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scenefun3d_test/scenefun3d/scenefun3d_421254_42444754/interval_002/cam_20/trajectory.json

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+{"camera_info":{"cam_id":"42444754","intrinsics":{"fx":1606.93,"fy":1606.93,"cx":718.042,"cy":958.995},"T_base_to_cam":[[0.9006676541453346,0.4306859748289492,-0.05750971971743135,12.808271911491179],[0.18889735955134546,-0.5073034339805019,-0.8408097367574427,179.23115791981735],[-0.3912998394209605,0.7464266989847217,-0.538267237264077,114.86463160995724],[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":[0.23455626576604338,0.3081948984147118,1.3800048992590348]},{"frame_idx":1,"position_3d":[0.2208298504352494,0.31805148127206606,1.3668285200138839]},{"frame_idx":2,"position_3d":[0.2071034351044554,0.3279080641294203,1.353652140768733]},{"frame_idx":3,"position_3d":[0.1933770197736614,0.33776464698677455,1.340475761523582]},{"frame_idx":4,"position_3d":[0.1796506044428674,0.3476212298441288,1.3272993822784311]},{"frame_idx":5,"position_3d":[0.1659241891120734,0.35747781270148304,1.3141230030332802]},{"frame_idx":6,"position_3d":[0.1521977737812794,0.3673343955588373,1.3009466237881293]},{"frame_idx":7,"position_3d":[0.13847135845048542,0.37719097841619154,1.2877702445429784]},{"frame_idx":8,"position_3d":[0.12474494311969142,0.3870475612735458,1.2745938652978275]},{"frame_idx":9,"position_3d":[0.11101852778889743,0.3969041441309,1.2614174860526766]},{"frame_idx":10,"position_3d":[0.09729211245810343,0.4067607269882543,1.2482411068075256]},{"frame_idx":11,"position_3d":[0.08356569712730944,0.4166173098456085,1.2350647275623747]},{"frame_idx":12,"position_3d":[0.06983928179651544,0.42647389270296276,1.2218883483172238]},{"frame_idx":13,"position_3d":[0.056112866465721445,0.436330475560317,1.208711969072073]},{"frame_idx":14,"position_3d":[0.04238645113492745,0.44618705841767126,1.195535589826922]}]}

scenefun3d_test/scenefun3d/scenefun3d_421254_42444754/interval_003/cam_4/trajectory.json

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+{"camera_info":{"cam_id":"42444754","intrinsics":{"fx":1599.7,"fy":1599.7,"cx":718.237,"cy":959.24},"T_base_to_cam":[[-0.9832176811425433,-0.11693806902880102,-0.14003028065563392,29.985510391495826],[0.13354735242552043,0.06158495474542314,-0.9891270889067478,211.16047029870893],[0.12429037029800047,-0.9912279159511292,-0.04493464688151494,9.969655845246246],[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":[0.9424327820962191,1.2480927893083162,2.164793368803875]},{"frame_idx":1,"position_3d":[0.9345231763051557,1.2498522989985836,2.1449558806728333]},{"frame_idx":2,"position_3d":[0.9266135705140923,1.251611808688851,2.1251183925417916]},{"frame_idx":3,"position_3d":[0.918703964723029,1.2533713183791184,2.10528090441075]},{"frame_idx":4,"position_3d":[0.9107943589319656,1.2551308280693858,2.085443416279708]},{"frame_idx":5,"position_3d":[0.9028847531409022,1.2568903377596532,2.0656059281486665]},{"frame_idx":6,"position_3d":[0.8949751473498389,1.2586498474499206,2.045768440017625]},{"frame_idx":7,"position_3d":[0.8870655415587755,1.260409357140188,2.025930951886583]},{"frame_idx":8,"position_3d":[0.8791559357677121,1.2621688668304554,2.0060934637555414]},{"frame_idx":9,"position_3d":[0.8712463299766487,1.2639283765207228,1.9862559756244997]},{"frame_idx":10,"position_3d":[0.8633367241855854,1.2656878862109902,1.966418487493458]},{"frame_idx":11,"position_3d":[0.855427118394522,1.2674473959012575,1.9465809993624164]},{"frame_idx":12,"position_3d":[0.8475175126034586,1.269206905591525,1.9267435112313747]},{"frame_idx":13,"position_3d":[0.8396079068123953,1.2709664152817923,1.906906023100333]},{"frame_idx":14,"position_3d":[0.8316983010213319,1.2727259249720597,1.8870685349692913]}]}

scenefun3d_test/scenefun3d/scenefun3d_421254_42444754/interval_004/cam_1/trajectory.json

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+{"camera_info":{"cam_id":"42444754","intrinsics":{"fx":1616.87,"fy":1616.87,"cx":717.755,"cy":959.272},"T_base_to_cam":[[0.22501162375747186,0.9735127866812371,0.04052928992911614,-8.73659929176163],[0.35574739998437976,-0.043358582876745655,-0.933575824823712,199.5902136836287],[-0.907090710226039,0.22448360175980064,-0.3560808278503176,75.12839058598773],[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":[0.37657357620128096,0.6604505899221635,1.5237029864480007]},{"frame_idx":1,"position_3d":[0.3551784700966306,0.6592682197017294,1.523890360144051]},{"frame_idx":2,"position_3d":[0.3337833639919803,0.6580858494812953,1.5240777338401013]},{"frame_idx":3,"position_3d":[0.31238825788732993,0.6569034792608612,1.5242651075361515]},{"frame_idx":4,"position_3d":[0.2909931517826796,0.6557211090404271,1.5244524812322018]},{"frame_idx":5,"position_3d":[0.26959804567802925,0.654538738819993,1.524639854928252]},{"frame_idx":6,"position_3d":[0.2482029395733789,0.6533563685995589,1.5248272286243023]},{"frame_idx":7,"position_3d":[0.22680783346872857,0.6521739983791248,1.5250146023203526]},{"frame_idx":8,"position_3d":[0.20541272736407823,0.6509916281586907,1.5252019760164028]},{"frame_idx":9,"position_3d":[0.1840176212594279,0.6498092579382566,1.525389349712453]},{"frame_idx":10,"position_3d":[0.16262251515477755,0.6486268877178225,1.5255767234085034]},{"frame_idx":11,"position_3d":[0.1412274090501272,0.6474445174973884,1.5257640971045536]},{"frame_idx":12,"position_3d":[0.11983230294547685,0.6462621472769543,1.525951470800604]},{"frame_idx":13,"position_3d":[0.0984371968408265,0.6450797770565202,1.5261388444966542]},{"frame_idx":14,"position_3d":[0.07704209073617614,0.6438974068360861,1.5263262181927044]}]}

scenefun3d_test/scenefun3d/scenefun3d_421254_42444754/interval_005/cam_19/trajectory.json

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+{"camera_info":{"cam_id":"42444754","intrinsics":{"fx":1596.98,"fy":1596.98,"cx":717.859,"cy":959.283},"T_base_to_cam":[[-0.9833747360547729,-0.18158288198498526,0.0013362107739908757,-2.0348811941148393],[-0.004467796770009719,0.016838098591128836,-0.9998482470994572,213.47203371008817],[0.18153282700720413,-0.9832314760044363,-0.017369436171337127,4.226636434107203],[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":[-0.990215977348984,1.13319372909163,2.2227501551041184]},{"frame_idx":1,"position_3d":[-0.9993939898116093,1.1333563678734484,2.2033872702639936]},{"frame_idx":2,"position_3d":[-1.0085720022742346,1.1335190066552667,2.184024385423869]},{"frame_idx":3,"position_3d":[-1.0177500147368599,1.133681645437085,2.164661500583744]},{"frame_idx":4,"position_3d":[-1.0269280271994852,1.1338442842189034,2.145298615743619]},{"frame_idx":5,"position_3d":[-1.0361060396621105,1.1340069230007217,2.1259357309034943]},{"frame_idx":6,"position_3d":[-1.0452840521247357,1.13416956178254,2.1065728460633695]},{"frame_idx":7,"position_3d":[-1.054462064587361,1.1343322005643584,2.0872099612232446]},{"frame_idx":8,"position_3d":[-1.0636400770499863,1.1344948393461767,2.06784707638312]},{"frame_idx":9,"position_3d":[-1.0728180895126116,1.134657478127995,2.048484191542995]},{"frame_idx":10,"position_3d":[-1.0819961019752369,1.1348201169098133,2.02912130670287]},{"frame_idx":11,"position_3d":[-1.0911741144378622,1.1349827556916317,2.0097584218627453]},{"frame_idx":12,"position_3d":[-1.1003521269004874,1.13514539447345,1.9903955370226205]},{"frame_idx":13,"position_3d":[-1.1095301393631127,1.1353080332552683,1.9710326521824957]},{"frame_idx":14,"position_3d":[-1.118708151825738,1.1354706720370866,1.9516697673423709]}]}

scenefun3d_test/scenefun3d/scenefun3d_421254_42444754/interval_006/cam_25/trajectory.json

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+{"camera_info":{"cam_id":"42444754","intrinsics":{"fx":1606.47,"fy":1606.47,"cx":718.112,"cy":958.967},"T_base_to_cam":[[0.8473718617047271,0.5268017612331296,-0.06663957047233329,14.798178296688901],[0.2510005327560222,-0.5079732892310674,-0.8239914259165342,175.6786337806316],[-0.46793125621960474,0.6815005809164383,-0.5626697945183299,119.98239144887792],[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":[-0.4824046692578179,-0.35794089264393847,2.013112812722042]},{"frame_idx":1,"position_3d":[-0.49781687254048046,-0.3486855874270071,2.0014514667969476]},{"frame_idx":2,"position_3d":[-0.513229075823143,-0.33943028221007576,1.9897901208718531]},{"frame_idx":3,"position_3d":[-0.5286412791058056,-0.3301749769931444,1.9781287749467587]},{"frame_idx":4,"position_3d":[-0.5440534823884682,-0.32091967177621306,1.9664674290216642]},{"frame_idx":5,"position_3d":[-0.5594656856711308,-0.3116643665592817,1.9548060830965697]},{"frame_idx":6,"position_3d":[-0.5748778889537933,-0.30240906134235035,1.9431447371714752]},{"frame_idx":7,"position_3d":[-0.5902900922364559,-0.293153756125419,1.9314833912463807]},{"frame_idx":8,"position_3d":[-0.6057022955191185,-0.28389845090848764,1.9198220453212862]},{"frame_idx":9,"position_3d":[-0.621114498801781,-0.2746431456915563,1.9081606993961917]},{"frame_idx":10,"position_3d":[-0.6365267020844436,-0.26538784047462494,1.8964993534710972]},{"frame_idx":11,"position_3d":[-0.6519389053671062,-0.2561325352576936,1.8848380075460027]},{"frame_idx":12,"position_3d":[-0.6673511086497688,-0.2468772300407622,1.8731766616209082]},{"frame_idx":13,"position_3d":[-0.6827633119324313,-0.23762192482383082,1.8615153156958137]},{"frame_idx":14,"position_3d":[-0.6981755152150939,-0.22836661960689944,1.8498539697707193]}]}

scenefun3d_test/scenefun3d/scenefun3d_421254_42444754/interval_009/cam_7/trajectory.json

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+{"camera_info":{"cam_id":"42444754","intrinsics":{"fx":1606.02,"fy":1606.02,"cx":718.009,"cy":958.699},"T_base_to_cam":[[0.32849111820218846,0.9437174359424221,-0.03861329253685408,8.322938068955652],[0.5975034556496865,-0.23929454270350026,-0.7653285192118519,163.7215812400012],[-0.7314938179841024,0.22833204534314366,-0.6424805610448129,136.45219500624523],[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":[0.37360291777308596,-0.5205241722137259,1.3924338897551536]},{"frame_idx":1,"position_3d":[0.35227094764475464,-0.5186805182646346,1.3915785161354013]},{"frame_idx":2,"position_3d":[0.3309389775164233,-0.5168368643155432,1.390723142515649]},{"frame_idx":3,"position_3d":[0.309607007388092,-0.5149932103664518,1.3898677688958967]},{"frame_idx":4,"position_3d":[0.28827503725976067,-0.5131495564173605,1.3890123952761444]},{"frame_idx":5,"position_3d":[0.26694306713142935,-0.5113059024682691,1.388157021656392]},{"frame_idx":6,"position_3d":[0.24561109700309805,-0.5094622485191778,1.3873016480366398]},{"frame_idx":7,"position_3d":[0.22427912687476675,-0.5076185945700864,1.3864462744168875]},{"frame_idx":8,"position_3d":[0.20294715674643546,-0.505774940620995,1.3855909007971352]},{"frame_idx":9,"position_3d":[0.18161518661810416,-0.5039312866719037,1.384735527177383]},{"frame_idx":10,"position_3d":[0.16028321648977287,-0.5020876327228123,1.3838801535576306]},{"frame_idx":11,"position_3d":[0.13895124636144157,-0.500243978773721,1.3830247799378783]},{"frame_idx":12,"position_3d":[0.11761927623311028,-0.49840032482462954,1.382169406318126]},{"frame_idx":13,"position_3d":[0.09628730610477898,-0.4965566708755381,1.3813140326983737]},{"frame_idx":14,"position_3d":[0.07495533597644768,-0.4947130169264467,1.3804586590786214]}]}

scenefun3d_test/scenefun3d/scenefun3d_421254_42444754/interval_010/cam_2/trajectory.json

