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afun_test/rh20t_human/RH20T_task_0079_user_0007_scene_0010_cfg_0005_human/interval_000/cam_5/trajectory.json

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afun_test/rh20t_human/RH20T_task_0222_user_0010_scene_0001_cfg_0005_human/interval_000/cam_1/trajectory.json

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scenefun3d_test/scenefun3d/scenefun3d_466437_45260951/interval_001/cam_34/trajectory.json

@@ -0,0 +1 @@
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scenefun3d_test/scenefun3d/scenefun3d_466437_45260951/interval_006/cam_10/trajectory.json

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scenefun3d_test/scenefun3d/scenefun3d_466437_45260951/interval_008/cam_12/trajectory.json

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scenefun3d_test/scenefun3d/scenefun3d_466437_45260951/interval_010/cam_13/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"45260951","intrinsics":{"fx":1593.37,"fy":1593.37,"cx":714.31,"cy":956.704},"T_base_to_cam":[[0.999194645201599,-0.029651359167544793,0.027034383661701158,2.1436242018285427],[0.02265064104455069,-0.13932889617419764,-0.9899870742343814,40.38743714215479],[0.03312113314368506,0.9898021295139735,-0.1385450646861207,8.781601792566638],[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":[-0.0737229981751848,0.2678530884461381,2.480578133923448]},{"frame_idx":1,"position_3d":[-0.06471653253735646,0.27141842696927715,2.456859102046466]},{"frame_idx":2,"position_3d":[-0.0530822939249483,0.27489343288079027,2.4342983094833546]},{"frame_idx":3,"position_3d":[-0.03896658963885384,0.27823440596509474,2.4131794712906713]},{"frame_idx":4,"position_3d":[-0.022546932850593105,0.28139933154717767,2.393768169112125]},{"frame_idx":5,"position_3d":[-0.004029810271185253,0.2843484088515118,2.3763085113353104]},{"frame_idx":6,"position_3d":[0.016351914539048888,0.28704455151990066,2.3610200632871003]},{"frame_idx":7,"position_3d":[0.03834192956486843,0.2894538539939508,2.348095086072265]},{"frame_idx":8,"position_3d":[0.06166369760841978,0.2915460178971412,2.337696118778528]},{"frame_idx":9,"position_3d":[0.08602393390495028,0.29329473305448744,2.329953934453229]},{"frame_idx":10,"position_3d":[0.11111629434889272,0.29467800835825775,2.324965895556379]},{"frame_idx":11,"position_3d":[0.1366252279487379,0.29567844831891216,2.322794729571233]},{"frame_idx":12,"position_3d":[0.16222994506383973,0.2962834718234767,2.323467740169794]},{"frame_idx":13,"position_3d":[0.1876084515202729,0.2964854703503386,2.3269764638532955]},{"frame_idx":14,"position_3d":[0.21244159787439532,0.2962819036508204,2.333276776385609]}]}

scenefun3d_test/scenefun3d/scenefun3d_466437_45260951/interval_013/cam_7/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"45260951","intrinsics":{"fx":1597.89,"fy":1597.89,"cx":714.7,"cy":956.572},"T_base_to_cam":[[-0.10790121649187912,-0.984524270418481,-0.13809159437319246,4.984645090507068],[0.023795975562905247,0.13630510764283882,-0.9903810727076137,40.831676457701214],[0.9938767926793453,-0.11014934674083077,0.008720228551246378,0.2836824229360558],[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":[-0.1368335517206578,0.6873271413703748,1.2712536999635775]},{"frame_idx":1,"position_3d":[-0.13773158530350463,0.6743436716444055,1.2686609090157552]},{"frame_idx":2,"position_3d":[-0.13912465004203212,0.6612012727476856,1.2674624778688135]},{"frame_idx":3,"position_3d":[-0.14099522733887832,0.6480652179717389,1.267673477489771]},{"frame_idx":4,"position_3d":[-0.14331979359920113,0.6351007008270895,1.2692912544359696]},{"frame_idx":5,"position_3d":[-0.14606911605353226,0.6224707576390193,1.2722954642236546]},{"frame_idx":6,"position_3d":[-0.14920862037681443,0.6103342172711821,1.2766483271716627]},{"frame_idx":7,"position_3d":[-0.15269882548059954,0.5988437037604881,1.282295103502833]},{"frame_idx":8,"position_3d":[-0.15649584001064332,0.5881437169812856,1.2891647817284648]},{"frame_idx":9,"position_3d":[-0.16055191430615132,0.5783688154756,1.297170971658991]},{"frame_idx":10,"position_3d":[-0.1648160408794684,0.5696419243013954,1.3062129908107352]},{"frame_idx":11,"position_3d":[-0.16923459586483125,0.5620727891786473,1.3161771305465628]},{"frame_idx":12,"position_3d":[-0.1737520133695936,0.555756596373239,1.3269380860279671]},{"frame_idx":13,"position_3d":[-0.17831148424756638,0.5507727756744388,1.3383605319961178]},{"frame_idx":14,"position_3d":[-0.18285567050699245,0.5471840015192143,1.3503008245655077]}]}

