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scenefun3d_test/scenefun3d/scenefun3d_423452_42897422/interval_002/cam_8/trajectory.json

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+{"camera_info":{"cam_id":"42897422","intrinsics":{"fx":1608.73,"fy":1608.73,"cx":963.374,"cy":695.23},"T_base_to_cam":[[-0.8330181258417518,0.5515769481926283,0.04293800462995351,-9.596352319547048],[-0.10516003016595735,-0.08166495496517634,-0.9910964651263923,240.30149416970772],[-0.5431594333845176,-0.8301166817701244,0.12603223624282522,-31.84624824287255],[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":[0.13744473173165517,0.539522687884272,3.049650955263136]},{"frame_idx":1,"position_3d":[0.20216689791211595,0.5389279590413939,3.0229238699917733]},{"frame_idx":2,"position_3d":[0.26945633740799224,0.5393787641394338,3.003544043065694]},{"frame_idx":3,"position_3d":[0.3384668464753812,0.5408694340427205,2.9917551870529304]},{"frame_idx":4,"position_3d":[0.4083305779219304,0.5433812227123134,2.987705553657897]},{"frame_idx":5,"position_3d":[0.47816895478881827,0.5468825429483186,2.9914460693701876]},{"frame_idx":6,"position_3d":[0.5471037189657736,0.5513293636172552,3.0029296950344233]},{"frame_idx":7,"position_3d":[0.6142679757963894,0.5566657633691057,3.022012017394921]},{"frame_idx":8,"position_3d":[0.678817095781411,0.5628246338807393,3.0484530651761763]},{"frame_idx":9,"position_3d":[0.7399393362847552,0.5697285237820124,3.0819203268608866]},{"frame_idx":10,"position_3d":[0.7968660496681422,0.5772906126516862,3.121992932215209]},{"frame_idx":11,"position_3d":[0.8488813494811276,0.5854158028345985,3.168166944976146]},{"frame_idx":12,"position_3d":[0.8953311131485832,0.5940019153498539,3.2198617001424426]},{"frame_idx":13,"position_3d":[0.9356312079416099,0.6029409748507946,3.2764271061738865]},{"frame_idx":14,"position_3d":[0.9692748367855261,0.6121205674776331,3.3371518202696198]}]}

scenefun3d_test/scenefun3d/scenefun3d_423452_42897422/interval_003/cam_14/trajectory.json

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+{"camera_info":{"cam_id":"42897422","intrinsics":{"fx":1595.63,"fy":1595.63,"cx":963.424,"cy":695.221},"T_base_to_cam":[[0.3562495113692559,-0.9342687597073382,-0.015105306487390724,1.497451748181455],[-0.13399750346608547,-0.03508288847902358,-0.9903604697284845,240.07640024441062],[0.9247329099334696,0.35483950677860004,-0.13768794324521377,34.236693566369205],[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":[0.5916156692351937,-0.17043221637121064,1.7431434933902494]},{"frame_idx":1,"position_3d":[0.5158443119101885,-0.17060911646022767,1.7527285332964913]},{"frame_idx":2,"position_3d":[0.441614955078097,-0.17196921826049122,1.770654926740414]},{"frame_idx":3,"position_3d":[0.36986107596995876,-0.1744954177027135,1.7966972389233242]},{"frame_idx":4,"position_3d":[0.30148502124812904,-0.17815594636317353,1.8305279726594208]},{"frame_idx":5,"position_3d":[0.2373466594734459,-0.1829047709700778,1.8717216868429232]},{"frame_idx":6,"position_3d":[0.1782525677591703,-0.18868217229866227,1.9197603466168243]},{"frame_idx":7,"position_3d":[0.12494588859579991,-0.19541549617509368,1.9740398379617874]},{"frame_idx":8,"position_3d":[0.0780969844030698,-0.2030200671448604,2.0338775647804552]},{"frame_idx":9,"position_3d":[0.038295007333570885,-0.21140025331574275,2.0985210329394253]},{"frame_idx":10,"position_3d":[0.0060404903425971546,-0.22045066898434462,2.167157313319585]},{"frame_idx":11,"position_3d":[-0.018260947304183227,-0.23005749992245983,2.2389232648714557]},{"frame_idx":12,"position_3d":[-0.034303700928339446,-0.24009993465702847,2.312916389114698]},{"frame_idx":13,"position_3d":[-0.041886023594825274,-0.25045168374450694,2.3882061795801426]},{"frame_idx":14,"position_3d":[-0.04091256319674356,-0.2609825679338955,2.4638458234685325]}]}

scenefun3d_test/scenefun3d/scenefun3d_423452_42897422/interval_004/cam_4/trajectory.json