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+{"camera_info":{"cam_id":"42444754","intrinsics":{"fx":1608.28,"fy":1608.28,"cx":717.833,"cy":959.352},"T_base_to_cam":[[0.4172561293948018,0.9087707665965025,0.0057459779040291425,-1.0551061207350991],[0.19401898795752837,-0.08290207725307697,-0.977488556403123,208.75599612226264],[-0.8878366712376804,0.40897792039024555,-0.21091018429384845,44.56890000322989],[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":[0.3749050682262296,0.5530379899361151,1.0110792731320615]},{"frame_idx":1,"position_3d":[0.3537908668482223,0.5537846705006458,1.0074992393650566]},{"frame_idx":2,"position_3d":[0.332676665470215,0.5545313510651766,1.0039192055980517]},{"frame_idx":3,"position_3d":[0.3115624640922077,0.5552780316297073,1.0003391718310468]},{"frame_idx":4,"position_3d":[0.29044826271420043,0.5560247121942381,0.9967591380640418]},{"frame_idx":5,"position_3d":[0.26933406133619314,0.5567713927587689,0.9931791042970368]},{"frame_idx":6,"position_3d":[0.24821985995818588,0.5575180733232996,0.9895990705300318]},{"frame_idx":7,"position_3d":[0.22710565858017862,0.5582647538878304,0.9860190367630268]},{"frame_idx":8,"position_3d":[0.20599145720217135,0.5590114344523611,0.9824390029960218]},{"frame_idx":9,"position_3d":[0.1848772558241641,0.5597581150168919,0.9788589692290168]},{"frame_idx":10,"position_3d":[0.16376305444615682,0.5605047955814226,0.9752789354620118]},{"frame_idx":11,"position_3d":[0.14264885306814956,0.5612514761459534,0.9716989016950068]},{"frame_idx":12,"position_3d":[0.1215346516901423,0.5619981567104841,0.9681188679280018]},{"frame_idx":13,"position_3d":[0.10042045031213503,0.5627448372750149,0.9645388341609968]},{"frame_idx":14,"position_3d":[0.07930624893412777,0.5634915178395457,0.9609588003939918]}]}

scenefun3d_test/scenefun3d/scenefun3d_421254_42444754/interval_011/cam_17/trajectory.json

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+{"camera_info":{"cam_id":"42444754","intrinsics":{"fx":1594.72,"fy":1594.72,"cx":718.43,"cy":959.14},"T_base_to_cam":[[-0.9247802496594818,-0.3253634977606812,-0.19728173804151738,40.382903874408065],[0.04187430234334413,0.4283042381121376,-0.902663847962485,192.6344632207601],[0.3781904713805001,-0.8430267338229064,-0.3824629307748374,82.42898953490901],[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":[-0.48535459738568676,0.3045754798557425,2.6187027355372408]},{"frame_idx":1,"position_3d":[-0.4972869494691273,0.313533354101924,2.6033222564739673]},{"frame_idx":2,"position_3d":[-0.5092193015525679,0.3224912283481055,2.587941777410694]},{"frame_idx":3,"position_3d":[-0.5211516536360085,0.331449102594287,2.5725612983474204]},{"frame_idx":4,"position_3d":[-0.533084005719449,0.3404069768404685,2.557180819284147]},{"frame_idx":5,"position_3d":[-0.5450163578028896,0.34936485108665,2.5418003402208735]},{"frame_idx":6,"position_3d":[-0.5569487098863302,0.3583227253328315,2.5264198611576]},{"frame_idx":7,"position_3d":[-0.5688810619697707,0.367280599579013,2.5110393820943266]},{"frame_idx":8,"position_3d":[-0.5808134140532113,0.3762384738251945,2.495658903031053]},{"frame_idx":9,"position_3d":[-0.5927457661366519,0.385196348071376,2.4802784239677798]},{"frame_idx":10,"position_3d":[-0.6046781182200924,0.3941542223175575,2.4648979449045063]},{"frame_idx":11,"position_3d":[-0.616610470303533,0.403112096563739,2.449517465841233]},{"frame_idx":12,"position_3d":[-0.6285428223869736,0.41206997080992047,2.4341369867779594]},{"frame_idx":13,"position_3d":[-0.6404751744704141,0.42102784505610197,2.418756507714686]},{"frame_idx":14,"position_3d":[-0.6524075265538547,0.42998571930228346,2.4033760286514125]}]}

scenefun3d_test/scenefun3d/scenefun3d_421254_42444754/interval_012/cam_7/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"42444754","intrinsics":{"fx":1616.42,"fy":1616.42,"cx":717.977,"cy":958.872},"T_base_to_cam":[[0.1835651284249208,0.9825290286910979,-0.030668410550109326,6.431592282559863],[0.5723134116297317,-0.13218648941773248,-0.8093108740676558,173.16209384858692],[-0.799225376533478,0.13100931186271964,-0.5865793703414542,124.44569553572946],[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":[0.4983330343380148,-0.15176971618365087,1.4033670488103525]},{"frame_idx":1,"position_3d":[0.47695995123962187,-0.1520157996387047,1.404888375623278]},{"frame_idx":2,"position_3d":[0.45558686814122895,-0.15226188309375854,1.4064097024362034]},{"frame_idx":3,"position_3d":[0.43421378504283603,-0.15250796654881238,1.407931029249129]},{"frame_idx":4,"position_3d":[0.4128407019444431,-0.15275405000386622,1.4094523560620544]},{"frame_idx":5,"position_3d":[0.3914676188460502,-0.15300013345892005,1.41097368287498]},{"frame_idx":6,"position_3d":[0.37009453574765727,-0.1532462169139739,1.4124950096879054]},{"frame_idx":7,"position_3d":[0.34872145264926435,-0.15349230036902772,1.414016336500831]},{"frame_idx":8,"position_3d":[0.32734836955087143,-0.15373838382408156,1.4155376633137564]},{"frame_idx":9,"position_3d":[0.3059752864524785,-0.1539844672791354,1.417058990126682]},{"frame_idx":10,"position_3d":[0.2846022033540856,-0.15423055073418923,1.4185803169396074]},{"frame_idx":11,"position_3d":[0.2632291202556927,-0.15447663418924307,1.420101643752533]},{"frame_idx":12,"position_3d":[0.24185603715729972,-0.1547227176442969,1.4216229705654584]},{"frame_idx":13,"position_3d":[0.22048295405890678,-0.15496880109935074,1.4231442973783839]},{"frame_idx":14,"position_3d":[0.19910987096051383,-0.15521488455440458,1.4246656241913094]}]}

scenefun3d_test/scenefun3d/scenefun3d_421254_42444754/interval_013/cam_2/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"42444754","intrinsics":{"fx":1607.38,"fy":1607.38,"cx":717.905,"cy":959.22},"T_base_to_cam":[[0.38448812652954956,0.923010458528712,-0.014851734054118215,3.3158697246347524],[0.3715919759835798,-0.1694772873188936,-0.9127961724654896,195.00811700685398],[-0.8450374452900984,0.3454405050506473,-0.4081452848287455,86.55027648616549],[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":[0.42349413349301024,0.5168192323852736,1.0322184544214252]},{"frame_idx":1,"position_3d":[0.40230267365463857,0.5188967535240858,1.029812293723164]},{"frame_idx":2,"position_3d":[0.3811112138162669,0.520974274662898,1.0274061330249027]},{"frame_idx":3,"position_3d":[0.3599197539778952,0.5230517958017102,1.0249999723266414]},{"frame_idx":4,"position_3d":[0.33872829413952354,0.5251293169405225,1.0225938116283801]},{"frame_idx":5,"position_3d":[0.31753683430115187,0.5272068380793347,1.0201876509301189]},{"frame_idx":6,"position_3d":[0.2963453744627802,0.5292843592181469,1.0177814902318576]},{"frame_idx":7,"position_3d":[0.2751539146244085,0.5313618803569591,1.0153753295335963]},{"frame_idx":8,"position_3d":[0.25396245478603685,0.5334394014957713,1.012969168835335]},{"frame_idx":9,"position_3d":[0.23277099494766518,0.5355169226345835,1.0105630081370738]},{"frame_idx":10,"position_3d":[0.2115795351092935,0.5375944437733957,1.0081568474388125]},{"frame_idx":11,"position_3d":[0.19038807527092183,0.5396719649122079,1.0057506867405512]},{"frame_idx":12,"position_3d":[0.16919661543255016,0.5417494860510201,1.00334452604229]},{"frame_idx":13,"position_3d":[0.14800515559417848,0.5438270071898323,1.0009383653440287]},{"frame_idx":14,"position_3d":[0.1268136957558068,0.5459045283286446,0.9985322046457674]}]}

scenefun3d_test/scenefun3d/scenefun3d_421254_42444754/interval_014/cam_9/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"42444754","intrinsics":{"fx":1608.73,"fy":1608.73,"cx":717.75,"cy":959.242},"T_base_to_cam":[[0.43698000217355665,0.898792864315803,0.034926562318565,-7.245249031471163],[0.011661564974513705,0.033165707349823326,-0.9993818308125932,213.40644183541863],[-0.8993956224058148,0.43711717297651465,0.004011419483965162,-1.2104613711919412],[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":[0.2046183454482131,0.6151362120237422,1.814786076707375]},{"frame_idx":1,"position_3d":[0.1836437567758652,0.6144235771764526,1.8104568209896297]},{"frame_idx":2,"position_3d":[0.16266916810351728,0.6137109423291629,1.8061275652718844]},{"frame_idx":3,"position_3d":[0.14169457943116937,0.6129983074818732,1.8017983095541392]},{"frame_idx":4,"position_3d":[0.12071999075882145,0.6122856726345836,1.797469053836394]},{"frame_idx":5,"position_3d":[0.09974540208647353,0.6115730377872939,1.7931397981186488]},{"frame_idx":6,"position_3d":[0.07877081341412562,0.6108604029400042,1.7888105424009035]},{"frame_idx":7,"position_3d":[0.0577962247417777,0.6101477680927145,1.7844812866831583]},{"frame_idx":8,"position_3d":[0.036821636069429786,0.6094351332454249,1.780152030965413]},{"frame_idx":9,"position_3d":[0.015847047397081867,0.6087224983981352,1.7758227752476679]},{"frame_idx":10,"position_3d":[-0.005127541275266052,0.6080098635508455,1.7714935195299226]},{"frame_idx":11,"position_3d":[-0.02610212994761397,0.6072972287035558,1.7671642638121774]},{"frame_idx":12,"position_3d":[-0.04707671861996189,0.6065845938562662,1.7628350080944322]},{"frame_idx":13,"position_3d":[-0.0680513072923098,0.6058719590089765,1.758505752376687]},{"frame_idx":14,"position_3d":[-0.08902589596465772,0.6051593241616868,1.7541764966589417]}]}

scenefun3d_test/scenefun3d/scenefun3d_421254_42444754/interval_015/cam_14/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"42444754","intrinsics":{"fx":1606.93,"fy":1606.93,"cx":718.042,"cy":958.995},"T_base_to_cam":[[0.9006676541453346,0.4306859748289492,-0.05750971971743135,12.808271911491179],[0.18889735955134546,-0.5073034339805019,-0.8408097367574427,179.23115791981735],[-0.3912998394209605,0.7464266989847217,-0.538267237264077,114.86463160995724],[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":[-0.11792047357062962,-0.39096030638333445,1.2568962397999712]},{"frame_idx":1,"position_3d":[-0.1314874978619845,-0.38145010570687865,1.243306699394177]},{"frame_idx":2,"position_3d":[-0.14505452215333936,-0.37193990503042285,1.2297171589883829]},{"frame_idx":3,"position_3d":[-0.15862154644469423,-0.36242970435396704,1.2161276185825887]},{"frame_idx":4,"position_3d":[-0.1721885707360491,-0.35291950367751124,1.2025380781767945]},{"frame_idx":5,"position_3d":[-0.18575559502740396,-0.34340930300105543,1.1889485377710003]},{"frame_idx":6,"position_3d":[-0.19932261931875883,-0.33389910232459963,1.175358997365206]},{"frame_idx":7,"position_3d":[-0.2128896436101137,-0.3243889016481438,1.161769456959412]},{"frame_idx":8,"position_3d":[-0.22645666790146857,-0.314878700971688,1.1481799165536177]},{"frame_idx":9,"position_3d":[-0.24002369219282343,-0.3053685002952322,1.1345903761478235]},{"frame_idx":10,"position_3d":[-0.2535907164841783,-0.2958582996187764,1.1210008357420294]},{"frame_idx":11,"position_3d":[-0.26715774077553317,-0.2863480989423206,1.1074112953362352]},{"frame_idx":12,"position_3d":[-0.28072476506688804,-0.2768378982658648,1.093821754930441]},{"frame_idx":13,"position_3d":[-0.2942917893582429,-0.267327697589409,1.0802322145246468]},{"frame_idx":14,"position_3d":[-0.3078588136495978,-0.2578174969129532,1.0666426741188526]}]}