scenefun3d_test/scenefun3d/scenefun3d_466437_45260951/interval_015/cam_11/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"45260951","intrinsics":{"fx":1595.18,"fy":1595.18,"cx":714.545,"cy":956.505},"T_base_to_cam":[[-0.9685270375341315,-0.24446782997320976,-0.046806598611185676,-2.640981225239647],[-0.06283570941677312,0.4220949255579267,-0.9043713548318183,37.603402355425885],[0.24084653036207454,-0.87296698329687,-0.4241716573347545,14.999223610919888],[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":[0.061025669911113134,-0.06399181285867428,0.7969033063056088]},{"frame_idx":1,"position_3d":[0.05995138808447874,-0.05498593409665764,0.7774887823673247]},{"frame_idx":2,"position_3d":[0.05887710625784434,-0.045980055334641,0.7580742584290405]},{"frame_idx":3,"position_3d":[0.057802824431209945,-0.03697417657262436,0.7386597344907564]},{"frame_idx":4,"position_3d":[0.05672854260457555,-0.027968297810607723,0.7192452105524723]},{"frame_idx":5,"position_3d":[0.05565426077794115,-0.018962419048591084,0.6998306866141881]},{"frame_idx":6,"position_3d":[0.05457997895130676,-0.009956540286574445,0.680416162675904]},{"frame_idx":7,"position_3d":[0.05350569712467236,-0.0009506615245578054,0.6610016387376199]},{"frame_idx":8,"position_3d":[0.052431415298037964,0.008055217237458834,0.6415871147993357]},{"frame_idx":9,"position_3d":[0.05135713347140357,0.017061095999475473,0.6221725908610516]},{"frame_idx":10,"position_3d":[0.05028285164476917,0.026066974761492112,0.6027580669227675]},{"frame_idx":11,"position_3d":[0.049208569818134776,0.03507285352350875,0.5833435429844833]},{"frame_idx":12,"position_3d":[0.04813428799150038,0.04407873228552539,0.5639290190461992]},{"frame_idx":13,"position_3d":[0.04706000616486598,0.05308461104754203,0.544514495107915]},{"frame_idx":14,"position_3d":[0.04598572433823159,0.06209048980955867,0.5250999711696309]}]}

scenefun3d_test/scenefun3d/scenefun3d_466437_45260951/interval_018/cam_36/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"45260951","intrinsics":{"fx":1589.75,"fy":1589.75,"cx":714.415,"cy":956.705},"T_base_to_cam":[[0.7638096887019267,0.6447291431660798,-0.030316520205964537,5.974894306912624],[0.0818878533952439,-0.14338904162401875,-0.9862727625806488,40.32119010555604],[-0.6402258499243726,0.7508421369998345,-0.1623174248013345,6.303024427167949],[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":[-0.3684349275900285,0.49382301529005446,0.8729480848478399]},{"frame_idx":1,"position_3d":[-0.36908456730872774,0.4726885989490406,0.8694698543163828]},{"frame_idx":2,"position_3d":[-0.369734207027427,0.4515541826080267,0.8659916237849257]},{"frame_idx":3,"position_3d":[-0.37038384674612623,0.43041976626701284,0.8625133932534685]},{"frame_idx":4,"position_3d":[-0.3710334864648255,0.40928534992599896,0.8590351627220114]},{"frame_idx":5,"position_3d":[-0.3716831261835247,0.3881509335849851,0.8555569321905543]},{"frame_idx":6,"position_3d":[-0.37233276590222397,0.3670165172439712,0.8520787016590972]},{"frame_idx":7,"position_3d":[-0.3729824056209232,0.34588210090295735,0.84860047112764]},{"frame_idx":8,"position_3d":[-0.37363204533962247,0.3247476845619435,0.8451222405961829]},{"frame_idx":9,"position_3d":[-0.3742816850583217,0.3036132682209296,0.8416440100647258]},{"frame_idx":10,"position_3d":[-0.37493132477702096,0.2824788518799157,0.8381657795332687]},{"frame_idx":11,"position_3d":[-0.3755809644957202,0.26134443553890185,0.8346875490018115]},{"frame_idx":12,"position_3d":[-0.37623060421441945,0.24021001919788795,0.8312093184703544]},{"frame_idx":13,"position_3d":[-0.3768802439331187,0.21907560285687405,0.8277310879388973]},{"frame_idx":14,"position_3d":[-0.37752988365181794,0.19794118651586015,0.8242528574074401]}]}

