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Browse files- robomind2_test/robomind2/robomind2_franka_2_open_lower_drawer_with_left_arm_only_0701_102209/interval_000/cam_0/trajectory.json +1 -0
- robomind2_test/robomind2/robomind2_ur5_open_upper_drawer_0428_113207/interval_000/cam_3/trajectory.json +1 -0
- robomind2_test/robomind2/robomind2_ur5_pour_sauce_into_pink_cup_on_scale_0701_113056/interval_000/cam_3/trajectory.json +1 -0
- scenefun3d_test/scenefun3d/scenefun3d_466437_45260952/interval_001/cam_10/trajectory.json +1 -0
- scenefun3d_test/scenefun3d/scenefun3d_466437_45260952/interval_003/cam_17/trajectory.json +1 -0
- scenefun3d_test/scenefun3d/scenefun3d_466437_45260952/interval_004/cam_4/trajectory.json +1 -0
- scenefun3d_test/scenefun3d/scenefun3d_466437_45260952/interval_005/cam_12/trajectory.json +1 -0
- scenefun3d_test/scenefun3d/scenefun3d_466437_45260952/interval_006/cam_16/trajectory.json +1 -0
- scenefun3d_test/scenefun3d/scenefun3d_466437_45260952/interval_007/cam_13/trajectory.json +1 -0
- scenefun3d_test/scenefun3d/scenefun3d_466437_45260952/interval_009/cam_14/trajectory.json +1 -0
- scenefun3d_test/scenefun3d/scenefun3d_466437_45260952/interval_010/cam_14/trajectory.json +1 -0
- scenefun3d_test/scenefun3d/scenefun3d_466437_45260952/interval_011/cam_8/trajectory.json +1 -0
- scenefun3d_test/scenefun3d/scenefun3d_466437_45260952/interval_012/cam_6/trajectory.json +1 -0
- scenefun3d_test/scenefun3d/scenefun3d_466437_45260952/interval_014/cam_6/trajectory.json +1 -0
- scenefun3d_test/scenefun3d/scenefun3d_466437_45260952/interval_015/cam_19/trajectory.json +1 -0
- scenefun3d_test/scenefun3d/scenefun3d_466437_45260952/interval_016/cam_10/trajectory.json +1 -0
- scenefun3d_test/scenefun3d/scenefun3d_466437_45260952/interval_017/cam_2/trajectory.json +1 -0
- scenefun3d_test/scenefun3d/scenefun3d_466437_45260952/interval_018/cam_31/trajectory.json +1 -0
- scenefun3d_test/scenefun3d/scenefun3d_466437_45260952/interval_020/cam_7/trajectory.json +1 -0
- scenefun3d_test/scenefun3d/scenefun3d_468282_47331279/interval_006/cam_0/trajectory.json +1 -0
robomind2_test/robomind2/robomind2_franka_2_open_lower_drawer_with_left_arm_only_0701_102209/interval_000/cam_0/trajectory.json
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robomind2_test/robomind2/robomind2_ur5_open_upper_drawer_0428_113207/interval_000/cam_3/trajectory.json
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robomind2_test/robomind2/robomind2_ur5_pour_sauce_into_pink_cup_on_scale_0701_113056/interval_000/cam_3/trajectory.json
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scenefun3d_test/scenefun3d/scenefun3d_466437_45260952/interval_005/cam_12/trajectory.json
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{"camera_info":{"cam_id":"45260952","intrinsics":{"fx":1589.3,"fy":1589.3,"cx":714.372,"cy":956.581},"T_base_to_cam":[[0.9906113573221598,0.1359540448892555,0.014340028681939954,3.44224945914861],[0.0666129431472771,-0.3884258101452457,-0.9190691518151761,36.642936902338164],[-0.11938113146392185,0.9113955714678781,-0.39383531806979166,18.598279171135975],[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":[-0.02798182711588204,-0.31547214242003463,1.8066433998525184]},{"frame_idx":1,"position_3d":[-0.004308949832485448,-0.31510758317075965,1.8066546090534403]},{"frame_idx":2,"position_3d":[0.019200155382714256,-0.3137014292959505,1.8042291500807626]},{"frame_idx":3,"position_3d":[0.042249847891335374,-0.31127136399645244,1.7993975244