scenefun3d_test/scenefun3d/scenefun3d_421254_42444754/interval_016/cam_7/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"42444754","intrinsics":{"fx":1609.19,"fy":1609.19,"cx":717.76,"cy":959.212},"T_base_to_cam":[[0.4732349657899002,0.8803528559641417,0.03205489275620549,-6.607295314010252],[-0.013353553299128573,0.043551838708494356,-0.998961921175876,213.31374755784483],[-0.8808350298257444,0.4723156638741605,0.03236609168545887,-7.242260580325982],[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":[0.23686290138852506,0.6607645137116549,1.4324680598609438]},{"frame_idx":1,"position_3d":[0.21607995136036665,0.6599682471662686,1.4273087361470103]},{"frame_idx":2,"position_3d":[0.19529700133220823,0.6591719806208822,1.4221494124330767]},{"frame_idx":3,"position_3d":[0.17451405130404982,0.6583757140754959,1.4169900887191431]},{"frame_idx":4,"position_3d":[0.1537311012758914,0.6575794475301096,1.4118307650052095]},{"frame_idx":5,"position_3d":[0.132948151247733,0.6567831809847232,1.406671441291276]},{"frame_idx":6,"position_3d":[0.11216520121957457,0.6559869144393369,1.4015121175773424]},{"frame_idx":7,"position_3d":[0.09138225119141616,0.6551906478939505,1.3963527938634088]},{"frame_idx":8,"position_3d":[0.07059930116325774,0.6543943813485642,1.3911934701494753]},{"frame_idx":9,"position_3d":[0.04981635113509933,0.6535981148031779,1.3860341464355417]},{"frame_idx":10,"position_3d":[0.029033401106940915,0.6528018482577915,1.380874822721608]},{"frame_idx":11,"position_3d":[0.0082504510787825,0.6520055817124052,1.3757154990076745]},{"frame_idx":12,"position_3d":[-0.012532498949375914,0.6512093151670189,1.370556175293741]},{"frame_idx":13,"position_3d":[-0.03331544897753433,0.6504130486216325,1.3653968515798074]},{"frame_idx":14,"position_3d":[-0.05409839900569274,0.6496167820762462,1.3602375278658738]}]}

scenefun3d_test/scenefun3d/scenefun3d_421254_42444754/interval_017/cam_12/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"42444754","intrinsics":{"fx":1606.93,"fy":1606.93,"cx":718.074,"cy":958.938},"T_base_to_cam":[[0.894600986771526,0.4420278559470581,-0.0655778090077691,14.537953902509487],[0.2005704504152181,-0.5283221301624408,-0.8250134672845393,175.85354003184327],[-0.39932514181760353,0.7249048912426153,-0.5612952251399286,119.75255702512246],[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":[0.21571071850785728,-0.3015550333751946,0.9892363414581382]},{"frame_idx":1,"position_3d":[0.20169476886540605,-0.29170054388446454,0.976366770137898]},{"frame_idx":2,"position_3d":[0.18767881922295482,-0.28184605439373445,0.9634971988176577]},{"frame_idx":3,"position_3d":[0.1736628695805036,-0.27199156490300436,0.9506276274974175]},{"frame_idx":4,"position_3d":[0.15964691993805236,-0.26213707541227427,0.9377580561771772]},{"frame_idx":5,"position_3d":[0.14563097029560113,-0.2522825859215442,0.924888484856937]},{"frame_idx":6,"position_3d":[0.1316150206531499,-0.2424280964308141,0.9120189135366967]},{"frame_idx":7,"position_3d":[0.11759907101069865,-0.232573606940084,0.8991493422164565]},{"frame_idx":8,"position_3d":[0.1035831213682474,-0.2227191174493539,0.8862797708962162]},{"frame_idx":9,"position_3d":[0.08956717172579616,-0.21286462795862382,0.873410199575976]},{"frame_idx":10,"position_3d":[0.07555122208334492,-0.20301013846789373,0.8605406282557357]},{"frame_idx":11,"position_3d":[0.06153527244089367,-0.19315564897716364,0.8476710569354955]},{"frame_idx":12,"position_3d":[0.047519322798442426,-0.18330115948643355,0.8348014856152552]},{"frame_idx":13,"position_3d":[0.03350337315599118,-0.17344666999570346,0.821931914295015]},{"frame_idx":14,"position_3d":[0.01948742351353994,-0.16359218050497337,0.8090623429747748]}]}

scenefun3d_test/scenefun3d/scenefun3d_421254_42444754/interval_019/cam_2/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"42444754","intrinsics":{"fx":1605.57,"fy":1605.57,"cx":718.023,"cy":959.344},"T_base_to_cam":[[-0.9971441537542352,-0.01575312880538207,-0.07386051425891411,15.993600435089329],[0.07019178776198105,0.1675792431390356,-0.9833566546272642,209.7432382417618],[0.027868433119341684,-0.9857327407577515,-0.16599492231295454,36.597893818169155],[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":[0.7741374713736935,0.4676337689970467,3.2475269002589897]},{"frame_idx":1,"position_3d":[0.7725547460681453,0.44656184068360527,3.2439698662094263]},{"frame_idx":2,"position_3d":[0.7709720207625972,0.42548991237016387,3.240412832159863]},{"frame_idx":3,"position_3d":[0.769389295457049,0.40441798405672247,3.2368557981102994]},{"frame_idx":4,"position_3d":[0.7678065701515009,0.38334605574328107,3.233298764060736]},{"frame_idx":5,"position_3d":[0.7662238448459527,0.36227412742983967,3.2297417300111726]},{"frame_idx":6,"position_3d":[0.7646411195404046,0.34120219911639826,3.226184695961609]},{"frame_idx":7,"position_3d":[0.7630583942348564,0.32013027080295686,3.2226276619120457]},{"frame_idx":8,"position_3d":[0.7614756689293083,0.29905834248951546,3.2190706278624823]},{"frame_idx":9,"position_3d":[0.7598929436237601,0.27798641417607406,3.215513593812919]},{"frame_idx":10,"position_3d":[0.758310218318212,0.25691448586263266,3.2119565597633555]},{"frame_idx":11,"position_3d":[0.7567274930126638,0.23584255754919128,3.208399525713792]},{"frame_idx":12,"position_3d":[0.7551447677071157,0.2147706292357499,3.2048424916642286]},{"frame_idx":13,"position_3d":[0.7535620424015675,0.19369870092230854,3.201285457614665]},{"frame_idx":14,"position_3d":[0.7519793170960194,0.17262677260886716,3.197728423565102]}]}

scenefun3d_test/scenefun3d/scenefun3d_421254_42444754/interval_020/cam_2/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"42444754","intrinsics":{"fx":1607.83,"fy":1607.83,"cx":717.822,"cy":959.329},"T_base_to_cam":[[0.9692114101229459,0.24565084098621415,0.016879182748478813,-3.1470483435084162],[0.08721277692640889,-0.27837312068083925,-0.9565052729719766,204.00005978985712],[-0.23026761393707812,0.9285279048069458,-0.2912262968321166,62.39242631595181],[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":[0.39970602448675896,-0.11596193600078664,1.3085166462387363]},{"frame_idx":1,"position_3d":[0.3895009075043237,-0.11042751570453059,1.2905052761401405]},{"frame_idx":2,"position_3d":[0.37929579052188844,-0.10489309540827454,1.2724939060415448]},{"frame_idx":3,"position_3d":[0.3690906735394532,-0.0993586751120185,1.254482535942949]},{"frame_idx":4,"position_3d":[0.3588855565570179,-0.09382425481576245,1.2364711658443532]},{"frame_idx":5,"position_3d":[0.34868043957458267,-0.08828983451950641,1.2184597957457575]},{"frame_idx":6,"position_3d":[0.3384753225921474,-0.08275541422325036,1.2004484256471617]},{"frame_idx":7,"position_3d":[0.32827020560971215,-0.07722099392699432,1.182437055548566]},{"frame_idx":8,"position_3d":[0.3180650886272769,-0.07168657363073827,1.1644256854499702]},{"frame_idx":9,"position_3d":[0.30785997164484163,-0.06615215333448222,1.1464143153513744]},{"frame_idx":10,"position_3d":[0.2976548546624064,-0.06061773303822618,1.1284029452527786]},{"frame_idx":11,"position_3d":[0.2874497376799711,-0.055083312741970133,1.1103915751541829]},{"frame_idx":12,"position_3d":[0.27724462069753586,-0.04954889244571409,1.092380205055587]},{"frame_idx":13,"position_3d":[0.2670395037151006,-0.04401447214945804,1.0743688349569913]},{"frame_idx":14,"position_3d":[0.25683438673266534,-0.038480051853201996,1.0563574648583955]}]}

scenefun3d_test/scenefun3d/scenefun3d_422842_42897560/interval_002/cam_16/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"42897560","intrinsics":{"fx":1600.6,"fy":1600.6,"cx":717.99,"cy":959.181},"T_base_to_cam":[[-0.737654696037981,0.6749686553992486,-0.016818550521505937,6.896386881386923],[0.31831579988504044,0.3256950231195985,-0.890279620938653,226.6429310212244],[-0.5954331204733752,-0.6620725535344711,-0.4551036507211123,115.52770512137329],[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":[-0.2216629447573304,0.47958025709451135,1.354118750597877]},{"frame_idx":1,"position_3d":[-0.21425673733749434,0.48878133680063046,1.336239379877256]},{"frame_idx":2,"position_3d":[-0.2068505299176583,0.49798241650674957,1.3183600091566352]},{"frame_idx":3,"position_3d":[-0.19944432249782224,0.5071834962128687,1.3004806384360144]},{"frame_idx":4,"position_3d":[-0.19203811507798618,0.5163845759189879,1.2826012677153935]},{"frame_idx":5,"position_3d":[-0.18463190765815013,0.5255856556251071,1.2647218969947727]},{"frame_idx":6,"position_3d":[-0.17722570023831408,0.5347867353312262,1.2468425262741518]},{"frame_idx":7,"position_3d":[-0.16981949281847802,0.5439878150373454,1.228963155553531]},{"frame_idx":8,"position_3d":[-0.16241328539864197,0.5531888947434646,1.2110837848329101]},{"frame_idx":9,"position_3d":[-0.15500707797880592,0.5623899744495837,1.1932044141122893]},{"frame_idx":10,"position_3d":[-0.14760087055896987,0.5715910541557029,1.1753250433916684]},{"frame_idx":11,"position_3d":[-0.1401946631391338,0.580792133861822,1.1574456726710476]},{"frame_idx":12,"position_3d":[-0.13278845571929776,0.5899932135679412,1.1395663019504267]},{"frame_idx":13,"position_3d":[-0.1253822482994617,0.5991942932740604,1.121686931229806]},{"frame_idx":14,"position_3d":[-0.11797604087962565,0.6083953729801795,1.103807560509185]}]}

scenefun3d_test/scenefun3d/scenefun3d_422842_42897560/interval_003/cam_0/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"42897560","intrinsics":{"fx":1601.05,"fy":1601.05,"cx":717.963,"cy":958.958},"T_base_to_cam":[[-0.9563055472186448,0.29233509079485054,-0.0044603866216795796,1.0747721232586493],[0.16575359740237494,0.5295303840156448,-0.8319394914009164,211.8039965939642],[-0.24084319651387243,-0.7963276757053033,-0.5548484366011766,140.91999129774382],[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":[-0.07278647330391674,-0.2482192006534092,2.125987617130079]},{"frame_idx":1,"position_3d":[-0.07538728465891412,-0.23587595946044573,2.1086652659438965]},{"frame_idx":2,"position_3d":[-0.07798809601391149,-0.22353271826748228,2.091342914757714]},{"frame_idx":3,"position_3d":[-0.08058890736890886,-0.21118947707451882,2.0740205635715316]},{"frame_idx":4,"position_3d":[-0.08318971872390624,-0.19884623588155537,2.0566982123853492]},{"frame_idx":5,"position_3d":[-0.08579053007890361,-0.1865029946885919,2.039375861199167]},{"frame_idx":6,"position_3d":[-0.08839134143390098,-0.17415975349562846,2.0220535100129844]},{"frame_idx":7,"position_3d":[-0.09099215278889836,-0.161816512302665,2.004731158826802]},{"frame_idx":8,"position_3d":[-0.09359296414389573,-0.14947327110970154,1.9874088076406196]},{"frame_idx":9,"position_3d":[-0.0961937754988931,-0.1371300299167381,1.9700864564544371]},{"frame_idx":10,"position_3d":[-0.09879458685389048,-0.12478678872377463,1.9527641052682547]},{"frame_idx":11,"position_3d":[-0.10139539820888785,-0.11244354753081118,1.9354417540820723]},{"frame_idx":12,"position_3d":[-0.10399620956388522,-0.10010030633784772,1.91811940289589]},{"frame_idx":13,"position_3d":[-0.1065970209188826,-0.08775706514488427,1.9007970517097075]},{"frame_idx":14,"position_3d":[-0.10919783227387997,-0.07541382395192081,1.883474700523525]}]}

scenefun3d_test/scenefun3d/scenefun3d_422842_42897560/interval_004/cam_17/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"42897560","intrinsics":{"fx":1595.63,"fy":1595.63,"cx":718.108,"cy":957.567},"T_base_to_cam":[[-0.3663954300198067,-0.9290292092914183,-0.051566628200444775,12.840112389224196],[-0.7835458698086237,0.3379587658166534,-0.5213825299274338,134.28313939732308],[0.5018069935407917,-0.15062735771116134,-0.8517635472022184,215.58656678480335],[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":[-0.5253539070446909,-0.43475170552585496,1.2298436725838542]},{"frame_idx":1,"position_3d":[-0.5258897197828833,-0.4159447298261881,1.219587248099117]},{"frame_idx":2,"position_3d":[-0.5264255325210758,-0.3971377541265212,1.2093308236143798]},{"frame_idx":3,"position_3d":[-0.5269613452592683,-0.3783307784268543,1.1990743991296426]},{"frame_idx":4,"position_3d":[-0.5274971579974608,-0.3595238027271874,1.1888179746449055]},{"frame_idx":5,"position_3d":[-0.5280329707356533,-0.34071682702752054,1.1785615501601683]},{"frame_idx":6,"position_3d":[-0.5285687834738457,-0.32190985132785366,1.168305125675431]},{"frame_idx":7,"position_3d":[-0.5291045962120382,-0.3031028756281868,1.158048701190694]},{"frame_idx":8,"position_3d":[-0.5296404089502307,-0.2842958999285199,1.1477922767059567]},{"frame_idx":9,"position_3d":[-0.5301762216884232,-0.265488924228853,1.1375358522212196]},{"frame_idx":10,"position_3d":[-0.5307120344266156,-0.2466819485291861,1.1272794277364824]},{"frame_idx":11,"position_3d":[-0.5312478471648081,-0.22787497282951918,1.1170230032517452]},{"frame_idx":12,"position_3d":[-0.5317836599030006,-0.20906799712985227,1.106766578767008]},{"frame_idx":13,"position_3d":[-0.5323194726411931,-0.19026102143018536,1.0965101542822708]},{"frame_idx":14,"position_3d":[-0.5328552853793855,-0.17145404573051845,1.0862537297975337]}]}