scenefun3d_test/scenefun3d/scenefun3d_466437_45260951/interval_020/cam_12/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"45260951","intrinsics":{"fx":1597.89,"fy":1597.89,"cx":714.682,"cy":956.29},"T_base_to_cam":[[0.24003869863596244,-0.9654835192727411,-0.10110883823819022,2.1629162271839304],[0.1649202820386924,0.14319763647655132,-0.9758564123270431,41.144658955864124],[0.9566518299409834,0.21756840515169562,0.1936007886097469,-4.080714300923349],[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":[0.19509560275914462,0.7187134414826701,2.766962966502442]},{"frame_idx":1,"position_3d":[0.19486865908058162,0.7142402121072648,2.7460077192122965]},{"frame_idx":2,"position_3d":[0.19464171540201863,0.7097669827318596,2.725052471922151]},{"frame_idx":3,"position_3d":[0.19441477172345564,0.7052937533564543,2.7040972246320054]},{"frame_idx":4,"position_3d":[0.19418782804489265,0.700820523981049,2.68314197734186]},{"frame_idx":5,"position_3d":[0.19396088436632966,0.6963472946056437,2.6621867300517144]},{"frame_idx":6,"position_3d":[0.19373394068776667,0.6918740652302384,2.641231482761569]},{"frame_idx":7,"position_3d":[0.19350699700920368,0.6874008358548331,2.6202762354714233]},{"frame_idx":8,"position_3d":[0.1932800533306407,0.6829276064794279,2.5993209881812778]},{"frame_idx":9,"position_3d":[0.1930531096520777,0.6784543771040226,2.5783657408911322]},{"frame_idx":10,"position_3d":[0.1928261659735147,0.6739811477286173,2.5574104936009867]},{"frame_idx":11,"position_3d":[0.19259922229495172,0.669507918353212,2.536455246310841]},{"frame_idx":12,"position_3d":[0.19237227861638873,0.6650346889778067,2.5154999990206957]},{"frame_idx":13,"position_3d":[0.19214533493782573,0.6605614596024014,2.49454475173055]},{"frame_idx":14,"position_3d":[0.19191839125926274,0.6560882302269961,2.4735895044404046]}]}