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+{"camera_info":{"cam_id":"42897422","intrinsics":{"fx":1595.63,"fy":1595.63,"cx":963.613,"cy":695.244},"T_base_to_cam":[[0.490617941422962,-0.8711044601597667,0.02170380251607318,-7.646018617448052],[-0.13027970203271122,-0.09795737085630202,-0.9866263490973618,238.44968317452432],[0.8615806606419177,0.4812290234230293,-0.16154687314570468,44.097600733253536],[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":[-0.045354478315399405,0.6589694366521712,2.053770076738431]},{"frame_idx":1,"position_3d":[-0.06669617752122997,0.6577367720952467,2.0552519966307803]},{"frame_idx":2,"position_3d":[-0.08803787672706054,0.6565041075383222,2.0567339165231298]},{"frame_idx":3,"position_3d":[-0.1093795759328911,0.6552714429813977,2.0582158364154792]},{"frame_idx":4,"position_3d":[-0.13072127513872167,0.6540387784244732,2.0596977563078287]},{"frame_idx":5,"position_3d":[-0.15206297434455224,0.6528061138675487,2.061179676200178]},{"frame_idx":6,"position_3d":[-0.1734046735503828,0.6515734493106242,2.0626615960925276]},{"frame_idx":7,"position_3d":[-0.19474637275621337,0.6503407847536997,2.064143515984877]},{"frame_idx":8,"position_3d":[-0.21608807196204394,0.6491081201967752,2.0656254358772266]},{"frame_idx":9,"position_3d":[-0.2374297711678745,0.6478754556398507,2.067107355769576]},{"frame_idx":10,"position_3d":[-0.25877147037370507,0.6466427910829262,2.0685892756619255]},{"frame_idx":11,"position_3d":[-0.28011316957953564,0.6454101265260017,2.070071195554275]},{"frame_idx":12,"position_3d":[-0.3014548687853662,0.6441774619690772,2.0715531154466245]},{"frame_idx":13,"position_3d":[-0.32279656799119677,0.6429447974121527,2.073035035338974]},{"frame_idx":14,"position_3d":[-0.34413826719702734,0.6417121328552282,2.0745169552313234]}]}

scenefun3d_test/scenefun3d/scenefun3d_423452_42897422/interval_007/cam_0/trajectory.json

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+{"camera_info":{"cam_id":"42897422","intrinsics":{"fx":1608.28,"fy":1608.28,"cx":963.64,"cy":695.219},"T_base_to_cam":[[0.4301287858783175,0.900824720124989,0.05919502656963416,-12.631786224073691],[0.039332227624167604,0.04680862005662367,-0.9981292145601768,242.25030876882693],[-0.9019103078626861,0.4316523794677028,-0.015297708027838142,2.1775281829554047],[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":[-0.3836223288061955,0.7671728744539053,1.7861630373211854]},{"frame_idx":1,"position_3d":[-0.39694308302039866,0.7661390813492291,1.7694097554799788]},{"frame_idx":2,"position_3d":[-0.4102638372346018,0.765105288244553,1.7526564736387722]},{"frame_idx":3,"position_3d":[-0.42358459144880495,0.7640714951398769,1.7359031917975656]},{"frame_idx":4,"position_3d":[-0.4369053456630081,0.7630377020352008,1.719149909956359]},{"frame_idx":5,"position_3d":[-0.45022609987721124,0.7620039089305247,1.7023966281151524]},{"frame_idx":6,"position_3d":[-0.4635468540914144,0.7609701158258486,1.6856433462739457]},{"frame_idx":7,"position_3d":[-0.47686760830561753,0.7599363227211725,1.6688900644327391]},{"frame_idx":8,"position_3d":[-0.4901883625198207,0.7589025296164964,1.6521367825915325]},{"frame_idx":9,"position_3d":[-0.5035091167340239,0.7578687365118203,1.635383500750326]},{"frame_idx":10,"position_3d":[-0.5168298709482271,0.7568349434071442,1.6186302189091193]},{"frame_idx":11,"position_3d":[-0.5301506251624303,0.7558011503024681,1.6018769370679127]},{"frame_idx":12,"position_3d":[-0.5434713793766335,0.754767357197792,1.585123655226706]},{"frame_idx":13,"position_3d":[-0.5567921335908367,0.7537335640931159,1.5683703733854994]},{"frame_idx":14,"position_3d":[-0.5701128878050399,0.7526997709884398,1.5516170915442928]}]}

scenefun3d_test/scenefun3d/scenefun3d_467115_47333308/interval_003/cam_2/trajectory.json

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+{"camera_info":{"cam_id":"47333308","intrinsics":{"fx":1605.57,"fy":1605.57,"cx":724.132,"cy":964.544},"T_base_to_cam":[[-0.11428150050911895,-0.9934355852270069,0.005047439554744626,3.0871402490354973],[0.055276815812812574,-0.011431550942792912,-0.9984056256234932,-5.49757112671969],[0.9919093770476115,-0.1138202866264047,0.05622037066137586,3.157504555570449],[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":[0.4203713586664968,1.312212315816951,4.836829434304627]},{"frame_idx":1,"position_3d":[0.4410487919251974,1.311987470587403,4.8312101041021815]},{"frame_idx":2,"position_3d":[0.46172622518389805,1.3117626253578551,4.825590773899736]},{"frame_idx":3,"position_3d":[0.4824036584425987,1.3115377801283072,4.819971443697291]},{"frame_idx":4,"position_3d":[0.5030810917012993,1.3113129348987593,4.814352113494846]},{"frame_idx":5,"position_3d":[0.52375852496,1.3110880896692114,4.808732783292401]},{"frame_idx":6,"position_3d":[0.5444359582187006,1.3108632444396635,4.8031134530899555]},{"frame_idx":7,"position_3d":[0.5651133914774013,1.3106383992101156,4.79749412288751]},{"frame_idx":8,"position_3d":[0.5857908247361019,1.3104135539805677,4.791874792685065]},{"frame_idx":9,"position_3d":[0.6064682579948025,1.3101887087510198,4.78625546248262]},{"frame_idx":10,"position_3d":[0.6271456912535032,1.3099638635214719,4.780636132280175]},{"frame_idx":11,"position_3d":[0.6478231245122038,1.309739018291924,4.7750168020777295]},{"frame_idx":12,"position_3d":[0.6685005577709044,1.309514173062376,4.769397471875284]},{"frame_idx":13,"position_3d":[0.6891779910296051,1.3092893278328281,4.763778141672839]},{"frame_idx":14,"position_3d":[0.7098554242883057,1.3090644826032802,4.758158811470394]}]}

scenefun3d_test/scenefun3d/scenefun3d_467115_47333308/interval_004/cam_0/trajectory.json