scenefun3d_test/scenefun3d/scenefun3d_422842_42897560/interval_005/cam_19/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"42897560","intrinsics":{"fx":1600.6,"fy":1600.6,"cx":717.953,"cy":959.136},"T_base_to_cam":[[-0.02257363743927643,-0.999737359477418,-0.00395511793501091,-0.9889674469494623],[-0.5090965628018694,0.014899771630384695,-0.860580435838908,220.03764081132354],[0.8604133428975183,-0.01741289379977201,-0.5092991954572827,127.85123437519054],[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":[-0.4115606574759967,0.5417053773123826,0.9842388643009627]},{"frame_idx":1,"position_3d":[-0.4195085995712862,0.5527495544587115,0.9676847095028519]},{"frame_idx":2,"position_3d":[-0.42745654166657576,0.5637937316050405,0.9511305547047411]},{"frame_idx":3,"position_3d":[-0.4354044837618653,0.5748379087513695,0.9345763999066302]},{"frame_idx":4,"position_3d":[-0.44335242585715484,0.5858820858976985,0.9180222451085194]},{"frame_idx":5,"position_3d":[-0.4513003679524444,0.5969262630440275,0.9014680903104085]},{"frame_idx":6,"position_3d":[-0.4592483100477339,0.6079704401903565,0.8849139355122977]},{"frame_idx":7,"position_3d":[-0.46719625214302346,0.6190146173366855,0.8683597807141868]},{"frame_idx":8,"position_3d":[-0.475144194238313,0.6300587944830145,0.851805625916076]},{"frame_idx":9,"position_3d":[-0.48309213633360254,0.6411029716293435,0.8352514711179652]},{"frame_idx":10,"position_3d":[-0.4910400784288921,0.6521471487756725,0.8186973163198543]},{"frame_idx":11,"position_3d":[-0.4989880205241816,0.6631913259220015,0.8021431615217435]},{"frame_idx":12,"position_3d":[-0.5069359626194712,0.6742355030683305,0.7855890067236326]},{"frame_idx":13,"position_3d":[-0.5148839047147608,0.6852796802146595,0.7690348519255218]},{"frame_idx":14,"position_3d":[-0.5228318468100503,0.6963238573609885,0.752480697127411]}]}

scenefun3d_test/scenefun3d/scenefun3d_422842_42897560/interval_006/cam_0/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"42897560","intrinsics":{"fx":1601.05,"fy":1601.05,"cx":717.963,"cy":958.958},"T_base_to_cam":[[-0.9563055472186448,0.29233509079485054,-0.0044603866216795796,1.0747721232586493],[0.16575359740237494,0.5295303840156448,-0.8319394914009164,211.8039965939642],[-0.24084319651387243,-0.7963276757053033,-0.5548484366011766,140.91999129774382],[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":[0.12275932469450623,-0.717951555668094,1.5849395388044343]},{"frame_idx":1,"position_3d":[0.12373015405097595,-0.6891457093875243,1.5417402616736733]},{"frame_idx":2,"position_3d":[0.13050830566511143,-0.6606028732882446,1.498888657242743]},{"frame_idx":3,"position_3d":[0.14300854034758975,-0.6326819900951428,1.4569236093004418]},{"frame_idx":4,"position_3d":[0.16107366039447363,-0.6057341811144459,1.4163728526733328]},{"frame_idx":5,"position_3d":[0.18447648643954673,-0.580098330679569,1.3777463366540985]},{"frame_idx":6,"position_3d":[0.21292271436665627,-0.5560968244839976,1.3415298120933077]},{"frame_idx":7,"position_3d":[0.24605461635473297,-0.5340314953941393,1.3081787228006292]},{"frame_idx":8,"position_3d":[0.2834555395126995,-0.5141798277259012,1.278112478074671]},{"frame_idx":9,"position_3d":[0.32465514553132324,-0.49679146771841737,1.251709178387704]},{"frame_idx":10,"position_3d":[0.3691353254603519,-0.4820850840877433,1.2293008605528426]},{"frame_idx":11,"position_3d":[0.4163367152291763,-0.4702456181408773,1.2111693221684694]},{"frame_idx":12,"position_3d":[0.46566572997456934,-0.4614219580315193,1.1975425778499313]},{"frame_idx":13,"position_3d":[0.5165020287147466,-0.45572506640515137,1.1885919918134553]},{"frame_idx":14,"position_3d":[0.5682063154971427,-0.45322658497938856,1.184430122871701]}]}

scenefun3d_test/scenefun3d/scenefun3d_422842_42897560/interval_007/cam_1/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"42897560","intrinsics":{"fx":1600.6,"fy":1600.6,"cx":717.93,"cy":959.038},"T_base_to_cam":[[-0.9520077071556787,0.30602320304717473,0.005578952673680637,-1.4766058424585167],[0.15465646285602702,0.49669037470650756,-0.8540374992766837,217.43951192195226],[-0.2641263031450102,-0.8121874604244126,-0.520181530925785,132.10220609926603],[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":[0.4414725924480054,-0.25934137935155377,1.1048895805176073]},{"frame_idx":1,"position_3d":[0.3775443571351319,-0.267816838426325,1.1181190145997237]},{"frame_idx":2,"position_3d":[0.3157767386951338,-0.2799540407573115,1.1373834957686215]},{"frame_idx":3,"position_3d":[0.25694650076830106,-0.29560035398303236,1.1624407619960893]},{"frame_idx":4,"position_3d":[0.20179346773066276,-0.31455901663647173,1.1929757036207522]},{"frame_idx":5,"position_3d":[0.15101122097320233,-0.3365916125346903,1.2286043260348944]},{"frame_idx":6,"position_3d":[0.10523837671344072,-0.36142106900065807,1.2688785786394499]},{"frame_idx":7,"position_3d":[0.06505055502596731,-0.3887351412129293,1.3132919893402506]},{"frame_idx":8,"position_3d":[0.030953141086019334,-0.41819033886544077,1.361286033728473]},{"frame_idx":9,"position_3d":[0.0033749296576720406,-0.44941624575740846,1.4122571588491415]},{"frame_idx":10,"position_3d":[-0.01733726724911212,-0.48202017799197266,1.4655643732297285]},{"frame_idx":11,"position_3d":[-0.03092298174073377,-0.5155921222040416,1.5205373077198319]},{"frame_idx":12,"position_3d":[-0.03721136557484562,-0.5497098917162528,1.5764846457721988]},{"frame_idx":13,"position_3d":[-0.036123338676128415,-0.5839444357813992,1.6327028171494193]},{"frame_idx":14,"position_3d":[-0.027672583614121442,-0.6178652351445165,1.688484845727882]}]}

scenefun3d_test/scenefun3d/scenefun3d_422842_42897560/interval_010/cam_0/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"42897560","intrinsics":{"fx":1595.63,"fy":1595.63,"cx":718.05,"cy":958.742},"T_base_to_cam":[[0.35261557168979263,-0.9345753010517333,-0.047236270660830526,11.193755456268018],[-0.6071994651760226,-0.19010401756701634,-0.7714721459617527,197.49451652301013],[0.7120190082377247,0.3007149300732205,-0.6345072598002525,160.0245813672234],[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":[0.02534434743248859,-0.6197744493862274,1.2640835923700422]},{"frame_idx":1,"position_3d":[0.060840042277137074,-0.595636154039863,1.2320923007872089]},{"frame_idx":2,"position_3d":[0.09163438129916737,-0.5689587453466908,1.1973637974868319]},{"frame_idx":3,"position_3d":[0.11734010781808576,-0.5400777071996204,1.1603348135478602]},{"frame_idx":4,"position_3d":[0.1376339574081069,-0.5093562354105201,1.1214710099280434]},{"frame_idx":5,"position_3d":[0.1522607231358705,-0.4771806703121508,1.0812611215072048]},{"frame_idx":6,"position_3d":[0.16103646493570276,-0.44395563830432216,1.040210810962557]},{"frame_idx":7,"position_3d":[0.1638508227626668,-0.41009896344214536,0.998836309767144]},{"frame_idx":8,"position_3d":[0.1606684044341601,-0.3760364130561125,0.9576579262795429]},{"frame_idx":9,"position_3d":[0.15152923070714577,-0.3421963434808801,0.9171935025643649]},{"frame_idx":10,"position_3d":[0.13654823199391308,-0.3090043132258224,0.8779519022278339]},{"frame_idx":11,"position_3d":[0.1159138030454589,-0.27687773132986127,0.8404266111626886]},{"frame_idx":12,"position_3d":[0.08988543377818456,-0.2462206082006154,0.8050895316767541]},{"frame_idx":13,"position_3d":[0.05879044603763767,-0.21741847494911226,0.7723850480476173]},{"frame_idx":14,"position_3d":[0.023019877336387724,-0.19083353511237644,0.742724438132498]}]}

scenefun3d_test/scenefun3d/scenefun3d_422842_42897560/interval_014/cam_1/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"42897560","intrinsics":{"fx":1596.98,"fy":1596.98,"cx":717.915,"cy":959.165},"T_base_to_cam":[[-0.5817001554706356,-0.8133709770932434,-0.007251396266966137,3.5029083668401744],[-0.3820024093542837,0.281046320152758,-0.8803903254671276,224.93566188900846],[0.7181219174854367,-0.5093531383539077,-0.47419436107577684,119.34062191195459],[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":[0.6590713643087613,0.23746547422885556,1.5336407175939542]},{"frame_idx":1,"position_3d":[0.6636993603630572,0.24826352232794213,1.5157195713348384]},{"frame_idx":2,"position_3d":[0.6683273564173531,0.2590615704270287,1.4977984250757226]},{"frame_idx":3,"position_3d":[0.672955352471649,0.2698596185261153,1.4798772788166068]},{"frame_idx":4,"position_3d":[0.6775833485259448,0.28065766662520186,1.461956132557491]},{"frame_idx":5,"position_3d":[0.6822113445802407,0.29145571472428844,1.4440349862983752]},{"frame_idx":6,"position_3d":[0.6868393406345366,0.302253762823375,1.4261138400392595]},{"frame_idx":7,"position_3d":[0.6914673366888324,0.3130518109224616,1.4081926937801437]},{"frame_idx":8,"position_3d":[0.6960953327431283,0.32384985902154817,1.3902715475210279]},{"frame_idx":9,"position_3d":[0.7007233287974242,0.33464790712063475,1.372350401261912]},{"frame_idx":10,"position_3d":[0.70535132485172,0.3454459552197213,1.3544292550027963]},{"frame_idx":11,"position_3d":[0.7099793209060159,0.3562440033188079,1.3365081087436805]},{"frame_idx":12,"position_3d":[0.7146073169603118,0.3670420514178945,1.3185869624845648]},{"frame_idx":13,"position_3d":[0.7192353130146076,0.37784009951698105,1.300665816225449]},{"frame_idx":14,"position_3d":[0.7238633090689035,0.38863814761606763,1.2827446699663332]}]}

scenefun3d_test/scenefun3d/scenefun3d_422842_42897560/interval_018/cam_0/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"42897560","intrinsics":{"fx":1595.63,"fy":1595.63,"cx":718.05,"cy":958.742},"T_base_to_cam":[[0.35261557168979263,-0.9345753010517333,-0.047236270660830526,11.193755456268018],[-0.6071994651760226,-0.19010401756701634,-0.7714721459617527,197.49451652301013],[0.7120190082377247,0.3007149300732205,-0.6345072598002525,160.0245813672234],[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":[0.08459412260070032,-0.6371269478824502,1.2824030646031588]},{"frame_idx":1,"position_3d":[0.12721491190172624,-0.6199114968760123,1.2582985522676304]},{"frame_idx":2,"position_3d":[0.17287282229764303,-0.6059596543243375,1.2379360313867853]},{"frame_idx":3,"position_3d":[0.22099367907388537,-0.5954468727425607,1.2215715724753098]},{"frame_idx":4,"position_3d":[0.2709723345361206,-0.5885053564587306,1.2094109680988958]},{"frame_idx":5,"position_3d":[0.32218027809361965,-0.585222399067678,1.2016071449133239]},{"frame_idx":6,"position_3d":[0.37397354014460615,-0.5856392856634116,1.1982582405230362]},{"frame_idx":7,"position_3d":[0.4257007903676383,-0.5897507736551069,1.1994063693438204]},{"frame_idx":8,"position_3d":[0.4767115285783118,-0.5975051586957273,1.205037092989595]},{"frame_idx":9,"position_3d":[0.5263642651465077,-0.608804924894188,1.2150796018434926]},{"frame_idx":10,"position_3d":[0.5740345881006922,-0.6235079711342664,1.2294076055298762]},{"frame_idx":11,"position_3d":[0.6191230154707507,-0.6414293980785872,1.2478409210890877]},{"frame_idx":12,"position_3d":[0.6610625341215898,-0.6623438333850717,1.2701477388827116]},{"frame_idx":13,"position_3d":[0.6993257302722997,-0.6859882658949027,1.296047537734276]},{"frame_idx":14,"position_3d":[0.7334314220304617,-0.7120653531504498,1.3252146126458089]}]}