scenefun3d_test/scenefun3d/scenefun3d_466437_45260957/interval_007/cam_3/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"45260957","intrinsics":{"fx":1601.05,"fy":1601.05,"cx":714.475,"cy":956.614},"T_base_to_cam":[[-0.9986255135603871,-0.027791680055646133,-0.04443766629715925,0.05673919375216777],[0.04325562873343782,0.04177749192057034,-0.9981901581120208,41.12453170582136],[0.029597875753642696,-0.9987403384706711,-0.04051792273007937,0.5176623725613536],[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":[0.017092156594220934,1.001231997047924,2.604042922652212]},{"frame_idx":1,"position_3d":[0.017152747791315672,1.0019341005810565,2.5866796098083555]},{"frame_idx":2,"position_3d":[0.015269217104253054,1.0027184544323358,2.56942219532168]},{"frame_idx":3,"position_3d":[0.011465251024272852,1.0035751948969893,2.552487701192341]},{"frame_idx":4,"position_3d":[0.005788686631943347,1.0044935479665815,2.5360890885096365]},{"frame_idx":5,"position_3d":[-0.00168908998188254,1.0054619648184215,2.520432579342749]},{"frame_idx":6,"position_3d":[-0.010874041437578894,1.006468267048709,2.50571506337857]},{"frame_idx":7,"position_3d":[-0.02165066164135737,1.007499799823028,2.4921216219196505]},{"frame_idx":8,"position_3d":[-0.033883428341414765,1.0085435910182319,2.4798232003794354]},{"frame_idx":9,"position_3d":[-0.047418507398881295,1.0095865143544194,2.468974458544503]},{"frame_idx":10,"position_3d":[-0.06208568734137352,1.0106154544655197,2.4597118256380144]},{"frame_idx":11,"position_3d":[-0.07770051987101857,1.0116174718326307,2.4521517846430734]},{"frame_idx":12,"position_3d":[-0.0940666394088193,1.0125799655059773,2.4463894074616293]},{"frame_idx":13,"position_3d":[-0.11097823250574414,1.0134908315691649,2.4424971593301477]},{"frame_idx":14,"position_3d":[-0.12822262606626436,1.0143386153529523,2.440523987527217]}]}

scenefun3d_test/scenefun3d/scenefun3d_466437_45260957/interval_011/cam_6/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"45260957","intrinsics":{"fx":1597.89,"fy":1597.89,"cx":714.8,"cy":956.544},"T_base_to_cam":[[0.09742665796305983,-0.9825176670676502,-0.15864135721208183,6.1931328876712906],[-0.39489159866895995,0.10815259167022029,-0.9123396528791718,36.74573514871102],[0.9135473012487215,0.15153234247168806,-0.37745102671236813,16.775742916291552],[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":[0.34025900767469874,0.11887878331325652,1.8929625238912937]},{"frame_idx":1,"position_3d":[0.31923141696547114,0.12287524485300443,1.8919366595747744]},{"frame_idx":2,"position_3d":[0.29820382625624353,0.12687170639275233,1.8909107952582551]},{"frame_idx":3,"position_3d":[0.2771762355470159,0.13086816793250022,1.8898849309417358]},{"frame_idx":4,"position_3d":[0.2561486448377883,0.13486462947224814,1.8888590666252165]},{"frame_idx":5,"position_3d":[0.23512105412856069,0.13886109101199606,1.8878332023086972]},{"frame_idx":6,"position_3d":[0.21409346341933305,0.14285755255174398,1.886807337992178]},{"frame_idx":7,"position_3d":[0.19306587271010542,0.1468540140914919,1.8857814736756586]},{"frame_idx":8,"position_3d":[0.17203828200087778,0.15085047563123982,1.8847556093591393]},{"frame_idx":9,"position_3d":[0.15101069129165015,0.15484693717098774,1.88372974504262]},{"frame_idx":10,"position_3d":[0.12998310058242252,0.15884339871073566,1.8827038807261007]},{"frame_idx":11,"position_3d":[0.1089555098731949,0.16283986025048358,1.8816780164095814]},{"frame_idx":12,"position_3d":[0.08792791916396728,0.1668363217902315,1.8806521520930621]},{"frame_idx":13,"position_3d":[0.06690032845473966,0.17083278332997942,1.8796262877765428]},{"frame_idx":14,"position_3d":[0.04587273774551204,0.17482924486972734,1.8786004234600235]}]}

