Add files using upload-large-folder tool

scenefun3d_test/scenefun3d/scenefun3d_421657_42445639/interval_000/cam_4/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"42445639","intrinsics":{"fx":1592.47,"fy":1592.47,"cx":963.528,"cy":695.581},"T_base_to_cam":[[0.5109523389295113,0.8568087146510499,-0.069329170198967,11.954248347986166],[0.43720251774556745,-0.32846825317226985,-0.8372350716106522,139.34381333638422],[-0.7401227369966404,0.3974763303090804,-0.5424305494942447,91.64727744539768],[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":[-0.4652629001539754,-0.42996936342439085,1.09576546017432]},{"frame_idx":1,"position_3d":[-0.3827251712941049,-0.44612816711602205,1.110157062788188]},{"frame_idx":2,"position_3d":[-0.29837597323049664,-0.4572843211290142,1.1165956077752375]},{"frame_idx":3,"position_3d":[-0.21327604606934525,-0.4632975303537026,1.1150001266965257]},{"frame_idx":4,"position_3d":[-0.12849557077083007,-0.46409217519514145,1.105390683652337]},{"frame_idx":5,"position_3d":[-0.045100711002607485,-0.4596582625333861,1.0878881229644808]},{"frame_idx":6,"position_3d":[0.035859794486912414,-0.4500515513927741,1.0627125494888292]},{"frame_idx":7,"position_3d":[0.11336782036681946,-0.43539285173984227,1.0301805606690464]},{"frame_idx":8,"position_3d":[0.1864486582404697,-0.4158665052279019,0.9907012651400408]},{"frame_idx":9,"position_3d":[0.25418327416911213,-0.3917180669937908,0.9447711379495104]},{"frame_idx":10,"position_3d":[0.31571986605690455,-0.36325121765955315,0.8929677770961568]},{"frame_idx":11,"position_3d":[0.37028457555649563,-0.33082394437241763,0.835942639899721]},{"frame_idx":12,"position_3d":[0.4171912197867462,-0.29484403890871225,0.7744128505472032]},{"frame_idx":13,"position_3d":[0.4558499204805919,-0.2557639694556705,0.709152181840127]},{"frame_idx":14,"position_3d":[0.48577452204650706,-0.2140751905614488,0.6409813245526056]}]}

scenefun3d_test/scenefun3d/scenefun3d_421657_42445639/interval_001/cam_19/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"42445639","intrinsics":{"fx":1589.3,"fy":1589.3,"cx":963.341,"cy":695.204},"T_base_to_cam":[[0.9957912429690511,0.08978502994951731,-0.01839697864097114,4.3322399041962925],[-0.011849735583420028,-0.07291692371903061,-0.9972676200508848,167.04960812777728],[-0.09088115422217688,0.9932883622756874,-0.07154610523940175,11.326231574085577],[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":[-0.26816046882320865,0.7410289122357199,1.647054463940412]},{"frame_idx":1,"position_3d":[-0.24705049533118384,0.7410466945712423,1.6433731086975782]},{"frame_idx":2,"position_3d":[-0.22594052183915903,0.7410644769067647,1.6396917534547444]},{"frame_idx":3,"position_3d":[-0.2048305483471342,0.7410822592422871,1.6360103982119105]},{"frame_idx":4,"position_3d":[-0.1837205748551094,0.7411000415778095,1.6323290429690767]},{"frame_idx":5,"position_3d":[-0.16261060136308458,0.7411178239133319,1.6286476877262428]},{"frame_idx":6,"position_3d":[-0.14150062787105977,0.7411356062488543,1.624966332483409]},{"frame_idx":7,"position_3d":[-0.12039065437903497,0.7411533885843767,1.621284977240575]},{"frame_idx":8,"position_3d":[-0.09928068088701017,0.7411711709198991,1.6176036219977412]},{"frame_idx":9,"position_3d":[-0.07817070739498537,0.7411889532554216,1.6139222667549074]},{"frame_idx":10,"position_3d":[-0.05706073390296057,0.741206735590944,1.6102409115120735]},{"frame_idx":11,"position_3d":[-0.03595076041093577,0.7412245179264664,1.6065595562692396]},{"frame_idx":12,"position_3d":[-0.014840786918910966,0.7412423002619888,1.6028782010264058]},{"frame_idx":13,"position_3d":[0.006269186573113837,0.7412600825975112,1.599196845783572]},{"frame_idx":14,"position_3d":[0.02737916006513864,0.7412778649330336,1.595515490540738]}]}

scenefun3d_test/scenefun3d/scenefun3d_421657_42445639/interval_002/cam_9/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"42445639","intrinsics":{"fx":1593.82,"fy":1593.82,"cx":963.63,"cy":695.229},"T_base_to_cam":[[-0.9397132399371754,0.34152582643589985,-0.017295564866527946,0.9632616639209503],[0.059804331214513784,0.1143337727003848,-0.9916406760455531,165.87242692035426],[-0.33669343423173753,-0.9328922222300776,-0.12786568362100215,22.42810219408206],[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":[-0.06707356256447061,0.5369518393255532,1.6994261779147806]},{"frame_idx":1,"position_3d":[-0.08772602855601755,0.5380055756731895,1.6938093316780516]},{"frame_idx":2,"position_3d":[-0.10837849454756449,0.5390593120208258,1.6881924854413226]},{"frame_idx":3,"position_3d":[-0.12903096053911142,0.5401130483684621,1.6825756392045936]},{"frame_idx":4,"position_3d":[-0.14968342653065836,0.5411667847160984,1.6769587929678647]},{"frame_idx":5,"position_3d":[-0.1703358925222053,0.5422205210637346,1.6713419467311357]},{"frame_idx":6,"position_3d":[-0.19098835851375223,0.5432742574113709,1.6657251004944067]},{"frame_idx":7,"position_3d":[-0.21164082450529917,0.5443279937590072,1.6601082542576777]},{"frame_idx":8,"position_3d":[-0.2322932904968461,0.5453817301066435,1.6544914080209487]},{"frame_idx":9,"position_3d":[-0.252945756488393,0.5464354664542798,1.6488745617842198]},{"frame_idx":10,"position_3d":[-0.2735982224799399,0.547489202801916,1.6432577155474908]},{"frame_idx":11,"position_3d":[-0.29425068847148683,0.5485429391495523,1.6376408693107618]},{"frame_idx":12,"position_3d":[-0.31490315446303374,0.5495966754971886,1.6320240230740328]},{"frame_idx":13,"position_3d":[-0.33555562045458065,0.5506504118448249,1.6264071768373038]},{"frame_idx":14,"position_3d":[-0.35620808644612756,0.5517041481924612,1.6207903306005749]}]}

scenefun3d_test/scenefun3d/scenefun3d_421657_42445639/interval_004/cam_3/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"42445639","intrinsics":{"fx":1593.82,"fy":1593.82,"cx":963.452,"cy":695.223},"T_base_to_cam":[[-0.32339202826802577,0.9459759633624778,0.023389587279902535,-4.5648209643830935],[-0.11415553709184906,-0.01446418002741856,-0.9933575896158469,166.4205611474682],[-0.9393540915990963,-0.3239139765995997,0.11266599468992355,-19.19853571063969],[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":[-0.2818553412635234,0.48249491429999125,1.2687660621062626]},{"frame_idx":1,"position_3d":[-0.2338320299555336,0.48161534495083264,1.251041350001387]},{"frame_idx":2,"position_3d":[-0.18412822775499302,0.4813935180142773,1.2387669730296398]},{"frame_idx":3,"position_3d":[-0.13336898881339124,0.4818322230927595,1.2320972886032]},{"frame_idx":4,"position_3d":[-0.08219264001161532,0.4829259432153747,1.2311161718735713]},{"frame_idx":5,"position_3d":[-0.03124275362905681,0.4846609242169897,1.2358359609528857]},{"frame_idx":6,"position_3d":[0.018839945951210954,0.48701534770484983,1.2461973017549857]},{"frame_idx":7,"position_3d":[0.06742563972330695,0.489959605437527,1.2620698944074948]},{"frame_idx":8,"position_3d":[0.1139033343979709,0.49345667166573454,1.283254131848315]},{"frame_idx":9,"position_3d":[0.15768854599768234,0.49746256875260775,1.3094836100002472]},{"frame_idx":10,"position_3d":[0.19823065008180338,0.5019269202180034,1.3404284779568327]},{"frame_idx":11,"position_3d":[0.23501980616839946,0.5067935842519674,1.3756995860488872]},{"frame_idx":12,"position_3d":[0.2675933692741161,0.5120013597305682,1.4148533796273794]},{"frame_idx":13,"position_3d":[0.29554170794327733,0.5174847558555405,1.4573974770204998]},{"frame_idx":14,"position_3d":[0.3185133556011147,0.5231748157390727,1.5027968615188694]}]}

scenefun3d_test/scenefun3d/scenefun3d_423070_42447210/interval_000/cam_3/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"42447210","intrinsics":{"fx":1596.08,"fy":1596.08,"cx":937.454,"cy":707.631},"T_base_to_cam":[[0.683791151242769,-0.7233651952943094,0.0957729383433239,-11.383675562788083],[-0.23690351557102934,-0.344228390855996,-0.908506213098611,100.87577099336043],[0.6901495387176431,0.5985395635758068,-0.40674808548081354,46.45001962820752],[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":[-0.22807547326601885,0.16654917444614625,1.918060298931529]},{"frame_idx":1,"position_3d":[-0.2843171083306006,0.17381715838282225,1.8885839826598338]},{"frame_idx":2,"position_3d":[-0.3368757707623245,0.18391684143635847,1.8536500202193007]},{"frame_idx":3,"position_3d":[-0.3850905048858654,0.19672121423238412,1.8136977264567764]},{"frame_idx":4,"position_3d":[-0.42835498244477943,0.212069254353719,1.7692295246471856]},{"frame_idx":5,"position_3d":[-0.4661251275311286,0.22976795129069705,1.7208046282293357]},{"frame_idx":6,"position_3d":[-0.4979259586557035,0.24959473366031257,1.6690320083724601]},{"frame_idx":7,"position_3d":[-0.5233575619158406,0.27130026817050057,1.614562735810433]},{"frame_idx":8,"position_3d":[-0.5421001201447837,0.29461159513095103,1.5580817932495301]},{"frame_idx":9,"position_3d":[-0.5539179347981182,0.3192355610795893,1.5002994613134606]},{"frame_idx":10,"position_3d":[-0.5586623899997228,0.34486250535745333,1.4419423863524108]},{"frame_idx":11,"position_3d":[-0.5562738214726403,0.3711701542711497,1.3837444424435792]},{"frame_idx":12,"position_3d":[-0.5467822668519783,0.39782767387153517,1.3264375024988533]},{"frame_idx":13,"position_3d":[-0.53030708794422,0.42449983038258177,1.2707422345382988]},{"frame_idx":14,"position_3d":[-0.507055469683252,0.4508512059606174,1.217359038871667]}]}

scenefun3d_test/scenefun3d/scenefun3d_423070_42447210/interval_001/cam_0/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"42447210","intrinsics":{"fx":1592.01,"fy":1592.01,"cx":937.026,"cy":707.399},"T_base_to_cam":[[0.9832433043173915,0.17560914707144837,-0.04892884609160332,6.495163794345641],[-0.016344040507605545,-0.18240060597106797,-0.9830884452994416,109.28941813764291],[-0.18156397455140472,0.9674148264349817,-0.1764740115112456,22.81931579418239],[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":[-0.03674729141829847,0.1497804128997018,2.1655016692532456]},{"frame_idx":1,"position_3d":[-0.05774762840595922,0.14741556978274054,2.1690480810886417]},{"frame_idx":2,"position_3d":[-0.07874796539361997,0.14505072666577928,2.1725944929240377]},{"frame_idx":3,"position_3d":[-0.09974830238128073,0.14268588354881803,2.176140904759434]},{"frame_idx":4,"position_3d":[-0.12074863936894148,0.14032104043185678,2.17968731659483]},{"frame_idx":5,"position_3d":[-0.14174897635660225,0.13795619731489553,2.183233728430226]},{"frame_idx":6,"position_3d":[-0.162749313344263,0.13559135419793428,2.186780140265622]},{"frame_idx":7,"position_3d":[-0.18374965033192378,0.13322651108097303,2.190326552101018]},{"frame_idx":8,"position_3d":[-0.20474998731958455,0.13086166796401177,2.193872963936414]},{"frame_idx":9,"position_3d":[-0.22575032430724531,0.12849682484705052,2.19741937577181]},{"frame_idx":10,"position_3d":[-0.24675066129490608,0.12613198173008927,2.200965787607206]},{"frame_idx":11,"position_3d":[-0.2677509982825668,0.12376713861312802,2.2045121994426022]},{"frame_idx":12,"position_3d":[-0.28875133527022756,0.12140229549616677,2.2080586112779983]},{"frame_idx":13,"position_3d":[-0.3097516722578883,0.11903745237920552,2.2116050231133944]},{"frame_idx":14,"position_3d":[-0.33075200924554904,0.11667260926224426,2.2151514349487904]}]}

