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scenefun3d_test/scenefun3d/scenefun3d_422842_42897547/interval_000/cam_5/trajectory.json

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+{"camera_info":{"cam_id":"42897547","intrinsics":{"fx":1596.53,"fy":1596.53,"cx":717.801,"cy":959.349},"T_base_to_cam":[[0.7275837664157416,0.685871622638891,0.014211970552238606,-4.058130772158079],[0.13843207756556686,-0.12649755103481702,-0.9822601129451783,249.92405323717173],[-0.6719065580489327,0.7166439051864518,-0.1869841982894479,49.69294097410064],[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":[-0.9451885477436979,0.34607825801163017,2.3115721547366306]},{"frame_idx":1,"position_3d":[-0.9066343044770236,0.35901484825247454,2.246544388046392]},{"frame_idx":2,"position_3d":[-0.8609000078159074,0.3711664146969495,2.1861862152484686]},{"frame_idx":3,"position_3d":[-0.8085607930765195,0.3823801443465127,2.1312566753864215]},{"frame_idx":4,"position_3d":[-0.7502748562521276,0.39251501804446337,2.082446539294877]},{"frame_idx":5,"position_3d":[-0.6867751768165868,0.4014435838736591,2.0403696227554877]},{"frame_idx":6,"position_3d":[-0.6188603000821711,0.40905355993832315,2.0055550674073315]},{"frame_idx":7,"position_3d":[-0.5473842950289451,0.4152492463740315,1.978440686483787]},{"frame_idx":8,"position_3d":[-0.4732460138917973,0.419952728829034,1.959367459057098]},{"frame_idx":9,"position_3d":[-0.39737778857206,0.423104858282435,1.9485752420286997]},{"frame_idx":10,"position_3d":[-0.3207337060228986,0.4246659948774498,1.9461997537895142]},{"frame_idx":11,"position_3d":[-0.2442776100523012,0.42461650641560367,1.9522708674824396]},{"frame_idx":12,"position_3d":[-0.16897098042795836,0.42295701524301804,1.9667122353302453]},{"frame_idx":13,"position_3d":[-0.09576084171132042,0.41970839042404745,1.9893422487531685]},{"frame_idx":14,"position_3d":[-0.025567853874261012,0.4149114853006865,2.019876322202176]}]}

scenefun3d_test/scenefun3d/scenefun3d_422842_42897547/interval_005/cam_10/trajectory.json

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+{"camera_info":{"cam_id":"42897547","intrinsics":{"fx":1598.79,"fy":1598.79,"cx":717.943,"cy":958.81},"T_base_to_cam":[[0.558694267846684,-0.829367347522768,-0.003243137108753291,-1.9146097207790087],[-0.535245138989063,-0.35756951026278366,-0.7652820960397622,194.97651780602166],[0.6335403351514697,0.4292945937156458,-0.6436868769383777,163.53129592799212],[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":[0.060038104822822014,0.18220060554381234,1.2805382318363456]},{"frame_idx":1,"position_3d":[0.04207713952555803,0.19053201681816925,1.2723421971098827]},{"frame_idx":2,"position_3d":[0.024116174228294037,0.19886342809252616,1.2641461623834198]},{"frame_idx":3,"position_3d":[0.006155208931030047,0.20719483936688307,1.255950127656957]},{"frame_idx":4,"position_3d":[-0.011805756366233943,0.21552625064123998,1.247754092930494]},{"frame_idx":5,"position_3d":[-0.029766721663497933,0.2238576619155969,1.239558058204031]},{"frame_idx":6,"position_3d":[-0.04772768696076192,0.2321890731899538,1.2313620234775682]},{"frame_idx":7,"position_3d":[-0.0656886522580259,0.2405204844643107,1.2231659887511053]},{"frame_idx":8,"position_3d":[-0.08364961755528989,0.24885189573866762,1.2149699540246424]},{"frame_idx":9,"position_3d":[-0.10161058285255388,0.25718330701302455,1.2067739192981795]},{"frame_idx":10,"position_3d":[-0.11957154814981787,0.2655147182873815,1.1985778845717165]},{"frame_idx":11,"position_3d":[-0.13753251344708187,0.2738461295617384,1.1903818498452536]},{"frame_idx":12,"position_3d":[-0.15549347874434585,0.28217754083609536,1.1821858151187907]},{"frame_idx":13,"position_3d":[-0.17345444404160984,0.2905089521104523,1.1739897803923278]},{"frame_idx":14,"position_3d":[-0.19141540933887383,0.29884036338480924,1.165793745665865]}]}

scenefun3d_test/scenefun3d/scenefun3d_422842_42897547/interval_007/cam_5/trajectory.json