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+{"camera_info":{"cam_id":"47333308","intrinsics":{"fx":1604.67,"fy":1604.67,"cx":724.122,"cy":964.697},"T_base_to_cam":[[0.355592612639219,-0.9346148044900133,0.00700436039255925,3.330732172434817],[-0.1125009967418622,-0.05024050022878873,-0.9923806819305023,-5.821339776121089],[0.9278455795920473,0.35209524189465485,-0.1230102478114834,-0.14930078453320472],[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":[0.4614635935738276,0.6675394146136302,1.939592031990978]},{"frame_idx":1,"position_3d":[0.4975776157395848,0.6724543151922705,1.9019976295435905]},{"frame_idx":2,"position_3d":[0.5292197026252005,0.6778062192989538,1.8606230793947505]},{"frame_idx":3,"position_3d":[0.5559919366289214,0.6835278236342914,1.8159886905186526]},{"frame_idx":4,"position_3d":[0.577557641374539,0.6895471757040145,1.76865576625289]},{"frame_idx":5,"position_3d":[0.5936456156121637,0.6957885786633367,1.7192195455833064]},{"frame_idx":6,"position_3d":[0.6040535437312973,0.7021735432486982,1.6683017176683854]},{"frame_idx":7,"position_3d":[0.608650539997021,0.7086217748257954,1.6165426037373691]},{"frame_idx":8,"position_3d":[0.6073787945140542,0.7150521831411951,1.5645931046792776]},{"frame_idx":9,"position_3d":[0.6002543002197289,0.7213839020793215,1.5131065155865675]},{"frame_idx":10,"position_3d":[0.5873666517635243,0.7275373066007785,1.4627303101902946]},{"frame_idx":11,"position_3d":[0.5688779188023649,0.7334350140734206,1.4140979985022724]},{"frame_idx":12,"position_3d":[0.54502060788065,0.7390028574038496,1.367821160059102]},{"frame_idx":13,"position_3d":[0.5160947385255544,0.7441708177316475,1.3244817529546535]},{"frame_idx":14,"position_3d":[0.4824640703273988,0.7488739049571717,1.284624795379375]}]}

scenefun3d_test/scenefun3d/scenefun3d_467115_47333308/interval_006/cam_2/trajectory.json

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+{"camera_info":{"cam_id":"47333308","intrinsics":{"fx":1605.57,"fy":1605.57,"cx":724.132,"cy":964.544},"T_base_to_cam":[[-0.11428150050911895,-0.9934355852270069,0.005047439554744626,3.0871402490354973],[0.055276815812812574,-0.011431550942792912,-0.9984056256234932,-5.49757112671969],[0.9919093770476115,-0.1138202866264047,0.05622037066137586,3.157504555570449],[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":[1.8599361568194186,1.5606105909552852,4.463854256690809]},{"frame_idx":1,"position_3d":[1.8392269332961153,1.5608888451867218,4.469352830061596]},{"frame_idx":2,"position_3d":[1.818517709772812,1.5611670994181583,4.474851403432384]},{"frame_idx":3,"position_3d":[1.7978084862495087,1.561445353649595,4.480349976803171]},{"frame_idx":4,"position_3d":[1.7770992627262054,1.5617236078810315,4.485848550173959]},{"frame_idx":5,"position_3d":[1.7563900392029022,1.562001862112468,4.491347123544746]},{"frame_idx":6,"position_3d":[1.7356808156795989,1.5622801163439046,4.496845696915534]},{"frame_idx":7,"position_3d":[1.7149715921562956,1.5625583705753412,4.502344270286321]},{"frame_idx":8,"position_3d":[1.6942623686329923,1.5628366248067778,4.507842843657109]},{"frame_idx":9,"position_3d":[1.673553145109689,1.5631148790382143,4.513341417027896]},{"frame_idx":10,"position_3d":[1.6528439215863857,1.563393133269651,4.518839990398684]},{"frame_idx":11,"position_3d":[1.6321346980630824,1.5636713875010875,4.524338563769471]},{"frame_idx":12,"position_3d":[1.6114254745397791,1.563949641732524,4.529837137140259]},{"frame_idx":13,"position_3d":[1.5907162510164758,1.5642278959639606,4.535335710511046]},{"frame_idx":14,"position_3d":[1.5700070274931726,1.5645061501953972,4.540834283881834]}]}

scenefun3d_test/scenefun3d/scenefun3d_467115_47333308/interval_010/cam_11/trajectory.json

