Add files using upload-large-folder tool

scenefun3d_test/scenefun3d/scenefun3d_434888_42899187/interval_003/cam_16/trajectory.json

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+{"camera_info":{"cam_id":"42899187","intrinsics":{"fx":1600.15,"fy":1600.15,"cx":742.093,"cy":968.629},"T_base_to_cam":[[-0.9937211403039756,0.08566672694592223,-0.07196879328805736,8.926199422149507],[0.0851813670822398,0.16220952882684647,-0.9830728373115454,101.90145029567407],[-0.0725426082724287,-0.9830306610946296,-0.1684882468686998,17.898776742394183],[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":[-0.09673500857763351,0.29500608508391224,2.529711342931831]},{"frame_idx":1,"position_3d":[-0.09491542206178404,0.29816416238605065,2.5085950145072577]},{"frame_idx":2,"position_3d":[-0.09309583554593456,0.30132223968818905,2.4874786860826843]},{"frame_idx":3,"position_3d":[-0.09127624903008509,0.30448031699032746,2.466362357658111]},{"frame_idx":4,"position_3d":[-0.08945666251423562,0.30763839429246587,2.4452460292335374]},{"frame_idx":5,"position_3d":[-0.08763707599838615,0.3107964715946043,2.424129700808964]},{"frame_idx":6,"position_3d":[-0.08581748948253667,0.3139545488967427,2.4030133723843905]},{"frame_idx":7,"position_3d":[-0.0839979029666872,0.3171126261988811,2.381897043959817]},{"frame_idx":8,"position_3d":[-0.08217831645083773,0.3202707035010195,2.3607807155352436]},{"frame_idx":9,"position_3d":[-0.08035872993498826,0.3234287808031579,2.33966438711067]},{"frame_idx":10,"position_3d":[-0.07853914341913878,0.3265868581052963,2.3185480586860967]},{"frame_idx":11,"position_3d":[-0.07671955690328931,0.3297449354074347,2.2974317302615233]},{"frame_idx":12,"position_3d":[-0.07489997038743984,0.3329030127095731,2.27631540183695]},{"frame_idx":13,"position_3d":[-0.07308038387159037,0.3360610900117115,2.2551990734123764]},{"frame_idx":14,"position_3d":[-0.0712607973557409,0.33921916731384993,2.234082744987803]}]}

scenefun3d_test/scenefun3d/scenefun3d_434888_42899187/interval_004/cam_13/trajectory.json

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+{"camera_info":{"cam_id":"42899187","intrinsics":{"fx":1586.14,"fy":1586.14,"cx":742.07,"cy":968.375},"T_base_to_cam":[[0.9971077621113346,0.0671249846629082,-0.035641929960797875,5.032735849444957],[0.003872092545623651,-0.5132271988358187,-0.8582440499499294,88.34228500462362],[-0.07590202656480398,0.8556237951396298,-0.5120027378385905,53.93932096042526],[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":[0.04177323185831838,-0.6005494685816473,1.8469643453872493]},{"frame_idx":1,"position_3d":[0.04049727328405488,-0.5889198815663478,1.829011398302168]},{"frame_idx":2,"position_3d":[0.03922131470979137,-0.5772902945510483,1.8110584512170869]},{"frame_idx":3,"position_3d":[0.037945356135527866,-0.5656607075357488,1.7931055041320056]},{"frame_idx":4,"position_3d":[0.03666939756126436,-0.5540311205204493,1.7751525570469244]},{"frame_idx":5,"position_3d":[0.035393438987000855,-0.5424015335051499,1.7571996099618432]},{"frame_idx":6,"position_3d":[0.03411748041273735,-0.5307719464898504,1.739246662876762]},{"frame_idx":7,"position_3d":[0.032841521838473844,-0.5191423594745509,1.7212937157916808]},{"frame_idx":8,"position_3d":[0.03156556326421034,-0.5075127724592514,1.7033407687065996]},{"frame_idx":9,"position_3d":[0.030289604689946834,-0.49588318544395193,1.6853878216215183]},{"frame_idx":10,"position_3d":[0.029013646115683328,-0.48425359842865245,1.6674348745364371]},{"frame_idx":11,"position_3d":[0.027737687541419823,-0.472624011413353,1.649481927451356]},{"frame_idx":12,"position_3d":[0.026461728967156317,-0.4609944243980535,1.6315289803662747]},{"frame_idx":13,"position_3d":[0.02518577039289281,-0.449364837382754,1.6135760332811935]},{"frame_idx":14,"position_3d":[0.023909811818629306,-0.43773525036745453,1.5956230861961123]}]}

scenefun3d_test/scenefun3d/scenefun3d_434888_42899187/interval_007/cam_10/trajectory.json

