Add files using upload-large-folder tool

afun_test/rh20t_human/RH20T_task_0013_user_0005_scene_0002_cfg_0001_human/interval_000/cam_3/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"035622060973","intrinsics":{"fx":459.9827073606861,"fy":446.8855753326341,"cx":320.0,"cy":180.0},"T_base_to_cam":[[-0.9612294657574677,0.2501824174441109,0.11595978682902768,0.36918384177347696],[0.16472010731307926,0.8582072411175982,-0.4861559600993159,-0.11873535621470696],[-0.22114520208763438,-0.4482065252705949,-0.8661441625378992,1.2412721348571312],[0.0,0.0,0.0,1.0]],"extrinsic_source":"scene.extrinsics_base_aligned","intrinsic_source":"scene.intrinsics","distortion":null},"trajectory_3d":[{"frame_idx":0,"position_3d":[-0.21145964159658256,0.04329992973902565,1.0324965049006078]},{"frame_idx":1,"position_3d":[-0.21145964159658256,0.04329992973902565,1.0324965049006078]},{"frame_idx":2,"position_3d":[-0.21145964159658256,0.04329992973902565,1.0324965049006078]},{"frame_idx":3,"position_3d":[-0.21145964159658256,0.04329992973902565,1.0324965049006078]},{"frame_idx":4,"position_3d":[-0.21145964159658256,0.04329992973902565,1.0324965049006078]},{"frame_idx":5,"position_3d":[-0.21145964159658256,0.04329992973902565,1.0324965049006078]},{"frame_idx":6,"position_3d":[-0.21127597519323052,0.043095504061198185,1.0324278775902842]},{"frame_idx":7,"position_3d":[-0.21127597519323052,0.043095504061198185,1.0324278775902842]},{"frame_idx":8,"position_3d":[-0.21127597519323052,0.043095504061198185,1.0324278775902842]},{"frame_idx":9,"position_3d":[-0.21127597519323052,0.043095504061198185,1.0324278775902842]},{"frame_idx":10,"position_3d":[-0.21127597519323052,0.043095504061198185,1.0324278775902842]},{"frame_idx":11,"position_3d":[-0.21127597519323052,0.043095504061198185,1.0324278775902842]},{"frame_idx":12,"position_3d":[-0.21127597519323052,0.043095504061198185,1.0324278775902842]},{"frame_idx":13,"position_3d":[-0.21127597519323052,0.043095504061198185,1.0324278775902842]},{"frame_idx":14,"position_3d":[-0.21127597519323052,0.043095504061198185,1.0324278775902842]},{"frame_idx":15,"position_3d":[-0.21127597519323052,0.043095504061198185,1.0324278775902842]},{"frame_idx":16,"position_3d":[-0.21127597519323052,0.043095504061198185,1.0324278775902842]},{"frame_idx":17,"position_3d":[-0.21127597519323052,0.043095504061198185,1.0324278775902842]},{"frame_idx":18,"position_3d":[-0.21127597519323052,0.043095504061198185,1.0324278775902842]},{"frame_idx":19,"position_3d":[-0.21127597519323052,0.043095504061198185,1.0324278775902842]},{"frame_idx":20,"position_3d":[-0.21127597519323052,0.043095504061198185,1.0324278775902842]},{"frame_idx":21,"position_3d":[-0.21127597519323052,0.043095504061198185,1.0324278775902842]},{"frame_idx":22,"position_3d":[-0.21127597519323052,0.043095504061198185,1.0324278775902842]},{"frame_idx":23,"position_3d":[-0.21127597519323052,0.043095504061198185,1.0324278775902842]},{"frame_idx":24,"position_3d":[-0.21127597519323052,0.043095504061198185,1.0324278775902842]},{"frame_idx":25,"position_3d":[-0.21127597519323052,0.043095504061198185,1.0324278775902842]},{"frame_idx":26,"position_3d":[-0.21127597519323052,0.043095504061198185,1.0324278775902842]},{"frame_idx":27,"position_3d":[-0.21127597519323052,0.043095504061198185,1.0324278775902842]},{"frame_idx":28,"position_3d":[-0.21127597519323052,0.043095504061198185,1.0324278775902842]},{"frame_idx":29,"position_3d":[-0.21127597519323052,0.043095504061198185,1.0324278775902842]},{"frame_idx":30,"position_3d":[-0.21127597519323052,0.043095504061198185,1.0324278775902842]},{"frame_idx":31,"position_3d":[-0.21127597519323052,0.043095504061198185,1.0324278775902842]},{"frame_idx":32,"position_3d":[-0.21127597519323052,0.043095504061198185,1.0324278775902842]},{"frame_idx":33,"position_3d":[-0.21127597519323052,0.043095504061198185,1.0324278775902842]},{"frame_idx":34,"position_3d":[-0.21127597519323052,0.043095504061198185,1.0324278775902842]},{"frame_idx":35,"position_3d":[-0.21127597519323052,0.043095504061198185,1.0324278775902842]},{"frame_idx":36,"position_3d":[-0.21127597519323052,0.043095504061198185,1.0324278775902842]},{"frame_idx":37,"position_3d":[-0.21127597519323052,0.043095504061198185,1.0324278775902842]},{"frame_idx":38,"position_3d":[-0.21127597519323052,0.043095504061198185,1.0324278775902842]},{"frame_idx":39,"position_3d":[-0.21127597519323052,0.043095504061198185,1.0324278775902842]},{"frame_idx":40,"position_3d":[-0.21127597519323052,0.043095504061198185,1.0324278775902842]},{"frame_idx":41,"position_3d":[-0.21127597519323052,0.043095504061198185,1.0324278775902842]},{"frame_idx":42,"position_3d":[-0.21127597519323052,0.043095504061198185,1.0324278775902842]},{"frame_idx":43,"position_3d":[-0.21127597519323052,0.043095504061198185,1.0324278775902842]},{"frame_idx":44,"position_3d":[-0.21127597519323052,0.043095504061198185,1.0324278775902842]},{"frame_idx":45,"position_3d":[-0.20072769042032035,0.032110078039562416,1.0290891430563636]},{"frame_idx":46,"position_3d":[-0.1825958925955694,0.01608444231200503,1.0256307413218366]},{"frame_idx":47,"position_3d":[-0.15572777315239048,-0.0026730183829116703,1.0244883263123084]},{"frame_idx":48,"position_3d":[-0.09240587821076435,-0.029765772433074326,1.0354549297005529]},{"frame_idx":49,"position_3d":[-0.060892209307830625,-0.035611658417835396,1.0470082658090807]},{"frame_idx":50,"position_3d":[-0.04573064285050957,-0.03661012662269192,1.054014511320473]},{"frame_idx":51,"position_3d":[-0.026476819759509246,-0.03603693380710199,1.064381256646542]},{"frame_idx":52,"position_3d":[-0.024265741992169687,-0.0358296387484366,1.0656846657841965]},{"frame_idx":53,"position_3d":[-0.02097350082811772,-0.035463699476596874,1.0676711276385038]},{"frame_idx":54,"position_3d":[-0.011816181963681144,-0.03406992941922636,1.073496462835922]},{"frame_idx":55,"position_3d":[-0.009700704570880736,-0.03366567841030227,1.0749078621546924]},{"frame_idx":56,"position_3d":[-0.008648866026335827,-0.033452705670854205,1.0756191824898222]}],"trajectory_2d":[],"motion_3d":null,"motion_2d":null,"raw_trajectory_3d":[],"raw_trajectory_2d":[{"frame_idx":0,"position_pixel":[320,180]}],"spline_params":{"ctrl":[[0.05023644273886704,-0.05764542939732371,-0.020152399521456754],[0.13628223994943173,-0.09092522368556107,-0.002428526367839856],[0.20077699418260586,-0.07765419440366833,0.04135641823794156]]}}