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+{"camera_info":{"cam_id":"47333308","intrinsics":{"fx":1605.12,"fy":1605.12,"cx":724.174,"cy":964.704},"T_base_to_cam":[[0.24787557072977806,-0.9687776248453734,-0.005255000888992667,1.7339580663734964],[-0.22391836426019024,-0.05201361440386271,-0.9732189630621091,-5.305952434559335],[0.9425594238998555,0.2424138971173122,-0.22982000544332454,-3.19567215236666],[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":[0.13709858158657817,-0.367134042245584,1.5459648282967189]},{"frame_idx":1,"position_3d":[0.16919090387163913,-0.36094908344652754,1.5190395640700438]},{"frame_idx":2,"position_3d":[0.19798834997975007,-0.3539613830049675,1.4887902688904868]},{"frame_idx":3,"position_3d":[0.22312877531743408,-0.3462588153083147,1.4555973451959805]},{"frame_idx":4,"position_3d":[0.24429602444925522,-0.3379382446144884,1.4198782132609662]},{"frame_idx":5,"position_3d":[0.26122390693585684,-0.32910430692767106,1.3820820618942498]},{"frame_idx":6,"position_3d":[0.2736995448331837,-0.31986809413984446,1.3426841996291055]},{"frame_idx":7,"position_3d":[0.28156604975614324,-0.310345756985791,1.3021800774426897]},{"frame_idx":8,"position_3d":[0.28472449584107673,-0.30065704438021157,1.2610790581725357]},{"frame_idx":9,"position_3d":[0.28313516379589304,-0.29092379750564334,1.2198980109833326]},{"frame_idx":10,"position_3d":[0.2768180403932123,-0.2812684175888954,1.1791548114372847]},{"frame_idx":11,"position_3d":[0.2658525671251036,-0.2718123266346028,1.1393618289084386]},{"frame_idx":12,"position_3d":[0.2503766411802292,-0.2626744404730675,1.101019483240521]},{"frame_idx":13,"position_3d":[0.23058488130668722,-0.25396967332469583,1.0646099516770526]},{"frame_idx":14,"position_3d":[0.2067261803683341,-0.24580749268700217,1.0305911052027468]}]}

scenefun3d_test/scenefun3d/scenefun3d_467115_47333308/interval_013/cam_5/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"47333308","intrinsics":{"fx":1605.12,"fy":1605.12,"cx":724.224,"cy":964.574},"T_base_to_cam":[[0.22243484480571796,-0.9742902597225302,-0.03579426806153724,3.0559364279714307],[0.02448092462859347,0.04228403984987433,-0.9988056589263516,-5.81278128170247],[0.9746401511047991,0.2212929049558056,0.03325697025640573,1.3214986437387488],[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":[1.2192749108665555,0.12741862870663478,4.081219646397139]},{"frame_idx":1,"position_3d":[1.2358397982213576,0.12656580870167317,4.073435611152244]},{"frame_idx":2,"position_3d":[1.253174199118868,0.12574883607931697,4.06755640193751]},{"frame_idx":3,"position_3d":[1.2710601234101473,0.12497798474431088,4.063655953220008]},{"frame_idx":4,"position_3d":[1.2892726452195773,0.12426294859945095,4.061783315405454]},{"frame_idx":5,"position_3d":[1.307582731518253,0.12361271963913244,4.061962038000896]},{"frame_idx":6,"position_3d":[1.3257601223472095,0.12303547486980297,4.064189873465999]},{"frame_idx":7,"position_3d":[1.3435762264700046,0.12253847347936209,4.068438805477169]},{"frame_idx":8,"position_3d":[1.3608069960401497,0.12212796554866151,4.074655401249077]},{"frame_idx":9,"position_3d":[1.3772357441327747,0.12180911345311204,4.08276148348294]},{"frame_idx":10,"position_3d":[1.3926558697084335,0.12158592694281752,4.092655113491408]},{"frame_idx":11,"position_3d":[1.4068734557410467,0.12146121271764071,4.104211873136706]},{"frame_idx":12,"position_3d":[1.4197097078370189,0.1214365391313241,4.117286429460908]},{"frame_idx":13,"position_3d":[1.431003202678476,0.12151221646853158,4.1317143623322]},{"frame_idx":14,"position_3d":[1.4406119180151484,0.12168729304283873,4.147314232123446]}]}

scenefun3d_test/scenefun3d/scenefun3d_467115_47333308/interval_014/cam_18/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"47333308","intrinsics":{"fx":1597.89,"fy":1597.89,"cx":724.291,"cy":964.568},"T_base_to_cam":[[0.3589267955845533,-0.9322902130659059,-0.04479412944718292,1.0332027903090144],[-0.41282160119275635,-0.1155254247875892,-0.9034556999744344,-6.088850565208837],[0.837108046192397,0.3427664435868455,-0.4263347090617574,-1.2084751752000358],[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":[0.17178333515118616,-1.5074444729109082,4.592598031495838]},{"frame_idx":1,"position_3d":[0.208938630499256,-1.4961375563851336,4.5647334522314384]},{"frame_idx":2,"position_3d":[0.24921866933182896,-1.4868150696173488,4.540745813260168]},{"frame_idx":3,"position_3d":[0.2921169067895625,-1.4795942482876916,4.520936773060042]},{"frame_idx":4,"position_3d":[0.33709387264628843,-1.4745658984140007,4.50555544180505]},{"frame_idx":5,"position_3d":[0.38358395546011503,-1.4717932544134542,4.494795248660179]},{"frame_idx":6,"position_3d":[0.43100251546548407,-1.4713111838930844,4.488791509297437]},{"frame_idx":7,"position_3d":[0.4787532367574387,-1.4731257491693888,4.4876197242227605]},{"frame_idx":8,"position_3d":[0.5262356263101187,-1.4772141310311828,4.491294629313349]},{"frame_idx":9,"position_3d":[0.572852565524975,-1.4835249157044197,4.4997700105054586]},{"frame_idx":10,"position_3d":[0.6180178193436027,-1.491978741410231,4.512939284963068]},{"frame_idx":11,"position_3d":[0.6611634084937418,-1.5024692963853423,4.530636841418881]},{"frame_idx":12,"position_3d":[0.7017467521581754,-1.5148646558141798,4.552640122832105]},{"frame_idx":13,"position_3d":[0.7392574912433187,-1.5290089408599707,4.578672425172368]},{"frame_idx":14,"position_3d":[0.7732239064409384,-1.544724278931559,4.608406377133447]}]}