883507]},{"frame_idx":4,"position_3d":[0.06455026443633889,-0.30784794675336336,1.7922204927714036]},{"frame_idx":5,"position_3d":[0.08582096434066831,-0.30347422902482807,1.782788310267973]},{"frame_idx":6,"position_3d":[0.10579445621147915,-0.298205212848973,1.771219592145719]},{"frame_idx":7,"position_3d":[0.12421956179960603,-0.292107159161364,1.7576598217473558]},{"frame_idx":8,"position_3d":[0.14086457471178299,-0.2852567545252958,1.7422795210532045]},{"frame_idx":9,"position_3d":[0.15552017425297796,-0.2777401467537644,1.7252721062683527]},{"frame_idx":10,"position_3d":[0.16800205775558347,-0.2696518615507342,1.7068514555016516]},{"frame_idx":11,"position_3d":[0.17815325829239678,-0.26109361379556567,1.6872492191244033]},{"frame_idx":12,"position_3d":[0.18584611862680372,-0.2521730284193911,1.6667119066325338]},{"frame_idx":13,"position_3d":[0.1909838965765976,-0.24300228695916004,1.6454977866466547]},{"frame_idx":14,"position_3d":[0.19350198160305151,-0.23369671680972307,1.6238736390343078]}]}
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scenefun3d_test/scenefun3d/scenefun3d_466437_45260952/interval_007/cam_13/trajectory.json
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{"camera_info":{"cam_id":"45260952","intrinsics":{"fx":1588.85,"fy":1588.85,"cx":714.549,"cy":956.209},"T_base_to_cam":[[-0.9935753108868258,0.10345851716770038,-0.04587414109940495,0.13311344769025577],[0.09901869620384934,0.5984069884982971,-0.7950499191362072,33.260672737123755],[-0.054803279082891204,-0.7944843682174373,-0.6048067371151735,23.744515502942434],[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":[-0.4655561418620331,-0.9269805567941276,2.6476035918398004]},{"frame_idx":1,"position_3d":[-0.4632186018785347,-0.9166406441015854,2.633833938034632]},{"frame_idx":2,"position_3d":[-0.4628216844339962,-0.9061367310026082,2.6199958919395576]},{"frame_idx":3,"position_3d":[-0.4643703809955795,-0.8956009102989277,2.606263475013245]},{"frame_idx":4,"position_3d":[-0.46784521580544797,-0.8851656760489186,2.5928093803662757]},{"frame_idx":5,"position_3d":[-0.4732024907997215,-0.8749622573779384,2.5798028010450835]},{"frame_idx":6,"position_3d":[-0.48037483513698365,-0.8651189681959363,2.567407302331225]},{"frame_idx":7,"position_3d":[-0.4892720524257023,-0.8557595935755852,2.555778764813063]},{"frame_idx":8,"position_3d":[-0.4997822549961861,-0.8470018330831718,2.5450634240969237]},{"frame_idx":9,"position_3d":[-0.5117732709529496,-0.8389558206382591,2.535396031809497]},{"frame_idx":10,"position_3d":[-0.5250943063129869,-0.8317227395157472,2.5268981610179493]},{"frame_idx":11,"position_3d":[-0.539577841327601,-0.8253935499074829,2.519676677378064]},{"frame_idx":12,"position_3d":[-0.5550417371404403,-0.8200478450450717,2.5138223952366148]},{"frame_idx":13,"position_3d":[-0.5712915262892968,-0.8157528502688084,2.5094089355882643]},{"frame_idx":14,"position_3d":[-0.5881228582472766,-0.8125625776300186,2.506491800248839]}]}
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scenefun3d_test/scenefun3d/scenefun3d_466437_45260952/interval_009/cam_14/trajectory.json