scenefun3d_test/scenefun3d/scenefun3d_466437_45260957/interval_012/cam_2/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"45260957","intrinsics":{"fx":1597.89,"fy":1597.89,"cx":714.381,"cy":956.383},"T_base_to_cam":[[-0.7340570109633157,0.6790842418357623,0.0022129496042207486,-0.13492968610765982],[0.34992624855075416,0.3810419932027912,-0.8557795393623525,34.64746683364262],[-0.5819896263944906,-0.6274166015546548,-0.5173359477774659,21.398261986181602],[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":[-0.23634901646861017,0.10804847464918765,1.2451187156773997]},{"frame_idx":1,"position_3d":[-0.21878079481898466,0.11436336283553149,1.2345990460660008]},{"frame_idx":2,"position_3d":[-0.20121257316935914,0.12067825102187532,1.2240793764546019]},{"frame_idx":3,"position_3d":[-0.18364435151973363,0.12699313920821914,1.213559706843203]},{"frame_idx":4,"position_3d":[-0.1660761298701081,0.13330802739456296,1.203040037231804]},{"frame_idx":5,"position_3d":[-0.1485079082204826,0.13962291558090678,1.192520367620405]},{"frame_idx":6,"position_3d":[-0.13093968657085708,0.1459378037672506,1.182000698009006]},{"frame_idx":7,"position_3d":[-0.11337146492123158,0.15225269195359442,1.1714810283976071]},{"frame_idx":8,"position_3d":[-0.09580324327160608,0.15856758013993824,1.1609613587862082]},{"frame_idx":9,"position_3d":[-0.07823502162198058,0.16488246832628206,1.1504416891748093]},{"frame_idx":10,"position_3d":[-0.06066679997235508,0.17119735651262588,1.1399220195634103]},{"frame_idx":11,"position_3d":[-0.04309857832272958,0.1775122446989697,1.1294023499520114]},{"frame_idx":12,"position_3d":[-0.025530356673104073,0.18382713288531352,1.1188826803406124]},{"frame_idx":13,"position_3d":[-0.007962135023478568,0.19014202107165734,1.1083630107292135]},{"frame_idx":14,"position_3d":[0.009606086626146936,0.19645690925800116,1.0978433411178146]}]}

scenefun3d_test/scenefun3d/scenefun3d_466437_45260957/interval_014/cam_6/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"45260957","intrinsics":{"fx":1600.15,"fy":1600.15,"cx":714.478,"cy":956.695},"T_base_to_cam":[[0.1064099989018571,0.9941305345430298,-0.0195292709258853,2.225755476182257],[0.2543273543207581,-0.046199691497925244,-0.9660140709894964,40.10361264001039],[-0.9612463310608318,0.09782672842677725,-0.25775069782137017,8.291349579773797],[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":[0.3631072688537087,0.021486021376233566,1.41068199546471]},{"frame_idx":1,"position_3d":[0.33969478039216494,0.023396183649376335,1.4052968895649134]},{"frame_idx":2,"position_3d":[0.31579193045445525,0.02463045103788888,1.4024820982240376]},{"frame_idx":3,"position_3d":[0.291699311247303,0.025173301913222035,1.4022730190763741]},{"frame_idx":4,"position_3d":[0.26771990143610125,0.02501790961064907,1.4046722814135155]},{"frame_idx":5,"position_3d":[0.24415525601240362,0.024166228278535557,1.4096497131194876]},{"frame_idx":6,"position_3d":[0.22130171406493881,0.022628968303789843,1.4171427201026148]},{"frame_idx":7,"position_3d":[0.19944667214363013,0.020425461622533364,1.4270570734525403]},{"frame_idx":8,"position_3d":[0.1788649700812287,0.01758341860978728,1.439268094423447]},{"frame_idx":9,"position_3d":[0.1598154347229509,0.014138579605428638,1.4536222223416264]},{"frame_idx":10,"position_3d":[0.14253762502872497,0.010134265458679395,1.4699389457200482]},{"frame_idx":11,"position_3d":[0.12724881948027447,0.0056208327432921085,1.4880130722950455]},{"frame_idx":12,"position_3d":[0.11414128367814279,0.0006550404944174323,1.5076173094380851]},{"frame_idx":13,"position_3d":[0.10337985249021113,-0.004700663569195259,1.52850512249245]},{"frame_idx":14,"position_3d":[0.09509985715759556,-0.010378928361494158,1.55041383508959]}]}