afun_test/rh20t_human/RH20T_task_0028_user_0014_scene_0009_cfg_0001_human/interval_000/cam_8/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"750612070853","intrinsics":{"fx":459.6984179879415,"fy":459.32523478971007,"cx":320.0,"cy":180.0},"T_base_to_cam":[[-0.6520465161604511,0.7338740880213278,-0.19043151969640568,0.32887333819572334],[0.6346046910865577,0.39083863759519516,-0.6667248648533114,-0.34692226782535096],[-0.4148641064420414,-0.5555843610952301,-0.7205649109500483,0.7474296971807052],[0.0,0.0,0.0,1.0]],"extrinsic_source":"scene.extrinsics_base_aligned","intrinsic_source":"scene.intrinsics","distortion":null},"trajectory_3d":[{"frame_idx":0,"position_3d":[0.028853900936653163,-0.055490770790122365,0.43996420234841727]},{"frame_idx":1,"position_3d":[0.028821725612700286,-0.05551828063888612,0.43998405800466195]},{"frame_idx":2,"position_3d":[0.028821725612700286,-0.05551828063888612,0.43998405800466195]},{"frame_idx":3,"position_3d":[0.028821725612700286,-0.05551828063888612,0.43998405800466195]},{"frame_idx":4,"position_3d":[0.028821725612700286,-0.05551828063888612,0.43998405800466195]},{"frame_idx":5,"position_3d":[0.028821725612700286,-0.05551828063888612,0.43998405800466195]},{"frame_idx":6,"position_3d":[0.028821725612700286,-0.05551828063888612,0.43998405800466195]},{"frame_idx":7,"position_3d":[0.028821725612700286,-0.05551828063888612,0.43998405800466195]},{"frame_idx":8,"position_3d":[0.028821725612700286,-0.05551828063888612,0.43998405800466195]},{"frame_idx":9,"position_3d":[0.028821725612700286,-0.05551828063888612,0.43998405800466195]},{"frame_idx":10,"position_3d":[0.028821725612700286,-0.05551828063888612,0.43998405800466195]},{"frame_idx":11,"position_3d":[0.028821725612700286,-0.05551828063888612,0.43998405800466195]},{"frame_idx":12,"position_3d":[0.028821725612700286,-0.05551828063888612,0.43998405800466195]},{"frame_idx":13,"position_3d":[0.028821725612700286,-0.05551828063888612,0.43998405800466195]},{"frame_idx":14,"position_3d":[0.028821725612700286,-0.05551828063888612,0.43998405800466195]},{"frame_idx":15,"position_3d":[0.028821725612700286,-0.05551828063888612,0.43998405800466195]},{"frame_idx":16,"position_3d":[0.028821725612700286,-0.05551828063888612,0.43998405800466195]},{"frame_idx":17,"position_3d":[0.028821725612700286,-0.05551828063888612,0.43998405800466195]},{"frame_idx":18,"position_3d":[0.028821725612700286,-0.05551828063888612,0.43998405800466195]},{"frame_idx":19,"position_3d":[0.028821725612700286,-0.05551828063888612,0.43998405800466195]},{"frame_idx":20,"position_3d":[0.028821725612700286,-0.05551828063888612,0.43998405800466195]},{"frame_idx":21,"position_3d":[0.028821725612700286,-0.05551828063888612,0.43998405800466195]},{"frame_idx":22,"position_3d":[0.028821725612700286,-0.05551828063888612,0.43998405800466195]},{"frame_idx":23,"position_3d":[0.028821725612700286,-0.05551828063888612,0.43998405800466195]},{"frame_idx":24,"position_3d":[0.028821725612700286,-0.05551828063888612,0.43998405800466195]},{"frame_idx":25,"position_3d":[0.028821725612700286,-0.05551828063888612,0.43998405800466195]},{"frame_idx":26,"position_3d":[0.02878188742131322,-0.055552333445456854,0.4400086475390422]},{"frame_idx":27,"position_3d":[0.02878188742131322,-0.055552333445456854,0.4400086475390422]},{"frame_idx":28,"position_3d":[0.02878188742131322,-0.055552333445456854,0.4400086475390422]},{"frame_idx":29,"position_3d":[0.02875788124881727,-0.05557284870121649,0.44002346769668366]},{"frame_idx":30,"position_3d":[0.02875788124881727,-0.05557284870121649,0.44002346769668366]},{"frame_idx":31,"position_3d":[0.02875788124881727,-0.05557284870121649,0.44002346769668366]},{"frame_idx":32,"position_3d":[0.02875788124881727,-0.05557284870121649,0.44002346769668366]},{"frame_idx":33,"position_3d":[0.02875788124881727,-0.05557284870121649,0.44002346769668366]},{"frame_idx":34,"position_3d":[0.02875788124881727,-0.05557284870121649,0.44002346769668366]},{"frame_idx":35,"position_3d":[0.02875788124881727,-0.05557284870121649,0.44002346769668366]},{"frame_idx":36,"position_3d":[0.02875788124881727,-0.05557284870121649,0.44002346769668366]},{"frame_idx":37,"position_3d":[0.02875788124881727,-0.05557284870121649,0.44002346769668366]},{"frame_idx":38,"position_3d":[0.028517773747327065,-0.05577784638628705,0.44017180931361216]},{"frame_idx":39,"position_3d":[0.028517773747327065,-0.05577784638628705,0.44017180931361216]},{"frame_idx":40,"position_3d":[0.028517773747327065,-0.05577784638628705,0.44017180931361216]},{"frame_idx":41,"position_3d":[0.024085287143526903,-0.0594992528898581,0.44294652418246633]},{"frame_idx":42,"position_3d":[0.022343588694720477,-0.060929148241209145,0.44405548333392286]},{"frame_idx":43,"position_3d":[0.020160985292028893,-0.0626955000526852,0.4454598746164509]},{"frame_idx":44,"position_3d":[0.014899147806375327,-0.06683845654726886,0.4489120744464707]},{"frame_idx":45,"position_3d":[0.008721567059758165,-0.07149750287067812,0.45308315981645775]},{"frame_idx":46,"position_3d":[0.0005022142561603507,-0.07736008360287779,0.4588266478560449]},{"frame_idx":47,"position_3d":[-0.018564021638084995,-0.08952004946645226,0.47297903248497153]},{"frame_idx":48,"position_3d":[-0.028951045775733528,-0.09531641699522403,0.4811662843085418]},{"frame_idx":49,"position_3d":[-0.039358089312664275,-0.10054582847176183,0.4897024391698791]},{"frame_idx":50,"position_3d":[-0.05405488494679105,-0.10694729837621061,0.5023238685101563]},{"frame_idx":51,"position_3d":[-0.057664737704277345,-0.10834281629009039,0.5055258530989024]},{"frame_idx":52,"position_3d":[-0.06284495922419811,-0.11022272249039097,0.5101914720509134]}],"trajectory_2d":[],"motion_3d":null,"motion_2d":null,"raw_trajectory_3d":[],"raw_trajectory_2d":[{"frame_idx":0,"position_pixel":[320,180]}],"spline_params":{"ctrl":[[-0.024922628026715313,-0.021351935486161024,0.015355106296342569],[-0.05120867769925348,-0.038092596733392055,0.034880359210957834],[-0.07730068997208189,-0.049230092810476696,0.05741887963317466]]}}

afun_test/rh20t_human/RH20T_task_0124_user_0014_scene_0005_cfg_0001_human/interval_000/cam_3/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"038522062547","intrinsics":{"fx":462.73068764371243,"fy":451.86729783713605,"cx":320.0,"cy":180.0},"T_base_to_cam":[[0.9992859794911305,0.02987640965578765,-0.02312858271772255,-0.3525274025859381],[0.018076962654339192,-0.9155950518452816,-0.4016950640194988,-0.03224591921794649],[-0.03317762218189546,0.40099015097944135,-0.9154813729420384,0.9098840662873885],[0.0,0.0,0.0,1.0]],"extrinsic_source":"scene.extrinsics_base_aligned","intrinsic_source":"scene.intrinsics","distortion":null},"trajectory_3d":[{"frame_idx":0,"position_3d":[0.1888607450988406,-0.03317525613699819,0.6239998480799341]},{"frame_idx":1,"position_3d":[0.1888607450988406,-0.03317525613699819,0.6239998480799341]},{"frame_idx":2,"position_3d":[0.1888607450988406,-0.03317525613699819,0.6239998480799341]},{"frame_idx":3,"position_3d":[0.1888607450988406,-0.03317525613699819,0.6239998480799341]},{"frame_idx":4,"position_3d":[0.1888607450988406,-0.03317525613699819,0.6239998480799341]},{"frame_idx":5,"position_3d":[0.1888607450988406,-0.03317525613699819,0.6239998480799341]},{"frame_idx":6,"position_3d":[0.188784031410399,-0.033004824592694035,0.6239552121659724]},{"frame_idx":7,"position_3d":[0.188784031410399,-0.033004824592694035,0.6239552121659724]},{"frame_idx":8,"position_3d":[0.188784031410399,-0.033004824592694035,0.6239552121659724]},{"frame_idx":9,"position_3d":[0.188784031410399,-0.033004824592694035,0.6239552121659724]},{"frame_idx":10,"position_3d":[0.188784031410399,-0.033004824592694035,0.6239552121659724]},{"frame_idx":11,"position_3d":[0.188784031410399,-0.033004824592694035,0.6239552121659724]},{"frame_idx":12,"position_3d":[0.188784031410399,-0.033004824592694035,0.6239552121659724]},{"frame_idx":13,"position_3d":[0.188784031410399,-0.033004824592694035,0.6239552121659724]},{"frame_idx":14,"position_3d":[0.188784031410399,-0.033004824592694035,0.6239552121659724]},{"frame_idx":15,"position_3d":[0.188784031410399,-0.033004824592694035,0.6239552121659724]},{"frame_idx":16,"position_3d":[0.188784031410399,-0.033004824592694035,0.6239552121659724]},{"frame_idx":17,"position_3d":[0.188784031410399,-0.033004824592694035,0.6239552121659724]},{"frame_idx":18,"position_3d":[0.188784031410399,-0.033004824592694035,0.6239552121659724]},{"frame_idx":19,"position_3d":[0.188784031410399,-0.033004824592694035,0.6239552121659724]},{"frame_idx":20,"position_3d":[0.188784031410399,-0.033004824592694035,0.6239552121659724]},{"frame_idx":21,"position_3d":[0.188784031410399,-0.033004824592694035,0.6239552121659724]},{"frame_idx":22,"position_3d":[0.188784031410399,-0.033004824592694035,0.6239552121659724]},{"frame_idx":23,"position_3d":[0.18875018778355176,-0.03292961644742543,0.6239355866488078]},{"frame_idx":24,"position_3d":[0.18875018778355176,-0.03292961644742543,0.6239355866488078]},{"frame_idx":25,"position_3d":[0.18875018778355176,-0.03292961644742543,0.6239355866488078]},{"frame_idx":26,"position_3d":[0.18875018778355176,-0.03292961644742543,0.6239355866488078]},{"frame_idx":27,"position_3d":[0.18875018778355176,-0.03292961644742543,0.6239355866488078]},{"frame_idx":28,"position_3d":[0.18875018778355176,-0.03292961644742543,0.6239355866488078]},{"frame_idx":29,"position_3d":[0.18875018778355176,-0.03292961644742543,0.6239355866488078]},{"frame_idx":30,"position_3d":[0.18875018778355176,-0.03292961644742543,0.6239355866488078]},{"frame_idx":31,"position_3d":[0.18875018778355176,-0.03292961644742543,0.6239355866488078]},{"frame_idx":32,"position_3d":[0.18875018778355176,-0.03292961644742543,0.6239355866488078]},{"frame_idx":33,"position_3d":[0.18875018778355176,-0.03292961644742543,0.6239355866488078]},{"frame_idx":34,"position_3d":[0.18875018778355176,-0.03292961644742543,0.6239355866488078]},{"frame_idx":35,"position_3d":[0.18875018778355176,-0.03292961644742543,0.6239355866488078]},{"frame_idx":36,"position_3d":[0.18875018778355176,-0.03292961644742543,0.6239355866488078]},{"frame_idx":37,"position_3d":[0.18875018778355176,-0.03292961644742543,0.6239355866488078]},{"frame_idx":38,"position_3d":[0.18875018778355176,-0.03292961644742543,0.6239355866488078]},{"frame_idx":39,"position_3d":[0.18875018778355176,-0.03292961644742543,0.6239355866488078]},{"frame_idx":40,"position_3d":[0.18875018778355176,-0.03292961644742543,0.6239355866488078]},{"frame_idx":41,"position_3d":[0.18875018778355176,-0.03292961644742543,0.6239355866488078]},{"frame_idx":42,"position_3d":[0.18875018778355176,-0.03292961644742543,0.6239355866488078]},{"frame_idx":43,"position_3d":[0.18875018778355176,-0.03292961644742543,0.6239355866488078]},{"frame_idx":44,"position_3d":[0.18875018778355176,-0.03292961644742543,0.6239355866488078]},{"frame_idx":45,"position_3d":[0.18875018778355176,-0.03292961644742543,0.6239355866488078]},{"frame_idx":46,"position_3d":[0.18875018778355176,-0.03292961644742543,0.6239355866488078]},{"frame_idx":47,"position_3d":[0.18875018778355176,-0.03292961644742543,0.6239355866488078]},{"frame_idx":48,"position_3d":[0.18875018778355176,-0.03292961644742543,0.6239355866488078]},{"frame_idx":49,"position_3d":[0.18875018778355176,-0.03292961644742543,0.6239355866488078]},{"frame_idx":50,"position_3d":[0.18875018778355176,-0.03292961644742543,0.6239355866488078]},{"frame_idx":51,"position_3d":[0.18875018778355176,-0.03292961644742543,0.6239355866488078]},{"frame_idx":52,"position_3d":[0.18875018778355176,-0.03292961644742543,0.6239355866488078]},{"frame_idx":53,"position_3d":[0.18875018778355176,-0.03292961644742543,0.6239355866488078]},{"frame_idx":54,"position_3d":[0.18875018778355176,-0.03292961644742543,0.6239355866488078]},{"frame_idx":55,"position_3d":[0.18875018778355176,-0.03292961644742543,0.6239355866488078]},{"frame_idx":56,"position_3d":[0.18875018778355176,-0.03292961644742543,0.6239355866488078]},{"frame_idx":57,"position_3d":[0.18866896476145462,-0.03274907268426627,0.6238886523035241]},{"frame_idx":58,"position_3d":[0.18866896476145462,-0.03274907268426627,0.6238886523035241]},{"frame_idx":59,"position_3d":[0.18763362767138522,-0.030441775538339544,0.6233109202235828]},{"frame_idx":60,"position_3d":[0.18648401766875167,-0.027866905872270184,0.6227140916306072]},{"frame_idx":61,"position_3d":[0.18190013270272906,-0.01746410196698678,0.6208046430951547]},{"frame_idx":62,"position_3d":[0.1665165734055,0.01911288402915122,0.6201577988229128]},{"frame_idx":63,"position_3d":[0.15436594188592617,0.050096399616038505,0.6268900274207764]},{"frame_idx":64,"position_3d":[0.1458687759471517,0.07321875154690352,0.636632369056641]},{"frame_idx":65,"position_3d":[0.1312625930486424,0.11790986764427286,0.6704889510957402]},{"frame_idx":66,"position_3d":[0.12847098315246902,0.1279264445010406,0.6820633065110426]},{"frame_idx":67,"position_3d":[0.12650210490883282,0.13568528666809768,0.6926288664850923]},{"frame_idx":68,"position_3d":[0.12285269088574466,0.15527174864763807,0.7302224753880708]},{"frame_idx":69,"position_3d":[0.12285269088574466,0.15527174864763807,0.7302224753880708]}],"trajectory_2d":[],"motion_3d":null,"motion_2d":null,"raw_trajectory_3d":[],"raw_trajectory_2d":[{"frame_idx":0,"position_pixel":[320,180]}],"spline_params":{"ctrl":[[-0.026873956088588447,0.05940423764698693,-0.01667634172271104],[-0.052467640712729774,0.12828815272822705,0.010034013843766676],[-0.0618848282645002,0.16655941954398967,0.06458490801109618]]}}