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+{"camera_info":{"cam_id":"42899187","intrinsics":{"fx":1596.53,"fy":1596.53,"cx":741.852,"cy":968.474},"T_base_to_cam":[[0.6267489703482211,-0.778988682709105,0.019035765773348534,-1.536481296246772],[0.05057224914276304,0.01628679051069415,-0.9985875965940609,103.68503845444464],[0.7775784049110975,0.6268264294571457,0.049602938924212386,-4.068009302850099],[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":[0.16029795218575504,0.15337165719597579,1.5410469298626515]},{"frame_idx":1,"position_3d":[0.20590094788725202,0.15251042733196116,1.506208240014083]},{"frame_idx":2,"position_3d":[0.255117170894786,0.15198213384525802,1.4766854768802102]},{"frame_idx":3,"position_3d":[0.3073276986481196,0.1517934203329847,1.4528499063369478]},{"frame_idx":4,"position_3d":[0.36187595346750073,0.15194665997705217,1.4350012745135974]},{"frame_idx":5,"position_3d":[0.41807595939894104,0.15243992570002457,1.423364038311355]},{"frame_idx":6,"position_3d":[0.47522096875984976,0.15326701439923607,1.4180845427275457]},{"frame_idx":7,"position_3d":[0.5325923499012066,0.15441752495440605,1.4192291804823705]},{"frame_idx":8,"position_3d":[0.5894686244175085,0.15587698902776148,1.426783557091928]},{"frame_idx":9,"position_3d":[0.6451345401563295,0.15762705301177912,1.440652671887202]},{"frame_idx":10,"position_3d":[0.6988900659291376,0.15964570883644918,1.4606621127025936]},{"frame_idx":11,"position_3d":[0.7500591948096571,0.16190757073352507,1.4865602492101015]},{"frame_idx":12,"position_3d":[0.7979984453131953,0.1643841944772882,1.518021397316695]},{"frame_idx":13,"position_3d":[0.8421049535496692,0.16704443508719016,1.5546499148307502]},{"frame_idx":14,"position_3d":[0.8818240545868129,0.1698548384940539,1.5959851768921673]}]}

scenefun3d_test/scenefun3d/scenefun3d_434888_42899187/interval_009/cam_4/trajectory.json

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+{"camera_info":{"cam_id":"42899187","intrinsics":{"fx":1594.27,"fy":1594.27,"cx":742.062,"cy":968.478},"T_base_to_cam":[[0.8730289192896195,-0.4863221043908732,-0.03621210936732369,4.3927701244234125],[-0.24727662251976623,-0.37745321719491753,-0.8924031268347412,91.92755720377856],[0.4203269894251562,0.7880481454898798,-0.44978366172054934,47.623854339194004],[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":[0.8015742709213503,-0.20086501248528066,1.9301174206054057]},{"frame_idx":1,"position_3d":[0.8116533025507793,-0.19303247447743518,1.9129055600657077]},{"frame_idx":2,"position_3d":[0.8217323341802083,-0.1851999364695897,1.8956936995260096]},{"frame_idx":3,"position_3d":[0.8318113658096373,-0.17736739846174424,1.8784818389863116]},{"frame_idx":4,"position_3d":[0.8418903974390664,-0.16953486045389876,1.8612699784466136]},{"frame_idx":5,"position_3d":[0.8519694290684954,-0.1617023224460533,1.8440581179069155]},{"frame_idx":6,"position_3d":[0.8620484606979244,-0.1538697844382078,1.8268462573672175]},{"frame_idx":7,"position_3d":[0.8721274923273534,-0.14603724643036234,1.8096343968275195]},{"frame_idx":8,"position_3d":[0.8822065239567825,-0.13820470842251686,1.7924225362878214]},{"frame_idx":9,"position_3d":[0.8922855555862115,-0.1303721704146714,1.7752106757481234]},{"frame_idx":10,"position_3d":[0.9023645872156405,-0.12253963240682592,1.7579988152084254]},{"frame_idx":11,"position_3d":[0.9124436188450695,-0.11470709439898044,1.7407869546687273]},{"frame_idx":12,"position_3d":[0.9225226504744986,-0.10687455639113497,1.7235750941290293]},{"frame_idx":13,"position_3d":[0.9326016821039276,-0.09904201838328949,1.7063632335893313]},{"frame_idx":14,"position_3d":[0.9426807137333566,-0.09120948037544402,1.6891513730496333]}]}

scenefun3d_test/scenefun3d/scenefun3d_435357_42899624/interval_001/cam_18/trajectory.json

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+{"camera_info":{"cam_id":"42899624","intrinsics":{"fx":1601.5,"fy":1601.5,"cx":714.18,"cy":956.43},"T_base_to_cam":[[0.830816096277153,-0.5488684929714241,0.09213029680875864,-24.868639613689812],[-0.19452207875068492,-0.4414757522388989,-0.8759339707213157,236.85204444128146],[0.5214458505399239,0.7098186653000723,-0.47355220128969877,131.54296560443393],[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":[0.9683620941268565,-1.7250004469889006,3.606871362638813]},{"frame_idx":1,"position_3d":[0.9014623894981899,-1.7147855481180052,3.574961329212291]},{"frame_idx":2,"position_3d":[0.8313122034863881,-1.7085111314595034,3.5497076568113837]},{"frame_idx":3,"position_3d":[0.7587937153826354,-1.7062561014433772,3.5314279250190554]},{"frame_idx":4,"position_3d":[0.6848188872510433,-1.7080488163804783,3.520352012068742]},{"frame_idx":5,"position_3d":[0.6103179954765618,-1.7138667318403151,3.5166192039921875]},{"frame_idx":6,"position_3d":[0.5362279319996792,-1.7236366841603472,3.5202764430167806]},{"frame_idx":7,"position_3d":[0.46348042235667336,-1.7372358105214918,3.5312777372398076]},{"frame_idx":8,"position_3d":[0.39299030869039336,-1.7544930940193604,3.549484739003314]},{"frame_idx":9,"position_3d":[0.32564404507950934,-1.7751915143010581,3.5746684846961756]},{"frame_idx":10,"position_3d":[0.2622885498641404,-1.7990707767220397,3.6065122741043547]},{"frame_idx":11,"position_3d":[0.20372055515633447,-1.8258305857022905,3.644615653099847]},{"frame_idx":12,"position_3d":[0.15067658747148424,-1.855134421117481,3.6884994495836882]},{"frame_idx":13,"position_3d":[0.10382370548005362,-1.8866137702347836,3.7376117993531226]},{"frame_idx":14,"position_3d":[0.06375111135776021,-1.9198727619743048,3.79133508611415]}]}

scenefun3d_test/scenefun3d/scenefun3d_435357_42899624/interval_002/cam_10/trajectory.json