scenefun3d_test/scenefun3d/scenefun3d_422842_42897560/interval_021/cam_0/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"42897560","intrinsics":{"fx":1602.86,"fy":1602.86,"cx":717.903,"cy":959.347},"T_base_to_cam":[[0.9582260789821184,0.28600046914362887,-0.002552098779273815,1.5195497421875728],[0.04027545679489561,-0.14376370907397573,-0.9887921336323706,251.7337360963392],[-0.2831619132908193,0.9473836221947884,-0.14927693478419585,39.141610675719676],[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":[0.088989585194585,0.5131645923191854,0.92145691234537]},{"frame_idx":1,"position_3d":[0.12024728429736564,0.5161367916702498,0.9012350336069918]},{"frame_idx":2,"position_3d":[0.1535968740074842,0.5185620919302062,0.8845999836609313]},{"frame_idx":3,"position_3d":[0.18861896388445326,0.5204099935410936,0.8717609579121411]},{"frame_idx":4,"position_3d":[0.2248731308277801,0.5216572580679778,0.8628794145587887]},{"frame_idx":5,"position_3d":[0.2619034576529947,0.5222882004357533,0.8580670441617337]},{"frame_idx":6,"position_3d":[0.299244266514774,0.5222948861780642,0.8573843650709215]},{"frame_idx":7,"position_3d":[0.33642597507603905,0.5216772312178216,0.8608399623720188]},{"frame_idx":8,"position_3d":[0.3729810017783022,0.5204430029245225,0.8683903799239798]},{"frame_idx":9,"position_3d":[0.4084496459510619,0.5186077224350709,0.8799406668452345]},{"frame_idx":10,"position_3d":[0.4423858688144591,0.5161944694664763,0.8953455715761156]},{"frame_idx":11,"position_3d":[0.4743629026757314,0.5132335920750207,0.9144113685014982]},{"frame_idx":12,"position_3d":[0.5039786177805661,0.5097623250118428,0.9368982941628126]},{"frame_idx":13,"position_3d":[0.5308605793280816,0.5058243214743381,0.9625235624226496]},{"frame_idx":14,"position_3d":[0.5546707310545407,0.5014691041418735,0.9909649206645148]}]}

scenefun3d_test/scenefun3d/scenefun3d_422842_42897560/interval_022/cam_16/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"42897560","intrinsics":{"fx":1592.01,"fy":1592.01,"cx":718.179,"cy":958.37},"T_base_to_cam":[[0.18741653948242498,-0.9804087603442527,-0.060611082886533774,12.880042028445578],[-0.7084886651307502,-0.09218029580996456,-0.6996760710826369,179.0209998369074],[0.6803814019428225,0.17407313320737666,-0.711884605947963,180.19120396751904],[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":[-0.4137622879745386,-0.15979744198153867,1.052379699138271]},{"frame_idx":1,"position_3d":[-0.4256228459627225,-0.14589490541730077,1.0411890640017676]},{"frame_idx":2,"position_3d":[-0.43748340395090635,-0.13199236885306287,1.0299984288652642]},{"frame_idx":3,"position_3d":[-0.4493439619390902,-0.11808983228882496,1.0188077937287607]},{"frame_idx":4,"position_3d":[-0.46120451992727407,-0.10418729572458704,1.0076171585922573]},{"frame_idx":5,"position_3d":[-0.47306507791545793,-0.09028475916034913,0.996426523455754]},{"frame_idx":6,"position_3d":[-0.4849256359036418,-0.07638222259611122,0.9852358883192507]},{"frame_idx":7,"position_3d":[-0.49678619389182566,-0.06247968603187331,0.9740452531827474]},{"frame_idx":8,"position_3d":[-0.5086467518800095,-0.0485771494676354,0.9628546180462441]},{"frame_idx":9,"position_3d":[-0.5205073098681934,-0.034674612903397496,0.9516639829097407]},{"frame_idx":10,"position_3d":[-0.5323678678563772,-0.02077207633915959,0.9404733477732374]},{"frame_idx":11,"position_3d":[-0.5442284258445611,-0.0068695397749216815,0.9292827126367341]},{"frame_idx":12,"position_3d":[-0.556088983832745,0.007032996789316227,0.9180920775002308]},{"frame_idx":13,"position_3d":[-0.5679495418209288,0.020935533353554137,0.9069014423637275]},{"frame_idx":14,"position_3d":[-0.5798100998091127,0.03483806991779204,0.8957108072272242]}]}

scenefun3d_test/scenefun3d/scenefun3d_422842_42897560/interval_023/cam_10/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"42897560","intrinsics":{"fx":1599.7,"fy":1599.7,"cx":718.07,"cy":958.493},"T_base_to_cam":[[-0.7829806444084595,0.6214691061754223,-0.026785454097984107,9.334414743063537],[0.460196126049526,0.5497483233074985,-0.6971343533276803,177.63703130454743],[-0.4185222049673377,-0.5581692674181514,-0.7164399715671661,181.69414401771704],[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":[-0.20925922493906768,-0.17788023666693675,1.0768476308534503]},{"frame_idx":1,"position_3d":[-0.2032799621752971,-0.16311919761851282,1.062510831472763]},{"frame_idx":2,"position_3d":[-0.1973006994115265,-0.14835815857008888,1.0481740320920756]},{"frame_idx":3,"position_3d":[-0.19132143664775592,-0.13359711952166495,1.0338372327113883]},{"frame_idx":4,"position_3d":[-0.18534217388398533,-0.11883608047324103,1.019500433330701]},{"frame_idx":5,"position_3d":[-0.17936291112021474,-0.1040750414248171,1.0051636339500136]},{"frame_idx":6,"position_3d":[-0.17338364835644415,-0.08931400237639318,0.9908268345693262]},{"frame_idx":7,"position_3d":[-0.16740438559267357,-0.07455296332796926,0.9764900351886387]},{"frame_idx":8,"position_3d":[-0.16142512282890298,-0.059791924279545335,0.9621532358079513]},{"frame_idx":9,"position_3d":[-0.1554458600651324,-0.045030885231121406,0.9478164364272639]},{"frame_idx":10,"position_3d":[-0.1494665973013618,-0.030269846182697478,0.9334796370465764]},{"frame_idx":11,"position_3d":[-0.14348733453759122,-0.015508807134273552,0.919142837665889]},{"frame_idx":12,"position_3d":[-0.13750807177382063,-0.0007477680858496254,0.9048060382852016]},{"frame_idx":13,"position_3d":[-0.13152880901005004,0.014013270962574301,0.8904692389045141]},{"frame_idx":14,"position_3d":[-0.12554954624627945,0.028774310010998227,0.8761324395238267]}]}

scenefun3d_test/scenefun3d/scenefun3d_422842_42897560/interval_024/cam_2/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"42897560","intrinsics":{"fx":1601.05,"fy":1601.05,"cx":717.906,"cy":959.114},"T_base_to_cam":[[-0.947871496496893,0.31839962411910183,0.012700609810374824,-3.284327159300438],[0.14276968850235222,0.4599811417726464,-0.8763755845860117,223.1376109630846],[-0.2848796977211294,-0.828878174748465,-0.4814608283671381,122.25479326951664],[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":[-0.15673466202220343,-0.18591530235710252,2.058718202243554]},{"frame_idx":1,"position_3d":[-0.15876305443859584,-0.17510451865687354,2.0403280893167293]},{"frame_idx":2,"position_3d":[-0.16079144685498825,-0.16429373495664457,2.0219379763899044]},{"frame_idx":3,"position_3d":[-0.16281983927138066,-0.1534829512564156,2.0035478634630794]},{"frame_idx":4,"position_3d":[-0.16484823168777307,-0.1426721675561866,1.9851577505362545]},{"frame_idx":5,"position_3d":[-0.16687662410416548,-0.13186138385595764,1.9667676376094296]},{"frame_idx":6,"position_3d":[-0.1689050165205579,-0.12105060015572866,1.9483775246826047]},{"frame_idx":7,"position_3d":[-0.1709334089369503,-0.11023981645549968,1.9299874117557798]},{"frame_idx":8,"position_3d":[-0.17296180135334271,-0.09942903275527071,1.911597298828955]},{"frame_idx":9,"position_3d":[-0.17499019376973513,-0.08861824905504173,1.89320718590213]},{"frame_idx":10,"position_3d":[-0.17701858618612754,-0.07780746535481275,1.874817072975305]},{"frame_idx":11,"position_3d":[-0.17904697860251995,-0.06699668165458378,1.8564269600484802]},{"frame_idx":12,"position_3d":[-0.18107537101891236,-0.0561858979543548,1.8380368471216553]},{"frame_idx":13,"position_3d":[-0.18310376343530477,-0.045375114254125826,1.8196467341948304]},{"frame_idx":14,"position_3d":[-0.18513215585169718,-0.03456433055389685,1.8012566212680055]}]}

scenefun3d_test/scenefun3d/scenefun3d_422842_42897560/interval_025/cam_10/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"42897560","intrinsics":{"fx":1615.51,"fy":1615.51,"cx":717.835,"cy":958.908},"T_base_to_cam":[[-0.8279756914473511,-0.5604218883944173,0.019584723146273658,-2.998285808485304],[-0.3558074970636642,0.4980398802696073,-0.7907953608199315,202.01754315517238],[0.43342505627336714,-0.6617277269916008,-0.6117672236438938,154.80157919985777],[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":[0.0602781932347507,-0.21026025379185853,1.2781594600623407]},{"frame_idx":1,"position_3d":[0.07185097904949903,-0.19824879027401496,1.264706614782815]},{"frame_idx":2,"position_3d":[0.08342376486424735,-0.18623732675617138,1.2512537695032893]},{"frame_idx":3,"position_3d":[0.09499655067899568,-0.1742258632383278,1.2378009242237635]},{"frame_idx":4,"position_3d":[0.106569336493744,-0.16221439972048424,1.2243480789442378]},{"frame_idx":5,"position_3d":[0.11814212230849233,-0.15020293620264066,1.210895233664712]},{"frame_idx":6,"position_3d":[0.12971490812324066,-0.1381914726847971,1.1974423883851864]},{"frame_idx":7,"position_3d":[0.14128769393798898,-0.12618000916695352,1.1839895431056606]},{"frame_idx":8,"position_3d":[0.1528604797527373,-0.11416854564910993,1.170536697826135]},{"frame_idx":9,"position_3d":[0.16443326556748564,-0.10215708213126634,1.1570838525466092]},{"frame_idx":10,"position_3d":[0.17600605138223396,-0.09014561861342275,1.1436310072670834]},{"frame_idx":11,"position_3d":[0.1875788371969823,-0.07813415509557917,1.1301781619875577]},{"frame_idx":12,"position_3d":[0.19915162301173062,-0.06612269157773558,1.116725316708032]},{"frame_idx":13,"position_3d":[0.21072440882647894,-0.05411122805989199,1.1032724714285063]},{"frame_idx":14,"position_3d":[0.22229719464122727,-0.042099764542048404,1.0898196261489805]}]}

scenefun3d_test/scenefun3d/scenefun3d_422842_42897560/interval_026/cam_0/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"42897560","intrinsics":{"fx":1614.61,"fy":1614.61,"cx":718.07,"cy":958.239},"T_base_to_cam":[[-0.9452465205809794,-0.3237127716172346,-0.041461510120115036,12.797554584003448],[-0.22088056814239537,0.7280893131566678,-0.6489204317049546,165.55697467669128],[0.24025151393205604,-0.6042317382916427,-0.7597257508432993,192.66078067022443],[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":[0.696369203755939,-1.0713820695224854,1.8140024697673311]},{"frame_idx":1,"position_3d":[0.7122815231286547,-1.0607454995496486,1.8043668512161932]},{"frame_idx":2,"position_3d":[0.7281938425013703,-1.0501089295768118,1.7947312326650553]},{"frame_idx":3,"position_3d":[0.744106161874086,-1.039472359603975,1.7850956141139174]},{"frame_idx":4,"position_3d":[0.7600184812468016,-1.0288357896311382,1.7754599955627794]},{"frame_idx":5,"position_3d":[0.7759308006195172,-1.0181992196583014,1.7658243770116415]},{"frame_idx":6,"position_3d":[0.7918431199922329,-1.0075626496854646,1.7561887584605036]},{"frame_idx":7,"position_3d":[0.8077554393649485,-0.9969260797126278,1.7465531399093657]},{"frame_idx":8,"position_3d":[0.8236677587376642,-0.986289509739791,1.7369175213582277]},{"frame_idx":9,"position_3d":[0.8395800781103798,-0.9756529397669542,1.7272819028070898]},{"frame_idx":10,"position_3d":[0.8554923974830955,-0.9650163697941174,1.717646284255952]},{"frame_idx":11,"position_3d":[0.8714047168558111,-0.9543797998212806,1.708010665704814]},{"frame_idx":12,"position_3d":[0.8873170362285268,-0.9437432298484438,1.698375047153676]},{"frame_idx":13,"position_3d":[0.9032293556012424,-0.933106659875607,1.6887394286025381]},{"frame_idx":14,"position_3d":[0.919141674973958,-0.9224700899027702,1.6791038100514002]}]}