scenefun3d_test/scenefun3d/scenefun3d_423070_42447210/interval_003/cam_15/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"42447210","intrinsics":{"fx":1625.0,"fy":1625.0,"cx":936.826,"cy":707.696},"T_base_to_cam":[[0.9562237685209691,-0.2926220242941606,-0.0029078193794136453,0.3944865827434922],[-0.14318459088765823,-0.45918330282806397,-0.8767262214261898,97.71499202999124],[0.2552141795588356,0.8387628063415177,-0.48098095310543454,53.38835447756794],[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":[-0.5571498991162696,0.5007084071115031,1.3845695461174188]},{"frame_idx":1,"position_3d":[-0.5573729619898775,0.5006729133346469,1.3845483059968446]},{"frame_idx":2,"position_3d":[-0.5575900230644326,0.500614828619687,1.3845170225779013]},{"frame_idx":3,"position_3d":[-0.5577983526709805,0.5005348834156155,1.384476089267733]},{"frame_idx":4,"position_3d":[-0.5579953309438432,0.5004340830797589,1.3844260208264652]},{"frame_idx":5,"position_3d":[-0.5581784807669501,0.5003136952348264,1.384367446893797]},{"frame_idx":6,"position_3d":[-0.5583454989250094,0.5001752338278186,1.3843011040709172]},{"frame_idx":7,"position_3d":[-0.5584942850677775,0.5000204400912659,1.3842278266573167]},{"frame_idx":8,"position_3d":[-0.5586229681231814,0.49985126064621876,1.3841485361589878]},{"frame_idx":9,"position_3d":[-0.5587299298271355,0.4996698230223589,1.3840642296999526]},{"frame_idx":10,"position_3d":[-0.5588138250741522,0.4994784089030789,1.3839759674828491]},{"frame_idx":11,"position_3d":[-0.5588735988328231,0.4992794254319897,1.3838848594562685]},{"frame_idx":12,"position_3d":[-0.5589084994134511,0.4990753749416933,1.383792051356507]},{"frame_idx":13,"position_3d":[-0.5589180879209853,0.4988688234854979,1.3836987102992675]},{"frame_idx":14,"position_3d":[-0.55890224377438,0.49866236856780916,1.3836060101025027]}]}

scenefun3d_test/scenefun3d/scenefun3d_423070_42447210/interval_004/cam_12/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"42447210","intrinsics":{"fx":1592.01,"fy":1592.01,"cx":936.652,"cy":708.246},"T_base_to_cam":[[0.7645993247131673,-0.6445048018377687,0.001197103265201116,0.023002005955737405],[-0.475335283646756,-0.5651598191037868,-0.6742779449092439,75.33419890892756],[0.4352519279321197,0.514983435926471,-0.7384766888350229,81.75247631989875],[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":[0.5353248453650923,-0.35047935139824915,1.1266165871407594]},{"frame_idx":1,"position_3d":[0.535350497577918,-0.3649281645034472,1.1107920866657233]},{"frame_idx":2,"position_3d":[0.5353761497907437,-0.3793769776086453,1.0949675861906871]},{"frame_idx":3,"position_3d":[0.5354018020035693,-0.3938257907138434,1.079143085715651]},{"frame_idx":4,"position_3d":[0.535427454216395,-0.40827460381904146,1.0633185852406148]},{"frame_idx":5,"position_3d":[0.5354531064292207,-0.42272341692423954,1.0474940847655787]},{"frame_idx":6,"position_3d":[0.5354787586420464,-0.4371722300294376,1.0316695842905426]},{"frame_idx":7,"position_3d":[0.5355044108548721,-0.4516210431346357,1.0158450838155064]},{"frame_idx":8,"position_3d":[0.5355300630676978,-0.46606985623983377,1.0000205833404703]},{"frame_idx":9,"position_3d":[0.5355557152805235,-0.48051866934503185,0.984196082865434]},{"frame_idx":10,"position_3d":[0.5355813674933492,-0.4949674824502299,0.9683715823903978]},{"frame_idx":11,"position_3d":[0.5356070197061749,-0.509416295555428,0.9525470819153615]},{"frame_idx":12,"position_3d":[0.5356326719190005,-0.5238651086606261,0.9367225814403253]},{"frame_idx":13,"position_3d":[0.5356583241318262,-0.5383139217658242,0.920898080965289]},{"frame_idx":14,"position_3d":[0.5356839763446519,-0.5527627348710222,0.9050735804902528]}]}

scenefun3d_test/scenefun3d/scenefun3d_423070_42447210/interval_006/cam_10/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"42447210","intrinsics":{"fx":1600.15,"fy":1600.15,"cx":937.545,"cy":707.366},"T_base_to_cam":[[-0.9370128618423923,0.34924285803371435,0.006026844478871557,-0.23863671575862375],[0.013342748752641215,0.05302944330467241,-0.9985038052999697,111.30517716271184],[-0.3490399229280994,-0.9355304934929907,-0.05434913014121867,6.627710156722243],[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":[-0.5262752908018474,0.5811447441224686,1.7883096099998639]},{"frame_idx":1,"position_3d":[-0.5212994909565977,0.5833807916791844,1.7477806518240164]},{"frame_idx":2,"position_3d":[-0.5118103570311454,0.5855998494772685,1.7080643193721263]},{"frame_idx":3,"position_3d":[-0.497927220390327,0.5877740115773827,1.6696600685687288]},{"frame_idx":4,"position_3d":[-0.4798246695325842,0.5898759366296398,1.633050855150342]},{"frame_idx":5,"position_3d":[-0.4577303545382977,0.5918791917069423,1.5986970612168625]},{"frame_idx":6,"position_3d":[-0.4319221242379409,0.5937585847143775,1.5670307056595392]},{"frame_idx":7,"position_3d":[-0.4027245321018248,0.5954904811944277,1.538450011272753]},{"frame_idx":8,"position_3d":[-0.3705047547918986,0.5970531015439865,1.513314396871323]},{"frame_idx":9,"position_3d":[-0.3356679747021849,0.5984267949055048,1.4919399573903702]},{"frame_idx":10,"position_3d":[-0.2986522845550824,0.5995942862879259,1.4745954888081063]},{"frame_idx":11,"position_3d":[-0.25992317813119464,0.6005408938097216,1.4614991078804485]},{"frame_idx":12,"position_3d":[-0.21996769641495298,0.601254713332071,1.452815509196259]},{"frame_idx":13,"position_3d":[-0.17928830277164962,0.6017267681603128,1.4486538940473328]},{"frame_idx":14,"position_3d":[-0.13839656417908308,0.6019511219310891,1.4490665971587933]}]}

scenefun3d_test/scenefun3d/scenefun3d_435324_42899220/interval_002/cam_15/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"42899220","intrinsics":{"fx":1573.49,"fy":1573.49,"cx":956.035,"cy":739.803},"T_base_to_cam":[[-0.1883363058920906,0.9821045685855692,0.00022857443856455495,0.2031990796392863],[0.48448060839969265,0.09311035964831449,-0.8698327431241164,-0.8476738413413387],[-0.8542879935756937,-0.1637103457009193,-0.49334668007690186,1.5196982486311565],[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":[-0.8176716107546272,-0.31228674889653796,2.7339517063543592]},{"frame_idx":1,"position_3d":[-0.8149525487714574,-0.30183468102308186,2.7154437444846735]},{"frame_idx":2,"position_3d":[-0.8122334867882876,-0.29138261314962577,2.696935782614988]},{"frame_idx":3,"position_3d":[-0.8095144248051177,-0.2809305452761697,2.678427820745302]},{"frame_idx":4,"position_3d":[-0.8067953628219479,-0.2704784774027136,2.6599198588756163]},{"frame_idx":5,"position_3d":[-0.804076300838778,-0.2600264095292575,2.6414118970059306]},{"frame_idx":6,"position_3d":[-0.8013572388556082,-0.2495743416558014,2.622903935136245]},{"frame_idx":7,"position_3d":[-0.7986381768724383,-0.2391222737823453,2.604395973266559]},{"frame_idx":8,"position_3d":[-0.7959191148892685,-0.2286702059088892,2.5858880113968734]},{"frame_idx":9,"position_3d":[-0.7932000529060986,-0.2182181380354331,2.5673800495271877]},{"frame_idx":10,"position_3d":[-0.7904809909229288,-0.207766070161977,2.548872087657502]},{"frame_idx":11,"position_3d":[-0.7877619289397589,-0.19731400228852092,2.530364125787816]},{"frame_idx":12,"position_3d":[-0.7850428669565891,-0.18686193441506482,2.5118561639181305]},{"frame_idx":13,"position_3d":[-0.7823238049734192,-0.17640986654160873,2.4933482020484448]},{"frame_idx":14,"position_3d":[-0.7796047429902494,-0.16595779866815263,2.474840240178759]}]}

scenefun3d_test/scenefun3d/scenefun3d_435324_42899220/interval_003/cam_21/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"42899220","intrinsics":{"fx":1613.25,"fy":1613.25,"cx":956.515,"cy":739.7},"T_base_to_cam":[[-0.9736188866416065,0.2196548587387389,0.061790020288257974,0.759601060048305],[0.031184531948386704,0.3963430910505459,-0.9175727105486835,-0.2509475037128667],[-0.226039351755217,-0.8914392279953596,-0.39273695299668254,-0.0023853868015913135],[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":[0.5879966897831483,-0.07451994493544184,2.087844085351551]},{"frame_idx":1,"position_3d":[0.5694399670575917,-0.0716747154364616,2.077512755124793]},{"frame_idx":2,"position_3d":[0.5508832443320351,-0.06882948593748137,2.0671814248980347]},{"frame_idx":3,"position_3d":[0.5323265216064784,-0.06598425643850113,2.0568500946712764]},{"frame_idx":4,"position_3d":[0.5137697988809218,-0.06313902693952089,2.046518764444518]},{"frame_idx":5,"position_3d":[0.49521307615536514,-0.060293797440540656,2.03618743421776]},{"frame_idx":6,"position_3d":[0.4766563534298085,-0.05744856794156042,2.0258561039910017]},{"frame_idx":7,"position_3d":[0.45809963070425186,-0.05460333844258018,2.0155247737642434]},{"frame_idx":8,"position_3d":[0.4395429079786952,-0.051758108943599945,2.005193443537485]},{"frame_idx":9,"position_3d":[0.4209861852531386,-0.04891287944461971,1.994862113310727]},{"frame_idx":10,"position_3d":[0.40242946252758194,-0.04606764994563947,1.9845307830839687]},{"frame_idx":11,"position_3d":[0.3838727398020253,-0.043222420446659235,1.9741994528572104]},{"frame_idx":12,"position_3d":[0.36531601707646866,-0.040377190947679,1.9638681226304522]},{"frame_idx":13,"position_3d":[0.346759294350912,-0.03753196144869876,1.953536792403694]},{"frame_idx":14,"position_3d":[0.3282025716253554,-0.034686731949718524,1.9432054621769357]}]}

scenefun3d_test/scenefun3d/scenefun3d_435324_42899220/interval_004/cam_8/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"42899220","intrinsics":{"fx":1612.8,"fy":1612.8,"cx":956.446,"cy":739.649},"T_base_to_cam":[[-0.6616184384682651,0.7487482751379547,0.0404606272412098,0.5555052251619162],[0.2262149878805818,0.25075386425776913,-0.9412487868879221,-0.4228670365608047],[-0.7149040642890504,-0.6135947522899249,-0.33528146209604703,0.4489434507153568],[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":[-0.18231602067719221,-0.708582379064466,1.7382124537834431]},{"frame_idx":1,"position_3d":[-0.2094653693748411,-0.6885263486436413,1.6786320825454912]},{"frame_idx":2,"position_3d":[-0.22941215057862185,-0.6673073420889126,1.6166560241984278]},{"frame_idx":3,"position_3d":[-0.24190552194150494,-0.6451922007192602,1.5530636636353137]},{"frame_idx":4,"position_3d":[-0.24678837206977916,-0.6224590352689112,1.4886547116873772]},{"frame_idx":5,"position_3d":[-0.24399929628998585,-0.5993937284834937,1.424239148296308]},{"frame_idx":6,"position_3d":[-0.23357336884831537,-0.5762863399786369,1.360627036546529]},{"frame_idx":7,"position_3d":[-0.21564170183161074,-0.5534274585720086,1.2986183356519008]},{"frame_idx":8,"position_3d":[-0.19042979635680254,-0.531104547960329,1.2389928410044597]},{"frame_idx":9,"position_3d":[-0.15825470676352482,-0.5095983316965945,1.182500377794915]},{"frame_idx":10,"position_3d":[-0.11952105347183482,-0.48917926292851877,1.1298513715258174]},{"frame_idx":11,"position_3d":[-0.07471593464566467,-0.47010412329328005,1.0817079139986658]},{"frame_idx":12,"position_3d":[-0.024402800650788953,-0.45261279373944535,1.0386754371253488]},{"frame_idx":13,"position_3d":[0.030785631660446455,-0.4369252378848599,1.001295099270573]},{"frame_idx":14,"position_3d":[0.09015533573065349,-0.423238735846527,0.9700369798714394]}]}

