Add files using upload-large-folder tool

scenefun3d_test/scenefun3d/scenefun3d_421657_42445633/interval_001/cam_12/trajectory.json

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+{"camera_info":{"cam_id":"42445633","intrinsics":{"fx":1596.08,"fy":1596.08,"cx":956.005,"cy":739.495},"T_base_to_cam":[[0.9311175047022324,0.3546970869732097,-0.08491271359347094,14.179932908470066],[-0.03191107528510159,-0.15269440725370126,-0.9877581188062132,165.7195969702858],[-0.36332062384515973,0.9224285308283564,-0.13085767001824453,21.420928052507804],[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":[-0.8359726846695281,0.8628291531988168,2.181324160153885]},{"frame_idx":1,"position_3d":[-0.8167012876157692,0.8625577734317362,2.17195808936151]},{"frame_idx":2,"position_3d":[-0.7974298905620103,0.8622863936646556,2.1625920185691347]},{"frame_idx":3,"position_3d":[-0.7781584935082514,0.8620150138975751,2.1532259477767597]},{"frame_idx":4,"position_3d":[-0.7588870964544925,0.8617436341304945,2.1438598769843846]},{"frame_idx":5,"position_3d":[-0.7396156994007336,0.8614722543634139,2.1344938061920096]},{"frame_idx":6,"position_3d":[-0.7203443023469747,0.8612008745963333,2.1251277353996345]},{"frame_idx":7,"position_3d":[-0.7010729052932158,0.8609294948292527,2.1157616646072595]},{"frame_idx":8,"position_3d":[-0.6818015082394568,0.8606581150621722,2.1063955938148844]},{"frame_idx":9,"position_3d":[-0.6625301111856979,0.8603867352950916,2.0970295230225093]},{"frame_idx":10,"position_3d":[-0.643258714131939,0.860115355528011,2.0876634522301343]},{"frame_idx":11,"position_3d":[-0.6239873170781801,0.8598439757609304,2.078297381437759]},{"frame_idx":12,"position_3d":[-0.6047159200244212,0.8595725959938498,2.068931310645384]},{"frame_idx":13,"position_3d":[-0.5854445229706623,0.8593012162267692,2.059565239853009]},{"frame_idx":14,"position_3d":[-0.5661731259169034,0.8590298364596887,2.050199169060634]}]}

scenefun3d_test/scenefun3d/scenefun3d_421657_42445633/interval_002/cam_12/trajectory.json

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+{"camera_info":{"cam_id":"42445633","intrinsics":{"fx":1593.82,"fy":1593.82,"cx":955.73,"cy":740.213},"T_base_to_cam":[[0.26432344576528,0.9634270263327606,-0.04406223950712285,7.560193393326239],[0.6599956496425975,-0.2140104148575761,-0.7201425447682797,120.7636543213988],[-0.7032345685982839,0.16126967248711793,-0.692425616412538,115.69660108395931],[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":[-0.21511529008163066,-0.5259487486672754,1.7012692395580444]},{"frame_idx":1,"position_3d":[-0.21110131323383033,-0.511509837685899,1.6859529243025204]},{"frame_idx":2,"position_3d":[-0.20708733638603,-0.49707092670452263,1.6706366090469964]},{"frame_idx":3,"position_3d":[-0.20307335953822966,-0.4826320157231463,1.6553202937914724]},{"frame_idx":4,"position_3d":[-0.19905938269042933,-0.46819310474176995,1.6400039785359484]},{"frame_idx":5,"position_3d":[-0.195045405842629,-0.4537541937603936,1.6246876632804244]},{"frame_idx":6,"position_3d":[-0.19103142899482867,-0.43931528277901727,1.6093713480249003]},{"frame_idx":7,"position_3d":[-0.18701745214702833,-0.42487637179764093,1.5940550327693763]},{"frame_idx":8,"position_3d":[-0.183003475299228,-0.4104374608162646,1.5787387175138523]},{"frame_idx":9,"position_3d":[-0.17898949845142767,-0.39599854983488825,1.5634224022583283]},{"frame_idx":10,"position_3d":[-0.17497552160362734,-0.3815596388535119,1.5481060870028043]},{"frame_idx":11,"position_3d":[-0.170961544755827,-0.36712072787213557,1.5327897717472803]},{"frame_idx":12,"position_3d":[-0.16694756790802667,-0.3526818168907592,1.5174734564917562]},{"frame_idx":13,"position_3d":[-0.16293359106022634,-0.3382429059093829,1.5021571412362322]},{"frame_idx":14,"position_3d":[-0.158919614212426,-0.32380399492800654,1.4868408259807082]}]}

scenefun3d_test/scenefun3d/scenefun3d_421657_42445633/interval_003/cam_18/trajectory.json

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+{"camera_info":{"cam_id":"42445633","intrinsics":{"fx":1596.08,"fy":1596.08,"cx":956.353,"cy":739.523},"T_base_to_cam":[[-0.8200050419784484,0.5721970767640856,-0.013499498974356317,1.112227649304143],[0.11074846672681865,0.1354832027915146,-0.9845705047781054,164.94026882487321],[-0.5615394093450452,-0.8088478269143026,-0.17446685830962005,30.275704186756666],[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":[0.05803217301851671,0.06839922127196019,2.137740945649721]},{"frame_idx":1,"position_3d":[0.08260575143198821,0.07584229261106643,2.0938359909996045]},{"frame_idx":2,"position_3d":[0.10203947570743739,0.08378494675460676,2.0475094358095975]},{"frame_idx":3,"position_3d":[0.11608895548639099,0.09212730021829091,1.9993438633905076]},{"frame_idx":4,"position_3d":[0.12457751040893064,0.1007644430669668,1.9499449837618212]},{"frame_idx":5,"position_3d":[0.1273983919717311,0.10958775821792534,1.8999340164967664]},{"frame_idx":6,"position_3d":[0.12451612595242657,0.11848628736373651,1.8499398785257406]},{"frame_idx":7,"position_3d":[0.11596695851853948,0.12734812633734488,1.8005912751410038]},{"frame_idx":8,"position_3d":[0.10185840041089346,0.1360618323718986,1.7525087936628456]},{"frame_idx":9,"position_3d":[0.08236787493366823,0.14451782555820308,1.7062970991939597]},{"frame_idx":10,"position_3d":[0.05774048675340621,0.15260976687565908,1.6625373306049418]},{"frame_idx":11,"position_3d":[0.028285939565617646,0.16023589546714587,1.621779792375808]},{"frame_idx":12,"position_3d":[-0.005625358608884676,0.1673003083408426,1.5845370341978642]},{"frame_idx":13,"position_3d":[-0.04356695351976288,0.17371416640599477,1.5512774053639495]},{"frame_idx":14,"position_3d":[-0.08506170759678652,0.1793968116760259,1.5224191650043368]}]}

scenefun3d_test/scenefun3d/scenefun3d_421657_42445633/interval_004/cam_2/trajectory.json

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+{"camera_info":{"cam_id":"42445633","intrinsics":{"fx":1596.53,"fy":1596.53,"cx":956.509,"cy":739.5},"T_base_to_cam":[[0.10889571377386176,0.9935041512866646,-0.03303369337275874,5.6055196680060755],[0.0776383334634777,-0.04163016505689887,-0.9961120511942163,167.05160965392693],[-0.9910166561156754,0.10590765191193524,-0.08166735313333817,13.427316272455583],[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":[-0.27752810482046897,0.3377313219249629,1.4036486958014933]},{"frame_idx":1,"position_3d":[-0.22654484427047336,0.33569527501207647,1.4078604824870415]},{"frame_idx":2,"position_3d":[-0.17637051010166563,0.333221425149855,1.417739437290095]},{"frame_idx":3,"position_3d":[-0.1276360736780453,0.330340882435677,1.4331613266221024]},{"frame_idx":4,"position_3d":[-0.08095439881401806,0.32708987136550316,1.453932211276725]},{"frame_idx":5,"position_3d":[-0.0369125346563377,0.32350927528982143,1.4797908853278827]},{"frame_idx":6,"position_3d":[0.0039356667995281425,0.31964412228179373,1.5104121609458303]},{"frame_idx":7,"position_3d":[0.04107651571959342,0.31554301888311004,1.5454109578227941]},{"frame_idx":8,"position_3d":[0.0740429443790658,0.3112575388485244,1.5843471457812714]},{"frame_idx":9,"position_3d":[0.102420380809985,0.3068415745759652,1.6267310796663819]},{"frame_idx":10,"position_3d":[0.12585196228426004,0.30235065937836203,1.6720297569177887]},{"frame_idx":11,"position_3d":[0.1440430230695317,0.2978412691200144,1.7196735203861508]},{"frame_idx":12,"position_3d":[0.15676480002172585,0.29337011199983026,1.7690632221022984]},{"frame_idx":13,"position_3d":[0.16385730941432175,0.28899341541282164,1.8195777579105783]},{"frame_idx":14,"position_3d":[0.1652313588265377,0.28476621885798875,1.870581878213985]}]}

scenefun3d_test/scenefun3d/scenefun3d_421657_42445633/interval_005/cam_10/trajectory.json

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+{"camera_info":{"cam_id":"42445633","intrinsics":{"fx":1596.53,"fy":1596.53,"cx":956.571,"cy":739.486},"T_base_to_cam":[[0.7069148279075956,0.7072976422465119,-0.0012129950119693644,0.32497027173512844],[0.03305364170310199,-0.03474874963736488,-0.9988493285620221,167.56807144974036],[-0.7065259251114122,0.7060613073035265,-0.047943169214167025,7.718056935310598],[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":[0.3943602043894433,0.8806525654501911,2.4265932451039935]},{"frame_idx":1,"position_3d":[0.4082102125063416,0.881562232138214,2.410267392748054]},{"frame_idx":2,"position_3d":[0.4220602206232399,0.882471898826237,2.393941540392114]},{"frame_idx":3,"position_3d":[0.4359102287401382,0.88338156551426,2.3776156880361743]},{"frame_idx":4,"position_3d":[0.4497602368570365,0.8842912322022829,2.3612898356802345]},{"frame_idx":5,"position_3d":[0.46361024497393477,0.8852008988903058,2.344963983324295]},{"frame_idx":6,"position_3d":[0.47746025309083306,0.8861105655783288,2.328638130968355]},{"frame_idx":7,"position_3d":[0.49131026120773136,0.8870202322663517,2.3123122786124153]},{"frame_idx":8,"position_3d":[0.5051602693246297,0.8879298989543747,2.2959864262564755]},{"frame_idx":9,"position_3d":[0.519010277441528,0.8888395656423976,2.279660573900536]},{"frame_idx":10,"position_3d":[0.5328602855584262,0.8897492323304206,2.263334721544596]},{"frame_idx":11,"position_3d":[0.5467102936753245,0.8906588990184435,2.2470088691886563]},{"frame_idx":12,"position_3d":[0.5605603017922228,0.8915685657064665,2.2306830168327165]},{"frame_idx":13,"position_3d":[0.5744103099091211,0.8924782323944894,2.2143571644767768]},{"frame_idx":14,"position_3d":[0.5882603180260194,0.8933878990825124,2.198031312120837]}]}

scenefun3d_test/scenefun3d/scenefun3d_421657_42445633/interval_007/cam_18/trajectory.json

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+{"camera_info":{"cam_id":"42445633","intrinsics":{"fx":1595.63,"fy":1595.63,"cx":956.6,"cy":739.56},"T_base_to_cam":[[-0.9568941061195143,0.2870309046068299,0.04435007862812079,-8.33684403251682],[0.020155286279798817,0.2179592872736531,-0.9757497186912943,163.26503755437506],[-0.2897368359541378,-0.9327952663321922,-0.21434914741966937,37.19202952187898],[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":[-0.6667662671891819,0.7766154990551968,2.5373286454173964]},{"frame_idx":1,"position_3d":[-0.6622787211532412,0.781412129309508,2.5169316372483506]},{"frame_idx":2,"position_3d":[-0.6577911751173005,0.7862087595638192,2.4965346290793047]},{"frame_idx":3,"position_3d":[-0.6533036290813597,0.7910053898181304,2.476137620910259]},{"frame_idx":4,"position_3d":[-0.648816083045419,0.7958020200724416,2.455740612741213]},{"frame_idx":5,"position_3d":[-0.6443285370094783,0.8005986503267528,2.435343604572167]},{"frame_idx":6,"position_3d":[-0.6398409909735376,0.805395280581064,2.414946596403121]},{"frame_idx":7,"position_3d":[-0.6353534449375969,0.8101919108353752,2.3945495882340753]},{"frame_idx":8,"position_3d":[-0.6308658989016562,0.8149885410896864,2.3741525800650294]},{"frame_idx":9,"position_3d":[-0.6263783528657155,0.8197851713439976,2.3537555718959835]},{"frame_idx":10,"position_3d":[-0.6218908068297748,0.8245818015983089,2.3333585637269376]},{"frame_idx":11,"position_3d":[-0.6174032607938341,0.8293784318526201,2.3129615555578917]},{"frame_idx":12,"position_3d":[-0.6129157147578934,0.8341750621069313,2.292564547388846]},{"frame_idx":13,"position_3d":[-0.6084281687219527,0.8389716923612425,2.2721675392198]},{"frame_idx":14,"position_3d":[-0.603940622686012,0.8437683226155537,2.251770531050754]}]}

scenefun3d_test/scenefun3d/scenefun3d_422356_42446579/interval_003/cam_7/trajectory.json