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{"camera_info":{"cam_id":"45260952","intrinsics":{"fx":1590.21,"fy":1590.21,"cx":714.338,"cy":956.696},"T_base_to_cam":[[0.9997780623749356,0.007733627600024289,0.019596351649303484,2.779968017845061],[0.0209039347550347,-0.2485955590001604,-0.9683817808886922,39.00058974651206],[-0.0026175380754191475,0.9685765013924,-0.24870204953896502,13.295676656518708],[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":[0.5311656159573785,-0.1848565934363151,2.716655134110857]},{"frame_idx":1,"position_3d":[0.5433537652163666,-0.17345004847647316,2.6732013423821637]},{"frame_idx":2,"position_3d":[0.5604943517641119,-0.16235927242115636,2.6313672982892125]},{"frame_idx":3,"position_3d":[0.5823718227795766,-0.15172373821427848,2.59167908920915]},{"frame_idx":4,"position_3d":[0.6087110563711368,-0.1416771938693717,2.5546358173987933]},{"frame_idx":5,"position_3d":[0.6391808213939993,-0.13234598051071403,2.5207033234941645]},{"frame_idx":6,"position_3d":[0.6733979428740324,-0.12384744356038668,2.490308328294206]},{"frame_idx":7,"position_3d":[0.7109321206553882,-0.11628845705150602,2.463833066499144]},{"frame_idx":8,"position_3d":[0.751311340674629,-0.10976407962524734,2.441610479887357]},{"frame_idx":9,"position_3d":[0.7940278108114436,-0.10435635911327781,2.423920030379332]},{"frame_idx":10,"position_3d":[0.8385443466691882,-0.10013330073866798,2.410984185641871]},{"frame_idx":11,"position_3d":[0.884301126980356,-0.0971480119107541,2.402965621428099]},{"frame_idx":12,"position_3d":[0.9307227336838318,-0.09543803436865213,2.3999651758354847]},{"frame_idx":13,"position_3d":[0.9772253881408758,-0.09502487207210605,2.4020205812082533]},{"frame_idx":14,"position_3d":[1.023224292490222,-0.09591372077671731,2.4091059896312683]}]}
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scenefun3d_test/scenefun3d/scenefun3d_466437_45260952/interval_010/cam_14/trajectory.json
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{"camera_info":{"cam_id":"45260952","intrinsics":{"fx":1591.11,"fy":1591.11,"cx":714.421,"cy":956.69},"T_base_to_cam":[[0.9974823653293529,-0.06905829335802414,-0.016120886310510674,3.950788988920926],[-0.023017573795521693,-0.10026703820467443,-0.9946942808452404,40.46954731418698],[0.06707549592457028,0.9925610677273915,-0.10160415679652836,7.601080253822553],[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":[0.01293022686010703,0.28868494059245364,2.6825317200521352]},{"frame_idx":1,"position_3d":[0.022877752011053076,0.29092459331031345,2.659027438860703]},{"frame_idx":2,"position_3d":[0.03540588938991634,0.29299457551467173,2.6367747652518707]},{"frame_idx":3,"position_3d":[0.05035709040016299,0.29486885597827706,2.616053539507572]},{"frame_idx":4,"position_3d":[0.06754333501420029,0.2965238645368168,2.5971243430642765]},{"frame_idx":5,"position_3d":[0.08674849623431533,0.29793878849740885,2.580225221550234]},{"frame_idx":6,"position_3d":[0.10773105801507105,0.29909583437029086,2.5655686912235827]},{"frame_idx":7,"position_3d":[0.13022715246770855,0.29998045163227766,2.553339066457097]},{"frame_idx":8,"position_3d":[0.15395387815194786,0.3005815157080329,2.5436901418780087]},{"frame_idx":9,"position_3d":[0.17861285772574279,0.3008914678680584,2.5367432583113367]},{"frame_idx":10,"position_3d":[0.20389399021347962,0.3009064102841035,2.5325857768486073]},{"frame_idx":11,"position_3d":[0.22947935070567035,0.30062615504661655,2.5312699802314413]},{"frame_idx":12,"position_3d":[0.25504718844915375,0.3000542265278169,2.532812415365743]},{"frame_idx":13,"position_3d":[0.28027597304950047,0.299197817060669,2.5371936852347563]},{"frame_idx":14,"position_3d":[0.3048484379022794,0.2980676964911227,2.5443586928278066]}]}
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scenefun3d_test/scenefun3d/scenefun3d_466437_45260952/interval_011/cam_8/trajectory.json