scenefun3d_test/scenefun3d/scenefun3d_435324_42899220/interval_005/cam_34/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"42899220","intrinsics":{"fx":1603.76,"fy":1603.76,"cx":956.033,"cy":739.774},"T_base_to_cam":[[-0.21100831516163754,0.9774653752630422,-0.006077095895797968,0.22883555811346898],[0.4653734319647562,0.09499037672173316,-0.8800024983780483,-0.8100454551315698],[-0.8595947066809981,-0.18851596349418992,-0.47493017566150275,1.5599434643889853],[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":[-1.4945579785391003,-0.4545175675753964,2.518898889684566]},{"frame_idx":1,"position_3d":[-1.4927633459316232,-0.44465089293255117,2.499961844013031]},{"frame_idx":2,"position_3d":[-1.490968713324146,-0.4347842182897059,2.4810247983414957]},{"frame_idx":3,"position_3d":[-1.489174080716669,-0.4249175436468607,2.4620877526699605]},{"frame_idx":4,"position_3d":[-1.4873794481091918,-0.41505086900401544,2.4431507069984253]},{"frame_idx":5,"position_3d":[-1.4855848155017146,-0.4051841943611702,2.42421366132689]},{"frame_idx":6,"position_3d":[-1.4837901828942375,-0.39531751971832496,2.405276615655355]},{"frame_idx":7,"position_3d":[-1.4819955502867603,-0.3854508450754797,2.3863395699838197]},{"frame_idx":8,"position_3d":[-1.4802009176792832,-0.3755841704326345,2.3674025243122845]},{"frame_idx":9,"position_3d":[-1.478406285071806,-0.36571749578978924,2.3484654786407493]},{"frame_idx":10,"position_3d":[-1.476611652464329,-0.355850821146944,2.329528432969214]},{"frame_idx":11,"position_3d":[-1.4748170198568518,-0.34598414650409876,2.310591387297679]},{"frame_idx":12,"position_3d":[-1.4730223872493746,-0.3361174718612535,2.2916543416261437]},{"frame_idx":13,"position_3d":[-1.4712277546418975,-0.3262507972184083,2.2727172959546085]},{"frame_idx":14,"position_3d":[-1.4694331220344203,-0.31638412257556303,2.2537802502830733]}]}

scenefun3d_test/scenefun3d/scenefun3d_435324_42899220/interval_006/cam_31/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"42899220","intrinsics":{"fx":1612.8,"fy":1612.8,"cx":956.237,"cy":739.776},"T_base_to_cam":[[-0.9950693628657502,-0.09521842973697435,0.027756327645688667,0.7219657461413361],[-0.0693634909548178,0.46807302621060964,-0.8809633069865073,-0.20532667718370953],[0.0708919544695366,-0.8785448723727587,-0.4723698106558274,-0.17661682019046324],[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":[1.081368975997521,-0.8041250935371188,2.112637429059626]},{"frame_idx":1,"position_3d":[1.0603909547597954,-0.8028800962810732,2.108447407549972]},{"frame_idx":2,"position_3d":[1.0394129335220699,-0.8016350990250275,2.104257386040318]},{"frame_idx":3,"position_3d":[1.0184349122843444,-0.8003901017689818,2.100067364530664]},{"frame_idx":4,"position_3d":[0.9974568910466188,-0.7991451045129362,2.09587734302101]},{"frame_idx":5,"position_3d":[0.9764788698088933,-0.7979001072568905,2.091687321511356]},{"frame_idx":6,"position_3d":[0.9555008485711678,-0.7966551100008449,2.087497300001702]},{"frame_idx":7,"position_3d":[0.9345228273334423,-0.7954101127447992,2.083307278492048]},{"frame_idx":8,"position_3d":[0.9135448060957168,-0.7941651154887536,2.079117256982394]},{"frame_idx":9,"position_3d":[0.8925667848579912,-0.7929201182327079,2.07492723547274]},{"frame_idx":10,"position_3d":[0.8715887636202657,-0.7916751209766623,2.070737213963086]},{"frame_idx":11,"position_3d":[0.8506107423825402,-0.7904301237206166,2.066547192453432]},{"frame_idx":12,"position_3d":[0.8296327211448147,-0.789185126464571,2.0623571709437782]},{"frame_idx":13,"position_3d":[0.8086546999070892,-0.7879401292085253,2.0581671494341243]},{"frame_idx":14,"position_3d":[0.7876766786693636,-0.7866951319524796,2.0539771279244703]}]}

scenefun3d_test/scenefun3d/scenefun3d_466437_45260951/interval_003/cam_18/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"45260951","intrinsics":{"fx":1595.18,"fy":1595.18,"cx":714.279,"cy":956.463},"T_base_to_cam":[[-0.9990617953777616,-0.02997597601213111,0.0312565173793193,-5.00420197578941],[-0.0413750244453231,0.4474782305639211,-0.8933371930707529,37.71795587291684],[0.012792043179745182,-0.8937922991576414,-0.4482986611599291,15.223004987318207],[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":[0.044670115606279204,0.5124177443323816,1.0855991309890793]},{"frame_idx":1,"position_3d":[0.048242051433469116,0.5218683712453798,1.0667017608316436]},{"frame_idx":2,"position_3d":[0.05181398726065903,0.5313189981583779,1.0478043906742078]},{"frame_idx":3,"position_3d":[0.05538592308784894,0.540769625071376,1.028907020516772]},{"frame_idx":4,"position_3d":[0.05895785891503885,0.5502202519843742,1.0100096503593363]},{"frame_idx":5,"position_3d":[0.06252979474222876,0.5596708788973723,0.9911122802019007]},{"frame_idx":6,"position_3d":[0.06610173056941868,0.5691215058103705,0.972214910044465]},{"frame_idx":7,"position_3d":[0.06967366639660859,0.5785721327233686,0.9533175398870294]},{"frame_idx":8,"position_3d":[0.0732456022237985,0.5880227596363667,0.9344201697295937]},{"frame_idx":9,"position_3d":[0.07681753805098841,0.5974733865493649,0.9155227995721581]},{"frame_idx":10,"position_3d":[0.08038947387817832,0.606924013462363,0.8966254294147225]},{"frame_idx":11,"position_3d":[0.08396140970536824,0.6163746403753612,0.8777280592572868]},{"frame_idx":12,"position_3d":[0.08753334553255815,0.6258252672883593,0.8588306890998512]},{"frame_idx":13,"position_3d":[0.09110528135974806,0.6352758942013574,0.8399333189424155]},{"frame_idx":14,"position_3d":[0.09467721718693797,0.6447265211143556,0.8210359487849799]}]}

scenefun3d_test/scenefun3d/scenefun3d_466437_45260951/interval_004/cam_7/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"45260951","intrinsics":{"fx":1609.19,"fy":1609.19,"cx":714.726,"cy":956.075},"T_base_to_cam":[[-0.8012038129178467,-0.5900754045046062,-0.09941562837215023,3.07539711093941],[-0.30845309563287965,0.5496221366659384,-0.7763840510219553,31.318279274370973],[0.5127661630415932,-0.5913768036417169,-0.6223699367370732,25.73424259020373],[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":[-0.2921571025126548,0.22562142234946947,1.1905777692815143]},{"frame_idx":1,"position_3d":[-0.300862326618461,0.2384767779855385,1.1758081187031402]},{"frame_idx":2,"position_3d":[-0.3095675507242672,0.25133213362160756,1.161038468124766]},{"frame_idx":3,"position_3d":[-0.31827277483007343,0.2641874892576766,1.146268817546392]},{"frame_idx":4,"position_3d":[-0.32697799893587964,0.27704284489374564,1.1314991669680179]},{"frame_idx":5,"position_3d":[-0.33568322304168585,0.2898982005298147,1.1167295163896438]},{"frame_idx":6,"position_3d":[-0.34438844714749206,0.30275355616588373,1.1019598658112697]},{"frame_idx":7,"position_3d":[-0.35309367125329827,0.3156089118019528,1.0871902152328956]},{"frame_idx":8,"position_3d":[-0.3617988953591045,0.3284642674380218,1.0724205646545215]},{"frame_idx":9,"position_3d":[-0.3705041194649107,0.34131962307409086,1.0576509140761474]},{"frame_idx":10,"position_3d":[-0.3792093435707169,0.3541749787101599,1.0428812634977733]},{"frame_idx":11,"position_3d":[-0.3879145676765231,0.36703033434622895,1.0281116129193992]},{"frame_idx":12,"position_3d":[-0.3966197917823293,0.379885689982298,1.0133419623410251]},{"frame_idx":13,"position_3d":[-0.4053250158881355,0.39274104561836704,0.998572311762651]},{"frame_idx":14,"position_3d":[-0.41403023999394173,0.4055964012544361,0.983802661184277]}]}

scenefun3d_test/scenefun3d/scenefun3d_466437_45260951/interval_005/cam_12/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"45260951","intrinsics":{"fx":1602.41,"fy":1602.41,"cx":714.562,"cy":956.498},"T_base_to_cam":[[0.3108711030966619,0.9492819729055371,-0.04714756808188253,3.0127204508176884],[0.4030991427943425,-0.17660530190018064,-0.897954146056029,37.13822983505355],[-0.8607381938417342,0.260142851636014,-0.43755623456277243,16.788842926727014],[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":[-0.08000525934905811,-0.04681577084693345,0.7125112370230262]},{"frame_idx":1,"position_3d":[-0.08090290235662694,-0.035024784793267066,0.6946408548675547]},{"frame_idx":2,"position_3d":[-0.08180054536419576,-0.023233798739600686,0.6767704727120831]},{"frame_idx":3,"position_3d":[-0.08269818837176458,-0.011442812685934308,0.6589000905566116]},{"frame_idx":4,"position_3d":[-0.08359583137933341,0.0003481733677320707,0.64102970840114]},{"frame_idx":5,"position_3d":[-0.08449347438690223,0.01213915942139845,0.6231593262456685]},{"frame_idx":6,"position_3d":[-0.08539111739447106,0.023930145475064828,0.605288944090197]},{"frame_idx":7,"position_3d":[-0.08628876040203988,0.03572113152873121,0.5874185619347254]},{"frame_idx":8,"position_3d":[-0.0871864034096087,0.04751211758239759,0.5695481797792539]},{"frame_idx":9,"position_3d":[-0.08808404641717753,0.05930310363606397,0.5516777976237823]},{"frame_idx":10,"position_3d":[-0.08898168942474635,0.07109408968973034,0.5338074154683108]},{"frame_idx":11,"position_3d":[-0.08987933243231518,0.08288507574339672,0.5159370333128392]},{"frame_idx":12,"position_3d":[-0.090776975439884,0.0946760617970631,0.4980666511573677]},{"frame_idx":13,"position_3d":[-0.09167461844745282,0.10646704785072948,0.48019626900189616]},{"frame_idx":14,"position_3d":[-0.09257226145502165,0.11825803390439586,0.4623258868464246]}]}

scenefun3d_test/scenefun3d/scenefun3d_466437_45260951/interval_009/cam_17/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"45260951","intrinsics":{"fx":1594.27,"fy":1594.27,"cx":714.521,"cy":956.627},"T_base_to_cam":[[0.9935437159432509,0.10762816040563411,-0.03587566859832292,5.255885987363796],[-0.033676948231930105,-0.022177927828531646,-0.9991866705851398,41.00430462615917],[-0.10833627124588283,0.993943820648296,-0.018410152840402146,3.393360619834211],[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":[0.7253528468064241,0.617803984572916,2.4569585348605205]},{"frame_idx":1,"position_3d":[0.7329845922725244,0.6183759849218005,2.4110420722068877]},{"frame_idx":2,"position_3d":[0.74570636132834,0.618744220197096,2.3662658144271953]},{"frame_idx":3,"position_3d":[0.7633581703466517,0.6189040596265606,2.323192848942813]},{"frame_idx":4,"position_3d":[0.7857180375872359,0.6188534931366279,2.2823648432862242]},{"frame_idx":5,"position_3d":[0.8125047747460453,0.6185931566302479,2.2442952333175206]},{"frame_idx":6,"position_3d":[0.8433815230612809,0.6181263239900394,2.2094627664705606]},{"frame_idx":7,"position_3d":[0.8779599895077719,0.6174588659073155,2.178305481226213]},{"frame_idx":8,"position_3d":[0.9158053298070601,0.6165991760547346,2.1512151985243038]},{"frame_idx":9,"position_3d":[0.956441616846504,0.6155580655309966,2.128532594387957]},{"frame_idx":10,"position_3d":[0.9993578257388597,0.6143486269050039,2.110542915724941]},{"frame_idx":11,"position_3d":[1.0440142602567415,0.612986069569211,2.097472393182298]},{"frame_idx":12,"position_3d":[1.0898493398258202,0.6114875284726897,2.0894853961646955]},{"frame_idx":13,"position_3d":[1.136286661726382,0.6098718486392025,2.0866823657937936]},{"frame_idx":14,"position_3d":[1.1827422496919655,0.6081593481800949,2.089098551802862]}]}

scenefun3d_test/scenefun3d/scenefun3d_466437_45260951/interval_011/cam_4/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"45260951","intrinsics":{"fx":1596.53,"fy":1596.53,"cx":714.739,"cy":956.626},"T_base_to_cam":[[0.16992607673751048,-0.9777571650602248,-0.12294736523403282,4.666937816061479],[-0.2924711898433945,0.06910259420127174,-0.9537743100892602,38.832542625208646],[0.9410556474280293,0.19802968880460142,-0.27422346871806164,11.892376851944517],[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":[0.259808034488624,0.5985118777194742,1.121304854995186]},{"frame_idx":1,"position_3d":[0.23855197233191258,0.6012201255143411,1.1211348875247482]},{"frame_idx":2,"position_3d":[0.21729591017520117,0.603928373309208,1.1209649200543104]},{"frame_idx":3,"position_3d":[0.19603984801848975,0.6066366211040749,1.1207949525838725]},{"frame_idx":4,"position_3d":[0.17478378586177834,0.6093448688989418,1.1206249851134347]},{"frame_idx":5,"position_3d":[0.15352772370506693,0.6120531166938087,1.1204550176429968]},{"frame_idx":6,"position_3d":[0.1322716615483555,0.6147613644886756,1.120285050172559]},{"frame_idx":7,"position_3d":[0.1110155993916441,0.6174696122835425,1.1201150827021211]},{"frame_idx":8,"position_3d":[0.08975953723493268,0.6201778600784094,1.1199451152316833]},{"frame_idx":9,"position_3d":[0.06850347507822127,0.6228861078732763,1.1197751477612454]},{"frame_idx":10,"position_3d":[0.04724741292150986,0.6255943556681431,1.1196051802908076]},{"frame_idx":11,"position_3d":[0.025991350764798443,0.62830260346301,1.1194352128203697]},{"frame_idx":12,"position_3d":[0.004735288608087029,0.6310108512578769,1.1192652453499319]},{"frame_idx":13,"position_3d":[-0.016520773548624385,0.6337190990527438,1.119095277879494]},{"frame_idx":14,"position_3d":[-0.0377768357053358,0.6364273468476107,1.1189253104090562]}]}

