43830187016094185,0.4785840706963185,-0.7608211076785147,108.32824812106456],[0.5394794974846309,-0.5369655380169309,-0.6485598528863146,91.92025460129166],[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":[-0.03823357426571894,-0.440297384434686,0.8286406970900231]},{"frame_idx":1,"position_3d":[-0.06819508821181049,-0.4295401163726,0.8170762493378919]},{"frame_idx":2,"position_3d":[-0.09620194753208214,-0.4167043772371722,0.803004745588294]},{"frame_idx":3,"position_3d":[-0.12190194972062321,-0.40195158389549995,0.7866031431653574]},{"frame_idx":4,"position_3d":[-0.1449719023384242,-0.3854672612836249,0.7680777017359817]},{"frame_idx":5,"position_3d":[-0.16512168734581792,-0.3674587093228181,0.7476613894748528]},{"frame_idx":6,"position_3d":[-0.18209790950515886,-0.34815239600279196,0.7256109533544749]},{"frame_idx":7,"position_3d":[-0.19568708297295975,-0.3277911094153297,0.7022036904030226]},{"frame_idx":8,"position_3d":[-0.20571831600824092,-0.3066309045531623,0.6777339605333207]},{"frame_idx":9,"position_3d":[-0.21206546003532672,-0.28493788326986835,0.6525094847961488]},{"frame_idx":10,"position_3d":[-0.2146486960353778,-0.26298484789466947,0.6268474756094835]},{"frame_idx":11,"position_3d":[-0.21343553831686507,-0.24104787058485652,0.6010706476282918]},{"frame_idx":12,"position_3d":[-0.20844124304198933,-0.21940282155823115,0.5755031594205009]},{"frame_idx":13,"position_3d":[-0.19972861637158978,-0.19832189986505314,0.5504665369849261]},{"frame_idx":14,"position_3d":[-0.1874072246412304,-0.17807021032704987,0.5262756303752815]}]}

scenefun3d_test/scenefun3d/scenefun3d_421393_42444924/interval_007/cam_8/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"42444924","intrinsics":{"fx":1602.86,"fy":1602.86,"cx":717.918,"cy":958.574},"T_base_to_cam":[[-0.7167061280462745,-0.6973230817851885,0.008534965174156,-1.155678499824586],[-0.4792748429252775,0.4836327714541159,-0.7323899011554982,104.52766489105132],[0.5065845940806604,-0.5289989243705671,-0.6808319815159356,96.26349412636583],[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":[-0.28405884686163196,0.33893263313575517,0.761170415834215]},{"frame_idx":1,"position_3d":[-0.2755525167969371,0.3523429030885807,0.7467832450876019]},{"frame_idx":2,"position_3d":[-0.26704618673224223,0.3657531730414062,0.7323960743409887]},{"frame_idx":3,"position_3d":[-0.25853985666754736,0.3791634429942317,0.7180089035943756]},{"frame_idx":4,"position_3d":[-0.2500335266028525,0.39257371294705723,0.7036217328477625]},{"frame_idx":5,"position_3d":[-0.24152719653815763,0.40598398289988274,0.6892345621011494]},{"frame_idx":6,"position_3d":[-0.23302086647346276,0.41939425285270826,0.6748473913545363]},{"frame_idx":7,"position_3d":[-0.2245145364087679,0.4328045228055338,0.6604602206079232]},{"frame_idx":8,"position_3d":[-0.21600820634407303,0.4462147927583593,0.6460730498613101]},{"frame_idx":9,"position_3d":[-0.20750187627937816,0.4596250627111848,0.631685879114697]},{"frame_idx":10,"position_3d":[-0.1989955462146833,0.4730353326640103,0.6172987083680839]},{"frame_idx":11,"position_3d":[-0.19048921614998843,0.48644560261683584,0.6029115376214708]},{"frame_idx":12,"position_3d":[-0.18198288608529356,0.49985587256966135,0.5885243668748577]},{"frame_idx":13,"position_3d":[-0.1734765560205987,0.5132661425224868,0.5741371961282445]},{"frame_idx":14,"position_3d":[-0.16497022595590383,0.5266764124753123,0.5597500253816314]}]}

scenefun3d_test/scenefun3d/scenefun3d_421393_42444924/interval_008/cam_5/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"42444924","intrinsics":{"fx":1601.5,"fy":1601.5,"cx":717.941,"cy":959.352},"T_base_to_cam":[[-0.5167489223289352,-0.856056940054534,-0.011707546982683281,0.75526134162259],[-0.1862358311975224,0.1257454822842391,-0.9744251068518665,138.26735916023128],[0.8356355464256243,-0.5013527591123553,-0.2244073182415769,33.34284508893626],[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":[-0.9681769932118582,0.4846781971754126,2.6793802498293147]},{"frame_idx":1,"position_3d":[-0.9649291927426243,0.48934948106510584,2.65872075873192]},{"frame_idx":2,"position_3d":[-0.9616813922733904,0.4940207649547991,2.6380612676345256]},{"frame_idx":3,"position_3d":[-0.9584335918041565,0.4986920488444923,2.617401776537131]},{"frame_idx":4,"position_3d":[-0.9551857913349227,0.5033633327341855,2.5967422854397366]},{"frame_idx":5,"position_3d":[-0.9519379908656888,0.5080346166238788,2.576082794342342]},{"frame_idx":6,"position_3d":[-0.9486901903964549,0.5127059005135721,2.5554233032449476]},{"frame_idx":7,"position_3d":[-0.945442389927221,0.5173771844032654,2.534763812147553]},{"frame_idx":8,"position_3d":[-0.9421945894579871,0.5220484682929587,2.5141043210501586]},{"frame_idx":9,"position_3d":[-0.9389467889887532,0.526719752182652,2.493444829952764]},{"frame_idx":10,"position_3d":[-0.9356989885195193,0.5313910360723453,2.4727853388553696]},{"frame_idx":11,"position_3d":[-0.9324511880502854,0.5360623199620386,2.452125847757975]},{"frame_idx":12,"position_3d":[-0.9292033875810515,0.5407336038517319,2.4314663566605805]},{"frame_idx":13,"position_3d":[-0.9259555871118176,0.5454048877414251,2.410806865563186]},{"frame_idx":14,"position_3d":[-0.9227077866425837,0.5500761716311184,2.3901473744657915]}]}

scenefun3d_test/scenefun3d/scenefun3d_421393_42444924/interval_009/cam_11/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"42444924","intrinsics":{"fx":1586.59,"fy":1586.59,"cx":718.725,"cy":958.604},"T_base_to_cam":[[-0.1891117030638605,-0.9435425781428053,-0.2719635398282543,38.09888326712168],[-0.5314150953712646,0.3312384125421127,-0.7796660249543588,111.16459767613298],[0.8257328624778331,-0.0029184393448106194,-0.5640538294666163,79.95139704750466],[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":[-0.11945143813746029,0.17862164260957059,0.9016289894023828]},{"frame_idx":1,"position_3d":[-0.1235890212891615,0.19179011102840574,0.8852382749995787]},{"frame_idx":2,"position_3d":[-0.1277266044408627,0.20495857944724089,0.8688475605967747]},{"frame_idx":3,"position_3d":[-0.1318641875925639,0.21812704786607603,0.8524568461939707]},{"frame_idx":4,"position_3d":[-0.13600177074426512,0.23129551628491118,0.8360661317911666]},{"frame_idx":5,"position_3d":[-0.14013935389596632,0.24446398470374633,0.8196754173883626]},{"frame_idx":6,"position_3d":[-0.14427693704766753,0.2576324531225815,0.8032847029855585]},{"frame_idx":7,"position_3d":[-0.14841452019936874,0.27080092154141666,0.7868939885827545]},{"frame_idx":8,"position_3d":[-0.15255210335106995,0.28396938996025184,0.7705032741799505]},{"frame_idx":9,"position_3d":[-0.15668968650277115,0.297137858379087,0.7541125597771464]},{"frame_idx":10,"position_3d":[-0.16082726965447236,0.3103063267979222,0.7377218453743424]},{"frame_idx":11,"position_3d":[-0.16496485280617357,0.32347479521675737,0.7213311309715383]},{"frame_idx":12,"position_3d":[-0.16910243595787477,0.33664326363559255,0.7049404165687343]},{"frame_idx":13,"position_3d":[-0.17324001910957598,0.3498117320544277,0.6885497021659303]},{"frame_idx":14,"position_3d":[-0.1773776022612772,0.3629802004732629,0.6721589877631262]}]}

scenefun3d_test/scenefun3d/scenefun3d_421393_42444924/interval_011/cam_5/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"42444924","intrinsics":{"fx":1601.96,"fy":1601.96,"cx":717.948,"cy":959.349},"T_base_to_cam":[[-0.5133331074431,-0.8581243902688658,-0.010566533419145097,0.6081551085796106],[-0.16370907568548226,0.1100029999293104,-0.9803564038372763,139.15783207627493],[0.8424300916640002,-0.5015195617642836,-0.19695093253586038,29.47786011868483],[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":[0.11598655772622846,0.9204403313804903,2.2359846641347474]},{"frame_idx":1,"position_3d":[0.09469416227628802,0.920975066377241,2.233632722818304]},{"frame_idx":2,"position_3d":[0.07340176682634758,0.9215098013739917,2.2312807815018605]},{"frame_idx":3,"position_3d":[0.05210937137640714,0.9220445363707425,2.228928840185417]},{"frame_idx":4,"position_3d":[0.03081697592646671,0.9225792713674932,2.2265768988689736]},{"frame_idx":5,"position_3d":[0.009524580476526275,0.9231140063642439,2.22422495755253]},{"frame_idx":6,"position_3d":[-0.01176781497341416,0.9236487413609946,2.2218730162360867]},{"frame_idx":7,"position_3d":[-0.033060210423354594,0.9241834763577453,2.2195210749196432]},{"frame_idx":8,"position_3d":[-0.05435260587329503,0.9247182113544961,2.2171691336032]},{"frame_idx":9,"position_3d":[-0.07564500132323547,0.9252529463512468,2.2148171922867563]},{"frame_idx":10,"position_3d":[-0.09693739677317591,0.9257876813479975,2.212465250970313]},{"frame_idx":11,"position_3d":[-0.11822979222311635,0.9263224163447482,2.2101133096538694]},{"frame_idx":12,"position_3d":[-0.13952218767305677,0.9268571513414989,2.207761368337426]},{"frame_idx":13,"position_3d":[-0.1608145831229972,0.9273918863382496,2.2054094270209825]},{"frame_idx":14,"position_3d":[-0.18210697857293764,0.9279266213350004,2.203057485704539]}]}