scenefun3d_test/scenefun3d/scenefun3d_466916_47331615/interval_004/cam_1/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"47331615","intrinsics":{"fx":1597.89,"fy":1597.89,"cx":956.17,"cy":705.208},"T_base_to_cam":[[0.8329275363575124,0.5529038356331559,-0.02300147211699216,4.63573136076006],[0.1622076872324317,-0.2836767566171628,-0.9451011395389769,85.46207978017908],[-0.5290750281199352,0.783469748169839,-0.3259674344510179,28.89178688076481],[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":[-0.7587007308119622,-0.34171672471828174,1.7501753012549308]},{"frame_idx":1,"position_3d":[-0.785970539860325,-0.327247991990767,1.7101493089101096]},{"frame_idx":2,"position_3d":[-0.8178324047371301,-0.3137624147986933,1.673297883566835]},{"frame_idx":3,"position_3d":[-0.8538856440048674,-0.3014295820997652,1.640084453280494]},{"frame_idx":4,"position_3d":[-0.8936768672611684,-0.29040458642084793,1.610926696207818]},{"frame_idx":5,"position_3d":[-0.9367056767861794,-0.2808260734794553,1.5861912880617208]},{"frame_idx":6,"position_3d":[-0.9824309603342268,-0.27281449863340806,1.5661892909514579]},{"frame_idx":7,"position_3d":[-1.0302776959342663,-0.2664706120848192,1.5511722415961198]},{"frame_idx":8,"position_3d":[-1.0796441831248047,-0.26187419188784594,1.5413289881044447]},{"frame_idx":9,"position_3d":[-1.1299096096863182,-0.2590830406933704,1.5367833151002792]},{"frame_idx":10,"position_3d":[-1.1804418587151155,-0.2581322588471267,1.5375923870591117]},{"frame_idx":11,"position_3d":[-1.2306054578601662,-0.25903380298248785,1.5437460294316254]},{"frame_idx":12,"position_3d":[-1.2797695707566226,-0.26177633565886355,1.5551668565945593]},{"frame_idx":13,"position_3d":[-1.3273159301591293,-0.2663253679365939,1.5717112450198214]},{"frame_idx":14,"position_3d":[-1.3726466130111594,-0.27262369309537643,1.593171139423686]}]}

scenefun3d_test/scenefun3d/scenefun3d_466916_47331615/interval_006/cam_1/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"47331615","intrinsics":{"fx":1599.24,"fy":1599.24,"cx":955.845,"cy":705.076},"T_base_to_cam":[[0.8720571580425894,0.4890242788293504,-0.019276094576327146,4.264806954038805],[-0.013603047911217248,-0.015151523420560448,-0.99979267272048,90.37841933167607],[-0.48921495295443174,0.8721385704424898,-0.0065607737594855775,0.2942285469088441],[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":[-0.09793621943494646,0.3842005832573676,1.4618484033478087]},{"frame_idx":1,"position_3d":[-0.12191238527188202,0.3850038968448976,1.409875844780946]},{"frame_idx":2,"position_3d":[-0.15155625794102257,0.38589671624887245,1.3609157347766396]},{"frame_idx":3,"position_3d":[-0.1864950485437781,0.3868678137472613,1.315583775125511]},{"frame_idx":4,"position_3d":[-0.2262893815163605,0.3879049772255781,1.274450041522389]},{"frame_idx":5,"position_3d":[-0.2704388200324297,0.38899516375130666,1.2380318145336808]},{"frame_idx":6,"position_3d":[-0.31838815928654524,0.390124663596345,1.2067870744941172]},{"frame_idx":7,"position_3d":[-0.36953440851673197,0.39127927264479073,1.1811087421383157]},{"frame_idx":8,"position_3d":[-0.42323437396317526,0.3924444710179398,1.1613197373945665]},{"frame_idx":9,"position_3d":[-0.47881274740294033,0.39360560567018604,1.1476689184793698]},{"frame_idx":10,"position_3d":[-0.5355705985426988,0.39474807465957146,1.1403279523609742]},{"frame_idx":11,"position_3d":[-0.592794164472696,0.3958575107756786,1.139389155947646]},{"frame_idx":12,"position_3d":[-0.6497638256494755,0.3969199622156376,1.1448643351489851]},{"frame_idx":13,"position_3d":[-0.7057631555291725,0.3979220680361422,1.156684636409762]},{"frame_idx":14,"position_3d":[-0.7600879300469814,0.3988512261750643,1.1747014125833237]}]}