scenefun3d_test/scenefun3d/scenefun3d_466437_45260951/interval_012/cam_5/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"45260951","intrinsics":{"fx":1609.64,"fy":1609.64,"cx":714.634,"cy":955.986},"T_base_to_cam":[[-0.9187525518798032,-0.38575412431163886,-0.08418731490498013,2.7073518973506583],[-0.1971102658247879,0.6328665087421688,-0.7487506428838511,30.322025719211116],[0.3421129806377289,-0.6713223798511856,-0.6574838178922044,26.915635741133283],[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":[-0.17305324307866998,0.06935667385869237,0.9231335145492601]},{"frame_idx":1,"position_3d":[-0.1769429794504158,0.08344885450997916,0.9074662215820879]},{"frame_idx":2,"position_3d":[-0.1808327158221616,0.09754103516126594,0.8917989286149157]},{"frame_idx":3,"position_3d":[-0.1847224521939074,0.11163321581255273,0.8761316356477435]},{"frame_idx":4,"position_3d":[-0.1886121885656532,0.1257253964638395,0.8604643426805714]},{"frame_idx":5,"position_3d":[-0.192501924937399,0.1398175771151263,0.8447970497133992]},{"frame_idx":6,"position_3d":[-0.19639166130914482,0.15390975776641308,0.829129756746227]},{"frame_idx":7,"position_3d":[-0.20028139768089062,0.16800193841769986,0.8134624637790548]},{"frame_idx":8,"position_3d":[-0.20417113405263643,0.18209411906898665,0.7977951708118827]},{"frame_idx":9,"position_3d":[-0.20806087042438223,0.19618629972027343,0.7821278778447105]},{"frame_idx":10,"position_3d":[-0.21195060679612804,0.21027848037156022,0.7664605848775383]},{"frame_idx":11,"position_3d":[-0.21584034316787384,0.224370661022847,0.7507932919103661]},{"frame_idx":12,"position_3d":[-0.21973007953961965,0.23846284167413379,0.735125998943194]},{"frame_idx":13,"position_3d":[-0.22361981591136545,0.25255502232542054,0.7194587059760218]},{"frame_idx":14,"position_3d":[-0.22750955228311126,0.2666472029767073,0.7037914130088496]}]}

scenefun3d_test/scenefun3d/scenefun3d_466437_45260951/interval_014/cam_11/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":[-0.5158480332539161,0.27168430320041637,2.3750816281562646]},{"frame_idx":1,"position_3d":[-0.5119713153139436,0.27508471091551057,2.351540154395926]},{"frame_idx":2,"position_3d":[-0.5107811375328618,0.2784526162504378,2.3277067032835066]},{"frame_idx":3,"position_3d":[-0.5122924670868252,0.28174566584150723,2.303880994295236]},{"frame_idx":4,"position_3d":[-0.5164862981297987,0.2849224476794392,2.2803626495456397]},{"frame_idx":5,"position_3d":[-0.5233098908030996,0.28794301188941,2.2574474258656054]},{"frame_idx":6,"position_3d":[-0.5326774344697205,0.2907693731239071,2.2354234954886323]},{"frame_idx":7,"position_3d":[-0.5444711268328781,0.29336598825051363,2.2145678221177922]},{"frame_idx":8,"position_3d":[-0.5585426553682461,0.29570020332742136,2.1951426779464676]},{"frame_idx":9,"position_3d":[-0.574715062440001,0.29774266424569507,2.177392345433344]},{"frame_idx":10,"position_3d":[-0.5927849706457666,0.299467685874224,2.1615400453087563]},{"frame_idx":11,"position_3d":[-0.6125251404054503,0.3008535750651486,2.1477851294444905]},{"frame_idx":12,"position_3d":[-0.6336873276308107,0.3018829034577813,2.1363005738883274]},{"frame_idx":13,"position_3d":[-0.6560054055389021,0.3025427266503545,2.1272308035898804]},{"frame_idx":14,"position_3d":[-0.6791987113507797,0.30282474698338324,2.1206898761730555]}]}

scenefun3d_test/scenefun3d/scenefun3d_466437_45260951/interval_016/cam_11/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"45260951","intrinsics":{"fx":1595.18,"fy":1595.18,"cx":714.986,"cy":955.997},"T_base_to_cam":[[-0.4688058419807876,-0.8554165100469269,-0.22019009256508493,8.711763523613067],[-0.4557255570076478,0.4477784355810813,-0.7692910303120846,31.348530200628606],[0.7566606235392151,-0.2603018766119356,-0.5997563120281025,24.420090666838902],[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":[0.09749078230211339,0.06964842018464878,0.6639606781437024]},{"frame_idx":1,"position_3d":[0.0817038234768993,0.08104419523421014,0.6550112694738417]},{"frame_idx":2,"position_3d":[0.06591686465168523,0.09243997028377149,0.646061860803981]},{"frame_idx":3,"position_3d":[0.050129905826471144,0.10383574533333284,0.6371124521341203]},{"frame_idx":4,"position_3d":[0.03434294700125706,0.11523152038289419,0.6281630434642596]},{"frame_idx":5,"position_3d":[0.018555988176042978,0.12662729543245554,0.6192136347943988]},{"frame_idx":6,"position_3d":[0.002769029350828893,0.1380230704820169,0.6102642261245381]},{"frame_idx":7,"position_3d":[-0.013017929474385192,0.14941884553157825,0.6013148174546774]},{"frame_idx":8,"position_3d":[-0.028804888299599277,0.1608146205811396,0.5923654087848167]},{"frame_idx":9,"position_3d":[-0.04459184712481336,0.17221039563070095,0.583416000114956]},{"frame_idx":10,"position_3d":[-0.06037880595002744,0.1836061706802623,0.5744665914450953]},{"frame_idx":11,"position_3d":[-0.07616576477524152,0.19500194572982366,0.5655171827752346]},{"frame_idx":12,"position_3d":[-0.0919527236004556,0.206397720779385,0.5565677741053738]},{"frame_idx":13,"position_3d":[-0.10773968242566968,0.21779349582894636,0.5476183654355131]},{"frame_idx":14,"position_3d":[-0.12352664125088376,0.2291892708785077,0.5386689567656524]}]}

scenefun3d_test/scenefun3d/scenefun3d_466437_45260951/interval_017/cam_1/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"45260951","intrinsics":{"fx":1596.53,"fy":1596.53,"cx":714.618,"cy":956.147},"T_base_to_cam":[[-0.902859492394302,-0.42406464873638317,-0.0708089731996695,2.4995327437318338],[-0.2072266684779749,0.5735336731526286,-0.7925378436589471,32.03927344338565],[0.37669861277289435,-0.700876807614678,-0.6056978253905447,24.67065993565241],[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":[0.14403856231720447,-0.1005756052985447,0.6135145192839815]},{"frame_idx":1,"position_3d":[0.13927522123942843,-0.08768285902182513,0.597074587754614]},{"frame_idx":2,"position_3d":[0.1345118801616524,-0.07479011274510555,0.5806346562252465]},{"frame_idx":3,"position_3d":[0.12974853908387635,-0.06189736646838598,0.564194724695879]},{"frame_idx":4,"position_3d":[0.12498519800610032,-0.049004620191666404,0.5477547931665114]},{"frame_idx":5,"position_3d":[0.1202218569283243,-0.03611187391494683,0.5313148616371439]},{"frame_idx":6,"position_3d":[0.11545851585054827,-0.023219127638227255,0.5148749301077764]},{"frame_idx":7,"position_3d":[0.11069517477277224,-0.010326381361507682,0.4984349985784089]},{"frame_idx":8,"position_3d":[0.10593183369499622,0.0025663649152118904,0.4819950670490414]},{"frame_idx":9,"position_3d":[0.10116849261722019,0.015459111191931463,0.46555513551967387]},{"frame_idx":10,"position_3d":[0.09640515153944416,0.028351857468651036,0.44911520399030636]},{"frame_idx":11,"position_3d":[0.09164181046166814,0.04124460374537061,0.43267527246093884]},{"frame_idx":12,"position_3d":[0.08687846938389211,0.054137350022090185,0.41623534093157133]},{"frame_idx":13,"position_3d":[0.08211512830611609,0.06703009629880975,0.3997954094022038]},{"frame_idx":14,"position_3d":[0.07735178722834006,0.07992284257552933,0.3833554778728363]}]}

scenefun3d_test/scenefun3d/scenefun3d_466841_47331589/interval_001/cam_9/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"47331589","intrinsics":{"fx":1600.15,"fy":1600.15,"cx":959.834,"cy":720.278},"T_base_to_cam":[[0.9787982070874773,-0.20017001996583209,-0.04342848039269072,2.460970338067313],[-0.1841380083930698,-0.7670677771799148,-0.6145732007477208,49.842577934510274],[0.08970654194301382,0.609539980902929,-0.7876634738347864,62.62732870689303],[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":[0.39763490300347737,-0.009821230032152073,1.4247772723187921]},{"frame_idx":1,"position_3d":[0.3994546180359818,0.006872617667239261,1.4114660830533887]},{"frame_idx":2,"position_3d":[0.40127433306848626,0.023566465366630596,1.3981548937879853]},{"frame_idx":3,"position_3d":[0.4030940481009907,0.04026031306602193,1.3848437045225819]},{"frame_idx":4,"position_3d":[0.40491376313349514,0.056954160765413264,1.3715325152571785]},{"frame_idx":5,"position_3d":[0.4067334781659996,0.0736480084648046,1.358221325991775]},{"frame_idx":6,"position_3d":[0.408553193198504,0.09034185616419593,1.3449101367263716]},{"frame_idx":7,"position_3d":[0.41037290823100847,0.10703570386358727,1.3315989474609682]},{"frame_idx":8,"position_3d":[0.4121926232635129,0.1237295515629786,1.3182877581955648]},{"frame_idx":9,"position_3d":[0.41401233829601736,0.14042339926236994,1.3049765689301613]},{"frame_idx":10,"position_3d":[0.4158320533285218,0.15711724696176127,1.291665379664758]},{"frame_idx":11,"position_3d":[0.41765176836102624,0.1738110946611526,1.2783541903993545]},{"frame_idx":12,"position_3d":[0.4194714833935307,0.19050494236054394,1.265043001133951]},{"frame_idx":13,"position_3d":[0.42129119842603513,0.20719879005993527,1.2517318118685477]},{"frame_idx":14,"position_3d":[0.4231109134585396,0.2238926377593266,1.2384206226031442]}]}

scenefun3d_test/scenefun3d/scenefun3d_466841_47331589/interval_002/cam_14/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"47331589","intrinsics":{"fx":1600.15,"fy":1600.15,"cx":960.257,"cy":720.383},"T_base_to_cam":[[-0.48301632903246206,0.8744531914249036,0.04502046084621064,-3.656721993605858],[0.6821459273871613,0.40803247787881713,-0.6067836770589515,48.17833310474673],[-0.548973733103064,-0.26237590019449786,-0.7935910328122495,63.74724138526851],[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":[0.11707183406293664,0.1750273627880361,1.1779196540057058]},{"frame_idx":1,"position_3d":[0.1049828418212194,0.18889641789223988,1.1669337880605175]},{"frame_idx":2,"position_3d":[0.09289384957950217,0.20276547299644365,1.1559479221153293]},{"frame_idx":3,"position_3d":[0.08080485733778493,0.21663452810064743,1.144962056170141]},{"frame_idx":4,"position_3d":[0.0687158650960677,0.2305035832048512,1.1339761902249528]},{"frame_idx":5,"position_3d":[0.05662687285435046,0.24437263830905498,1.1229903242797645]},{"frame_idx":6,"position_3d":[0.044537880612633224,0.25824169341325875,1.1120044583345763]},{"frame_idx":7,"position_3d":[0.03244888837091599,0.27211074851746253,1.101018592389388]},{"frame_idx":8,"position_3d":[0.02035989612919875,0.2859798036216663,1.0900327264441998]},{"frame_idx":9,"position_3d":[0.008270903887481515,0.2998488587258701,1.0790468604990116]},{"frame_idx":10,"position_3d":[-0.0038180883542357213,0.31371791383007386,1.0680609945538233]},{"frame_idx":11,"position_3d":[-0.015907080595952958,0.32758696893427763,1.057075128608635]},{"frame_idx":12,"position_3d":[-0.027996072837670194,0.3414560240384814,1.0460892626634468]},{"frame_idx":13,"position_3d":[-0.04008506507938743,0.3553250791426852,1.0351033967182586]},{"frame_idx":14,"position_3d":[-0.05217405732110467,0.36919413424688896,1.0241175307730703]}]}