scenefun3d_test/scenefun3d/scenefun3d_421393_42444924/interval_012/cam_7/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"42444924","intrinsics":{"fx":1603.31,"fy":1603.31,"cx":717.889,"cy":958.903},"T_base_to_cam":[[-0.28250683734218807,-0.9592652828419849,6.315854116012432e-05,-0.5725554560195723],[0.2157148128205223,-0.06359288849991335,-0.9743834276413186,139.1330035574224],[0.934696210746958,-0.27525635626870537,0.22489315674104915,-30.17618955605299],[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":[0.3969141028749018,0.3443185096004413,0.9465968585085243]},{"frame_idx":1,"position_3d":[0.37563479968355046,0.34511332979788156,0.9489933538691859]},{"frame_idx":2,"position_3d":[0.3543554964921991,0.3459081499953218,0.9513898492298476]},{"frame_idx":3,"position_3d":[0.33307619330084776,0.3467029701927621,0.9537863445905093]},{"frame_idx":4,"position_3d":[0.3117968901094964,0.34749779039020234,0.9561828399511709]},{"frame_idx":5,"position_3d":[0.29051758691814505,0.3482926105876426,0.9585793353118326]},{"frame_idx":6,"position_3d":[0.2692382837267937,0.34908743078508286,0.9609758306724943]},{"frame_idx":7,"position_3d":[0.24795898053544235,0.3498822509825231,0.9633723260331559]},{"frame_idx":8,"position_3d":[0.226679677344091,0.3506770711799634,0.9657688213938176]},{"frame_idx":9,"position_3d":[0.20540037415273965,0.35147189137740364,0.9681653167544793]},{"frame_idx":10,"position_3d":[0.1841210709613883,0.3522667115748439,0.9705618121151409]},{"frame_idx":11,"position_3d":[0.16284176777003695,0.35306153177228417,0.9729583074758026]},{"frame_idx":12,"position_3d":[0.1415624645786856,0.3538563519697244,0.9753548028364643]},{"frame_idx":13,"position_3d":[0.12028316138733425,0.3546511721671647,0.9777512981971259]},{"frame_idx":14,"position_3d":[0.0990038581959829,0.35544599236460495,0.9801477935577876]}]}

scenefun3d_test/scenefun3d/scenefun3d_437294_43649762/interval_000/cam_5/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"43649762","intrinsics":{"fx":1595.18,"fy":1595.18,"cx":963.762,"cy":695.408},"T_base_to_cam":[[-0.8548697086356064,0.5188416880005863,-0.0010411772066830638,0.21600731878570478],[0.20080349214358284,0.32900227297178253,-0.9227326058627942,-19.615404084907254],[-0.4784095931314667,-0.789025225941543,-0.3854393000560291,-7.656389141293865],[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":[0.1421442843400218,-0.22511611193864312,1.1908966668845364]},{"frame_idx":1,"position_3d":[0.2152522641073848,-0.23464155119054753,1.2135028594016732]},{"frame_idx":2,"position_3d":[0.28515396132614895,-0.2472594732668065,1.243521044009381]},{"frame_idx":3,"position_3d":[0.3509703215958788,-0.2628112004762222,1.280573724619261]},{"frame_idx":4,"position_3d":[0.41187366599864084,-0.2811011608258139,1.324194942274178]},{"frame_idx":5,"position_3d":[0.46709809964162674,-0.30189934745210323,1.373836134852502]},{"frame_idx":6,"position_3d":[0.5159491432298132,-0.32494421109087573,1.428873035555069]},{"frame_idx":7,"position_3d":[0.5578124665460432,-0.34994594921093247,1.488613523422391]},{"frame_idx":8,"position_3d":[0.592161614009949,-0.3765901504490674,1.5523063271572977]},{"frame_idx":9,"position_3d":[0.6185646251623327,-0.4045417485153853,1.6191504727973973]},{"frame_idx":10,"position_3d":[0.6366894668185689,-0.4334492358463073,1.688305356427389]},{"frame_idx":11,"position_3d":[0.6463082085785523,-0.46294908401613216,1.7589013152610276]},{"frame_idx":12,"position_3d":[0.6472998891837274,-0.49267031531791383,1.8300505641552502]},{"frame_idx":13,"position_3d":[0.6396520376750974,-0.5222391680233722,1.9008583600234568]},{"frame_idx":14,"position_3d":[0.6234608302227702,-0.5512837966534884,1.970434253748964]}]}

scenefun3d_test/scenefun3d/scenefun3d_437294_43649762/interval_002/cam_16/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"43649762","intrinsics":{"fx":1594.27,"fy":1594.27,"cx":963.353,"cy":695.689},"T_base_to_cam":[[-0.9938631641332196,0.0506241954749545,-0.09835243673452389,-1.9643268379922647],[0.10959564712075437,0.5711657680943558,-0.8134853775510458,-17.293862921245022],[0.014993502302264566,-0.8192721502588123,-0.5732088089858824,-12.286888375347822],[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":[-0.029685512837826833,0.07623786192137061,1.0915539024314374]},{"frame_idx":1,"position_3d":[-0.03655357162201193,0.08818897744044285,1.0751470660558238]},{"frame_idx":2,"position_3d":[-0.04342163040619702,0.10014009295951509,1.0587402296802102]},{"frame_idx":3,"position_3d":[-0.05028968919038212,0.11209120847858733,1.0423333933045966]},{"frame_idx":4,"position_3d":[-0.05715774797456721,0.12404232399765958,1.025926556928983]},{"frame_idx":5,"position_3d":[-0.0640258067587523,0.13599343951673182,1.0095197205533695]},{"frame_idx":6,"position_3d":[-0.07089386554293739,0.14794455503580406,0.9931128841777559]},{"frame_idx":7,"position_3d":[-0.07776192432712248,0.1598956705548763,0.9767060478021423]},{"frame_idx":8,"position_3d":[-0.08462998311130757,0.17184678607394854,0.9602992114265287]},{"frame_idx":9,"position_3d":[-0.09149804189549265,0.18379790159302078,0.9438923750509152]},{"frame_idx":10,"position_3d":[-0.09836610067967774,0.19574901711209303,0.9274855386753016]},{"frame_idx":11,"position_3d":[-0.10523415946386283,0.20770013263116527,0.911078702299688]},{"frame_idx":12,"position_3d":[-0.11210221824804792,0.2196512481502375,0.8946718659240744]},{"frame_idx":13,"position_3d":[-0.11897027703223301,0.23160236366930975,0.8782650295484609]},{"frame_idx":14,"position_3d":[-0.1258383358164181,0.243553479188382,0.8618581931728473]}]}

scenefun3d_test/scenefun3d/scenefun3d_437294_43649762/interval_003/cam_13/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"43649762","intrinsics":{"fx":1596.98,"fy":1596.98,"cx":963.539,"cy":695.484},"T_base_to_cam":[[0.9953254175552058,-0.08653786041740305,-0.042877871716468036,-1.3135565820928012],[-0.07758957402119349,-0.4521374384308679,-0.8885671582792057,-18.459630799373674],[0.057508009631403165,0.887740353641509,-0.4567383204250364,-10.303174254916176],[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":[-0.44080798156584844,-0.2746466965239449,1.0105337183858278]},{"frame_idx":1,"position_3d":[-0.4464687332353114,-0.26458597462820194,0.9924804239789176]},{"frame_idx":2,"position_3d":[-0.45212948490477434,-0.25452525273245896,0.9744271295720073]},{"frame_idx":3,"position_3d":[-0.4577902365742373,-0.24446453083671602,0.956373835165097]},{"frame_idx":4,"position_3d":[-0.46345098824370023,-0.23440380894097307,0.9383205407581867]},{"frame_idx":5,"position_3d":[-0.4691117399131632,-0.22434308704523012,0.9202672463512764]},{"frame_idx":6,"position_3d":[-0.47477249158262613,-0.21428236514948718,0.9022139519443662]},{"frame_idx":7,"position_3d":[-0.4804332432520891,-0.20422164325374423,0.8841606575374559]},{"frame_idx":8,"position_3d":[-0.48609399492155203,-0.19416092135800128,0.8661073631305456]},{"frame_idx":9,"position_3d":[-0.491754746591015,-0.18410019946225833,0.8480540687236353]},{"frame_idx":10,"position_3d":[-0.49741549826047793,-0.1740394775665154,0.830000774316725]},{"frame_idx":11,"position_3d":[-0.5030762499299409,-0.16397875567077244,0.8119474799098148]},{"frame_idx":12,"position_3d":[-0.5087370015994039,-0.1539180337750295,0.7938941855029045]},{"frame_idx":13,"position_3d":[-0.5143977532688669,-0.14385731187928655,0.7758408910959942]},{"frame_idx":14,"position_3d":[-0.52005850493833,-0.1337965899835436,0.7577875966890839]}]}

scenefun3d_test/scenefun3d/scenefun3d_437294_43649762/interval_004/cam_11/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"43649762","intrinsics":{"fx":1601.96,"fy":1601.96,"cx":963.319,"cy":695.201},"T_base_to_cam":[[0.8976639950981148,-0.4397231034850416,-0.02903350075299649,-3.281365381735335],[-0.059392366015365156,-0.05543685775083575,-0.9966941866298861,-20.569024425088106],[0.43665993491914024,0.8964208537646793,-0.07587986671189703,-1.824780577234667],[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":[-0.04909644448129935,0.13764247826707887,1.2568204827123675]},{"frame_idx":1,"position_3d":[-0.0472988717102459,0.140860553664029,1.2138627521320668]},{"frame_idx":2,"position_3d":[-0.05033378168068127,0.1442133099701815,1.170984992858053]},{"frame_idx":3,"position_3d":[-0.05816300863883145,0.147658584329672,1.1287264175914518]},{"frame_idx":4,"position_3d":[-0.07068809551307442,0.15115305041843516,1.0876184524352375]},{"frame_idx":5,"position_3d":[-0.0877515320687419,0.15465276329786834,1.0481780539026464]},{"frame_idx":6,"position_3d":[-0.10913873569070984,0.15811371204793195,1.010901207889078]},{"frame_idx":7,"position_3d":[-0.13458074988428745,0.1614923732300047,0.9762566923616828]},{"frame_idx":8,"position_3d":[-0.16375762655919,0.16474625821937716,0.944680182204434]},{"frame_idx":9,"position_3d":[-0.19630244956241238,0.16783444752435991,0.9165687703536768]},{"frame_idx":10,"position_3d":[-0.231805948861743,0.17071810537263363,0.8922759741240556]},{"frame_idx":11,"position_3d":[-0.2698216473538826,0.173360968093619,0.8721072895231666]},{"frame_idx":12,"position_3d":[-0.3098714755730705,0.17572980015517498,0.8563163494620094]},{"frame_idx":13,"position_3d":[-0.3514517836919988,0.17779481211969914,0.8451017341739698]},{"frame_idx":14,"position_3d":[-0.39403967521061534,0.1795300352635897,0.8386044739531664]}]}