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{"camera_info":{"cam_id":"45260952","intrinsics":{"fx":1589.75,"fy":1589.75,"cx":714.376,"cy":956.643},"T_base_to_cam":[[0.22677499515374988,-0.9736882614585181,-0.022455980738003534,0.6503102273734379],[-0.34269461169421134,-0.0581899554088291,-0.9376429662751555,37.91670616781526],[0.9116652371834579,0.22032952273221867,-0.3468737475275726,15.651734842665379],[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":[0.27403799267876705,0.3717012114313505,1.9582723840486977]},{"frame_idx":1,"position_3d":[0.25261539279638884,0.3719748265356595,1.9586978514664986]},{"frame_idx":2,"position_3d":[0.23119279291401063,0.3722484416399685,1.9591233188842994]},{"frame_idx":3,"position_3d":[0.2097701930316324,0.3725220567442775,1.9595487863021002]},{"frame_idx":4,"position_3d":[0.1883475931492542,0.37279567184858653,1.959974253719901]},{"frame_idx":5,"position_3d":[0.166924993266876,0.37306928695289554,1.9603997211377018]},{"frame_idx":6,"position_3d":[0.14550239338449777,0.37334290205720455,1.9608251885555026]},{"frame_idx":7,"position_3d":[0.12407979350211955,0.37361651716151356,1.9612506559733034]},{"frame_idx":8,"position_3d":[0.10265719361974132,0.3738901322658226,1.9616761233911042]},{"frame_idx":9,"position_3d":[0.0812345937373631,0.3741637473701316,1.962101590808905]},{"frame_idx":10,"position_3d":[0.05981199385498487,0.3744373624744406,1.9625270582267058]},{"frame_idx":11,"position_3d":[0.03838939397260664,0.3747109775787496,1.9629525256445066]},{"frame_idx":12,"position_3d":[0.016966794090228415,0.3749845926830586,1.9633779930623074]},{"frame_idx":13,"position_3d":[-0.004455805792149811,0.3752582077873676,1.9638034604801082]},{"frame_idx":14,"position_3d":[-0.025878405674528038,0.37553182289167664,1.964228927897909]}]}
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scenefun3d_test/scenefun3d/scenefun3d_466437_45260952/interval_012/cam_6/trajectory.json
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{"camera_info":{"cam_id":"45260952","intrinsics":{"fx":1589.3,"fy":1589.3,"cx":714.334,"cy":956.584},"T_base_to_cam":[[0.17802297163261804,-0.9839984033490543,0.007413755971451552,-0.6677924605543069],[-0.40087221171560466,-0.0794014482572355,-0.9126866274296415,36.76530162661046],[0.8986708471099594,0.15950721683098118,-0.4085928980458454,18.121662224642648],[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":[0.15433538138532887,0.43246048144862215,1.4369491533442798]},{"frame_idx":1,"position_3d":[0.13292172229716345,0.4325574387078814,1.4361557573428432]},{"frame_idx":2,"position_3d":[0.11150806320899803,0.4326543959671406,1.4353623613414066]},{"frame_idx":3,"position_3d":[0.09009440412083261,0.43275135322639985,1.43456896533997]},{"frame_idx":4,"position_3d":[0.06868074503266719,0.4328483104856591,1.4337755693385335]},{"frame_idx":5,"position_3d":[0.047267085944501776,0.4329452677449183,1.4329821733370969]},{"frame_idx":6,"position_3d":[0.02585342685633636,0.43304222500417755,1.4321887773356603]},{"frame_idx":7,"position_3d":[0.004439767768170948,0.4331391822634368,1.4313953813342237]},{"frame_idx":8,"position_3d":[-0.016973891319994466,0.433236139522696,1.4306019853327872]},{"frame_idx":9,"position_3d":[-0.03838755040815988,0.43333309678195525,1.4298085893313506]},{"frame_idx":10,"position_3d":[-0.059801209496325294,0.4334300540412145,1.429015193329914]},{"frame_idx":11,"position_3d":[-0.0812148685844907,0.4335270113004737,1.4282217973284774]},{"frame_idx":12,"position_3d":[-0.10262852767265612,0.43362396855973295,1.4274284013270409]},{"frame_idx":13,"position_3d":[-0.12404218676082154,0.4337209258189922,1.4266350053256043]},{"frame_idx":14,"position_3d":[-0.14545584584898696,0.4338178830782514,1.4258416093241677]}]}