scenefun3d_test/scenefun3d/scenefun3d_466841_47331589/interval_003/cam_18/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"47331589","intrinsics":{"fx":1602.86,"fy":1602.86,"cx":960.171,"cy":719.317},"T_base_to_cam":[[-0.9836204086509361,0.14613155704787495,-0.10552942584951877,8.514291333374004],[0.11992487209955822,0.09346404585639778,-0.9883736627329048,79.2471646468934],[-0.13456937518347184,-0.9848401089349058,-0.1094579512681153,9.323748680665869],[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":[0.09434524145766865,0.33203800905522485,1.444404758685958]},{"frame_idx":1,"position_3d":[0.06302111361670146,0.33957053206758236,1.4065881351780845]},{"frame_idx":2,"position_3d":[0.03617115056579359,0.3469927578526981,1.3654538799882203]},{"frame_idx":3,"position_3d":[0.014133006169021661,0.35421134761484857,1.321519280242029]},{"frame_idx":4,"position_3d":[-0.002816177120995706,0.3611355233994513,1.2753368390227675]},{"frame_idx":5,"position_3d":[-0.014463253490241329,0.3676782096785146,1.2274873273244447]},{"frame_idx":6,"position_3d":[-0.020661754195580827,0.3737571283759243,1.1785724805196]},{"frame_idx":7,"position_3d":[-0.021333729494190677,0.37929583356198954,1.12920743118786]},{"frame_idx":8,"position_3d":[-0.016470728906801707,0.38422467280536404,1.0800129734668398]},{"frame_idx":9,"position_3d":[-0.0061339074873789975,0.38848166309278326,1.0316077562056705]},{"frame_idx":10,"position_3d":[0.009546743237164724,0.3920132703014195,0.9846005030967725]},{"frame_idx":11,"position_3d":[0.03037402998584284,0.3947750824215381,0.9395823576222339]},{"frame_idx":12,"position_3d":[0.056086037543517486,0.39673236806328765,0.8971194490815333]},{"frame_idx":13,"position_3d":[0.08635942249669662,0.39786051322407967,0.8577457731871234]},{"frame_idx":14,"position_3d":[0.12081347946456691,0.39814533082395215,0.8219564767585155]}]}

scenefun3d_test/scenefun3d/scenefun3d_466841_47331589/interval_004/cam_9/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"47331589","intrinsics":{"fx":1600.15,"fy":1600.15,"cx":959.834,"cy":720.278},"T_base_to_cam":[[0.9787982070874773,-0.20017001996583209,-0.04342848039269072,2.460970338067313],[-0.1841380083930698,-0.7670677771799148,-0.6145732007477208,49.842577934510274],[0.08970654194301382,0.609539980902929,-0.7876634738347864,62.62732870689303],[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":[0.38512983927623834,-0.12830674500716555,1.2949987678653727]},{"frame_idx":1,"position_3d":[0.3872565500835976,-0.11133405720896379,1.2820918455553865]},{"frame_idx":2,"position_3d":[0.3893832608909569,-0.09436136941076204,1.2691849232454002]},{"frame_idx":3,"position_3d":[0.39150997169831614,-0.07738868161256028,1.256278000935414]},{"frame_idx":4,"position_3d":[0.3936366825056754,-0.060415993814358526,1.2433710786254277]},{"frame_idx":5,"position_3d":[0.3957633933130347,-0.04344330601615677,1.2304641563154415]},{"frame_idx":6,"position_3d":[0.39789010412039394,-0.026470618217955016,1.2175572340054552]},{"frame_idx":7,"position_3d":[0.4000168149277532,-0.009497930419753262,1.204650311695469]},{"frame_idx":8,"position_3d":[0.4021435257351125,0.007474757378448493,1.1917433893854827]},{"frame_idx":9,"position_3d":[0.40427023654247174,0.024447445176650248,1.1788364670754965]},{"frame_idx":10,"position_3d":[0.406396947349831,0.041420132974852,1.1659295447655103]},{"frame_idx":11,"position_3d":[0.4085236581571903,0.05839282077305376,1.153022622455524]},{"frame_idx":12,"position_3d":[0.41065036896454954,0.07536550857125551,1.1401157001455378]},{"frame_idx":13,"position_3d":[0.4127770797719088,0.09233819636945727,1.1272087778355515]},{"frame_idx":14,"position_3d":[0.4149037905792681,0.10931088416765902,1.1143018555255653]}]}

scenefun3d_test/scenefun3d/scenefun3d_466841_47331589/interval_005/cam_22/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"47331589","intrinsics":{"fx":1601.5,"fy":1601.5,"cx":960.207,"cy":719.614},"T_base_to_cam":[[0.9046038384737645,-0.425471700912217,-0.025801688731471234,1.1790544859762984],[-0.22349787107256713,-0.4218988525206625,-0.8786637922822234,70.98653100218624],[0.3629608753633936,0.800609261727975,-0.47674334079337266,37.3176487564615],[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":[0.07054457333031205,0.3884077700430595,1.218643506537532]},{"frame_idx":1,"position_3d":[0.07707506366285823,0.3973945708483661,1.2003193754320294]},{"frame_idx":2,"position_3d":[0.0836055539954044,0.4063813716536727,1.1819952443265267]},{"frame_idx":3,"position_3d":[0.09013604432795057,0.41536817245897933,1.163671113221024]},{"frame_idx":4,"position_3d":[0.09666653466049674,0.42435497326428595,1.1453469821155213]},{"frame_idx":5,"position_3d":[0.10319702499304291,0.43334177406959257,1.1270228510100186]},{"frame_idx":6,"position_3d":[0.10972751532558908,0.4423285748748992,1.108698719904516]},{"frame_idx":7,"position_3d":[0.11625800565813525,0.4513153756802058,1.0903745887990133]},{"frame_idx":8,"position_3d":[0.12278849599068142,0.4603021764855124,1.0720504576935106]},{"frame_idx":9,"position_3d":[0.12931898632322758,0.46928897729081903,1.053726326588008]},{"frame_idx":10,"position_3d":[0.13584947665577374,0.47827577809612565,1.0354021954825052]},{"frame_idx":11,"position_3d":[0.1423799669883199,0.48726257890143226,1.0170780643770025]},{"frame_idx":12,"position_3d":[0.14891045732086605,0.4962493797067389,0.9987539332715]},{"frame_idx":13,"position_3d":[0.1554409476534122,0.5052361805120456,0.9804298021659974]},{"frame_idx":14,"position_3d":[0.16197143798595837,0.5142229813173522,0.9621056710604948]}]}

scenefun3d_test/scenefun3d/scenefun3d_466841_47331589/interval_006/cam_12/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"47331589","intrinsics":{"fx":1600.6,"fy":1600.6,"cx":959.992,"cy":720.214},"T_base_to_cam":[[0.9483682430780437,-0.3170081479716832,-0.010173968774692649,-0.16720564495352866],[-0.24754963861873536,-0.7197591179590827,-0.6485876876217254,52.62326508812306],[0.19828477485878374,0.6176185280853601,-0.7610719426078423,60.360258705467785],[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":[-0.37121580814215377,-0.341173567898295,0.8417692058242707]},{"frame_idx":1,"position_3d":[-0.3587974961342767,-0.30551987552853704,0.8112190198218672]},{"frame_idx":2,"position_3d":[-0.341200591761177,-0.2711833684010416,0.7817221157085332]},{"frame_idx":3,"position_3d":[-0.3186463863053081,-0.23859584801544248,0.7536494341679965]},{"frame_idx":4,"position_3d":[-0.2914185119865324,-0.20816712134830828,0.7273540054587785]},{"frame_idx":5,"position_3d":[-0.25985937512238916,-0.18027984729263666,0.7031665098538606]},{"frame_idx":6,"position_3d":[-0.2243658501699827,-0.15528472450025102,0.6813911191443868]},{"frame_idx":7,"position_3d":[-0.1853842887994124,-0.13349608114277364,0.6623016715029044]},{"frame_idx":8,"position_3d":[-0.14340490676254192,-0.11518792205249015,0.6461382278094607]},{"frame_idx":9,"position_3d":[-0.0989556191454897,-0.1005904829526022,0.6331040527467493]},{"frame_idx":10,"position_3d":[-0.05259540153011758,-0.08988733510942233,0.6233630586287882]},{"frame_idx":11,"position_3d":[-0.004907260551763673,-0.08321307681718956,0.6170377441084671]},{"frame_idx":12,"position_3d":[0.04350909774746532,-0.08065164074642357,0.6142076536859122]},{"frame_idx":13,"position_3d":[0.09204480957013117,-0.08223523844189408,0.6149083773902438]},{"frame_idx":14,"position_3d":[0.1400895101789879,-0.08794395524375576,0.6191311032143106]}]}

scenefun3d_test/scenefun3d/scenefun3d_466841_47331589/interval_010/cam_14/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"47331589","intrinsics":{"fx":1601.05,"fy":1601.05,"cx":960.171,"cy":719.878},"T_base_to_cam":[[0.9123659552985718,-0.409372161295914,-0.0016724736279867536,-0.776622111415446],[-0.25711670205889936,-0.569846210451974,-0.7804910620602131,63.179098375087335],[0.3185582601887438,0.7125234943420719,-0.6251647021994156,49.307008771720746],[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":[0.5020714016735252,-0.2487150402837699,1.142983245616776]},{"frame_idx":1,"position_3d":[0.5084771226151545,-0.23620344924138031,1.1268088676604107]},{"frame_idx":2,"position_3d":[0.5148828435567839,-0.22369185819899073,1.1106344897040454]},{"frame_idx":3,"position_3d":[0.5212885644984133,-0.21118026715660115,1.0944601117476802]},{"frame_idx":4,"position_3d":[0.5276942854400427,-0.19866867611421157,1.078285733791315]},{"frame_idx":5,"position_3d":[0.5341000063816721,-0.186157085071822,1.0621113558349498]},{"frame_idx":6,"position_3d":[0.5405057273233015,-0.1736454940294324,1.0459369778785845]},{"frame_idx":7,"position_3d":[0.5469114482649309,-0.16113390298704283,1.0297625999222193]},{"frame_idx":8,"position_3d":[0.5533171692065603,-0.14862231194465325,1.013588221965854]},{"frame_idx":9,"position_3d":[0.5597228901481897,-0.13611072090226367,0.9974138440094887]},{"frame_idx":10,"position_3d":[0.566128611089819,-0.12359912985987409,0.9812394660531234]},{"frame_idx":11,"position_3d":[0.5725343320314484,-0.11108753881748451,0.9650650880967581]},{"frame_idx":12,"position_3d":[0.5789400529730778,-0.09857594777509493,0.9488907101403927]},{"frame_idx":13,"position_3d":[0.5853457739147072,-0.08606435673270535,0.9327163321840274]},{"frame_idx":14,"position_3d":[0.5917514948563366,-0.07355276569031577,0.916541954227662]}]}

scenefun3d_test/scenefun3d/scenefun3d_466841_47331589/interval_011/cam_12/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"47331589","intrinsics":{"fx":1601.05,"fy":1601.05,"cx":960.138,"cy":719.794},"T_base_to_cam":[[-0.07211202734979394,-0.9972999586943719,-0.013879765837612745,1.7389329109443208],[-0.566576367500833,0.052412381912390726,-0.8223406605609569,66.54797935566509],[0.8208477783980802,-0.05143670489518265,-0.568826151023722,44.688386422990106],[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":[0.09547934643287936,-0.1396837805881006,1.1138939659206315]},{"frame_idx":1,"position_3d":[0.09496210476761487,-0.15282575574674806,1.100496075484338]},{"frame_idx":2,"position_3d":[0.09452670038646854,-0.1673862211583775,1.0886518453204423]},{"frame_idx":3,"position_3d":[0.09417860875216083,-0.18318207052225888,1.0785102234954378]},{"frame_idx":4,"position_3d":[0.09392220731896062,-0.2000146618676761,1.0701987467880798]},{"frame_idx":5,"position_3d":[0.09376072048365797,-0.21767231559196357,1.0638219368403947]},{"frame_idx":6,"position_3d":[0.09369617903690367,-0.235932976454329,1.0594599857373856]},{"frame_idx":7,"position_3d":[0.09372939462483847,-0.25456700604934596,1.0571677475450363]},{"frame_idx":8,"position_3d":[0.09385994954217194,-0.2733400706431413,1.0569740484886028]},{"frame_idx":9,"position_3d":[0.09408620198506891,-0.2920160880560623,1.0588813244461066]},{"frame_idx":10,"position_3d":[0.09440530669778521,-0.3103601965330637,1.062865590315755]},{"frame_idx":11,"position_3d":[0.09481325075340957,-0.32814170826654754,1.068876741642512]},{"frame_idx":12,"position_3d":[0.09530490401874786,-0.3451370104293919,1.0768391847106926]},{"frame_idx":13,"position_3d":[0.09587408366872459,-0.36113237723599495,1.0866527871787972]},{"frame_idx":14,"position_3d":[0.09651363193899556,-0.3759266576680357,1.0981941373018047]}]}