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+{"camera_info":{"cam_id":"42897547","intrinsics":{"fx":1603.76,"fy":1603.76,"cx":717.787,"cy":959.351},"T_base_to_cam":[[-0.8777672847856176,0.4782862595384001,0.02769201503774371,-7.301270888007044],[0.08462873911498045,0.21168729823540866,-0.97366650567923,247.8750761478207],[-0.4715533588851775,-0.8523090646605604,-0.22628894807645294,58.306076303211704],[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":[-0.02890113440913744,0.1710716677888513,2.2114643389460156]},{"frame_idx":1,"position_3d":[-0.09461398516844856,0.16850852566492278,2.2144513358352165]},{"frame_idx":2,"position_3d":[-0.15952307608407718,0.16430583924390402,2.2245912542881574]},{"frame_idx":3,"position_3d":[-0.2228121376766275,0.1585164597459948,2.241756578946975]},{"frame_idx":4,"position_3d":[-0.2836852732754043,0.15121319197745756,2.2657314458945312]},{"frame_idx":5,"position_3d":[-0.34137696788083705,0.1424878787679363,2.296214357268419]},{"frame_idx":6,"position_3d":[-0.3951617149597615,0.13245024599358546,2.332821972771514]},{"frame_idx":7,"position_3d":[-0.444363140111023,0.12122652271051262,2.3750939303986325]},{"frame_idx":8,"position_3d":[-0.4883625068660127,0.10895785375115839,2.4224986357558516]},{"frame_idx":9,"position_3d":[-0.5266064976587592,0.09579852474613418,2.4744399471684537]},{"frame_idx":10,"position_3d":[-0.5586141721153636,0.0819140218928987,2.5302646725083746]},{"frame_idx":11,"position_3d":[-0.5839830151582487,0.0674789508708076,2.5892707834642046]},{"frame_idx":12,"position_3d":[-0.6023939988668046,0.05267484107338697,2.650716243954531]},{"frame_idx":13,"position_3d":[-0.6136155944385947,0.03768786277088395,2.713828341662201]},{"frame_idx":14,"position_3d":[-0.6175066837983824,0.02270648591109987,2.7778134053400496]}]}

scenefun3d_test/scenefun3d/scenefun3d_422842_42897547/interval_009/cam_9/trajectory.json

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+{"camera_info":{"cam_id":"42897547","intrinsics":{"fx":1602.41,"fy":1602.41,"cx":718.067,"cy":959.336},"T_base_to_cam":[[0.9634263897700952,-0.26689706643754774,-0.02399056943034955,4.018480640334158],[-0.10122534277507916,-0.279574515777169,-0.9547730202032468,243.2303427897546],[0.2481189663742555,0.9222819775182604,-0.29636621344272424,75.36999902979042],[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":[0.03652469986630402,0.15961148552003124,1.350338301011547]},{"frame_idx":1,"position_3d":[0.026484749298443962,0.17520696588557202,1.3009086457590822]},{"frame_idx":2,"position_3d":[0.010706368175396549,0.19050400718518487,1.2529049620438883]},{"frame_idx":3,"position_3d":[-0.010612021205385933,0.20531024024897707,1.2069309240410702]},{"frame_idx":4,"position_3d":[-0.0372023277282225,0.21943946810539489,1.1635646819532712]},{"frame_idx":5,"position_3d":[-0.0687301628605333,0.2327140075161749,1.1233515914364254]},{"frame_idx":6,"position_3d":[-0.10479904578265345,0.24496692344615942,1.0867973554359605]},{"frame_idx":7,"position_3d":[-0.14495538936418398,0.25604412836822144,1.054361664678844]},{"frame_idx":8,"position_3d":[-0.18869420428533387,0.26580632000332205,1.0264524167959732]},{"frame_idx":9,"position_3d":[-0.23546544957061816,0.2741307331274943,1.0034205867727977]},{"frame_idx":10,"position_3d":[-0.28468094967326574,0.2809126834157648,0.985555813235238]},{"frame_idx":11,"position_3d":[-0.33572179112398753,0.2860668839082793,0.973082756075912]},{"frame_idx":12,"position_3d":[-0.3879461057269547,0.2895285175433076,0.9661582712256346]},{"frame_idx":13,"position_3d":[-0.44069714242478175,0.29125405226940265,0.9648694380990777]},{"frame_idx":14,"position_3d":[-0.49331152632412917,0.2912217884862052,0.9692324645206062]}]}

scenefun3d_test/scenefun3d/scenefun3d_422842_42897547/interval_011/cam_2/trajectory.json

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+{"camera_info":{"cam_id":"42897547","intrinsics":{"fx":1604.67,"fy":1604.67,"cx":717.861,"cy":959.218},"T_base_to_cam":[[-0.9971192649565622,-0.07521384526935493,-0.009800455718104936,2.0942809554688657],[0.009636892159986712,0.0025372755393258117,-0.9999503450383593,254.86834287571176],[0.07523497698532104,-0.9971641989725837,-0.0018051386049664497,-0.39526176426075055],[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":[-0.03723681730595363,-0.11991832616325837,1.3548980313391101]},{"frame_idx":1,"position_3d":[-0.07121727591690558,-0.11948503556989554,1.2993648450443271]},{"frame_idx":2,"position_3d":[-0.11120159547734569,-0.11900040052902529,1.2479857305485929]},{"frame_idx":3,"position_3d":[-0.15668694996935884,-0.11847051560747836,1.201406810027548]},{"frame_idx":4,"position_3d":[-0.20710133466899053,-0.11790204441558959,1.1602138404324636]},{"frame_idx":5,"position_3d":[-0.26181075943753557,-0.11730213580843166,1.1249248472567157]},{"frame_idx":6,"position_3d":[-0.32012722151538187,-0.11667833398481466,1.0959836100646403]},{"frame_idx":7,"position_3d":[-0.38131735755590107,-0.1160384836146088,1.0737540817060245]},{"frame_idx":8,"position_3d":[-0.4446116660950397,-0.11539063118746928,1.0585158113978506]},{"frame_idx":9,"position_3d":[-0.5092141844787049,-0.1147429238235601,1.0504604292306943]},{"frame_idx":10,"position_3d":[-0.5743124985549679,-0.114103506818791,1.0496892363091492]},{"frame_idx":11,"position_3d":[-0.6390879592533979,-0.11348042121299533,1.0562119308316604]},{"frame_idx":12,"position_3d":[-0.7027259775721145,-0.11288150266918864,1.0699464861300518]},{"frame_idx":13,"position_3d":[-0.7644262685071216,-0.11231428293555996,1.0907201822024715]},{"frame_idx":14,"position_3d":[-0.8234129151005688,-0.11178589512936822,1.1182717777676294]}]}

scenefun3d_test/scenefun3d/scenefun3d_422842_42897547/interval_012/cam_13/trajectory.json