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+{"camera_info":{"cam_id":"42446579","intrinsics":{"fx":1604.67,"fy":1604.67,"cx":937.099,"cy":708.086},"T_base_to_cam":[[0.75778247209701,-0.6499659982952164,0.05753195670795844,-7.5152726986813],[-0.41002259121823004,-0.5429094004268585,-0.7328921186769831,76.63942259054409],[0.5075895976802833,0.5317833995042075,-0.677907970404919,72.85927036069087],[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":[-0.2975534737679011,0.33961528274366515,1.3854226861097345]},{"frame_idx":1,"position_3d":[-0.3159261347221002,0.34666090304055724,1.3769380978720263]},{"frame_idx":2,"position_3d":[-0.3342987956762993,0.35370652333744934,1.368453509634318]},{"frame_idx":3,"position_3d":[-0.35267145663049837,0.36075214363434144,1.3599689213966097]},{"frame_idx":4,"position_3d":[-0.37104411758469746,0.36779776393123353,1.3514843331589015]},{"frame_idx":5,"position_3d":[-0.38941677853889656,0.37484338422812563,1.3429997449211932]},{"frame_idx":6,"position_3d":[-0.40778943949309565,0.38188900452501773,1.334515156683485]},{"frame_idx":7,"position_3d":[-0.42616210044729474,0.3889346248219098,1.3260305684457767]},{"frame_idx":8,"position_3d":[-0.44453476140149384,0.3959802451188019,1.3175459802080685]},{"frame_idx":9,"position_3d":[-0.46290742235569293,0.403025865415694,1.3090613919703602]},{"frame_idx":10,"position_3d":[-0.481280083309892,0.4100714857125861,1.300576803732652]},{"frame_idx":11,"position_3d":[-0.4996527442640911,0.4171171060094782,1.2920922154949437]},{"frame_idx":12,"position_3d":[-0.5180254052182902,0.4241627263063703,1.2836076272572354]},{"frame_idx":13,"position_3d":[-0.5363980661724893,0.4312083466032624,1.2751230390195272]},{"frame_idx":14,"position_3d":[-0.5547707271266884,0.4382539669001545,1.266638450781819]}]}

scenefun3d_test/scenefun3d/scenefun3d_422356_42446579/interval_004/cam_10/trajectory.json

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+{"camera_info":{"cam_id":"42446579","intrinsics":{"fx":1604.21,"fy":1604.21,"cx":937.079,"cy":708.396},"T_base_to_cam":[[0.751077482321162,-0.6575401698037712,0.059359419172800576,-7.720329123445017],[-0.48853017485885497,-0.6139922181647894,-0.6199611473999465,64.48315699947156],[0.44409557957998297,0.43663999029808226,-0.7823839435149533,83.72691679048899],[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":[-0.08371556834703586,0.3488448215944686,1.190910492095412]},{"frame_idx":1,"position_3d":[-0.10185044559397531,0.3569535828980489,1.1828756995760383]},{"frame_idx":2,"position_3d":[-0.11998532284091476,0.3650623442016292,1.1748409070566646]},{"frame_idx":3,"position_3d":[-0.1381202000878542,0.3731711055052095,1.1668061145372908]},{"frame_idx":4,"position_3d":[-0.15625507733479366,0.3812798668087898,1.158771322017917]},{"frame_idx":5,"position_3d":[-0.17438995458173312,0.38938862811237007,1.1507365294985432]},{"frame_idx":6,"position_3d":[-0.19252483182867258,0.39749738941595036,1.1427017369791694]},{"frame_idx":7,"position_3d":[-0.21065970907561204,0.40560615071953066,1.1346669444597957]},{"frame_idx":8,"position_3d":[-0.2287945863225515,0.41371491202311095,1.1266321519404219]},{"frame_idx":9,"position_3d":[-0.24692946356949097,0.42182367332669124,1.118597359421048]},{"frame_idx":10,"position_3d":[-0.26506434081643043,0.42993243463027153,1.1105625669016743]},{"frame_idx":11,"position_3d":[-0.2831992180633699,0.4380411959338518,1.1025277743823005]},{"frame_idx":12,"position_3d":[-0.30133409531030936,0.4461499572374321,1.0944929818629268]},{"frame_idx":13,"position_3d":[-0.3194689725572488,0.4542587185410124,1.086458189343553]},{"frame_idx":14,"position_3d":[-0.3376038498041883,0.4623674798445927,1.0784233968241792]}]}

scenefun3d_test/scenefun3d/scenefun3d_422356_42446579/interval_006/cam_10/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"42446579","intrinsics":{"fx":1617.77,"fy":1617.77,"cx":936.756,"cy":708.513},"T_base_to_cam":[[0.7294973390102616,-0.6838247413355565,0.014742981866197935,-3.231249455600907],[-0.5563225896736932,-0.6057433111767995,-0.568841117697484,59.02281167771825],[0.3979180928227611,0.40676622782862193,-0.8223152846094801,87.92389655248928],[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":[-0.0654575444717378,0.0458665519896968,0.9691016336068543]},{"frame_idx":1,"position_3d":[-0.0645224997209689,0.03341744912987858,0.9516852848859222]},{"frame_idx":2,"position_3d":[-0.06358745497020002,0.020968346270060362,0.9342689361649901]},{"frame_idx":3,"position_3d":[-0.06265241021943113,0.008519243410242143,0.916852587444058]},{"frame_idx":4,"position_3d":[-0.06171736546866224,-0.003929859449576075,0.8994362387231258]},{"frame_idx":5,"position_3d":[-0.06078232071789334,-0.016378962309394292,0.8820198900021937]},{"frame_idx":6,"position_3d":[-0.05984727596712445,-0.028828065169212512,0.8646035412812616]},{"frame_idx":7,"position_3d":[-0.058912231216355554,-0.04127716802903073,0.8471871925603295]},{"frame_idx":8,"position_3d":[-0.05797718646558666,-0.05372627088884895,0.8297708438393974]},{"frame_idx":9,"position_3d":[-0.057042141714817765,-0.06617537374866717,0.8123544951184652]},{"frame_idx":10,"position_3d":[-0.05610709696404887,-0.07862447660848539,0.7949381463975331]},{"frame_idx":11,"position_3d":[-0.055172052213279976,-0.0910735794683036,0.777521797676601]},{"frame_idx":12,"position_3d":[-0.05423700746251108,-0.10352268232812183,0.7601054489556689]},{"frame_idx":13,"position_3d":[-0.05330196271174219,-0.11597178518794005,0.7426891002347368]},{"frame_idx":14,"position_3d":[-0.05236691796097329,-0.12842088804775825,0.7252727515138047]}]}

scenefun3d_test/scenefun3d/scenefun3d_423452_42897422/interval_006/cam_10/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"42897422","intrinsics":{"fx":1607.38,"fy":1607.38,"cx":963.586,"cy":695.25},"T_base_to_cam":[[-0.90078619191308,0.43381772666436524,0.019657479250756754,-4.158842392027412],[0.06491217445552497,0.1792662752693155,-0.9816567690178283,238.28903618527647],[-0.42938403098646716,-0.8829868530067865,-0.18964063739342496,44.83710349623826],[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":[0.29927750174141377,0.21256375151509133,2.6515894418757]},{"frame_idx":1,"position_3d":[0.3158514085147902,0.21495542247121935,2.6382189819817987]},{"frame_idx":2,"position_3d":[0.33242531528816666,0.21734709342734737,2.6248485220878974]},{"frame_idx":3,"position_3d":[0.3489992220615431,0.2197387643834754,2.611478062193996]},{"frame_idx":4,"position_3d":[0.36557312883491955,0.22213043533960342,2.598107602300095]},{"frame_idx":5,"position_3d":[0.382147035608296,0.22452210629573144,2.5847371424061936]},{"frame_idx":6,"position_3d":[0.39872094238167244,0.22691377725185946,2.5713666825122923]},{"frame_idx":7,"position_3d":[0.4152948491550489,0.22930544820798748,2.557996222618391]},{"frame_idx":8,"position_3d":[0.43186875592842533,0.2316971191641155,2.5446257627244897]},{"frame_idx":9,"position_3d":[0.4484426627018018,0.23408879012024353,2.5312553028305884]},{"frame_idx":10,"position_3d":[0.4650165694751782,0.23648046107637155,2.517884842936687]},{"frame_idx":11,"position_3d":[0.48159047624855467,0.23887213203249957,2.504514383042786]},{"frame_idx":12,"position_3d":[0.4981643830219311,0.2412638029886276,2.4911439231488846]},{"frame_idx":13,"position_3d":[0.5147382897953076,0.24365547394475562,2.4777734632549833]},{"frame_idx":14,"position_3d":[0.531312196568684,0.24604714490088364,2.464403003361082]}]}

scenefun3d_test/scenefun3d/scenefun3d_438102_43896244/interval_006/cam_14/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"43896244","intrinsics":{"fx":1595.63,"fy":1595.63,"cx":963.528,"cy":695.245},"T_base_to_cam":[[0.24387528104082629,-0.9697697585176408,-0.008453565040527078,2.6823643871017238],[-0.187219979020038,-0.0385252522103236,-0.9815622672035978,315.93367528147155],[0.9515637271107985,0.24096145004288017,-0.19095563055390152,62.91390300278291],[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":[0.5418983183834825,0.0762785256105758,2.224034549202635]},{"frame_idx":1,"position_3d":[0.5205859249798598,0.07648962953445718,2.221816217394287]},{"frame_idx":2,"position_3d":[0.49927353157623705,0.07670073345833855,2.219597885585939]},{"frame_idx":3,"position_3d":[0.4779611381726143,0.07691183738221993,2.217379553777591]},{"frame_idx":4,"position_3d":[0.4566487447689916,0.07712294130610131,2.215161221969243]},{"frame_idx":5,"position_3d":[0.43533635136536886,0.07733404522998269,2.212942890160895]},{"frame_idx":6,"position_3d":[0.4140239579617461,0.07754514915386407,2.210724558352547]},{"frame_idx":7,"position_3d":[0.3927115645581234,0.07775625307774545,2.2085062265441993]},{"frame_idx":8,"position_3d":[0.37139917115450066,0.07796735700162682,2.2062878947358513]},{"frame_idx":9,"position_3d":[0.35008677775087793,0.0781784609255082,2.2040695629275033]},{"frame_idx":10,"position_3d":[0.3287743843472552,0.07838956484938958,2.2018512311191554]},{"frame_idx":11,"position_3d":[0.30746199094363247,0.07860066877327096,2.1996328993108074]},{"frame_idx":12,"position_3d":[0.28614959754000974,0.07881177269715234,2.1974145675024594]},{"frame_idx":13,"position_3d":[0.264837204136387,0.07902287662103372,2.1951962356941115]},{"frame_idx":14,"position_3d":[0.2435248107327643,0.0792339805449151,2.1929779038857635]}]}

scenefun3d_test/scenefun3d/scenefun3d_438775_44358176/interval_000/cam_5/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"44358176","intrinsics":{"fx":1589.75,"fy":1589.75,"cx":968.298,"cy":712.034},"T_base_to_cam":[[-0.056190396710784296,-0.9983004939357363,-0.015451961854397178,2.1108707365553716],[-0.19261913436520328,0.026024843571296974,-0.9809284258260076,160.15944548130076],[0.9796634669078379,-0.052142413875410465,-0.19375412326286362,32.94620882668731],[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":[-0.6956733311317631,0.021502766935611817,1.6495306825712426]},{"frame_idx":1,"position_3d":[-0.6262194400665794,0.014896285295048994,1.677438665480133]},{"frame_idx":2,"position_3d":[-0.5604106884077142,0.006872923145077611,1.7128106594685506]},{"frame_idx":3,"position_3d":[-0.49907465939040513,-0.0024664210800032886,1.755201841188782]},{"frame_idx":4,"position_3d":[-0.44298268916753764,-0.013004299707749575,1.8040791169347588]},{"frame_idx":5,"position_3d":[-0.3928401668099835,-0.02460819280019774,1.8588278266047193]},{"frame_idx":6,"position_3d":[-0.3492776636297581,-0.03713217466897465,1.9187594734086226]},{"frame_idx":7,"position_3d":[-0.3128430033799059,-0.0504187489754969,1.9831203821147583]},{"frame_idx":8,"position_3d":[-0.283994373052951,-0.06430082933880998,2.0511011769530776]},{"frame_idx":9,"position_3d":[-0.2630945609136201,-0.07860384054377462,2.1218469599851124]},{"frame_idx":10,"position_3d":[-0.25040639422591876,-0.09314791392568794,2.194468061941576]},{"frame_idx":11,"position_3d":[-0.2460894340477906,-0.10775014932310448,2.2680512303296205]},{"frame_idx":12,"position_3d":[-0.25019796865823424,-0.12222691515348738,2.3416711141128177]},{"frame_idx":13,"position_3d":[-0.26268033085069603,-0.1363961576869044,2.4144019005373423]},{"frame_idx":14,"position_3d":[-0.28337954767817053,-0.15007969047731182,2.485328957764521]}]}