scenefun3d_test/scenefun3d/scenefun3d_466841_47331589/interval_012/cam_17/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"47331589","intrinsics":{"fx":1601.05,"fy":1601.05,"cx":960.171,"cy":719.878},"T_base_to_cam":[[0.9123659552985718,-0.409372161295914,-0.0016724736279867536,-0.776622111415446],[-0.25711670205889936,-0.569846210451974,-0.7804910620602131,63.179098375087335],[0.3185582601887438,0.7125234943420719,-0.6251647021994156,49.307008771720746],[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":[0.508639001623232,-0.1189056461301945,1.2529151058437122]},{"frame_idx":1,"position_3d":[0.5149696225107185,-0.1059751980867386,1.2370434195425093]},{"frame_idx":2,"position_3d":[0.5213002433982051,-0.09304475004328269,1.2211717332413063]},{"frame_idx":3,"position_3d":[0.5276308642856917,-0.08011430199982679,1.2053000469401034]},{"frame_idx":4,"position_3d":[0.5339614851731783,-0.06718385395637089,1.1894283606389005]},{"frame_idx":5,"position_3d":[0.5402921060606649,-0.054253405912914984,1.1735566743376975]},{"frame_idx":6,"position_3d":[0.5466227269481515,-0.04132295786945908,1.1576849880364946]},{"frame_idx":7,"position_3d":[0.5529533478356381,-0.028392509826003175,1.1418133017352916]},{"frame_idx":8,"position_3d":[0.5592839687231247,-0.01546206178254727,1.1259416154340887]},{"frame_idx":9,"position_3d":[0.5656145896106113,-0.002531613739091363,1.1100699291328857]},{"frame_idx":10,"position_3d":[0.5719452104980979,0.010398834304364543,1.0941982428316828]},{"frame_idx":11,"position_3d":[0.5782758313855845,0.02332928234782045,1.0783265565304798]},{"frame_idx":12,"position_3d":[0.5846064522730711,0.036259730391276355,1.0624548702292769]},{"frame_idx":13,"position_3d":[0.5909370731605577,0.049190178434732265,1.046583183928074]},{"frame_idx":14,"position_3d":[0.5972676940480443,0.06212062647818817,1.030711497626871]}]}

scenefun3d_test/scenefun3d/scenefun3d_466841_47331589/interval_014/cam_18/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"47331589","intrinsics":{"fx":1601.96,"fy":1601.96,"cx":960.478,"cy":719.411},"T_base_to_cam":[[0.8728272347302108,-0.4878353351153115,-0.013758783599754104,0.3090049112272358],[-0.14858051741118528,-0.23877242136302423,-0.9596413708476009,77.36545521809133],[0.4648617516628333,0.8396454112358204,-0.28088989877101717,21.446352421978066],[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":[-0.0006785654453382306,0.2285672786444195,0.9505002835789931]},{"frame_idx":1,"position_3d":[0.007491638262150305,0.23423687888786174,0.9315190539579414]},{"frame_idx":2,"position_3d":[0.01566184196963884,0.23990647913130397,0.9125378243368898]},{"frame_idx":3,"position_3d":[0.023832045677127378,0.2455760793747462,0.8935565947158381]},{"frame_idx":4,"position_3d":[0.03200224938461591,0.25124567961818844,0.8745753650947865]},{"frame_idx":5,"position_3d":[0.040172453092104446,0.2569152798616307,0.8555941354737349]},{"frame_idx":6,"position_3d":[0.04834265679959298,0.26258488010507297,0.8366129058526832]},{"frame_idx":7,"position_3d":[0.056512860507081514,0.26825448034851523,0.8176316762316316]},{"frame_idx":8,"position_3d":[0.06468306421457005,0.2739240805919575,0.7986504466105799]},{"frame_idx":9,"position_3d":[0.0728532679220586,0.27959368083539976,0.7796692169895283]},{"frame_idx":10,"position_3d":[0.08102347162954714,0.285263281078842,0.7606879873684766]},{"frame_idx":11,"position_3d":[0.08919367533703568,0.2909328813222843,0.741706757747425]},{"frame_idx":12,"position_3d":[0.09736387904452422,0.29660248156572655,0.7227255281263734]},{"frame_idx":13,"position_3d":[0.10553408275201276,0.3022720818091688,0.7037442985053217]},{"frame_idx":14,"position_3d":[0.1137042864595013,0.3079416820526111,0.6847630688842701]}]}

scenefun3d_test/scenefun3d/scenefun3d_466880_47331707/interval_002/cam_5/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"47331707","intrinsics":{"fx":1602.86,"fy":1602.86,"cx":949.98,"cy":696.517},"T_base_to_cam":[[-0.07282035996823744,0.9949826720081851,0.06860522995769819,-5.816492506417822],[0.6963637833433554,0.09996825726197811,-0.7106924994593171,48.083296108574395],[-0.7139850673661354,-0.003978686146870192,-0.7001496223199152,49.80991970171773],[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":[0.20073570898392568,-0.27621619551324983,1.728745580079874]},{"frame_idx":1,"position_3d":[0.18120160216689854,-0.2703283826993815,1.7221930229760243]},{"frame_idx":2,"position_3d":[0.1616674953498714,-0.2644405698855131,1.7156404658721747]},{"frame_idx":3,"position_3d":[0.14213338853284427,-0.25855275707164477,1.709087908768325]},{"frame_idx":4,"position_3d":[0.12259928171581713,-0.2526649442577764,1.7025353516644754]},{"frame_idx":5,"position_3d":[0.10306517489879,-0.24677713144390803,1.6959827945606258]},{"frame_idx":6,"position_3d":[0.08353106808176286,-0.24088931863003965,1.6894302374567762]},{"frame_idx":7,"position_3d":[0.06399696126473572,-0.23500150581617127,1.6828776803529266]},{"frame_idx":8,"position_3d":[0.04446285444770859,-0.2291136930023029,1.676325123249077]},{"frame_idx":9,"position_3d":[0.024928747630681456,-0.2232258801884345,1.6697725661452274]},{"frame_idx":10,"position_3d":[0.005394640813654324,-0.21733806737456612,1.6632200090413778]},{"frame_idx":11,"position_3d":[-0.014139466003372809,-0.21145025456069774,1.6566674519375282]},{"frame_idx":12,"position_3d":[-0.03367357282039994,-0.20556244174682936,1.6501148948336786]},{"frame_idx":13,"position_3d":[-0.05320767963742708,-0.19967462893296098,1.643562337729829]},{"frame_idx":14,"position_3d":[-0.07274178645445421,-0.1937868161190926,1.6370097806259793]}]}

scenefun3d_test/scenefun3d/scenefun3d_466880_47331707/interval_013/cam_10/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"47331707","intrinsics":{"fx":1607.83,"fy":1607.83,"cx":950.747,"cy":695.738},"T_base_to_cam":[[0.28377653336607234,0.9588224738755788,0.011416772829902666,-1.1642142055118938],[-0.15416633611067493,0.057372497029660935,-0.9863777863449643,68.75213085388364],[-0.9464161980444676,0.27815078676088034,0.16409911609560376,-11.819022731900684],[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":[0.11719778790359214,0.40735951760348144,1.421912037800297]},{"frame_idx":1,"position_3d":[0.08936900989452387,0.40183862637605294,1.3906628162754755]},{"frame_idx":2,"position_3d":[0.06526779151281326,0.39588108869403993,1.3565296361040506]},{"frame_idx":3,"position_3d":[0.045197219563462954,0.3895618240504376,1.3199417418312105]},{"frame_idx":4,"position_3d":[0.029409693133953134,0.38296030086466204,1.2813592474562265]},{"frame_idx":5,"position_3d":[0.018103749529271084,0.3761595371210673,1.2412673502319491]},{"frame_idx":6,"position_3d":[0.011421567550106957,0.3692450563696242,1.200170229027834]},{"frame_idx":7,"position_3d":[0.009447179511941035,0.3623038122176572,1.1585847039881283]},{"frame_idx":8,"position_3d":[0.01220541448991988,0.355423094837781,1.1170337372186898]},{"frame_idx":9,"position_3d":[0.019661586078830194,0.3486894332433328,1.0760398562350766]},{"frame_idx":10,"position_3d":[0.03172192859476991,0.3421875071358242,1.0361185828758614]},{"frame_idx":11,"position_3d":[0.04823477623302736,0.3359990820085625,0.9977719503163989]},{"frame_idx":12,"position_3d":[0.06899247035357409,0.33020198089813096,0.9614821897103585]},{"frame_idx":13,"position_3d":[0.09373397090894955,0.32486910571454963,0.9277056658531708]},{"frame_idx":14,"position_3d":[0.12214813917431691,0.32006752045745834,0.8968671381299357]}]}

scenefun3d_test/scenefun3d/scenefun3d_466880_47331707/interval_015/cam_10/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"47331707","intrinsics":{"fx":1605.12,"fy":1605.12,"cx":950.83,"cy":696.092},"T_base_to_cam":[[0.24488383598982022,0.9590689396986846,0.14219239000787376,-11.009400408451466],[0.45321516997570954,0.016415812318003264,-0.8912499822215023,61.65814741671115],[-0.8571043790430656,0.2826964626789316,-0.4306446254326415,30.392237847830724],[0.0,0.0,0.0,1.0]],"extrinsic_source":"scenefun3d_verify_alignment","intrinsic_source":"scenefun3d_pincam","depth_source":"hires_depth_faro","distortion":null},"trajectory_3d":[{"frame_idx":0,"position_3d":[-0.6142698002932878,0.10027346824672634,1.6337524618778403]},{"frame_idx":1,"position_3d":[-0.6296787753186561,0.10584385560349233,1.6199423950122331]},{"frame_idx":2,"position_3d":[-0.6450877503440244,0.11141424296025831,1.606132328146626]},{"frame_idx":3,"position_3d":[-0.6604967253693927,0.1169846303170243,1.5923222612810188]},{"frame_idx":4,"position_3d":[-0.675905700394761,0.12255501767379029,1.5785121944154117]},{"frame_idx":5,"position_3d":[-0.6913146754201294,0.12812540503055628,1.5647021275498045]},{"frame_idx":6,"position_3d":[-0.7067236504454977,0.13369579238732227,1.5508920606841974]},{"frame_idx":7,"position_3d":[-0.722132625470866,0.13926617974408825,1.5370819938185902]},{"frame_idx":8,"position_3d":[-0.7375416004962343,0.14483656710085424,1.523271926952983]},{"frame_idx":9,"position_3d":[-0.7529505755216026,0.15040695445762023,1.509461860087376]},{"frame_idx":10,"position_3d":[-0.7683595505469709,0.15597734181438622,1.4956517932217688]},{"frame_idx":11,"position_3d":[-0.7837685255723392,0.1615477291711522,1.4818417263561616]},{"frame_idx":12,"position_3d":[-0.7991775005977075,0.1671181165279182,1.4680316594905545]},{"frame_idx":13,"position_3d":[-0.8145864756230758,0.17268850388468418,1.4542215926249473]},{"frame_idx":14,"position_3d":[-0.8299954506484442,0.17825889124145017,1.4404115257593402]}]}

scenefun3d_test/scenefun3d/scenefun3d_466880_47331707/interval_018/cam_9/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"47331707","intrinsics":{"fx":1602.86,"fy":1602.86,"cx":949.952,"cy":697.177},"T_base_to_cam":[[0.3919009764571355,0.9185303374055463,0.05211184047409126,-4.721790875867417],[0.81650621801352,-0.32115205187694307,-0.47976969008107184,33.04044508191587],[-0.423947190811783,0.2305718517965334,-0.8758455346474715,60.77994496949097],[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":[0.19564759405561105,-0.2612948823738961,0.6591743413933884]},{"frame_idx":1,"position_3d":[0.1824942804513469,-0.24686511734444655,0.6503450777835429]},{"frame_idx":2,"position_3d":[0.16934096684708277,-0.232435352314997,0.6415158141736974]},{"frame_idx":3,"position_3d":[0.15618765324281864,-0.21800558728554748,0.6326865505638519]},{"frame_idx":4,"position_3d":[0.1430343396385545,-0.20357582225609794,0.6238572869540064]},{"frame_idx":5,"position_3d":[0.12988102603429036,-0.1891460572266484,0.615028023344161]},{"frame_idx":6,"position_3d":[0.1167277124300262,-0.17471629219719886,0.6061987597343155]},{"frame_idx":7,"position_3d":[0.10357439882576205,-0.16028652716774933,0.59736949612447]},{"frame_idx":8,"position_3d":[0.0904210852214979,-0.1458567621382998,0.5885402325146245]},{"frame_idx":9,"position_3d":[0.07726777161723375,-0.13142699710885025,0.579710968904779]},{"frame_idx":10,"position_3d":[0.0641144580129696,-0.1169972320794007,0.5708817052949335]},{"frame_idx":11,"position_3d":[0.050961144408705444,-0.10256746704995115,0.5620524416850881]},{"frame_idx":12,"position_3d":[0.03780783080444129,-0.0881377020205016,0.5532231780752426]},{"frame_idx":13,"position_3d":[0.024654517200177143,-0.07370793699105205,0.5443939144653971]},{"frame_idx":14,"position_3d":[0.011501203595912994,-0.0592781719616025,0.5355646508555516]}]}