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+{"camera_info":{"cam_id":"42897547","intrinsics":{"fx":1603.31,"fy":1603.31,"cx":717.918,"cy":959.169},"T_base_to_cam":[[-0.9120239320075153,0.4101352890231348,0.0011798912918535298,2.055325956709927],[-0.016675571556648144,-0.034206965571657144,-0.9992756420626083,254.69130223866608],[-0.40979784377032785,-0.911382975594941,0.03803681160271999,-9.591043497596095],[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":[0.42330683569360206,-0.04046605588740704,2.1913680472867068]},{"frame_idx":1,"position_3d":[0.42073977789021616,-0.04289622135511845,2.127604124741097]},{"frame_idx":2,"position_3d":[0.41104438890990624,-0.045308597530396066,2.064528668483703]},{"frame_idx":3,"position_3d":[0.39434259389449544,-0.04767284738314253,2.002934888974195]},{"frame_idx":4,"position_3d":[0.3708444276069097,-0.04995923909968982,1.9435973637274473]},{"frame_idx":5,"position_3d":[0.3408453931221691,-0.052139019977607,1.8872622965518724]},{"frame_idx":6,"position_3d":[0.30472274570476443,-0.05418477800761592,1.8346381336035702]},{"frame_idx":7,"position_3d":[0.26293074860481785,-0.05607078659551276,1.7863866542648663]},{"frame_idx":8,"position_3d":[0.21599496043414268,-0.057773328089017056,1.7431146488846052]},{"frame_idx":9,"position_3d":[0.16450562596176377,-0.0592709920410104,1.7053662880374463]},{"frame_idx":10,"position_3d":[0.10911025344347905,-0.06054494445833161,1.6736162792631515]},{"frame_idx":11,"position_3d":[0.05050547182984972,-0.061579164650168466,1.6482638973438417]},{"frame_idx":12,"position_3d":[-0.010571729747046489,-0.06236064669754009,1.629627963191947]},{"frame_idx":13,"position_3d":[-0.07335327003956232,-0.06287956301027432,1.6179428344922484]},{"frame_idx":14,"position_3d":[-0.13704963475182122,-0.06312938791465629,1.6133554585180139]}]}

scenefun3d_test/scenefun3d/scenefun3d_422842_42897547/interval_014/cam_8/trajectory.json

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+{"camera_info":{"cam_id":"42897547","intrinsics":{"fx":1599.7,"fy":1599.7,"cx":717.943,"cy":959.342},"T_base_to_cam":[[0.8028525026578431,-0.5961762983520924,0.0012962481376523338,-2.9208803912731014],[-0.08856405224408714,-0.12141609377705777,-0.9886427771556454,251.7787167293815],[0.5895627766626248,0.7936195268862261,-0.15027900358579147,38.83567297948483],[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":[0.2241276042520992,0.7990774017113722,1.7522364243192783]},{"frame_idx":1,"position_3d":[0.20331376854726985,0.8008313058617703,1.7474518933126932]},{"frame_idx":2,"position_3d":[0.18249993284244048,0.8025852100121684,1.7426673623061082]},{"frame_idx":3,"position_3d":[0.16168609713761112,0.8043391141625665,1.7378828312995231]},{"frame_idx":4,"position_3d":[0.14087226143278175,0.8060930183129646,1.733098300292938]},{"frame_idx":5,"position_3d":[0.12005842572795239,0.8078469224633628,1.728313769286353]},{"frame_idx":6,"position_3d":[0.09924459002312302,0.8096008266137609,1.723529238279768]},{"frame_idx":7,"position_3d":[0.07843075431829366,0.811354730764159,1.718744707273183]},{"frame_idx":8,"position_3d":[0.0576169186134643,0.8131086349145571,1.713960176266598]},{"frame_idx":9,"position_3d":[0.036803082908634946,0.8148625390649552,1.7091756452600129]},{"frame_idx":10,"position_3d":[0.01598924720380559,0.8166164432153533,1.7043911142534278]},{"frame_idx":11,"position_3d":[-0.004824588501023769,0.8183703473657514,1.6996065832468428]},{"frame_idx":12,"position_3d":[-0.025638424205853126,0.8201242515161495,1.6948220522402577]},{"frame_idx":13,"position_3d":[-0.046452259910682484,0.8218781556665476,1.6900375212336727]},{"frame_idx":14,"position_3d":[-0.06726609561551183,0.8236320598169458,1.6852529902270876]}]}

scenefun3d_test/scenefun3d/scenefun3d_422842_42897547/interval_017/cam_6/trajectory.json