scenefun3d_test/scenefun3d/scenefun3d_437294_43649762/interval_005/cam_6/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"43649762","intrinsics":{"fx":1592.92,"fy":1592.92,"cx":963.653,"cy":695.497},"T_base_to_cam":[[0.9703342572389481,-0.24091151055138027,-0.020324205086339087,-0.11436286668787872],[-0.13597203754193365,-0.47428265589739815,-0.8698089257541598,-18.68175124505746],[0.19990756422715567,0.8467689214884794,-0.49296993758849356,-9.514246056770506],[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":[0.5909619940435732,-0.9170237767475982,2.455142100634019]},{"frame_idx":1,"position_3d":[0.5885780132702239,-0.9060915893406819,2.4368667733416896]},{"frame_idx":2,"position_3d":[0.5861940324968745,-0.8951594019337656,2.4185914460493603]},{"frame_idx":3,"position_3d":[0.5838100517235252,-0.8842272145268494,2.400316118757031]},{"frame_idx":4,"position_3d":[0.5814260709501758,-0.8732950271199331,2.3820407914647017]},{"frame_idx":5,"position_3d":[0.5790420901768265,-0.8623628397130169,2.3637654641723724]},{"frame_idx":6,"position_3d":[0.5766581094034772,-0.8514306523061006,2.345490136880043]},{"frame_idx":7,"position_3d":[0.5742741286301278,-0.8404984648991843,2.327214809587714]},{"frame_idx":8,"position_3d":[0.5718901478567785,-0.8295662774922681,2.3089394822953846]},{"frame_idx":9,"position_3d":[0.5695061670834292,-0.8186340900853518,2.2906641550030553]},{"frame_idx":10,"position_3d":[0.5671221863100798,-0.8077019026784356,2.272388827710726]},{"frame_idx":11,"position_3d":[0.5647382055367305,-0.7967697152715193,2.2541135004183968]},{"frame_idx":12,"position_3d":[0.5623542247633811,-0.785837527864603,2.2358381731260675]},{"frame_idx":13,"position_3d":[0.5599702439900318,-0.7749053404576868,2.217562845833738]},{"frame_idx":14,"position_3d":[0.5575862632166825,-0.7639731530507705,2.199287518541409]}]}

scenefun3d_test/scenefun3d/scenefun3d_437294_43649762/interval_006/cam_3/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"43649762","intrinsics":{"fx":1596.08,"fy":1596.08,"cx":963.305,"cy":695.228},"T_base_to_cam":[[-0.5174525051496955,-0.8552526874542766,-0.028031152608155196,0.5070694912235464],[-0.13150479732393927,0.11184737584703364,-0.984985610451707,-20.30624810380441],[0.8455468013038037,-0.5059970406221461,-0.1703455361508961,-4.700126935511967],[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":[-0.6489823271015384,-0.041165713062660814,1.4077558185680488]},{"frame_idx":1,"position_3d":[-0.6084775820003197,-0.044122850915577584,1.4181895732887124]},{"frame_idx":2,"position_3d":[-0.5694345926089465,-0.04780118141137466,1.4330340046256023]},{"frame_idx":3,"position_3d":[-0.5323443471722854,-0.05215444740985033,1.4521024352417171]},{"frame_idx":4,"position_3d":[-0.4976732770469642,-0.05712790406524999,1.4751550685582981]},{"frame_idx":5,"position_3d":[-0.46585739105643215,-0.06265900727446523,1.5019020043359401]},{"frame_idx":6,"position_3d":[-0.4372967924270273,-0.06867820020541933,1.5320068843383055]},{"frame_idx":7,"position_3d":[-0.41235064725775966,-0.07510978801458845,1.5650911222321062]},{"frame_idx":8,"position_3d":[-0.3913326677982234,-0.08187288975357813,1.6007386645299058]},{"frame_idx":9,"position_3d":[-0.3745071673350379,-0.08888245549397755,1.6385012227041236]},{"frame_idx":10,"position_3d":[-0.36208573629891055,-0.0960503358795564,1.6779039106753724]},{"frame_idx":11,"position_3d":[-0.35422458139220275,-0.10328639065556496,1.7184512167804415]},{"frame_idx":12,"position_3d":[-0.35102256119901465,-0.11049962223473812,1.7596332351189647]},{"frame_idx":13,"position_3d":[-0.352519942981131,-0.11759932004475337,1.8009320779159714]},{"frame_idx":14,"position_3d":[-0.3586978962938405,-0.12449620126630913,1.8418283882611426]}]}

scenefun3d_test/scenefun3d/scenefun3d_437294_43649762/interval_008/cam_8/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"43649762","intrinsics":{"fx":1594.27,"fy":1594.27,"cx":964.021,"cy":695.64},"T_base_to_cam":[[-0.9451625785444164,0.3264039416972219,0.011321084920909719,0.6868405425931022],[0.16407215875379766,0.5045021750371178,-0.8476779353650101,-17.95924360933012],[-0.28239693135928107,-0.7993359883223914,-0.5303903759793605,-11.386900758390476],[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":[-0.039962606187917915,0.12519044641255306,0.9031836292765458]},{"frame_idx":1,"position_3d":[-0.04091362706817069,0.1362311838386394,0.8848429272768151]},{"frame_idx":2,"position_3d":[-0.04186464794842347,0.14727192126472577,0.8665022252770844]},{"frame_idx":3,"position_3d":[-0.04281566882867625,0.15831265869081212,0.8481615232773537]},{"frame_idx":4,"position_3d":[-0.043766689708929024,0.16935339611689848,0.829820821277623]},{"frame_idx":5,"position_3d":[-0.0447177105891818,0.18039413354298484,0.8114801192778923]},{"frame_idx":6,"position_3d":[-0.04566873146943458,0.1914348709690712,0.7931394172781616]},{"frame_idx":7,"position_3d":[-0.046619752349687356,0.20247560839515755,0.7747987152784309]},{"frame_idx":8,"position_3d":[-0.04757077322994013,0.2135163458212439,0.7564580132787002]},{"frame_idx":9,"position_3d":[-0.04852179411019291,0.22455708324733026,0.7381173112789695]},{"frame_idx":10,"position_3d":[-0.04947281499044569,0.2355978206734166,0.7197766092792388]},{"frame_idx":11,"position_3d":[-0.050423835870698465,0.24663855809950297,0.7014359072795081]},{"frame_idx":12,"position_3d":[-0.05137485675095124,0.2576792955255893,0.6830952052797774]},{"frame_idx":13,"position_3d":[-0.05232587763120402,0.2687200329516757,0.6647545032800467]},{"frame_idx":14,"position_3d":[-0.0532768985114568,0.27976077037776204,0.646413801280316]}]}

scenefun3d_test/scenefun3d/scenefun3d_437294_43649762/interval_009/cam_11/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"43649762","intrinsics":{"fx":1597.44,"fy":1597.44,"cx":963.257,"cy":695.347},"T_base_to_cam":[[-0.9253490858906389,-0.37570673622453166,-0.05072984917057308,0.9777872151070953],[-0.09493474075114727,0.3591810204889988,-0.9284268358459887,-19.325163768604494],[0.3670374153133048,-0.8543028987870708,-0.3680354505806972,-8.557792636069225],[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":[0.7636248165218719,0.16884472152993268,1.717447418573661]},{"frame_idx":1,"position_3d":[0.749054702750789,0.1752110368774943,1.7030819917765732]},{"frame_idx":2,"position_3d":[0.7344845889797061,0.1815773522250559,1.6887165649794853]},{"frame_idx":3,"position_3d":[0.7199144752086233,0.1879436675726175,1.6743511381823974]},{"frame_idx":4,"position_3d":[0.7053443614375404,0.1943099829201791,1.6599857113853096]},{"frame_idx":5,"position_3d":[0.6907742476664576,0.2006762982677407,1.6456202845882217]},{"frame_idx":6,"position_3d":[0.6762041338953747,0.2070426136153023,1.6312548577911339]},{"frame_idx":7,"position_3d":[0.6616340201242918,0.2134089289628639,1.616889430994046]},{"frame_idx":8,"position_3d":[0.647063906353209,0.2197752443104255,1.6025240041969582]},{"frame_idx":9,"position_3d":[0.6324937925821261,0.2261415596579871,1.5881585773998703]},{"frame_idx":10,"position_3d":[0.6179236788110433,0.2325078750055487,1.5737931506027825]},{"frame_idx":11,"position_3d":[0.6033535650399604,0.2388741903531103,1.5594277238056946]},{"frame_idx":12,"position_3d":[0.5887834512688775,0.2452405057006719,1.5450622970086068]},{"frame_idx":13,"position_3d":[0.5742133374977947,0.2516068210482335,1.530696870211519]},{"frame_idx":14,"position_3d":[0.5596432237267118,0.2579731363957951,1.516331443414431]}]}

scenefun3d_test/scenefun3d/scenefun3d_437294_43649762/interval_011/cam_1/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"43649762","intrinsics":{"fx":1595.63,"fy":1595.63,"cx":963.361,"cy":695.722},"T_base_to_cam":[[-0.9921407072499152,0.027276618201512573,-0.12211798850753741,-1.8284123993505685],[0.11409238099624293,0.5979394988658997,-0.7933796596173898,-16.655210204813],[0.05137845478647906,-0.8010769886817909,-0.5963521716136093,-12.869580031677323],[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":[0.7286364842307245,-0.33977579863815777,1.2838326578131074]},{"frame_idx":1,"position_3d":[0.7215909862161294,-0.3267946186021177,1.2683074010980757]},{"frame_idx":2,"position_3d":[0.7145454882015343,-0.3138134385660777,1.252782144383044]},{"frame_idx":3,"position_3d":[0.7074999901869392,-0.30083225853003764,1.2372568876680123]},{"frame_idx":4,"position_3d":[0.7004544921723441,-0.2878510784939976,1.2217316309529807]},{"frame_idx":5,"position_3d":[0.693408994157749,-0.27486989845795756,1.206206374237949]},{"frame_idx":6,"position_3d":[0.686363496143154,-0.2618887184219175,1.1906811175229173]},{"frame_idx":7,"position_3d":[0.6793179981285589,-0.24890753838587745,1.1751558608078856]},{"frame_idx":8,"position_3d":[0.6722725001139638,-0.23592635834983738,1.159630604092854]},{"frame_idx":9,"position_3d":[0.6652270020993687,-0.22294517831379732,1.1441053473778222]},{"frame_idx":10,"position_3d":[0.6581815040847736,-0.20996399827775725,1.1285800906627905]},{"frame_idx":11,"position_3d":[0.6511360060701785,-0.19698281824171718,1.1130548339477588]},{"frame_idx":12,"position_3d":[0.6440905080555834,-0.1840016382056771,1.0975295772327271]},{"frame_idx":13,"position_3d":[0.6370450100409883,-0.17102045816963704,1.0820043205176955]},{"frame_idx":14,"position_3d":[0.6299995120263933,-0.15803927813359697,1.0664790638026638]}]}