scenefun3d_test/scenefun3d/scenefun3d_466880_47331711/interval_001/cam_6/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"47331711","intrinsics":{"fx":1594.72,"fy":1594.72,"cx":949.8,"cy":697.161},"T_base_to_cam":[[0.9545219298303151,-0.29516304674276983,0.04203167032770115,-2.171892767450669],[-0.24225738563703236,-0.8500340957340721,-0.4677108029475785,32.63607371012993],[0.17377929847171458,0.43625773566446235,-0.8828816135222178,61.139325719691094],[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":[-0.2040469417856885,0.08287019709786136,0.9505571557431054]},{"frame_idx":1,"position_3d":[-0.1885440253406066,0.09671557241722742,0.945346701114948]},{"frame_idx":2,"position_3d":[-0.1730411088955247,0.11056094773659347,0.9401362464867906]},{"frame_idx":3,"position_3d":[-0.15753819245044282,0.12440632305595953,0.9349257918586332]},{"frame_idx":4,"position_3d":[-0.14203527600536092,0.13825169837532558,0.9297153372304758]},{"frame_idx":5,"position_3d":[-0.12653235956027903,0.15209707369469164,0.9245048826023184]},{"frame_idx":6,"position_3d":[-0.11102944311519714,0.1659424490140577,0.919294427974161]},{"frame_idx":7,"position_3d":[-0.09552652667011524,0.17978782433342375,0.9140839733460037]},{"frame_idx":8,"position_3d":[-0.08002361022503335,0.1936331996527898,0.9088735187178463]},{"frame_idx":9,"position_3d":[-0.06452069377995145,0.20747857497215585,0.9036630640896889]},{"frame_idx":10,"position_3d":[-0.049017777334869554,0.2213239502915219,0.8984526094615315]},{"frame_idx":11,"position_3d":[-0.033514860889787654,0.23516932561088796,0.8932421548333741]},{"frame_idx":12,"position_3d":[-0.018011944444705753,0.24901470093025402,0.8880317002052167]},{"frame_idx":13,"position_3d":[-0.0025090279996238547,0.26286007624962004,0.8828212455770593]},{"frame_idx":14,"position_3d":[0.012993888445458044,0.27670545156898607,0.8776107909489019]}]}

scenefun3d_test/scenefun3d/scenefun3d_466880_47331711/interval_002/cam_2/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"47331711","intrinsics":{"fx":1597.89,"fy":1597.89,"cx":950.109,"cy":696.08},"T_base_to_cam":[[0.9042224294427457,-0.4259435322757869,-0.03088535907327067,3.0906930208640317],[-0.22260355592997733,-0.40836771403176625,-0.8852589830234986,61.534724186213985],[0.3644577547260981,0.8073462190714064,-0.46407179139774923,32.417946693808474],[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":[0.5989267515921601,0.3459370813030347,1.8177472812247224]},{"frame_idx":1,"position_3d":[0.616196496725815,0.35218168200522304,1.8067044311144376]},{"frame_idx":2,"position_3d":[0.6334662418594699,0.3584262827074114,1.7956615810041527]},{"frame_idx":3,"position_3d":[0.6507359869931247,0.36467088340959974,1.784618730893868]},{"frame_idx":4,"position_3d":[0.6680057321267796,0.3709154841117881,1.773575880783583]},{"frame_idx":5,"position_3d":[0.6852754772604345,0.37716008481397645,1.7625330306732983]},{"frame_idx":6,"position_3d":[0.7025452223940893,0.3834046855161648,1.7514901805630134]},{"frame_idx":7,"position_3d":[0.7198149675277442,0.38964928621835315,1.7404473304527286]},{"frame_idx":8,"position_3d":[0.7370847126613991,0.3958938869205415,1.7294044803424438]},{"frame_idx":9,"position_3d":[0.754354457795054,0.40213848762272986,1.718361630232159]},{"frame_idx":10,"position_3d":[0.7716242029287088,0.4083830883249182,1.707318780121874]},{"frame_idx":11,"position_3d":[0.7888939480623637,0.41462768902710656,1.6962759300115893]},{"frame_idx":12,"position_3d":[0.8061636931960185,0.4208722897292949,1.6852330799013044]},{"frame_idx":13,"position_3d":[0.8234334383296734,0.42711689043148326,1.6741902297910196]},{"frame_idx":14,"position_3d":[0.8407031834633283,0.4333614911336716,1.6631473796807348]}]}

scenefun3d_test/scenefun3d/scenefun3d_466880_47331711/interval_003/cam_15/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"47331711","intrinsics":{"fx":1595.63,"fy":1595.63,"cx":949.417,"cy":696.422},"T_base_to_cam":[[0.8735585692648798,-0.47936658974232804,-0.08427988314364898,6.048536816117155],[-0.377519802507277,-0.5580399818194576,-0.7389656131416442,51.846671469928204],[0.3072038814513305,0.677347068591686,-0.6684509883989154,45.89844069531156],[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":[0.994849751252274,-0.9641766577285793,2.824149964228134]},{"frame_idx":1,"position_3d":[1.012999587117892,-0.9577806869985305,2.814723475489432]},{"frame_idx":2,"position_3d":[1.03114942298351,-0.9513847162684816,2.8052969867507302]},{"frame_idx":3,"position_3d":[1.0492992588491281,-0.9449887455384328,2.7958704980120284]},{"frame_idx":4,"position_3d":[1.0674490947147461,-0.938592774808384,2.7864440092733265]},{"frame_idx":5,"position_3d":[1.0855989305803642,-0.9321968040783352,2.7770175205346246]},{"frame_idx":6,"position_3d":[1.1037487664459822,-0.9258008333482863,2.7675910317959227]},{"frame_idx":7,"position_3d":[1.1218986023116002,-0.9194048626182375,2.758164543057221]},{"frame_idx":8,"position_3d":[1.1400484381772182,-0.9130088918881887,2.748738054318519]},{"frame_idx":9,"position_3d":[1.1581982740428363,-0.9066129211581399,2.739311565579817]},{"frame_idx":10,"position_3d":[1.1763481099084543,-0.900216950428091,2.729885076841115]},{"frame_idx":11,"position_3d":[1.1944979457740723,-0.8938209796980422,2.7204585881024133]},{"frame_idx":12,"position_3d":[1.2126477816396903,-0.8874250089679934,2.7110320993637114]},{"frame_idx":13,"position_3d":[1.2307976175053084,-0.8810290382379445,2.7016056106250095]},{"frame_idx":14,"position_3d":[1.2489474533709264,-0.8746330675078957,2.6921791218863076]}]}

scenefun3d_test/scenefun3d/scenefun3d_466880_47331711/interval_005/cam_3/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"47331711","intrinsics":{"fx":1600.6,"fy":1600.6,"cx":951.054,"cy":695.757},"T_base_to_cam":[[0.9324525112978517,-0.35901493847393506,0.04050417419089036,-1.779331638296771],[0.08537914487370901,0.11003041512534531,-0.9902543659928887,69.12489305216464],[0.35105941917994965,0.9268233821499653,0.13325052534656523,-9.09632678646627],[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":[0.01995059235565866,0.27212917416959215,0.9894374930488734]},{"frame_idx":1,"position_3d":[0.054080429489775976,0.26943504520724976,0.959041561585487]},{"frame_idx":2,"position_3d":[0.08458537321401742,0.26611081580121143,0.9250648832541539]},{"frame_idx":3,"position_3d":[0.11108180616167002,0.2621982900650209,0.8879347344986186]},{"frame_idx":4,"position_3d":[0.13323652031482858,0.25774667027991105,0.848118048482896]},{"frame_idx":5,"position_3d":[0.15077090728855252,0.25281193814756964,0.8061155431358131]},{"frame_idx":6,"position_3d":[0.163464461992959,0.24745615078775907,0.7624554243325309]},{"frame_idx":7,"position_3d":[0.1711575556126681,0.24174666033402922,0.7176867433991915]},{"frame_idx":8,"position_3d":[0.17375344303177512,0.23575526694155927,0.6723724924739254]},{"frame_idx":9,"position_3d":[0.1712194794598158,0.2295573158585469,0.6270825245540587]},{"frame_idx":10,"position_3d":[0.16358753095894746,0.22323074991599604,0.582386387264035]},{"frame_idx":11,"position_3d":[0.15095357370972814,0.21685512935139328,0.5388461604635796]},{"frame_idx":12,"position_3d":[0.13347648705495954,0.21051063129255973,0.49700938776733594]},{"frame_idx":13,"position_3d":[0.11137605549976726,0.20427704148374876,0.45740219086622036]},{"frame_idx":14,"position_3d":[0.0849302047939269,0.1982327509336192,0.4205226532418953]}]}

scenefun3d_test/scenefun3d/scenefun3d_466880_47331711/interval_007/cam_16/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"47331711","intrinsics":{"fx":1601.05,"fy":1601.05,"cx":950.351,"cy":695.749},"T_base_to_cam":[[0.8861639626103281,-0.4632588999913918,0.010228536040239128,0.1809875684469369],[-0.06486105982505128,-0.14586852773674727,-0.9871754735275209,68.71229913122095],[0.4588098454579326,0.8741358957248464,-0.15931089578615965,11.322141536462876],[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":[0.15500224861063697,-0.20180232740420934,1.4728132224150414]},{"frame_idx":1,"position_3d":[0.1950355564516335,-0.1977004062170492,1.4499658594629716]},{"frame_idx":2,"position_3d":[0.23741559657578135,-0.19431219205935732,1.4316916784449747]},{"frame_idx":3,"position_3d":[0.28160941538904727,-0.1916802936900543,1.4182204877902789]},{"frame_idx":4,"position_3d":[0.3270612499780035,-0.18983780875819714,1.4097216955375338]},{"frame_idx":5,"position_3d":[0.37319951715092525,-0.1888079075808386,1.406302178930432]},{"frame_idx":6,"position_3d":[0.41944400142806687,-0.18860354176284655,1.4080049403743573]},{"frame_idx":7,"position_3d":[0.4652131515879685,-0.18922728132295805,1.4148085666561874]},{"frame_idx":8,"position_3d":[0.5099313940114899,-0.19067128237430256,1.4266274982278722]},{"frame_idx":9,"position_3d":[0.5530363708540267,-0.19291738576583053,1.4433131051673938]},{"frame_idx":10,"position_3d":[0.5939860120216939,-0.19593734544417393,1.4646555562862733]},{"frame_idx":11,"position_3d":[0.6322653520172727,-0.19969318366415617,1.490386457878512]},{"frame_idx":12,"position_3d":[0.6673930059301285,-0.20413766858097288,1.520182228927171]},{"frame_idx":13,"position_3d":[0.6989272231307675,-0.20921490821804486,1.5536681703234039]},{"frame_idx":14,"position_3d":[0.7264714425413127,-0.2148610533410529,1.5904231769251576]}]}

scenefun3d_test/scenefun3d/scenefun3d_466880_47331711/interval_012/cam_2/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"47331711","intrinsics":{"fx":1596.98,"fy":1596.98,"cx":950.146,"cy":696.326},"T_base_to_cam":[[0.9168359840776532,-0.39925925807953694,0.0019552846696335446,0.7675885780161413],[-0.2357421340812726,-0.5452841389347411,-0.8044195758713268,55.89387079484397],[0.3222381487644951,0.7370598704745603,-0.5940583496735448,41.388756923139034],[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":[0.30901793958511786,0.011015285368522143,1.3011288625258643]},{"frame_idx":1,"position_3d":[0.3409887043104096,0.02076810190319322,1.277304499659873]},{"frame_idx":2,"position_3d":[0.3733805844015705,0.03431983878578533,1.2560450541103254]},{"frame_idx":3,"position_3d":[0.4057862331722476,0.051500075062099,1.2376178757400245]},{"frame_idx":4,"position_3d":[0.4377981307869542,0.0720927592927543,1.2222546970086747]},{"frame_idx":5,"position_3d":[0.4690137090594497,0.09583892652539704,1.2101487188027469]},{"frame_idx":6,"position_3d":[0.49904041398125726,0.12243995492922959,1.2014521808222325]},{"frame_idx":7,"position_3d":[0.5275006423160851,0.15156132113779755,1.1962744470780855]},{"frame_idx":8,"position_3d":[0.5540364901796134,0.18283680707441796,1.1946806305763298]},{"frame_idx":9,"position_3d":[0.5783142538885011,0.21587310535697818,1.1966907744842286]},{"frame_idx":10,"position_3d":[0.6000286264778221,0.2502547653664683,1.2022796000758273]},{"frame_idx":11,"position_3d":[0.6189065371132932,0.2855494177795651,1.2113768246266]},{"frame_idx":12,"position_3d":[0.6347105851154546,0.3213132118637397,1.2238680452594874]},{"frame_idx":13,"position_3d":[0.6472420254109569,0.35709639715774677,1.2395961776274564]},{"frame_idx":14,"position_3d":[0.656343267867173,0.3924489793446266,1.2583634313403047]}]}

scenefun3d_test/scenefun3d/scenefun3d_466880_47331711/interval_013/cam_2/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"47331711","intrinsics":{"fx":1600.15,"fy":1600.15,"cx":950.668,"cy":695.728},"T_base_to_cam":[[0.9686821264277102,0.2482523702278599,-0.005069380212540067,1.5034522315576644],[-0.0486708150667909,0.16981466272277726,-0.9842734031177942,68.76853897069773],[-0.2434873501852282,0.9536947839852115,0.17657907378615698,-12.505455432824807],[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":[-0.1837331297643341,0.5095118838527526,1.1265204325687659]},{"frame_idx":1,"position_3d":[-0.1707704559434967,0.5023544340611227,1.0869960733554231]},{"frame_idx":2,"position_3d":[-0.15339205285290108,0.49547583478568047,1.0491528315630088]},{"frame_idx":3,"position_3d":[-0.13181646399459576,0.4889625884033709,1.0134666079142227]},{"frame_idx":4,"position_3d":[-0.10631501491692219,0.4828966027665252,0.9803861773770778]},{"frame_idx":5,"position_3d":[-0.07720840113831752,0.47735416116409346,0.9503275455592913]},{"frame_idx":6,"position_3d":[-0.04486265521509839,0.47240496301502577,0.9236687171963964]},{"frame_idx":7,"position_3d":[-0.009684543669688218,0.46811124735763837,0.9007449425228691]},{"frame_idx":8,"position_3d":[0.027883548334413727,0.46452701015759473,0.8818445013059127]},{"frame_idx":9,"position_3d":[0.06736918024274116,0.4616973252773083,0.867205077560122]},{"frame_idx":10,"position_3d":[0.10827579732394958,0.45965777764597004,0.8570107705330917]},{"frame_idx":11,"position_3d":[0.15008897513367073,0.45843401575841713,0.8513897795505615]},{"frame_idx":12,"position_3d":[0.1922828887003765,0.4580414291304288,0.8504127918355117]},{"frame_idx":13,"position_3d":[0.23432692507948663,0.458484954766636,0.8540920935753203]},{"frame_idx":14,"position_3d":[0.2756923561190157,0.45975901507482386,0.8623814154158289]}]}