robomind2_test/robomind2/robomind2_ark_close_drawer_sideways_0808_135032/interval_000/cam_2/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"camera_top","intrinsics":{"fx":404.7713603670635,"fy":405.1238916790674,"cx":320.0,"cy":240.0},"T_base_to_cam":[[1.0,0.0,0.0,0.0],[0.0,1.0,0.0,0.0],[0.0,0.0,1.0,0.0],[0.0,0.0,0.0,1.0]],"extrinsic_source":"identity (static camera, no extrinsics available)","intrinsic_source":"RoboMIND V1.x published intrinsics or resolution estimate","distortion":null,"intrinsics_dataset":{"fx":455.47412109375,"fy":455.47412109375,"cx":327.1614074707031,"cy":236.7096710205078},"intrinsics_source":"da3_video_obs_frame"},"trajectory_3d":[{"frame_idx":0,"position_3d":[-0.02187585176246583,0.03771755699221349,0.32877559652349314]},{"frame_idx":4,"position_3d":[-0.02187872223026113,0.036916322095801354,0.3298394665659442]},{"frame_idx":8,"position_3d":[-0.02187872223026113,0.036916322095801354,0.3298394665659442]},{"frame_idx":12,"position_3d":[-0.02187872223026113,0.036916322095801354,0.3298394665659442]},{"frame_idx":16,"position_3d":[-0.02187872223026113,0.036916322095801354,0.3298394665659442]},{"frame_idx":20,"position_3d":[-0.02187872223026113,0.036916322095801354,0.3298394665659442]},{"frame_idx":24,"position_3d":[-0.02187872223026113,0.036916322095801354,0.3298394665659442]},{"frame_idx":28,"position_3d":[-0.02187872223026113,0.036916322095801354,0.3298394665659442]},{"frame_idx":32,"position_3d":[-0.02187872223026113,0.036916322095801354,0.3298394665659442]},{"frame_idx":36,"position_3d":[-0.02187872223026113,0.036916322095801354,0.3298394665659442]},{"frame_idx":40,"position_3d":[-0.02187872223026113,0.036916322095801354,0.3298394665659442]},{"frame_idx":44,"position_3d":[-0.02187872223026113,0.036916322095801354,0.3298394665659442]},{"frame_idx":48,"position_3d":[-0.02187872223026113,0.036916322095801354,0.3298394665659442]},{"frame_idx":52,"position_3d":[-0.02187872223026113,0.036916322095801354,0.3298394665659442]},{"frame_idx":56,"position_3d":[-0.02187872223026113,0.036916322095801354,0.3298394665659442]},{"frame_idx":60,"position_3d":[-0.02187872223026113,0.036916322095801354,0.3298394665659442]},{"frame_idx":64,"position_3d":[-0.02187872223026113,0.036916322095801354,0.3298394665659442]},{"frame_idx":68,"position_3d":[-0.02187872223026113,0.036916322095801354,0.3298394665659442]},{"frame_idx":72,"position_3d":[-0.02187872223026113,0.036916322095801354,0.3298394665659442]},{"frame_idx":76,"position_3d":[-0.02187872223026113,0.036916322095801354,0.3298394665659442]},{"frame_idx":80,"position_3d":[-0.02187872223026113,0.036916322095801354,0.3298394665659442]},{"frame_idx":84,"position_3d":[-0.02187872223026113,0.036916322095801354,0.3298394665659442]},{"frame_idx":88,"position_3d":[-0.021882861044291567,0.03576105317539314,0.33137341872017595]},{"frame_idx":92,"position_3d":[-0.022025850393536568,-0.004151624687742099,0.3843689915325054]},{"frame_idx":96,"position_3d":[-0.022128185908192308,-0.03271658041331928,0.4222971956040745]},{"frame_idx":100,"position_3d":[-0.022134304666507395,-0.034424512023904265,0.4245649666200313]},{"frame_idx":104,"position_3d":[-0.022134304666507395,-0.034424512023904265,0.4245649666200313]},{"frame_idx":108,"position_3d":[-0.022134304666507395,-0.034424512023904265,0.4245649666200313]},{"frame_idx":112,"position_3d":[-0.022134304666507395,-0.034424512023904265,0.4245649666200313]},{"frame_idx":116,"position_3d":[-0.022134304666507395,-0.034424512023904265,0.4245649666200313]},{"frame_idx":120,"position_3d":[-0.022134304666507395,-0.034424512023904265,0.4245649666200313]},{"frame_idx":124,"position_3d":[-0.022134304666507395,-0.034424512023904265,0.4245649666200313]},{"frame_idx":128,"position_3d":[-0.022134304666507395,-0.034424512023904265,0.4245649666200313]},{"frame_idx":132,"position_3d":[-0.022134304666507395,-0.034424512023904265,0.4245649666200313]},{"frame_idx":136,"position_3d":[-0.022134304666507395,-0.034424512023904265,0.4245649666200313]},{"frame_idx":140,"position_3d":[-0.022134304666507395,-0.034424512023904265,0.4245649666200313]},{"frame_idx":144,"position_3d":[-0.022134304666507395,-0.034424512023904265,0.4245649666200313]},{"frame_idx":148,"position_3d":[-0.022134304666507395,-0.034424512023904265,0.4245649666200313]},{"frame_idx":152,"position_3d":[-0.022134304666507395,-0.034424512023904265,0.4245649666200313]},{"frame_idx":156,"position_3d":[-0.022134304666507395,-0.034424512023904265,0.4245649666200313]},{"frame_idx":160,"position_3d":[-0.022134304666507395,-0.034424512023904265,0.4245649666200313]},{"frame_idx":164,"position_3d":[-0.022134304666507395,-0.034424512023904265,0.4245649666200313]},{"frame_idx":168,"position_3d":[-0.022134304666507395,-0.034424512023904265,0.4245649666200313]},{"frame_idx":172,"position_3d":[-0.022134304666507395,-0.034424512023904265,0.4245649666200313]},{"frame_idx":176,"position_3d":[-0.022134304666507395,-0.034424512023904265,0.4245649666200313]},{"frame_idx":180,"position_3d":[-0.022134304666507395,-0.034424512023904265,0.4245649666200313]},{"frame_idx":184,"position_3d":[-0.022134304666507395,-0.034424512023904265,0.4245649666200313]},{"frame_idx":188,"position_3d":[-0.022134304666507395,-0.034424512023904265,0.4245649666200313]},{"frame_idx":192,"position_3d":[-0.022134304666507395,-0.034424512023904265,0.4245649666200313]},{"frame_idx":196,"position_3d":[-0.022134304666507395,-0.034424512023904265,0.4245649666200313]},{"frame_idx":200,"position_3d":[-0.022134304666507395,-0.034424512023904265,0.4245649666200313]},{"frame_idx":204,"position_3d":[-0.022134304666507395,-0.034424512023904265,0.4245649666200313]},{"frame_idx":208,"position_3d":[-0.022134304666507395,-0.034424512023904265,0.4245649666200313]},{"frame_idx":212,"position_3d":[-0.022134304666507395,-0.034424512023904265,0.4245649666200313]},{"frame_idx":216,"position_3d":[-0.022134304666507395,-0.034424512023904265,0.4245649666200313]},{"frame_idx":220,"position_3d":[-0.022134304666507395,-0.034424512023904265,0.4245649666200313]},{"frame_idx":224,"position_3d":[-0.022134304666507395,-0.034424512023904265,0.4245649666200313]}],"trajectory_2d":[{"frame_idx":0,"position_pixel":[293.0675926963187,286.47633107471427]},{"frame_idx":4,"position_pixel":[293.1509383869763,285.3423122152028]},{"frame_idx":8,"position_pixel":[293.1509383869763,285.3423122152028]},{"frame_idx":12,"position_pixel":[293.1509383869763,285.3423122152028]},{"frame_idx":16,"position_pixel":[293.1509383869763,285.3423122152028]},{"frame_idx":20,"position_pixel":[293.1509383869763,285.3423122152028]},{"frame_idx":24,"position_pixel":[293.1509383869763,285.3423122152028]},{"frame_idx":28,"position_pixel":[293.1509383869763,285.3423122152028]},{"frame_idx":32,"position_pixel":[293.1509383869763,285.3423122152028]},{"frame_idx":36,"position_pixel":[293.1509383869763,285.3423122152028]},{"frame_idx":40,"position_pixel":[293.1509383869763,285.3423122152028]},{"frame_idx":44,"position_pixel":[293.1509383869763,285.3423122152028]},{"frame_idx":48,"position_pixel":[293.1509383869763,285.3423122152028]},{"frame_idx":52,"position_pixel":[293.1509383869763,285.3423122152028]},{"frame_idx":56,"position_pixel":[293.1509383869763,285.3423122152028]},{"frame_idx":60,"position_pixel":[293.1509383869763,285.3423122152028]},{"frame_idx":64,"position_pixel":[293.1509383869763,285.3423122152028]},{"frame_idx":68,"position_pixel":[293.1509383869763,285.3423122152028]},{"frame_idx":72,"position_pixel":[293.1509383869763,285.3423122152028]},{"frame_idx":76,"position_pixel":[293.1509383869763,285.3423122152028]},{"frame_idx":80,"position_pixel":[293.1509383869763,285.3423122152028]},{"frame_idx":84,"position_pixel":[293.1509383869763,285.3423122152028]},{"frame_idx":88,"position_pixel":[293.2701691408116,283.7200336976674]},{"frame_idx":92,"position_pixel":[296.80501387095046,235.6241986545714]},{"frame_idx":96,"position_pixel":[298.7901600916341,208.61388491932678]},{"frame_idx":100,"position_pixel":[298.89761681947846,207.15180625640687]},{"frame_idx":104,"position_pixel":[298.89761681947846,207.15180625640687]},{"frame_idx":108,"position_pixel":[298.89761681947846,207.15180625640687]},{"frame_idx":112,"position_pixel":[298.89761681947846,207.15180625640687]},{"frame_idx":116,"position_pixel":[298.89761681947846,207.15180625640687]},{"frame_idx":120,"position_pixel":[298.89761681947846,207.15180625640687]},{"frame_idx":124,"position_pixel":[298.89761681947846,207.15180625640687]},{"frame_idx":128,"position_pixel":[298.89761681947846,207.15180625640687]},{"frame_idx":132,"position_pixel":[298.89761681947846,207.15180625640687]},{"frame_idx":136,"position_pixel":[298.89761681947846,207.15180625640687]},{"frame_idx":140,"position_pixel":[298.89761681947846,207.15180625640687]},{"frame_idx":144,"position_pixel":[298.89761681947846,207.15180625640687]},{"frame_idx":148,"position_pixel":[298.89761681947846,207.15180625640687]},{"frame_idx":152,"position_pixel":[298.89761681947846,207.15180625640687]},{"frame_idx":156,"position_pixel":[298.89761681947846,207.15180625640687]},{"frame_idx":160,"position_pixel":[298.89761681947846,207.15180625640687]},{"frame_idx":164,"position_pixel":[298.89761681947846,207.15180625640687]},{"frame_idx":168,"position_pixel":[298.89761681947846,207.15180625640687]},{"frame_idx":172,"position_pixel":[298.89761681947846,207.15180625640687]},{"frame_idx":176,"position_pixel":[298.89761681947846,207.15180625640687]},{"frame_idx":180,"position_pixel":[298.89761681947846,207.15180625640687]},{"frame_idx":184,"position_pixel":[298.89761681947846,207.15180625640687]},{"frame_idx":188,"position_pixel":[298.89761681947846,207.15180625640687]},{"frame_idx":192,"position_pixel":[298.89761681947846,207.15180625640687]},{"frame_idx":196,"position_pixel":[298.89761681947846,207.15180625640687]},{"frame_idx":200,"position_pixel":[298.89761681947846,207.15180625640687]},{"frame_idx":204,"position_pixel":[298.89761681947846,207.15180625640687]},{"frame_idx":208,"position_pixel":[298.89761681947846,207.15180625640687]},{"frame_idx":212,"position_pixel":[298.89761681947846,207.15180625640687]},{"frame_idx":216,"position_pixel":[298.89761681947846,207.15180625640687]},{"frame_idx":220,"position_pixel":[298.89761681947846,207.15180625640687]},{"frame_idx":224,"position_pixel":[298.89761681947846,207.15180625640687]}],"motion_3d":[0.0,0.0,0.0],"motion_2d":{"start_pixel":null,"end_pixel":null},"contact_flange_point":{"frame_idx":135,"position_3d":[0.0,0.0,0.0],"position_pixel":null},"raw_trajectory_3d":[{"frame_idx":135,"position_3d":[0.0,0.0,0.0]},{"frame_idx":136,"position_3d":[0.0,0.0,0.0]},{"frame_idx":137,"position_3d":[0.0,0.0,0.0]},{"frame_idx":138,"position_3d":[0.0,0.0,0.0]},{"frame_idx":139,"position_3d":[0.0,0.0,0.0]},{"frame_idx":140,"position_3d":[0.0,0.0,0.0]},{"frame_idx":141,"position_3d":[0.0,0.0,0.0]},{"frame_idx":142,"position_3d":[0.0,0.0,0.0]},{"frame_idx":143,"position_3d":[0.0,0.0,0.0]},{"frame_idx":144,"position_3d":[0.0,0.0,0.0]},{"frame_idx":145,"position_3d":[0.0,0.0,0.0]},{"frame_idx":146,"position_3d":[0.0,0.0,0.0]},{"frame_idx":147,"position_3d":[0.0,0.0,0.0]},{"frame_idx":148,"position_3d":[0.0,0.0,0.0]},{"frame_idx":149,"position_3d":[0.0,0.0,0.0]},{"frame_idx":150,"position_3d":[0.0,0.0,0.0]},{"frame_idx":151,"position_3d":[0.0,0.0,0.0]},{"frame_idx":152,"position_3d":[0.0,0.0,0.0]},{"frame_idx":153,"position_3d":[0.0,0.0,0.0]},{"frame_idx":154,"position_3d":[0.0,0.0,0.0]},{"frame_idx":155,"position_3d":[0.0,0.0,0.0]},{"frame_idx":156,"position_3d":[0.0,0.0,0.0]},{"frame_idx":157,"position_3d":[0.0,0.0,0.0]},{"frame_idx":158,"position_3d":[0.0,0.0,0.0]},{"frame_idx":159,"position_3d":[0.0,0.0,0.0]},{"frame_idx":160,"position_3d":[0.0,0.0,0.0]},{"frame_idx":161,"position_3d":[0.0,0.0,0.0]},{"frame_idx":162,"position_3d":[0.0,0.0,0.0]},{"frame_idx":163,"position_3d":[0.0,0.0,0.0]},{"frame_idx":164,"position_3d":[0.0,0.0,0.0]},{"frame_idx":165,"position_3d":[0.0,0.0,0.0]},{"frame_idx":166,"position_3d":[0.0,0.0,0.0]},{"frame_idx":167,"position_3d":[0.0,0.0,0.0]},{"frame_idx":168,"position_3d":[0.0,0.0,0.0]},{"frame_idx":169,"position_3d":[0.0,0.0,0.0]},{"frame_idx":170,"position_3d":[0.0,0.0,0.0]},{"frame_idx":171,"position_3d":[0.0,0.0,0.0]},{"frame_idx":172,"position_3d":[0.0,0.0,0.0]},{"frame_idx":173,"position_3d":[0.0,0.0,0.0]},{"frame_idx":174,"position_3d":[0.0,0.0,0.0]},{"frame_idx":175,"position_3d":[0.0,0.0,0.0]},{"frame_idx":176,"position_3d":[0.0,0.0,0.0]},{"frame_idx":177,"position_3d":[0.0,0.0,0.0]},{"frame_idx":178,"position_3d":[0.0,0.0,0.0]},{"frame_idx":179,"position_3d":[0.0,0.0,0.0]},{"frame_idx":180,"position_3d":[0.0,0.0,0.0]},{"frame_idx":181,"position_3d":[0.0,0.0,0.0]},{"frame_idx":182,"position_3d":[0.0,0.0,0.0]},{"frame_idx":183,"position_3d":[0.0,0.0,0.0]},{"frame_idx":184,"position_3d":[0.0,0.0,0.0]},{"frame_idx":185,"position_3d":[0.0,0.0,0.0]},{"frame_idx":186,"position_3d":[0.0,0.0,0.0]},{"frame_idx":187,"position_3d":[0.0,0.0,0.0]},{"frame_idx":188,"position_3d":[0.0,0.0,0.0]},{"frame_idx":189,"position_3d":[0.0,0.0,0.0]},{"frame_idx":190,"position_3d":[0.0,0.0,0.0]},{"frame_idx":191,"position_3d":[0.0,0.0,0.0]},{"frame_idx":192,"position_3d":[0.0,0.0,0.0]},{"frame_idx":193,"position_3d":[0.0,0.0,0.0]},{"frame_idx":194,"position_3d":[0.0,0.0,0.0]},{"frame_idx":195,"position_3d":[0.0,0.0,0.0]},{"frame_idx":196,"position_3d":[0.0,0.0,0.0]},{"frame_idx":197,"position_3d":[0.0,0.0,0.0]},{"frame_idx":198,"position_3d":[0.0,0.0,0.0]},{"frame_idx":199,"position_3d":[0.0,0.0,0.0]},{"frame_idx":200,"position_3d":[0.0,0.0,0.0]},{"frame_idx":201,"position_3d":[0.0,0.0,0.0]},{"frame_idx":202,"position_3d":[0.0,0.0,0.0]},{"frame_idx":203,"position_3d":[0.0,0.0,0.0]},{"frame_idx":204,"position_3d":[0.0,0.0,0.0]},{"frame_idx":205,"position_3d":[0.0,0.0,0.0]},{"frame_idx":206,"position_3d":[0.0,0.0,0.0]},{"frame_idx":207,"position_3d":[0.0,0.0,0.0]},{"frame_idx":208,"position_3d":[0.0,0.0,0.0]},{"frame_idx":209,"position_3d":[0.0,0.0,0.0]},{"frame_idx":210,"position_3d":[0.0,0.0,0.0]},{"frame_idx":211,"position_3d":[0.0,0.0,0.0]},{"frame_idx":212,"position_3d":[0.0,0.0,0.0]},{"frame_idx":213,"position_3d":[0.0,0.0,0.0]},{"frame_idx":214,"position_3d":[0.0,0.0,0.0]},{"frame_idx":215,"position_3d":[0.0,0.0,0.0]},{"frame_idx":216,"position_3d":[0.0,0.0,0.0]},{"frame_idx":217,"position_3d":[0.0,0.0,0.0]},{"frame_idx":218,"position_3d":[0.0,0.0,0.0]},{"frame_idx":219,"position_3d":[0.0,0.0,0.0]},{"frame_idx":220,"position_3d":[0.0,0.0,0.0]},{"frame_idx":221,"position_3d":[0.0,0.0,0.0]},{"frame_idx":222,"position_3d":[0.0,0.0,0.0]},{"frame_idx":223,"position_3d":[0.0,0.0,0.0]},{"frame_idx":224,"position_3d":[0.0,0.0,0.0]},{"frame_idx":225,"position_3d":[0.0,0.0,0.0]},{"frame_idx":226,"position_3d":[0.0,0.0,0.0]}],"raw_trajectory_2d":[{"frame_idx":135,"position_pixel":null},{"frame_idx":136,"position_pixel":null},{"frame_idx":137,"position_pixel":null},{"frame_idx":138,"position_pixel":null},{"frame_idx":139,"position_pixel":null},{"frame_idx":140,"position_pixel":null},{"frame_idx":141,"position_pixel":null},{"frame_idx":142,"position_pixel":null},{"frame_idx":143,"position_pixel":null},{"frame_idx":144,"position_pixel":null},{"frame_idx":145,"position_pixel":null},{"frame_idx":146,"position_pixel":null},{"frame_idx":147,"position_pixel":null},{"frame_idx":148,"position_pixel":null},{"frame_idx":149,"position_pixel":null},{"frame_idx":150,"position_pixel":null},{"frame_idx":151,"position_pixel":null},{"frame_idx":152,"position_pixel":null},{"frame_idx":153,"position_pixel":null},{"frame_idx":154,"position_pixel":null},{"frame_idx":155,"position_pixel":null},{"frame_idx":156,"position_pixel":null},{"frame_idx":157,"position_pixel":null},{"frame_idx":158,"position_pixel":null},{"frame_idx":159,"position_pixel":null},{"frame_idx":160,"position_pixel":null},{"frame_idx":161,"position_pixel":null},{"frame_idx":162,"position_pixel":null},{"frame_idx":163,"position_pixel":null},{"frame_idx":164,"position_pixel":null},{"frame_idx":165,"position_pixel":null},{"frame_idx":166,"position_pixel":null},{"frame_idx":167,"position_pixel":null},{"frame_idx":168,"position_pixel":null},{"frame_idx":169,"position_pixel":null},{"frame_idx":170,"position_pixel":null},{"frame_idx":171,"position_pixel":null},{"frame_idx":172,"position_pixel":null},{"frame_idx":173,"position_pixel":null},{"frame_idx":174,"position_pixel":null},{"frame_idx":175,"position_pixel":null},{"frame_idx":176,"position_pixel":null},{"frame_idx":177,"position_pixel":null},{"frame_idx":178,"position_pixel":null},{"frame_idx":179,"position_pixel":null},{"frame_idx":180,"position_pixel":null},{"frame_idx":181,"position_pixel":null},{"frame_idx":182,"position_pixel":null},{"frame_idx":183,"position_pixel":null},{"frame_idx":184,"position_pixel":null},{"frame_idx":185,"position_pixel":null},{"frame_idx":186,"position_pixel":null},{"frame_idx":187,"position_pixel":null},{"frame_idx":188,"position_pixel":null},{"frame_idx":189,"position_pixel":null},{"frame_idx":190,"position_pixel":null},{"frame_idx":191,"position_pixel":null},{"frame_idx":192,"position_pixel":null},{"frame_idx":193,"position_pixel":null},{"frame_idx":194,"position_pixel":null},{"frame_idx":195,"position_pixel":null},{"frame_idx":196,"position_pixel":null},{"frame_idx":197,"position_pixel":null},{"frame_idx":198,"position_pixel":null},{"frame_idx":199,"position_pixel":null},{"frame_idx":200,"position_pixel":null},{"frame_idx":201,"position_pixel":null},{"frame_idx":202,"position_pixel":null},{"frame_idx":203,"position_pixel":null},{"frame_idx":204,"position_pixel":null},{"frame_idx":205,"position_pixel":null},{"frame_idx":206,"position_pixel":null},{"frame_idx":207,"position_pixel":null},{"frame_idx":208,"position_pixel":null},{"frame_idx":209,"position_pixel":null},{"frame_idx":210,"position_pixel":null},{"frame_idx":211,"position_pixel":null},{"frame_idx":212,"position_pixel":null},{"frame_idx":213,"position_pixel":null},{"frame_idx":214,"position_pixel":null},{"frame_idx":215,"position_pixel":null},{"frame_idx":216,"position_pixel":null},{"frame_idx":217,"position_pixel":null},{"frame_idx":218,"position_pixel":null},{"frame_idx":219,"position_pixel":null},{"frame_idx":220,"position_pixel":null},{"frame_idx":221,"position_pixel":null},{"frame_idx":222,"position_pixel":null},{"frame_idx":223,"position_pixel":null},{"frame_idx":224,"position_pixel":null},{"frame_idx":225,"position_pixel":null},{"frame_idx":226,"position_pixel":null}],"spline_params":{"ctrl":[[-8.527959554639405e-05,-0.02380412977131422,0.03160683672630915],[-0.00017055919109275688,-0.047608259542628414,0.06321367345261808],[-0.00025583878663915094,-0.07141238931394295,0.0948205101789279]]}}