scenefun3d_test/scenefun3d/scenefun3d_438775_44358176/interval_003/cam_4/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"44358176","intrinsics":{"fx":1590.21,"fy":1590.21,"cx":968.497,"cy":711.991},"T_base_to_cam":[[-0.05601358423386804,-0.9984282201111858,0.0018888268540704911,-0.7060299052260841],[-0.08250878755485463,0.0027435457134915575,-0.9965865606825861,162.90859211530113],[0.9950149638862238,-0.05597823007676528,-0.08253277773084772,14.783931040716666],[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":[-0.7077458520856627,0.3421802377627614,1.6098886438276008]},{"frame_idx":1,"position_3d":[-0.7076812433969784,0.34222208905342094,1.6092248626092847]},{"frame_idx":2,"position_3d":[-0.7076170964487446,0.34218900780060096,1.608560541814249]},{"frame_idx":3,"position_3d":[-0.7075542179260542,0.3420814100202499,1.6079040356619394]},{"frame_idx":4,"position_3d":[-0.7074933985628131,0.3419006488168853,1.6072636000981348]},{"frame_idx":5,"position_3d":[-0.7074354031978023,0.3416489973675197,1.6066472889716394]},{"frame_idx":6,"position_3d":[-0.7073809611563864,0.3413296203351403,1.606062852752461]},{"frame_idx":7,"position_3d":[-0.7073307570788242,0.3409465340712362,1.6055176410651535]},{"frame_idx":8,"position_3d":[-0.7072854223105203,0.34050455610784786,1.605018510263024]},{"frame_idx":9,"position_3d":[-0.7072455269624898,0.3400092445743064,1.6045717372055115]},{"frame_idx":10,"position_3d":[-0.707211572741882,0.3394668283005326,1.6041829403230383]},{"frame_idx":11,"position_3d":[-0.7071839866427218,0.3388841284858864,1.6038570089619868]},{"frame_idx":12,"position_3d":[-0.7071631155762119,0.33826847291862727,1.6035980418983318]},{"frame_idx":13,"position_3d":[-0.7071492220081235,0.3376276038247252,1.6034092957931547]},{"frame_idx":14,"position_3d":[-0.7071424806581363,0.33696958050487685,1.6032931442382417]}]}

scenefun3d_test/scenefun3d/scenefun3d_438775_44358176/interval_005/cam_16/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"44358176","intrinsics":{"fx":1597.44,"fy":1597.44,"cx":968.312,"cy":712.03},"T_base_to_cam":[[-0.9870578127659454,0.15898711969488213,-0.020975462541579823,1.6709006311217212],[0.053890439729250374,0.20565841536742802,-0.9771389034801279,159.74845488799068],[-0.15103871941822078,-0.9656229657374993,-0.21156463144112791,35.080858793064564],[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":[0.49331984531754935,0.5826308590197584,3.214518429955625]},{"frame_idx":1,"position_3d":[0.47977054872786906,0.5859799852990347,3.1982585533091146]},{"frame_idx":2,"position_3d":[0.46622125213818877,0.589329111578311,3.1819986766626043]},{"frame_idx":3,"position_3d":[0.4526719555485085,0.5926782378575873,3.165738800016094]},{"frame_idx":4,"position_3d":[0.4391226589588282,0.5960273641368636,3.1494789233695837]},{"frame_idx":5,"position_3d":[0.4255733623691479,0.5993764904161399,3.1332190467230734]},{"frame_idx":6,"position_3d":[0.4120240657794676,0.6027256166954162,3.116959170076563]},{"frame_idx":7,"position_3d":[0.3984747691897873,0.6060747429746925,3.100699293430053]},{"frame_idx":8,"position_3d":[0.384925472600107,0.6094238692539689,3.0844394167835425]},{"frame_idx":9,"position_3d":[0.3713761760104267,0.6127729955332452,3.068179540137032]},{"frame_idx":10,"position_3d":[0.3578268794207464,0.6161221218125215,3.051919663490522]},{"frame_idx":11,"position_3d":[0.34427758283106613,0.6194712480917978,3.0356597868440116]},{"frame_idx":12,"position_3d":[0.33072828624138584,0.6228203743710741,3.0193999101975013]},{"frame_idx":13,"position_3d":[0.31717898965170555,0.6261695006503504,3.003140033550991]},{"frame_idx":14,"position_3d":[0.30362969306202525,0.6295186269296267,2.9868801569044807]}]}

scenefun3d_test/scenefun3d/scenefun3d_438775_44358176/interval_006/cam_0/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"44358176","intrinsics":{"fx":1589.75,"fy":1589.75,"cx":968.413,"cy":711.972},"T_base_to_cam":[[0.9245204222226647,0.3796005817542656,-0.03413776830797699,6.081703332927121],[-0.019367867832423752,-0.042661394888032805,-0.9989018425660418,163.36040882747415],[-0.38064008536786004,0.9241663290328374,-0.03208927691796415,5.624446221887185],[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":[-1.2128483501022407,1.001719893436075,2.3714913498573678]},{"frame_idx":1,"position_3d":[-1.1930568338605159,1.0010609187819892,2.3633032297600436]},{"frame_idx":2,"position_3d":[-1.173265317618791,1.0004019441279035,2.3551151096627194]},{"frame_idx":3,"position_3d":[-1.1534738013770662,0.9997429694738178,2.3469269895653952]},{"frame_idx":4,"position_3d":[-1.1336822851353414,0.9990839948197321,2.338738869468071]},{"frame_idx":5,"position_3d":[-1.1138907688936166,0.9984250201656464,2.330550749370747]},{"frame_idx":6,"position_3d":[-1.0940992526518918,0.9977660455115607,2.3223626292734227]},{"frame_idx":7,"position_3d":[-1.074307736410167,0.997107070857475,2.3141745091760986]},{"frame_idx":8,"position_3d":[-1.0545162201684422,0.9964480962033893,2.3059863890787744]},{"frame_idx":9,"position_3d":[-1.0347247039267173,0.9957891215493035,2.2977982689814502]},{"frame_idx":10,"position_3d":[-1.0149331876849925,0.9951301468952178,2.289610148884126]},{"frame_idx":11,"position_3d":[-0.9951416714432677,0.9944711722411321,2.281422028786802]},{"frame_idx":12,"position_3d":[-0.9753501552015429,0.9938121975870464,2.2732339086894777]},{"frame_idx":13,"position_3d":[-0.9555586389598181,0.9931532229329607,2.2650457885921536]},{"frame_idx":14,"position_3d":[-0.9357671227180933,0.992494248278875,2.2568576684948294]}]}

scenefun3d_test/scenefun3d/scenefun3d_438775_44358176/interval_007/cam_6/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"44358176","intrinsics":{"fx":1590.66,"fy":1590.66,"cx":968.625,"cy":711.986},"T_base_to_cam":[[-0.7847233786824941,0.6198138295668759,-0.0063273712372949875,1.5501912080611469],[-0.06764905865977633,-0.09578604203060703,-0.9931005180819092,162.38361957752244],[-0.6161435091044756,-0.7788811532125772,0.11709536864739101,-19.509354356331034],[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":[-0.17279915415970803,0.7015535307336904,2.6624776339657252]},{"frame_idx":1,"position_3d":[-0.2020004810606624,0.706836204440396,2.705702728327096]},{"frame_idx":2,"position_3d":[-0.23589373854921394,0.7117334395970851,2.7454053365720483]},{"frame_idx":3,"position_3d":[-0.27405269924711806,0.7161836506302205,2.781086175365912]},{"frame_idx":4,"position_3d":[-0.3159974920832539,0.7201308735539879,2.8122965374583497]},{"frame_idx":5,"position_3d":[-0.3612006369507713,0.7235254697498887,2.838643934437375]},{"frame_idx":6,"position_3d":[-0.4090936780754858,0.7263247502011692,2.8597970324988604]},{"frame_idx":7,"position_3d":[-0.4590743326770643,0.7284935123319739,2.87548981916137]},{"frame_idx":8,"position_3d":[-0.5105140650244407,0.7300044827001629,2.885524948527455]},{"frame_idx":9,"position_3d":[-0.5627659906373188,0.7308386599766709,2.8897762230228197]},{"frame_idx":10,"position_3d":[-0.6151730112338433,0.7309855538982447,2.8881901804040377]},{"frame_idx":11,"position_3d":[-0.6670760781227512,0.7304433171885908,2.880786766077284]},{"frame_idx":12,"position_3d":[-0.7178224801230536,0.7292187687889461,2.867659082273278]},{"frame_idx":13,"position_3d":[-0.7667740517858486,0.7273273081059357,2.8489722172327157]},{"frame_idx":14,"position_3d":[-0.8133151986951129,0.7247927213550995,2.824961169125853]}]}

scenefun3d_test/scenefun3d/scenefun3d_438775_44358176/interval_008/cam_11/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"44358176","intrinsics":{"fx":1589.3,"fy":1589.3,"cx":968.099,"cy":712.09},"T_base_to_cam":[[-0.15690739672991005,0.9860010621450257,-0.05640899130744598,10.38442848551535],[0.27805009579546164,-0.010702941022439294,-0.960506944941891,157.10838953679675],[-0.9476646100174773,-0.16639516970859197,-0.2724783191706667,43.96630394189812],[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":[-0.49613770717622785,0.35765888705637394,2.5288988064071347]},{"frame_idx":1,"position_3d":[-0.4846390780068609,0.36152437068498317,2.511234626918358]},{"frame_idx":2,"position_3d":[-0.47314044883749395,0.3653898543135924,2.4935704474295814]},{"frame_idx":3,"position_3d":[-0.461641819668127,0.3692553379422016,2.475906267940805]},{"frame_idx":4,"position_3d":[-0.45014319049876006,0.37312082157081083,2.458242088452028]},{"frame_idx":5,"position_3d":[-0.4386445613293931,0.37698630519942006,2.4405779089632516]},{"frame_idx":6,"position_3d":[-0.42714593216002616,0.3808517888280293,2.422913729474475]},{"frame_idx":7,"position_3d":[-0.4156473029906592,0.3847172724566385,2.4052495499856983]},{"frame_idx":8,"position_3d":[-0.40414867382129227,0.3885827560852477,2.3875853704969217]},{"frame_idx":9,"position_3d":[-0.3926500446519253,0.39244823971385695,2.369921191008145]},{"frame_idx":10,"position_3d":[-0.3811514154825584,0.3963137233424662,2.3522570115193684]},{"frame_idx":11,"position_3d":[-0.36965278631319143,0.4001792069710754,2.3345928320305918]},{"frame_idx":12,"position_3d":[-0.3581541571438245,0.4040446905996846,2.316928652541815]},{"frame_idx":13,"position_3d":[-0.34665552797445753,0.40791017422829384,2.2992644730530385]},{"frame_idx":14,"position_3d":[-0.3351568988050906,0.41177565785690307,2.281600293564262]}]}

scenefun3d_test/scenefun3d/scenefun3d_438775_44358176/interval_009/cam_4/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"44358176","intrinsics":{"fx":1589.75,"fy":1589.75,"cx":968.143,"cy":712.082},"T_base_to_cam":[[-0.08592760910172581,-0.9961279645156567,-0.0185882840508666,2.5939429312644893],[-0.26831610019917923,0.041105281963087936,-0.9624535449405539,157.00486445814053],[0.9594909673196328,-0.077713796102299,-0.2708092493387279,45.51268993506147],[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":[-0.15289362924753558,-0.3310991411662201,2.2492665785911896]},{"frame_idx":1,"position_3d":[-0.14221011191872318,-0.31540364958814526,2.1927516338430144]},{"frame_idx":2,"position_3d":[-0.1250277823106573,-0.30024840352001975,2.1377106396283736]},{"frame_idx":3,"position_3d":[-0.10156271818757925,-0.28582398897442884,2.0848357683850454]},{"frame_idx":4,"position_3d":[-0.07211000634558405,-0.2723118013335236,2.0347919522976294]},{"frame_idx":5,"position_3d":[-0.03704003172494625,-0.25988176419684234,1.9882085213895233]},{"frame_idx":6,"position_3d":[0.003206180395406384,-0.24869019249345428,1.9456712893327326]},{"frame_idx":7,"position_3d":[0.04812251054666423,-0.23887782673103072,1.9077151865010484]},{"frame_idx":8,"position_3d":[0.09714410981611342,-0.23056806310230135,1.874817532910223]},{"frame_idx":9,"position_3d":[0.14965450314994622,-0.22386540170633462,1.8473920356418243]},{"frame_idx":10,"position_3d":[0.20499334188474982,-0.21885413239915955,1.8257835862366465]},{"frame_idx":11,"position_3d":[0.2624647080150919,-0.21559727479992,1.810263923483474]},{"frame_idx":12,"position_3d":[0.32134586576622015,-0.21413578578259923,1.8010282161461464]},{"frame_idx":13,"position_3d":[0.3808963504157705,-0.21448804441956573,1.7981926086031124]},{"frame_idx":14,"position_3d":[0.440367280067279,-0.21664962085407444,1.8017927602644837]}]}

scenefun3d_test/scenefun3d/scenefun3d_438775_44358176/interval_010/cam_19/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"44358176","intrinsics":{"fx":1597.44,"fy":1597.44,"cx":968.226,"cy":712.006},"T_base_to_cam":[[-0.9916988458668716,0.1132741769847806,-0.06084702075480364,8.295568758392758],[0.034126958420911686,-0.2243723852605941,-0.9739057364249424,159.65130529914893],[-0.12397076193704815,-0.9678977185430766,0.218644132379206,-35.523461005514186],[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":[-0.34670981260631706,1.334666113439198,3.125943563916884]},{"frame_idx":1,"position_3d":[-0.3590153629493761,1.3461138557281171,3.1735106570467]},{"frame_idx":2,"position_3d":[-0.3657764423526294,1.3574668009486028,3.222198480593283]},{"frame_idx":3,"position_3d":[-0.3669080263197115,1.3685821792273751,3.2713947569262016]},{"frame_idx":4,"position_3d":[-0.36239588452567595,1.3793202082332856,3.320480814326225]},{"frame_idx":5,"position_3d":[-0.3522967597715884,1.3895458510212355,3.368839367141154]},{"frame_idx":6,"position_3d":[-0.3367376544108802,1.3991305142001103,3.415862278511055]},{"frame_idx":7,"position_3d":[-0.3159142332210655,1.4079536650692843,3.4609582080421224]},{"frame_idx":8,"position_3d":[-0.29008836280563655,1.4159043473872666,3.503560048255236]},{"frame_idx":9,"position_3d":[-0.2595848184695865,1.422882576710815,3.543132056291552]},{"frame_idx":10,"position_3d":[-0.22478719998150973,1.428800597757323,3.5791765911897997]},{"frame_idx":11,"position_3d":[-0.18613310758394241,1.433583987978415,3.6112403720101076]},{"frame_idx":12,"position_3d":[-0.14410863891641076,1.4371725934666728,3.6389201781048213]},{"frame_idx":13,"position_3d":[-0.09924227605557367,1.4395212854259245,3.661867919852102]},{"frame_idx":14,"position_3d":[-0.05209823954647625,1.4406005276920397,3.679795016084888]}]}