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+{"camera_info":{"cam_id":"42899624","intrinsics":{"fx":1597.89,"fy":1597.89,"cx":714.486,"cy":956.437},"T_base_to_cam":[[-0.9535321730317678,-0.2974619282946958,-0.0478831516142786,10.57024167639269],[-0.11130000946423894,0.4954525632971809,-0.861474936034423,235.11895377172544],[0.2799798258563911,-0.8161146725414598,-0.5055374747493709,135.8637558487645],[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":[-0.301728909559154,0.1615104460409782,1.0009516838680383]},{"frame_idx":1,"position_3d":[-0.302931277918765,0.17243997532057437,0.9825592024279596]},{"frame_idx":2,"position_3d":[-0.304133646278376,0.18336950460017054,0.9641667209878808]},{"frame_idx":3,"position_3d":[-0.30533601463798704,0.1942990338797667,0.945774239547802]},{"frame_idx":4,"position_3d":[-0.30653838299759806,0.2052285631593629,0.9273817581077233]},{"frame_idx":5,"position_3d":[-0.3077407513572091,0.21615809243895906,0.9089892766676445]},{"frame_idx":6,"position_3d":[-0.3089431197168201,0.22708762171855523,0.8905967952275657]},{"frame_idx":7,"position_3d":[-0.3101454880764311,0.2380171509981514,0.872204313787487]},{"frame_idx":8,"position_3d":[-0.3113478564360421,0.24894668027774758,0.8538118323474082]},{"frame_idx":9,"position_3d":[-0.31255022479565314,0.25987620955734375,0.8354193509073294]},{"frame_idx":10,"position_3d":[-0.31375259315526416,0.2708057388369399,0.8170268694672507]},{"frame_idx":11,"position_3d":[-0.3149549615148752,0.2817352681165361,0.7986343880271719]},{"frame_idx":12,"position_3d":[-0.3161573298744862,0.29266479739613227,0.7802419065870931]},{"frame_idx":13,"position_3d":[-0.3173596982340972,0.30359432667572844,0.7618494251470144]},{"frame_idx":14,"position_3d":[-0.3185620665937082,0.3145238559553246,0.7434569437069356]}]}

scenefun3d_test/scenefun3d/scenefun3d_435357_42899624/interval_003/cam_13/trajectory.json

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+{"camera_info":{"cam_id":"42899624","intrinsics":{"fx":1597.44,"fy":1597.44,"cx":714.466,"cy":956.172},"T_base_to_cam":[[-0.599536286792408,0.8001903118231029,-0.015865235063403316,6.189304122759628],[0.4821827071351239,0.34530807808850605,-0.8051472959320334,219.5894721130717],[-0.6387926719672157,-0.49036496211624625,-0.5928626537147685,159.7266414170354],[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":[0.3208900439623754,-0.6202337373958642,1.6559179813953904]},{"frame_idx":1,"position_3d":[0.3406506954707556,-0.6155257200723249,1.6490963321582195]},{"frame_idx":2,"position_3d":[0.3604113469791358,-0.6108177027487856,1.6422746829210486]},{"frame_idx":3,"position_3d":[0.380171998487516,-0.6061096854252462,1.6354530336838777]},{"frame_idx":4,"position_3d":[0.3999326499958962,-0.6014016681017069,1.6286313844467069]},{"frame_idx":5,"position_3d":[0.41969330150427636,-0.5966936507781676,1.621809735209536]},{"frame_idx":6,"position_3d":[0.43945395301265655,-0.5919856334546283,1.614988085972365]},{"frame_idx":7,"position_3d":[0.45921460452103674,-0.587277616131089,1.6081664367351942]},{"frame_idx":8,"position_3d":[0.47897525602941693,-0.5825695988075497,1.6013447874980233]},{"frame_idx":9,"position_3d":[0.4987359075377971,-0.5778615814840103,1.5945231382608525]},{"frame_idx":10,"position_3d":[0.5184965590461773,-0.573153564160471,1.5877014890236816]},{"frame_idx":11,"position_3d":[0.5382572105545576,-0.5684455468369317,1.5808798397865107]},{"frame_idx":12,"position_3d":[0.5580178620629377,-0.5637375295133924,1.5740581905493398]},{"frame_idx":13,"position_3d":[0.5777785135713178,-0.5590295121898531,1.567236541312169]},{"frame_idx":14,"position_3d":[0.597539165079698,-0.5543214948663138,1.560414892074998]}]}

scenefun3d_test/scenefun3d/scenefun3d_435357_42899624/interval_004/cam_2/trajectory.json