scenefun3d_test/scenefun3d/scenefun3d_423957_42898340/interval_001/cam_0/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"42898340","intrinsics":{"fx":1602.41,"fy":1602.41,"cx":936.951,"cy":707.51},"T_base_to_cam":[[-0.7192482087893891,0.6945696901931004,-0.01596745497303642,2.808843181256671],[0.24899178155627205,0.23624621248802924,-0.9392501369723054,153.2352454450289],[-0.6486024258902283,-0.6795297436831749,-0.3428618097414605,55.52590200820863],[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":[1.0664736083941673,-0.5303617511277707,3.065776069841064]},{"frame_idx":1,"position_3d":[1.042829430588549,-0.5065307369998381,3.001593517821177]},{"frame_idx":2,"position_3d":[1.0269983627754156,-0.4820566512605288,2.9352854430385693]},{"frame_idx":3,"position_3d":[1.0191794898179163,-0.45724726973821006,2.867685708006474]},{"frame_idx":4,"position_3d":[1.0194711385801076,-0.4324145848002634,2.7996444186152]},{"frame_idx":5,"position_3d":[1.0278696414095863,-0.40787088186804293,2.7320172335573174]},{"frame_idx":6,"position_3d":[1.0442693822603468,-0.3839248122465095,2.6656546039231364]},{"frame_idx":7,"position_3d":[1.0684641248758397,-0.36087751165498705,2.601391078284801]},{"frame_idx":8,"position_3d":[1.1001496063295586,-0.33901881327076927,2.5400348077637793]},{"frame_idx":9,"position_3d":[1.1389273633078782,-0.31862360290874997,2.482357383061611]},{"frame_idx":10,"position_3d":[1.1843097430174176,-0.2999483621728082,2.4290841312591467]},{"frame_idx":11,"position_3d":[1.2357260357018591,-0.28322794305082544,2.3808849944076633]},{"frame_idx":12,"position_3d":[1.292529651648268,-0.26867261451467384,2.3383661046188586]},{"frame_idx":13,"position_3d":[1.3540062524278929,-0.2564654182658938,2.302062161601862]},{"frame_idx":14,"position_3d":[1.419382734116375,-0.24675986688009405,2.27242970850415]}]}