scenefun3d_test/scenefun3d/scenefun3d_438775_44358176/interval_011/cam_1/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"44358176","intrinsics":{"fx":1591.56,"fy":1591.56,"cx":968.018,"cy":712.146},"T_base_to_cam":[[-0.23082821841046164,0.972084784884202,-0.04206547969638463,7.150656113130307],[0.3619805555886868,0.045664295940677335,-0.9310665118303567,151.78118681102325],[-0.9031546993517543,-0.23014330985904619,-0.3624163985886472,60.30585396966733],[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":[-1.187470444393524,-0.7002801925526683,4.214780213554178]},{"frame_idx":1,"position_3d":[-1.17734693659927,-0.6942552434005693,4.196880541738089]},{"frame_idx":2,"position_3d":[-1.1672234288050158,-0.6882302942484704,4.178980869922]},{"frame_idx":3,"position_3d":[-1.1570999210107618,-0.6822053450963714,4.1610811981059115]},{"frame_idx":4,"position_3d":[-1.1469764132165077,-0.6761803959442725,4.143181526289823]},{"frame_idx":5,"position_3d":[-1.1368529054222536,-0.6701554467921735,4.125281854473734]},{"frame_idx":6,"position_3d":[-1.1267293976279995,-0.6641304976400746,4.107382182657645]},{"frame_idx":7,"position_3d":[-1.1166058898337454,-0.6581055484879756,4.089482510841556]},{"frame_idx":8,"position_3d":[-1.1064823820394913,-0.6520805993358767,4.071582839025467]},{"frame_idx":9,"position_3d":[-1.0963588742452373,-0.6460556501837778,4.053683167209378]},{"frame_idx":10,"position_3d":[-1.0862353664509832,-0.6400307010316788,4.035783495393289]},{"frame_idx":11,"position_3d":[-1.076111858656729,-0.6340057518795799,4.0178838235772005]},{"frame_idx":12,"position_3d":[-1.065988350862475,-0.6279808027274809,3.9999841517611117]},{"frame_idx":13,"position_3d":[-1.055864843068221,-0.621955853575382,3.982084479945023]},{"frame_idx":14,"position_3d":[-1.0457413352739668,-0.615930904423283,3.964184808128934]}]}

scenefun3d_test/scenefun3d/scenefun3d_438775_44358176/interval_012/cam_2/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"44358176","intrinsics":{"fx":1590.66,"fy":1590.66,"cx":968.625,"cy":711.986},"T_base_to_cam":[[-0.7847233786824941,0.6198138295668759,-0.0063273712372949875,1.5501912080611469],[-0.06764905865977633,-0.09578604203060703,-0.9931005180819092,162.38361957752244],[-0.6161435091044756,-0.7788811532125772,0.11709536864739101,-19.509354356331034],[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":[-0.7864956105742884,0.07419162816097469,2.2381660088690154]},{"frame_idx":1,"position_3d":[-0.800138064917213,0.08019134836155961,2.253253395730434]},{"frame_idx":2,"position_3d":[-0.8139764586671102,0.08388613968195904,2.2688927633906597]},{"frame_idx":3,"position_3d":[-0.8278367659933521,0.0852295379775511,2.284887437727192]},{"frame_idx":4,"position_3d":[-0.8415446854893736,0.08420464923531087,2.3010362764299233]},{"frame_idx":5,"position_3d":[-0.8549278321139919,0.08082436202582632,2.3171361984823915]},{"frame_idx":6,"position_3d":[-0.8678179050333201,0.07513118542204505,2.332984738023395]},{"frame_idx":7,"position_3d":[-0.8800528041014031,0.06719671442301761,2.348382590472669]},{"frame_idx":8,"position_3d":[-0.8914786683636058,0.05712072960524407,2.363136118901622]},{"frame_idx":9,"position_3d":[-0.9019518109473902,0.045029942324030514,2.377059789130062]},{"frame_idx":10,"position_3d":[-0.9113405260081064,0.031076401244676373,2.3899785029261666]},{"frame_idx":11,"position_3d":[-0.9195267450064065,0.015435580242287649,2.4017297999683365]},{"frame_idx":12,"position_3d":[-0.926407521488632,-0.0016958282840148949,2.412165900878005]},{"frame_idx":13,"position_3d":[-0.9318963256981995,-0.020102386932138245,2.421155565631066]},{"frame_idx":14,"position_3d":[-0.9359241327374951,-0.03955262254734816,2.4285857439773255]}]}

scenefun3d_test/scenefun3d/scenefun3d_438775_44358176/interval_014/cam_17/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"44358176","intrinsics":{"fx":1596.08,"fy":1596.08,"cx":968.297,"cy":712.011},"T_base_to_cam":[[-0.9881770058873169,0.15320111650146367,0.005968495478969035,-2.793728593951873],[0.018407974983367298,0.15720250373176403,-0.9873948142852871,161.47351065813618],[-0.152208250409067,-0.9756109832936333,-0.15816402177562694,26.20703615191954],[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":[0.9603879891327294,0.5396628772204792,2.958685486838494]},{"frame_idx":1,"position_3d":[0.9393297205374804,0.5401037071646654,2.954743575347853]},{"frame_idx":2,"position_3d":[0.9182714519422315,0.5405445371088515,2.950801663857212]},{"frame_idx":3,"position_3d":[0.8972131833469825,0.5409853670530377,2.946859752366571]},{"frame_idx":4,"position_3d":[0.8761549147517336,0.5414261969972238,2.9429178408759302]},{"frame_idx":5,"position_3d":[0.8550966461564846,0.54186702694141,2.9389759293852893]},{"frame_idx":6,"position_3d":[0.8340383775612357,0.5423078568855961,2.9350340178946484]},{"frame_idx":7,"position_3d":[0.8129801089659867,0.5427486868297823,2.9310921064040074]},{"frame_idx":8,"position_3d":[0.7919218403707378,0.5431895167739684,2.9271501949133665]},{"frame_idx":9,"position_3d":[0.7708635717754888,0.5436303467181546,2.9232082834227255]},{"frame_idx":10,"position_3d":[0.7498053031802399,0.5440711766623407,2.9192663719320846]},{"frame_idx":11,"position_3d":[0.7287470345849909,0.5445120066065269,2.9153244604414437]},{"frame_idx":12,"position_3d":[0.707688765989742,0.544952836550713,2.9113825489508027]},{"frame_idx":13,"position_3d":[0.686630497394493,0.5453936664948992,2.907440637460162]},{"frame_idx":14,"position_3d":[0.665572228799244,0.5458344964390853,2.903498725969521]}]}

scenefun3d_test/scenefun3d/scenefun3d_438775_44358176/interval_015/cam_4/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"44358176","intrinsics":{"fx":1589.75,"fy":1589.75,"cx":968.305,"cy":712.007},"T_base_to_cam":[[0.9292593646525266,0.36825004090306696,-0.029477798094019653,5.319734218641909],[0.03013538030352192,-0.15508801633131564,-0.9874409177486922,161.39584821705773],[-0.3681968115825345,0.916700395202984,-0.1552143465506605,25.707218533194776],[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":[-1.5914754798853874,0.5155786536613505,2.852094597143136]},{"frame_idx":1,"position_3d":[-1.5704215741253866,0.5130395445275422,2.8551718768712413]},{"frame_idx":2,"position_3d":[-1.5493676683653859,0.5105004353937339,2.8582491565993466]},{"frame_idx":3,"position_3d":[-1.528313762605385,0.5079613262599256,2.861326436327452]},{"frame_idx":4,"position_3d":[-1.5072598568453843,0.5054222171261173,2.8644037160555573]},{"frame_idx":5,"position_3d":[-1.4862059510853836,0.5028831079923091,2.8674809957836627]},{"frame_idx":6,"position_3d":[-1.4651520453253828,0.5003439988585008,2.870558275511768]},{"frame_idx":7,"position_3d":[-1.444098139565382,0.4978048897246925,2.8736355552398734]},{"frame_idx":8,"position_3d":[-1.4230442338053813,0.4952657805908842,2.8767128349679787]},{"frame_idx":9,"position_3d":[-1.4019903280453805,0.49272667145707594,2.879790114696084]},{"frame_idx":10,"position_3d":[-1.3809364222853797,0.49018756232326766,2.8828673944241894]},{"frame_idx":11,"position_3d":[-1.359882516525379,0.4876484531894594,2.8859446741522947]},{"frame_idx":12,"position_3d":[-1.3388286107653782,0.4851093440556511,2.8890219538804]},{"frame_idx":13,"position_3d":[-1.3177747050053774,0.4825702349218428,2.8920992336085054]},{"frame_idx":14,"position_3d":[-1.2967207992453766,0.48003112578803453,2.8951765133366107]}]}

scenefun3d_test/scenefun3d/scenefun3d_455342_44358472/interval_000/cam_6/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"44358472","intrinsics":{"fx":1606.02,"fy":1606.02,"cx":968.147,"cy":712.032},"T_base_to_cam":[[0.15090522660824968,-0.9883037879403714,-0.021982614153612967,6.362773218383173],[-0.19764405311760214,-0.008375284352905688,-0.980238074591706,278.87552443045433],[0.9685888915580025,0.15226778173573596,-0.19659624054319774,56.98604881077485],[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":[-1.2536750551628506,0.4585963310252055,2.6471593684205317]},{"frame_idx":1,"position_3d":[-1.2543832371664243,0.458877968148725,2.6472260886075984]},{"frame_idx":2,"position_3d":[-1.2551193403667833,0.45907987714685083,2.6472778345039494]},{"frame_idx":3,"position_3d":[-1.2558741078390863,0.4591995188967812,2.6473139553749143]},{"frame_idx":4,"position_3d":[-1.2566380479444426,0.45923538883409293,2.647333996979583]},{"frame_idx":5,"position_3d":[-1.257401553692779,0.4591870358735122,2.6473377072831488]},{"frame_idx":6,"position_3d":[-1.2581550235563137,0.4590550680815732,2.647325039626391]},{"frame_idx":7,"position_3d":[-1.2588889822143396,0.4588411450298292,2.6472961533124435]},{"frame_idx":8,"position_3d":[-1.2595941997108793,0.45854795692477684,2.6472514116034644]},{"frame_idx":9,"position_3d":[-1.2602618075267369,0.4581791907769489,2.647191377152404]},{"frame_idx":10,"position_3d":[-1.260883410106273,0.4577394840346174,2.647116804927317]},{"frame_idx":11,"position_3d":[-1.2614511904363876,0.45723436626519093,2.6470286327172015]},{"frame_idx":12,"position_3d":[-1.261958008349996,0.45667018961769623,2.6469279693387584]},{"frame_idx":13,"position_3d":[-1.2623974903177715,0.45605404894081847,2.6468160806923784]},{"frame_idx":14,"position_3d":[-1.2627641095989763,0.4553936925610625,2.6466943738427084]}]}

scenefun3d_test/scenefun3d/scenefun3d_455342_44358472/interval_003/cam_0/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"44358472","intrinsics":{"fx":1585.69,"fy":1585.69,"cx":967.781,"cy":712.467},"T_base_to_cam":[[0.6783481210512845,-0.733810669968745,-0.03695574794553502,11.274374989071596],[-0.43858936552775574,-0.3640609373054422,-0.8216440849749018,233.462363404851],[0.5894770522354139,0.5735691192596624,-0.5688016089284054,163.21889051685085],[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":[-0.07996259062585231,-1.2682929104617244,3.464748854646956]},{"frame_idx":1,"position_3d":[-0.09203789010565365,-1.2578355449612129,3.450465496402789]},{"frame_idx":2,"position_3d":[-0.10411318958545498,-1.2473781794607013,3.436182138158622]},{"frame_idx":3,"position_3d":[-0.11618848906525632,-1.2369208139601897,3.421898779914455]},{"frame_idx":4,"position_3d":[-0.12826378854505766,-1.2264634484596781,3.407615421670288]},{"frame_idx":5,"position_3d":[-0.14033908802485898,-1.2160060829591666,3.393332063426121]},{"frame_idx":6,"position_3d":[-0.1524143875046603,-1.205548717458655,3.3790487051819538]},{"frame_idx":7,"position_3d":[-0.16448968698446162,-1.1950913519581434,3.3647653469377867]},{"frame_idx":8,"position_3d":[-0.17656498646426294,-1.1846339864576318,3.3504819886936197]},{"frame_idx":9,"position_3d":[-0.18864028594406426,-1.1741766209571203,3.3361986304494526]},{"frame_idx":10,"position_3d":[-0.20071558542386558,-1.1637192554566087,3.3219152722052856]},{"frame_idx":11,"position_3d":[-0.2127908849036669,-1.1532618899560971,3.3076319139611186]},{"frame_idx":12,"position_3d":[-0.22486618438346823,-1.1428045244555856,3.2933485557169515]},{"frame_idx":13,"position_3d":[-0.23694148386326955,-1.132347158955074,3.2790651974727845]},{"frame_idx":14,"position_3d":[-0.24901678334307087,-1.1218897934545624,3.2647818392286174]}]}