scenefun3d_test/scenefun3d/scenefun3d_467115_47333308/interval_017/cam_6/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"47333308","intrinsics":{"fx":1604.21,"fy":1604.21,"cx":724.16,"cy":964.614},"T_base_to_cam":[[0.6506203542624414,-0.7593617135646229,0.007933636720593773,3.1465213829102523],[-0.27809622687492636,-0.24796804455387686,-0.9279947938852113,-5.27026662562981],[0.7066510052475297,0.6015659871139043,-0.37250868436900864,-2.7433357144487722],[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":[0.462762696425139,-0.3834231343092025,1.2283658985811212]},{"frame_idx":1,"position_3d":[0.487350315238883,-0.3608505818307372,1.1726567491840385]},{"frame_idx":2,"position_3d":[0.5050535649621605,-0.33744395244782444,1.1147231224976677]},{"frame_idx":3,"position_3d":[0.5156498169580365,-0.31349759810579697,1.0552935674914632]},{"frame_idx":4,"position_3d":[0.5190058172095743,-0.28931265810450424,0.995115445301459]},{"frame_idx":5,"position_3d":[0.515079362066414,-0.2651932720968916,0.9349455307303541]},{"frame_idx":6,"position_3d":[0.5039198289801633,-0.24144275535639842,0.8755404953652779]},{"frame_idx":7,"position_3d":[0.4856675555542937,-0.21835978441140724,0.8176473919935505]},{"frame_idx":8,"position_3d":[0.46055207471735116,-0.19623464101460306,0.7619942599804324]},{"frame_idx":9,"position_3d":[0.4288892282132017,-0.17534556168150786,0.7092809697516879]},{"frame_idx":10,"position_3d":[0.39107719470784646,-0.1559552387048615,0.6601704215169067]},{"frame_idx":11,"position_3d":[0.34759148246166816,-0.13830751664662272,0.6152802089147453]},{"frame_idx":12,"position_3d":[0.29897894953716037,-0.12262432585112071,0.5751748524145838]},{"frame_idx":13,"position_3d":[0.24585092674149742,-0.10910289154220819,0.5403587001440814]},{"frame_idx":14,"position_3d":[0.18887552978693162,-0.09791325360163865,0.5112695854188419]}]}

scenefun3d_test/scenefun3d/scenefun3d_467115_47333308/interval_019/cam_3/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"47333308","intrinsics":{"fx":1604.21,"fy":1604.21,"cx":724.242,"cy":964.492},"T_base_to_cam":[[0.829856704841833,-0.557568536415361,-0.0213348688462415,0.06691980202488468],[-0.26385627565871994,-0.3584452673374363,-0.8954869379945769,-4.310281946596022],[0.4916479586295093,0.7487551786285194,-0.44457616586183557,-4.805386990552589],[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":[-0.22505214628029124,0.2694645930499391,0.7729069437676452]},{"frame_idx":1,"position_3d":[-0.20267863071570275,0.2835829318569241,0.7433954111765924]},{"frame_idx":2,"position_3d":[-0.17678412357404322,0.29642832130451874,0.716278945420697]},{"frame_idx":3,"position_3d":[-0.14769426330696203,0.3078392231673509,0.6918985517901795]},{"frame_idx":4,"position_3d":[-0.11577487178564783,0.317672138733736,0.6705608278807772]},{"frame_idx":5,"position_3d":[-0.08142735387854347,0.3258034133852362,0.6525341079510869]},{"frame_idx":6,"position_3d":[-0.045083649552224866,0.3321307916252335,0.6380450884635709]},{"frame_idx":7,"position_3d":[-0.00720080197570392,0.33657470300112957,0.6272759772450096]},{"frame_idx":8,"position_3d":[0.03174479006260448,0.339079262748955,0.6203622021173604]},{"frame_idx":9,"position_3d":[0.07126336314605976,0.33961297457670153,0.6173907078143192]},{"frame_idx":10,"position_3d":[0.11085794828892728,0.33816912674846844,0.6183988626008478]},{"frame_idx":11,"position_3d":[0.15003062060972205,0.33476587648843575,0.6233739883455607]},{"frame_idx":12,"position_3d":[0.18828876102549622,0.3294460216432352,0.6322535199555829]},{"frame_idx":13,"position_3d":[0.22515125122263127,0.32227646247419683,0.644925792168894]},{"frame_idx":14,"position_3d":[0.26015452399878325,0.31334736034774646,0.6612314438097882]}]}