scenefun3d_test/scenefun3d/scenefun3d_437294_43649762/interval_014/cam_15/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"43649762","intrinsics":{"fx":1598.34,"fy":1598.34,"cx":963.868,"cy":695.419},"T_base_to_cam":[[0.9330446828569445,-0.3594609800312779,0.0146773167621575,0.6828103033253686],[-0.12000610959133653,-0.34943943294959773,-0.929241957920872,-19.30503050846794],[0.3391550581270102,0.8652629002417801,-0.3691801186576108,-8.148412352932565],[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":[-0.15342469806569003,-0.5046717538452583,1.2897706253199548]},{"frame_idx":1,"position_3d":[-0.17480258947471403,-0.5032493475233929,1.2901529767667719]},{"frame_idx":2,"position_3d":[-0.19618048088373802,-0.5018269412015275,1.290535328213589]},{"frame_idx":3,"position_3d":[-0.217558372292762,-0.5004045348796621,1.290917679660406]},{"frame_idx":4,"position_3d":[-0.238936263701786,-0.49898212855779667,1.2913000311072231]},{"frame_idx":5,"position_3d":[-0.26031415511081,-0.49755972223593126,1.2916823825540402]},{"frame_idx":6,"position_3d":[-0.28169204651983404,-0.49613731591406585,1.2920647340008573]},{"frame_idx":7,"position_3d":[-0.30306993792885806,-0.49471490959220044,1.2924470854476744]},{"frame_idx":8,"position_3d":[-0.3244478293378821,-0.493292503270335,1.2928294368944915]},{"frame_idx":9,"position_3d":[-0.3458257207469061,-0.4918700969484696,1.2932117883413086]},{"frame_idx":10,"position_3d":[-0.3672036121559301,-0.4904476906266042,1.2935941397881257]},{"frame_idx":11,"position_3d":[-0.38858150356495413,-0.4890252843047388,1.2939764912349427]},{"frame_idx":12,"position_3d":[-0.40995939497397815,-0.4876028779828734,1.2943588426817598]},{"frame_idx":13,"position_3d":[-0.43133728638300217,-0.486180471661008,1.294741194128577]},{"frame_idx":14,"position_3d":[-0.4527151777920262,-0.48475806533914256,1.295123545575394]}]}

scenefun3d_test/scenefun3d/scenefun3d_438102_43896247/interval_000/cam_11/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"43896247","intrinsics":{"fx":1589.3,"fy":1589.3,"cx":963.55,"cy":695.244},"T_base_to_cam":[[0.09986525443004934,-0.9949035668809185,0.013922053197974626,-4.8758590135824855],[-0.1789828444314973,-0.0317259758239572,-0.9833405330083919,316.57324040895764],[0.9787706944718115,0.09570974383856312,-0.1812389929830902,59.861822758934146],[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":[-0.7838123142891122,0.11295871053931705,1.9333954186638707]},{"frame_idx":1,"position_3d":[-0.7200527173887169,0.10600418077157238,1.9760260655318234]},{"frame_idx":2,"position_3d":[-0.6615287514963457,0.0977330973132299,2.0253977003865167]},{"frame_idx":3,"position_3d":[-0.6089763894394912,0.08824947383777271,2.0808894462735625]},{"frame_idx":4,"position_3d":[-0.5630565076626088,0.07767257241293116,2.141803462291371]},{"frame_idx":5,"position_3d":[-0.5243465753223792,0.06613540371098378,2.207373719345382]},{"frame_idx":6,"position_3d":[-0.4933333922780064,0.05378305432237878,2.2767756334083926]},{"frame_idx":7,"position_3d":[-0.47040696730054143,0.040770862207677915,2.349136435143132]},{"frame_idx":8,"position_3d":[-0.45585561348629755,0.027262463232573274,2.4235461454830705]},{"frame_idx":9,"position_3d":[-0.44986232255238096,0.013427733351932446,2.499069019147164]},{"frame_idx":10,"position_3d":[-0.4525024636096741,-0.0005593476788982605,2.5747553121796942]},{"frame_idx":11,"position_3d":[-0.463742835352536,-0.014522884200462702,2.649653225531567]},{"frame_idx":12,"position_3d":[-0.48344208358448454,-0.0282872766391696,2.7228208744856013]},{"frame_idx":13,"position_3d":[-0.511352478829233,-0.041679429773815696,2.793338133403341]},{"frame_idx":14,"position_3d":[-0.5471230316725899,-0.05453092950842458,2.8603182068388295]}]}

scenefun3d_test/scenefun3d/scenefun3d_438102_43896247/interval_001/cam_18/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"43896247","intrinsics":{"fx":1594.27,"fy":1594.27,"cx":963.479,"cy":695.211},"T_base_to_cam":[[0.31868887244179767,-0.9478502516155465,0.0041596988017144065,-1.193499793239324],[-0.05368143997153302,-0.02243005210025334,-0.9983061633413685,321.57586115130005],[0.9463380503733108,0.31792576692543373,-0.058030174396742906,20.214168598020535],[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":[0.7856971212245583,1.0278415436375212,2.280056907550854]},{"frame_idx":1,"position_3d":[0.7642811413832732,1.027388693221975,2.2794786278536483]},{"frame_idx":2,"position_3d":[0.7428651615419881,1.0269358428064286,2.2789003481564425]},{"frame_idx":3,"position_3d":[0.721449181700703,1.0264829923908823,2.2783220684592367]},{"frame_idx":4,"position_3d":[0.700033201859418,1.026030141975336,2.277743788762031]},{"frame_idx":5,"position_3d":[0.6786172220181329,1.0255772915597896,2.277165509064825]},{"frame_idx":6,"position_3d":[0.6572012421768478,1.0251244411442433,2.2765872293676193]},{"frame_idx":7,"position_3d":[0.6357852623355628,1.024671590728697,2.2760089496704135]},{"frame_idx":8,"position_3d":[0.6143692824942777,1.0242187403131506,2.2754306699732076]},{"frame_idx":9,"position_3d":[0.5929533026529926,1.0237658898976043,2.274852390276002]},{"frame_idx":10,"position_3d":[0.5715373228117075,1.023313039482058,2.274274110578796]},{"frame_idx":11,"position_3d":[0.5501213429704225,1.0228601890665117,2.27369583088159]},{"frame_idx":12,"position_3d":[0.5287053631291374,1.0224073386509653,2.2731175511843844]},{"frame_idx":13,"position_3d":[0.5072893832878523,1.021954488235419,2.2725392714871786]},{"frame_idx":14,"position_3d":[0.4858734034465673,1.0215016378198727,2.271960991789973]}]}

scenefun3d_test/scenefun3d/scenefun3d_438102_43896247/interval_002/cam_12/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"43896247","intrinsics":{"fx":1588.4,"fy":1588.4,"cx":963.627,"cy":695.38},"T_base_to_cam":[[0.054722694313881215,0.9983952089414321,-0.014575098278359566,4.815161315511767],[0.3639315801800603,-0.03353595341096982,-0.9308217577906426,300.11489470980655],[-0.9298167731734429,0.04563273596456391,-0.3651827237612899,116.83606066630387],[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":[-0.45770289310006795,0.5139879104277156,1.4158764461675588]},{"frame_idx":1,"position_3d":[-0.44566861908018574,0.5231652752494033,1.392003762673757]},{"frame_idx":2,"position_3d":[-0.43084678811974697,0.5317539257695751,1.3695204087719537]},{"frame_idx":3,"position_3d":[-0.4134237933429058,0.5396458547246891,1.34870912568261]},{"frame_idx":4,"position_3d":[-0.393618739018038,0.5467418165291306,1.3298316273655622]},{"frame_idx":5,"position_3d":[-0.371680685194439,0.5529525753460359,1.3131253093151265]},{"frame_idx":6,"position_3d":[-0.3478855156276958,0.5582000272797163,1.298800263174019]},{"frame_idx":7,"position_3d":[-0.32253246838138927,0.5624181825774631,1.2870366347090494]},{"frame_idx":8,"position_3d":[-0.2959403727348223,0.5655539954889766,1.2779823583735808]},{"frame_idx":9,"position_3d":[-0.2684436397198438,0.5675680313474533,1.2717512969459452]},{"frame_idx":10,"position_3d":[-0.2403880567080932,0.5684349624834021,1.2684218096389415]},{"frame_idx":11,"position_3d":[-0.2121264389341717,0.5681438867347833,1.2680357666872684]},{"frame_idx":12,"position_3d":[-0.18401419263935898,0.566698464548022,1.2705980228050306]},{"frame_idx":13,"position_3d":[-0.15640484563191748,0.56411687294577,1.276076356134892]},{"frame_idx":14,"position_3d":[-0.12964560146978207,0.5604315769403,1.2844018734566263]}]}

scenefun3d_test/scenefun3d/scenefun3d_438102_43896247/interval_003/cam_25/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"43896247","intrinsics":{"fx":1594.27,"fy":1594.27,"cx":963.479,"cy":695.211},"T_base_to_cam":[[0.31868887244179767,-0.9478502516155465,0.0041596988017144065,-1.193499793239324],[-0.05368143997153302,-0.02243005210025334,-0.9983061633413685,321.57586115130005],[0.9463380503733108,0.31792576692543373,-0.058030174396742906,20.214168598020535],[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":[0.7796612311833258,0.5975104527343547,2.246600488261958]},{"frame_idx":1,"position_3d":[0.7582452513420407,0.5970576023188084,2.246022208564752]},{"frame_idx":2,"position_3d":[0.7368292715007556,0.5966047519032622,2.2454439288675463]},{"frame_idx":3,"position_3d":[0.7154132916594705,0.596151901487716,2.2448656491703405]},{"frame_idx":4,"position_3d":[0.6939973118181855,0.5956990510721698,2.2442873694731347]},{"frame_idx":5,"position_3d":[0.6725813319769004,0.5952462006566236,2.243709089775929]},{"frame_idx":6,"position_3d":[0.6511653521356153,0.5947933502410774,2.243130810078723]},{"frame_idx":7,"position_3d":[0.6297493722943303,0.5943404998255312,2.2425525303815173]},{"frame_idx":8,"position_3d":[0.6083333924530452,0.593887649409985,2.2419742506843114]},{"frame_idx":9,"position_3d":[0.5869174126117601,0.5934347989944387,2.2413959709871056]},{"frame_idx":10,"position_3d":[0.565501432770475,0.5929819485788925,2.2408176912899]},{"frame_idx":11,"position_3d":[0.54408545292919,0.5925290981633463,2.240239411592694]},{"frame_idx":12,"position_3d":[0.5226694730879049,0.5920762477478001,2.239661131895488]},{"frame_idx":13,"position_3d":[0.5012534932466198,0.5916233973322539,2.2390828521982824]},{"frame_idx":14,"position_3d":[0.4798375134053348,0.5911705469167077,2.2385045725010766]}]}

scenefun3d_test/scenefun3d/scenefun3d_438102_43896247/interval_005/cam_16/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"43896247","intrinsics":{"fx":1595.63,"fy":1595.63,"cx":963.164,"cy":695.265},"T_base_to_cam":[[-0.34435957279704105,0.9378423812189397,-0.04322213105144607,14.069546917862514],[0.23787052151573718,0.04262113620364538,-0.9703613006208263,312.5221506061611],[-0.9082037764823876,-0.3444344737947978,-0.2377620525753218,76.61741042666971],[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":[0.5290693881868389,0.19262477658361377,2.202396893842831]},{"frame_idx":1,"position_3d":[0.529033587827918,0.1978153951640018,2.1816065145640247]},{"frame_idx":2,"position_3d":[0.5289977874689971,0.2030060137443898,2.160816135285218]},{"frame_idx":3,"position_3d":[0.5289619871100761,0.20819663232477784,2.1400257560064118]},{"frame_idx":4,"position_3d":[0.5289261867511552,0.21338725090516586,2.1192353767276053]},{"frame_idx":5,"position_3d":[0.5288903863922343,0.21857786948555388,2.098444997448799]},{"frame_idx":6,"position_3d":[0.5288545860333134,0.2237684880659419,2.0776546181699924]},{"frame_idx":7,"position_3d":[0.5288187856743924,0.22895910664632993,2.056864238891186]},{"frame_idx":8,"position_3d":[0.5287829853154715,0.23414972522671795,2.0360738596123795]},{"frame_idx":9,"position_3d":[0.5287471849565506,0.23934034380710598,2.015283480333573]},{"frame_idx":10,"position_3d":[0.5287113845976297,0.244530962387494,1.9944931010547668]},{"frame_idx":11,"position_3d":[0.5286755842387088,0.24972158096788202,1.9737027217759606]},{"frame_idx":12,"position_3d":[0.5286397838797878,0.25491219954827005,1.9529123424971544]},{"frame_idx":13,"position_3d":[0.5286039835208669,0.2601028181286581,1.9321219632183482]},{"frame_idx":14,"position_3d":[0.528568183161946,0.26529343670904615,1.911331583939542]}]}