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scenefun3d_test/scenefun3d/scenefun3d_466437_45260952/interval_014/cam_6/trajectory.json
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{"camera_info":{"cam_id":"45260952","intrinsics":{"fx":1590.21,"fy":1590.21,"cx":714.361,"cy":956.668},"T_base_to_cam":[[0.9988529869613532,0.04598047822524412,0.013360616024759625,3.174642712012696],[0.026669909515936438,-0.30251311267177283,-0.9527720255066513,38.18658822282175],[-0.03976715183156792,0.9520355099909946,-0.30339242138094336,15.340686611644687],[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":[-0.0886371202325984,-0.3262020665523906,2.5537437445870026]},{"frame_idx":1,"position_3d":[-0.08656833977073952,-0.3188904226791964,2.5308733988813534]},{"frame_idx":2,"position_3d":[-0.08720066905930196,-0.31158869020441265,2.507915229007402]},{"frame_idx":3,"position_3d":[-0.09052615619059604,-0.30438869265047364,2.485157947271954]},{"frame_idx":4,"position_3d":[-0.09650298123445317,-0.29738097416415604,2.4628877396969147]},{"frame_idx":5,"position_3d":[-0.10505598214811217,-0.29065366087139827,2.441384667064016]},{"frame_idx":6,"position_3d":[-0.11607759998251706,-0.28429135264013483,2.4209191429879895]},{"frame_idx":7,"position_3d":[-0.12942923149850857,-0.2783740591878711,2.4017485333084654]},{"frame_idx":8,"position_3d":[-0.14494297218297608,-0.27297619391306294,2.3841139195652103]},{"frame_idx":9,"position_3d":[-0.16242372774553038,-0.26816563810345545,2.368237067257887]},{"frame_idx":10,"position_3d":[-0.18165166754240172,-0.2640028872895039,2.3543176370162238]},{"frame_idx":11,"position_3d":[-0.20238498907433392,-0.260540290477978,2.3425306737517517]},{"frame_idx":12,"position_3d":[-0.22436295879330956,-0.2578213918328282,2.333024405366477]},{"frame_idx":13,"position_3d":[-0.24730919097819748,-0.255880383082059,2.3259183787010094]},{"frame_idx":14,"position_3d":[-0.27093512344555865,-0.25474167353691085,2.32130195616368]}]}
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scenefun3d_test/scenefun3d/scenefun3d_466437_45260952/interval_015/cam_19/trajectory.json
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{"camera_info":{"cam_id":"45260952","intrinsics":{"fx":1589.3,"fy":1589.3,"cx":714.628,"cy":956.503},"T_base_to_cam":[[-0.8480095244085043,-0.5217777538360299,-0.09288607061497273,-1.0135498893504866],[-0.16713439798332017,0.42960806151366004,-0.8874136614303548,36.92512195417042],[0.5029373117230571,-0.7370107794898951,-0.4515187386947321,18.096675887071047],[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":[0.5586544829274573,0.2869904143747277,1.2736316497863598]},{"frame_idx":1,"position_3d":[0.5512404899053529,0.29659474117927886,1.2559688842166945]},{"frame_idx":2,"position_3d":[0.5438264968832485,0.30619906798383,1.2383061186470292]},{"frame_idx":3,"position_3d":[0.536412503861144,0.31580339478838115,1.220643353077364]},{"frame_idx":4,"position_3d":[0.5289985108390396,0.3254077215929323,1.2029805875076987]},{"frame_idx":5,"position_3d":[0.5215845178169352,0.33501204839748344,1.1853178219380334]},{"frame_idx":6,"position_3d":[0.5141705247948307,0.3446163752020346,1.167655056368368]},{"frame_idx":7,"position_3d":[0.5067565317727263,0.35422070200658573,1.1499