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+{"camera_info":{"cam_id":"42897547","intrinsics":{"fx":1599.7,"fy":1599.7,"cx":717.931,"cy":959.329},"T_base_to_cam":[[0.7997583918495703,-0.6003007727240341,0.005049448793349731,-3.886995112951919],[-0.06592132023519348,-0.0961786773477879,-0.9931787560968465,252.96120538108877],[0.5966916240443116,0.7939701784642529,-0.11649232380206066,30.19955755914718],[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":[-1.0804820136128632,0.3557487941057502,2.637240950175862]},{"frame_idx":1,"position_3d":[-1.0637993944278412,0.36160701426674063,2.588018635829526]},{"frame_idx":2,"position_3d":[-1.0416717055376943,0.36723863600642903,2.5409642526447627]},{"frame_idx":3,"position_3d":[-1.014377215469,0.37257283841389577,2.496669536791709]},{"frame_idx":4,"position_3d":[-0.9822591682710046,0.37754254079889066,2.4556915200226106]},{"frame_idx":5,"position_3d":[-0.9457214670225476,0.3820852462704339,2.4185455246743377]},{"frame_idx":6,"position_3d":[-0.9052235945164964,0.3861438276714817,2.3856986831910034]},{"frame_idx":7,"position_3d":[-0.8612748349970276,0.3896672459860721,2.357564063662442]},{"frame_idx":8,"position_3d":[-0.8144278696147629,0.39261119218456425,2.3344954752533114]},{"frame_idx":9,"position_3d":[-0.7652718261406265,0.3949386444353947,2.316783018847563]},{"frame_idx":10,"position_3d":[-0.7144248703423066,0.39662033367609006,2.304649438861506]},{"frame_idx":11,"position_3d":[-0.662526432191058,0.3976351116887097,2.2982473221035327]},{"frame_idx":12,"position_3d":[-0.6102291646588077,0.39797021705095703,2.2976571789064684]},{"frame_idx":13,"position_3d":[-0.5581907362283554,0.39762143561846913,2.302886430663426]},{"frame_idx":14,"position_3d":[-0.5070655603306132,0.39659315352012725,2.313869316499478]}]}

scenefun3d_test/scenefun3d/scenefun3d_422842_42897547/interval_019/cam_6/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"42897547","intrinsics":{"fx":1604.21,"fy":1604.21,"cx":717.741,"cy":959.304},"T_base_to_cam":[[-0.8636701434322501,0.5020818089946797,0.04458408258948823,-11.590212189124863],[0.009060932421781576,0.10390059004320895,-0.9945464126386064,253.34204486874523],[-0.5039759744743437,-0.8585560694941846,-0.09428516684682009,24.749038554704246],[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":[-1.1116498202239296,-0.49845646993424,2.727339194759029]},{"frame_idx":1,"position_3d":[-1.0982126427084349,-0.49202226284345235,2.6658233323793263]},{"frame_idx":2,"position_3d":[-1.077942002840486,-0.48546328652136306,2.6062226690127264]},{"frame_idx":3,"position_3d":[-1.0510928156777215,-0.4788620239008291,2.5492867175821745]},{"frame_idx":4,"position_3d":[-1.0180027253269743,-0.4723014896894455,2.4957314807119184]},{"frame_idx":5,"position_3d":[-0.9790878588737227,-0.465864186411431,2.446230446579074]},{"frame_idx":6,"position_3d":[-0.9348375933425479,-0.459631066890517,2.4014061194090304]},{"frame_idx":7,"position_3d":[-0.8858084014971064,-0.4536805162212192,2.3618221911236317]},{"frame_idx":8,"position_3d":[-0.8326168538722544,-0.44808736603079385,2.3279764525881967]},{"frame_idx":9,"position_3d":[-0.7759318650418292,-0.442921953428107,2.3002945336025635]},{"frame_idx":10,"position_3d":[-0.7164662816297701,-0.4382492364736795,2.2791245503594]},{"frame_idx":11,"position_3d":[-0.6549679178502188,-0.43412797729438696,2.2647327276810993]},{"frame_idx":12,"position_3d":[-0.592210151309885,-0.43061000311561914,2.2573000510881713]},{"frame_idx":13,"position_3d":[-0.5289821973359177,-0.42773955450385026,2.256919990801311]},{"frame_idx":14,"position_3d":[-0.46607918413525296,-0.4255527290158464,2.2635973262991422]}]}

scenefun3d_test/scenefun3d/scenefun3d_422842_42897547/interval_021/cam_11/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"42897547","intrinsics":{"fx":1601.05,"fy":1601.05,"cx":717.694,"cy":959.044},"T_base_to_cam":[[0.27814518391644955,0.9596688577415974,0.04087713474574728,-10.295986937266655],[-0.07915522798302155,0.06531207821000423,-0.9947204543603425,253.89996324842934],[-0.9572720128297078,0.2734410648034194,0.09412904722842907,-21.769823565220136],[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":[-0.5755188475365909,1.1475705807201848,2.6503055034371386]},{"frame_idx":1,"position_3d":[-0.5757779966925226,1.1440417276690105,2.6131264483153327]},{"frame_idx":2,"position_3d":[-0.571857569316778,1.1407024927190956,2.5761361541689913]},{"frame_idx":3,"position_3d":[-0.5638068670582921,1.1375948686874047,2.539799795409273]},{"frame_idx":4,"position_3d":[-0.5517271321690914,1.134757935749222,2.504574322830428]},{"frame_idx":5,"position_3d":[-0.5357702743242333,1.1322273699822716,2.47090271718843]},{"frame_idx":6,"position_3d":[-0.5161369602695013,1.1300349947193415,2.4392084184609484]},{"frame_idx":7,"position_3d":[-0.4930740903206478,1.128208380351409,2.4098900008439417]},{"frame_idx":8,"position_3d":[-0.4668716934486685,1.1267704976139767,2.3833161604498856]},{"frame_idx":9,"position_3d":[-0.43785927999721336,1.1257394287167473,2.3598210787402367]},{"frame_idx":10,"position_3d":[-0.4064016978988288,1.1251281399493434,2.3397002199996577]},{"frame_idx":11,"position_3d":[-0.37289454450051623,1.124944318622693,2.323206615701206]},{"frame_idx":12,"position_3d":[-0.33775919169756274,1.1251902763966346,2.310547682488746]},{"frame_idx":13,"position_3d":[-0.30143748693747197,1.1258629202094526,2.3018826137923094]},{"frame_idx":14,"position_3d":[-0.2643861967319461,1.126953791174924,2.2973203778783433]}]}