scenefun3d_test/scenefun3d/scenefun3d_438102_43896247/interval_006/cam_17/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"43896247","intrinsics":{"fx":1593.37,"fy":1593.37,"cx":963.384,"cy":695.283},"T_base_to_cam":[[-0.2675902195508859,-0.9616776182393304,-0.05976314063231458,18.900098735692985],[-0.2371969082550086,0.12586320786963945,-0.9632736265563537,310.08542706016107],[0.9338806674918237,-0.24358696903219873,-0.2617867212116248,84.93286550835381],[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":[-0.18785104632760863,0.004883972843401807,1.629541534536017]},{"frame_idx":1,"position_3d":[-0.20526269431304436,0.008777949999537718,1.6176732941521963]},{"frame_idx":2,"position_3d":[-0.2226743422984801,0.01267192715567363,1.6058050537683757]},{"frame_idx":3,"position_3d":[-0.24008599028391583,0.016565904311809543,1.593936813384555]},{"frame_idx":4,"position_3d":[-0.25749763826935157,0.020459881467945456,1.5820685730007344]},{"frame_idx":5,"position_3d":[-0.2749092862547873,0.02435385862408137,1.5702003326169138]},{"frame_idx":6,"position_3d":[-0.292320934240223,0.028247835780217282,1.5583320922330932]},{"frame_idx":7,"position_3d":[-0.3097325822256587,0.032141812936353195,1.5464638518492726]},{"frame_idx":8,"position_3d":[-0.3271442302110944,0.036035790092489105,1.534595611465452]},{"frame_idx":9,"position_3d":[-0.3445558781965301,0.039929767248625014,1.5227273710816314]},{"frame_idx":10,"position_3d":[-0.3619675261819658,0.043823744404760924,1.5108591306978107]},{"frame_idx":11,"position_3d":[-0.3793791741674015,0.047717721560896834,1.4989908903139901]},{"frame_idx":12,"position_3d":[-0.39679082215283723,0.05161169871703274,1.4871226499301695]},{"frame_idx":13,"position_3d":[-0.41420247013827294,0.05550567587316865,1.475254409546349]},{"frame_idx":14,"position_3d":[-0.43161411812370865,0.05939965302930456,1.4633861691625283]}]}

scenefun3d_test/scenefun3d/scenefun3d_438102_43896247/interval_007/cam_3/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"43896247","intrinsics":{"fx":1593.82,"fy":1593.82,"cx":963.713,"cy":695.296},"T_base_to_cam":[[-0.7444979266591023,0.6673532057625902,0.019040377062756686,-5.836324859893279],[0.16755529058171187,0.21437910420583361,-0.9622716998218241,309.75402164195117],[-0.6462569626691661,-0.7132189694885427,-0.27142335891246616,88.33581174455507],[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":[-0.4174630853737895,0.21789815014727765,1.0937439300217164]},{"frame_idx":1,"position_3d":[-0.3985542010762272,0.22059983862762758,1.0840311215995384]},{"frame_idx":2,"position_3d":[-0.37964531677866487,0.22330152710797752,1.0743183131773604]},{"frame_idx":3,"position_3d":[-0.36073643248110254,0.22600321558832745,1.0646055047551823]},{"frame_idx":4,"position_3d":[-0.3418275481835402,0.22870490406867738,1.0548926963330043]},{"frame_idx":5,"position_3d":[-0.3229186638859779,0.23140659254902732,1.0451798879108263]},{"frame_idx":6,"position_3d":[-0.3040097795884156,0.23410828102937725,1.0354670794886482]},{"frame_idx":7,"position_3d":[-0.28510089529085325,0.2368099695097272,1.0257542710664702]},{"frame_idx":8,"position_3d":[-0.26619201099329093,0.23951165799007712,1.0160414626442922]},{"frame_idx":9,"position_3d":[-0.2472831266957286,0.24221334647042705,1.0063286542221141]},{"frame_idx":10,"position_3d":[-0.22837424239816628,0.244915034950777,0.9966158457999361]},{"frame_idx":11,"position_3d":[-0.20946535810060396,0.24761672343112692,0.9869030373777581]},{"frame_idx":12,"position_3d":[-0.19055647380304164,0.25031841191147686,0.97719022895558]},{"frame_idx":13,"position_3d":[-0.17164758950547931,0.25302010039182676,0.967477420533402]},{"frame_idx":14,"position_3d":[-0.152738705207917,0.25572178887217667,0.957764612111224]}]}

scenefun3d_test/scenefun3d/scenefun3d_438102_43896247/interval_008/cam_8/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"43896247","intrinsics":{"fx":1588.85,"fy":1588.85,"cx":963.649,"cy":695.338},"T_base_to_cam":[[-0.13266399795383643,0.9908874735601496,0.02328687159084225,-7.674021179864643],[0.3333842736816984,0.06673580432477988,-0.9404261047434037,303.12470773409024],[-0.9334105151050265,-0.11699721006378133,-0.33919973928153385,108.72349023348504],[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":[-0.013355237243440676,0.4458560067221242,1.8113475898070703]},{"frame_idx":1,"position_3d":[-0.034290261399672936,0.44708212830422894,1.8069424719978333]},{"frame_idx":2,"position_3d":[-0.055225285555905196,0.44830824988633367,1.8025373541885963]},{"frame_idx":3,"position_3d":[-0.07616030971213746,0.4495343714684384,1.7981322363793593]},{"frame_idx":4,"position_3d":[-0.09709533386836972,0.4507604930505431,1.7937271185701222]},{"frame_idx":5,"position_3d":[-0.11803035802460198,0.45198661463264783,1.7893220007608852]},{"frame_idx":6,"position_3d":[-0.13896538218083423,0.45321273621475255,1.7849168829516482]},{"frame_idx":7,"position_3d":[-0.15990040633706648,0.4544388577968573,1.7805117651424112]},{"frame_idx":8,"position_3d":[-0.18083543049329873,0.455664979378962,1.7761066473331741]},{"frame_idx":9,"position_3d":[-0.20177045464953097,0.4568911009610667,1.7717015295239371]},{"frame_idx":10,"position_3d":[-0.22270547880576322,0.45811722254317144,1.7672964117147]},{"frame_idx":11,"position_3d":[-0.24364050296199546,0.45934334412527617,1.762891293905463]},{"frame_idx":12,"position_3d":[-0.26457552711822774,0.4605694657073809,1.758486176096226]},{"frame_idx":13,"position_3d":[-0.28551055127446,0.4617955872894856,1.754081058286989]},{"frame_idx":14,"position_3d":[-0.3064455754306923,0.46302170887159033,1.749675940477752]}]}

scenefun3d_test/scenefun3d/scenefun3d_438102_43896247/interval_009/cam_1/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"43896247","intrinsics":{"fx":1594.27,"fy":1594.27,"cx":963.618,"cy":695.25},"T_base_to_cam":[[-0.47183653880844356,0.8816097234176591,0.011600699147347071,-3.711367978733151],[0.16292158951086455,0.10011117933212532,-0.9815468951833046,315.9837248322233],[-0.8665026464567329,-0.4612396853569416,-0.1908693698195396,62.774273251400885],[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":[0.5250588614049705,-0.49881604073539165,3.8089207979003348]},{"frame_idx":1,"position_3d":[0.5351556526831242,-0.515376054306439,3.894694433336471]},{"frame_idx":2,"position_3d":[0.554969238615568,-0.531504759135272,3.978840630354287]},{"frame_idx":3,"position_3d":[0.5842504518630912,-0.5469993274005756,4.060301201703523]},{"frame_idx":4,"position_3d":[0.6226310641797506,-0.5616649059162556,4.1380517334349385]},{"frame_idx":5,"position_3d":[0.6696284170967141,-0.5753170665233107,4.211114467500101]},{"frame_idx":6,"position_3d":[0.7246514916325516,-0.5877841253809389,4.278570597626155]},{"frame_idx":7,"position_3d":[0.7870083406998436,-0.5989093019904497,4.339571823837808]},{"frame_idx":8,"position_3d":[0.8559147907412822,-0.6085526908010004,4.393351020321712]},{"frame_idx":9,"position_3d":[0.9305043031671427,-0.616593020603074,4.439231882478666]},{"frame_idx":10,"position_3d":[1.0098388715808269,-0.6229291795843013,4.476637431846348]},{"frame_idx":11,"position_3d":[1.0929208177535437,-0.6274814868691684,4.505097271938257]},{"frame_idx":12,"position_3d":[1.1787053380069035,-0.6301926945522578,4.524253503752451]},{"frame_idx":13,"position_3d":[1.266113642225382,-0.6310287076238753,4.533865226559163]},{"frame_idx":14,"position_3d":[1.3540465202679526,-0.6299790127345793,4.533811567367247]}]}

scenefun3d_test/scenefun3d/scenefun3d_466162_44796579/interval_000/cam_8/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"44796579","intrinsics":{"fx":1594.27,"fy":1594.27,"cx":962.673,"cy":695.368},"T_base_to_cam":[[0.933912791522346,0.3554819342888289,-0.03794064081181986,2.0241957770469874],[-0.15135914598252365,0.2970217721263743,-0.9427982158502153,50.97205064000287],[-0.3238785370449544,0.8862339765982687,0.33119787433562914,-16.453197908989328],[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":[-0.1554490137119129,0.7418696087933796,2.714076716145396]},{"frame_idx":1,"position_3d":[-0.15529506544648805,0.7408158830197797,2.714336581740596]},{"frame_idx":2,"position_3d":[-0.1550388814740464,0.7397674831716845,2.714528403878845]},{"frame_idx":3,"position_3d":[-0.15468368345668276,0.7387375934854794,2.714649770285457]},{"frame_idx":4,"position_3d":[-0.15423393821555617,0.7377391654215243,2.71469915470745]},{"frame_idx":5,"position_3d":[-0.15369530155802208,0.736784754792025,2.714675936107064]},{"frame_idx":6,"position_3d":[-0.15307454715257324,0.7358863638644093,2.7145804064716708]},{"frame_idx":7,"position_3d":[-0.15237948134602827,0.7350552904258506,2.7144137671418624]},{"frame_idx":8,"position_3d":[-0.15161884499419104,0.7343019857070389,2.7141781137038983]},{"frame_idx":9,"position_3d":[-0.15080220354051738,0.7336359229518906,2.71387640963649]},{"frame_idx":10,"position_3d":[-0.14993982672511366,0.7330654782860105,2.7135124490433378]},{"frame_idx":11,"position_3d":[-0.14904255943679628,0.7325978253820518,2.7130908089400756]},{"frame_idx":12,"position_3d":[-0.14812168533232242,0.7322388452466201,2.712616791695643]},{"frame_idx":13,"position_3d":[-0.14718878493785945,0.7319930522632037,2.71209635835192]},{"frame_idx":14,"position_3d":[-0.14625559001714916,0.7318635374211814,2.7115360536601663]}]}