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+{"camera_info":{"cam_id":"42899624","intrinsics":{"fx":1589.75,"fy":1589.75,"cx":714.53,"cy":956.444},"T_base_to_cam":[[-0.7951244231419275,0.6060506948294171,-0.021902214956429383,6.218981453188708],[0.33350509431661746,0.4068161010495681,-0.8504557672164327,231.4049039771219],[-0.5065091349502799,-0.6835226515804783,-0.5255904118116226,143.42667586873858],[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":[-0.03866499940218926,-1.228082705269344,4.294254584010815]},{"frame_idx":1,"position_3d":[-0.021917939810226494,-1.2213176285601286,4.2827240417160635]},{"frame_idx":2,"position_3d":[-0.005170880218263729,-1.2145525518509133,4.271193499421312]},{"frame_idx":3,"position_3d":[0.011576179373699036,-1.207787475141698,4.25966295712656]},{"frame_idx":4,"position_3d":[0.0283232389656618,-1.2010223984324826,4.248132414831808]},{"frame_idx":5,"position_3d":[0.045070298557624566,-1.1942573217232673,4.236601872537056]},{"frame_idx":6,"position_3d":[0.06181735814958733,-1.187492245014052,4.225071330242304]},{"frame_idx":7,"position_3d":[0.0785644177415501,-1.1807271683048366,4.213540787947553]},{"frame_idx":8,"position_3d":[0.09531147733351286,-1.1739620915956213,4.202010245652801]},{"frame_idx":9,"position_3d":[0.11205853692547563,-1.167197014886406,4.190479703358049]},{"frame_idx":10,"position_3d":[0.1288055965174384,-1.1604319381771906,4.178949161063297]},{"frame_idx":11,"position_3d":[0.14555265610940116,-1.1536668614679753,4.167418618768545]},{"frame_idx":12,"position_3d":[0.16229971570136392,-1.14690178475876,4.1558880764737935]},{"frame_idx":13,"position_3d":[0.1790467752933267,-1.1401367080495446,4.144357534179042]},{"frame_idx":14,"position_3d":[0.19579383488528945,-1.1333716313403293,4.13282699188429]}]}

scenefun3d_test/scenefun3d/scenefun3d_435357_42899624/interval_005/cam_10/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"42899624","intrinsics":{"fx":1597.89,"fy":1597.89,"cx":714.505,"cy":956.359},"T_base_to_cam":[[0.9052330876115254,-0.4236717665866645,-0.032485247276857004,9.393419650782876],[-0.25431698356740284,-0.4789612849136134,-0.8401898353485822,226.599585784763],[0.3404055360338327,0.768829188930308,-0.5413185284897273,149.5187157751644],[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":[-0.11234053879069172,-0.4057729499609195,0.9353595960527343]},{"frame_idx":1,"position_3d":[-0.11303665123233866,-0.4237770178612463,0.923759913299383]},{"frame_idx":2,"position_3d":[-0.1137327636739856,-0.44178108576157304,0.9121602305460317]},{"frame_idx":3,"position_3d":[-0.11442887611563254,-0.4597851536618998,0.9005605477926804]},{"frame_idx":4,"position_3d":[-0.11512498855727948,-0.4777892215622266,0.888960865039329]},{"frame_idx":5,"position_3d":[-0.11582110099892642,-0.49579328946255335,0.8773611822859777]},{"frame_idx":6,"position_3d":[-0.11651721344057336,-0.5137973573628801,0.8657614995326264]},{"frame_idx":7,"position_3d":[-0.1172133258822203,-0.5318014252632068,0.854161816779275]},{"frame_idx":8,"position_3d":[-0.11790943832386724,-0.5498054931635336,0.8425621340259237]},{"frame_idx":9,"position_3d":[-0.11860555076551418,-0.5678095610638603,0.8309624512725724]},{"frame_idx":10,"position_3d":[-0.11930166320716112,-0.585813628964187,0.8193627685192211]},{"frame_idx":11,"position_3d":[-0.11999777564880806,-0.6038176968645137,0.8077630857658697]},{"frame_idx":12,"position_3d":[-0.120693888090455,-0.6218217647648404,0.7961634030125184]},{"frame_idx":13,"position_3d":[-0.12139000053210194,-0.6398258326651671,0.7845637202591671]},{"frame_idx":14,"position_3d":[-0.12208611297374888,-0.6578299005654938,0.7729640375058158]}]}

scenefun3d_test/scenefun3d/scenefun3d_435357_42899624/interval_009/cam_15/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"42899624","intrinsics":{"fx":1594.72,"fy":1594.72,"cx":714.706,"cy":956.397},"T_base_to_cam":[[-0.319171930578577,-0.9380738349431876,-0.13470990656119175,35.075177491084474],[-0.42136942853512077,0.2677919966100557,-0.8664497973036784,236.8776544927504],[0.8488681189835849,-0.2197838182091228,-0.48074732430528355,129.4328712701658],[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":[0.357200266786613,0.5993873238132323,1.0383655459316117]},{"frame_idx":1,"position_3d":[0.37440648997946807,0.5908977547263422,1.0479079132283553]},{"frame_idx":2,"position_3d":[0.39161271317232316,0.5824081856394521,1.057450280525099]},{"frame_idx":3,"position_3d":[0.40881893636517824,0.5739186165525619,1.0669926478218426]},{"frame_idx":4,"position_3d":[0.42602515955803333,0.5654290474656718,1.0765350151185862]},{"frame_idx":5,"position_3d":[0.4432313827508884,0.5569394783787817,1.0860773824153298]},{"frame_idx":6,"position_3d":[0.4604376059437435,0.5484499092918915,1.0956197497120734]},{"frame_idx":7,"position_3d":[0.4776438291365986,0.5399603402050014,1.105162117008817]},{"frame_idx":8,"position_3d":[0.49485005232945367,0.5314707711181113,1.1147044843055607]},{"frame_idx":9,"position_3d":[0.5120562755223087,0.5229812020312211,1.1242468516023043]},{"frame_idx":10,"position_3d":[0.5292624987151637,0.514491632944331,1.133789218899048]},{"frame_idx":11,"position_3d":[0.5464687219080188,0.5060020638574408,1.1433315861957916]},{"frame_idx":12,"position_3d":[0.5636749451008738,0.49751249477055065,1.1528739534925352]},{"frame_idx":13,"position_3d":[0.5808811682937288,0.48902292568366046,1.1624163207892788]},{"frame_idx":14,"position_3d":[0.5980873914865839,0.48053335659677027,1.1719586880860224]}]}