scenefun3d_test/scenefun3d/scenefun3d_422842_42897547/interval_022/cam_18/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"42897547","intrinsics":{"fx":1601.5,"fy":1601.5,"cx":717.862,"cy":959.134},"T_base_to_cam":[[-0.7876167996023768,-0.6161458231735912,0.004909334969928569,0.20896846795756516],[-0.3152401358069226,0.3960988124218572,-0.8623974649628952,220.09929497040187],[0.5294180142010114,-0.6807863507619205,-0.506207971940116,127.88717468532164],[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":[0.43378539840581,-0.14935910478237702,1.9360669395896082]},{"frame_idx":1,"position_3d":[0.44411094100246873,-0.1389278360033093,1.9204542692474527]},{"frame_idx":2,"position_3d":[0.45443648359912747,-0.12849656722424158,1.9048415989052971]},{"frame_idx":3,"position_3d":[0.4647620261957862,-0.11806529844517386,1.8892289285631416]},{"frame_idx":4,"position_3d":[0.47508756879244496,-0.10763402966610613,1.873616258220986]},{"frame_idx":5,"position_3d":[0.4854131113891037,-0.09720276088703841,1.8580035878788306]},{"frame_idx":6,"position_3d":[0.49573865398576245,-0.0867714921079707,1.842390917536675]},{"frame_idx":7,"position_3d":[0.5060641965824212,-0.07634022332890297,1.8267782471945195]},{"frame_idx":8,"position_3d":[0.5163897391790799,-0.06590895454983525,1.811165576852364]},{"frame_idx":9,"position_3d":[0.5267152817757387,-0.05547768577076753,1.7955529065102085]},{"frame_idx":10,"position_3d":[0.5370408243723974,-0.04504641699169981,1.779940236168053]},{"frame_idx":11,"position_3d":[0.5473663669690562,-0.03461514821263209,1.7643275658258974]},{"frame_idx":12,"position_3d":[0.5576919095657149,-0.02418387943356437,1.748714895483742]},{"frame_idx":13,"position_3d":[0.5680174521623736,-0.01375261065449665,1.7331022251415864]},{"frame_idx":14,"position_3d":[0.5783429947590324,-0.0033213418754289292,1.7174895547994309]}]}

scenefun3d_test/scenefun3d/scenefun3d_422842_42897547/interval_023/cam_12/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"42897547","intrinsics":{"fx":1601.96,"fy":1601.96,"cx":717.918,"cy":959.345},"T_base_to_cam":[[-0.7912752511178324,0.6113480359238082,0.011707089327142817,-0.4440832269641803],[0.15830647366648593,0.22331621948342983,-0.9618050356028038,244.8683175901147],[-0.5906120023870948,-0.7591992130447258,-0.2734849494004662,70.17184282733419],[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":[-0.20655888132444117,0.4919985190745422,2.2602054387986215]},{"frame_idx":1,"position_3d":[-0.20085452881029825,0.4978839866030881,2.240406314882796]},{"frame_idx":2,"position_3d":[-0.19515017629615533,0.503769454131634,2.2206071909669705]},{"frame_idx":3,"position_3d":[-0.1894458237820124,0.5096549216601799,2.200808067051145]},{"frame_idx":4,"position_3d":[-0.1837414712678695,0.5155403891887258,2.1810089431353195]},{"frame_idx":5,"position_3d":[-0.17803711875372658,0.5214258567172717,2.161209819219494]},{"frame_idx":6,"position_3d":[-0.17233276623958366,0.5273113242458176,2.1414106953036685]},{"frame_idx":7,"position_3d":[-0.16662841372544074,0.5331967917743635,2.121611571387843]},{"frame_idx":8,"position_3d":[-0.16092406121129782,0.5390822593029094,2.1018124474720175]},{"frame_idx":9,"position_3d":[-0.1552197086971549,0.5449677268314553,2.082013323556192]},{"frame_idx":10,"position_3d":[-0.14951535618301198,0.5508531943600012,2.0622141996403665]},{"frame_idx":11,"position_3d":[-0.14381100366886906,0.5567386618885471,2.042415075724541]},{"frame_idx":12,"position_3d":[-0.13810665115472615,0.562624129417093,2.0226159518087155]},{"frame_idx":13,"position_3d":[-0.13240229864058323,0.568509596945639,2.00281682789289]},{"frame_idx":14,"position_3d":[-0.1266979461264403,0.5743950644741849,1.9830177039770644]}]}