922907987028]},{"frame_idx":8,"position_3d":[0.4993425387506218,0.3638250288111369,1.1323295252290375]},{"frame_idx":9,"position_3d":[0.4919285457285173,0.373429355615688,1.1146667596593722]},{"frame_idx":10,"position_3d":[0.4845145527064128,0.38303368242023916,1.097003994089707]},{"frame_idx":11,"position_3d":[0.4771005596843083,0.3926380092247903,1.0793412285200417]},{"frame_idx":12,"position_3d":[0.4696865666622038,0.40224233602934145,1.0616784629503764]},{"frame_idx":13,"position_3d":[0.4622725736400993,0.4118466628338926,1.044015697380711]},{"frame_idx":14,"position_3d":[0.45485858061799483,0.42145098963844374,1.0263529318110458]}]}
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scenefun3d_test/scenefun3d/scenefun3d_466437_45260952/interval_016/cam_10/trajectory.json
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{"camera_info":{"cam_id":"45260952","intrinsics":{"fx":1589.75,"fy":1589.75,"cx":714.417,"cy":956.665},"T_base_to_cam":[[0.26855253998134676,-0.9621960666027106,-0.04536808001050158,1.6559215481551806],[-0.3171220574566108,-0.043840894571896216,-0.9473708759707689,38.38074444005739],[0.9095675532603684,0.2688060739220898,-0.3169071799100468,14.44670127117761],[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":[0.35342038481711247,0.20872281663454828,1.8718013416788857]},{"frame_idx":1,"position_3d":[0.3320459592054021,0.2091793932132137,1.8732536298963758]},{"frame_idx":2,"position_3d":[0.3106715335936917,0.2096359697918791,1.8747059181138659]},{"frame_idx":3,"position_3d":[0.2892971079819813,0.2100925463705445,1.876158206331356]},{"frame_idx":4,"position_3d":[0.26792268237027095,0.2105491229492099,1.877610494548846]},{"frame_idx":5,"position_3d":[0.24654825675856054,0.21100569952787532,1.8790627827663362]},{"frame_idx":6,"position_3d":[0.22517383114685013,0.21146227610654073,1.8805150709838263]},{"frame_idx":7,"position_3d":[0.20379940553513973,0.21191885268520613,1.8819673592013164]},{"frame_idx":8,"position_3d":[0.18242497992342932,0.21237542926387154,1.8834196474188065]},{"frame_idx":9,"position_3d":[0.1610505543117189,0.21283200584253695,1.8848719356362966]},{"frame_idx":10,"position_3d":[0.1396761287000085,0.21328858242120236,1.8863242238537867]},{"frame_idx":11,"position_3d":[0.11830170308829811,0.21374515899986776,1.8877765120712768]},{"frame_idx":12,"position_3d":[0.09692727747658772,0.21420173557853317,1.889228800288767]},{"frame_idx":13,"position_3d":[0.07555285186487733,0.21465831215719858,1.890681088506257]},{"frame_idx":14,"position_3d":[0.054178426253166934,0.21511488873586398,1.8921333767237472]}]}
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scenefun3d_test/scenefun3d/scenefun3d_466437_45260952/interval_017/cam_2/trajectory.json
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{"camera_info":{"cam_id":"45260952","intrinsics":{"fx":1610.54,"fy":1610.54,"cx":714.55,"cy":956.668},"T_base_to_cam":[[-0.3435389287088086,0.936920176155736,-0.06451037105697727,2.610926128974514],[0.3272055934815039,0.05502283960737997,-0.9433498750283255,38.37494040314244],[-0.8802939872883495,-0.34518555971222964,-0.3254680096570687,14.074897711053701],[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":[-0.4255895423127263,0.32100499026461904,1.4280772621926001]},{"frame_idx":1,"position_3d":[-0.4044105273278159,0.32059105539602506,1.4248428139146256]},{"frame_idx":2,"position_3d":[-0.38323151234290553,0.3201771205274311,1.4216083656366512]},{"frame_idx":3,"position_3d":[-0.36205249735799516,0.3197