scenefun3d_test/scenefun3d/scenefun3d_455342_44358472/interval_004/cam_12/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"44358472","intrinsics":{"fx":1605.12,"fy":1605.12,"cx":968.431,"cy":712.226},"T_base_to_cam":[[-0.9348270908049401,-0.3550925012252149,0.0027614979255795036,0.9337727303788217],[-0.15468286957253158,0.4001980629881865,-0.9032799788777066,256.0216745455506],[0.3196428008855814,-0.8448377512600413,-0.42904271802222294,124.65027441128282],[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":[0.05459543873113715,-0.16630090099863537,1.6896912027449673]},{"frame_idx":1,"position_3d":[0.07552584028317536,-0.16425859411766425,1.6855764795533343]},{"frame_idx":2,"position_3d":[0.09645624183521356,-0.16221628723669312,1.6814617563617014]},{"frame_idx":3,"position_3d":[0.11738664338725177,-0.160173980355722,1.6773470331700684]},{"frame_idx":4,"position_3d":[0.13831704493928998,-0.15813167347475088,1.6732323099784354]},{"frame_idx":5,"position_3d":[0.1592474464913282,-0.15608936659377975,1.6691175867868024]},{"frame_idx":6,"position_3d":[0.1801778480433664,-0.15404705971280863,1.6650028635951695]},{"frame_idx":7,"position_3d":[0.2011082495954046,-0.1520047528318375,1.6608881404035365]},{"frame_idx":8,"position_3d":[0.2220386511474428,-0.14996244595086639,1.6567734172119035]},{"frame_idx":9,"position_3d":[0.24296905269948102,-0.14792013906989526,1.6526586940202705]},{"frame_idx":10,"position_3d":[0.2638994542515192,-0.14587783218892414,1.6485439708286376]},{"frame_idx":11,"position_3d":[0.28482985580355746,-0.14383552530795302,1.6444292476370046]},{"frame_idx":12,"position_3d":[0.3057602573555957,-0.1417932184269819,1.6403145244453716]},{"frame_idx":13,"position_3d":[0.32669065890763394,-0.13975091154601077,1.6361998012537387]},{"frame_idx":14,"position_3d":[0.34762106045967217,-0.13770860466503965,1.6320850780621057]}]}

scenefun3d_test/scenefun3d/scenefun3d_455342_44358472/interval_005/cam_5/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"44358472","intrinsics":{"fx":1605.57,"fy":1605.57,"cx":967.879,"cy":712.018},"T_base_to_cam":[[0.42765072649415453,-0.8992290672041805,-0.09220596956879468,26.571024464689074],[-0.20487901491723687,0.00292802934928843,-0.9787829258271072,278.41780155582114],[0.8804200391719651,0.4374682975247799,-0.1829809915953187,53.302978636389206],[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":[-0.17942118815507868,0.03622034082701475,2.886084024326607]},{"frame_idx":1,"position_3d":[-0.18566196086526626,0.04057519082349538,2.866052256782096]},{"frame_idx":2,"position_3d":[-0.19190273357545384,0.04493004081997601,2.846020489237585]},{"frame_idx":3,"position_3d":[-0.19814350628564142,0.049284890816456636,2.825988721693074]},{"frame_idx":4,"position_3d":[-0.204384278995829,0.053639740812937264,2.805956954148563]},{"frame_idx":5,"position_3d":[-0.21062505170601659,0.05799459080941789,2.785925186604052]},{"frame_idx":6,"position_3d":[-0.21686582441620417,0.06234944080589852,2.765893419059541]},{"frame_idx":7,"position_3d":[-0.22310659712639175,0.06670429080237915,2.74586165151503]},{"frame_idx":8,"position_3d":[-0.22934736983657933,0.07105914079885978,2.725829883970519]},{"frame_idx":9,"position_3d":[-0.2355881425467669,0.0754139907953404,2.705798116426008]},{"frame_idx":10,"position_3d":[-0.2418289152569545,0.07976884079182103,2.685766348881497]},{"frame_idx":11,"position_3d":[-0.24806968796714207,0.08412369078830166,2.665734581336986]},{"frame_idx":12,"position_3d":[-0.25431046067732965,0.08847854078478229,2.645702813792475]},{"frame_idx":13,"position_3d":[-0.26055123338751723,0.09283339078126292,2.625671046247964]},{"frame_idx":14,"position_3d":[-0.2667920060977048,0.09718824077774355,2.6056392787034532]}]}

scenefun3d_test/scenefun3d/scenefun3d_455342_44358472/interval_008/cam_7/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"44358472","intrinsics":{"fx":1605.57,"fy":1605.57,"cx":967.882,"cy":712.158},"T_base_to_cam":[[0.8903608186471633,-0.45100264409856095,-0.06208242612896861,17.660713856523373],[-0.23060113635317891,-0.32920272310435944,-0.9156684350862472,260.82715385197025],[0.39253118160290734,0.8295915754856609,-0.39711092827148964,112.73289546715101],[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":[0.4092469211366776,-0.3900643561350421,1.5932691220405957]},{"frame_idx":1,"position_3d":[0.40791658343391396,-0.409685822601176,1.5847596021490638]},{"frame_idx":2,"position_3d":[0.4065862457311503,-0.42930728906730986,1.5762500822575318]},{"frame_idx":3,"position_3d":[0.4052559080283867,-0.44892875553344375,1.567740562366]},{"frame_idx":4,"position_3d":[0.40392557032562304,-0.46855022199957763,1.559231042474468]},{"frame_idx":5,"position_3d":[0.4025952326228594,-0.4881716884657115,1.550721522582936]},{"frame_idx":6,"position_3d":[0.40126489492009576,-0.5077931549318454,1.5422120026914041]},{"frame_idx":7,"position_3d":[0.3999345572173321,-0.5274146213979792,1.5337024827998722]},{"frame_idx":8,"position_3d":[0.3986042195145685,-0.5470360878641131,1.5251929629083403]},{"frame_idx":9,"position_3d":[0.39727388181180484,-0.5666575543302469,1.5166834430168084]},{"frame_idx":10,"position_3d":[0.3959435441090412,-0.5862790207963807,1.5081739231252764]},{"frame_idx":11,"position_3d":[0.39461320640627756,-0.6059004872625146,1.4996644032337445]},{"frame_idx":12,"position_3d":[0.3932828687035139,-0.6255219537286484,1.4911548833422126]},{"frame_idx":13,"position_3d":[0.3919525310007503,-0.6451434201947822,1.4826453634506807]},{"frame_idx":14,"position_3d":[0.39062219329798664,-0.664764886660916,1.4741358435591487]}]}

scenefun3d_test/scenefun3d/scenefun3d_466112_44796520/interval_003/cam_18/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"44796520","intrinsics":{"fx":1599.7,"fy":1599.7,"cx":714.474,"cy":956.59},"T_base_to_cam":[[-0.6156480336621467,0.7880190311917608,-0.001872198582262563,-0.7105800893460169],[0.013662118176722193,0.008298145794197298,-0.9998722354897669,68.8247692932528],[-0.7879028145493947,-0.6155949538909311,-0.01587474627088703,1.0288504179162095],[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":[-0.0817354600173954,0.1523573035477881,1.8159856923411912]},{"frame_idx":1,"position_3d":[-0.06645813665509753,0.15127669296327495,1.8822463002112175]},{"frame_idx":2,"position_3d":[-0.0586966809637441,0.1501896125308547,1.9498008007670027]},{"frame_idx":3,"position_3d":[-0.058548697751955356,0.14910973291770377,2.017799656968023]},{"frame_idx":4,"position_3d":[-0.06601604799448141,0.1480506342365183,2.0853877437436963]},{"frame_idx":5,"position_3d":[-0.08100482542936495,0.14702563526771753,2.151715101687296]},{"frame_idx":6,"position_3d":[-0.1033265374836711,0.14604762596805243,2.215947625788653]},{"frame_idx":7,"position_3d":[-0.13270047567695792,0.14512890537192047,2.277277554788613]},{"frame_idx":8,"position_3d":[-0.16875724569328893,0.14428102692387212,2.3349336292455485]},{"frame_idx":9,"position_3d":[-0.2110434127290835,0.14351465318734216,2.38819079057033]},{"frame_idx":10,"position_3d":[-0.2590272036988609,0.1428394217567278,2.4363792990587734]},{"frame_idx":11,"position_3d":[-0.3121051945903322,0.14226382405904747,2.4788931562570125]},{"frame_idx":12,"position_3d":[-0.36960989887146944,0.14179509856931902,2.5151977257436653]},{"frame_idx":13,"position_3d":[-0.4308181615209308,0.14143913978253667,2.544836456493035]},{"frame_idx":14,"position_3d":[-0.494960253122038,0.14120042408697628,2.567436624269156]}]}

scenefun3d_test/scenefun3d/scenefun3d_466112_44796520/interval_004/cam_2/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"44796520","intrinsics":{"fx":1596.08,"fy":1596.08,"cx":714.418,"cy":956.474},"T_base_to_cam":[[-0.909865041849461,0.4148843335621442,0.004073743361344889,-0.6093989512857099],[-0.026575617129172113,-0.04847787731804443,-0.9984706465314542,68.9423770882581],[-0.4140523423366692,-0.9085817988356536,0.05513413307639459,-1.4252462129582113],[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":[1.3111553037768495,0.46982449363449064,3.5893891391897776]},{"frame_idx":1,"position_3d":[1.3656686955891482,0.4736674263033613,3.654956179002581]},{"frame_idx":2,"position_3d":[1.4124856439608435,0.47779280401217955,3.7262069286976827]},{"frame_idx":3,"position_3d":[1.4510173986023354,0.48214874774265715,3.8022453687570184]},{"frame_idx":4,"position_3d":[1.4807794003423622,0.48668047897500594,3.8821152716783116]},{"frame_idx":5,"position_3d":[1.5013973747407277,0.4913310085596074,3.96481222709073]},{"frame_idx":6,"position_3d":[1.5126120388065447,0.496041853388635,4.049296272798071]},{"frame_idx":7,"position_3d":[1.5142823616322862,0.500753771855068,4.134504972906781]},{"frame_idx":8,"position_3d":[1.5063873379392745,0.5054075088502721,4.219366778573751]},{"frame_idx":9,"position_3d":[1.4890262522312485,0.5099445409313715,4.302814503354755]},{"frame_idx":10,"position_3d":[1.4624174302341235,0.5143078122874992,4.3837987436931725]},{"frame_idx":11,"position_3d":[1.4268954933233113,0.5184424522497229,4.461301075778597]},{"frame_idx":12,"position_3d":[1.3829071504657733,0.5222964653215434,4.534346862817155]},{"frame_idx":13,"position_3d":[1.331005580595574,0.5258213850524323,4.602017511654683]},{"frame_idx":14,"position_3d":[1.2718434760678234,0.5289728835315675,4.6634620246186245]}]}

scenefun3d_test/scenefun3d/scenefun3d_466112_44796520/interval_006/cam_7/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"44796520","intrinsics":{"fx":1594.27,"fy":1594.27,"cx":714.246,"cy":956.452},"T_base_to_cam":[[-0.7507744081418187,-0.6582137095884026,0.05561025615096438,-4.170595676529359],[-0.3555762921646919,0.3317555642518649,-0.8737870141163331,59.76133082807579],[0.5566895800441316,-0.6757906170536856,-0.4831187777063602,33.72733139604387],[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":[-0.33257033930637814,0.18480002639429216,1.4929430639546482]},{"frame_idx":1,"position_3d":[-0.3322856362787327,0.18480410660108873,1.492968455591543]},{"frame_idx":2,"position_3d":[-0.3320004599684035,0.18482371944647816,1.4929658087849924]},{"frame_idx":3,"position_3d":[-0.331718396632956,0.18485861828755004,1.4929351568201246]},{"frame_idx":4,"position_3d":[-0.3314429933824905,0.18490836425112908,1.4928768851631822]},{"frame_idx":5,"position_3d":[-0.3311777135726742,0.18497233175286004,1.4927917266140616]},{"frame_idx":6,"position_3d":[-0.3309258932510346,0.18504971636429382,1.492680752090928]},{"frame_idx":7,"position_3d":[-0.3306906992042258,0.18513954492904203,1.4925453571627987]},{"frame_idx":8,"position_3d":[-0.33047508913384915,0.18524068780078323,1.4923872444994528]},{"frame_idx":9,"position_3d":[-0.33028177446163953,0.1853518730492208,1.4922084024593711]},{"frame_idx":10,"position_3d":[-0.3301131862317638,0.18547170245534447,1.4920110800849744]},{"frame_idx":11,"position_3d":[-0.32997144453902977,0.1855986690948456,1.4917977588196096]},{"frame_idx":12,"position_3d":[-0.32985833186746405,0.18573117628856467,1.4915711213019605]},{"frame_idx":13,"position_3d":[-0.3297752706745411,0.18586755768165822,1.4913340176303098]},{"frame_idx":14,"position_3d":[-0.3297233055029551,0.18600609819897776,1.4910894295208992]}]}