scenefun3d_test/scenefun3d/scenefun3d_422842_42897547/interval_024/cam_5/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"42897547","intrinsics":{"fx":1605.12,"fy":1605.12,"cx":717.765,"cy":959.128},"T_base_to_cam":[[-0.8279595843759162,0.5596369931080147,0.03590769534626126,-9.37562055763601],[-0.06847766375388398,-0.03734284007800048,-0.9969535204119191,254.15632292996509],[-0.5565911751068913,-0.8278960974904572,0.06924099618868296,-16.820769186866404],[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":[-0.9417314858304806,1.4242918003102432,2.817602340367074]},{"frame_idx":1,"position_3d":[-0.9380099916554275,1.423608876391753,2.7965104516537322]},{"frame_idx":2,"position_3d":[-0.9342884974803745,1.4229259524732627,2.7754185629403905]},{"frame_idx":3,"position_3d":[-0.9305670033053214,1.4222430285547725,2.7543266742270487]},{"frame_idx":4,"position_3d":[-0.9268455091302683,1.4215601046362822,2.733234785513707]},{"frame_idx":5,"position_3d":[-0.9231240149552152,1.420877180717792,2.712142896800365]},{"frame_idx":6,"position_3d":[-0.9194025207801622,1.4201942567993018,2.6910510080870234]},{"frame_idx":7,"position_3d":[-0.9156810266051091,1.4195113328808115,2.6699591193736816]},{"frame_idx":8,"position_3d":[-0.911959532430056,1.4188284089623213,2.64886723066034]},{"frame_idx":9,"position_3d":[-0.9082380382550029,1.418145485043831,2.627775341946998]},{"frame_idx":10,"position_3d":[-0.9045165440799499,1.4174625611253409,2.6066834532336562]},{"frame_idx":11,"position_3d":[-0.9007950499048968,1.4167796372068506,2.5855915645203145]},{"frame_idx":12,"position_3d":[-0.8970735557298437,1.4160967132883604,2.5644996758069727]},{"frame_idx":13,"position_3d":[-0.8933520615547906,1.4154137893698702,2.543407787093631]},{"frame_idx":14,"position_3d":[-0.8896305673797376,1.41473086545138,2.522315898380289]}]}

scenefun3d_test/scenefun3d/scenefun3d_422842_42897547/interval_026/cam_14/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"42897547","intrinsics":{"fx":1596.53,"fy":1596.53,"cx":718.202,"cy":958.495},"T_base_to_cam":[[-0.9982477614550694,-0.016018397458517325,-0.05696330128077011,16.95138203734581],[0.02859809027568437,0.712165148154865,-0.7014292202254933,178.517022693135],[0.051803049934599665,-0.701829190541702,-0.710459169355321,180.52284794648125],[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":[0.14955032132641932,-0.7986138665632723,1.924019156307395]},{"frame_idx":1,"position_3d":[0.16910020080282703,-0.7930147085412738,1.9172637647294026]},{"frame_idx":2,"position_3d":[0.18865008027923474,-0.7874155505192753,1.9105083731514103]},{"frame_idx":3,"position_3d":[0.20819995975564246,-0.7818163924972767,1.903752981573418]},{"frame_idx":4,"position_3d":[0.22774983923205017,-0.7762172344752782,1.8969975899954257]},{"frame_idx":5,"position_3d":[0.24729971870845788,-0.7706180764532797,1.8902421984174334]},{"frame_idx":6,"position_3d":[0.2668495981848656,-0.7650189184312812,1.883486806839441]},{"frame_idx":7,"position_3d":[0.28639947766127327,-0.7594197604092827,1.8767314152614487]},{"frame_idx":8,"position_3d":[0.30594935713768096,-0.7538206023872842,1.8699760236834564]},{"frame_idx":9,"position_3d":[0.32549923661408864,-0.7482214443652857,1.863220632105464]},{"frame_idx":10,"position_3d":[0.3450491160904963,-0.7426222863432872,1.8564652405274717]},{"frame_idx":11,"position_3d":[0.364598995566904,-0.7370231283212887,1.8497098489494794]},{"frame_idx":12,"position_3d":[0.3841488750433117,-0.7314239702992902,1.842954457371487]},{"frame_idx":13,"position_3d":[0.40369875451971937,-0.7258248122772917,1.8361990657934948]},{"frame_idx":14,"position_3d":[0.42324863399612705,-0.7202256542552932,1.8294436742155025]}]}

scenefun3d_test/scenefun3d/scenefun3d_422842_42897547/interval_027/cam_15/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"42897547","intrinsics":{"fx":1603.76,"fy":1603.76,"cx":717.828,"cy":959.189},"T_base_to_cam":[[-0.9460170057400477,-0.3240049008210051,-0.00852344382308226,4.272069102547243],[0.009236480321789475,-0.0006629192740996714,-0.9999571230654346,254.73767205219534],[0.32398535812888174,-0.9460551700519405,0.003619797797327351,-1.6964293031042788],[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":[0.20565952258469444,0.8793658979422219,1.5996523987131788]},{"frame_idx":1,"position_3d":[0.2215710097904503,0.8802204011708846,1.5853248702241944]},{"frame_idx":2,"position_3d":[0.23748249699620616,0.8810749043995474,1.57099734173521]},{"frame_idx":3,"position_3d":[0.253393984201962,0.8819294076282101,1.5566698132462258]},{"frame_idx":4,"position_3d":[0.2693054714077179,0.8827839108568729,1.5423422847572414]},{"frame_idx":5,"position_3d":[0.28521695861347374,0.8836384140855357,1.5280147562682571]},{"frame_idx":6,"position_3d":[0.3011284458192296,0.8844929173141984,1.5136872277792728]},{"frame_idx":7,"position_3d":[0.31703993302498545,0.8853474205428612,1.4993596992902885]},{"frame_idx":8,"position_3d":[0.3329514202307413,0.886201923771524,1.4850321708013041]},{"frame_idx":9,"position_3d":[0.34886290743649717,0.8870564270001867,1.4707046423123198]},{"frame_idx":10,"position_3d":[0.36477439464225303,0.8879109302288495,1.4563771138233355]},{"frame_idx":11,"position_3d":[0.3806858818480089,0.8887654334575122,1.4420495853343511]},{"frame_idx":12,"position_3d":[0.39659736905376475,0.889619936686175,1.4277220568453668]},{"frame_idx":13,"position_3d":[0.4125088562595206,0.8904744399148378,1.4133945283563825]},{"frame_idx":14,"position_3d":[0.42842034346527647,0.8913289431435005,1.3990669998673981]}]}