scenefun3d_test/scenefun3d/scenefun3d_423957_42898340/interval_002/cam_8/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"42898340","intrinsics":{"fx":1594.27,"fy":1594.27,"cx":938.078,"cy":708.007},"T_base_to_cam":[[0.4355885947854242,-0.8626499142484331,0.25709473261821175,-43.642119293887006],[-0.46510839632835743,-0.4602277176759114,-0.7562173150276876,121.8542885379673],[0.7706729239811934,0.2098227188127929,-0.6016956630326374,98.66119420622294],[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":[-0.14096023322305484,0.24438472455140925,1.5374324850544383]},{"frame_idx":1,"position_3d":[-0.1426288985023413,0.2574204314101292,1.5205070729073558]},{"frame_idx":2,"position_3d":[-0.14429756378162778,0.2704561382688492,1.5035816607602732]},{"frame_idx":3,"position_3d":[-0.14596622906091425,0.28349184512756914,1.4866562486131907]},{"frame_idx":4,"position_3d":[-0.14763489434020072,0.2965275519862891,1.4697308364661081]},{"frame_idx":5,"position_3d":[-0.1493035596194872,0.30956325884500907,1.4528054243190256]},{"frame_idx":6,"position_3d":[-0.15097222489877365,0.32259896570372903,1.435880012171943]},{"frame_idx":7,"position_3d":[-0.15264089017806012,0.335634672562449,1.4189546000248605]},{"frame_idx":8,"position_3d":[-0.1543095554573466,0.34867037942116896,1.402029187877778]},{"frame_idx":9,"position_3d":[-0.15597822073663306,0.3617060862798889,1.3851037757306954]},{"frame_idx":10,"position_3d":[-0.15764688601591953,0.3747417931386089,1.3681783635836129]},{"frame_idx":11,"position_3d":[-0.159315551295206,0.38777749999732886,1.3512529514365303]},{"frame_idx":12,"position_3d":[-0.16098421657449247,0.4008132068560488,1.3343275392894478]},{"frame_idx":13,"position_3d":[-0.16265288185377894,0.4138489137147688,1.3174021271423653]},{"frame_idx":14,"position_3d":[-0.1643215471330654,0.42688462057348875,1.3004767149952827]}]}