scenefun3d_test/scenefun3d/scenefun3d_466880_47331707/interval_001/cam_5/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"47331707","intrinsics":{"fx":1603.31,"fy":1603.31,"cx":949.805,"cy":696.277},"T_base_to_cam":[[-0.15531946270788188,0.9876442946665858,0.02084734315631348,-2.593273057091394],[0.5953807623111453,0.11042935430061152,-0.7958185129654557,54.07756861705066],[-0.7882877725640136,-0.111193996786212,-0.6051762410279947,43.68768570967047],[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":[-0.23598576317862197,-0.716232050652593,2.719967413420143]},{"frame_idx":1,"position_3d":[-0.2560360645175764,-0.7110398248384183,2.7144710618319414]},{"frame_idx":2,"position_3d":[-0.2760863658565308,-0.7058475990242437,2.70897471024374]},{"frame_idx":3,"position_3d":[-0.2961366671954852,-0.700655373210069,2.703478358655538]},{"frame_idx":4,"position_3d":[-0.3161869685344396,-0.6954631473958943,2.6979820070673366]},{"frame_idx":5,"position_3d":[-0.33623726987339403,-0.6902709215817197,2.692485655479135]},{"frame_idx":6,"position_3d":[-0.35628757121234844,-0.685078695767545,2.6869893038909334]},{"frame_idx":7,"position_3d":[-0.37633787255130285,-0.6798864699533703,2.6814929523027318]},{"frame_idx":8,"position_3d":[-0.39638817389025727,-0.6746942441391957,2.67599660071453]},{"frame_idx":9,"position_3d":[-0.4164384752292117,-0.669502018325021,2.6705002491263286]},{"frame_idx":10,"position_3d":[-0.4364887765681661,-0.6643097925108463,2.665003897538127]},{"frame_idx":11,"position_3d":[-0.4565390779071205,-0.6591175666966717,2.6595075459499253]},{"frame_idx":12,"position_3d":[-0.4765893792460749,-0.653925340882497,2.6540111943617237]},{"frame_idx":13,"position_3d":[-0.49663968058502933,-0.6487331150683223,2.648514842773522]},{"frame_idx":14,"position_3d":[-0.5166899819239837,-0.6435408892541477,2.6430184911853205]}]}

scenefun3d_test/scenefun3d/scenefun3d_466880_47331707/interval_003/cam_10/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"47331707","intrinsics":{"fx":1605.57,"fy":1605.57,"cx":949.704,"cy":695.92},"T_base_to_cam":[[0.7242528460674273,-0.6873874438367265,-0.054372024229772054,4.075109464512884],[-0.31508904047117325,-0.2597844121607384,-0.9128148529539026,63.81124792636901],[0.6133324641156597,0.6782407841275184,-0.4047378499818149,27.503061555001466],[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":[0.15540684745929,0.08945166543941241,3.1291294230627997]},{"frame_idx":1,"position_3d":[0.175864232998321,0.09093425043343382,3.122926118128143]},{"frame_idx":2,"position_3d":[0.19632161853735197,0.09241683542745524,3.116722813193486]},{"frame_idx":3,"position_3d":[0.21677900407638295,0.09389942042147666,3.1105195082588293]},{"frame_idx":4,"position_3d":[0.23723638961541393,0.09538200541549807,3.1043162033241725]},{"frame_idx":5,"position_3d":[0.2576937751544449,0.09686459040951949,3.0981128983895156]},{"frame_idx":6,"position_3d":[0.2781511606934759,0.0983471754035409,3.091909593454859]},{"frame_idx":7,"position_3d":[0.2986085462325069,0.09982976039756232,3.085706288520202]},{"frame_idx":8,"position_3d":[0.31906593177153786,0.10131234539158374,3.079502983585545]},{"frame_idx":9,"position_3d":[0.33952331731056884,0.10279493038560515,3.0732996786508884]},{"frame_idx":10,"position_3d":[0.3599807028495998,0.10427751537962657,3.0670963737162316]},{"frame_idx":11,"position_3d":[0.3804380883886308,0.10576010037364798,3.0608930687815747]},{"frame_idx":12,"position_3d":[0.4008954739276618,0.1072426853676694,3.054689763846918]},{"frame_idx":13,"position_3d":[0.42135285946669276,0.10872527036169082,3.048486458912261]},{"frame_idx":14,"position_3d":[0.44181024500572375,0.11020785535571223,3.0422831539776043]}]}

scenefun3d_test/scenefun3d/scenefun3d_466880_47331707/interval_004/cam_15/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"47331707","intrinsics":{"fx":1606.47,"fy":1606.47,"cx":950.557,"cy":695.787},"T_base_to_cam":[[0.6786495026914525,0.7338788847570148,0.029268327667361815,-1.6567677586738518],[0.15772389270588744,-0.10670218487550179,-0.981701490990258,68.58024712387646],[-0.7173270008624697,0.670847543224684,-0.18816361918038252,12.522406560379421],[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":[-0.47117488867761326,0.3314129212842687,1.6864412548244303]},{"frame_idx":1,"position_3d":[-0.4653842358803449,0.306714472819543,1.679797796892127]},{"frame_idx":2,"position_3d":[-0.4623360952188311,0.2813302006669641,1.6739644346135658]},{"frame_idx":3,"position_3d":[-0.46206879883046287,0.25557932677714845,1.6690145259039952]},{"frame_idx":4,"position_3d":[-0.46458570812241284,0.2297856833302655,1.6650103187374423]},{"frame_idx":5,"position_3d":[-0.46985517149999,0.20427364035848034,1.6620021683423214]},{"frame_idx":6,"position_3d":[-0.47781092240380746,0.1793640266045953,1.6600279039552206]},{"frame_idx":7,"position_3d":[-0.4883529126502155,0.15537009491446002,1.6591123530963026]},{"frame_idx":8,"position_3d":[-0.5013485705952604,0.1325935829006814,1.6592670293488332]},{"frame_idx":9,"position_3d":[-0.5166344683000267,0.11132091841707278,1.6604899875691919]},{"frame_idx":10,"position_3d":[-0.5340183767317926,0.09181961756220298,1.6627658483481804]},{"frame_idx":11,"position_3d":[-0.5532816831556501,0.0743349205092403,1.666065991416018]},{"frame_idx":12,"position_3d":[-0.5741821403164883,0.05908670746848328,1.6703489155588391]},{"frame_idx":13,"position_3d":[-0.5964569128387821,0.046266733566138724,1.675560760520537]},{"frame_idx":14,"position_3d":[-0.6198258825339396,0.036036217412350725,1.6816359843267354]}]}

scenefun3d_test/scenefun3d/scenefun3d_466880_47331707/interval_010/cam_17/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"47331707","intrinsics":{"fx":1607.38,"fy":1607.38,"cx":950.508,"cy":695.711},"T_base_to_cam":[[0.18407636971491997,0.9828398665706946,-0.01190322611207928,0.5591239934766188],[-0.07892529261099385,0.002708712619270859,-0.9968768535091057,69.45295752119695],[-0.9797380712715236,0.18444093785069898,0.07806953404439859,-6.317213275187509],[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":[0.35713504942460117,0.20891251794108712,0.9563581964727597]},{"frame_idx":1,"position_3d":[0.3157713451185534,0.20693989990576553,0.9248629555249087]},{"frame_idx":2,"position_3d":[0.27113514956979645,0.20538322093626019,0.8981799224193256]},{"frame_idx":3,"position_3d":[0.2237877888358798,0.2042620571738188,0.8766446517791695]},{"frame_idx":4,"position_3d":[0.17432468344961105,0.2035905079032684,0.8605279621277954]},{"frame_idx":5,"position_3d":[0.12336786066038478,0.20337701824632817,0.8500325301886904]},{"frame_idx":6,"position_3d":[0.07155813208061276,0.20362427295930371,0.8452903421080803]},{"frame_idx":7,"position_3d":[0.019547035107890347,0.20432916267071882,0.8463610336525603]},{"frame_idx":8,"position_3d":[-0.0320113605358091,0.2054828229834659,0.853231140254729]},{"frame_idx":9,"position_3d":[-0.0824686781103881,0.20707074594974287,0.8658142663379353]},{"frame_idx":10,"position_3d":[-0.13119038757132875,0.20907296251691443,0.8839521717907831]},{"frame_idx":11,"position_3d":[-0.1775637851531654,0.2114642936499353,0.907416761928345]},{"frame_idx":12,"position_3d":[-0.22100569847483448,0.21421466697232508,0.9359129559151688]},{"frame_idx":13,"position_3d":[-0.2609698202707308,0.21728949494375094,0.9690823975779933]},{"frame_idx":14,"position_3d":[-0.2969535785215473,0.22065010981841546,1.0065079619425503]}]}

scenefun3d_test/scenefun3d/scenefun3d_466880_47331707/interval_012/cam_1/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"47331707","intrinsics":{"fx":1604.67,"fy":1604.67,"cx":950.276,"cy":695.807},"T_base_to_cam":[[-0.1726455211626085,0.9841394612149883,0.040780447544922716,-4.003049451639006],[0.23040960372360564,0.08060443974868547,-0.9697496268649616,66.98847048317218],[-0.9576559604233781,-0.1580267229688498,-0.24067117877573974,18.918617309629134],[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":[-0.07978706042982742,0.35340959669530037,2.350623366044843]},{"frame_idx":1,"position_3d":[-0.11794284849255099,0.3488142504387652,2.3362058030210733]},{"frame_idx":2,"position_3d":[-0.15668368878271874,0.3487041147873228,2.322641782334002]},{"frame_idx":3,"position_3d":[-0.19552239275572267,0.3530805747606924,2.310101879413797]},{"frame_idx":4,"position_3d":[-0.23397054117436134,0.36188859383542754,2.298743790815501]},{"frame_idx":5,"position_3d":[-0.271544626264135,0.37501740606113176,2.2887103510933544]},{"frame_idx":6,"position_3d":[-0.3077721321040478,0.39230190900655254,2.2801277365734003]},{"frame_idx":7,"position_3d":[-0.34219747678847434,0.413524740018449,2.273103878612976]},{"frame_idx":8,"position_3d":[-0.3743877416339577,0.4384190096830732,2.267727106301271]},{"frame_idx":9,"position_3d":[-0.40393811538283925,0.46667165811540073,2.2640650356697813]},{"frame_idx":10,"position_3d":[-0.43047698493970055,0.4979273918688267,2.2621637193814808]},{"frame_idx":11,"position_3d":[-0.45367060862165326,0.5317931519564025,2.262047067591864]},{"frame_idx":12,"position_3d":[-0.47322731315364297,0.5678430567956554,2.2637165472648686]},{"frame_idx":13,"position_3d":[-0.48890116162911557,0.6056237579165896,2.2671511637249515]},{"frame_idx":14,"position_3d":[-0.5004950463093133,0.6446601410817361,2.2723077246773165]}]}

scenefun3d_test/scenefun3d/scenefun3d_466880_47331707/interval_016/cam_15/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"47331707","intrinsics":{"fx":1603.76,"fy":1603.76,"cx":949.804,"cy":696.588},"T_base_to_cam":[[0.7043294418729221,-0.7094534248223592,0.02441055752749119,-1.2033714095446268],[-0.5185302361697015,-0.5376615872739027,-0.6648657095593825,46.508302117886494],[0.48481587380032365,0.4556268819746402,-0.7465639376056789,51.57646252903123],[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":[-0.3210819463745166,-0.025285215675928896,0.9896959393093496]},{"frame_idx":1,"position_3d":[-0.30058774792228277,-0.019871560951792305,0.9865552632996857]},{"frame_idx":2,"position_3d":[-0.28009354947004894,-0.014457906227655713,0.9834145872900217]},{"frame_idx":3,"position_3d":[-0.2595993510178151,-0.009044251503519122,0.9802739112803578]},{"frame_idx":4,"position_3d":[-0.23910515256558132,-0.0036305967793825297,0.9771332352706938]},{"frame_idx":5,"position_3d":[-0.21861095411334752,0.0017830579447540625,0.9739925592610299]},{"frame_idx":6,"position_3d":[-0.19811675566111372,0.007196712668890655,0.970851883251366]},{"frame_idx":7,"position_3d":[-0.17762255720887993,0.012610367393027247,0.967711207241702]},{"frame_idx":8,"position_3d":[-0.15712835875664613,0.01802402211716384,0.9645705312320381]},{"frame_idx":9,"position_3d":[-0.13663416030441233,0.02343767684130043,0.9614298552223741]},{"frame_idx":10,"position_3d":[-0.11613996185217852,0.02885133156543702,0.9582891792127102]},{"frame_idx":11,"position_3d":[-0.09564576339994471,0.03426498628957361,0.9551485032030462]},{"frame_idx":12,"position_3d":[-0.0751515649477109,0.03967864101371021,0.9520078271933823]},{"frame_idx":13,"position_3d":[-0.05465736649547709,0.0450922957378468,0.9488671511837183]},{"frame_idx":14,"position_3d":[-0.03416316804324328,0.0505059504619834,0.9457264751740544]}]}