scenefun3d_test/scenefun3d/scenefun3d_466162_44796579/interval_002/cam_6/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"44796579","intrinsics":{"fx":1618.68,"fy":1618.68,"cx":963.253,"cy":695.223},"T_base_to_cam":[[0.11764148198041519,0.992479100883704,0.03384842723859344,0.15148658506460722],[-0.06514013992107609,0.04172398306386843,-0.9970034460363458,53.59147494492676],[-0.9909173749049485,0.11508407164486634,0.06955869870206743,-1.0992370037365553],[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":[-0.41869420081485975,1.0848987997560542,3.2834599142336813]},{"frame_idx":1,"position_3d":[-0.39730654726662223,1.0851699053202282,3.282164363793511]},{"frame_idx":2,"position_3d":[-0.3759188937183847,1.0854410108844021,3.280868813353341]},{"frame_idx":3,"position_3d":[-0.3545312401701472,1.0857121164485761,3.279573262913171]},{"frame_idx":4,"position_3d":[-0.3331435866219097,1.08598322201275,3.2782777124730007]},{"frame_idx":5,"position_3d":[-0.31175593307367216,1.086254327576924,3.2769821620328305]},{"frame_idx":6,"position_3d":[-0.29036827952543465,1.086525433141098,3.2756866115926604]},{"frame_idx":7,"position_3d":[-0.26898062597719713,1.086796538705272,3.2743910611524902]},{"frame_idx":8,"position_3d":[-0.2475929724289596,1.087067644269446,3.27309551071232]},{"frame_idx":9,"position_3d":[-0.2262053188807221,1.08733874983362,3.27179996027215]},{"frame_idx":10,"position_3d":[-0.20481766533248458,1.087609855397794,3.2705044098319798]},{"frame_idx":11,"position_3d":[-0.18343001178424706,1.087880960961968,3.2692088593918096]},{"frame_idx":12,"position_3d":[-0.16204235823600954,1.088152066526142,3.2679133089516395]},{"frame_idx":13,"position_3d":[-0.14065470468777203,1.088423172090316,3.2666177585114693]},{"frame_idx":14,"position_3d":[-0.11926705113953451,1.08869427765449,3.265322208071299]}]}

scenefun3d_test/scenefun3d/scenefun3d_466162_44796579/interval_004/cam_33/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"44796579","intrinsics":{"fx":1616.87,"fy":1616.87,"cx":963.537,"cy":695.299},"T_base_to_cam":[[-0.42824142711395435,0.9028303163864828,-0.038816232646755544,4.950228763677994],[0.28799658535191913,0.09563953029654615,-0.9528436634990498,50.2872590471269],[-0.8565437799254854,-0.4192260727318127,-0.3009688572142013,17.580206998992406],[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":[-0.4701513249907352,0.47222300755394286,1.1253288872990304]},{"frame_idx":1,"position_3d":[-0.4524469123739773,0.4755993194197859,1.1137384617007386]},{"frame_idx":2,"position_3d":[-0.43474249975721935,0.4789756312856289,1.102148036102447]},{"frame_idx":3,"position_3d":[-0.4170380871404614,0.48235194315147195,1.0905576105041552]},{"frame_idx":4,"position_3d":[-0.3993336745237035,0.485728255017315,1.0789671849058635]},{"frame_idx":5,"position_3d":[-0.38162926190694557,0.489104566883158,1.0673767593075718]},{"frame_idx":6,"position_3d":[-0.36392484929018765,0.49248087874900104,1.05578633370928]},{"frame_idx":7,"position_3d":[-0.3462204366734297,0.49585719061484407,1.0441959081109884]},{"frame_idx":8,"position_3d":[-0.3285160240566718,0.4992335024806871,1.0326054825126967]},{"frame_idx":9,"position_3d":[-0.31081161143991387,0.5026098143465302,1.021015056914405]},{"frame_idx":10,"position_3d":[-0.29310719882315595,0.5059861262123733,1.0094246313161133]},{"frame_idx":11,"position_3d":[-0.275402786206398,0.5093624380782164,0.9978342057178214]},{"frame_idx":12,"position_3d":[-0.2576983735896401,0.5127387499440594,0.9862437801195296]},{"frame_idx":13,"position_3d":[-0.23999396097288217,0.5161150618099025,0.9746533545212378]},{"frame_idx":14,"position_3d":[-0.22228954835612424,0.5194913736757456,0.963062928922946]}]}

scenefun3d_test/scenefun3d/scenefun3d_466162_44796579/interval_005/cam_33/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"44796579","intrinsics":{"fx":1605.57,"fy":1605.57,"cx":963.31,"cy":695.263},"T_base_to_cam":[[0.2827844291911171,0.9564725404049071,-0.07206418013435467,5.445278569884676],[0.23616401121256658,-0.14224648663663586,-0.9612452844344797,50.926119995492854],[-0.929655595591746,0.2548062332261835,-0.2661094832846797,15.427565142685967],[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":[0.9739472781085281,0.34015387402799746,1.7040960573531692]},{"frame_idx":1,"position_3d":[0.9764438503649719,0.3454349482872552,1.6834790484744315]},{"frame_idx":2,"position_3d":[0.9789404226214158,0.3507160225465129,1.662862039595694]},{"frame_idx":3,"position_3d":[0.9814369948778596,0.35599709680577063,1.6422450307169563]},{"frame_idx":4,"position_3d":[0.9839335671343035,0.36127817106502835,1.6216280218382186]},{"frame_idx":5,"position_3d":[0.9864301393907473,0.3665592453242861,1.601011012959481]},{"frame_idx":6,"position_3d":[0.9889267116471911,0.3718403195835438,1.5803940040807434]},{"frame_idx":7,"position_3d":[0.991423283903635,0.3771213938428015,1.5597769952020057]},{"frame_idx":8,"position_3d":[0.9939198561600788,0.38240246810205925,1.5391599863232681]},{"frame_idx":9,"position_3d":[0.9964164284165227,0.38768354236131697,1.5185429774445305]},{"frame_idx":10,"position_3d":[0.9989130006729665,0.3929646166205747,1.4979259685657929]},{"frame_idx":11,"position_3d":[1.0014095729294104,0.3982456908798324,1.4773089596870552]},{"frame_idx":12,"position_3d":[1.0039061451858542,0.40352676513909014,1.4566919508083176]},{"frame_idx":13,"position_3d":[1.006402717442298,0.40880783939834786,1.43607494192958]},{"frame_idx":14,"position_3d":[1.0088992896987419,0.4140889136576056,1.4154579330508423]}]}

scenefun3d_test/scenefun3d/scenefun3d_466162_44796579/interval_010/cam_2/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"44796579","intrinsics":{"fx":1593.37,"fy":1593.37,"cx":963.485,"cy":695.267},"T_base_to_cam":[[-0.9202921509539929,0.39069005994649675,-0.02058236991883733,0.3135262087807187],[0.10861970374148597,0.2046107076804058,-0.9727981384961812,51.95562298970087],[-0.3758511897700803,-0.8974941422435727,-0.2307382668455511,14.061270549630391],[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":[-0.6003708253735516,0.14144003204686584,2.5006096719156172]},{"frame_idx":1,"position_3d":[-0.6212250378436222,0.14277026187245595,2.495864570827795]},{"frame_idx":2,"position_3d":[-0.6420792503136927,0.14410049169804606,2.4911194697399726]},{"frame_idx":3,"position_3d":[-0.6629334627837633,0.14543072152363617,2.4863743686521502]},{"frame_idx":4,"position_3d":[-0.6837876752538339,0.1467609513492263,2.481629267564328]},{"frame_idx":5,"position_3d":[-0.7046418877239045,0.1480911811748164,2.4768841664765056]},{"frame_idx":6,"position_3d":[-0.725496100193975,0.1494214110004065,2.472139065388683]},{"frame_idx":7,"position_3d":[-0.7463503126640456,0.15075164082599662,2.467393964300861]},{"frame_idx":8,"position_3d":[-0.7672045251341162,0.15208187065158674,2.4626488632130386]},{"frame_idx":9,"position_3d":[-0.7880587376041868,0.15341210047717685,2.457903762125216]},{"frame_idx":10,"position_3d":[-0.8089129500742573,0.15474233030276696,2.453158661037394]},{"frame_idx":11,"position_3d":[-0.8297671625443279,0.15607256012835707,2.4484135599495715]},{"frame_idx":12,"position_3d":[-0.8506213750143985,0.1574027899539472,2.443668458861749]},{"frame_idx":13,"position_3d":[-0.8714755874844691,0.1587330197795373,2.438923357773927]},{"frame_idx":14,"position_3d":[-0.8923297999545396,0.1600632496051274,2.4341782566861045]}]}

scenefun3d_test/scenefun3d/scenefun3d_466162_44796579/interval_011/cam_38/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"44796579","intrinsics":{"fx":1605.57,"fy":1605.57,"cx":963.284,"cy":695.295},"T_base_to_cam":[[0.9786433558855918,0.20013904988106038,-0.04692059988633887,2.415909000352494],[0.01722066592981525,-0.3072678900109448,-0.9514672314027194,50.47788760381633],[-0.20484294141102635,0.9303390803792607,-0.3041522067537082,17.545997717783802],[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":[-0.6125550377897984,0.3549147050510584,1.0223182231198429]},{"frame_idx":1,"position_3d":[-0.5926208072956483,0.3561707905902351,1.0145572710394757]},{"frame_idx":2,"position_3d":[-0.5726865768014981,0.3574268761294118,1.0067963189591085]},{"frame_idx":3,"position_3d":[-0.552752346307348,0.35868296166858854,0.9990353668787413]},{"frame_idx":4,"position_3d":[-0.5328181158131979,0.35993904720776526,0.9912744147983741]},{"frame_idx":5,"position_3d":[-0.5128838853190478,0.361195132746942,0.9835134627180069]},{"frame_idx":6,"position_3d":[-0.4929496548248978,0.3624512182861187,0.9757525106376397]},{"frame_idx":7,"position_3d":[-0.4730154243307477,0.3637073038252954,0.9679915585572725]},{"frame_idx":8,"position_3d":[-0.4530811938365977,0.36496338936447215,0.9602306064769053]},{"frame_idx":9,"position_3d":[-0.4331469633424476,0.36621947490364887,0.9524696543965381]},{"frame_idx":10,"position_3d":[-0.41321273284829757,0.3674755604428256,0.9447087023161709]},{"frame_idx":11,"position_3d":[-0.3932785023541475,0.3687316459820023,0.9369477502358037]},{"frame_idx":12,"position_3d":[-0.37334427185999747,0.36998773152117903,0.9291867981554365]},{"frame_idx":13,"position_3d":[-0.3534100413658474,0.37124381706035575,0.9214258460750693]},{"frame_idx":14,"position_3d":[-0.33347581087169736,0.3724999025995325,0.9136648939947021]}]}