scenefun3d_test/scenefun3d/scenefun3d_422842_42897560/interval_027/cam_1/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"42897560","intrinsics":{"fx":1592.92,"fy":1592.92,"cx":717.948,"cy":959.185},"T_base_to_cam":[[0.5147779908229168,-0.8573230724440059,-0.0008772795970013458,-2.88524832213707],[-0.3573781064433387,-0.21365664019288055,-0.9091928998493465,231.6018721748375],[0.7792846137319119,0.4683460147761055,-0.4163742322046898,105.50458787615287],[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":[-0.38545802082340463,0.1935547077965225,1.0278866433601337]},{"frame_idx":1,"position_3d":[-0.40279168185156056,0.19974315407847326,1.0169125374081307]},{"frame_idx":2,"position_3d":[-0.4201253428797165,0.20593160036042402,1.0059384314561277]},{"frame_idx":3,"position_3d":[-0.4374590039078724,0.21212004664237477,0.9949643255041247]},{"frame_idx":4,"position_3d":[-0.4547926649360283,0.21830849292432553,0.9839902195521217]},{"frame_idx":5,"position_3d":[-0.47212632596418425,0.22449693920627628,0.9730161136001187]},{"frame_idx":6,"position_3d":[-0.48945998699234017,0.23068538548822703,0.9620420076481158]},{"frame_idx":7,"position_3d":[-0.5067936480204961,0.2368738317701778,0.9510679016961128]},{"frame_idx":8,"position_3d":[-0.524127309048652,0.24306227805212854,0.9400937957441098]},{"frame_idx":9,"position_3d":[-0.5414609700768079,0.2492507243340793,0.9291196897921068]},{"frame_idx":10,"position_3d":[-0.5587946311049639,0.25543917061603005,0.9181455838401038]},{"frame_idx":11,"position_3d":[-0.5761282921331198,0.2616276168979808,0.9071714778881008]},{"frame_idx":12,"position_3d":[-0.5934619531612757,0.26781606317993156,0.8961973719360978]},{"frame_idx":13,"position_3d":[-0.6107956141894316,0.2740045094618823,0.8852232659840948]},{"frame_idx":14,"position_3d":[-0.6281292752175875,0.28019295574383307,0.8742491600320919]}]}

scenefun3d_test/scenefun3d/scenefun3d_422842_42897560/interval_028/cam_6/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"42897560","intrinsics":{"fx":1592.01,"fy":1592.01,"cx":718.262,"cy":957.962},"T_base_to_cam":[[-0.07126018576205573,-0.9962993019307006,-0.04805920200707425,9.910818857702722],[-0.81054765151519,0.08592016785066336,-0.5793360245830779,148.89630083212717],[0.5813213315786442,-0.0023293194099131,-0.8136707465078973,205.86018161102416],[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":[0.15602270196538726,-0.005821246021383786,0.7521631473381092]},{"frame_idx":1,"position_3d":[0.14905417213741984,0.011013992385934791,0.740884937671905]},{"frame_idx":2,"position_3d":[0.14208564230945242,0.02784923079325337,0.7296067280057008]},{"frame_idx":3,"position_3d":[0.135117112481485,0.044684469200571945,0.7183285183394966]},{"frame_idx":4,"position_3d":[0.12814858265351758,0.06151970760789052,0.7070503086732924]},{"frame_idx":5,"position_3d":[0.12118005282555018,0.07835494601520909,0.6957720990070883]},{"frame_idx":6,"position_3d":[0.11421152299758278,0.09519018442252766,0.6844938893408841]},{"frame_idx":7,"position_3d":[0.10724299316961537,0.11202542282984623,0.6732156796746799]},{"frame_idx":8,"position_3d":[0.10027446334164797,0.1288606612371648,0.6619374700084757]},{"frame_idx":9,"position_3d":[0.09330593351368056,0.14569589964448337,0.6506592603422715]},{"frame_idx":10,"position_3d":[0.08633740368571316,0.16253113805180194,0.6393810506760673]},{"frame_idx":11,"position_3d":[0.07936887385774576,0.1793663764591205,0.6281028410098631]},{"frame_idx":12,"position_3d":[0.07240034402977835,0.19620161486643908,0.616824631343659]},{"frame_idx":13,"position_3d":[0.06543181420181095,0.21303685327375765,0.6055464216774548]},{"frame_idx":14,"position_3d":[0.058463284373843544,0.22987209168107622,0.5942682120112506]}]}

scenefun3d_test/scenefun3d/scenefun3d_435324_42899221/interval_006/cam_9/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"42899221","intrinsics":{"fx":1588.4,"fy":1588.4,"cx":956.489,"cy":739.491},"T_base_to_cam":[[-0.9064118018213814,0.4216019731174979,-0.025873186551897964,1.938727406926716],[0.052988498357221525,0.05272413580494539,-0.9972022786503588,0.20966482571323877],[-0.4190583068747874,-0.9052468954749603,-0.07012983439437415,1.0073169484999966],[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":[1.4469824129045221,0.6442951003849722,2.83708217414203]},{"frame_idx":1,"position_3d":[1.4310409942207247,0.6454116927311198,2.8228060379228075]},{"frame_idx":2,"position_3d":[1.4150995755369273,0.6465282850772673,2.808529901703585]},{"frame_idx":3,"position_3d":[1.39915815685313,0.6476448774234149,2.794253765484363]},{"frame_idx":4,"position_3d":[1.3832167381693325,0.6487614697695625,2.7799776292651406]},{"frame_idx":5,"position_3d":[1.3672753194855352,0.6498780621157101,2.7657014930459183]},{"frame_idx":6,"position_3d":[1.3513339008017378,0.6509946544618577,2.751425356826696]},{"frame_idx":7,"position_3d":[1.3353924821179404,0.6521112468080053,2.7371492206074737]},{"frame_idx":8,"position_3d":[1.319451063434143,0.6532278391541528,2.7228730843882514]},{"frame_idx":9,"position_3d":[1.3035096447503456,0.6543444315003004,2.708596948169029]},{"frame_idx":10,"position_3d":[1.2875682260665482,0.655461023846448,2.6943208119498068]},{"frame_idx":11,"position_3d":[1.2716268073827508,0.6565776161925956,2.6800446757305845]},{"frame_idx":12,"position_3d":[1.2556853886989534,0.6576942085387432,2.665768539511362]},{"frame_idx":13,"position_3d":[1.239743970015156,0.6588108008848907,2.65149240329214]},{"frame_idx":14,"position_3d":[1.2238025513313586,0.6599273932310383,2.6372162670729176]}]}

scenefun3d_test/scenefun3d/scenefun3d_437294_43649767/interval_000/cam_10/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"43649767","intrinsics":{"fx":1597.89,"fy":1597.89,"cx":963.397,"cy":695.206},"T_base_to_cam":[[-0.9999075718645272,0.0078045279836035965,-0.011132702768806844,0.09533933694574545],[0.011751030604736593,0.08425907859902959,-0.9963745886730395,-20.887801213948226],[-0.006838202081833727,-0.9964133163585256,-0.08434300193668931,-1.1015289026746926],[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":[0.4624187958756312,0.2791266536655037,1.386352489444486]},{"frame_idx":1,"position_3d":[0.5339285779651175,0.28100271468076377,1.3547510926448993]},{"frame_idx":2,"position_3d":[0.6085318442701736,0.28215229240434625,1.3313235885785661]},{"frame_idx":3,"position_3d":[0.68529041543119,0.2825609302293766,1.3163645917020752]},{"frame_idx":4,"position_3d":[0.7632390078794565,0.2822234892981079,1.3100622200805605]},{"frame_idx":5,"position_3d":[0.8413973728381096,0.2811442131260387,1.3124957296938837]},{"frame_idx":6,"position_3d":[0.9187826235192542,0.2793366742372433,1.3236345177467024]},{"frame_idx":7,"position_3d":[0.9944215954956069,0.2768236034820068,1.3433385075163766]},{"frame_idx":8,"position_3d":[1.0673630848078113,0.27363660418319397,1.371359909899032]},{"frame_idx":9,"position_3d":[1.1366898099061284,0.2698157547061274,1.4073463395013097]},{"frame_idx":10,"position_3d":[1.2015299469981442,0.2654091044498897,1.450845246091149]},{"frame_idx":11,"position_3d":[1.2610680937388024,0.2604720695982511,1.5013096056795285]},{"frame_idx":12,"position_3d":[1.314555523388002,0.25506673622900533,1.5581047996645214]},{"frame_idx":13,"position_3d":[1.3613196004837749,0.24926107954551813,1.620516595528427]},{"frame_idx":14,"position_3d":[1.400772239623492,0.24312810904910478,1.6877601287260893]}]}

scenefun3d_test/scenefun3d/scenefun3d_437294_43649767/interval_002/cam_1/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"43649767","intrinsics":{"fx":1597.44,"fy":1597.44,"cx":963.344,"cy":695.258},"T_base_to_cam":[[-0.9979454693605465,0.03709352647338697,-0.052238974688700646,-0.7633433148655657],[0.05968645179970572,0.24187296663186963,-0.9684704412031687,-20.47583547663393],[-0.023288788167699335,-0.969598648053135,-0.2435900121910035,-4.5367068278807885],[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":[0.16929531715124146,0.6032191693942721,1.728243009592095]},{"frame_idx":1,"position_3d":[0.162142026185766,0.6081615086818642,1.7086576225854782]},{"frame_idx":2,"position_3d":[0.15498873522029055,0.6131038479694564,1.6890722355788612]},{"frame_idx":3,"position_3d":[0.1478354442548151,0.6180461872570485,1.6694868485722443]},{"frame_idx":4,"position_3d":[0.14068215328933964,0.6229885265446407,1.6499014615656273]},{"frame_idx":5,"position_3d":[0.13352886232386418,0.6279308658322328,1.6303160745590104]},{"frame_idx":6,"position_3d":[0.12637557135838873,0.6328732051198249,1.6107306875523935]},{"frame_idx":7,"position_3d":[0.11922228039291329,0.6378155444074171,1.5911453005457765]},{"frame_idx":8,"position_3d":[0.11206898942743784,0.6427578836950092,1.5715599135391596]},{"frame_idx":9,"position_3d":[0.1049156984619624,0.6477002229826013,1.5519745265325426]},{"frame_idx":10,"position_3d":[0.09776240749648696,0.6526425622701935,1.5323891395259257]},{"frame_idx":11,"position_3d":[0.09060911653101152,0.6575849015577856,1.5128037525193088]},{"frame_idx":12,"position_3d":[0.08345582556553607,0.6625272408453777,1.4932183655126918]},{"frame_idx":13,"position_3d":[0.07630253460006063,0.6674695801329699,1.4736329785060749]},{"frame_idx":14,"position_3d":[0.06914924363458519,0.672411919420562,1.454047591499458]}]}

scenefun3d_test/scenefun3d/scenefun3d_437294_43649767/interval_003/cam_0/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"43649767","intrinsics":{"fx":1594.27,"fy":1594.27,"cx":963.717,"cy":695.387},"T_base_to_cam":[[0.923524812808311,-0.3835368866748308,-0.0011733231232013697,0.20175832108257238],[-0.14271918451875792,-0.340813152087528,-0.9292349701418173,-20.472933003059225],[0.3559960034855365,0.8583390075744789,-0.36948747418334,-5.485228961489926],[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":[-0.34278205585321586,-1.2318297194550638,3.9455051166897848]},{"frame_idx":1,"position_3d":[-0.34196108725658864,-1.223501242126151,3.9257783290796713]},{"frame_idx":2,"position_3d":[-0.3411401186599614,-1.2151727647972383,3.906051541469558]},{"frame_idx":3,"position_3d":[-0.3403191500633342,-1.2068442874683256,3.8863247538594443]},{"frame_idx":4,"position_3d":[-0.33949818146670696,-1.1985158101394129,3.866597966249331]},{"frame_idx":5,"position_3d":[-0.33867721287007974,-1.1901873328105002,3.8468711786392173]},{"frame_idx":6,"position_3d":[-0.3378562442734525,-1.1818588554815874,3.827144391029104]},{"frame_idx":7,"position_3d":[-0.3370352756768253,-1.1735303781526747,3.8074176034189904]},{"frame_idx":8,"position_3d":[-0.33621430708019806,-1.165201900823762,3.787690815808877]},{"frame_idx":9,"position_3d":[-0.33539333848357084,-1.1568734234948492,3.7679640281987634]},{"frame_idx":10,"position_3d":[-0.3345723698869436,-1.1485449461659365,3.74823724058865]},{"frame_idx":11,"position_3d":[-0.3337514012903164,-1.1402164688370238,3.7285104529785364]},{"frame_idx":12,"position_3d":[-0.33293043269368916,-1.131887991508111,3.708783665368423]},{"frame_idx":13,"position_3d":[-0.33210946409706193,-1.1235595141791983,3.6890568777583095]},{"frame_idx":14,"position_3d":[-0.3312884955004347,-1.1152310368502856,3.669330090148196]}]}

