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robomind2_test/robomind2/robomind2_franka_1_add_sauce_to_pink_cup_with_both_arms_0509_135523/interval_000/cam_3/obs_frame_depth.npy

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robomind2_test/robomind2/robomind2_franka_2_open_pot_and_put_potato_with_arms_0522_183724/interval_000/cam_1/obs_frame_depth.npy

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robomind2_test/robomind2/robomind2_ur5_close_laptop_0428_143614/interval_001/cam_0/obs_frame_depth.npy

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scenefun3d_test/scenefun3d/scenefun3d_422842_42897547/interval_002/cam_12/trajectory.json

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scenefun3d_test/scenefun3d/scenefun3d_422842_42897547/interval_003/cam_12/trajectory.json

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scenefun3d_test/scenefun3d/scenefun3d_422842_42897547/interval_004/cam_8/trajectory.json

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scenefun3d_test/scenefun3d/scenefun3d_422842_42897547/interval_006/cam_5/trajectory.json

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scenefun3d_test/scenefun3d/scenefun3d_422842_42897547/interval_010/cam_2/trajectory.json

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scenefun3d_test/scenefun3d/scenefun3d_422842_42897547/interval_013/cam_16/trajectory.json

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scenefun3d_test/scenefun3d/scenefun3d_422842_42897547/interval_016/cam_9/trajectory.json

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scenefun3d_test/scenefun3d/scenefun3d_422842_42897547/interval_018/cam_2/trajectory.json

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scenefun3d_test/scenefun3d/scenefun3d_422842_42897547/interval_020/cam_5/trajectory.json

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+{"camera_info":{"cam_id":"42897547","intrinsics":{"fx":1604.67,"fy":1604.67,"cx":717.798,"cy":959.262},"T_base_to_cam":[[-0.7691772229471875,-0.63892362684448,0.01195820886037302,-4.123970656160302],[-0.0231380438010646,0.009144675158462068,-0.9996904550136038,254.7589442878231],[0.638616497303595,-0.7692158175545677,-0.02181731870660264,4.847047616108983],[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":[-0.024902055274274026,-0.19515095642623237,1.8887680598678531]},{"frame_idx":1,"position_3d":[-0.07813716838121088,-0.19508189649634197,1.8564251691825688]},{"frame_idx":2,"position_3d":[-0.1274172477034926,-0.19483992622651247,1.8183271397448058]},{"frame_idx":3,"position_3d":[-0.1721225676506735,-0.1944280885332814,1.7749530763797352]},{"frame_idx":4,"position_3d":[-0.2116909328857869,-0.1938515625145949,1.7268484331003908]},{"frame_idx":5,"position_3d":[-0.245624748257901,-0.19311759831964617,1.6746181537069744]},{"frame_idx":6,"position_3d":[-0.2734972763498532,-0.19223542597404264,1.6189190642675724]},{"frame_idx":7,"position_3d":[-0.29495800394886973,-0.19121613930687856,1.5604516131492494]},{"frame_idx":8,"position_3d":[-0.3097370499535887,-0.19007255643939744,1.499951062473424]},{"frame_idx":9,"position_3d":[-0.31764855928549857,-0.1888190585896801,1.4381782417680815]},{"frame_idx":10,"position_3d":[-0.31859304012438594,-0.1874714092204831,1.3759099800950172]},{"frame_idx":11,"position_3d":[-0.31255861507570126,-0.18604655580454849,1.3139293369736569]},{"frame_idx":12,"position_3d":[-0.2996211705356867,-0.18456241670030085,1.2530157549532583]},{"frame_idx":13,"position_3d":[-0.27994340237591314,-0.18303765581809367,1.1939352576706117]},{"frame_idx":14,"position_3d":[-0.25377276994829673,-0.18149144791070757,1.137430816658349]}]}

scenefun3d_test/scenefun3d/scenefun3d_423452_42897426/interval_002/cam_5/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"42897426","intrinsics":{"fx":1596.98,"fy":1596.98,"cx":963.044,"cy":695.223},"T_base_to_cam":[[-0.9996948774243095,-0.020353980906558947,-0.0139952675162093,2.0990503764725412],[0.016586367108113988,-0.133283386738567,-0.9909391662688747,240.51494345971244],[0.01830422021692549,-0.9908689390029102,0.13358031756773636,-33.128074139384275],[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":[0.636312876744878,0.77342072865369,3.205604897190348]},{"frame_idx":1,"position_3d":[0.6744568059521043,0.7650466057185392,3.1474794783592412]},{"frame_idx":2,"position_3d":[0.7189351539413431,0.7572045467123686,3.0939647303426208]},{"frame_idx":3,"position_3d":[0.769188579679691,0.7499931700772494,3.045733632146775]},{"frame_idx":4,"position_3d":[0.8245851171807714,0.7435031630585064,3.0033927178158524]},{"frame_idx":5,"position_3d":[0.8844281228436887,0.7378161412599901,2.9674744489143343]},{"frame_idx":6,"position_3d":[0.9479650361505109,0.7330036222805038,2.938430518513923]},{"frame_idx":7,"position_3d":[1.0143968435514288,0.7291261263385029,2.916626170891084]},{"frame_idx":8,"position_3d":[1.0828881265237436,0.7262324151952338,2.902335608368352]},{"frame_idx":9,"position_3d":[1.1525775674445105,0.7243588789472934,2.8957385430610283]},{"frame_idx":10,"position_3d":[1.2225887811593952,0.7235290784000505,2.8969179368930584]},{"frame_idx":11,"position_3d":[1.2920413360344807,0.7237534487768483,2.9058589583027046]},{"frame_idx":12,"position_3d":[1.3600618258949018,0.7250291684900158,2.922449168758039]},{"frame_idx":13,"position_3d":[1.4257948536142562,0.72734019462397,2.946479936736721]},{"frame_idx":14,"position_3d":[1.4884137882297819,0.730657464684188,2.977649061388443]}]}

scenefun3d_test/scenefun3d/scenefun3d_423452_42897426/interval_003/cam_4/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"42897426","intrinsics":{"fx":1606.93,"fy":1606.93,"cx":964.194,"cy":695.289},"T_base_to_cam":[[-0.15263094901208296,-0.980743412137244,0.1218447904223503,-32.56331442986386],[-0.18908160257752926,-0.09203275803705713,-0.9776390535442032,236.7483276479143],[0.9700267733265839,-0.17225658477250727,-0.17139348888486916,42.47356662505448],[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":[-1.0922278970972314,-0.3865249375537303,3.0803661394179542]},{"frame_idx":1,"position_3d":[-1.1622336956161892,-0.3899300498093156,3.050021514543534]},{"frame_idx":2,"position_3d":[-1.2350555165874806,-0.39507113157615803,3.0275770376458393]},{"frame_idx":3,"position_3d":[-1.309777583360187,-0.4018835307681144,3.0133149610444474]},{"frame_idx":4,"position_3d":[-1.3854602225898887,-0.4102815775126997,3.0074146386276706]},{"frame_idx":5,"position_3d":[-1.4611516811761818,-0.4201596614994407,3.0099502703733467]},{"frame_idx":6,"position_3d":[-1.5359000951101367,-0.43139356009080615,3.020889969241066]},{"frame_idx":7,"position_3d":[-1.608765459716494,-0.4438420004939499,3.040096162170206]},{"frame_idx":8,"position_3d":[-1.6788314507578592,-0.45734843634804906,3.0673273201409894]},{"frame_idx":9,"position_3d":[-1.7452169477436523,-0.4717430163856217,3.102240995542048]},{"frame_idx":10,"position_3d":[-1.8070871145315144,-0.48684472041076554,3.1443981286478273]},{"frame_idx":11,"position_3d":[-1.8636638978761813,-0.5024636357331516,3.193268569049384]},{"frame_idx":12,"position_3d":[-1.9142358119004794,-0.518403345430295,3.248237742603378]},{"frame_idx":13,"position_3d":[-1.9581668854430452,-0.5344633984043192,3.308614380058511]},{"frame_idx":14,"position_3d":[-1.9949046597646782,-0.5504418301708162,3.373639210167443]}]}