scenefun3d_test/scenefun3d/scenefun3d_467115_47333308/interval_020/cam_19/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"47333308","intrinsics":{"fx":1590.66,"fy":1590.66,"cx":724.014,"cy":964.663},"T_base_to_cam":[[0.9520718800608848,-0.30265523653780957,0.04425994796173177,-0.057424345044791644],[0.017452715052743845,-0.09071200460466802,-0.9957242263588301,-5.811855348364616],[0.30537605985836613,0.9487734924716466,-0.08108219316554272,-0.23750064366240434],[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":[-1.103378057370348,0.19877103732061574,3.426614766419797]},{"frame_idx":1,"position_3d":[-1.109728425282616,0.20196284012549234,3.3839516094816515]},{"frame_idx":2,"position_3d":[-1.1208241733179203,0.2048655037775288,3.3422488678816635]},{"frame_idx":3,"position_3d":[-1.1365257660068138,0.20744252559713605,3.3020309777919468]},{"frame_idx":4,"position_3d":[-1.1566357467109571,0.20966149803970965,3.2638037025153426]},{"frame_idx":5,"position_3d":[-1.1809012207549134,0.21149451623930646,3.2280477722184364]},{"frame_idx":6,"position_3d":[-1.2090170357234238,0.2129185289285246,3.195212838470786]},{"frame_idx":7,"position_3d":[-1.2406296189300834,0.21391562832156572,3.1657118196155394]},{"frame_idx":8,"position_3d":[-1.2753414237990206,0.2144732753150318,3.139915708081692]},{"frame_idx":9,"position_3d":[-1.31271592924375,0.2145844571744257,3.1181489049390345]},{"frame_idx":10,"position_3d":[-1.3522831291731112,0.21424777572335632,3.100685140366479]},{"frame_idx":11,"position_3d":[-1.3935454430905683,0.21346746492641797,3.087744031336237]},{"frame_idx":12,"position_3d":[-1.435983973457657,0.21225333764462903,3.079488319802971]},{"frame_idx":13,"position_3d":[-1.479065031131602,0.21062066223301104,3.076021826129287]},{"frame_idx":14,"position_3d":[-1.522246846815942,0.20858997053216546,3.077388143484438]}]}

scenefun3d_test/scenefun3d/scenefun3d_467115_47333308/interval_022/cam_15/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"47333308","intrinsics":{"fx":1596.98,"fy":1596.98,"cx":724.298,"cy":964.285},"T_base_to_cam":[[0.4027395029072992,-0.9145308873803426,-0.03787015745022293,1.2760642540439227],[-0.538589033981641,-0.20332375703549505,-0.8176682104005841,-5.765353201453653],[0.7400829313480377,0.3497037401176804,-0.5744428160182714,-2.429777672466724],[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":[-0.017689143715492683,-1.8556565968132874,3.758255904298833]},{"frame_idx":1,"position_3d":[0.01866767162859452,-1.8336974907893027,3.731610110154443]},{"frame_idx":2,"position_3d":[0.05469549759401853,-1.8074783965926817,3.708619382444436]},{"frame_idx":3,"position_3d":[0.08994126336543261,-1.77732903454562,3.6895728429092953]},{"frame_idx":4,"position_3d":[0.12396173298819158,-1.7436285503689268,3.6747100128347356]},{"frame_idx":5,"position_3d":[0.156329079317653,-1.7068007472046003,3.664217800932559]},{"frame_idx":6,"position_3d":[0.1866362641937521,-1.667308756045421,3.658228152855159]},{"frame_idx":7,"position_3d":[0.2145021571820337,-1.6256492115940024,3.656816391902383]},{"frame_idx":8,"position_3d":[0.2395763285100024,-1.5823460067932522,3.6600002717873354]},{"frame_idx":9,"position_3d":[0.26154345592483597,-1.5379437045686442,3.667739753373133]},{"frame_idx":10,"position_3d":[0.2801272900536686,-1.4930006896334687,3.679937508188282]},{"frame_idx":11,"position_3d":[0.2950941283997386,-1.4480821464770803,3.69644014238868]},{"frame_idx":12,"position_3d":[0.3062557542868822,-1.4037529518420164,3.717040125774205]},{"frame_idx":13,"position_3d":[0.3134718037934423,-1.3605705710712106,3.7414784016013964]},{"frame_idx":14,"position_3d":[0.31665153091002457,-1.319078047657857,3.7694476443723084]}]}

scenefun3d_test/scenefun3d/scenefun3d_467115_47333308/interval_025/cam_11/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"47333308","intrinsics":{"fx":1597.89,"fy":1597.89,"cx":724.176,"cy":964.672},"T_base_to_cam":[[-0.013318103408628046,-0.9998178702851381,0.013669468902902437,1.1425729687585386],[-0.3390894606024662,-0.00834459475643412,-0.9407171229687907,-6.083664540409622],[0.9406598566059493,-0.017163740758972534,-0.338916568159825,-0.5107610147224472],[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":[-1.3533088995091216,-0.7224160795723238,3.897302173110719]},{"frame_idx":1,"position_3d":[-1.3333069429240703,-0.7195666547901504,3.890161712015674]},{"frame_idx":2,"position_3d":[-1.313304986339019,-0.7167172300079769,3.883021250920629]},{"frame_idx":3,"position_3d":[-1.2933030297539676,-0.7138678052258035,3.875880789825584]},{"frame_idx":4,"position_3d":[-1.2733010731689163,-0.7110183804436301,3.868740328730539]},{"frame_idx":5,"position_3d":[-1.253299116583865,-0.7081689556614567,3.861599867635494]},{"frame_idx":6,"position_3d":[-1.2332971599988136,-0.7053195308792832,3.854459406540449]},{"frame_idx":7,"position_3d":[-1.2132952034137623,-0.7024701060971098,3.847318945445404]},{"frame_idx":8,"position_3d":[-1.193293246828711,-0.6996206813149364,3.8401784843503592]},{"frame_idx":9,"position_3d":[-1.1732912902436596,-0.696771256532763,3.8330380232553143]},{"frame_idx":10,"position_3d":[-1.1532893336586083,-0.6939218317505895,3.8258975621602693]},{"frame_idx":11,"position_3d":[-1.133287377073557,-0.6910724069684161,3.8187571010652244]},{"frame_idx":12,"position_3d":[-1.1132854204885057,-0.6882229821862427,3.8116166399701794]},{"frame_idx":13,"position_3d":[-1.0932834639034543,-0.6853735574040692,3.8044761788751345]},{"frame_idx":14,"position_3d":[-1.073281507318403,-0.6825241326218958,3.7973357177800895]}]}