scenefun3d_test/scenefun3d/scenefun3d_466162_44796579/interval_012/cam_6/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"44796579","intrinsics":{"fx":1595.18,"fy":1595.18,"cx":963.089,"cy":695.243},"T_base_to_cam":[[0.07657384940195194,0.9970633993201891,-0.0010115946996540615,2.0507332727152705],[-0.14051016749245682,0.009786633864643735,-0.9900308654930112,53.263699805458835],[-0.9871136400734258,0.07595261373822887,0.1408469454667814,-5.736240278620104],[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":[0.8504123806522816,0.5494495563212141,2.207764830583206]},{"frame_idx":1,"position_3d":[0.8484233475085915,0.5462188325729483,2.186674789220395]},{"frame_idx":2,"position_3d":[0.8464343143649014,0.5429881088246826,2.165584747857584]},{"frame_idx":3,"position_3d":[0.8444452812212112,0.5397573850764169,2.144494706494773]},{"frame_idx":4,"position_3d":[0.8424562480775211,0.5365266613281512,2.123404665131962]},{"frame_idx":5,"position_3d":[0.8404672149338309,0.5332959375798855,2.102314623769151]},{"frame_idx":6,"position_3d":[0.8384781817901408,0.5300652138316198,2.08122458240634]},{"frame_idx":7,"position_3d":[0.8364891486464506,0.526834490083354,2.0601345410435288]},{"frame_idx":8,"position_3d":[0.8345001155027605,0.5236037663350883,2.0390444996807178]},{"frame_idx":9,"position_3d":[0.8325110823590703,0.5203730425868226,2.0179544583179068]},{"frame_idx":10,"position_3d":[0.8305220492153802,0.5171423188385569,1.9968644169550958]},{"frame_idx":11,"position_3d":[0.82853301607169,0.5139115950902912,1.9757743755922847]},{"frame_idx":12,"position_3d":[0.8265439829279999,0.5106808713420254,1.9546843342294737]},{"frame_idx":13,"position_3d":[0.8245549497843098,0.5074501475937597,1.9335942928666627]},{"frame_idx":14,"position_3d":[0.8225659166406196,0.504219423845494,1.9125042515038517]}]}

scenefun3d_test/scenefun3d/scenefun3d_466162_44796579/interval_013/cam_5/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"44796579","intrinsics":{"fx":1593.37,"fy":1593.37,"cx":963.372,"cy":695.208},"T_base_to_cam":[[-0.9997949566716454,-0.01978402465738932,-0.004317057134027228,0.10142566124612795],[0.002721330344237622,0.07998559466994426,-0.9967923048491363,53.124092408039544],[0.02006586591952053,-0.9965996673758484,-0.07991535529076077,5.14994694872061],[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":[0.3200194067382787,-0.06855074898444968,1.4671248810450397]},{"frame_idx":1,"position_3d":[0.29897438690965256,-0.06901187739634423,1.471134640946812]},{"frame_idx":2,"position_3d":[0.2779293670810264,-0.06947300580823879,1.4751444008485843]},{"frame_idx":3,"position_3d":[0.2568843472524002,-0.06993413422013334,1.4791541607503567]},{"frame_idx":4,"position_3d":[0.23583932742377403,-0.07039526263202789,1.483163920652129]},{"frame_idx":5,"position_3d":[0.21479430759514784,-0.07085639104392244,1.4871736805539013]},{"frame_idx":6,"position_3d":[0.19374928776652164,-0.07131751945581699,1.4911834404556736]},{"frame_idx":7,"position_3d":[0.17270426793789545,-0.07177864786771154,1.495193200357446]},{"frame_idx":8,"position_3d":[0.15165924810926926,-0.0722397762796061,1.4992029602592183]},{"frame_idx":9,"position_3d":[0.13061422828064306,-0.07270090469150065,1.5032127201609906]},{"frame_idx":10,"position_3d":[0.10956920845201688,-0.0731620331033952,1.507222480062763]},{"frame_idx":11,"position_3d":[0.0885241886233907,-0.07362316151528975,1.5112322399645353]},{"frame_idx":12,"position_3d":[0.06747916879476452,-0.0740842899271843,1.5152419998663076]},{"frame_idx":13,"position_3d":[0.046434148966138344,-0.07454541833907885,1.51925175976808]},{"frame_idx":14,"position_3d":[0.02538912913751216,-0.0750065467509734,1.5232615196698522]}]}

scenefun3d_test/scenefun3d/scenefun3d_466162_44796579/interval_014/cam_17/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"44796579","intrinsics":{"fx":1590.21,"fy":1590.21,"cx":963.497,"cy":695.233},"T_base_to_cam":[[0.2989598816537587,-0.9539162798005393,-0.025820927424657747,-0.345162421031726],[-0.181577236130538,-0.030301053269631673,-0.9829097382211377,52.311875391536404],[0.9368311995662639,0.2985390716510149,-0.18226828088558045,10.734144823650759],[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":[1.5347974333800756,-0.7274111404794468,4.330655328725971]},{"frame_idx":1,"position_3d":[1.5342441277924044,-0.7484734920127568,4.326749579849851]},{"frame_idx":2,"position_3d":[1.5336908222047332,-0.7695358435460669,4.322843830973731]},{"frame_idx":3,"position_3d":[1.533137516617062,-0.7905981950793769,4.3189380820976115]},{"frame_idx":4,"position_3d":[1.5325842110293908,-0.8116605466126869,4.315032333221492]},{"frame_idx":5,"position_3d":[1.5320309054417196,-0.832722898145997,4.311126584345372]},{"frame_idx":6,"position_3d":[1.5314775998540484,-0.853785249679307,4.307220835469252]},{"frame_idx":7,"position_3d":[1.5309242942663772,-0.8748476012126171,4.303315086593132]},{"frame_idx":8,"position_3d":[1.530370988678706,-0.8959099527459271,4.299409337717012]},{"frame_idx":9,"position_3d":[1.5298176830910348,-0.9169723042792371,4.295503588840893]},{"frame_idx":10,"position_3d":[1.5292643775033636,-0.9380346558125472,4.291597839964773]},{"frame_idx":11,"position_3d":[1.5287110719156924,-0.9590970073458572,4.287692091088653]},{"frame_idx":12,"position_3d":[1.5281577663280212,-0.9801593588791673,4.283786342212533]},{"frame_idx":13,"position_3d":[1.52760446074035,-1.0012217104124774,4.279880593336413]},{"frame_idx":14,"position_3d":[1.5270511551526789,-1.0222840619457876,4.275974844460293]}]}

scenefun3d_test/scenefun3d/scenefun3d_466162_44796579/interval_015/cam_12/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"44796579","intrinsics":{"fx":1595.63,"fy":1595.63,"cx":963.54,"cy":695.243},"T_base_to_cam":[[-0.9887590156523628,-0.14849015128692122,-0.01750096960050225,0.9112977477170119],[-0.009706051155317003,0.18054713856266558,-0.9835184407665185,52.61843166548311],[0.1492025520463401,-0.9722928600620395,-0.17995886400852357,8.734801368557527],[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":[-0.9714318124960533,0.3419943841540345,2.3333440379745216]},{"frame_idx":1,"position_3d":[-0.976902012940112,0.34667303847919106,2.3131606097652977]},{"frame_idx":2,"position_3d":[-0.9823722133841708,0.35135169280434764,2.2929771815560738]},{"frame_idx":3,"position_3d":[-0.9878424138282296,0.3560303471295042,2.27279375334685]},{"frame_idx":4,"position_3d":[-0.9933126142722883,0.3607090014546608,2.252610325137626]},{"frame_idx":5,"position_3d":[-0.9987828147163471,0.36538765577981736,2.232426896928402]},{"frame_idx":6,"position_3d":[-1.0042530151604059,0.37006631010497393,2.212243468719178]},{"frame_idx":7,"position_3d":[-1.0097232156044647,0.3747449644301305,2.192060040509954]},{"frame_idx":8,"position_3d":[-1.0151934160485234,0.3794236187552871,2.1718766123007303]},{"frame_idx":9,"position_3d":[-1.0206636164925822,0.38410227308044365,2.1516931840915063]},{"frame_idx":10,"position_3d":[-1.026133816936641,0.3887809274056002,2.1315097558822824]},{"frame_idx":11,"position_3d":[-1.0316040173806997,0.3934595817307568,2.1113263276730585]},{"frame_idx":12,"position_3d":[-1.0370742178247585,0.39813823605591336,2.0911428994638346]},{"frame_idx":13,"position_3d":[-1.0425444182688173,0.40281689038106994,2.0709594712546107]},{"frame_idx":14,"position_3d":[-1.048014618712876,0.4074955447062265,2.0507760430453867]}]}

scenefun3d_test/scenefun3d/scenefun3d_466162_44796579/interval_016/cam_10/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"44796579","intrinsics":{"fx":1589.75,"fy":1589.75,"cx":963.491,"cy":695.231},"T_base_to_cam":[[0.2996194665232461,-0.9537213606991286,-0.025372059958311488,-0.37023101947445713],[-0.18817659559341537,-0.033004033318463244,-0.9815805125691861,52.230355843124066],[0.93531692177101,0.298875057391741,-0.18935668965707508,11.119870692885245],[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":[0.4821442495969468,-0.8188592520435094,4.487518448976495]},{"frame_idx":1,"position_3d":[0.48052716432082876,-0.8188954552219587,4.4879227923307266]},{"frame_idx":2,"position_3d":[0.4789654526922513,-0.8189668635934768,4.488502211559025]},{"frame_idx":3,"position_3d":[0.47747875414107005,-0.8190725791563598,4.489249420128408]},{"frame_idx":4,"position_3d":[0.4760857647641686,-0.8192112724760668,4.490155021457574]},{"frame_idx":5,"position_3d":[0.4748040022111928,-0.8193811994036309,4.491207627084368]},{"frame_idx":6,"position_3d":[0.47364958538994223,-0.8195802230093439,4.492393999882295]},{"frame_idx":7,"position_3d":[0.4726370317617524,-0.8198058404558878,4.493699220525073]},{"frame_idx":8,"position_3d":[0.4717790747759951,-0.820055214472966,4.4951068751058125]},{"frame_idx":9,"position_3d":[0.4710865037395645,-0.8203252090376237,4.496599261551419]},{"frame_idx":10,"position_3d":[0.47056802813508275,-0.8206124288115557,4.498157612236438]},{"frame_idx":11,"position_3d":[0.47023016809410273,-0.8209132618394561,4.499762329996829]},{"frame_idx":12,"position_3d":[0.4700771724026708,-0.8212239249714516,4.501393234575675]},{"frame_idx":13,"position_3d":[0.4701109650703768,-0.8215405114384065,4.503029816401624]},{"frame_idx":14,"position_3d":[0.4703311211348174,-0.821859039981811,4.50465149450865]}]}