scenefun3d_test/scenefun3d/scenefun3d_423452_42897426/interval_004/cam_18/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"42897426","intrinsics":{"fx":1592.01,"fy":1592.01,"cx":964.534,"cy":695.617},"T_base_to_cam":[[-0.554192176814922,-0.8237621093962153,0.11952831580941753,-31.766587739191632],[-0.49694727103512276,0.2122334423372343,-0.8414275820083581,203.60428868891427],[0.6677682539383574,-0.5257118536582426,-0.5269844456483816,128.04643512207312],[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":[0.8805047199257423,0.34031438094996247,1.6035569750879262]},{"frame_idx":1,"position_3d":[0.8695708909020136,0.34849385889762813,1.5870423998026546]},{"frame_idx":2,"position_3d":[0.8586370618782848,0.3566733368452938,1.570527824517383]},{"frame_idx":3,"position_3d":[0.8477032328545561,0.36485281479295945,1.5540132492321115]},{"frame_idx":4,"position_3d":[0.8367694038308273,0.3730322927406251,1.53749867394684]},{"frame_idx":5,"position_3d":[0.8258355748070986,0.38121177068829076,1.5209840986615684]},{"frame_idx":6,"position_3d":[0.8149017457833698,0.3893912486359564,1.5044695233762968]},{"frame_idx":7,"position_3d":[0.8039679167596411,0.3975707265836221,1.4879549480910252]},{"frame_idx":8,"position_3d":[0.7930340877359123,0.40575020453128774,1.4714403728057537]},{"frame_idx":9,"position_3d":[0.7821002587121836,0.4139296824789534,1.4549257975204821]},{"frame_idx":10,"position_3d":[0.7711664296884548,0.42210916042661906,1.4384112222352106]},{"frame_idx":11,"position_3d":[0.7602326006647261,0.4302886383742847,1.421896646949939]},{"frame_idx":12,"position_3d":[0.7492987716409973,0.4384681163219504,1.4053820716646674]},{"frame_idx":13,"position_3d":[0.7383649426172686,0.44664759426961603,1.3888674963793959]},{"frame_idx":14,"position_3d":[0.7274311135935398,0.4548270722172817,1.3723529210941243]}]}

scenefun3d_test/scenefun3d/scenefun3d_423452_42897426/interval_005/cam_15/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"42897426","intrinsics":{"fx":1606.47,"fy":1606.47,"cx":964.288,"cy":695.306},"T_base_to_cam":[[-0.22680333320497126,-0.9640441443899428,0.13848875663597415,-36.619585051610954],[-0.2168184982065327,-0.0886480665838999,-0.9721786148267202,235.37531208603758],[0.9494998614442124,-0.2505202745455939,-0.1889169266080245,46.53410826688742],[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":[0.6858554819039782,-0.4634364785012508,1.5759396683928912]},{"frame_idx":1,"position_3d":[0.6358503332241806,-0.4640949588098516,1.5426711280635406]},{"frame_idx":2,"position_3d":[0.5825522716301279,-0.46632286290705216,1.5150650175062501]},{"frame_idx":3,"position_3d":[0.5266315511706209,-0.4700921736061702,1.493468499578716]},{"frame_idx":4,"position_3d":[0.4687914073513957,-0.4753554896381594,1.4781531630244686]},{"frame_idx":5,"position_3d":[0.40975921354061223,-0.48204662175007024,1.469311607086843]},{"frame_idx":6,"position_3d":[0.3502773338267177,-0.49008142507331026,1.467055019461745]},{"frame_idx":7,"position_3d":[0.2910937873593049,-0.4993588572941882,1.471411778047863]},{"frame_idx":8,"position_3d":[0.23295284157429502,-0.509762249319635,1.4823270940781261]},{"frame_idx":9,"position_3d":[0.17658565259909703,-0.5211607724587419,1.49966370112024]},{"frame_idx":10,"position_3d":[0.12270107054007892,-0.5334110836694577,1.5232035812817164]},{"frame_idx":11,"position_3d":[0.07197672528119561,-0.5463591281805112,1.552650706911368]},{"frame_idx":12,"position_3d":[0.02505050489502819,-0.5598420768195458,1.5876347633187817]},{"frame_idx":13,"position_3d":[-0.017487466169840017,-0.5736903736844364,1.627715805696412]},{"frame_idx":14,"position_3d":[-0.0551022482461626,-0.5877298684071381,1.672389791680798]}]}

scenefun3d_test/scenefun3d/scenefun3d_423452_42897426/interval_006/cam_14/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"42897426","intrinsics":{"fx":1592.47,"fy":1592.47,"cx":964.632,"cy":695.556},"T_base_to_cam":[[-0.8861599384469047,-0.43401873188928625,0.1623216062666767,-41.60950255169098],[-0.3359442301067738,0.3604741951811681,-0.8701722983791522,210.98654281535795],[0.3191583270882105,-0.8256428374168248,-0.46524387934990596,112.36832699669327],[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":[0.35835278272785587,-0.22318049168970333,2.3271935296518222]},{"frame_idx":1,"position_3d":[0.35801033881553734,-0.21359061680072733,2.3080336573858053]},{"frame_idx":2,"position_3d":[0.3576678949032188,-0.20400074191175133,2.2888737851197885]},{"frame_idx":3,"position_3d":[0.3573254509909003,-0.19441086702277532,2.2697139128537716]},{"frame_idx":4,"position_3d":[0.35698300707858177,-0.18482099213379932,2.2505540405877547]},{"frame_idx":5,"position_3d":[0.35664056316626325,-0.17523111724482332,2.2313941683217378]},{"frame_idx":6,"position_3d":[0.3562981192539447,-0.16564124235584732,2.212234296055721]},{"frame_idx":7,"position_3d":[0.3559556753416262,-0.15605136746687132,2.193074423789704]},{"frame_idx":8,"position_3d":[0.3556132314293077,-0.1464614925778953,2.173914551523687]},{"frame_idx":9,"position_3d":[0.35527078751698915,-0.1368716176889193,2.15475467925767]},{"frame_idx":10,"position_3d":[0.3549283436046706,-0.1272817427999433,2.1355948069916533]},{"frame_idx":11,"position_3d":[0.3545858996923521,-0.11769186791096731,2.1164349347256364]},{"frame_idx":12,"position_3d":[0.3542434557800336,-0.1081019930219913,2.0972750624596195]},{"frame_idx":13,"position_3d":[0.35390101186771505,-0.0985121181330153,2.0781151901936026]},{"frame_idx":14,"position_3d":[0.35355856795539653,-0.0889222432440393,2.0589553179275857]}]}

scenefun3d_test/scenefun3d/scenefun3d_437157_43649686/interval_000/cam_15/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"43649686","intrinsics":{"fx":1597.89,"fy":1597.89,"cx":714.541,"cy":956.563},"T_base_to_cam":[[-0.03783093443322283,-0.9973437111439951,-0.06224421452177009,-3.4981248082548007],[-0.40357119428966604,0.07223182950627227,-0.9120925687372906,-17.44466008798397],[0.9141658009023974,-0.009385342172757216,-0.4052317902297135,-6.2789413341410185],[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":[0.2513636055695132,-0.12430808857964948,0.9199880042936748]},{"frame_idx":1,"position_3d":[0.23338205477440022,-0.12890862061026365,0.9092790076316409]},{"frame_idx":2,"position_3d":[0.21540050397928723,-0.13350915264087782,0.8985700109696071]},{"frame_idx":3,"position_3d":[0.19741895318417424,-0.13810968467149198,0.8878610143075732]},{"frame_idx":4,"position_3d":[0.17943740238906125,-0.14271021670210615,0.8771520176455394]},{"frame_idx":5,"position_3d":[0.16145585159394826,-0.14731074873272032,0.8664430209835056]},{"frame_idx":6,"position_3d":[0.14347430079883527,-0.1519112807633345,0.8557340243214717]},{"frame_idx":7,"position_3d":[0.1254927500037223,-0.15651181279394866,0.8450250276594379]},{"frame_idx":8,"position_3d":[0.10751119920860931,-0.16111234482456283,0.834316030997404]},{"frame_idx":9,"position_3d":[0.08952964841349634,-0.165712876855177,0.8236070343353702]},{"frame_idx":10,"position_3d":[0.07154809761838336,-0.17031340888579116,0.8128980376733363]},{"frame_idx":11,"position_3d":[0.05356654682327039,-0.17491394091640533,0.8021890410113025]},{"frame_idx":12,"position_3d":[0.035584996028157415,-0.1795144729470195,0.7914800443492687]},{"frame_idx":13,"position_3d":[0.017603445233044437,-0.18411500497763367,0.7807710476872348]},{"frame_idx":14,"position_3d":[-0.0003781055620685411,-0.18871553700824784,0.770062051025201]}]}