scenefun3d_test/scenefun3d/scenefun3d_466880_47331707/interval_019/cam_2/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"47331707","intrinsics":{"fx":1604.67,"fy":1604.67,"cx":949.468,"cy":696.153},"T_base_to_cam":[[0.7704648832631711,-0.6336400720804592,-0.06988649878294453,5.125311911644665],[-0.4045590108606717,-0.4012812949349699,-0.8217696326019529,57.47685899076885],[0.4926620245053428,0.6614178568720263,-0.5655179468603211,38.795412506526546],[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":[0.3637740375476852,-0.782609492351007,3.023867634265514]},{"frame_idx":1,"position_3d":[0.38371536817489243,-0.7794266451007219,3.016698499752398]},{"frame_idx":2,"position_3d":[0.40365669880209964,-0.7762437978504368,3.009529365239282]},{"frame_idx":3,"position_3d":[0.42359802942930685,-0.7730609506001518,3.002360230726166]},{"frame_idx":4,"position_3d":[0.44353936005651406,-0.7698781033498667,2.99519109621305]},{"frame_idx":5,"position_3d":[0.4634806906837213,-0.7666952560995817,2.988021961699934]},{"frame_idx":6,"position_3d":[0.4834220213109285,-0.7635124088492966,2.980852827186818]},{"frame_idx":7,"position_3d":[0.5033633519381358,-0.7603295615990115,2.9736836926737023]},{"frame_idx":8,"position_3d":[0.523304682565343,-0.7571467143487265,2.9665145581605863]},{"frame_idx":9,"position_3d":[0.5432460131925503,-0.7539638670984414,2.9593454236474703]},{"frame_idx":10,"position_3d":[0.5631873438197575,-0.7507810198481564,2.9521762891343544]},{"frame_idx":11,"position_3d":[0.5831286744469648,-0.7475981725978713,2.9450071546212384]},{"frame_idx":12,"position_3d":[0.6030700050741721,-0.7444153253475863,2.9378380201081224]},{"frame_idx":13,"position_3d":[0.6230113357013793,-0.7412324780973012,2.9306688855950065]},{"frame_idx":14,"position_3d":[0.6429526663285866,-0.7380496308470161,2.9234997510818905]}]}

scenefun3d_test/scenefun3d/scenefun3d_466880_47331707/interval_023/cam_10/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"47331707","intrinsics":{"fx":1605.12,"fy":1605.12,"cx":950.83,"cy":696.092},"T_base_to_cam":[[0.24488383598982022,0.9590689396986846,0.14219239000787376,-11.009400408451466],[0.45321516997570954,0.016415812318003264,-0.8912499822215023,61.65814741671115],[-0.8571043790430656,0.2826964626789316,-0.4306446254326415,30.392237847830724],[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":[-0.32441787085273077,0.12637177774686847,1.3352144733005176]},{"frame_idx":1,"position_3d":[-0.3246043668469424,0.12727635895472353,1.3357116067011159]},{"frame_idx":2,"position_3d":[-0.3248685345237414,0.12812141295499044,1.3362740022119617]},{"frame_idx":3,"position_3d":[-0.32520705182131854,0.12889631270330412,1.3368945873831966]},{"frame_idx":4,"position_3d":[-0.3256156616882444,0.12959131338572222,1.3375655579962202]},{"frame_idx":5,"position_3d":[-0.3260892256183614,0.13019767496541454,1.3382784762062676]},{"frame_idx":6,"position_3d":[-0.32662178827048016,0.13070777209369724,1.3390243766532026]},{"frame_idx":7,"position_3d":[-0.32720665236025026,0.13111519000321695,1.3397938792061237]},{"frame_idx":8,"position_3d":[-0.32783646288239676,0.13141480517737208,1.340577306923952]},{"frame_idx":9,"position_3d":[-0.32850329960417907,0.13160284978150685,1.3413648077485802]},{"frame_idx":10,"position_3d":[-0.3291987766669131,0.13167695904561824,1.3421464784002204]},{"frame_idx":11,"position_3d":[-0.32991414804300984,0.13163620100271087,1.3429124889168922]},{"frame_idx":12,"position_3d":[-0.3306404175223467,0.13148108820882265,1.3436532062718989]},{"frame_idx":13,"position_3d":[-0.3313684518448296,0.13121357129733527,1.3443593155147269]},{"frame_idx":14,"position_3d":[-0.332089095556438,0.13083701444862758,1.3450219369119536]}]}

scenefun3d_test/scenefun3d/scenefun3d_466880_47331707/interval_024/cam_15/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"47331707","intrinsics":{"fx":1604.67,"fy":1604.67,"cx":950.769,"cy":696.143},"T_base_to_cam":[[0.7160344705254873,0.6857847470558186,0.13036072155703937,-10.099965484177783],[0.4179590160333685,-0.2716032620738683,-0.8669151797882259,60.295704909889274],[-0.5591108100687229,0.6752265906615501,-0.4811072160421999,33.18387844396433],[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":[-0.3932730258745849,0.22962512392685142,0.8967681321645813]},{"frame_idx":1,"position_3d":[-0.394418883317354,0.23023133448907043,0.8974209476576637]},{"frame_idx":2,"position_3d":[-0.39564854737045074,0.23070534478269594,0.8980291327865202]},{"frame_idx":3,"position_3d":[-0.39694655429493986,0.23104119385325841,0.8985850392702782]},{"frame_idx":4,"position_3d":[-0.39829658090062464,0.23123465820383135,0.8990816762623601]},{"frame_idx":5,"position_3d":[-0.39968164981963494,0.23128330490795568,0.899512798264435]},{"frame_idx":6,"position_3d":[-0.4010843430066785,0.23118652220510155,0.8998729836671838]},{"frame_idx":7,"position_3d":[-0.40248702078106674,0.23094552719391198,0.9001577029301827]},{"frame_idx":8,"position_3d":[-0.40387204365593404,0.23056335052648128,0.9003633755435014]},{"frame_idx":9,"position_3d":[-0.40522199416502,0.2300447982961464,0.9004874150546935]},{"frame_idx":10,"position_3d":[-0.4065198958974134,0.22939639159807487,0.9005282615949363]},{"frame_idx":11,"position_3d":[-0.40774942698576916,0.22862628452270922,0.9004854014952864]},{"frame_idx":12,"position_3d":[-0.4088951253632607,0.22774416161334873,0.9003593737463651]},{"frame_idx":13,"position_3d":[-0.40994258320804144,0.22676111607739824,0.900151763220238]},{"frame_idx":14,"position_3d":[-0.41087862812996395,0.22568951028284864,0.8998651807397297]}]}

scenefun3d_test/scenefun3d/scenefun3d_466880_47331707/interval_026/cam_14/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"47331707","intrinsics":{"fx":1606.47,"fy":1606.47,"cx":950.085,"cy":695.703},"T_base_to_cam":[[0.4711688863702795,-0.8808512169726198,-0.04583682007345008,3.882112362057404],[-0.0809252816341125,0.00857729032236898,-0.9966832640729781,69.48672126785341],[0.8783228218081498,0.47331550117081617,-0.0672417804819947,4.847704758732183],[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":[0.6979818944233074,0.25468838136120553,1.7213358492574993]},{"frame_idx":1,"position_3d":[0.6765817236437113,0.255709957398575,1.7209202214511876]},{"frame_idx":2,"position_3d":[0.6551815528641152,0.25673153343594446,1.720504593644876]},{"frame_idx":3,"position_3d":[0.6337813820845191,0.2577531094733139,1.7200889658385643]},{"frame_idx":4,"position_3d":[0.612381211304923,0.2587746855106834,1.7196733380322526]},{"frame_idx":5,"position_3d":[0.5909810405253269,0.25979626154805285,1.719257710225941]},{"frame_idx":6,"position_3d":[0.5695808697457307,0.2608178375854223,1.7188420824196293]},{"frame_idx":7,"position_3d":[0.5481806989661346,0.2618394136227918,1.7184264546133177]},{"frame_idx":8,"position_3d":[0.5267805281865385,0.26286098966016125,1.718010826807006]},{"frame_idx":9,"position_3d":[0.5053803574069424,0.2638825656975307,1.7175951990006944]},{"frame_idx":10,"position_3d":[0.48398018662734626,0.2649041417349002,1.7171795711943827]},{"frame_idx":11,"position_3d":[0.4625800158477501,0.26592571777226964,1.716763943388071]},{"frame_idx":12,"position_3d":[0.44117984506815394,0.2669472938096391,1.7163483155817594]},{"frame_idx":13,"position_3d":[0.4197796742885578,0.2679688698470086,1.7159326877754477]},{"frame_idx":14,"position_3d":[0.3983795035089616,0.26899044588437804,1.715517059969136]}]}

scenefun3d_test/scenefun3d/scenefun3d_466916_47331618/interval_002/cam_19/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"47331618","intrinsics":{"fx":1593.82,"fy":1593.82,"cx":956.607,"cy":705.456},"T_base_to_cam":[[0.5951466350248737,0.8036111850735306,0.0030896671802312925,2.9203156749268673],[0.41478826905830535,-0.30389064543895805,-0.8576719462978302,78.11014250610933],[-0.6882958482151289,0.5117221304960426,-0.5141879875010764,45.12257946232654],[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":[-0.29145374195163765,0.2992208897577342,1.3289854785671338]},{"frame_idx":1,"position_3d":[-0.2627139633472449,0.31991623372727657,1.2946380802998758]},{"frame_idx":2,"position_3d":[-0.23864468081183196,0.3421241395399243,1.2577396458937407]},{"frame_idx":3,"position_3d":[-0.21954857953860468,0.3655653298947563,1.218754194570356]},{"frame_idx":4,"position_3d":[-0.20566580408088994,0.3899450182221651,1.1781719909999988]},{"frame_idx":5,"position_3d":[-0.19717093839504243,0.4149566157960088,1.1365033799389095]},{"frame_idx":6,"position_3d":[-0.1941708103458976,0.44028558726472944,1.0942723683478726]},{"frame_idx":7,"position_3d":[-0.19670314828438823,0.4656134061158963,1.052010035700649]},{"frame_idx":8,"position_3d":[-0.20473610659164113,0.4906215603319131,1.010247855351454]},{"frame_idx":9,"position_3d":[-0.21816866615611163,0.5149955578634444,0.9695110109491604]},{"frame_idx":10,"position_3d":[-0.2368319047475239,0.5384288815494085,0.9303117919481946]},{"frame_idx":11,"position_3d":[-0.2604911213119277,0.5606268437481232,0.8931431512714103]},{"frame_idx":12,"position_3d":[-0.2888487874736284,0.5813102922053821,0.8584725061410658]},{"frame_idx":13,"position_3d":[-0.3215482891271415,0.6002191205560187,0.8267358600360522]},{"frame_idx":14,"position_3d":[-0.3581784110664813,0.6171155393123661,0.7983323196951707]}]}

scenefun3d_test/scenefun3d/scenefun3d_466916_47331618/interval_004/cam_8/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"47331618","intrinsics":{"fx":1594.27,"fy":1594.27,"cx":956.319,"cy":705.213},"T_base_to_cam":[[0.5264531895661944,0.8501079520946757,-0.012787063031702017,4.237186198738352],[0.26085674895078353,-0.17582090879277545,-0.9492316706463761,86.20867492551302],[-0.8091976246396231,0.49639044895795376,-0.31431787486700924,26.790968363319042],[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":[1.0320493460444036,-0.3567251638212525,1.806631740018613]},{"frame_idx":1,"position_3d":[0.9895102714087536,-0.3476276952068892,1.7808881977329176]},{"frame_idx":2,"position_3d":[0.9441824819517494,-0.3400476262878945,1.7598406127506232]},{"frame_idx":3,"position_3d":[0.8966360009256088,-0.3340802808289833,1.7437536706649754]},{"frame_idx":4,"position_3d":[0.8474687529163465,-0.32980070166163583,1.7328296741065625]},{"frame_idx":5,"position_3d":[0.7972990445951808,-0.3272627069769512,1.7272059986703567]},{"frame_idx":6,"position_3d":[0.746757789153393,-0.3264982135306681,1.7269533653379012]},{"frame_idx":7,"position_3d":[0.6964805722028832,-0.327516835271443,1.7320749511199327]},{"frame_idx":8,"position_3d":[0.6470996589183247,-0.33030576243986753,1.7425063491036288]},{"frame_idx":9,"position_3d":[0.5992360429357442,-0.33482992265862555,1.7581163784069065]},{"frame_idx":10,"position_3d":[0.5534916369972394,-0.3410324219879872,1.778708733854127]},{"frame_idx":11,"position_3d":[0.5104417035490095,-0.3488352604001119,1.8040244546275788]},{"frame_idx":12,"position_3d":[0.47062762048231943,-0.3581403126746549,1.8337451808500123]},{"frame_idx":13,"position_3d":[0.4345500729924017,-0.36883056238034667,1.8674971571448133]},{"frame_idx":14,"position_3d":[0.40266275717162275,-0.3807715734245108,1.904855932826722]}]}

scenefun3d_test/scenefun3d/scenefun3d_466916_47331618/interval_005/cam_17/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"47331618","intrinsics":{"fx":1591.11,"fy":1591.11,"cx":956.428,"cy":705.356},"T_base_to_cam":[[0.9915899471207843,-0.12935690617836468,0.004020894547523739,2.033434803867432],[-0.05395754932520492,-0.4414539580208503,-0.8956600838591298,80.28243156510963],[0.1176348572482605,0.8879105775761922,-0.44472108853583087,41.24048530135501],[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":[0.11830622020112247,0.044808755935278555,1.4134230622040533]},{"frame_idx":1,"position_3d":[0.12561637977448004,0.06690706369871277,1.368983571221426]},{"frame_idx":2,"position_3d":[0.12732374834828972,0.08921040991027882,1.324080479589439]},{"frame_idx":3,"position_3d":[0.12340685477209754,0.11143831705066337,1.2792784697387454]},{"frame_idx":4,"position_3d":[0.1139149562552587,0.13331125629064397,1.2351409529379491]},{"frame_idx":5,"position_3d":[0.09896741892895025,0.15455416272830289,1.1922229840700038]},{"frame_idx":6,"position_3d":[0.07875221674781369,0.17489989448976517,1.1510642814950096]},{"frame_idx":7,"position_3d":[0.053523567608410316,0.1940925921932619,1.1121824397786826]},{"frame_idx":8,"position_3d":[0.02359873641167132,0.21189089652930895,1.0760664206403756]},{"frame_idx":9,"position_3d":[-0.01064595472731281,0.22807098349406388,1.0431704039757552]},{"frame_idx":10,"position_3d":[-0.04877985894823675,0.24242937910603973,1.0139080762810926]},{"frame_idx":11,"position_3d":[-0.09032342027971577,0.25478551820948075,0.988647428305546]},{"frame_idx":12,"position_3d":[-0.13475420433387078,0.26498401518596226,0.9677061273539773]},{"frame_idx":13,"position_3d":[-0.18151346822187941,0.27289661801869924,0.9513475224362783]},{"frame_idx":14,"position_3d":[-0.2300131870699931,0.2784238211360709,0.9397773325007728]}]}