scenefun3d_test/scenefun3d/scenefun3d_467115_47333308/interval_027/cam_10/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"47333308","intrinsics":{"fx":1604.67,"fy":1604.67,"cx":724.145,"cy":964.675},"T_base_to_cam":[[0.97657180449447,-0.21474404692456933,0.013874616278390373,-0.19666436878646434],[-0.051332282253849074,-0.295082993110728,-0.9540917272335113,-4.910598633614557],[0.20897968194306685,0.9310268639987099,-0.2991930330868388,-4.003401494102524],[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":[-0.19968396964294305,0.47015916602919194,0.7912892316969149]},{"frame_idx":1,"position_3d":[-0.20328484744532618,0.47614840375292283,0.771032223427915]},{"frame_idx":2,"position_3d":[-0.20688572524770932,0.4821376414766537,0.7507752151589151]},{"frame_idx":3,"position_3d":[-0.21048660305009245,0.4881268792003846,0.7305182068899152]},{"frame_idx":4,"position_3d":[-0.2140874808524756,0.4941161169241155,0.7102611986209153]},{"frame_idx":5,"position_3d":[-0.21768835865485872,0.5001053546478464,0.6900041903519154]},{"frame_idx":6,"position_3d":[-0.22128923645724186,0.5060945923715774,0.6697471820829155]},{"frame_idx":7,"position_3d":[-0.224890114259625,0.5120838300953083,0.6494901738139156]},{"frame_idx":8,"position_3d":[-0.22849099206200812,0.5180730678190393,0.6292331655449157]},{"frame_idx":9,"position_3d":[-0.23209186986439126,0.5240623055427702,0.6089761572759158]},{"frame_idx":10,"position_3d":[-0.2356927476667744,0.5300515432665012,0.5887191490069159]},{"frame_idx":11,"position_3d":[-0.23929362546915753,0.5360407809902321,0.568462140737916]},{"frame_idx":12,"position_3d":[-0.24289450327154066,0.5420300187139631,0.5482051324689161]},{"frame_idx":13,"position_3d":[-0.2464953810739238,0.548019256437694,0.5279481241999162]},{"frame_idx":14,"position_3d":[-0.25009625887630693,0.554008494161425,0.5076911159309163]}]}

scenefun3d_test/scenefun3d/scenefun3d_467115_47333308/interval_030/cam_7/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"47333308","intrinsics":{"fx":1605.12,"fy":1605.12,"cx":724.145,"cy":964.709},"T_base_to_cam":[[-0.4508239957342944,-0.8924951223839235,0.014497633981815694,1.6816667203465534],[-0.17424601212119284,0.07206393763789587,-0.9820616661656145,-6.106480978605515],[0.8754404903418771,-0.4452631193047851,-0.1880018682272776,0.9525850096478917],[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":[-0.04943243702818623,0.27877895589009327,2.577244823302729]},{"frame_idx":1,"position_3d":[-0.07859188296619798,0.2794232505823303,2.5716306232778345]},{"frame_idx":2,"position_3d":[-0.1069371032376698,0.28068639981846083,2.5628465133769507]},{"frame_idx":3,"position_3d":[-0.13411164025140807,0.2825525187639442,2.5510029588787404]},{"frame_idx":4,"position_3d":[-0.15977375843743138,0.2849981398902936,2.536248899352809]},{"frame_idx":5,"position_3d":[-0.1836007417700427,0.2879925080928627,2.5187698756582]},{"frame_idx":6,"position_3d":[-0.2052929521090967,0.2914979674541313,2.498785696659439]},{"frame_idx":7,"position_3d":[-0.22457759732346616,0.2954704347887166,2.4765476750025255]},{"frame_idx":8,"position_3d":[-0.2412121618103686,0.29985995401500687,2.4523354667125963]},{"frame_idx":9,"position_3d":[-0.25498745626978214,0.3046113243818732,2.4264535543571477]},{"frame_idx":10,"position_3d":[-0.2657302483812676,0.3096647946501429,2.399227418001085]},{"frame_idx":11,"position_3d":[-0.27330544130090983,0.3149568144991008,2.370999442106058]},{"frame_idx":12,"position_3d":[-0.2776177725825151,0.3204208337086447,2.342124609847199]},{"frame_idx":13,"position_3d":[-0.27861301215814427,0.3259881390669169,2.312966038993732]},{"frame_idx":14,"position_3d":[-0.2762786443126824,0.33158871847881133,2.283890415492336]}]}

scenefun3d_test/scenefun3d/scenefun3d_467115_47333308/interval_037/cam_13/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"47333308","intrinsics":{"fx":1603.76,"fy":1603.76,"cx":724.192,"cy":964.578},"T_base_to_cam":[[0.9907883869006684,0.13537459700697566,0.003477192541544126,-0.8968774401500221],[0.0577951445257883,-0.3994946948557197,-0.9149118591708049,-4.506677149604829],[-0.12246670425881179,0.9066850099496154,-0.40363869869061164,-4.452585475169822],[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":[-0.18591078726557841,0.03001170589308355,1.0207058566948923]},{"frame_idx":1,"position_3d":[-0.19668802000505195,0.03747801301868675,1.0037562494470893]},{"frame_idx":2,"position_3d":[-0.20746525274452549,0.04494432014428995,0.9868066421992864]},{"frame_idx":3,"position_3d":[-0.21824248548399902,0.05241062726989315,0.9698570349514835]},{"frame_idx":4,"position_3d":[-0.22901971822347256,0.05987693439549635,0.9529074277036805]},{"frame_idx":5,"position_3d":[-0.2397969509629461,0.06734324152109955,0.9359578204558776]},{"frame_idx":6,"position_3d":[-0.25057418370241963,0.07480954864670275,0.9190082132080747]},{"frame_idx":7,"position_3d":[-0.2613514164418932,0.08227585577230595,0.9020586059602718]},{"frame_idx":8,"position_3d":[-0.27212864918136676,0.08974216289790915,0.8851089987124688]},{"frame_idx":9,"position_3d":[-0.2829058819208403,0.09720847002351235,0.8681593914646659]},{"frame_idx":10,"position_3d":[-0.2936831146603139,0.10467477714911555,0.851209784216863]},{"frame_idx":11,"position_3d":[-0.30446034739978745,0.11214108427471875,0.8342601769690601]},{"frame_idx":12,"position_3d":[-0.315237580139261,0.11960739140032195,0.8173105697212572]},{"frame_idx":13,"position_3d":[-0.3260148128787346,0.12707369852592515,0.8003609624734542]},{"frame_idx":14,"position_3d":[-0.33679204561820814,0.13454000565152835,0.7834113552256513]}]}