scenefun3d_test/scenefun3d/scenefun3d_437157_43649686/interval_001/cam_35/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"43649686","intrinsics":{"fx":1597.89,"fy":1597.89,"cx":714.373,"cy":956.561},"T_base_to_cam":[[-0.31235069289780987,-0.9499098902723698,-0.010404086168052773,-2.65305741513385],[-0.39012389880730935,0.1382515974421148,-0.910324029883913,-17.250196880366815],[0.8661641808719881,-0.2802814588363587,-0.4137655321639542,-7.092773268513561],[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":[0.39640472250392245,0.3816122162222584,0.9779925137360816]},{"frame_idx":1,"position_3d":[0.37540402666031425,0.3799811089029823,0.9819287475282552]},{"frame_idx":2,"position_3d":[0.35440333081670605,0.37835000158370624,0.9858649813204288]},{"frame_idx":3,"position_3d":[0.33340263497309786,0.37671889426443017,0.9898012151126023]},{"frame_idx":4,"position_3d":[0.31240193912948966,0.3750877869451541,0.9937374489047759]},{"frame_idx":5,"position_3d":[0.29140124328588146,0.37345667962587803,0.9976736826969494]},{"frame_idx":6,"position_3d":[0.27040054744227326,0.37182557230660196,1.001609916489123]},{"frame_idx":7,"position_3d":[0.24939985159866507,0.3701944649873259,1.0055461502812966]},{"frame_idx":8,"position_3d":[0.22839915575505687,0.3685633576680498,1.0094823840734701]},{"frame_idx":9,"position_3d":[0.20739845991144867,0.36693225034877375,1.0134186178656437]},{"frame_idx":10,"position_3d":[0.18639776406784048,0.3653011430294977,1.0173548516578172]},{"frame_idx":11,"position_3d":[0.16539706822423228,0.3636700357102216,1.0212910854499908]},{"frame_idx":12,"position_3d":[0.14439637238062408,0.36203892839094554,1.0252273192421644]},{"frame_idx":13,"position_3d":[0.12339567653701589,0.36040782107166947,1.029163553034338]},{"frame_idx":14,"position_3d":[0.10239498069340769,0.3587767137523934,1.0330997868265115]}]}

scenefun3d_test/scenefun3d/scenefun3d_437157_43649686/interval_002/cam_1/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"43649686","intrinsics":{"fx":1625.0,"fy":1625.0,"cx":714.17,"cy":956.688},"T_base_to_cam":[[-0.8736128569628726,-0.4815773857818272,0.06988417312030487,-0.8109225481865554],[-0.17403112880424834,0.1750798370323724,-0.969051194143961,-17.719933253574826],[0.45443783112356156,-0.8587376037930672,-0.23676145268065574,-5.187332853895788],[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":[-0.42312008836262116,0.481056507158673,1.0194811216347128]},{"frame_idx":1,"position_3d":[-0.4117817521845849,0.4860320502848722,1.001991988529194]},{"frame_idx":2,"position_3d":[-0.40044341600654865,0.49100759341107136,0.9845028554236751]},{"frame_idx":3,"position_3d":[-0.3891050798285124,0.49598313653727055,0.9670137223181563]},{"frame_idx":4,"position_3d":[-0.37776674365047613,0.5009586796634697,0.9495245892126375]},{"frame_idx":5,"position_3d":[-0.3664284074724399,0.5059342227896689,0.9320354561071187]},{"frame_idx":6,"position_3d":[-0.3550900712944036,0.5109097659158681,0.9145463230015999]},{"frame_idx":7,"position_3d":[-0.34375173511636736,0.5158853090420673,0.8970571898960811]},{"frame_idx":8,"position_3d":[-0.3324133989383311,0.5208608521682665,0.8795680567905623]},{"frame_idx":9,"position_3d":[-0.32107506276029485,0.5258363952944657,0.8620789236850435]},{"frame_idx":10,"position_3d":[-0.3097367265822586,0.5308119384206649,0.8445897905795247]},{"frame_idx":11,"position_3d":[-0.29839839040422234,0.5357874815468641,0.8271006574740059]},{"frame_idx":12,"position_3d":[-0.2870600542261861,0.5407630246730633,0.809611524368487]},{"frame_idx":13,"position_3d":[-0.2757217180481498,0.5457385677992624,0.7921223912629682]},{"frame_idx":14,"position_3d":[-0.26438338187011357,0.5507141109254616,0.7746332581574494]}]}

scenefun3d_test/scenefun3d/scenefun3d_437157_43649686/interval_003/cam_5/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"43649686","intrinsics":{"fx":1596.08,"fy":1596.08,"cx":714.391,"cy":956.614},"T_base_to_cam":[[-0.7572912241452009,-0.653063702398673,-0.004219294016857722,-2.9243169375114673],[-0.23783823856265038,0.2818021550289582,-0.9295270397887581,-17.04814739767838],[0.6082293762307761,-0.7029191603807461,-0.3687298195963383,-6.347817552058605],[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":[-0.33852224251036,-0.3688647391409532,1.5759775713144153]},{"frame_idx":1,"position_3d":[-0.379343678802094,-0.3617347619213357,1.558470799055329]},{"frame_idx":2,"position_3d":[-0.41779207996344786,-0.3529725885490424,1.5368222869370942]},{"frame_idx":3,"position_3d":[-0.4533839350415355,-0.3426884084381613,1.5113042775603571]},{"frame_idx":4,"position_3d":[-0.48567165580787475,-0.33101155112060693,1.482237674698924]},{"frame_idx":5,"position_3d":[-0.5142492054400568,-0.3180888598522181,1.4499880077486136]},{"frame_idx":6,"position_3d":[-0.5387572046703766,-0.3040828449736148,1.4149608349830183]},{"frame_idx":7,"position_3d":[-0.5588874511886404,-0.28916964024837466,1.3775966434229043]},{"frame_idx":8,"position_3d":[-0.5743867954650399,-0.27353678787876046,1.3383653094563495]},{"frame_idx":9,"position_3d":[-0.5850603242523704,-0.25738088005371235,1.297760189870533]},{"frame_idx":10,"position_3d":[-0.5907738117332056,-0.2409050866880064,1.256291917603886]},{"frame_idx":11,"position_3d":[-0.5914554074874314,-0.2243166004426943,1.2144819802406133]},{"frame_idx":12,"position_3d":[-0.5870965400529673,-0.20782403115717477,1.1728561620017488]},{"frame_idx":13,"position_3d":[-0.5777520247168754,-0.1916347824594248,1.1319379317035085]},{"frame_idx":14,"position_3d":[-0.5635393741813212,-0.1759524435450395,1.092241859833203]}]}

scenefun3d_test/scenefun3d/scenefun3d_437157_43649686/interval_004/cam_14/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"43649686","intrinsics":{"fx":1592.92,"fy":1592.92,"cx":714.285,"cy":956.5},"T_base_to_cam":[[-0.4329831744364628,-0.9004035901210912,0.042413978261581664,0.7166245636273868],[-0.4162223709296453,0.15797174035094141,-0.8954350156143103,-17.087087895715868],[0.799552692818071,-0.4053619421548418,-0.44316722268216807,-8.194013648544951],[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":[0.06452395516536069,-0.23396623561512797,0.7148427288261949]},{"frame_idx":1,"position_3d":[0.063242997224397,-0.22462734349870386,0.6955988229269067]},{"frame_idx":2,"position_3d":[0.0619620392834333,-0.21528845138227976,0.6763549170276184]},{"frame_idx":3,"position_3d":[0.060681081342469606,-0.20594955926585565,0.6571110111283301]},{"frame_idx":4,"position_3d":[0.05940012340150591,-0.19661066714943154,0.6378671052290419]},{"frame_idx":5,"position_3d":[0.058119165460542216,-0.18727177503300743,0.6186231993297536]},{"frame_idx":6,"position_3d":[0.05683820751957852,-0.17793288291658332,0.5993792934304654]},{"frame_idx":7,"position_3d":[0.055557249578614826,-0.16859399080015922,0.5801353875311771]},{"frame_idx":8,"position_3d":[0.05427629163765113,-0.1592550986837351,0.5608914816318888]},{"frame_idx":9,"position_3d":[0.052995333696687436,-0.149916206567311,0.5416475757326006]},{"frame_idx":10,"position_3d":[0.05171437575572374,-0.1405773144508869,0.5224036698333123]},{"frame_idx":11,"position_3d":[0.050433417814760045,-0.13123842233446278,0.5031597639340241]},{"frame_idx":12,"position_3d":[0.04915245987379635,-0.12189953021803866,0.4839158580347358]},{"frame_idx":13,"position_3d":[0.047871501932832655,-0.11256063810161454,0.46467195213544754]},{"frame_idx":14,"position_3d":[0.04659054399186896,-0.10322174598519042,0.4454280462361593]}]}