scenefun3d_test/scenefun3d/scenefun3d_435357_42899630/interval_001/cam_8/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"42899630","intrinsics":{"fx":1590.66,"fy":1590.66,"cx":714.429,"cy":956.707},"T_base_to_cam":[[-0.8597216237865182,-0.5102136560131908,-0.023680262066242325,7.678439350830196],[-0.08678114118824654,0.19160232724300696,-0.9776285499764876,266.1020617872085],[0.5033366300279944,-0.8384334042800998,-0.20900158721728535,58.14491089183772],[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":[0.06917223208740975,0.20628195654120418,1.6140826927755683]},{"frame_idx":1,"position_3d":[0.1280930012599176,0.2145533476860793,1.5687164947832786]},{"frame_idx":2,"position_3d":[0.18148396323020136,0.2242718020228332,1.5172080324026245]},{"frame_idx":3,"position_3d":[0.228673695673327,0.23531510434940264,1.4602050544339489]},{"frame_idx":4,"position_3d":[0.26906876032370164,0.24754437873155777,1.398424406399106]},{"frame_idx":5,"position_3d":[0.3021611658055845,0.2608058349483527,1.332643015793101]},{"frame_idx":6,"position_3d":[0.3275347559193799,0.2749327024933851,1.2636881217700564]},{"frame_idx":7,"position_3d":[0.344870443047307,0.28974732781067675,1.192426872130873]},{"frame_idx":8,"position_3d":[0.3539502208653321,0.3050634083912169,1.1197554184365042]},{"frame_idx":9,"position_3d":[0.35465990589918384,0.32068833563510823,1.0465876463821158]},{"frame_idx":10,"position_3d":[0.34699057344779255,0.3364256170164649,0.9738436831542221]},{"frame_idx":11,"position_3d":[0.3310386698165849,0.352077347090933,0.9024383262974445]},{"frame_idx":12,"position_3d":[0.3070047994492334,0.3674466962714808,0.8332695396046099]},{"frame_idx":13,"position_3d":[0.2751912022103839,0.38234038607465876,0.7672071607010457]},{"frame_idx":14,"position_3d":[0.23599795254399397,0.3965711197096718,0.7050819623317491]}]}

scenefun3d_test/scenefun3d/scenefun3d_435357_42899630/interval_002/cam_13/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"42899630","intrinsics":{"fx":1593.82,"fy":1593.82,"cx":714.379,"cy":956.075},"T_base_to_cam":[[-0.48310480314357934,-0.8753500629675176,0.01928772776576665,-8.572449949451261],[-0.5588902555597611,0.2913440472108285,-0.776376408963564,210.75173765852145],[0.6739817738039717,-0.385850895317838,-0.62997432897101,171.8705915516894],[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":[-0.01893640326492907,0.056193460541209106,1.4434783128758397]},{"frame_idx":1,"position_3d":[-0.03460848459379784,0.065212079382772,1.4319790061801594]},{"frame_idx":2,"position_3d":[-0.05028056592266661,0.0742306982243349,1.420479699484479]},{"frame_idx":3,"position_3d":[-0.06595264725153538,0.08324931706589779,1.4089803927887987]},{"frame_idx":4,"position_3d":[-0.08162472858040415,0.09226793590746069,1.3974810860931184]},{"frame_idx":5,"position_3d":[-0.09729680990927292,0.10128655474902358,1.385981779397438]},{"frame_idx":6,"position_3d":[-0.11296889123814169,0.11030517359058647,1.3744824727017577]},{"frame_idx":7,"position_3d":[-0.12864097256701046,0.11932379243214937,1.3629831660060774]},{"frame_idx":8,"position_3d":[-0.14431305389587923,0.12834241127371226,1.351483859310397]},{"frame_idx":9,"position_3d":[-0.159985135224748,0.13736103011527515,1.3399845526147167]},{"frame_idx":10,"position_3d":[-0.17565721655361677,0.14637964895683803,1.3284852459190364]},{"frame_idx":11,"position_3d":[-0.19132929788248554,0.1553982677984009,1.316985939223356]},{"frame_idx":12,"position_3d":[-0.2070013792113543,0.1644168866399638,1.3054866325276757]},{"frame_idx":13,"position_3d":[-0.22267346054022308,0.17343550548152667,1.2939873258319954]},{"frame_idx":14,"position_3d":[-0.23834554186909185,0.18245412432308955,1.282488019136315]}]}