631856588371,1.4183739173586767]},{"frame_idx":4,"position_3d":[-0.3408734823730848,0.3193492507902431,1.4151394690807022]},{"frame_idx":5,"position_3d":[-0.3196944673881744,0.31893531592164914,1.4119050208027277]},{"frame_idx":6,"position_3d":[-0.29851545240326405,0.31852138105305516,1.4086705725247533]},{"frame_idx":7,"position_3d":[-0.2773364374183537,0.3181074461844612,1.4054361242467788]},{"frame_idx":8,"position_3d":[-0.2561574224334433,0.3176935113158672,1.4022016759688043]},{"frame_idx":9,"position_3d":[-0.23497840744853296,0.3172795764472732,1.3989672276908298]},{"frame_idx":10,"position_3d":[-0.21379939246362262,0.31686564157867925,1.3957327794128553]},{"frame_idx":11,"position_3d":[-0.19262037747871227,0.31645170671008527,1.3924983311348809]},{"frame_idx":12,"position_3d":[-0.17144136249380193,0.3160377718414913,1.3892638828569064]},{"frame_idx":13,"position_3d":[-0.15026234750889159,0.3156238369728973,1.386029434578932]},{"frame_idx":14,"position_3d":[-0.12908333252398124,0.31520990210430333,1.3827949863009574]}]}
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scenefun3d_test/scenefun3d/scenefun3d_466437_45260952/interval_018/cam_31/trajectory.json
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{"camera_info":{"cam_id":"45260952","intrinsics":{"fx":1589.75,"fy":1589.75,"cx":714.387,"cy":956.529},"T_base_to_cam":[[0.9055422204007822,0.42411219696379027,0.011051310246655954,4.269026408034237],[0.19308772024587667,-0.3887965643468242,-0.9008631215908195,36.365409335866715],[-0.37777032620610995,0.8179034637037875,-0.43396256140302736,18.945337046272126],[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":[-0.5193057612291812,0.07257112084435846,1.173322710847689]},{"frame_idx":1,"position_3d":[-0.5190689474381813,0.053266911095983756,1.1640235131033383]},{"frame_idx":2,"position_3d":[-0.5188321336471815,0.03396270134760905,1.1547243153589877]},{"frame_idx":3,"position_3d":[-0.5185953198561817,0.014658491599234345,1.145425117614637]},{"frame_idx":4,"position_3d":[-0.5183585060651819,-0.00464571814914036,1.1361259198702864]},{"frame_idx":5,"position_3d":[-0.518121692274182,-0.023949927897515065,1.1268267221259358]},{"frame_idx":6,"position_3d":[-0.5178848784831822,-0.04325413764588977,1.1175275243815852]},{"frame_idx":7,"position_3d":[-0.5176480646921824,-0.06255834739426447,1.1082283266372346]},{"frame_idx":8,"position_3d":[-0.5174112509011826,-0.08186255714263918,1.098929128892884]},{"frame_idx":9,"position_3d":[-0.5171744371101827,-0.10116676689101389,1.0896299311485333]},{"frame_idx":10,"position_3d":[-0.5169376233191829,-0.1204709766393886,1.0803307334041827]},{"frame_idx":11,"position_3d":[-0.5167008095281831,-0.13977518638776332,1.0710315356598321]},{"frame_idx":12,"position_3d":[-0.5164639957371833,-0.15907939613613803,1.0617323379154815]},{"frame_idx":13,"position_3d":[-0.5162271819461834,-0.17838360588451274,1.0524331401711309]},{"frame_idx":14,"position_3d":[-0.5159903681551836,-0.19768781563288745,1.0431339424267803]}]}
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scenefun3d_test/scenefun3d/scenefun3d_466437_45260952/interval_020/cam_7/trajectory.json