scenefun3d_test/scenefun3d/scenefun3d_437157_43649686/interval_005/cam_14/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"43649686","intrinsics":{"fx":1625.0,"fy":1625.0,"cx":714.172,"cy":956.684},"T_base_to_cam":[[-0.8745725653024998,-0.48004180255030454,0.06843022595651102,-0.8320765418496328],[-0.18082441181089387,0.191933036215152,-0.9646057441786656,-17.64507567669155],[0.44991705914918245,-0.8559915755505351,-0.25466264443978326,-5.522745246034125],[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":[-0.10183373434367948,0.46993358679837627,1.3145511892676334]},{"frame_idx":1,"position_3d":[-0.12004215002830787,0.4715176686559682,1.303365128459931]},{"frame_idx":2,"position_3d":[-0.13825056571293626,0.4731017505135602,1.2921790676522287]},{"frame_idx":3,"position_3d":[-0.15645898139756464,0.47468583237115214,1.2809930068445263]},{"frame_idx":4,"position_3d":[-0.17466739708219303,0.4762699142287441,1.269806946036824]},{"frame_idx":5,"position_3d":[-0.19287581276682142,0.47785399608633605,1.2586208852291216]},{"frame_idx":6,"position_3d":[-0.2110842284514498,0.479438077943928,1.2474348244214193]},{"frame_idx":7,"position_3d":[-0.2292926441360782,0.48102215980151997,1.236248763613717]},{"frame_idx":8,"position_3d":[-0.24750105982070658,0.4826062416591119,1.2250627028060146]},{"frame_idx":9,"position_3d":[-0.26570947550533497,0.4841903235167039,1.2138766419983122]},{"frame_idx":10,"position_3d":[-0.28391789118996336,0.48577440537429584,1.20269058119061]},{"frame_idx":11,"position_3d":[-0.30212630687459174,0.4873584872318878,1.1915045203829076]},{"frame_idx":12,"position_3d":[-0.32033472255922013,0.48894256908947975,1.1803184595752052]},{"frame_idx":13,"position_3d":[-0.3385431382438485,0.4905266509470717,1.1691323987675029]},{"frame_idx":14,"position_3d":[-0.3567515539284769,0.49211073280466366,1.1579463379598005]}]}

scenefun3d_test/scenefun3d/scenefun3d_437157_43649686/interval_007/cam_9/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"43649686","intrinsics":{"fx":1597.89,"fy":1597.89,"cx":714.113,"cy":956.1},"T_base_to_cam":[[0.3798918852438892,-0.9208187946192823,0.08817541041433269,1.4438788299694836],[0.2849712192440154,0.025813543217529766,-0.9581884288537075,-16.478244869201458],[0.880041794307761,0.3891354628692288,0.2722132102031935,7.398021813156593],[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":[0.22024506685841794,1.2049300364970215,3.0228091655084395]},{"frame_idx":1,"position_3d":[0.2333764689555943,1.2012851179078254,3.006272402798955]},{"frame_idx":2,"position_3d":[0.24650787105277067,1.1976401993186294,2.989735640089471]},{"frame_idx":3,"position_3d":[0.25963927314994706,1.1939952807294334,2.9731988773799864]},{"frame_idx":4,"position_3d":[0.27277067524712345,1.1903503621402374,2.956662114670502]},{"frame_idx":5,"position_3d":[0.28590207734429984,1.1867054435510414,2.9401253519610178]},{"frame_idx":6,"position_3d":[0.29903347944147624,1.1830605249618453,2.9235885892515334]},{"frame_idx":7,"position_3d":[0.3121648815386526,1.1794156063726493,2.907051826542049]},{"frame_idx":8,"position_3d":[0.325296283635829,1.1757706877834533,2.8905150638325647]},{"frame_idx":9,"position_3d":[0.3384276857330054,1.1721257691942573,2.8739783011230804]},{"frame_idx":10,"position_3d":[0.3515590878301818,1.1684808506050612,2.857441538413596]},{"frame_idx":11,"position_3d":[0.3646904899273582,1.1648359320158652,2.8409047757041117]},{"frame_idx":12,"position_3d":[0.3778218920245346,1.1611910134266692,2.8243680129946274]},{"frame_idx":13,"position_3d":[0.390953294121711,1.1575460948374732,2.807831250285143]},{"frame_idx":14,"position_3d":[0.4040846962188874,1.1539011762482771,2.7912944875756587]}]}

scenefun3d_test/scenefun3d/scenefun3d_437157_43649686/interval_008/cam_12/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"43649686","intrinsics":{"fx":1596.53,"fy":1596.53,"cx":714.417,"cy":956.629},"T_base_to_cam":[[-0.8061037961865997,0.5916631302123085,-0.011463425357451318,-1.690026303639751],[0.02332983564053931,0.012417281846704209,-0.9996507039363922,-17.940376485394363],[-0.5913141200263514,-0.8060896671331992,-0.023813021617367758,-2.417027644305923],[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":[0.2521870015223149,0.24871355414656193,1.473148986788698]},{"frame_idx":1,"position_3d":[0.23095078827995966,0.24930070908814764,1.4703450307139394]},{"frame_idx":2,"position_3d":[0.20971457503760443,0.24988786402973334,1.4675410746391808]},{"frame_idx":3,"position_3d":[0.1884783617952492,0.250475018971319,1.4647371185644222]},{"frame_idx":4,"position_3d":[0.167242148552894,0.2510621739129047,1.4619331624896637]},{"frame_idx":5,"position_3d":[0.14600593531053876,0.2516493288544904,1.459129206414905]},{"frame_idx":6,"position_3d":[0.12476972206818354,0.25223648379607605,1.4563252503401465]},{"frame_idx":7,"position_3d":[0.10353350882582832,0.2528236387376617,1.453521294265388]},{"frame_idx":8,"position_3d":[0.0822972955834731,0.2534107936792474,1.4507173381906293]},{"frame_idx":9,"position_3d":[0.06106108234111788,0.2539979486208331,1.4479133821158707]},{"frame_idx":10,"position_3d":[0.039824869098762664,0.25458510356241876,1.4451094260411121]},{"frame_idx":11,"position_3d":[0.018588655856407447,0.25517225850400443,1.4423054699663536]},{"frame_idx":12,"position_3d":[-0.0026475573859477686,0.2557594134455901,1.439501513891595]},{"frame_idx":13,"position_3d":[-0.023883770628302985,0.2563465683871758,1.4366975578168364]},{"frame_idx":14,"position_3d":[-0.0451199838706582,0.25693372332876147,1.4338936017420778]}]}

scenefun3d_test/scenefun3d/scenefun3d_437157_43649688/interval_000/cam_10/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"43649688","intrinsics":{"fx":1598.34,"fy":1598.34,"cx":714.274,"cy":956.666},"T_base_to_cam":[[-0.49896446047844867,-0.8660635591598689,0.031118783311550213,-1.7464633656692046],[-0.0702461561215803,0.004628712685917025,-0.9975189484761751,-18.5482323950052],[0.8637707709396014,-0.499912478854261,-0.06314719911599376,0.21614864942485917],[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":[0.15239817991618665,0.3800014385132613,2.2146803961809685]},{"frame_idx":1,"position_3d":[0.14098652143667262,0.37096183414405765,2.198956424765814]},{"frame_idx":2,"position_3d":[0.1295748629571586,0.361922229774854,2.1832324533506595]},{"frame_idx":3,"position_3d":[0.11816320447764456,0.35288262540565035,2.167508481935505]},{"frame_idx":4,"position_3d":[0.10675154599813053,0.3438430210364467,2.1517845105203506]},{"frame_idx":5,"position_3d":[0.0953398875186165,0.33480341666724306,2.136060539105196]},{"frame_idx":6,"position_3d":[0.08392822903910246,0.3257638122980394,2.1203365676900416]},{"frame_idx":7,"position_3d":[0.07251657055958843,0.31672420792883577,2.104612596274887]},{"frame_idx":8,"position_3d":[0.0611049120800744,0.3076846035596321,2.0888886248597327]},{"frame_idx":9,"position_3d":[0.04969325360056037,0.2986449991904285,2.0731646534445782]},{"frame_idx":10,"position_3d":[0.03828159512104634,0.2896053948212248,2.0574406820294238]},{"frame_idx":11,"position_3d":[0.02686993664153231,0.2805657904520212,2.0417167106142693]},{"frame_idx":12,"position_3d":[0.01545827816201828,0.27152618608281753,2.025992739199115]},{"frame_idx":13,"position_3d":[0.004046619682504249,0.2624865817136139,2.0102687677839604]},{"frame_idx":14,"position_3d":[-0.007365038797009782,0.25344697734441024,1.9945447963688059]}]}

scenefun3d_test/scenefun3d/scenefun3d_437157_43649688/interval_001/cam_20/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"43649688","intrinsics":{"fx":1598.34,"fy":1598.34,"cx":714.299,"cy":956.655},"T_base_to_cam":[[-0.4964943778008023,-0.8677499289973218,0.022436433257921107,-1.9092750072512918],[-0.04825389615745329,0.001783378725176199,-0.9988335101837285,-18.51668647868705],[0.866697694884335,-0.4969978674858329,-0.04275775247501379,0.6064894483929896],[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":[0.4335635597997529,0.9181529946829023,2.060894396287017]},{"frame_idx":1,"position_3d":[0.4121422285314314,0.9175998879267675,2.060828722254577]},{"frame_idx":2,"position_3d":[0.3907208972631099,0.9170467811706327,2.0607630482221366]},{"frame_idx":3,"position_3d":[0.36929956599478836,0.9164936744144978,2.0606973741896963]},{"frame_idx":4,"position_3d":[0.34787823472646684,0.915940567658363,2.060631700157256]},{"frame_idx":5,"position_3d":[0.3264569034581453,0.9153874609022281,2.0605660261248158]},{"frame_idx":6,"position_3d":[0.3050355721898238,0.9148343541460933,2.0605003520923755]},{"frame_idx":7,"position_3d":[0.2836142409215023,0.9142812473899584,2.060434678059935]},{"frame_idx":8,"position_3d":[0.26219290965318076,0.9137281406338236,2.060369004027495]},{"frame_idx":9,"position_3d":[0.24077157838485924,0.9131750338776887,2.0603033299950546]},{"frame_idx":10,"position_3d":[0.21935024711653772,0.9126219271215539,2.0602376559626143]},{"frame_idx":11,"position_3d":[0.1979289158482162,0.912068820365419,2.060171981930174]},{"frame_idx":12,"position_3d":[0.17650758457989468,0.9115157136092842,2.0601063078977337]},{"frame_idx":13,"position_3d":[0.15508625331157316,0.9109626068531493,2.0600406338652935]},{"frame_idx":14,"position_3d":[0.13366492204325164,0.9104095000970145,2.059974959832853]}]}