scenefun3d_test/scenefun3d/scenefun3d_435357_42899630/interval_003/cam_2/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"42899630","intrinsics":{"fx":1589.75,"fy":1589.75,"cx":714.343,"cy":956.665},"T_base_to_cam":[[-0.8760656948639701,0.4821216732356979,0.00822134289031215,-1.3539752328088983],[0.1547418972910797,0.2972486797969287,-0.9421773546322051,256.82677071800515],[-0.45668790602036535,-0.8241370726738325,-0.335013793655336,90.00988677685822],[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":[0.7999825781022987,0.17487395791670224,2.6126854646080204]},{"frame_idx":1,"position_3d":[0.8145746775607711,0.18030042582819195,2.5979610714840575]},{"frame_idx":2,"position_3d":[0.8291667770192435,0.18572689373968165,2.5832366783600946]},{"frame_idx":3,"position_3d":[0.8437588764777159,0.19115336165117136,2.5685122852361317]},{"frame_idx":4,"position_3d":[0.8583509759361883,0.19657982956266107,2.553787892112169]},{"frame_idx":5,"position_3d":[0.8729430753946607,0.20200629747415078,2.539063498988206]},{"frame_idx":6,"position_3d":[0.887535174853133,0.20743276538564048,2.524339105864243]},{"frame_idx":7,"position_3d":[0.9021272743116054,0.2128592332971302,2.50961471274028]},{"frame_idx":8,"position_3d":[0.9167193737700778,0.2182857012086199,2.4948903196163172]},{"frame_idx":9,"position_3d":[0.9313114732285502,0.2237121691201096,2.4801659264923543]},{"frame_idx":10,"position_3d":[0.9459035726870226,0.2291386370315993,2.4654415333683914]},{"frame_idx":11,"position_3d":[0.960495672145495,0.23456510494308902,2.4507171402444285]},{"frame_idx":12,"position_3d":[0.9750877716039674,0.23999157285457873,2.4359927471204657]},{"frame_idx":13,"position_3d":[0.9896798710624398,0.24541804076606843,2.4212683539965028]},{"frame_idx":14,"position_3d":[1.0042719705209122,0.25084450867755814,2.40654396087254]}]}

scenefun3d_test/scenefun3d/scenefun3d_435357_42899630/interval_004/cam_6/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"42899630","intrinsics":{"fx":1593.37,"fy":1593.37,"cx":714.505,"cy":955.775},"T_base_to_cam":[[-0.8335258508342681,-0.5522521908618736,-0.01587997730697685,0.9783879113636071],[-0.38427063882650103,0.6001602005957686,-0.701529621439266,191.54841246170045],[0.39695180076034686,-0.5786408655713039,-0.7124633440142798,193.1525767299574],[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":[0.2939367700540838,0.18017786470360875,1.0775247364458096]},{"frame_idx":1,"position_3d":[0.28681078465468274,0.19469873525462417,1.0634695479377332]},{"frame_idx":2,"position_3d":[0.27968479925528167,0.20921960580563959,1.0494143594296568]},{"frame_idx":3,"position_3d":[0.2725588138558806,0.223740476356655,1.0353591709215804]},{"frame_idx":4,"position_3d":[0.26543282845647953,0.23826134690767042,1.021303982413504]},{"frame_idx":5,"position_3d":[0.25830684305707846,0.25278221745868584,1.0072487939054275]},{"frame_idx":6,"position_3d":[0.2511808576576774,0.26730308800970126,0.9931936053973511]},{"frame_idx":7,"position_3d":[0.24405487225827632,0.2818239585607167,0.9791384168892747]},{"frame_idx":8,"position_3d":[0.23692888685887525,0.2963448291117321,0.9650832283811983]},{"frame_idx":9,"position_3d":[0.22980290145947418,0.3108656996627475,0.9510280398731219]},{"frame_idx":10,"position_3d":[0.22267691606007312,0.32538657021376294,0.9369728513650455]},{"frame_idx":11,"position_3d":[0.21555093066067205,0.33990744076477836,0.9229176628569691]},{"frame_idx":12,"position_3d":[0.20842494526127098,0.3544283113157938,0.9088624743488927]},{"frame_idx":13,"position_3d":[0.2012989598618699,0.3689491818668092,0.8948072858408163]},{"frame_idx":14,"position_3d":[0.19417297446246884,0.3834700524178246,0.8807520973327398]}]}

scenefun3d_test/scenefun3d/scenefun3d_435357_42899630/interval_005/cam_7/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"42899630","intrinsics":{"fx":1594.27,"fy":1594.27,"cx":714.257,"cy":956.288},"T_base_to_cam":[[0.9196743839096135,-0.38718762910420107,0.06545813508755577,-16.661476384694904],[-0.16399417170995229,-0.5301684611397506,-0.8318817911565775,224.80938106513312],[0.3567981771613187,0.7543256211221891,-0.5510788673982916,152.39669487654092],[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":[0.3461813530256883,0.004061323997092359,1.1614017109795043]},{"frame_idx":1,"position_3d":[0.3475840273489931,-0.013764714384834297,1.1495928781066838]},{"frame_idx":2,"position_3d":[0.34898670167229784,-0.03159075276676095,1.1377840452338632]},{"frame_idx":3,"position_3d":[0.3503893759956026,-0.049416791148687605,1.1259752123610427]},{"frame_idx":4,"position_3d":[0.35179205031890737,-0.06724282953061426,1.1141663794882222]},{"frame_idx":5,"position_3d":[0.35319472464221213,-0.08506886791254092,1.1023575466154016]},{"frame_idx":6,"position_3d":[0.3545973989655169,-0.10289490629446758,1.090548713742581]},{"frame_idx":7,"position_3d":[0.35600007328882166,-0.12072094467639424,1.0787398808697606]},{"frame_idx":8,"position_3d":[0.3574027476121264,-0.1385469830583209,1.06693104799694]},{"frame_idx":9,"position_3d":[0.3588054219354312,-0.15637302144024753,1.0551222151241195]},{"frame_idx":10,"position_3d":[0.36020809625873595,-0.17419905982217418,1.043313382251299]},{"frame_idx":11,"position_3d":[0.3616107705820407,-0.19202509820410082,1.0315045493784785]},{"frame_idx":12,"position_3d":[0.3630134449053455,-0.20985113658602747,1.019695716505658]},{"frame_idx":13,"position_3d":[0.36441611922865025,-0.22767717496795412,1.0078868836328374]},{"frame_idx":14,"position_3d":[0.365818793551955,-0.24550321334988076,0.9960780507600169]}]}