scenefun3d_test/scenefun3d/scenefun3d_423957_42898340/interval_005/cam_5/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"42898340","intrinsics":{"fx":1602.86,"fy":1602.86,"cx":937.181,"cy":707.389},"T_base_to_cam":[[-0.8014947667394476,0.598000347758359,0.0013126195793866646,0.019239127740979786],[0.11244806726445275,0.1528683131517321,-0.9818282492384464,160.1499312194042],[-0.5873342924244825,-0.7867826020668133,-0.18976713632029873,30.587198114018705],[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":[0.42923325448206673,0.0012936370887928206,3.5952172345142834]},{"frame_idx":1,"position_3d":[0.44823767086171495,0.003095658610023681,3.5860252843164306]},{"frame_idx":2,"position_3d":[0.46817134936531335,0.004483910091732961,3.5789805493269125]},{"frame_idx":3,"position_3d":[0.48878361241988943,0.0054409334660558955,3.5741716211756724]},{"frame_idx":4,"position_3d":[0.5098152488580183,0.005954693608782477,3.571658974924418]},{"frame_idx":5,"position_3d":[0.5310017736486509,0.00601872968802734,3.5714742085576296]},{"frame_idx":6,"position_3d":[0.5520767539498369,0.005632236412939384,3.5736196456195737]},{"frame_idx":7,"position_3d":[0.5727751596563005,0.004800074160701459,3.5780683059943845]},{"frame_idx":8,"position_3d":[0.5928366963067884,0.003532707854467243,3.5847642451966766]},{"frame_idx":9,"position_3d":[0.6120090784379457,0.001846075360880691,3.593623257905906]},{"frame_idx":10,"position_3d":[0.630051202220398,-0.00023861293784437922,3.6045339368971354]},{"frame_idx":11,"position_3d":[0.646736177479297,-0.0026951408767871745,3.617359074051527]},{"frame_idx":12,"position_3d":[0.6618541809699138,-0.005492616191804779,3.631937385828046]},{"frame_idx":13,"position_3d":[0.675215095026684,-0.008595859007677863,3.6480855414975695]},{"frame_idx":14,"position_3d":[0.6866508984031607,-0.011965844245453399,3.665600468633175]}]}

scenefun3d_test/scenefun3d/scenefun3d_423957_42898340/interval_008/cam_1/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"42898340","intrinsics":{"fx":1603.76,"fy":1603.76,"cx":936.744,"cy":707.342},"T_base_to_cam":[[-0.9958839057513083,-0.07658727401651023,-0.04847304121095903,7.927243510803645],[0.05039910663781837,-0.023418117799239302,-0.9984545667224177,162.8035970599972],[0.07533376610544018,-0.996787831595802,0.027181656809508348,-4.848629101926338],[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":[1.3169690289107239,-0.2498178470681296,2.7549116562211635]},{"frame_idx":1,"position_3d":[1.3087027011335837,-0.24812807588254976,2.7791391225767033]},{"frame_idx":2,"position_3d":[1.3003303624480207,-0.24931327146614676,2.8033601234633387]},{"frame_idx":3,"position_3d":[1.2919572998707498,-0.25335852929679037,2.8272700657415686]},{"frame_idx":4,"position_3d":[1.2836888095218444,-0.260212977910147,2.850568268014372]},{"frame_idx":5,"position_3d":[1.2756288724649316,-0.26979041863786,2.872961741870237]},{"frame_idx":6,"position_3d":[1.2678788470849869,-0.28197040960581776,2.89416887638243]},{"frame_idx":7,"position_3d":[1.2605361944478322,-0.29659978036060286,2.9139229795297936]},{"frame_idx":8,"position_3d":[1.253693252670686,-0.3134945580768153,2.9319756320036525]},{"frame_idx":9,"position_3d":[1.2474360757167635,-0.3324422811220953,2.9480998112247545]},{"frame_idx":10,"position_3d":[1.2418433512167588,-0.35320467088542346,2.962092746283928]},{"frame_idx":11,"position_3d":[1.2369854109262337,-0.37552062826890686,2.973778467903914]},{"frame_idx":12,"position_3d":[1.2329233462629843,-0.3991095171604281,2.983010021355127]},{"frame_idx":13,"position_3d":[1.2297082400470156,-0.42367469359558413,2.9896713144966465]},{"frame_idx":14,"position_3d":[1.2273805241044418,-0.4489072362276555,2.993678577702245]}]}

scenefun3d_test/scenefun3d/scenefun3d_423957_42898340/interval_009/cam_9/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"42898340","intrinsics":{"fx":1599.7,"fy":1599.7,"cx":937.211,"cy":707.419},"T_base_to_cam":[[-0.32636440738506806,0.9451062050040526,0.016141092126334633,-2.3839914089110943],[0.19354473476027384,0.08352976639215615,-0.9775291370455651,159.35041047732705],[-0.9252171146486475,-0.31590669411918026,-0.21018147247538765,33.91198987488658],[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":[0.14823797228296565,0.6342461149878034,2.519655221543175]},{"frame_idx":1,"position_3d":[0.12689394074414703,0.634254723990964,2.5177536650690286]},{"frame_idx":2,"position_3d":[0.10554990920532842,0.6342633329941247,2.515852108594882]},{"frame_idx":3,"position_3d":[0.0842058776665098,0.6342719419972854,2.5139505521207357]},{"frame_idx":4,"position_3d":[0.06286184612769119,0.6342805510004461,2.5120489956465892]},{"frame_idx":5,"position_3d":[0.04151781458887257,0.6342891600036068,2.5101474391724428]},{"frame_idx":6,"position_3d":[0.020173783050053948,0.6342977690067675,2.5082458826982963]},{"frame_idx":7,"position_3d":[-0.0011702484887646733,0.6343063780099282,2.50634432622415]},{"frame_idx":8,"position_3d":[-0.022514280027583294,0.6343149870130889,2.5044427697500034]},{"frame_idx":9,"position_3d":[-0.043858311566401915,0.6343235960162495,2.502541213275857]},{"frame_idx":10,"position_3d":[-0.06520234310522054,0.6343322050194102,2.5006396568017104]},{"frame_idx":11,"position_3d":[-0.08654637464403916,0.6343408140225709,2.498738100327564]},{"frame_idx":12,"position_3d":[-0.10789040618285778,0.6343494230257316,2.4968365438534175]},{"frame_idx":13,"position_3d":[-0.1292344377216764,0.6343580320288923,2.494934987379271]},{"frame_idx":14,"position_3d":[-0.150578469260495,0.634366641032053,2.4930334309051245]}]}

scenefun3d_test/scenefun3d/scenefun3d_423957_42898340/interval_010/cam_2/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"42898340","intrinsics":{"fx":1601.5,"fy":1601.5,"cx":936.759,"cy":707.765},"T_base_to_cam":[[-0.6397220336391258,0.7684904514169294,-0.013347125444276797,2.413506220593162],[0.41868592669333327,0.3338629794706667,-0.844533957711538,137.80341006850728],[-0.6445601713304709,-0.5458552344898537,-0.5353356409902676,86.87642884748624],[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":[1.1067565114481261,-0.15447850192146007,2.338884342413209]},{"frame_idx":1,"position_3d":[1.0861201716940188,-0.1573552051029375,2.3438893133250236]},{"frame_idx":2,"position_3d":[1.0654838319399114,-0.16023190828441491,2.348894284236838]},{"frame_idx":3,"position_3d":[1.044847492185804,-0.16310861146589234,2.3538992551486526]},{"frame_idx":4,"position_3d":[1.0242111524316966,-0.16598531464736976,2.358904226060467]},{"frame_idx":5,"position_3d":[1.0035748126775892,-0.1688620178288472,2.3639091969722816]},{"frame_idx":6,"position_3d":[0.9829384729234817,-0.1717387210103246,2.368914167884096]},{"frame_idx":7,"position_3d":[0.9623021331693742,-0.17461542419180204,2.3739191387959107]},{"frame_idx":8,"position_3d":[0.9416657934152667,-0.17749212737327946,2.378924109707725]},{"frame_idx":9,"position_3d":[0.9210294536611592,-0.1803688305547569,2.3839290806195397]},{"frame_idx":10,"position_3d":[0.9003931139070517,-0.1832455337362343,2.388934051531354]},{"frame_idx":11,"position_3d":[0.8797567741529442,-0.18612223691771174,2.3939390224431687]},{"frame_idx":12,"position_3d":[0.8591204343988367,-0.18899894009918916,2.398943993354983]},{"frame_idx":13,"position_3d":[0.8384840946447292,-0.19187564328066659,2.4039489642667977]},{"frame_idx":14,"position_3d":[0.8178477548906217,-0.194752346462144,2.4089539351786122]}]}