scenefun3d_test/scenefun3d/scenefun3d_437157_43649688/interval_002/cam_3/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"43649688","intrinsics":{"fx":1596.53,"fy":1596.53,"cx":714.263,"cy":956.418},"T_base_to_cam":[[-0.7316269389580206,-0.6796855678903357,0.052436161115290425,-1.359944272692594],[-0.3708640739009612,0.3323029906379852,-0.8671992626280499,-16.636188765903015],[0.5719981301372403,-0.6539130303141564,-0.4951927785265632,-8.464332089940463],[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":[-0.274970931691944,-0.60992913442184,2.115497484239203]},{"frame_idx":1,"position_3d":[-0.26835851883127715,-0.5996179797407785,2.097915113557958]},{"frame_idx":2,"position_3d":[-0.2617461059706103,-0.5893068250597169,2.0803327428767133]},{"frame_idx":3,"position_3d":[-0.2551336931099435,-0.5789956703786553,2.0627503721954685]},{"frame_idx":4,"position_3d":[-0.2485212802492767,-0.5686845156975937,2.0451680015142237]},{"frame_idx":5,"position_3d":[-0.2419088673886099,-0.5583733610165321,2.027585630832979]},{"frame_idx":6,"position_3d":[-0.2352964545279431,-0.5480622063354705,2.010003260151734]},{"frame_idx":7,"position_3d":[-0.2286840416672763,-0.537751051654409,1.9924208894704893]},{"frame_idx":8,"position_3d":[-0.2220716288066095,-0.5274398969733474,1.9748385187892445]},{"frame_idx":9,"position_3d":[-0.2154592159459427,-0.5171287422922858,1.9572561481079997]},{"frame_idx":10,"position_3d":[-0.2088468030852759,-0.5068175876112242,1.939673777426755]},{"frame_idx":11,"position_3d":[-0.2022343902246091,-0.4965064329301626,1.9220914067455102]},{"frame_idx":12,"position_3d":[-0.1956219773639423,-0.486195278249101,1.9045090360642654]},{"frame_idx":13,"position_3d":[-0.1890095645032755,-0.47588412356803944,1.8869266653830206]},{"frame_idx":14,"position_3d":[-0.1823971516426087,-0.46557296888697786,1.8693442947017758]}]}

scenefun3d_test/scenefun3d/scenefun3d_437157_43649688/interval_003/cam_4/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"43649688","intrinsics":{"fx":1599.24,"fy":1599.24,"cx":714.55,"cy":956.289},"T_base_to_cam":[[-0.9695554960204679,0.23415487476009123,-0.07164938773353563,-2.8824956221951674],[0.0250330314992684,-0.19628774655250358,-0.9802267430994203,-17.842963310826836],[-0.24358876712701916,-0.952177827498323,0.18445025711587615,3.2949546521710666],[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":[-1.0885275794419362,0.7034493976761738,2.599549969463581]},{"frame_idx":1,"position_3d":[-1.0969377499339834,0.6958715449016531,2.556011957443896]},{"frame_idx":2,"position_3d":[-1.1003602203610483,0.687818384235802,2.511885473214244]},{"frame_idx":3,"position_3d":[-1.0987519511717472,0.679391188846546,2.467725432916596]},{"frame_idx":4,"position_3d":[-1.092133167284275,0.6706959356054778,2.4240871746799466]},{"frame_idx":5,"position_3d":[-1.0805871037463244,0.6618419723672072,2.381519474921129]},{"frame_idx":6,"position_3d":[-1.0642589590060676,0.6529406428566447,2.3405576471629654]},{"frame_idx":7,"position_3d":[-1.0433540689574232,0.6441038864570571,2.3017168101561203]},{"frame_idx":8,"position_3d":[-1.0181353247220528,0.6354428305073748,2.2654854099619337]},{"frame_idx":9,"position_3d":[-0.9889198666409725,0.6270663928114268,2.232319077459795]},{"frame_idx":10,"position_3d":[-0.9560750960507555,0.6190799119333621,2.2026348985244733]},{"frame_idx":11,"position_3d":[-0.9200140549985534,0.6115838225040863,2.176806168929242]},{"frame_idx":12,"position_3d":[-0.8811902319987011,0.604672392197505,2.1551576999349398]},{"frame_idx":13,"position_3d":[-0.8400918591515285,0.5984325362598288,2.1379617335999033]},{"frame_idx":14,"position_3d":[-0.7972357723414203,0.5929427244999228,2.1254345191781283]}]}

scenefun3d_test/scenefun3d/scenefun3d_437157_43649688/interval_004/cam_0/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"43649688","intrinsics":{"fx":1595.63,"fy":1595.63,"cx":714.479,"cy":956.416},"T_base_to_cam":[[0.29416174950705676,-0.955421797374475,-0.025259735324735466,-0.0522072371471941],[-0.4930063608622197,-0.12904255519450114,-0.8604026656736166,-16.8150442392266],[0.8187878805138354,0.26555076360387675,-0.5089884072089061,-7.888497843964015],[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":[0.8900807696125493,-0.5560259499116569,2.0401014744886448]},{"frame_idx":1,"position_3d":[0.8746070725019325,-0.5482392234680494,2.02748738464868]},{"frame_idx":2,"position_3d":[0.8591333753913156,-0.540452497024442,2.014873294808715]},{"frame_idx":3,"position_3d":[0.8436596782806988,-0.5326657705808345,2.00225920496875]},{"frame_idx":4,"position_3d":[0.8281859811700819,-0.5248790441372271,1.9896451151287853]},{"frame_idx":5,"position_3d":[0.812712284059465,-0.5170923176936196,1.9770310252888206]},{"frame_idx":6,"position_3d":[0.7972385869488482,-0.5093055912500122,1.9644169354488559]},{"frame_idx":7,"position_3d":[0.7817648898382313,-0.5015188648064047,1.9518028456088912]},{"frame_idx":8,"position_3d":[0.7662911927276145,-0.49373213836279733,1.9391887557689265]},{"frame_idx":9,"position_3d":[0.7508174956169976,-0.48594541191918994,1.9265746659289618]},{"frame_idx":10,"position_3d":[0.7353437985063808,-0.47815868547558255,1.913960576088997]},{"frame_idx":11,"position_3d":[0.7198701013957639,-0.47037195903197515,1.9013464862490324]},{"frame_idx":12,"position_3d":[0.704396404285147,-0.46258523258836776,1.8887323964090676]},{"frame_idx":13,"position_3d":[0.6889227071745302,-0.45479850614476036,1.876118306569103]},{"frame_idx":14,"position_3d":[0.6734490100639133,-0.44701177970115297,1.8635042167291382]}]}

scenefun3d_test/scenefun3d/scenefun3d_437157_43649688/interval_005/cam_22/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"43649688","intrinsics":{"fx":1596.53,"fy":1596.53,"cx":714.371,"cy":956.485},"T_base_to_cam":[[-0.5718445173988426,-0.8203125690331382,0.009007608291757674,-2.1400040677556675],[-0.3760928352146474,0.25238662917599564,-0.8915465039544411,-17.083402884313394],[0.7290734031776862,-0.5132136772334027,-0.45283959000895196,-7.359569796957926],[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":[0.4030664231280512,-0.3697483112258624,2.1073188687197693]},{"frame_idx":1,"position_3d":[0.3817282597061974,-0.3691040168925325,2.105461090459673]},{"frame_idx":2,"position_3d":[0.3603900962843436,-0.3684597225592027,2.103603312199577]},{"frame_idx":3,"position_3d":[0.3390519328624898,-0.3678154282258728,2.101745533939481]},{"frame_idx":4,"position_3d":[0.317713769440636,-0.36717113389254297,2.0998877556793847]},{"frame_idx":5,"position_3d":[0.2963756060187822,-0.3665268395592131,2.0980299774192885]},{"frame_idx":6,"position_3d":[0.2750374425969284,-0.36588254522588326,2.0961721991591924]},{"frame_idx":7,"position_3d":[0.2536992791750746,-0.3652382508925534,2.0943144208990963]},{"frame_idx":8,"position_3d":[0.2323611157532208,-0.36459395655922355,2.092456642639]},{"frame_idx":9,"position_3d":[0.21102295233136698,-0.3639496622258937,2.090598864378904]},{"frame_idx":10,"position_3d":[0.18968478890951315,-0.36330536789256385,2.088741086118808]},{"frame_idx":11,"position_3d":[0.16834662548765933,-0.362661073559234,2.0868833078587117]},{"frame_idx":12,"position_3d":[0.1470084620658055,-0.36201677922590414,2.0850255295986155]},{"frame_idx":13,"position_3d":[0.12567029864395168,-0.3613724848925743,2.0831677513385194]},{"frame_idx":14,"position_3d":[0.10433213522209786,-0.36072819055924443,2.0813099730784232]}]}