scenefun3d_test/scenefun3d/scenefun3d_437294_43649767/interval_005/cam_13/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"43649767","intrinsics":{"fx":1597.89,"fy":1597.89,"cx":963.844,"cy":695.39},"T_base_to_cam":[[0.9694717497882361,0.2426202007819256,0.03549597913953112,-1.4952485120037182],[0.11760192041457639,-0.33304538332995814,-0.9355482675722322,-20.333385118080205],[-0.2151611365403603,0.9111620112884093,-0.3514106920791129,-5.797512578299484],[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":[-1.2386109659635451,-0.7787480294506217,2.9717281839934095]},{"frame_idx":1,"position_3d":[-1.2507257320199412,-0.7725129242024981,2.9551891519959494]},{"frame_idx":2,"position_3d":[-1.2628404980763372,-0.7662778189543744,2.9386501199984894]},{"frame_idx":3,"position_3d":[-1.2749552641327333,-0.7600427137062508,2.9221110880010293]},{"frame_idx":4,"position_3d":[-1.2870700301891294,-0.7538076084581271,2.905572056003569]},{"frame_idx":5,"position_3d":[-1.2991847962455254,-0.7475725032100035,2.889033024006109]},{"frame_idx":6,"position_3d":[-1.3112995623019215,-0.7413373979618798,2.872493992008649]},{"frame_idx":7,"position_3d":[-1.3234143283583175,-0.7351022927137562,2.855954960011189]},{"frame_idx":8,"position_3d":[-1.3355290944147136,-0.7288671874656325,2.8394159280137288]},{"frame_idx":9,"position_3d":[-1.3476438604711096,-0.7226320822175089,2.8228768960162687]},{"frame_idx":10,"position_3d":[-1.3597586265275057,-0.7163969769693852,2.8063378640188086]},{"frame_idx":11,"position_3d":[-1.3718733925839017,-0.7101618717212616,2.7897988320213485]},{"frame_idx":12,"position_3d":[-1.3839881586402978,-0.7039267664731379,2.7732598000238884]},{"frame_idx":13,"position_3d":[-1.3961029246966938,-0.6976916612250142,2.7567207680264283]},{"frame_idx":14,"position_3d":[-1.40821769075309,-0.6914565559768906,2.740181736028968]}]}

scenefun3d_test/scenefun3d/scenefun3d_437294_43649767/interval_006/cam_16/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"43649767","intrinsics":{"fx":1598.34,"fy":1598.34,"cx":963.089,"cy":695.199},"T_base_to_cam":[[-0.5496079333557911,-0.8347789322824795,-0.03279106295471079,0.5582178692608536],[0.04357009079091806,0.010555641938416516,-0.9989946073987279,-20.987448999015157],[0.8342857824395951,-0.5504840711960619,0.030569929318876143,-0.38667410532436414],[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":[-0.5942605512916156,0.09703679207085614,1.466027776642877]},{"frame_idx":1,"position_3d":[-0.5542021479304431,0.09610003738690555,1.4783845192711964]},{"frame_idx":2,"position_3d":[-0.5157745423659141,0.09535164953179102,1.495147613369904]},{"frame_idx":3,"position_3d":[-0.47946098403421866,0.09480103991701538,1.5161062533045346]},{"frame_idx":4,"position_3d":[-0.4457181370009951,0.09445513277795557,1.5409968720174243]},{"frame_idx":5,"position_3d":[-0.41497033714574216,0.09431827809758525,1.569506455536385]},{"frame_idx":6,"position_3d":[-0.38760425589192865,0.09439219690291503,1.60127647930702]},{"frame_idx":7,"position_3d":[-0.3639640375894915,0.09467595962207918,1.6359074168470167]},{"frame_idx":8,"position_3d":[-0.3443469716999579,0.09516599777424126,1.6729637640234716]},{"frame_idx":9,"position_3d":[-0.3289997542089756,0.09585614884531106,1.7119795157700473]},{"frame_idx":10,"position_3d":[-0.3181153852811566,0.09673773378513491,1.752464026371064]},{"frame_idx":11,"position_3d":[-0.3118307421710263,0.09779966615158703,1.7939081796160539]},{"frame_idx":12,"position_3d":[-0.3102248579121294,0.09902859152901176,1.8357907912315032]},{"frame_idx":13,"position_3d":[-0.31331792743077724,0.10040905546774889,1.8775851630754907]},{"frame_idx":14,"position_3d":[-0.32107105358313215,0.10192369783280496,1.9187657066724186]}]}

scenefun3d_test/scenefun3d/scenefun3d_437294_43649767/interval_007/cam_7/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"43649767","intrinsics":{"fx":1597.89,"fy":1597.89,"cx":963.453,"cy":695.209},"T_base_to_cam":[[-0.5852845902823806,-0.8108278412802411,0.0004002284469042938,1.000412920074116],[-0.055706063386512406,0.03971818451731157,-0.9976569051134894,-20.842026654381396],[0.808912098364194,-0.5839355081029687,-0.06841446847388122,-1.8723197756415983],[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":[0.7198641906112473,-0.5588077303139443,3.1214655655936188]},{"frame_idx":1,"position_3d":[0.698361422531453,-0.5583112032488161,3.20248621138894]},{"frame_idx":2,"position_3d":[0.6767642458719829,-0.567200631113945,3.282993979038286]},{"frame_idx":3,"position_3d":[0.6553442576603038,-0.5853642241961609,3.3619764366517706]},{"frame_idx":4,"position_3d":[0.634370826676344,-0.6125735647736924,3.4384403339982157]},{"frame_idx":5,"position_3d":[0.614107705983795,-0.6484864796015501,3.511424093203103]},{"frame_idx":6,"position_3d":[0.5948097160823022,-0.6926513429386153,3.580009901148267]},{"frame_idx":7,"position_3d":[0.5767195403918312,-0.7445127560033736,3.6433352515043853]},{"frame_idx":8,"position_3d":[0.5600646733678541,-0.8034185314358431,3.7006037912485055]},{"frame_idx":9,"position_3d":[0.5450545596265766,-0.8686278949320333,3.751095335265364]},{"frame_idx":10,"position_3d":[0.5318779600573659,-0.9393208009106258,3.7941749230930735]},{"frame_idx":11,"position_3d":[0.520700578045046,-1.01460824506196,3.8293008039193404]},{"frame_idx":12,"position_3d":[0.51166297565369,-1.0935434440930407,3.8560312494122644]},{"frame_idx":13,"position_3d":[0.5048788059771082,-1.1751337420767827,3.874030108710406]},{"frame_idx":14,"position_3d":[0.5004333838852506,-1.2583530936762466,3.8830710357149094]}]}

scenefun3d_test/scenefun3d/scenefun3d_437294_43649767/interval_008/cam_13/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"43649767","intrinsics":{"fx":1597.44,"fy":1597.44,"cx":963.533,"cy":695.224},"T_base_to_cam":[[-0.8307292570446201,0.5566398089799858,0.006405040891240998,0.10543693095796232],[0.06989558258499182,0.11571315876822919,-0.990820403717537,-20.909975524431346],[-0.5522712277723674,-0.8226558137803461,-0.13503297015247184,-1.992613179404751],[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":[-0.7087759899490855,0.6502753542919884,1.6286865258803211]},{"frame_idx":1,"position_3d":[-0.7042396173107965,0.6527771311630995,1.607893591762137]},{"frame_idx":2,"position_3d":[-0.6997032446725076,0.6552789080342107,1.587100657643953]},{"frame_idx":3,"position_3d":[-0.6951668720342186,0.6577806849053219,1.566307723525769]},{"frame_idx":4,"position_3d":[-0.6906304993959296,0.6602824617764331,1.545514789407585]},{"frame_idx":5,"position_3d":[-0.6860941267576406,0.6627842386475443,1.5247218552894009]},{"frame_idx":6,"position_3d":[-0.6815577541193516,0.6652860155186555,1.5039289211712168]},{"frame_idx":7,"position_3d":[-0.6770213814810626,0.6677877923897667,1.4831359870530327]},{"frame_idx":8,"position_3d":[-0.6724850088427736,0.6702895692608779,1.4623430529348487]},{"frame_idx":9,"position_3d":[-0.6679486362044846,0.6727913461319891,1.4415501188166646]},{"frame_idx":10,"position_3d":[-0.6634122635661956,0.6752931230031003,1.4207571846984806]},{"frame_idx":11,"position_3d":[-0.6588758909279067,0.6777948998742115,1.3999642505802965]},{"frame_idx":12,"position_3d":[-0.6543395182896177,0.6802966767453227,1.3791713164621124]},{"frame_idx":13,"position_3d":[-0.6498031456513287,0.6827984536164339,1.3583783823439284]},{"frame_idx":14,"position_3d":[-0.6452667730130397,0.6853002304875451,1.3375854482257443]}]}

scenefun3d_test/scenefun3d/scenefun3d_437294_43649767/interval_009/cam_11/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"43649767","intrinsics":{"fx":1592.01,"fy":1592.01,"cx":964.314,"cy":695.795},"T_base_to_cam":[[-0.9127228694237369,0.40647914628836046,0.04137230068035522,3.453320927361048],[0.22352652326767952,0.5815298738795365,-0.7822141006025867,-17.2829750024133],[-0.34201294862441045,-0.7046968918750356,-0.6216344854936063,-12.123731882439769],[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":[-0.07477219709409866,-0.6888463087325647,1.9414820345140829]},{"frame_idx":1,"position_3d":[-0.07356598159638737,-0.6755867291454238,1.9246917913111168]},{"frame_idx":2,"position_3d":[-0.07235976609867609,-0.662327149558283,1.9079015481081507]},{"frame_idx":3,"position_3d":[-0.0711535506009648,-0.6490675699711421,1.8911113049051846]},{"frame_idx":4,"position_3d":[-0.06994733510325352,-0.6358079903840013,1.8743210617022186]},{"frame_idx":5,"position_3d":[-0.06874111960554223,-0.6225484107968604,1.8575308184992525]},{"frame_idx":6,"position_3d":[-0.06753490410783095,-0.6092888312097196,1.8407405752962864]},{"frame_idx":7,"position_3d":[-0.06632868861011966,-0.5960292516225787,1.8239503320933204]},{"frame_idx":8,"position_3d":[-0.06512247311240837,-0.5827696720354378,1.8071600888903543]},{"frame_idx":9,"position_3d":[-0.06391625761469709,-0.569510092448297,1.7903698456873882]},{"frame_idx":10,"position_3d":[-0.0627100421169858,-0.5562505128611561,1.7735796024844221]},{"frame_idx":11,"position_3d":[-0.06150382661927452,-0.5429909332740153,1.756789359281456]},{"frame_idx":12,"position_3d":[-0.06029761112156323,-0.5297313536868744,1.73999911607849]},{"frame_idx":13,"position_3d":[-0.05909139562385195,-0.5164717740997335,1.723208872875524]},{"frame_idx":14,"position_3d":[-0.05788518012614066,-0.5032121945125927,1.7064186296725579]}]}

scenefun3d_test/scenefun3d/scenefun3d_437294_43649767/interval_011/cam_29/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"43649767","intrinsics":{"fx":1597.89,"fy":1597.89,"cx":963.421,"cy":695.206},"T_base_to_cam":[[-0.9838355309803278,-0.17880436462838314,0.009830929279403613,1.0886714222896718],[-0.014317084610681596,0.023816665693147887,-0.9996138191939481,-20.887492708299206],[0.17850117385862485,-0.9835963428282462,-0.025991639155543145,-0.144809837058957],[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":[1.094966714384727,0.7643773742692908,1.9161297329234948]},{"frame_idx":1,"position_3d":[1.0838381798400234,0.7649240370396206,1.8978256199383687]},{"frame_idx":2,"position_3d":[1.0727096452953198,0.7654706998099505,1.8795215069532427]},{"frame_idx":3,"position_3d":[1.0615811107506161,0.7660173625802804,1.8612173939681167]},{"frame_idx":4,"position_3d":[1.0504525762059125,0.7665640253506103,1.8429132809829907]},{"frame_idx":5,"position_3d":[1.0393240416612088,0.7671106881209402,1.8246091679978647]},{"frame_idx":6,"position_3d":[1.0281955071165052,0.7676573508912701,1.8063050550127386]},{"frame_idx":7,"position_3d":[1.0170669725718016,0.7682040136616,1.7880009420276126]},{"frame_idx":8,"position_3d":[1.005938438027098,0.7687506764319298,1.7696968290424866]},{"frame_idx":9,"position_3d":[0.9948099034823943,0.7692973392022597,1.7513927160573606]},{"frame_idx":10,"position_3d":[0.9836813689376906,0.7698440019725896,1.7330886030722346]},{"frame_idx":11,"position_3d":[0.972552834392987,0.7703906647429195,1.7147844900871085]},{"frame_idx":12,"position_3d":[0.9614242998482834,0.7709373275132494,1.6964803771019825]},{"frame_idx":13,"position_3d":[0.9502957653035797,0.7714839902835793,1.6781762641168565]},{"frame_idx":14,"position_3d":[0.9391672307588761,0.7720306530539092,1.6598721511317305]}]}

scenefun3d_test/scenefun3d/scenefun3d_437294_43649767/interval_014/cam_6/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"43649767","intrinsics":{"fx":1593.82,"fy":1593.82,"cx":962.982,"cy":695.249},"T_base_to_cam":[[0.9304045089816161,-0.3647666715684701,-0.03595448483204475,-0.45191536096363955],[0.026652613387195517,0.165161650218856,-0.9859063178094645,-20.094723321993012],[0.365564068073314,0.9163334025396237,0.16338912914831671,5.71621728462214],[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":[-0.23706849453377538,0.8943075551199122,4.089410635191955]},{"frame_idx":1,"position_3d":[-0.25834354833172885,0.896768216992891,4.088702890527234]},{"frame_idx":2,"position_3d":[-0.2796186021296823,0.8992288788658698,4.087995145862513]},{"frame_idx":3,"position_3d":[-0.3008936559276358,0.9016895407388485,4.087287401197791]},{"frame_idx":4,"position_3d":[-0.32216870972558925,0.9041502026118273,4.08657965653307]},{"frame_idx":5,"position_3d":[-0.3434437635235427,0.9066108644848061,4.085871911868349]},{"frame_idx":6,"position_3d":[-0.3647188173214962,0.9090715263577849,4.085164167203628]},{"frame_idx":7,"position_3d":[-0.38599387111944966,0.9115321882307637,4.084456422538906]},{"frame_idx":8,"position_3d":[-0.40726892491740313,0.9139928501037424,4.083748677874185]},{"frame_idx":9,"position_3d":[-0.4285439787153566,0.9164535119767212,4.083040933209464]},{"frame_idx":10,"position_3d":[-0.44981903251331007,0.9189141738497,4.082333188544743]},{"frame_idx":11,"position_3d":[-0.47109408631126354,0.9213748357226788,4.0816254438800215]},{"frame_idx":12,"position_3d":[-0.492369140109217,0.9238354975956575,4.0809176992153]},{"frame_idx":13,"position_3d":[-0.5136441939071705,0.9262961594686363,4.080209954550579]},{"frame_idx":14,"position_3d":[-0.534919247705124,0.9287568213416151,4.079502209885858]}]}