scenefun3d_test/scenefun3d/scenefun3d_466916_47331618/interval_008/cam_16/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"47331618","intrinsics":{"fx":1593.37,"fy":1593.37,"cx":956.545,"cy":705.3},"T_base_to_cam":[[0.20888613330019346,0.9779212554948631,0.006049906300453267,0.712427541368715],[0.3744153344007293,-0.07425786682533175,-0.9242829256132242,84.42601213079051],[-0.9034266659117847,0.19533506409731427,-0.3816601525619547,32.04331705457431],[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":[-0.832002036753274,0.5096206902228744,1.3859902398389643]},{"frame_idx":1,"position_3d":[-0.8232574430096482,0.5204948010845896,1.3597945498754929]},{"frame_idx":2,"position_3d":[-0.8113922472785181,0.5309446048200162,1.334675889250585]},{"frame_idx":3,"position_3d":[-0.7965556612805496,0.5408386890840639,1.3109501396957857]},{"frame_idx":4,"position_3d":[-0.7789342636930547,0.5500526300264308,1.2889156662777468]},{"frame_idx":5,"position_3d":[-0.7587496538148695,0.5584705569937137,1.2688495652843996]},{"frame_idx":6,"position_3d":[-0.7362556648265953,0.5659866096701041,1.2510041795783584]},{"frame_idx":7,"position_3d":[-0.7117351716910763,0.5725062693322808,1.2356039252390105]},{"frame_idx":8,"position_3d":[-0.685496533836613,0.5779475474771975,1.222842469400109]},{"frame_idx":9,"position_3d":[-0.6578697173582376,0.5822420168750786,1.2128802947731971]},{"frame_idx":10,"position_3d":[-0.6292021455026181,0.5853356720815366,1.2058426814843968]},{"frame_idx":11,"position_3d":[-0.5998543296191514,0.5871896085873698,1.201818131604133]},{"frame_idx":12,"position_3d":[-0.5701953355205716,0.5877805120653382,1.2008572561822481]},{"frame_idx":13,"position_3d":[-0.5405981422662174,0.5871009515613563,1.2029721387846855]},{"frame_idx":14,"position_3d":[-0.5114349517339539,0.5851594729430518,1.208136183535636]}]}

scenefun3d_test/scenefun3d/scenefun3d_466916_47331618/interval_010/cam_11/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"47331618","intrinsics":{"fx":1593.37,"fy":1593.37,"cx":956.71,"cy":705.4},"T_base_to_cam":[[0.32800333222447275,0.9444118335866913,0.022362974557655846,-0.3005919638681552],[0.44139447141077426,-0.13228500503516905,-0.8875086467470887,81.22099119857373],[-0.8352153821965003,0.3009766868451264,-0.460248084534944,39.386615253102185],[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":[0.5025449505173636,-0.5009061689494132,1.2616122786954165]},{"frame_idx":1,"position_3d":[0.47739260553485013,-0.4953721455190674,1.2497187476182077]},{"frame_idx":2,"position_3d":[0.45386544292137093,-0.4885470026976463,1.235414482528465]},{"frame_idx":3,"position_3d":[0.43225933039756825,-0.4805165706161693,1.21887936785922]},{"frame_idx":4,"position_3d":[0.41284597736458734,-0.47138183661742633,1.2003213422713355]},{"frame_idx":5,"position_3d":[0.39586951800070774,-0.4612576752815476,1.1799737837041961]},{"frame_idx":6,"position_3d":[0.3815434411324014,-0.45027140381150704,1.1580925745127124]},{"frame_idx":7,"position_3d":[0.3700479054884707,-0.4385611809454236,1.1349528835982405]},{"frame_idx":8,"position_3d":[0.36152747409950325,-0.4262742695302679,1.1108457059999912]},{"frame_idx":9,"position_3d":[0.3560892963338847,-0.4135651846061175,1.0860742034635729]},{"frame_idx":10,"position_3d":[0.3538017604323219,-0.4005937502898765,1.0609498920061413]},{"frame_idx":11,"position_3d":[0.35469363348603633,-0.38752308989427303,1.035788724421739]},{"frame_idx":12,"position_3d":[0.3587536996739007,-0.3745175745575557,1.010907116991589]},{"frame_idx":13,"position_3d":[0.36593090130789735,-0.36174075618105944,0.9866179703657707]},{"frame_idx":14,"position_3d":[0.3761349809131694,-0.34935331066915143,0.9632267346559947]}]}

scenefun3d_test/scenefun3d/scenefun3d_466916_47331618/interval_011/cam_17/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"47331618","intrinsics":{"fx":1591.56,"fy":1591.56,"cx":956.282,"cy":705.295},"T_base_to_cam":[[0.9592408328298638,-0.2820679060038759,-0.017167441115610665,3.1191111516695518],[-0.12812799310546216,-0.37997537843806556,-0.9160796521938557,82.2423821133971],[0.25187346429236246,0.8809406382858254,-0.40062869318350947,37.17096958064094],[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":[-0.5851360389499507,0.3538987055222975,1.0134147837434853]},{"frame_idx":1,"position_3d":[-0.5732565896131281,0.36452563389539383,0.9886061448117295]},{"frame_idx":2,"position_3d":[-0.5584305704661077,0.37450518986960607,0.9651515267664695]},{"frame_idx":3,"position_3d":[-0.5408444273019198,0.3837118747382852,0.9433458850383111]},{"frame_idx":4,"position_3d":[-0.5207193160745722,0.39202990909736474,0.9234634382239136]},{"frame_idx":5,"position_3d":[-0.49830832173461026,0.3993546888385432,0.9057542196280326]},{"frame_idx":6,"position_3d":[-0.4738932755390208,0.4055941006066391,0.8904409329496391]},{"frame_idx":7,"position_3d":[-0.44778121085965306,0.41066968017847755,0.8777161516536899]},{"frame_idx":8,"position_3d":[-0.420300502060423,0.4145175991960229,0.8677398972480715]},{"frame_idx":9,"position_3d":[-0.39179673499915957,0.4170894678450148,0.8606376269202924]},{"frame_idx":10,"position_3d":[-0.362628361084929,0.4183529433849594,0.8564986558405576]},{"frame_idx":11,"position_3d":[-0.33316218954358756,0.4182921368778561,0.8553750339716817]},{"frame_idx":12,"position_3d":[-0.30376877457893847,0.41690781300081264,0.8572808915106063]},{"frame_idx":13,"position_3d":[-0.27481775543861886,0.4142173804297862,0.8621922611929752]},{"frame_idx":14,"position_3d":[-0.24667320798609083,0.41025467291538276,0.8700473796953896]}]}

scenefun3d_test/scenefun3d/scenefun3d_466916_47331618/interval_012/cam_6/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"47331618","intrinsics":{"fx":1591.56,"fy":1591.56,"cx":956.171,"cy":705.341},"T_base_to_cam":[[0.5535599897129183,-0.8318982217219233,-0.03894465926074492,5.747227047182926],[-0.3914576646573964,-0.2186383170248567,-0.8938446079210388,78.71729838723031],[0.7350729450673661,0.510041797330807,-0.4466823596310345,44.093730510713904],[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":[0.3317076117453057,-0.6310577951731489,1.7412926735635494]},{"frame_idx":1,"position_3d":[0.35856599474899287,-0.6265531765142279,1.729936909083439]},{"frame_idx":2,"position_3d":[0.38661725714571543,-0.6234696542302686,1.7213208611473294]},{"frame_idx":3,"position_3d":[0.41550863803511306,-0.6218460054030929,1.715552881557165]},{"frame_idx":4,"position_3d":[0.44487681153933195,-0.6217026483587657,1.712705506002952]},{"frame_idx":5,"position_3d":[0.47435245583674535,-0.6230413858952969,1.7128145418843699]},{"frame_idx":6,"position_3d":[0.503564897598146,-0.6258453826114111,1.715878618011946]},{"frame_idx":7,"position_3d":[0.532146773418931,-0.6300793766214864,1.721859201850558]},{"frame_idx":8,"position_3d":[0.5597386496270632,-0.6356901229942256,1.7306810840884195]},{"frame_idx":9,"position_3d":[0.5859935423700459,-0.6426070633385604,1.742233324437814]},{"frame_idx":10,"position_3d":[0.6105812811381924,-0.6507432131163589,1.756370646773582]},{"frame_idx":11,"position_3d":[0.6331926608503551,-0.6599962555234609,1.7729152660646856]},{"frame_idx":12,"position_3d":[0.6535433302872253,-0.6702498281828569,1.7916591241241278]},{"frame_idx":13,"position_3d":[0.671377367972901,-0.6813749864690937,1.812366506061371]},{"frame_idx":14,"position_3d":[0.6864705005359352,-0.6932318250617545,1.8347770045338516]}]}

scenefun3d_test/scenefun3d/scenefun3d_467139_47333298/interval_005/cam_26/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"47333298","intrinsics":{"fx":1596.53,"fy":1596.53,"cx":959.286,"cy":712.925},"T_base_to_cam":[[0.6692814457960163,-0.7416903612396126,-0.0442465180262519,-0.40634263969084716],[-0.026174108215602288,0.035978433920977826,-0.9990097438722567,-32.84896821220524],[0.7425478182395477,0.6697767988941143,0.004666614494553745,-0.686712989480007],[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":[-0.14116987393135355,0.15127133536090298,0.6898645396975522]},{"frame_idx":1,"position_3d":[-0.15921374064506794,0.15189971831333018,0.6783229764432874]},{"frame_idx":2,"position_3d":[-0.17725760735878232,0.1525281012657574,0.6667814131890226]},{"frame_idx":3,"position_3d":[-0.1953014740724967,0.1531564842181846,0.6552398499347578]},{"frame_idx":4,"position_3d":[-0.2133453407862111,0.1537848671706118,0.643698286680493]},{"frame_idx":5,"position_3d":[-0.23138920749992548,0.154413250123039,0.6321567234262282]},{"frame_idx":6,"position_3d":[-0.24943307421363986,0.1550416330754662,0.6206151601719634]},{"frame_idx":7,"position_3d":[-0.26747694092735425,0.1556700160278934,0.6090735969176986]},{"frame_idx":8,"position_3d":[-0.28552080764106863,0.1562983989803206,0.5975320336634338]},{"frame_idx":9,"position_3d":[-0.303564674354783,0.1569267819327478,0.585990470409169]},{"frame_idx":10,"position_3d":[-0.3216085410684974,0.15755516488517501,0.5744489071549042]},{"frame_idx":11,"position_3d":[-0.3396524077822118,0.15818354783760222,0.5629073439006393]},{"frame_idx":12,"position_3d":[-0.35769627449592617,0.15881193079002942,0.5513657806463745]},{"frame_idx":13,"position_3d":[-0.37574014120964055,0.15944031374245662,0.5398242173921097]},{"frame_idx":14,"position_3d":[-0.39378400792335494,0.16006869669488383,0.5282826541378449]}]}

scenefun3d_test/scenefun3d/scenefun3d_468282_47331281/interval_005/cam_17/trajectory.json

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+{"camera_info":{"cam_id":"47331281","intrinsics":{"fx":1603.76,"fy":1603.76,"cx":719.993,"cy":962.587},"T_base_to_cam":[[0.11525775037536878,0.9932199736002314,-0.01515701223740551,-0.7321694353879324],[0.526765174769876,-0.07405047557543676,-0.8467791788398635,-10.64894143766683],[-0.8421603776170375,0.08961367701755868,-0.5317285842075086,-5.856088033015411],[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":[0.3348100705169652,0.11166993767485067,0.9805224890367406]},{"frame_idx":1,"position_3d":[0.3344852773975922,0.0935246695568536,0.9691283050894368]},{"frame_idx":2,"position_3d":[0.3341604842782192,0.07537940143885652,0.9577341211421331]},{"frame_idx":3,"position_3d":[0.3338356911588462,0.05723413332085944,0.9463399371948293]},{"frame_idx":4,"position_3d":[0.3335108980394732,0.039088865202862366,0.9349457532475256]},{"frame_idx":5,"position_3d":[0.3331861049201002,0.020943597084865293,0.9235515693002219]},{"frame_idx":6,"position_3d":[0.3328613118007272,0.00279832896686822,0.9121573853529181]},{"frame_idx":7,"position_3d":[0.3325365186813542,-0.015346939151128853,0.9007632014056144]},{"frame_idx":8,"position_3d":[0.3322117255619812,-0.033492207269125926,0.8893690174583107]},{"frame_idx":9,"position_3d":[0.3318869324426082,-0.051637475387123,0.8779748335110069]},{"frame_idx":10,"position_3d":[0.3315621393232352,-0.06978274350512008,0.8665806495637032]},{"frame_idx":11,"position_3d":[0.3312373462038622,-0.08792801162311716,0.8551864656163994]},{"frame_idx":12,"position_3d":[0.3309125530844892,-0.10607327974111423,0.8437922816690957]},{"frame_idx":13,"position_3d":[0.3305877599651162,-0.12421854785911131,0.832398097721792]},{"frame_idx":14,"position_3d":[0.3302629668457432,-0.14236381597710837,0.8210039137744882]}]}