scenefun3d_test/scenefun3d/scenefun3d_437157_43649688/interval_006/cam_12/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"43649688","intrinsics":{"fx":1609.64,"fy":1609.64,"cx":714.312,"cy":956.104},"T_base_to_cam":[[0.9007979544245116,-0.43363889566646113,0.022811257523152995,2.3450568706801933],[0.13553858928302093,0.23087016783676548,-0.963497927562998,-16.78951765603801],[0.41254373843240444,0.8710087679054648,0.26674217910188125,6.892301754325607],[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":[0.4655163709559731,1.382746655672257,2.369107521810479]},{"frame_idx":1,"position_3d":[0.47252720264597753,1.421753104976301,2.4886976072227083]},{"frame_idx":2,"position_3d":[0.4798210675900464,1.4471016326121697,2.6118913370066146]},{"frame_idx":3,"position_3d":[0.48730624120450894,1.4584734661372838,2.7371394785314984]},{"frame_idx":4,"position_3d":[0.4948885930881644,1.4557255981469734,2.86286696374702]},{"frame_idx":5,"position_3d":[0.5024727707666928,1.438892584675567,2.9874926965778075]},{"frame_idx":6,"position_3d":[0.5099633988053444,1.408186110634209,3.1094494361239797]},{"frame_idx":7,"position_3d":[0.5172662782103692,1.3639923277502812,3.2272035056247947]},{"frame_idx":8,"position_3d":[0.5242895710360199,1.306866998485379,3.3392740793337774]},{"frame_idx":9,"position_3d":[0.5309449553000046,1.2375285069998962,3.444251804761676]},{"frame_idx":10,"position_3d":[0.5371487356836597,1.1568488250553932,3.5408165261017395]},{"frame_idx":11,"position_3d":[0.5428228960491435,1.0658425464637635,3.62775388595496]},{"frame_idx":12,"position_3d":[0.5478960805376355,0.96565412798137,3.703970596578952]},{"frame_idx":13,"position_3d":[0.5523044909106627,0.8575434971013028,3.768508188615654]},{"frame_idx":14,"position_3d":[0.5559926888499651,0.7428702077341283,3.820555064399621]}]}

scenefun3d_test/scenefun3d/scenefun3d_437157_43649688/interval_008/cam_8/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"43649688","intrinsics":{"fx":1599.24,"fy":1599.24,"cx":714.516,"cy":956.051},"T_base_to_cam":[[-0.8976136293989732,0.4369974627980536,-0.05764537991258878,-2.6029586275927494],[-0.0779765458074139,-0.28614496228931463,-0.9550082297343779,-17.50612085842399],[-0.4338311084064249,-0.8527334155904235,0.2909231708103396,4.931136588501386],[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":[0.7715558945504548,0.7404919109485917,2.6025238266184276]},{"frame_idx":1,"position_3d":[0.750205579739804,0.7422374745909839,2.603072222940306]},{"frame_idx":2,"position_3d":[0.7288552649291531,0.7439830382333761,2.603620619262184]},{"frame_idx":3,"position_3d":[0.7075049501185022,0.7457286018757683,2.604169015584062]},{"frame_idx":4,"position_3d":[0.6861546353078514,0.7474741655181605,2.6047174119059404]},{"frame_idx":5,"position_3d":[0.6648043204972005,0.7492197291605527,2.6052658082278186]},{"frame_idx":6,"position_3d":[0.6434540056865496,0.7509652928029449,2.605814204549697]},{"frame_idx":7,"position_3d":[0.6221036908758988,0.7527108564453371,2.606362600871575]},{"frame_idx":8,"position_3d":[0.6007533760652479,0.7544564200877293,2.606910997193453]},{"frame_idx":9,"position_3d":[0.5794030612545971,0.7562019837301215,2.6074593935153314]},{"frame_idx":10,"position_3d":[0.5580527464439462,0.7579475473725137,2.6080077898372096]},{"frame_idx":11,"position_3d":[0.5367024316332953,0.7596931110149059,2.608556186159088]},{"frame_idx":12,"position_3d":[0.5153521168226445,0.7614386746572981,2.609104582480966]},{"frame_idx":13,"position_3d":[0.4940018020119936,0.7631842382996903,2.609652978802844]},{"frame_idx":14,"position_3d":[0.47265148720134276,0.7649298019420825,2.6102013751247224]}]}

scenefun3d_test/scenefun3d/scenefun3d_438102_43896244/interval_000/cam_7/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"43896244","intrinsics":{"fx":1594.72,"fy":1594.72,"cx":963.618,"cy":695.309},"T_base_to_cam":[[0.2799143741435154,-0.9600039489104049,-0.006353048423581531,1.9996606196713584],[-0.2764309434432059,-0.07425985591729439,-0.9581604287937597,308.20906511319686],[0.9193660188711255,0.2699590559243588,-0.28616119839958365,93.51716609317401],[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":[-0.25191557948770726,-0.21264006259087864,1.9375464739507748]},{"frame_idx":1,"position_3d":[-0.19086221712540155,-0.22456381914174686,1.9761156328158789]},{"frame_idx":2,"position_3d":[-0.13471247800313996,-0.2383413096968224,2.021000558928058]},{"frame_idx":3,"position_3d":[-0.08417247766922241,-0.253799274318489,2.071636798298611]},{"frame_idx":4,"position_3d":[-0.03987778595183915,-0.27074332013270913,2.1273875708376226]},{"frame_idx":5,"position_3d":[-0.0023854342997150432,-0.28896036593220464,2.187551778233063]},{"frame_idx":6,"position_3d":[0.027833089211555313,-0.30822132179627076,2.2513728206688484]},{"frame_idx":7,"position_3d":[0.05039776911562195,-0.32828397002944987,2.3180481115065175]},{"frame_idx":8,"position_3d":[0.065024841470359,-0.3488960111895901,2.3867391702778815]},{"frame_idx":9,"position_3d":[0.07153036235408058,-0.36979823689971797,2.4565821670634103]},{"frame_idx":10,"position_3d":[0.06983252106708275,-0.39072778954377463,2.5266987856546748]},{"frame_idx":11,"position_3d":[0.05995266894865997,-0.4114214678536518,2.59620726889028]},{"frame_idx":12,"position_3d":[0.04201505087162513,-0.43161903681785097,2.664233507263777]},{"frame_idx":13,"position_3d":[0.016245242790945382,-0.4510665002877448,2.7299220313578765]},{"frame_idx":14,"position_3d":[-0.01703268500477381,-0.46951929512651835,2.7924467698687256]}]}

scenefun3d_test/scenefun3d/scenefun3d_438102_43896244/interval_001/cam_33/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"43896244","intrinsics":{"fx":1601.05,"fy":1601.05,"cx":963.367,"cy":695.45},"T_base_to_cam":[[-0.9897103588950598,0.09451620276434919,-0.10742482446260068,34.65338823680723],[0.1378778563332953,0.4292663805097401,-0.8925917719187213,287.0126596445157],[-0.038250519326504806,-0.8982188274463387,-0.4378810749417895,140.7885962098109],[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":[-0.36078143674691177,0.28553393200348864,0.6569197718135058]},{"frame_idx":1,"position_3d":[-0.3516494908819713,0.2928060245191774,0.6389501332909187]},{"frame_idx":2,"position_3d":[-0.3425175450170308,0.3000781170348662,0.6209804947683315]},{"frame_idx":3,"position_3d":[-0.3333855991520903,0.307350209550555,0.6030108562457444]},{"frame_idx":4,"position_3d":[-0.32425365328714983,0.31462230206624375,0.5850412177231572]},{"frame_idx":5,"position_3d":[-0.31512170742220935,0.32189439458193253,0.56707157920057]},{"frame_idx":6,"position_3d":[-0.30598976155726887,0.3291664870976213,0.5491019406779829]},{"frame_idx":7,"position_3d":[-0.2968578156923284,0.3364385796133101,0.5311323021553958]},{"frame_idx":8,"position_3d":[-0.2877258698273879,0.34371067212899886,0.5131626636328086]},{"frame_idx":9,"position_3d":[-0.2785939239624474,0.35098276464468764,0.49519302511022145]},{"frame_idx":10,"position_3d":[-0.26946197809750694,0.3582548571603764,0.4772233865876343]},{"frame_idx":11,"position_3d":[-0.26033003223256646,0.3655269496760652,0.45925374806504715]},{"frame_idx":12,"position_3d":[-0.251198086367626,0.37279904219175397,0.44128410954246]},{"frame_idx":13,"position_3d":[-0.2420661405026855,0.38007113470744275,0.42331447101987285]},{"frame_idx":14,"position_3d":[-0.232934194637745,0.3873432272231315,0.4053448324972857]}]}