scenefun3d_test/scenefun3d/scenefun3d_423957_42898340/interval_011/cam_11/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"42898340","intrinsics":{"fx":1590.21,"fy":1590.21,"cx":937.183,"cy":708.098},"T_base_to_cam":[[0.14113740836554256,-0.9837113135782726,0.11132063374760215,-19.938768475176985],[-0.674450053201591,-0.17785710408620203,-0.716577962445428,116.34069054854538],[0.7247050142618232,0.026055749157903707,-0.6885664385079999,111.94119075209748],[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":[0.3496470695844529,0.3588767132825552,0.9610874856451233]},{"frame_idx":1,"position_3d":[0.32913603457230345,0.3611764810963605,0.9553262197944311]},{"frame_idx":2,"position_3d":[0.308624999560154,0.36347624891016583,0.949564953943739]},{"frame_idx":3,"position_3d":[0.28811396454800453,0.36577601672397114,0.9438036880930468]},{"frame_idx":4,"position_3d":[0.26760292953585507,0.36807578453777645,0.9380424222423547]},{"frame_idx":5,"position_3d":[0.24709189452370559,0.37037555235158176,0.9322811563916625]},{"frame_idx":6,"position_3d":[0.2265808595115561,0.37267532016538707,0.9265198905409704]},{"frame_idx":7,"position_3d":[0.2060698244994066,0.3749750879791924,0.9207586246902782]},{"frame_idx":8,"position_3d":[0.18555878948725713,0.3772748557929977,0.9149973588395861]},{"frame_idx":9,"position_3d":[0.16504775447510764,0.379574623606803,0.909236092988894]},{"frame_idx":10,"position_3d":[0.14453671946295815,0.3818743914206083,0.9034748271382018]},{"frame_idx":11,"position_3d":[0.12402568445080867,0.3841741592344136,0.8977135612875097]},{"frame_idx":12,"position_3d":[0.10351464943865918,0.3864739270482189,0.8919522954368175]},{"frame_idx":13,"position_3d":[0.08300361442650969,0.38877369486202423,0.8861910295861254]},{"frame_idx":14,"position_3d":[0.06249257941436021,0.39107346267582954,0.8804297637354332]}]}

scenefun3d_test/scenefun3d/scenefun3d_437294_43649763/interval_000/cam_18/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"43649763","intrinsics":{"fx":1594.72,"fy":1594.72,"cx":963.365,"cy":695.253},"T_base_to_cam":[[-0.5263188804460225,0.84995284142332,-0.023845407156728782,1.1235204448948612],[0.19351231102868138,0.09242695325264882,-0.9767344796784699,-20.744355598773737],[-0.8279742879862781,-0.518688177683719,-0.21312238916819204,-2.3478976319418154],[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":[1.1140830696987816,-0.02609659690811128,2.6637678966771214]},{"frame_idx":1,"position_3d":[1.1789632755720199,-0.036910718932452985,2.7060695570439743]},{"frame_idx":2,"position_3d":[1.2385513891238829,-0.049092085763388055,2.7552293764554023]},{"frame_idx":3,"position_3d":[1.2920980552526269,-0.06248750964522382,2.8106291416591147]},{"frame_idx":4,"position_3d":[1.3389298935631837,-0.07692853535044022,2.8715721684639828]},{"frame_idx":5,"position_3d":[1.3784579665163326,-0.09223355860191589,2.937292062947967]},{"frame_idx":6,"position_3d":[1.4101851856599656,-0.10821010985208215,3.006962359306361]},{"frame_idx":7,"position_3d":[1.4337125628047902,-0.12465727469915724,3.0797069131388097]},{"frame_idx":8,"position_3d":[1.448744227532308,-0.14136822050232187,3.1546109194734973]},{"frame_idx":9,"position_3d":[1.4550911479369952,-0.1581327974221846,3.230732416970448]},{"frame_idx":10,"position_3d":[1.4526735078121942,-0.17474018117694412,3.3071141336319165]},{"frame_idx":11,"position_3d":[1.4415217103852218,-0.19098152428005577,3.3827955250531803]},{"frame_idx":12,"position_3d":[1.4217759959791456,-0.2066525824185512,3.4568248538257507]},{"frame_idx":13,"position_3d":[1.3936846784093524,-0.22155628294377908,3.5282711581874953]},{"frame_idx":14,"position_3d":[1.3576010222932446,-0.2355052031743062,3.5962359594069544]}]}

scenefun3d_test/scenefun3d/scenefun3d_437294_43649763/interval_003/cam_2/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"43649763","intrinsics":{"fx":1595.18,"fy":1595.18,"cx":963.51,"cy":695.212},"T_base_to_cam":[[0.8873229544498261,-0.4603786163475828,0.026636518472131,0.6117744135363828],[0.012512803425758834,-0.03370356656983865,-0.9993535407206504,-20.517470085623707],[0.460978745992545,0.8870826338117308,-0.024145321136465517,1.9304490042728737],[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":[-0.6649661614622461,0.7746337815046296,4.045058060658224]},{"frame_idx":1,"position_3d":[-0.6623445143849961,0.7756684615146148,4.023815648428238]},{"frame_idx":2,"position_3d":[-0.6597228673077461,0.7767031415246,4.002573236198252]},{"frame_idx":3,"position_3d":[-0.6571012202304961,0.7777378215345851,3.981330823968266]},{"frame_idx":4,"position_3d":[-0.6544795731532461,0.7787725015445703,3.9600884117382797]},{"frame_idx":5,"position_3d":[-0.6518579260759961,0.7798071815545555,3.9388459995082936]},{"frame_idx":6,"position_3d":[-0.6492362789987461,0.7808418615645407,3.9176035872783075]},{"frame_idx":7,"position_3d":[-0.6466146319214962,0.7818765415745259,3.8963611750483214]},{"frame_idx":8,"position_3d":[-0.6439929848442462,0.7829112215845111,3.8751187628183352]},{"frame_idx":9,"position_3d":[-0.6413713377669962,0.7839459015944963,3.853876350588349]},{"frame_idx":10,"position_3d":[-0.6387496906897462,0.7849805816044815,3.832633938358363]},{"frame_idx":11,"position_3d":[-0.6361280436124962,0.7860152616144667,3.811391526128377]},{"frame_idx":12,"position_3d":[-0.6335063965352462,0.7870499416244519,3.7901491138983907]},{"frame_idx":13,"position_3d":[-0.6308847494579962,0.788084621634437,3.7689067016684046]},{"frame_idx":14,"position_3d":[-0.6282631023807462,0.7891193016444222,3.7476642894384185]}]}

scenefun3d_test/scenefun3d/scenefun3d_437294_43649763/interval_004/cam_16/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"43649763","intrinsics":{"fx":1595.18,"fy":1595.18,"cx":963.209,"cy":695.2},"T_base_to_cam":[[-0.21160227863290448,-0.9761866736599261,-0.047791775925695,-0.32224355759440726],[-0.08844926460786812,0.06782518609129617,-0.9937688220718178,-20.498812554399414],[0.9733453669010246,-0.2060565997498024,-0.10069495733084044,-2.511952661327295],[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":[-0.1473058133649704,0.08266220802459756,2.496258118108453]},{"frame_idx":1,"position_3d":[-0.10510063616972562,0.08151797671941771,2.4875192596947]},{"frame_idx":2,"position_3d":[-0.06412028077067887,0.08090353362989779,2.474133191384888]},{"frame_idx":3,"position_3d":[-0.0248800989143292,0.08082660573439669,2.4562682507547913]},{"frame_idx":4,"position_3d":[0.012126441344795957,0.08128816044583495,2.434149099798313]},{"frame_idx":5,"position_3d":[0.04643396129124331,0.08228239344591595,2.4080538996725607]},{"frame_idx":6,"position_3d":[0.07761102395599954,0.08379680167779625,2.378310812659904]},{"frame_idx":7,"position_3d":[0.10526555968670223,0.08581234057927983,2.345293875336868]},{"frame_idx":8,"position_3d":[0.1290497966510024,0.08830366357923762,2.3094182948471635]},{"frame_idx":9,"position_3d":[0.14866463426913828,0.09123944084544588,2.271135227430945]},{"frame_idx":10,"position_3d":[0.16386340457726795,0.0945827532754044,2.230926104873324]},{"frame_idx":11,"position_3d":[0.17445497422023468,0.09829155677547138,2.1892965802203395]},{"frame_idx":12,"position_3d":[0.18030614806440634,0.10231921098973558,2.1467701688985152]},{"frame_idx":13,"position_3d":[0.18134334420376233,0.10661506582955321,2.103881665204622]},{"frame_idx":14,"position_3d":[0.17755351929505503,0.11112509842780054,2.0611704169570997]}]}

scenefun3d_test/scenefun3d/scenefun3d_437294_43649763/interval_005/cam_5/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"43649763","intrinsics":{"fx":1593.82,"fy":1593.82,"cx":963.788,"cy":695.299},"T_base_to_cam":[[0.9500312662983502,-0.3115983202259326,0.018630080191194803,0.6788309366267818],[-0.07302711693198297,-0.27988509583752913,-0.9572519905023021,-20.189019248300248],[0.30349239405322115,0.9080588196589437,-0.2886547189835115,-4.372312239677216],[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":[0.4295440819213952,-0.2149151235987965,3.3944308695520196]},{"frame_idx":1,"position_3d":[0.42871362922945117,-0.2083172016996306,3.3740602669981348]},{"frame_idx":2,"position_3d":[0.4278831765375071,-0.20171927980046472,3.35368966444425]},{"frame_idx":3,"position_3d":[0.4270527238455631,-0.19512135790129884,3.333319061890365]},{"frame_idx":4,"position_3d":[0.42622227115361905,-0.18852343600213295,3.3129484593364804]},{"frame_idx":5,"position_3d":[0.425391818461675,-0.18192551410296706,3.2925778567825956]},{"frame_idx":6,"position_3d":[0.42456136576973097,-0.17532759220380117,3.272207254228711]},{"frame_idx":7,"position_3d":[0.42373091307778693,-0.1687296703046353,3.251836651674826]},{"frame_idx":8,"position_3d":[0.4229004603858429,-0.1621317484054694,3.2314660491209413]},{"frame_idx":9,"position_3d":[0.42207000769389885,-0.1555338265063035,3.2110954465670565]},{"frame_idx":10,"position_3d":[0.4212395550019548,-0.14893590460713763,3.1907248440131717]},{"frame_idx":11,"position_3d":[0.4204091023100108,-0.14233798270797174,3.170354241459287]},{"frame_idx":12,"position_3d":[0.41957864961806673,-0.13574006080880585,3.149983638905402]},{"frame_idx":13,"position_3d":[0.4187481969261227,-0.12914213890963996,3.1296130363515173]},{"frame_idx":14,"position_3d":[0.41791774423417866,-0.12254421701047408,3.1092424337976325]}]}