scenefun3d_test/scenefun3d/scenefun3d_466112_44796517/interval_000/cam_21/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"44796517","intrinsics":{"fx":1592.92,"fy":1592.92,"cx":714.389,"cy":955.884},"T_base_to_cam":[[0.807490051118284,-0.5866761583206398,0.061407675441486564,-2.9606635394935363],[-0.35903651471919495,-0.5714133630063726,-0.7379563331769983,50.771748242979925],[0.46803055289509105,0.5738447994326368,-0.6720487688559754,45.888817830267875],[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":[0.1965743678737768,-0.24774479848811382,1.0024703926066891]},{"frame_idx":1,"position_3d":[0.2772024298749305,-0.24812158428447825,1.010251425129705]},{"frame_idx":2,"position_3d":[0.3566522610873636,-0.25461640521084494,1.0246428266657883]},{"frame_idx":3,"position_3d":[0.43392473378571395,-0.26714758512568193,1.045463616990537]},{"frame_idx":4,"position_3d":[0.5080481017912668,-0.2855575371708002,1.0724519625851134]},{"frame_idx":5,"position_3d":[0.5780902207439724,-0.3096147455175294,1.105268469344663]},{"frame_idx":6,"position_3d":[0.6431702703586166,-0.33901667681259195,1.1435004506561037]},{"frame_idx":7,"position_3d":[0.7024698312509708,-0.3733935847105546,1.1866671171717318]},{"frame_idx":8,"position_3d":[0.7552431770364071,-0.41231315964865395,1.2342256230142299]},{"frame_idx":9,"position_3d":[0.800826652271865,-0.45528596539037997,1.2855778923785408]},{"frame_idx":10,"position_3d":[0.8386470183081103,-0.5017715939701277,1.3400781406821278]},{"frame_idx":11,"position_3d":[0.8682286620983497,-0.5511854616369171,1.3970409956807925]},{"frame_idx":12,"position_3d":[0.8891995773082515,-0.6029061603342443,1.4557501164223083]},{"frame_idx":13,"position_3d":[0.9012960425114427,-0.6562832722669419,1.5154672016495254]},{"frame_idx":14,"position_3d":[0.9043659376394606,-0.7106455492823348,1.5754412743670516]}]}

scenefun3d_test/scenefun3d/scenefun3d_466112_44796517/interval_002/cam_11/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"44796517","intrinsics":{"fx":1591.11,"fy":1591.11,"cx":714.417,"cy":956.703},"T_base_to_cam":[[-0.45798500681923077,-0.8887158205086105,-0.020830840273410145,1.5902222552536844],[-0.18930105294341198,0.12039496567421637,-0.9745102172860067,66.87487582726352],[0.86857057564904,-0.44236776851168935,-0.2233739297650552,16.247064331020468],[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":[-0.035245157525141346,0.4931037774844498,1.5809281744139057]},{"frame_idx":1,"position_3d":[0.0072404570671181015,0.4824950914731947,1.6232485198024706]},{"frame_idx":2,"position_3d":[0.04457601323524646,0.4709892521067677,1.6699631342830092]},{"frame_idx":3,"position_3d":[0.07629199469783525,0.4587309519910451,1.720484554473978]},{"frame_idx":4,"position_3d":[0.10198955458595133,0.4458743463624134,1.7741774442032647]},{"frame_idx":5,"position_3d":[0.1213455311739301,0.43258111449622916,1.8303665842291836]},{"frame_idx":6,"position_3d":[0.13411651182557852,0.4190184264961223,1.88834536351421]},{"frame_idx":7,"position_3d":[0.14014189404930655,0.4053568410329491,1.9473846652687636]},{"frame_idx":8,"position_3d":[0.1393459051676426,0.39176816047054547,2.00674203601788]},{"frame_idx":9,"position_3d":[0.13173855520261707,0.37842327035131973,2.06567102238444]},{"frame_idx":10,"position_3d":[0.11741551099392747,0.36548999041140673,2.1234305581734905]},{"frame_idx":11,"position_3d":[0.09655689313292187,0.35313096415011475,2.1792942837096203]},{"frame_idx":12,"position_3d":[0.06942501084165441,0.34150161349355357,2.2325596802313243]},{"frame_idx":13,"position_3d":[0.03636106328222255,0.33074818427373587,2.2825569044720395]},{"frame_idx":14,"position_3d":[-0.002219151220664621,0.3210059071023858,2.3286572123278733]}]}