scenefun3d_test/scenefun3d/scenefun3d_466916_47331615/interval_008/cam_17/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"47331615","intrinsics":{"fx":1597.44,"fy":1597.44,"cx":956.215,"cy":705.287},"T_base_to_cam":[[-0.08033430809332143,0.9960048555310697,-0.038996496018232685,3.5839412505047004],[0.40090722902183645,-0.0035326605835654945,-0.9161118458066317,83.84825507269832],[-0.9125896080173168,-0.08922918842920197,-0.39902175287954667,33.35298960877106],[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":[-0.8339149452711356,0.46435742563650706,1.5437792700718873]},{"frame_idx":1,"position_3d":[-0.8336733407844253,0.4762005434840199,1.516565108935483]},{"frame_idx":2,"position_3d":[-0.830112738756064,0.4878395772312917,1.4894951368988933]},{"frame_idx":3,"position_3d":[-0.8232779158224676,0.49912815927582577,1.462909774566842]},{"frame_idx":4,"position_3d":[-0.8132548238476829,0.5099243291486243,1.437143348295841]},{"frame_idx":5,"position_3d":[-0.8001695090288261,0.520092318749453,1.4125198858462766]},{"frame_idx":6,"position_3d":[-0.7841865267920209,0.5295042597094768,1.3893490415453185]},{"frame_idx":7,"position_3d":[-0.7655068724124375,0.5380417914101877,1.3679222022040876]},{"frame_idx":8,"position_3d":[-0.744365453382087,0.5455975494368582,1.348508822759442]},{"frame_idx":9,"position_3d":[-0.7210281353118131,0.55207651574835,1.331353037721803]},{"frame_idx":10,"position_3d":[-0.6957883985169768,0.5573972135841122,1.3166705910420375]},{"frame_idx":11,"position_3d":[-0.6689636473322097,0.5614927320817192,1.3046461230060975]},{"frame_idx":12,"position_3d":[-0.6408912185677433,0.5643115677197886,1.2954308482762937]},{"frame_idx":13,"position_3d":[-0.6119241393032934,0.5658182720046451,1.2891406542791803]},{"frame_idx":14,"position_3d":[-0.5824266873677012,0.5659938972556964,1.2858546438539267]}]}

scenefun3d_test/scenefun3d/scenefun3d_466916_47331615/interval_010/cam_6/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"47331615","intrinsics":{"fx":1597.89,"fy":1597.89,"cx":956.17,"cy":705.208},"T_base_to_cam":[[0.8329275363575124,0.5529038356331559,-0.02300147211699216,4.63573136076006],[0.1622076872324317,-0.2836767566171628,-0.9451011395389769,85.46207978017908],[-0.5290750281199352,0.783469748169839,-0.3259674344510179,28.89178688076481],[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":[-0.6874349803585345,-0.3556908784818944,1.6961341154419927]},{"frame_idx":1,"position_3d":[-0.6995158287442712,-0.34705991373484213,1.671962199821846]},{"frame_idx":2,"position_3d":[-0.7086478951100182,-0.3381045577901682,1.646641676155711]},{"frame_idx":3,"position_3d":[-0.714716338422678,-0.3289374294448954,1.6204909647199996]},{"frame_idx":4,"position_3d":[-0.7176448444866009,-0.3196738106568573,1.5938389258840122]},{"frame_idx":5,"position_3d":[-0.7173965856388744,-0.3104301968071903,1.5670207244999843]},{"frame_idx":6,"position_3d":[-0.7139746838785518,-0.30132283170332363,1.5403736150106029]},{"frame_idx":7,"position_3d":[-0.7074221716057028,-0.2924662457456548,1.51423270027871]},{"frame_idx":8,"position_3d":[-0.6978214504640144,-0.28397181564131224,1.4889267174743712]},{"frame_idx":9,"position_3d":[-0.6852932550923119,-0.2759463637774413,1.4647739040142245]},{"frame_idx":10,"position_3d":[-0.6699951348164225,-0.26849081486770576,1.4420779955413197]},{"frame_idx":11,"position_3d":[-0.6521194723749916,-0.2616989267654558,1.4211244062731765]},{"frame_idx":12,"position_3d":[-0.6318910645949212,-0.2556561114043225,1.4021766397523976]},{"frame_idx":13,"position_3d":[-0.6095642954408413,-0.25043836069359515,1.3854729751367318]},{"frame_idx":14,"position_3d":[-0.5854199369891577,-0.24611129087587075,1.3712234707004134]}]}