scenefun3d_test/scenefun3d/scenefun3d_466880_47331711/interval_016/cam_10/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"47331711","intrinsics":{"fx":1595.63,"fy":1595.63,"cx":949.36,"cy":696.53},"T_base_to_cam":[[0.8821734195057059,-0.46271902449657626,-0.08752806570778934,6.251348593042898],[-0.3856853582437329,-0.6032583678543845,-0.6980874916871578,49.0408869704655],[0.27021632510641114,0.6495925230347106,-0.7106424499446858,48.81480803627866],[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":[-0.18766207277289215,0.16579986034242467,0.9092849679152835]},{"frame_idx":1,"position_3d":[-0.16994502442227818,0.1738195141996144,0.9002863556210319]},{"frame_idx":2,"position_3d":[-0.15222797607166422,0.1818391680568041,0.8912877433267803]},{"frame_idx":3,"position_3d":[-0.13451092772105025,0.18985882191399384,0.8822891310325287]},{"frame_idx":4,"position_3d":[-0.11679387937043628,0.19787847577118356,0.8732905187382771]},{"frame_idx":5,"position_3d":[-0.09907683101982231,0.20589812962837328,0.8642919064440255]},{"frame_idx":6,"position_3d":[-0.08135978266920835,0.213917783485563,0.855293294149774]},{"frame_idx":7,"position_3d":[-0.06364273431859438,0.22193743734275273,0.8462946818555224]},{"frame_idx":8,"position_3d":[-0.04592568596798041,0.22995709119994245,0.8372960695612708]},{"frame_idx":9,"position_3d":[-0.028208637617366448,0.23797674505713218,0.8282974572670192]},{"frame_idx":10,"position_3d":[-0.010491589266752484,0.2459963989143219,0.8192988449727676]},{"frame_idx":11,"position_3d":[0.00722545908386148,0.2540160527715116,0.810300232678516]},{"frame_idx":12,"position_3d":[0.024942507434475444,0.26203570662870135,0.8013016203842644]},{"frame_idx":13,"position_3d":[0.04265955578508941,0.27005536048589107,0.7923030080900129]},{"frame_idx":14,"position_3d":[0.06037660413570338,0.2780750143430808,0.7833043957957613]}]}

scenefun3d_test/scenefun3d/scenefun3d_466880_47331711/interval_017/cam_1/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"47331711","intrinsics":{"fx":1596.08,"fy":1596.08,"cx":949.801,"cy":697.22},"T_base_to_cam":[[0.9998907365813877,0.009101605052143961,0.011647990565073353,0.1777107367820966],[0.013670490980741617,-0.8691463494906232,-0.49436599887479,34.50768717863218],[0.005624284405567739,0.494471216505671,-0.8691758069989793,60.22900023027923],[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":[0.28811972944836645,-0.28074427044615646,0.7635645483186053]},{"frame_idx":1,"position_3d":[0.29849839359467245,-0.2645012072006426,0.7542034639578165]},{"frame_idx":2,"position_3d":[0.30887705774097846,-0.24825814395512869,0.7448423795970276]},{"frame_idx":3,"position_3d":[0.31925572188728446,-0.2320150807096148,0.7354812952362387]},{"frame_idx":4,"position_3d":[0.32963438603359047,-0.2157720174641009,0.7261202108754499]},{"frame_idx":5,"position_3d":[0.34001305017989647,-0.19952895421858702,0.716759126514661]},{"frame_idx":6,"position_3d":[0.3503917143262025,-0.18328589097307313,0.7073980421538721]},{"frame_idx":7,"position_3d":[0.3607703784725085,-0.16704282772755924,0.6980369577930833]},{"frame_idx":8,"position_3d":[0.3711490426188145,-0.15079976448204535,0.6886758734322944]},{"frame_idx":9,"position_3d":[0.3815277067651205,-0.13455670123653146,0.6793147890715056]},{"frame_idx":10,"position_3d":[0.3919063709114265,-0.11831363799101757,0.6699537047107167]},{"frame_idx":11,"position_3d":[0.4022850350577325,-0.10207057474550368,0.6605926203499278]},{"frame_idx":12,"position_3d":[0.4126636992040385,-0.0858275114999898,0.651231535989139]},{"frame_idx":13,"position_3d":[0.4230423633503445,-0.0695844482544759,0.6418704516283501]},{"frame_idx":14,"position_3d":[0.4334210274966505,-0.053341385008962024,0.6325093672675612]}]}

scenefun3d_test/scenefun3d/scenefun3d_466880_47331711/interval_018/cam_1/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"47331711","intrinsics":{"fx":1596.98,"fy":1596.98,"cx":950.146,"cy":696.326},"T_base_to_cam":[[0.9168359840776532,-0.39925925807953694,0.0019552846696335446,0.7675885780161413],[-0.2357421340812726,-0.5452841389347411,-0.8044195758713268,55.89387079484397],[0.3222381487644951,0.7370598704745603,-0.5940583496735448,41.388756923139034],[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":[0.5689209437771229,-0.31127376144952024,1.5310549917903984]},{"frame_idx":1,"position_3d":[0.5859158547379593,-0.303593793986863,1.5205015670062272]},{"frame_idx":2,"position_3d":[0.6029107656987956,-0.2959138265242057,1.509948142222056]},{"frame_idx":3,"position_3d":[0.619905676659632,-0.28823385906154847,1.4993947174378848]},{"frame_idx":4,"position_3d":[0.6369005876204684,-0.2805538915988912,1.4888412926537136]},{"frame_idx":5,"position_3d":[0.6538954985813048,-0.27287392413623396,1.4782878678695424]},{"frame_idx":6,"position_3d":[0.6708904095421412,-0.2651939566735767,1.4677344430853712]},{"frame_idx":7,"position_3d":[0.6878853205029776,-0.25751398921091945,1.4571810183012]},{"frame_idx":8,"position_3d":[0.704880231463814,-0.24983402174826222,1.4466275935170287]},{"frame_idx":9,"position_3d":[0.7218751424246503,-0.242154054285605,1.4360741687328575]},{"frame_idx":10,"position_3d":[0.7388700533854867,-0.23447408682294776,1.4255207439486863]},{"frame_idx":11,"position_3d":[0.7558649643463231,-0.22679411936029054,1.4149673191645151]},{"frame_idx":12,"position_3d":[0.7728598753071595,-0.2191141518976333,1.404413894380344]},{"frame_idx":13,"position_3d":[0.7898547862679959,-0.21143418443497608,1.3938604695961727]},{"frame_idx":14,"position_3d":[0.8068496972288323,-0.20375421697231885,1.3833070448120015]}]}

scenefun3d_test/scenefun3d/scenefun3d_466880_47331711/interval_019/cam_15/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"47331711","intrinsics":{"fx":1595.63,"fy":1595.63,"cx":949.417,"cy":696.422},"T_base_to_cam":[[0.8735585692648798,-0.47936658974232804,-0.08427988314364898,6.048536816117155],[-0.377519802507277,-0.5580399818194576,-0.7389656131416442,51.846671469928204],[0.3072038814513305,0.677347068591686,-0.6684509883989154,45.89844069531156],[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":[0.9587707857536474,-1.1130954458913394,2.703548596956878]},{"frame_idx":1,"position_3d":[0.9769206216192654,-1.1066994751612904,2.6941221082181763]},{"frame_idx":2,"position_3d":[0.9950704574848834,-1.1003035044312415,2.6846956194794744]},{"frame_idx":3,"position_3d":[1.0132202933505015,-1.0939075337011925,2.6752691307407725]},{"frame_idx":4,"position_3d":[1.0313701292161195,-1.0875115629711436,2.6658426420020707]},{"frame_idx":5,"position_3d":[1.0495199650817375,-1.0811155922410947,2.6564161532633688]},{"frame_idx":6,"position_3d":[1.0676698009473555,-1.0747196215110457,2.646989664524667]},{"frame_idx":7,"position_3d":[1.0858196368129736,-1.0683236507809968,2.637563175785965]},{"frame_idx":8,"position_3d":[1.1039694726785916,-1.0619276800509478,2.628136687047263]},{"frame_idx":9,"position_3d":[1.1221193085442096,-1.055531709320899,2.618710198308561]},{"frame_idx":10,"position_3d":[1.1402691444098276,-1.04913573859085,2.6092837095698593]},{"frame_idx":11,"position_3d":[1.1584189802754457,-1.042739767860801,2.5998572208311574]},{"frame_idx":12,"position_3d":[1.1765688161410637,-1.036343797130752,2.5904307320924556]},{"frame_idx":13,"position_3d":[1.1947186520066817,-1.0299478264007031,2.5810042433537537]},{"frame_idx":14,"position_3d":[1.2128684878722997,-1.0235518556706542,2.571577754615052]}]}

scenefun3d_test/scenefun3d/scenefun3d_466880_47331711/interval_020/cam_18/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"47331711","intrinsics":{"fx":1601.96,"fy":1601.96,"cx":950.626,"cy":695.717},"T_base_to_cam":[[-0.4504338494052286,0.8923750078230167,0.027860235513335052,-2.227352899960369],[-0.04747814841666376,0.007219302228642643,-0.9988461879079563,69.75486265379888],[-0.891546506208685,-0.4512368857797443,0.03911649497187519,-3.2534068803674483],[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":[0.6910215211572459,0.22212601981547664,1.4265162577490669]},{"frame_idx":1,"position_3d":[0.6898233815887289,0.21763247002055555,1.3126260782869779]},{"frame_idx":2,"position_3d":[0.675876154195743,0.2128171580736298,1.199600027639377]},{"frame_idx":3,"position_3d":[0.6493552334551248,0.20774063931634107,1.0888594739723998]},{"frame_idx":4,"position_3d":[0.6105941353329842,0.202466753917527,0.9817970440015745]},{"frame_idx":5,"position_3d":[0.5600803031279202,0.1970618240460573,0.879759109902853]},{"frame_idx":6,"position_3d":[0.4984489775887196,0.19159381983107904,0.784028857901315]},{"frame_idx":7,"position_3d":[0.4264752083933658,0.18613150459820554,0.695810151459866]},{"frame_idx":8,"position_3d":[0.34506410744964394,0.1807435701307993,0.6162123919976928]},{"frame_idx":9,"position_3d":[0.25523946658774244,0.17549777283094034,0.5462365675237282]},{"frame_idx":10,"position_3d":[0.15813088278397025,0.17046008164335688,0.4867626646316512]},{"frame_idx":11,"position_3d":[0.05495955282337253,0.1656938484576693,0.438538602157892]},{"frame_idx":12,"position_3d":[-0.05297708395839619,0.1612590114216205,0.40217082566831086]},{"frame_idx":13,"position_3d":[-0.16432166172750978,0.1572113411840912,0.37811668105333973]},{"frame_idx":14,"position_3d":[-0.2776739578148928,0.1536017395468313,0.36667866313805164]}]}

scenefun3d_test/scenefun3d/scenefun3d_466880_47331711/interval_026/cam_0/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"47331711","intrinsics":{"fx":1596.98,"fy":1596.98,"cx":949.98,"cy":695.978},"T_base_to_cam":[[0.45379112499873164,-0.8906065911284726,-0.02989171642624222,2.428986331754635],[-0.39860061484131215,-0.17286913963662082,-0.9006851894027248,62.45749010388212],[0.7969888109129972,0.4206378019149206,-0.4334428161587993,30.594518357681377],[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":[0.3200817160134166,-0.6798134169726779,1.9201278248986071]},{"frame_idx":1,"position_3d":[0.2986823399049473,-0.6788335807760123,1.9195890330414258]},{"frame_idx":2,"position_3d":[0.277282963796478,-0.6778537445793467,1.9190502411842445]},{"frame_idx":3,"position_3d":[0.2558835876880087,-0.676873908382681,1.9185114493270632]},{"frame_idx":4,"position_3d":[0.2344842115795394,-0.6758940721860154,1.9179726574698819]},{"frame_idx":5,"position_3d":[0.2130848354710701,-0.6749142359893497,1.9174338656127006]},{"frame_idx":6,"position_3d":[0.1916854593626008,-0.6739343997926841,1.9168950737555193]},{"frame_idx":7,"position_3d":[0.17028608325413153,-0.6729545635960185,1.916356281898338]},{"frame_idx":8,"position_3d":[0.14888670714566224,-0.6719747273993528,1.9158174900411566]},{"frame_idx":9,"position_3d":[0.12748733103719295,-0.6709948912026872,1.9152786981839753]},{"frame_idx":10,"position_3d":[0.10608795492872365,-0.6700150550060215,1.914739906326794]},{"frame_idx":11,"position_3d":[0.08468857882025435,-0.6690352188093559,1.9142011144696127]},{"frame_idx":12,"position_3d":[0.06328920271178505,-0.6680553826126903,1.9136623226124314]},{"frame_idx":13,"position_3d":[0.04188982660331575,-0.6670755464160246,1.91312353075525]},{"frame_idx":14,"position_3d":[0.020490450494846452,-0.666095710219359,1.9125847388980688]}]}