scenefun3d_test/scenefun3d/scenefun3d_422842_42897547/interval_028/cam_0/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"42897547","intrinsics":{"fx":1604.21,"fy":1604.21,"cx":717.804,"cy":959.343},"T_base_to_cam":[[-0.8089469876138965,-0.5877717602049963,0.011363500161602091,-3.888505947525158],[-0.09713851958411551,0.11457737664817991,-0.988653697091872,251.99806269277292],[0.5798007237348093,-0.8008722636388035,-0.14978230232791145,37.39699024225172],[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":[-1.2221235690743395,0.7453923557504254,2.7374562141812078]},{"frame_idx":1,"position_3d":[-1.2111320440747146,0.7485096070062406,2.7193274305413677]},{"frame_idx":2,"position_3d":[-1.2001405190750898,0.7516268582620558,2.7011986469015277]},{"frame_idx":3,"position_3d":[-1.189148994075465,0.754744109517871,2.6830698632616876]},{"frame_idx":4,"position_3d":[-1.17815746907584,0.7578613607736862,2.6649410796218476]},{"frame_idx":5,"position_3d":[-1.1671659440762152,0.7609786120295013,2.6468122959820075]},{"frame_idx":6,"position_3d":[-1.1561744190765904,0.7640958632853165,2.6286835123421675]},{"frame_idx":7,"position_3d":[-1.1451828940769655,0.7672131145411317,2.6105547287023274]},{"frame_idx":8,"position_3d":[-1.1341913690773406,0.7703303657969469,2.5924259450624874]},{"frame_idx":9,"position_3d":[-1.1231998440777158,0.7734476170527621,2.5742971614226473]},{"frame_idx":10,"position_3d":[-1.112208319078091,0.7765648683085773,2.5561683777828073]},{"frame_idx":11,"position_3d":[-1.101216794078466,0.7796821195643925,2.538039594142967]},{"frame_idx":12,"position_3d":[-1.0902252690788412,0.7827993708202077,2.519910810503127]},{"frame_idx":13,"position_3d":[-1.0792337440792164,0.7859166220760229,2.501782026863287]},{"frame_idx":14,"position_3d":[-1.0682422190795915,0.789033873331838,2.483653243223447]}]}

scenefun3d_test/scenefun3d/scenefun3d_468282_47331281/interval_000/cam_13/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"47331281","intrinsics":{"fx":1606.93,"fy":1606.93,"cx":719.811,"cy":962.467},"T_base_to_cam":[[-0.16406708951909127,0.9859505268563867,0.03136158045041976,0.022424072787673756],[-0.18095492839436222,0.0011715334537620303,-0.9834906920755062,-11.440720429633027],[-0.9697099071508581,-0.1670334879626849,0.17822039690364833,2.9090863134953735],[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":[0.3373893635005044,0.5055482569954446,0.8846706066531342]},{"frame_idx":1,"position_3d":[0.32043326113631926,0.5026425518988086,0.8718944122285004]},{"frame_idx":2,"position_3d":[0.3034771587721341,0.4997368468021725,0.8591182178038665]},{"frame_idx":3,"position_3d":[0.28652105640794895,0.49683114170553644,0.8463420233792327]},{"frame_idx":4,"position_3d":[0.2695649540437638,0.49392543660890037,0.8335658289545989]},{"frame_idx":5,"position_3d":[0.25260885167957864,0.4910197315122643,0.820789634529965]},{"frame_idx":6,"position_3d":[0.23565274931539348,0.48811402641562823,0.8080134401053312]},{"frame_idx":7,"position_3d":[0.21869664695120833,0.48520832131899216,0.7952372456806973]},{"frame_idx":8,"position_3d":[0.20174054458702317,0.4823026162223561,0.7824610512560635]},{"frame_idx":9,"position_3d":[0.18478444222283802,0.47939691112572,0.7696848568314296]},{"frame_idx":10,"position_3d":[0.16782833985865286,0.47649120602908396,0.7569086624067958]},{"frame_idx":11,"position_3d":[0.1508722374944677,0.4735855009324479,0.7441324679821619]},{"frame_idx":12,"position_3d":[0.13391613513028255,0.4706797958358118,0.7313562735575281]},{"frame_idx":13,"position_3d":[0.1169600327660974,0.46777409073917575,0.7185800791328942]},{"frame_idx":14,"position_3d":[0.10000393040191224,0.4648683856425397,0.7058038847082604]}]}

scenefun3d_test/scenefun3d/scenefun3d_468282_47331281/interval_002/cam_15/trajectory.json