scenefun3d_test/scenefun3d/scenefun3d_466916_47331615/interval_015/cam_14/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"47331615","intrinsics":{"fx":1612.35,"fy":1612.35,"cx":956.804,"cy":705.901},"T_base_to_cam":[[-0.7040229392573789,0.7099917903506197,0.016228328137008002,-2.4709464356611917],[0.5105267698406157,0.5218552243905932,-0.6833955970390431,64.10793828888798],[-0.4936741012809035,-0.4728411809592781,-0.7298678642833423,63.28842451839927],[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":[0.49749359995038445,0.05509311104803771,1.165938645555464]},{"frame_idx":1,"position_3d":[0.48838696342664,0.050424160361207476,1.1471117035791965]},{"frame_idx":2,"position_3d":[0.47928032690289557,0.04575520967437724,1.128284761602929]},{"frame_idx":3,"position_3d":[0.47017369037915113,0.041086258987547,1.1094578196266616]},{"frame_idx":4,"position_3d":[0.4610670538554067,0.036417308300716766,1.0906308776503941]},{"frame_idx":5,"position_3d":[0.45196041733166226,0.03174835761388653,1.0718039356741267]},{"frame_idx":6,"position_3d":[0.4428537808079178,0.027079406927056297,1.0529769936978592]},{"frame_idx":7,"position_3d":[0.4337471442841734,0.022410456240226063,1.0341500517215918]},{"frame_idx":8,"position_3d":[0.42464050776042894,0.01774150555339583,1.0153231097453244]},{"frame_idx":9,"position_3d":[0.4155338712366845,0.013072554866565597,0.996496167769057]},{"frame_idx":10,"position_3d":[0.40642723471294007,0.008403604179735364,0.9776692257927897]},{"frame_idx":11,"position_3d":[0.39732059818919563,0.003734653492905131,0.9588422838165224]},{"frame_idx":12,"position_3d":[0.3882139616654512,-0.0009342971939251023,0.940015341840255]},{"frame_idx":13,"position_3d":[0.37910732514170675,-0.005603247880755335,0.9211883998639877]},{"frame_idx":14,"position_3d":[0.3700006886179623,-0.010272198567585569,0.9023614578877204]}]}

scenefun3d_test/scenefun3d/scenefun3d_468282_47331281/interval_007/cam_7/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"47331281","intrinsics":{"fx":1606.93,"fy":1606.93,"cx":719.972,"cy":962.242},"T_base_to_cam":[[0.9596482462173275,-0.2754249404724606,-0.05671283538803186,-1.5960409460176157],[-0.21816881223993406,-0.6019896467850421,-0.7681216274324248,-9.244366669624075],[0.1774193137677656,0.7494995445824914,-0.6377874409023851,-8.00368447195344],[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":[-0.09982289383286935,-0.0724043853054539,0.8556622559304525]},{"frame_idx":1,"position_3d":[-0.1091105430558433,-0.0595272486124032,0.8412711963458053]},{"frame_idx":2,"position_3d":[-0.11839819227881726,-0.046650111919352505,0.826880136761158]},{"frame_idx":3,"position_3d":[-0.12768584150179121,-0.03377297522630181,0.8124890771765108]},{"frame_idx":4,"position_3d":[-0.13697349072476517,-0.020895838533251113,0.7980980175918635]},{"frame_idx":5,"position_3d":[-0.14626113994773912,-0.00801870184020042,0.7837069580072162]},{"frame_idx":6,"position_3d":[-0.15554878917071308,0.004858434852850275,0.769315898422569]},{"frame_idx":7,"position_3d":[-0.16483643839368703,0.01773557154590097,0.7549248388379217]},{"frame_idx":8,"position_3d":[-0.17412408761666098,0.030612708238951663,0.7405337792532745]},{"frame_idx":9,"position_3d":[-0.18341173683963494,0.04348984493200236,0.7261427196686272]},{"frame_idx":10,"position_3d":[-0.1926993860626089,0.05636698162505305,0.7117516600839799]},{"frame_idx":11,"position_3d":[-0.20198703528558284,0.06924411831810375,0.6973606004993327]},{"frame_idx":12,"position_3d":[-0.2112746845085568,0.08212125501115444,0.6829695409146854]},{"frame_idx":13,"position_3d":[-0.22056233373153075,0.09499839170420514,0.6685784813300382]},{"frame_idx":14,"position_3d":[-0.2298499829545047,0.10787552839725584,0.6541874217453909]}]}