scenefun3d_test/scenefun3d/scenefun3d_438102_43896244/interval_002/cam_4/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"43896244","intrinsics":{"fx":1593.82,"fy":1593.82,"cx":963.511,"cy":695.469},"T_base_to_cam":[[0.044574128759835574,0.9967347133454847,-0.06732799014820323,22.209861651454993],[0.4507014163980881,-0.08021041484151781,-0.8890638461931231,286.5897648953804],[-0.8915612039013694,0.009284425832894905,-0.45280505643697755,144.49241876300877],[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":[0.019105230443098975,0.24615428025515484,0.8775436046896061]},{"frame_idx":1,"position_3d":[0.030856024827461137,0.2571090611269514,0.8542871131047072]},{"frame_idx":2,"position_3d":[0.04540335319622971,0.2672239024974842,0.8322639885572845]},{"frame_idx":3,"position_3d":[0.06256427445461091,0.276371604367751,0.8117511846166363]},{"frame_idx":4,"position_3d":[0.08212298006078214,0.284437129079113,0.7930066616941225]},{"frame_idx":5,"position_3d":[0.10383350794352048,0.29131904797859837,0.7762661430413191]},{"frame_idx":6,"position_3d":[0.1274228356179588,0.2969308169430637,0.7617401503933603]},{"frame_idx":7,"position_3d":[0.15259431360174433,0.30120186472175675,0.7496113565359714]},{"frame_idx":8,"position_3d":[0.17903139595439924,0.3040784804107407,0.7400322880891993]},{"frame_idx":9,"position_3d":[0.2064016210261864,0.30552448889867534,0.7331234073966669]},{"frame_idx":10,"position_3d":[0.23436079235625362,0.3055217057898312,0.7289715976417089]},{"frame_idx":11,"position_3d":[0.2625573071428362,0.30407016608341675,0.7276290702409302]},{"frame_idx":12,"position_3d":[0.29063657785249397,0.30118812373344317,0.7291127082553478]},{"frame_idx":13,"position_3d":[0.3182454913640806,0.29691182209466127,0.7334038540761038]},{"frame_idx":14,"position_3d":[0.3450368495711231,0.2912950381413467,0.7404485440547213]}]}

scenefun3d_test/scenefun3d/scenefun3d_438102_43896244/interval_003/cam_33/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"43896244","intrinsics":{"fx":1595.18,"fy":1595.18,"cx":962.936,"cy":695.231},"T_base_to_cam":[[0.3786756966579446,-0.9194973898006132,-0.10549534070507605,33.64405366540541],[-0.1887689425206639,0.03485730517386132,-0.9814026974772625,315.9300015797617],[0.9060745019590009,0.3915475940749423,-0.16037293560284177,52.06899807410395],[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":[0.4051944290921341,0.2482901443302694,1.1370455566120299]},{"frame_idx":1,"position_3d":[0.38386479730231965,0.2499895502143013,1.1382042199892204]},{"frame_idx":2,"position_3d":[0.3625351655125052,0.2516889560983332,1.139362883366411]},{"frame_idx":3,"position_3d":[0.34120553372269075,0.2533883619823651,1.1405215467436014]},{"frame_idx":4,"position_3d":[0.3198759019328763,0.255087767866397,1.141680210120792]},{"frame_idx":5,"position_3d":[0.29854627014306184,0.25678717375042887,1.1428388734979824]},{"frame_idx":6,"position_3d":[0.2772166383532474,0.25848657963446076,1.143997536875173]},{"frame_idx":7,"position_3d":[0.25588700656343294,0.26018598551849265,1.1451562002523634]},{"frame_idx":8,"position_3d":[0.2345573747736185,0.26188539140252454,1.146314863629554]},{"frame_idx":9,"position_3d":[0.21322774298380404,0.2635847972865564,1.1474735270067444]},{"frame_idx":10,"position_3d":[0.19189811119398958,0.2652842031705883,1.148632190383935]},{"frame_idx":11,"position_3d":[0.17056847940417513,0.2669836090546202,1.1497908537611254]},{"frame_idx":12,"position_3d":[0.14923884761436068,0.2686830149386521,1.150949517138316]},{"frame_idx":13,"position_3d":[0.12790921582454623,0.270382420822684,1.1521081805155065]},{"frame_idx":14,"position_3d":[0.10657958403473179,0.2720818267067159,1.153266843892697]}]}

scenefun3d_test/scenefun3d/scenefun3d_438102_43896244/interval_004/cam_33/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"43896244","intrinsics":{"fx":1594.72,"fy":1594.72,"cx":962.841,"cy":695.302},"T_base_to_cam":[[0.43559257719705635,-0.8890633441673066,-0.14080297137799336,44.93280437118929],[-0.3005930038633236,0.0037725717369632705,-0.953745046503998,306.920541674093],[0.8484709498381489,0.4577686509149954,-0.26560291700245797,85.92735193015258],[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":[0.3674601191543445,0.34422213670984547,0.770632349198408]},{"frame_idx":1,"position_3d":[0.3463107610242908,0.34612859637247606,0.7735052807518707]},{"frame_idx":2,"position_3d":[0.3251614028942371,0.34803505603510665,0.7763782123053335]},{"frame_idx":3,"position_3d":[0.3040120447641834,0.34994151569773724,0.7792511438587963]},{"frame_idx":4,"position_3d":[0.2828626866341297,0.3518479753603678,0.7821240754122591]},{"frame_idx":5,"position_3d":[0.261713328504076,0.3537544350229984,0.7849970069657219]},{"frame_idx":6,"position_3d":[0.24056397037402233,0.355660894685629,0.7878699385191847]},{"frame_idx":7,"position_3d":[0.21941461224396863,0.3575673543482596,0.7907428700726475]},{"frame_idx":8,"position_3d":[0.19826525411391493,0.3594738140108902,0.7936158016261103]},{"frame_idx":9,"position_3d":[0.17711589598386124,0.36138027367352077,0.7964887331795731]},{"frame_idx":10,"position_3d":[0.15596653785380754,0.36328673333615136,0.7993616647330359]},{"frame_idx":11,"position_3d":[0.13481717972375384,0.36519319299878195,0.8022345962864987]},{"frame_idx":12,"position_3d":[0.11366782159370016,0.36709965266141253,0.8051075278399615]},{"frame_idx":13,"position_3d":[0.09251846346364648,0.3690061123240431,0.8079804593934243]},{"frame_idx":14,"position_3d":[0.0713691053335928,0.3709125719866737,0.8108533909468871]}]}

scenefun3d_test/scenefun3d/scenefun3d_438102_43896244/interval_005/cam_17/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"43896244","intrinsics":{"fx":1601.96,"fy":1601.96,"cx":963.099,"cy":695.69},"T_base_to_cam":[[0.1687279633333707,0.9727768592340629,-0.15885860545807517,51.29066414073487],[0.552641215203916,-0.2268190955482693,-0.8019605882788778,258.57306489253995],[-0.8161608675054884,0.047521363967977015,-0.5758673096463381,184.34914843203615],[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":[-0.4733389042888092,-0.18288196322691874,0.9465327710769884]},{"frame_idx":1,"position_3d":[-0.4627794396692713,-0.17335085559322877,0.9305065623021992]},{"frame_idx":2,"position_3d":[-0.45221997504973344,-0.1638197479595388,0.91448035352741]},{"frame_idx":3,"position_3d":[-0.44166051043019555,-0.15428864032584882,0.8984541447526208]},{"frame_idx":4,"position_3d":[-0.43110104581065767,-0.14475753269215885,0.8824279359778315]},{"frame_idx":5,"position_3d":[-0.4205415811911198,-0.13522642505846888,0.8664017272030423]},{"frame_idx":6,"position_3d":[-0.4099821165715819,-0.1256953174247789,0.8503755184282531]},{"frame_idx":7,"position_3d":[-0.399422651952044,-0.11616420979108895,0.8343493096534639]},{"frame_idx":8,"position_3d":[-0.38886318733250613,-0.10663310215739899,0.8183231008786747]},{"frame_idx":9,"position_3d":[-0.37830372271296825,-0.09710199452370903,0.8022968921038854]},{"frame_idx":10,"position_3d":[-0.36774425809343037,-0.08757088689001907,0.7862706833290962]},{"frame_idx":11,"position_3d":[-0.3571847934738925,-0.07803977925632911,0.770244474554307]},{"frame_idx":12,"position_3d":[-0.3466253288543546,-0.06850867162263916,0.7542182657795178]},{"frame_idx":13,"position_3d":[-0.3360658642348167,-0.05897756398894919,0.7381920570047286]},{"frame_idx":14,"position_3d":[-0.32550639961527883,-0.049446456355259225,0.7221658482299393]}]}