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+{"camera_info":{"cam_id":"47331281","intrinsics":{"fx":1609.64,"fy":1609.64,"cx":719.609,"cy":962.53},"T_base_to_cam":[[0.8363281205962322,-0.5457578701040728,0.05199636448291617,-0.26152955070053924],[0.13543465241077524,0.11377077370421163,-0.9842325263763221,-11.655299051523002],[0.5312369806652646,0.8301834485643587,0.16906422478881267,1.642238934028165],[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":[0.09457092997713973,0.31142037847716963,0.826969898669839]},{"frame_idx":1,"position_3d":[0.06778095440600589,0.3114166034130739,0.8351872834840914]},{"frame_idx":2,"position_3d":[0.042064905359127644,0.3119678040774237,0.8463052517240504]},{"frame_idx":3,"position_3d":[0.017746177074068708,0.31306704880205066,0.8601839884883029]},{"frame_idx":4,"position_3d":[-0.004869408330931493,0.314700513946746,0.876648960609408]},{"frame_idx":5,"position_3d":[-0.025497446747536782,0.3168476577395566,0.8954931115097434]},{"frame_idx":6,"position_3d":[-0.04387852862399168,0.319481478601486,0.9164794650581064]},{"frame_idx":7,"position_3d":[-0.05978150119074764,0.32256885470701707,0.9393441056820604]},{"frame_idx":8,"position_3d":[-0.0730063753406581,0.32607096051028533,0.9637994972593855]},{"frame_idx":9,"position_3d":[-0.08338684060803722,0.3299437549988456,0.9895380990516484]},{"frame_idx":10,"position_3d":[-0.09079235661926147,0.33413853553495654,1.0162362332074266]},{"frame_idx":11,"position_3d":[-0.09512979471370922,0.33860255031950814,1.043558155199093]},{"frame_idx":12,"position_3d":[-0.09634460909070261,0.34327966177650304,1.0711602760050538]},{"frame_idx":13,"position_3d":[-0.09442152275459921,0.34811105251564617,1.098695482941051]},{"frame_idx":14,"position_3d":[-0.0893847196318762,0.35303596499515466,1.1258175048035646]}]}

scenefun3d_test/scenefun3d/scenefun3d_468282_47331281/interval_003/cam_23/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"47331281","intrinsics":{"fx":1606.02,"fy":1606.02,"cx":719.789,"cy":962.801},"T_base_to_cam":[[-0.5679558601651108,0.822731475773075,0.023217658718469925,0.2934502699289473],[0.015506035558129627,0.03889973453151119,-0.9991228020191754,-11.85808295912245],[-0.8229129381443576,-0.5670976365897114,-0.03485063570416835,-0.19181499181144648],[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":[-0.4020338716894526,0.4929934366148707,1.1432075621131046]},{"frame_idx":1,"position_3d":[-0.3955850551090238,0.49310758459052473,1.1227727044326354]},{"frame_idx":2,"position_3d":[-0.389136238528595,0.49322173256617874,1.1023378467521663]},{"frame_idx":3,"position_3d":[-0.38268742194816624,0.49333588054183275,1.0819029890716971]},{"frame_idx":4,"position_3d":[-0.37623860536773746,0.49345002851748676,1.061468131391228]},{"frame_idx":5,"position_3d":[-0.36978978878730867,0.49356417649314077,1.0410332737107588]},{"frame_idx":6,"position_3d":[-0.3633409722068799,0.4936783244687948,1.0205984160302897]},{"frame_idx":7,"position_3d":[-0.3568921556264511,0.4937924724444488,1.0001635583498205]},{"frame_idx":8,"position_3d":[-0.3504433390460223,0.4939066204201028,0.9797287006693514]},{"frame_idx":9,"position_3d":[-0.34399452246559353,0.4940207683957568,0.9592938429888822]},{"frame_idx":10,"position_3d":[-0.33754570588516475,0.4941349163714108,0.938858985308413]},{"frame_idx":11,"position_3d":[-0.33109688930473596,0.49424906434706484,0.9184241276279439]},{"frame_idx":12,"position_3d":[-0.3246480727243072,0.49436321232271885,0.8979892699474747]},{"frame_idx":13,"position_3d":[-0.3181992561438784,0.49447736029837286,0.8775544122670056]},{"frame_idx":14,"position_3d":[-0.3117504395634496,0.49459150827402687,0.8571195545865364]}]}

scenefun3d_test/scenefun3d/scenefun3d_468282_47331281/interval_010/cam_10/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"47331281","intrinsics":{"fx":1607.38,"fy":1607.38,"cx":719.921,"cy":962.584},"T_base_to_cam":[[0.9652778407197671,-0.2569736468887832,-0.046938630359896524,-1.511531082663717],[-0.17056992281594674,-0.4839370426520168,-0.8583186122762235,-10.314517161161653],[0.1978499220266362,0.8365222552651538,-0.5109656786910006,-6.396390240516464],[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":[0.016111672323016135,0.1719329831877996,0.8246828325273787]},{"frame_idx":1,"position_3d":[0.01602573550299459,0.1712624045160654,0.8243050392608363]},{"frame_idx":2,"position_3d":[0.016016596505074723,0.17060844902521421,0.8238902533655028]},{"frame_idx":3,"position_3d":[0.016084370257457944,0.16997934058497735,0.8234436910146764]},{"frame_idx":4,"position_3d":[0.016228204465884792,0.169382990599008,0.8229709679890201]},{"frame_idx":5,"position_3d":[0.016446290331729743,0.16882689851439003,0.822478029054862]},{"frame_idx":6,"position_3d":[0.016735885298693434,0.1683180575117397,0.8219710732053089]},{"frame_idx":7,"position_3d":[0.017093347542039377,0.16786286656190172,0.8214564757043116]},{"frame_idx":8,"position_3d":[0.017514181766653078,0.16746704995517825,0.8209407079140215]},{"frame_idx":9,"position_3d":[0.01799309573798631,0.16713558531505698,0.820430255913657]},{"frame_idx":10,"position_3d":[0.018524066834977204,0.16687264100170773,0.8199315389332938]},{"frame_idx":11,"position_3d":[0.01910041778800449,0.1666815236924347,0.8194508286283224]},{"frame_idx":12,"position_3d":[0.019714900649427238,0.1665646367982908,0.8189941702097423]},{"frame_idx":13,"position_3d":[0.020359787940731795,0.16652345023978932,0.8185673064221265]},{"frame_idx":14,"position_3d":[0.02102696983005769,0.16655848196180034,0.8181756053252766]}]}