scenefun3d_test/scenefun3d/scenefun3d_437294_43649763/interval_006/cam_5/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"43649763","intrinsics":{"fx":1593.37,"fy":1593.37,"cx":963.218,"cy":695.225},"T_base_to_cam":[[0.2608403600587125,-0.9639820303910321,-0.0519706806538503,-0.6621437953809961],[-0.1636213968996506,0.008910049188810665,-0.9864829696959092,-20.3235260921124],[0.9514149173946393,0.26581808837367743,-0.15540398596019195,-3.604875927468233],[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":[1.0768311406187676,-0.1434930008856341,2.6448026608073065]},{"frame_idx":1,"position_3d":[1.1125689364382265,-0.14192939510841637,2.6229255640047837]},{"frame_idx":2,"position_3d":[1.1505255750990282,-0.14112474878965228,2.605124204409464]},{"frame_idx":3,"position_3d":[1.1902237298470582,-0.14108918082366698,2.5916224444468483]},{"frame_idx":4,"position_3d":[1.2311641733529541,-0.14182313849826972,2.58259007658237]},{"frame_idx":5,"position_3d":[1.272832055785431,-0.1433173918698502,2.5781406880826263]},{"frame_idx":6,"position_3d":[1.3147033793466316,-0.14555314983527481,2.5783302325895976]},{"frame_idx":7,"position_3d":[1.3562515878484662,-0.14850229644091137,2.5831563264711317]},{"frame_idx":8,"position_3d":[1.396954188462192,-0.15212774445705923,2.592558278796504]},{"frame_idx":9,"position_3d":[1.4362993223688927,-0.15638390177138145,2.606417854560083]},{"frame_idx":10,"position_3d":[1.4737922016811127,-0.1612172447361704,2.6245607615551285]},{"frame_idx":11,"position_3d":[1.5089613316876258,-0.16656699125927296,2.646758842199418]},{"frame_idx":12,"position_3d":[1.5413644401729956,-0.17236586517416588,2.672732942749223]},{"frame_idx":13,"position_3d":[1.570594039247297,-0.17854094227678435,2.7021564238196056]},{"frame_idx":14,"position_3d":[1.5962825497427622,-0.1850145673896998,2.7346592680642043]}]}

scenefun3d_test/scenefun3d/scenefun3d_437294_43649763/interval_008/cam_8/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"43649763","intrinsics":{"fx":1595.18,"fy":1595.18,"cx":963.191,"cy":695.209},"T_base_to_cam":[[-0.4860649626950434,0.8725632681322363,-0.04872571340326698,0.5095963709287309],[0.11641454037105647,0.009389323195109434,-0.9931563297890889,-20.861091412225125],[-0.8661342314159288,-0.4884108759193728,-0.10614287283284374,-0.046147714786813475],[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":[0.6673898574957929,0.8584259103346596,2.5727911314222003]},{"frame_idx":1,"position_3d":[0.6809190028970313,0.8591758965558857,2.5561904260501533]},{"frame_idx":2,"position_3d":[0.6944481482982697,0.8599258827771117,2.5395897206781064]},{"frame_idx":3,"position_3d":[0.7079772936995081,0.8606758689983377,2.5229890153060595]},{"frame_idx":4,"position_3d":[0.7215064391007465,0.8614258552195637,2.5063883099340125]},{"frame_idx":5,"position_3d":[0.7350355845019849,0.8621758414407897,2.4897876045619656]},{"frame_idx":6,"position_3d":[0.7485647299032233,0.8629258276620158,2.4731868991899186]},{"frame_idx":7,"position_3d":[0.7620938753044617,0.8636758138832418,2.4565861938178717]},{"frame_idx":8,"position_3d":[0.7756230207057001,0.8644258001044678,2.4399854884458247]},{"frame_idx":9,"position_3d":[0.7891521661069385,0.8651757863256938,2.423384783073778]},{"frame_idx":10,"position_3d":[0.8026813115081769,0.8659257725469198,2.406784077701731]},{"frame_idx":11,"position_3d":[0.8162104569094153,0.8666757587681458,2.390183372329684]},{"frame_idx":12,"position_3d":[0.8297396023106537,0.8674257449893719,2.373582666957637]},{"frame_idx":13,"position_3d":[0.8432687477118921,0.8681757312105979,2.35698196158559]},{"frame_idx":14,"position_3d":[0.8567978931131305,0.8689257174318239,2.340381256213543]}]}

scenefun3d_test/scenefun3d/scenefun3d_437294_43649763/interval_009/cam_19/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"43649763","intrinsics":{"fx":1592.47,"fy":1592.47,"cx":963.358,"cy":695.995},"T_base_to_cam":[[-0.19008326562433697,0.9725772115471157,-0.13402208664554077,-1.7631618337842934],[0.7199231820746058,0.04526618722201736,-0.6925760494024865,-16.635025395288604],[-0.6675170140462052,-0.22813272424976314,-0.70878522563977,-12.960301454780991],[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":[-0.8842522754177651,-0.04000809096588753,1.5129742416320244]},{"frame_idx":1,"position_3d":[-0.8662296016750041,-0.03370592644894309,1.503245437644239]},{"frame_idx":2,"position_3d":[-0.8482069279322431,-0.027403761931998644,1.4935166336564536]},{"frame_idx":3,"position_3d":[-0.830184254189482,-0.0211015974150542,1.4837878296686682]},{"frame_idx":4,"position_3d":[-0.812161580446721,-0.014799432898109756,1.4740590256808828]},{"frame_idx":5,"position_3d":[-0.79413890670396,-0.008497268381165313,1.4643302216930973]},{"frame_idx":6,"position_3d":[-0.776116232961199,-0.0021951038642208705,1.454601417705312]},{"frame_idx":7,"position_3d":[-0.758093559218438,0.004107060652723572,1.4448726137175265]},{"frame_idx":8,"position_3d":[-0.740070885475677,0.010409225169668015,1.435143809729741]},{"frame_idx":9,"position_3d":[-0.722048211732916,0.016711389686612458,1.4254150057419557]},{"frame_idx":10,"position_3d":[-0.704025537990155,0.0230135542035569,1.4156862017541703]},{"frame_idx":11,"position_3d":[-0.686002864247394,0.029315718720501344,1.4059573977663848]},{"frame_idx":12,"position_3d":[-0.667980190504633,0.03561788323744579,1.3962285937785994]},{"frame_idx":13,"position_3d":[-0.649957516761872,0.04192004775439023,1.386499789790814]},{"frame_idx":14,"position_3d":[-0.631934843019111,0.04822221227133468,1.3767709858030286]}]}

scenefun3d_test/scenefun3d/scenefun3d_437294_43649763/interval_012/cam_2/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"43649763","intrinsics":{"fx":1595.18,"fy":1595.18,"cx":962.804,"cy":695.195},"T_base_to_cam":[[-0.8709476229931492,-0.4797076809396027,-0.10644613121260768,-0.5796720375521304],[0.0703599298258232,0.09264713476066821,-0.9932099419032938,-20.588197151133347],[0.48631236697979263,-0.8725233803561869,-0.04693860302911079,-1.6158711931204461],[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":[0.8830564995201945,0.9141635804242867,2.551608758443699]},{"frame_idx":1,"position_3d":[0.8669258475077388,0.9164585945798963,2.537690473738032]},{"frame_idx":2,"position_3d":[0.8507951954952832,0.9187536087355059,2.523772189032365]},{"frame_idx":3,"position_3d":[0.8346645434828275,0.9210486228911156,2.509853904326698]},{"frame_idx":4,"position_3d":[0.8185338914703718,0.9233436370467252,2.495935619621031]},{"frame_idx":5,"position_3d":[0.8024032394579161,0.9256386512023348,2.4820173349153642]},{"frame_idx":6,"position_3d":[0.7862725874454605,0.9279336653579444,2.4680990502096973]},{"frame_idx":7,"position_3d":[0.7701419354330048,0.930228679513554,2.4541807655040304]},{"frame_idx":8,"position_3d":[0.7540112834205491,0.9325236936691637,2.4402624807983635]},{"frame_idx":9,"position_3d":[0.7378806314080935,0.9348187078247733,2.4263441960926966]},{"frame_idx":10,"position_3d":[0.7217499793956378,0.9371137219803829,2.4124259113870297]},{"frame_idx":11,"position_3d":[0.7056193273831821,0.9394087361359925,2.3985076266813627]},{"frame_idx":12,"position_3d":[0.6894886753707264,0.9417037502916021,2.384589341975696]},{"frame_idx":13,"position_3d":[0.6733580233582708,0.9439987644472118,2.370671057270029]},{"frame_idx":14,"position_3d":[0.6572273713458151,0.9462937786028214,2.356752772564362]}]}

scenefun3d_test/scenefun3d/scenefun3d_437294_43649763/interval_014/cam_2/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"43649763","intrinsics":{"fx":1594.72,"fy":1594.72,"cx":963.601,"cy":695.216},"T_base_to_cam":[[0.8832219921488098,-0.46764967606496355,0.03496702819831615,0.7648333209322565],[0.002267652442438012,-0.07030385696918222,-0.9975230450709682,-20.5832384359804],[0.46894964584386617,0.8811135841488265,-0.06103344567793209,1.18374763573241],[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":[-0.7103018164541949,0.19854377954094815,4.212539553995053]},{"frame_idx":1,"position_3d":[-0.7315333187270455,0.19974217421455984,4.209899320120264]},{"frame_idx":2,"position_3d":[-0.7527648209998962,0.20094056888817152,4.207259086245474]},{"frame_idx":3,"position_3d":[-0.7739963232727468,0.2021389635617832,4.204618852370685]},{"frame_idx":4,"position_3d":[-0.7952278255455975,0.2033373582353949,4.201978618495896]},{"frame_idx":5,"position_3d":[-0.8164593278184481,0.20453575290900658,4.1993383846211065]},{"frame_idx":6,"position_3d":[-0.8376908300912987,0.20573414758261827,4.196698150746317]},{"frame_idx":7,"position_3d":[-0.8589223323641494,0.20693254225622995,4.194057916871528]},{"frame_idx":8,"position_3d":[-0.880153834637,0.20813093692984164,4.191417682996739]},{"frame_idx":9,"position_3d":[-0.9013853369098507,0.20932933160345332,4.188777449121949]},{"frame_idx":10,"position_3d":[-0.9226168391827013,0.210527726277065,4.18613721524716]},{"frame_idx":11,"position_3d":[-0.943848341455552,0.2117261209506767,4.183496981372371]},{"frame_idx":12,"position_3d":[-0.9650798437284026,0.21292451562428838,4.1808567474975815]},{"frame_idx":13,"position_3d":[-0.9863113460012533,0.21412291029790007,4.178216513622792]},{"frame_idx":14,"position_3d":[-1.0075428482741038,0.21532130497151175,4.175576279748003]}]}