scenefun3d_test/scenefun3d/scenefun3d_466112_44796521/interval_002/cam_5/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"44796521","intrinsics":{"fx":1592.01,"fy":1592.01,"cx":714.398,"cy":956.542},"T_base_to_cam":[[-0.09835699053185154,-0.9951177422602194,0.008159745856380685,-0.25328521492478306],[-0.43762175351814714,0.035887305567128935,-0.8984427094405261,60.82224486795838],[0.8937634492757127,-0.09193900335578459,-0.43901493869881664,31.071853596393815],[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":[0.3046491616060123,-0.5239682171137119,1.7357290415830384]},{"frame_idx":1,"position_3d":[0.3602240663227498,-0.5344908183186999,1.7582964545845574]},{"frame_idx":2,"position_3d":[0.4126621601124556,-0.5476996064219166,1.7863028384375494]},{"frame_idx":3,"position_3d":[0.46130400352043344,-0.5634284732490467,1.8193959966153808]},{"frame_idx":4,"position_3d":[0.5055378971431731,-0.5814796191736378,1.8571597634528676]},{"frame_idx":5,"position_3d":[0.5448075741032656,-0.6016260405621694,1.8991192376709807]},{"frame_idx":6,"position_3d":[0.5786191954281407,-0.6236143844764548,1.9447467545359731]},{"frame_idx":7,"position_3d":[0.6065475603616782,-0.6471681347338375,1.9934685215495656]},{"frame_idx":8,"position_3d":[0.6282414535104244,-0.6719910892586267,2.0446718342225347]},{"frame_idx":9,"position_3d":[0.6434280615809436,-0.6977710849950596,2.0977127811891636]},{"frame_idx":10,"position_3d":[0.6519164041652737,-0.7241839235388484,2.151924341766273]},{"frame_idx":11,"position_3d":[0.6535997354303659,-0.7508974481202192,2.2066247741253253]},{"frame_idx":12,"position_3d":[0.6484568865088699,-0.7775757206680133,2.2611261885914757]},{"frame_idx":13,"position_3d":[0.6365525317099241,-0.8038832464258477,2.314743198255355]},{"frame_idx":14,"position_3d":[0.6180363752021927,-0.8294891929933359,2.3668015381111256]}]}

scenefun3d_test/scenefun3d/scenefun3d_466112_44796521/interval_003/cam_1/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"44796521","intrinsics":{"fx":1593.82,"fy":1593.82,"cx":714.468,"cy":956.23},"T_base_to_cam":[[-0.6428600441448336,0.7653650791576149,-0.030777577035251413,1.0530404723437068],[-0.17038782168393019,-0.18205810240875775,-0.9684125348058688,67.25809710804714],[-0.7467924436306972,-0.617309600567965,0.2474467683820335,-15.076420441117907],[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":[-0.23686538484456432,1.2098538103421816,3.7087038906139895]},{"frame_idx":1,"position_3d":[-0.21925953911894103,1.2255902861067631,3.7724802969916875]},{"frame_idx":2,"position_3d":[-0.20911551378631651,1.2419353617289097,3.837710426047319]},{"frame_idx":3,"position_3d":[-0.20656087585094915,1.2586834883990392,3.903573971060607]},{"frame_idx":4,"position_3d":[-0.21162775136711165,1.2756240487067851,3.969242659738091]},{"frame_idx":5,"position_3d":[-0.2242524214353186,1.2925440052771355,4.033890670217791]},{"frame_idx":6,"position_3d":[-0.2442761235044581,1.309230579839031,4.096705016258275]},{"frame_idx":7,"position_3d":[-0.2714470479029882,1.3254739290355793,4.15689577101235]},{"frame_idx":8,"position_3d":[-0.3054235044916598,1.3410697833260234,4.213706000815497]},{"frame_idx":9,"position_3d":[-0.34577821961527105,1.3558220157937355,4.266421284065877]},{"frame_idx":10,"position_3d":[-0.39200370931679146,1.3695451085559893,4.314378695490496]},{"frame_idx":11,"position_3d":[-0.44351866124257056,1.3820664857589757,4.356975142815152]},{"frame_idx":12,"position_3d":[-0.49967524498247035,1.3932286838192949,4.393674950999703]},{"frame_idx":13,"position_3d":[-0.5597672589131527,1.40289133161988,4.424016598662503]},{"frame_idx":14,"position_3d":[-0.6230390110932408,1.4109329157582402,4.447618521979558]}]}

scenefun3d_test/scenefun3d/scenefun3d_466112_44796521/interval_004/cam_1/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"44796521","intrinsics":{"fx":1593.82,"fy":1593.82,"cx":714.491,"cy":956.253},"T_base_to_cam":[[-0.6667202977125176,0.7442952388412176,-0.038841241695222295,1.6798424003923207],[-0.15070216366144645,-0.1856663154908449,-0.970987578272664,67.41991275632947],[-0.7299129417169492,-0.6415236680983398,0.23595440403552703,-14.253686394394066],[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":[0.021974098967321387,1.1432514793057607,3.6901481414833697]},{"frame_idx":1,"position_3d":[0.0455666165007548,1.1617290853201132,3.770069890216774]},{"frame_idx":2,"position_3d":[0.059833856327223475,1.1810613540556498,3.851973638491584]},{"frame_idx":3,"position_3d":[0.06459639962786419,1.2010051710161775,3.9348293991515826]},{"frame_idx":4,"position_3d":[0.05979435465737941,1.2213097311317453,4.017595212932438]},{"frame_idx":5,"position_3d":[0.045488109917484365,1.24171969277792,4.099230251704012]},{"frame_idx":6,"position_3d":[0.02185757473645978,1.261978388844865,4.178707907487999]},{"frame_idx":7,"position_3d":[-0.010800083195037086,1.2818310544751697,4.2550287026489055]},{"frame_idx":8,"position_3d":[-0.052074174880103165,1.3010280308797477,4.3272328589052265]},{"frame_idx":9,"position_3d":[-0.10144565466801295,1.3193279049419666,4.394412367098211]},{"frame_idx":10,"position_3d":[-0.15829364755443365,1.3365005451276595,4.455722405933876]},{"frame_idx":11,"position_3d":[-0.22190325704484476,1.3523299955226935,4.510391966100946]},{"frame_idx":12,"position_3d":[-0.29147455539274925,1.36661719160389,4.557733546160305]},{"frame_idx":13,"position_3d":[-0.3661326431552147,1.3791824635909038,4.597151798274482]},{"frame_idx":14,"position_3d":[-0.4449386515609966,1.3898677958979573,4.628151015052138]}]}

scenefun3d_test/scenefun3d/scenefun3d_466112_44796521/interval_006/cam_26/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"44796521","intrinsics":{"fx":1594.72,"fy":1594.72,"cx":714.693,"cy":956.213},"T_base_to_cam":[[-0.640750487336874,-0.7619172975652391,-0.09445022312541929,6.102412552725238],[-0.39971329100603276,0.4360941644624583,-0.8062575052146291,54.915051692070435],[0.6554907306519941,-0.4788568798635705,-0.583976018888311,40.549809994302656],[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":[-0.1482133275169515,-0.14876902235994294,1.408341237610415]},{"frame_idx":1,"position_3d":[-0.147929673566134,-0.14877726955434956,1.408306746782185]},{"frame_idx":2,"position_3d":[-0.1476503774954861,-0.14876655355789184,1.4082467795444424]},{"frame_idx":3,"position_3d":[-0.14737895161514747,-0.1487370091304428,1.4081620900199956]},{"frame_idx":4,"position_3d":[-0.14711880926304838,-0.14868900781031968,1.4080537432287523]},{"frame_idx":5,"position_3d":[-0.14687322188020457,-0.14862315324197406,1.4079231016944767]},{"frame_idx":6,"position_3d":[-0.14664527787044845,-0.1485402735848126,1.4077718083102624]},{"frame_idx":7,"position_3d":[-0.14643784376195887,-0.14844141109861198,1.4076017656781983]},{"frame_idx":8,"position_3d":[-0.14625352815900616,-0.14832780903649753,1.4074151121830436]},{"frame_idx":9,"position_3d":[-0.14609464893723986,-0.1482008960103138,1.4072141951007988]},{"frame_idx":10,"position_3d":[-0.14596320409505756,-0.1480622680250017,1.407001541080348]},{"frame_idx":11,"position_3d":[-0.14586084662761575,-0.14791366840791034,1.406779824369383]},{"frame_idx":12,"position_3d":[-0.14578886373945674,-0.14775696588544418,1.4065518331841873]},{"frame_idx":13,"position_3d":[-0.14574816065716453,-0.14759413108274413,1.4063204346461982]},{"frame_idx":14,"position_3d":[-0.14573924924561546,-0.14742721174193313,1.4060885387262916]}]}

scenefun3d_test/scenefun3d/scenefun3d_468476_45261682/interval_007/cam_5/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"45261682","intrinsics":{"fx":1588.85,"fy":1588.85,"cx":742.036,"cy":968.614},"T_base_to_cam":[[0.3195405379505345,0.9474724032249864,0.013780048379859966,-2.6187444803408915],[0.1255845564256597,-0.02793097207698264,-0.9916896591102504,70.99913794575838],[-0.9392136944240395,0.3186156084153808,-0.12791297932752427,10.841050513558475],[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":[-0.28456431416998207,0.4370820502347783,3.737033931658729]},{"frame_idx":1,"position_3d":[-0.25146342831566204,0.44200903829133403,3.7024017049601827]},{"frame_idx":2,"position_3d":[-0.21465475587692429,0.4464844184303942,3.671670164360039]},{"frame_idx":3,"position_3d":[-0.17460118726657514,0.4504519101500341,3.6452257768122]},{"frame_idx":4,"position_3d":[-0.13180641934951157,0.45386161993988694,3.6234010958334704]},{"frame_idx":5,"position_3d":[-0.08680862116239335,0.4566706687209856,3.606470579450133]},{"frame_idx":6,"position_3d":[-0.040173666125754154,0.4588437310750597,3.5946471387290226]},{"frame_idx":7,"position_3d":[0.00751198414258912,0.46035347948216665,3.5880794602973274]},{"frame_idx":8,"position_3d":[0.0556486549226533,0.4611809279801106,3.5868501365219814]},{"frame_idx":9,"position_3d":[0.10363099964983213,0.46131567092393316,3.59097462686273]},{"frame_idx":10,"position_3d":[0.15085561249917645,0.460756013842936,3.600401063460453]},{"frame_idx":11,"position_3d":[0.19672861656374718,0.45950899474963336,3.615010903405589]},{"frame_idx":12,"position_3d":[0.24067313220129538,0.4575902956326608,3.6346204194840004]},{"frame_idx":13,"position_3d":[0.282136531630477,0.4550240452466694,3.6589830106532952]},{"frame_idx":14,"position_3d":[0.3205973885458454,0.45184251567923617,3.687792303194015]}]}

scenefun3d_test/scenefun3d/scenefun3d_468476_45261682/interval_009/cam_39/trajectory.json

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+{"camera_info":{"cam_id":"45261682","intrinsics":{"fx":1599.7,"fy":1599.7,"cx":741.667,"cy":968.381},"T_base_to_cam":[[0.9613516806477282,0.24722321622078416,0.121176018573147,-11.049421424517],[0.20837153556499918,-0.36564488868299166,-0.9071301552402978,65.24797060647934],[-0.1799562426871392,0.8973207323702345,-0.40302760944688815,27.582215028427967],[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":[-0.8959577359594935,0.4343830431233613,2.4125521941563655]},{"frame_idx":1,"position_3d":[-0.8933611069900689,0.4149445397967835,2.4039158882396463]},{"frame_idx":2,"position_3d":[-0.8907644780206443,0.39550603647020566,2.395279582322927]},{"frame_idx":3,"position_3d":[-0.8881678490512197,0.37606753314362784,2.386643276406208]},{"frame_idx":4,"position_3d":[-0.8855712200817951,0.35662902981705,2.378006970489489]},{"frame_idx":5,"position_3d":[-0.8829745911123705,0.3371905264904722,2.3693706645727697]},{"frame_idx":6,"position_3d":[-0.880377962142946,0.3177520231638944,2.3607343586560505]},{"frame_idx":7,"position_3d":[-0.8777813331735214,0.2983135198373166,2.3520980527393314]},{"frame_idx":8,"position_3d":[-0.8751847042040968,0.27887501651073876,2.343461746822612]},{"frame_idx":9,"position_3d":[-0.8725880752346722,0.25943651318416094,2.334825440905893]},{"frame_idx":10,"position_3d":[-0.8699914462652476,0.23999800985758313,2.326189134989174]},{"frame_idx":11,"position_3d":[-0.867394817295823,0.2205595065310053,2.3175528290724547]},{"frame_idx":12,"position_3d":[-0.8647981883263984,0.2011210032044275,2.3089165231557356]},{"frame_idx":13,"position_3d":[-0.8622015593569738,0.18168249987784968,2.3002802172390164]},{"frame_idx":14,"position_3d":[-0.8596049303875493,0.16224399655127186,2.2916439113222973]}]}