scenefun3d_test/scenefun3d/scenefun3d_466112_44796517/interval_003/cam_0/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"44796517","intrinsics":{"fx":1594.72,"fy":1594.72,"cx":714.53,"cy":956.208},"T_base_to_cam":[[-0.5166844826708642,0.8543580916066436,-0.05576196439684733,2.467579368930144],[-0.17368077768155715,-0.16836519988012477,-0.9703031211602151,67.40241158041086],[-0.8383746971557949,-0.491655784849095,0.23537726396861192,-14.389817576171946],[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":[-0.8327192806138699,1.2231336509521498,3.674688991989136]},{"frame_idx":1,"position_3d":[-0.8254486984149447,1.2386792564625524,3.7404955666413735]},{"frame_idx":2,"position_3d":[-0.8257827114120038,1.2547295766854927,3.8065811788403674]},{"frame_idx":3,"position_3d":[-0.8337171191978103,1.2710827695315545,3.8721147636689497]},{"frame_idx":4,"position_3d":[-0.8491521419908071,1.2875331841123554,3.936272198274429]},{"frame_idx":5,"position_3d":[-0.8718936754237635,1.3038739469197886,3.9982466656916316]},{"frame_idx":6,"position_3d":[-0.901655731518815,1.3198995633804194,4.0572588010343615]},{"frame_idx":7,"position_3d":[-0.9380640351522189,1.3354085020689759,4.112566492461046]},{"frame_idx":8,"position_3d":[-0.9806607307811956,1.3502057290829539,4.1634742136617255]},{"frame_idx":9,"position_3d":[-1.0289101402430323,1.3641051607071013,4.209341770504952]},{"frame_idx":10,"position_3d":[-1.0822054992187868,1.3769320035241066,4.2495923518504455]},{"frame_idx":11,"position_3d":[-1.1398765876466515,1.3885249525432382,4.283719783283856]},{"frame_idx":12,"position_3d":[-1.2011981581281008,1.3987382197041949,4.311294892553712]},{"frame_idx":13,"position_3d":[-1.2653990563347268,1.407443367246552,4.331970906661493]},{"frame_idx":14,"position_3d":[-1.3316719187213524,1.4145309228891203,4.345487812733291]}]}

scenefun3d_test/scenefun3d/scenefun3d_466112_44796517/interval_004/cam_8/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"44796517","intrinsics":{"fx":1610.99,"fy":1610.99,"cx":714.361,"cy":956.653},"T_base_to_cam":[[-0.8605379011041359,0.5086625834389151,-0.02714584632199485,1.34235958388404],[0.06436231396413422,0.055712566235401884,-0.9963702135775881,68.49523057583008],[-0.5053038821387292,-0.8591615017985356,-0.08068147571044071,7.173042079346329],[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":[0.9795055646428903,-0.061211684583554415,3.0247753641455706]},{"frame_idx":1,"position_3d":[1.0267449939292956,-0.06822724525058467,3.09551950141089]},{"frame_idx":2,"position_3d":[1.0657319374746834,-0.07541041135866887,3.171110076788015]},{"frame_idx":3,"position_3d":[1.0959761118432192,-0.08267085042622781,3.250596494932905]},{"frame_idx":4,"position_3d":[1.1170971789941397,-0.08991725821938205,3.332979168018294]},{"frame_idx":5,"position_3d":[1.1288295292532937,-0.09705850695566896,3.4172220861305926]},{"frame_idx":6,"position_3d":[1.131025621508904,-0.1040047912887807,3.5022658456956592]},{"frame_idx":7,"position_3d":[1.123657838626654,-0.11066875766290034,3.5870409720934244]},{"frame_idx":8,"position_3d":[1.106818834751175,-0.11696660283434997,3.670481368921762]},{"frame_idx":9,"position_3d":[1.0807203701264188,-0.12281912774600372,3.7515377247773105]},{"frame_idx":10,"position_3d":[1.0456906480877237,-0.1281527335013835,3.8291907089551924]},{"frame_idx":11,"position_3d":[1.0021701877144444,-0.1329003469134853,3.9024637901240604]},{"frame_idx":12,"position_3d":[0.9507062840469344,-0.1370022639890224,3.9704355167741836]},{"frame_idx":13,"position_3d":[0.8919461255338648,-0.14040690074078227,4.032251105004823]},{"frame_idx":14,"position_3d":[0.8266286552619755,-0.14307144188619522,4.087133187927738]}]}

scenefun3d_test/scenefun3d/scenefun3d_466112_44796517/interval_006/cam_10/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"44796517","intrinsics":{"fx":1590.21,"fy":1590.21,"cx":714.372,"cy":956.438},"T_base_to_cam":[[-0.54020561494596,-0.8414225643477679,-0.013636780678881466,0.9616521468272312],[-0.4155025802969857,0.2807804034339827,-0.8651704865597283,58.94990216797555],[0.7318029101796495,-0.461703837166074,-0.5012923971084333,35.3527927087893],[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":[0.2700382819228283,-0.03763889403919762,1.839498007793459]},{"frame_idx":1,"position_3d":[0.2703178755569468,-0.03761240663880847,1.8394446878661985]},{"frame_idx":2,"position_3d":[0.2705890594943067,-0.03757031163960306,1.839364659868461]},{"frame_idx":3,"position_3d":[0.27084842343955123,-0.03751313841062048,1.839258930198751]},{"frame_idx":4,"position_3d":[0.2710927057405823,-0.037441605938387856,1.8391288284690113]},{"frame_idx":5,"position_3d":[0.2713188344057287,-0.037356613785247635,1.8389759907839798]},{"frame_idx":6,"position_3d":[0.27152396573582316,-0.037259230776839146,1.8388023391662245]},{"frame_idx":7,"position_3d":[0.2717055200853699,-0.03715068156099607,1.8386100573855937]},{"frame_idx":8,"position_3d":[0.271861214303083,-0.03703233120708934,1.8384015634970432]},{"frame_idx":9,"position_3d":[0.2719890904438389,-0.036905668039487825,1.8381794794321926]},{"frame_idx":10,"position_3d":[0.27208754039097205,-0.03677228492101579,1.8379465980270135]},{"frame_idx":11,"position_3d":[0.27215532607927534,-0.0366338592217787,1.837705847900297]},{"frame_idx":12,"position_3d":[0.2721915950643881,-0.03649213172526093,1.837460256624573]},{"frame_idx":13,"position_3d":[0.2721958912427789,-0.036348884736963405,1.837212912652629]},{"frame_idx":14,"position_3d":[0.27216816058751164,-0.0362059196708778,1.836966926478425]}]}