scenefun3d_test/scenefun3d/scenefun3d_467115_47333308/interval_038/cam_19/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"47333308","intrinsics":{"fx":1590.21,"fy":1590.21,"cx":724.117,"cy":964.671},"T_base_to_cam":[[0.974728513481893,0.22321213033969883,0.008981640974366836,-0.40504811732095247],[0.07803882118586954,-0.30255850233403253,-0.949930679077851,-5.681135994821885],[-0.20931857871029746,0.9266254354023531,-0.31233161074745613,-1.6271286611553843],[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":[-0.27882060953841425,0.22590425463681818,1.3610478800651313]},{"frame_idx":1,"position_3d":[-0.27862814580324924,0.20554859722800708,1.3543550598348286]},{"frame_idx":2,"position_3d":[-0.2784356820680842,0.185192939819196,1.347662239604526]},{"frame_idx":3,"position_3d":[-0.2782432183329192,0.1648372824103849,1.3409694193742232]},{"frame_idx":4,"position_3d":[-0.2780507545977542,0.1444816250015738,1.3342765991439205]},{"frame_idx":5,"position_3d":[-0.2778582908625892,0.1241259675927627,1.3275837789136178]},{"frame_idx":6,"position_3d":[-0.27766582712742416,0.10377031018395161,1.320890958683315]},{"frame_idx":7,"position_3d":[-0.27747336339225914,0.08341465277514051,1.3141981384530124]},{"frame_idx":8,"position_3d":[-0.2772808996570941,0.06305899536632942,1.3075053182227097]},{"frame_idx":9,"position_3d":[-0.2770884359219291,0.04270333795751833,1.300812497992407]},{"frame_idx":10,"position_3d":[-0.2768959721867641,0.02234768054870724,1.2941196777621042]},{"frame_idx":11,"position_3d":[-0.2767035084515991,0.0019920231398961527,1.2874268575318015]},{"frame_idx":12,"position_3d":[-0.27651104471643406,-0.018363634268914936,1.2807340373014988]},{"frame_idx":13,"position_3d":[-0.27631858098126905,-0.038719291677726024,1.274041217071196]},{"frame_idx":14,"position_3d":[-0.27612611724610403,-0.05907494908653711,1.2673483968408934]}]}

scenefun3d_test/scenefun3d/scenefun3d_467115_47333308/interval_039/cam_1/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"47333308","intrinsics":{"fx":1604.67,"fy":1604.67,"cx":724.119,"cy":964.67},"T_base_to_cam":[[-0.12807242797795204,-0.991560488558857,0.020130840040922027,3.1906222349741147],[-0.30732033808949544,0.020379013476124697,-0.9513878838866399,-6.414199101926935],[0.9429483882951339,-0.12803317280556975,-0.30733669431577576,1.0157672043647283],[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":[-0.04926764828741126,-0.3268177013240168,1.3424157180085152]},{"frame_idx":1,"position_3d":[-0.028124284526574096,-0.32538558324395384,1.3392391034346234]},{"frame_idx":2,"position_3d":[-0.006980920765736934,-0.3239534651638909,1.3360624888607315]},{"frame_idx":3,"position_3d":[0.014162442995100229,-0.32252134708382796,1.3328858742868397]},{"frame_idx":4,"position_3d":[0.03530580675593739,-0.321089229003765,1.3297092597129478]},{"frame_idx":5,"position_3d":[0.056449170516774554,-0.3196571109237021,1.326532645139056]},{"frame_idx":6,"position_3d":[0.07759253427761172,-0.31822499284363914,1.3233560305651642]},{"frame_idx":7,"position_3d":[0.09873589803844887,-0.3167928747635762,1.3201794159912723]},{"frame_idx":8,"position_3d":[0.11987926179928604,-0.31536075668351327,1.3170028014173805]},{"frame_idx":9,"position_3d":[0.1410226255601232,-0.3139286386034503,1.3138261868434886]},{"frame_idx":10,"position_3d":[0.16216598932096038,-0.3124965205233874,1.3106495722695968]},{"frame_idx":11,"position_3d":[0.18330935308179755,-0.31106440244332445,1.307472957695705]},{"frame_idx":12,"position_3d":[0.20445271684263472,-0.3096322843632615,1.304296343121813]},{"frame_idx":13,"position_3d":[0.2255960806034719,-0.3082001662831986,1.3011197285479212]},{"frame_idx":14,"position_3d":[0.24673944436430906,-0.30676804820313563,1.2979431139740294]}]}