scenefun3d_test/scenefun3d/scenefun3d_468476_45261686/interval_003/cam_6/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"45261686","intrinsics":{"fx":1589.75,"fy":1589.75,"cx":741.95,"cy":968.548},"T_base_to_cam":[[0.3112599485562064,0.9502414596143358,0.012586216858301857,-2.331385659118477],[0.38040992007712254,-0.11244802491970901,-0.9179562813111383,65.45775214270039],[-0.8708648213883168,0.2905109466468915,-0.39648184415761356,28.423232729373254],[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":[-0.23150666040961143,-0.34754406911808644,1.973049599893141]},{"frame_idx":1,"position_3d":[-0.19875627997862905,-0.3328452568420517,1.9400577646828931]},{"frame_idx":2,"position_3d":[-0.17025518614656002,-0.31683150898694046,1.9038866267238954]},{"frame_idx":3,"position_3d":[-0.14636179670506247,-0.29970420772342365,1.864991059062965]},{"frame_idx":4,"position_3d":[-0.1273765848896307,-0.28167873880238176,1.8238601960311724]},{"frame_idx":5,"position_3d":[-0.11353830075432023,-0.2629817829541175,1.781011282095825]},{"frame_idx":6,"position_3d":[-0.10502096875129206,-0.24384846524664927,1.7369831672111788]},{"frame_idx":7,"position_3d":[-0.10193169927235543,-0.224519398251558,1.6923295304676154]},{"frame_idx":8,"position_3d":[-0.10430934167364386,-0.20523765620129286,1.6476119172558286]},{"frame_idx":9,"position_3d":[-0.11212399572242089,-0.1862457181896633,1.60339267750772]},{"frame_idx":10,"position_3d":[-0.12527738760985527,-0.1677824188565446,1.5602278938197232]},{"frame_idx":11,"position_3d":[-0.14360410580118677,-0.15007994490370657,1.518660388391505]},{"frame_idx":12,"position_3d":[-0.1668736811817498,-0.1333609152123208,1.479212896721854]},{"frame_idx":13,"position_3d":[-0.1947934853398117,-0.11783558128136343,1.4423814939064836]},{"frame_idx":14,"position_3d":[-0.22701241053863708,-0.1036991831930248,1.408629356205875]}]}

scenefun3d_test/scenefun3d/scenefun3d_468476_45261686/interval_007/cam_2/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"45261686","intrinsics":{"fx":1589.75,"fy":1589.75,"cx":742.047,"cy":968.488},"T_base_to_cam":[[0.19002763151387037,0.9814544461077227,-0.02523231017192551,0.40997618966141175],[0.42999373942640073,-0.10630423109635345,-0.8965516128506568,63.8444318383359],[-0.8826068679289379,0.15951984411475761,-0.4422200086136696,31.819287311185246],[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":[0.22969204022645467,-0.5605613222512531,2.0386974168054692]},{"frame_idx":1,"position_3d":[0.25781635149187715,-0.5439070561239259,2.0033280300797216]},{"frame_idx":2,"position_3d":[0.2901388718907406,-0.5288499484723347,1.970957160984451]},{"frame_idx":3,"position_3d":[0.3262531269750662,-0.5155793511615357,1.9419918919805461]},{"frame_idx":4,"position_3d":[0.36570495903318967,-0.5042621496524923,1.9167964781317717]},{"frame_idx":5,"position_3d":[0.4079982383864939,-0.4950406643205738,1.8956877663859955]},{"frame_idx":6,"position_3d":[0.4526011025079789,-0.4880308606942596,1.8789312110409804]},{"frame_idx":7,"position_3d":[0.4989526445021324,-0.4833208911213333,1.8667375355025702]},{"frame_idx":8,"position_3d":[0.5464699668345868,-0.4809699862019625,1.8592600823155954]},{"frame_idx":9,"position_3d":[0.594555511606819,-0.4810077099295351,1.8565928847924018]},{"frame_idx":10,"position_3d":[0.6426045751934351,-0.48343358790628904,1.8587694844893876]},{"frame_idx":11,"position_3d":[0.6900129127411173,-0.48821711330913947,1.8657625094024706]},{"frame_idx":12,"position_3d":[0.7361843368982455,-0.49529813053067945,1.8774840181859211]},{"frame_idx":13,"position_3d":[0.7805382152167594,-0.5045875916708462,1.8937866060658097]},{"frame_idx":14,"position_3d":[0.8225167719420841,-0.5159686763659312,1.9144652585405648]}]}

scenefun3d_test/scenefun3d/scenefun3d_468476_45261686/interval_009/cam_25/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"45261686","intrinsics":{"fx":1610.99,"fy":1610.99,"cx":741.946,"cy":968.027},"T_base_to_cam":[[0.9553759934254719,-0.2948746328250843,0.01748319486146696,-1.3057234220370164],[-0.1765455007133427,-0.6174454701567548,-0.766546004856055,56.22816825059495],[0.23682989119654516,0.7292530715047937,-0.6419513691368348,44.08454704155273],[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":[-0.397334181928496,0.06452846755981057,1.8681251158552712]},{"frame_idx":1,"position_3d":[-0.39695954203860745,0.04810248174146653,1.8543690150880534]},{"frame_idx":2,"position_3d":[-0.3965849021487189,0.031676495923122494,1.8406129143208356]},{"frame_idx":3,"position_3d":[-0.3962102622588303,0.015250510104778459,1.8268568135536178]},{"frame_idx":4,"position_3d":[-0.39583562236894176,-0.001175475713565577,1.8131007127864]},{"frame_idx":5,"position_3d":[-0.3954609824790532,-0.017601461531909612,1.7993446120191823]},{"frame_idx":6,"position_3d":[-0.39508634258916464,-0.03402744735025365,1.7855885112519645]},{"frame_idx":7,"position_3d":[-0.3947117026992761,-0.05045343316859768,1.7718324104847467]},{"frame_idx":8,"position_3d":[-0.3943370628093875,-0.06687941898694172,1.758076309717529]},{"frame_idx":9,"position_3d":[-0.39396242291949896,-0.08330540480528575,1.7443202089503111]},{"frame_idx":10,"position_3d":[-0.3935877830296104,-0.09973139062362979,1.7305641081830934]},{"frame_idx":11,"position_3d":[-0.39321314313972183,-0.11615737644197383,1.7168080074158756]},{"frame_idx":12,"position_3d":[-0.39283850324983327,-0.13258336226031786,1.7030519066486578]},{"frame_idx":13,"position_3d":[-0.3924638633599447,-0.1490093480786619,1.68929580588144]},{"frame_idx":14,"position_3d":[-0.39208922347005615,-0.16543533389700593,1.6755397051142222]}]}

scenefun3d_test/scenefun3d/scenefun3d_468476_45261686/interval_012/cam_12/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"45261686","intrinsics":{"fx":1596.08,"fy":1596.08,"cx":741.898,"cy":968.637},"T_base_to_cam":[[0.5576172835214012,-0.8297014286481224,-0.025661340913488984,3.799861285468681],[-0.23139601972697804,-0.125677408170503,-0.9647077646261882,69.61378586814656],[0.7971943597220978,0.5438756552510967,-0.26206950309500887,16.94109602922865],[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":[-0.27319874913776454,0.9973923040927275,1.9465360223811352]},{"frame_idx":1,"position_3d":[-0.25194296918708187,0.997428211000864,1.943820474029238]},{"frame_idx":2,"position_3d":[-0.2306871892363992,0.9974641179090005,1.9411049256773407]},{"frame_idx":3,"position_3d":[-0.20943140928571652,0.997500024817137,1.9383893773254435]},{"frame_idx":4,"position_3d":[-0.18817562933503384,0.9975359317252734,1.9356738289735462]},{"frame_idx":5,"position_3d":[-0.16691984938435117,0.9975718386334099,1.932958280621649]},{"frame_idx":6,"position_3d":[-0.1456640694336685,0.9976077455415464,1.9302427322697517]},{"frame_idx":7,"position_3d":[-0.12440828948298582,0.9976436524496829,1.9275271839178545]},{"frame_idx":8,"position_3d":[-0.10315250953230315,0.9976795593578194,1.9248116355659572]},{"frame_idx":9,"position_3d":[-0.08189672958162048,0.9977154662659559,1.92209608721406]},{"frame_idx":10,"position_3d":[-0.0606409496309378,0.9977513731740923,1.9193805388621628]},{"frame_idx":11,"position_3d":[-0.03938516968025513,0.9977872800822288,1.9166649905102655]},{"frame_idx":12,"position_3d":[-0.018129389729572454,0.9978231869903653,1.9139494421583683]},{"frame_idx":13,"position_3d":[0.00312639022111022,0.9978590938985018,1.911233893806471]},{"frame_idx":14,"position_3d":[0.024382170171792894,0.9978950008066383,1.9085183454545738]}]}

scenefun3d_test/scenefun3d/scenefun3d_468476_45261686/interval_013/cam_7/trajectory.json

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+{"camera_info":{"cam_id":"45261686","intrinsics":{"fx":1593.37,"fy":1593.37,"cx":741.975,"cy":968.188},"T_base_to_cam":[[0.39687107337829575,-0.9169815101114709,-0.04047543982770463,5.423697324929787],[-0.5495401747550426,-0.2020592307603155,-0.8106649515026212,58.73571392330553],[0.7351863351870443,0.34397234972921314,-0.5841096431116395,40.254798294525145],[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":[-0.29559883351431004,0.16100531777823335,1.718287313897335]},{"frame_idx":1,"position_3d":[-0.2742323725968509,0.15944224872497675,1.718750818446212]},{"frame_idx":2,"position_3d":[-0.25286591167939176,0.15787917967172016,1.719214322995089]},{"frame_idx":3,"position_3d":[-0.23149945076193262,0.15631611061846357,1.719677827543966]},{"frame_idx":4,"position_3d":[-0.21013298984447348,0.15475304156520697,1.720141332092843]},{"frame_idx":5,"position_3d":[-0.18876652892701434,0.15318997251195038,1.72060483664172]},{"frame_idx":6,"position_3d":[-0.1674000680095552,0.15162690345869378,1.721068341190597]},{"frame_idx":7,"position_3d":[-0.14603360709209606,0.1500638344054372,1.721531845739474]},{"frame_idx":8,"position_3d":[-0.12466714617463691,0.1485007653521806,1.721995350288351]},{"frame_idx":9,"position_3d":[-0.10330068525717775,0.146937696298924,1.722458854837228]},{"frame_idx":10,"position_3d":[-0.0819342243397186,0.1453746272456674,1.722922359386105]},{"frame_idx":11,"position_3d":[-0.060567763422259446,0.14381155819241082,1.723385863934982]},{"frame_idx":12,"position_3d":[-0.03920130250480029,0.14224848913915422,1.723849368483859]},{"frame_idx":13,"position_3d":[-0.017834841587341138,0.14068542008589763,1.724312873032736]},{"frame_idx":14,"position_3d":[0.003531619330118016,0.13912235103264103,1.724776377581613]}]}