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{"camera_info":{"cam_id":"45260952","intrinsics":{"fx":1591.56,"fy":1591.56,"cx":714.25,"cy":956.652},"T_base_to_cam":[[-0.7626922509170385,-0.6456112120203295,0.038557662075680676,-3.881080940421686],[-0.06951911174934983,0.022563349464437277,-0.9973254174854499,40.96839997362491],[0.6430144815575172,-0.7633328619773859,-0.06209120978633398,2.7097765149846955],[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":[-0.303372953328116,0.09017558291780148,1.6185162698763205]},{"frame_idx":1,"position_3d":[-0.2842508190529654,0.0911815797175604,1.6088977655917982]},{"frame_idx":2,"position_3d":[-0.2651286847778148,0.09218757651731932,1.599279261307276]},{"frame_idx":3,"position_3d":[-0.24600655050266423,0.09319357331707824,1.5896607570227537]},{"frame_idx":4,"position_3d":[-0.22688441622751365,0.09419957011683716,1.5800422527382314]},{"frame_idx":5,"position_3d":[-0.20776228195236307,0.09520556691659608,1.5704237484537091]},{"frame_idx":6,"position_3d":[-0.1886401476772125,0.096211563716355,1.5608052441691869]},{"frame_idx":7,"position_3d":[-0.1695180134020619,0.09721756051611392,1.5511867398846646]},{"frame_idx":8,"position_3d":[-0.15039587912691132,0.09822355731587284,1.5415682356001423]},{"frame_idx":9,"position_3d":[-0.13127374485176074,0.09922955411563177,1.53194973131562]},{"frame_idx":10,"position_3d":[-0.11215161057661018,0.10023555091539069,1.5223312270310978]},{"frame_idx":11,"position_3d":[-0.09302947630145961,0.10124154771514961,1.5127127227465755]},{"frame_idx":12,"position_3d":[-0.07390734202630904,0.10224754451490853,1.5030942184620533]},{"frame_idx":13,"position_3d":[-0.05478520775115847,0.10325354131466745,1.493475714177531]},{"frame_idx":14,"position_3d":[-0.0356630734760079,0.10425953811442637,1.4838572098930087]}]}
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scenefun3d_test/scenefun3d/scenefun3d_468282_47331279/interval_006/cam_0/trajectory.json
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{"camera_info":{"cam_id":"47331279","intrinsics":{"fx":1604.67,"fy":1604.67,"cx":719.894,"cy":962.765},"T_base_to_cam":[[-0.9456781778140511,-0.32490240106804,-0.011454858642447302,0.6606233772412641],[-0.12382723805091933,0.3925492215012596,-0.9113571878333087,-11.02341726941066],[0.3005987344001584,-0.8604321812199833,-0.4114569994520024,-4.9680684036922464],[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":[-0.02555111818947453,-0.41469141733398907,1.8559198150004148]},{"frame_idx":1,"position_3d":[-0.025823789621592277,-0.41532907889730597,1.8564906043285103]},{"frame_idx":2,"position_3d":[-0.026083180217403683,-0.4160320598463086,1.8569858787377387]},{"frame_idx":3,"position_3d":[-0.026326027989664488,-0.41679151978768414,1.857399409865039]},{"frame_idx":4,"position_3d":[-0.026549278986734957,-0.4175979080720209,1.8577259973165492]},{"frame_idx":5,"position_3d":[-0.02675012569779368,-0.418441083898766,1.8579615340655762]},{"frame_idx":6,"position_3d":[-0.026926042358915117,-0.4193104438426761,1.858103058100839]},{"frame_idx":7,"position_3d":[-0.027074816716016442,-0.42019505519804207,1.8581487896754805]},{"frame_idx":8,"position_3d":[-0.027194577845236215,-0.42108379346380675,1.8580981536884151]},{"frame_idx":9,"position_3d":[-0.027283819680887472,-0.42196548224062025,1.85795178691656]},{"frame_idx":10,"position_3d":[-0.02734141995510758,-0.42282903378054637,1.8577115300069953]},{"frame_idx":11,"position_3d":[-0.027366654311027756,-0.42366358842192625,1.857380404329759]},{"frame_idx":12,"position_3d":[-0.027359205411981,-0.4244586511559246,1.856962573982366]},{"frame_idx":13,"position_3d":[-0.027319166932194768,-0.4252042236073554,1.8564632934238656]},{"frame_idx":14,"position_3d":[-0.027247042378783243,-0.42589092977005055,1.8558888413969703]}]}
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