scenefun3d_test/scenefun3d/scenefun3d_438102_43896244/interval_007/cam_2/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"43896244","intrinsics":{"fx":1593.82,"fy":1593.82,"cx":963.694,"cy":695.25},"T_base_to_cam":[[-0.4887603670613422,0.8710290486040584,0.04921077197089274,-15.78091137710417],[0.15659037300206874,0.1430792111375978,-0.9772450022503651,314.48839625758535],[-0.8582498229962738,-0.46993269287010886,-0.20632621137100582,67.79959963849815],[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":[-0.6404741232835427,0.16797638123330216,1.266938378503724]},{"frame_idx":1,"position_3d":[-0.6193333595050147,0.1693177594780332,1.2637053482325347]},{"frame_idx":2,"position_3d":[-0.5981925957264866,0.17065913772276425,1.2604723179613453]},{"frame_idx":3,"position_3d":[-0.5770518319479586,0.1720005159674953,1.257239287690156]},{"frame_idx":4,"position_3d":[-0.5559110681694306,0.17334189421222634,1.2540062574189665]},{"frame_idx":5,"position_3d":[-0.5347703043909026,0.1746832724569574,1.2507732271477772]},{"frame_idx":6,"position_3d":[-0.5136295406123745,0.17602465070168843,1.2475401968765878]},{"frame_idx":7,"position_3d":[-0.4924887768338465,0.17736602894641948,1.2443071666053984]},{"frame_idx":8,"position_3d":[-0.4713480130553185,0.17870740719115052,1.241074136334209]},{"frame_idx":9,"position_3d":[-0.45020724927679046,0.18004878543588157,1.2378411060630197]},{"frame_idx":10,"position_3d":[-0.42906648549826243,0.18139016368061261,1.2346080757918303]},{"frame_idx":11,"position_3d":[-0.4079257217197344,0.18273154192534366,1.231375045520641]},{"frame_idx":12,"position_3d":[-0.3867849579412064,0.1840729201700747,1.2281420152494515]},{"frame_idx":13,"position_3d":[-0.36564419416267835,0.18541429841480575,1.2249089849782622]},{"frame_idx":14,"position_3d":[-0.3445034303841503,0.1867556766595368,1.2216759547070728]}]}

scenefun3d_test/scenefun3d/scenefun3d_438102_43896244/interval_009/cam_1/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"43896244","intrinsics":{"fx":1593.82,"fy":1593.82,"cx":963.694,"cy":695.25},"T_base_to_cam":[[-0.4887603670613422,0.8710290486040584,0.04921077197089274,-15.78091137710417],[0.15659037300206874,0.1430792111375978,-0.9772450022503651,314.48839625758535],[-0.8582498229962738,-0.46993269287010886,-0.20632621137100582,67.79959963849815],[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":[0.6136417606817819,-0.6258327872751579,3.8441459178278166]},{"frame_idx":1,"position_3d":[0.6254646217457158,-0.6432636690603876,3.9295255412515075]},{"frame_idx":2,"position_3d":[0.6469577762858048,-0.6598413971417336,4.013170738478221]},{"frame_idx":3,"position_3d":[0.6778509354130884,-0.6753574969699513,4.094029622620758]},{"frame_idx":4,"position_3d":[0.7177555997269126,-0.6896168445870499,4.171085346295608]},{"frame_idx":5,"position_3d":[0.7661699449203055,-0.7024401204232782,4.243368889068787]},{"frame_idx":6,"position_3d":[0.8224851325118029,-0.7136660643447578,4.309971243450034]},{"frame_idx":7,"position_3d":[0.8859929663426086,-0.7231535035932315,4.37005484618942]},{"frame_idx":8,"position_3d":[0.9558947985541969,-0.7307831281154095,4.422864111121179]},{"frame_idx":9,"position_3d":[1.0313115730485192,-0.736458990956114,4.467734931098143]},{"frame_idx":10,"position_3d":[1.1112948801284777,-0.7401097148469109,4.504103029524446]},{"frame_idx":11,"position_3d":[1.1948388833001462,-0.741689389816674,4.531511056461116]},{"frame_idx":12,"position_3d":[1.2808929682502812,-0.7411781505361098,4.549614340066916]},{"frame_idx":13,"position_3d":[1.3683749549308917,-0.7385824261357994,4.558185221046734]},{"frame_idx":14,"position_3d":[1.4561847066012379,-0.733934859356151,4.557115915599306]}]}

scenefun3d_test/scenefun3d/scenefun3d_438775_44358173/interval_008/cam_23/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"44358173","intrinsics":{"fx":1591.11,"fy":1591.11,"cx":967.972,"cy":712.35},"T_base_to_cam":[[-0.4858154584473197,0.8739229512630917,0.015556850234819786,-1.8704865611345105],[0.4377164223997243,0.25865607662192835,-0.8611047367121711,141.55413500813955],[-0.7565630667004615,-0.4115285036083883,-0.5081895481241561,80.97796593380475],[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":[0.04042386873792414,-0.04436419902978628,1.2757058161012367]},{"frame_idx":1,"position_3d":[0.045093595833142486,-0.03406304826207339,1.257505167343942]},{"frame_idx":2,"position_3d":[0.04976332292836083,-0.023761897494360504,1.2393045185866471]},{"frame_idx":3,"position_3d":[0.05443305002357918,-0.01346074672664762,1.2211038698293524]},{"frame_idx":4,"position_3d":[0.05910277711879752,-0.003159595958934735,1.2029032210720576]},{"frame_idx":5,"position_3d":[0.06377250421401587,0.00714155480877815,1.1847025723147628]},{"frame_idx":6,"position_3d":[0.06844223130923421,0.017442705576491035,1.166501923557468]},{"frame_idx":7,"position_3d":[0.07311195840445256,0.02774385634420392,1.1483012748001733]},{"frame_idx":8,"position_3d":[0.0777816854996709,0.0380450071119168,1.1301006260428785]},{"frame_idx":9,"position_3d":[0.08245141259488925,0.04834615787962969,1.1118999772855838]},{"frame_idx":10,"position_3d":[0.0871211396901076,0.05864730864734258,1.093699328528289]},{"frame_idx":11,"position_3d":[0.09179086678532594,0.06894845941505547,1.0754986797709942]},{"frame_idx":12,"position_3d":[0.09646059388054429,0.07924961018276835,1.0572980310136995]},{"frame_idx":13,"position_3d":[0.10113032097576263,0.08955076095048124,1.0390973822564047]},{"frame_idx":14,"position_3d":[0.10580004807098098,0.09985191171819413,1.02089673349911]}]}

scenefun3d_test/scenefun3d/scenefun3d_438775_44358173/interval_015/cam_6/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"44358173","intrinsics":{"fx":1583.43,"fy":1583.43,"cx":967.728,"cy":712.369},"T_base_to_cam":[[-0.25532105570159114,0.9651732247920011,-0.05702459697388912,7.436513914249289],[0.5186107161588851,0.08693599715476219,-0.8505792482090517,139.37880796502884],[-0.8159988257348127,-0.24674435868590133,-0.5227457678987847,84.10653918518344],[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":[0.2963127493753639,-0.2890440742699525,1.0734657838329014]},{"frame_idx":1,"position_3d":[0.30213184822627415,-0.27976991868008394,1.055045365810293]},{"frame_idx":2,"position_3d":[0.3079509470771844,-0.2704957630902154,1.0366249477876845]},{"frame_idx":3,"position_3d":[0.31377004592809465,-0.26122160750034684,1.0182045297650761]},{"frame_idx":4,"position_3d":[0.3195891447790049,-0.2519474519104783,0.9997841117424678]},{"frame_idx":5,"position_3d":[0.32540824362991516,-0.24267329632060974,0.9813636937198595]},{"frame_idx":6,"position_3d":[0.3312273424808254,-0.2333991407307412,0.9629432756972512]},{"frame_idx":7,"position_3d":[0.33704644133173567,-0.22412498514087265,0.944522857674643]},{"frame_idx":8,"position_3d":[0.3428655401826459,-0.2148508295510041,0.9261024396520346]},{"frame_idx":9,"position_3d":[0.3486846390335562,-0.20557667396113555,0.9076820216294263]},{"frame_idx":10,"position_3d":[0.35450373788446643,-0.196302518371267,0.889261603606818]},{"frame_idx":11,"position_3d":[0.3603228367353767,-0.18702836278139845,0.8708411855842098]},{"frame_idx":12,"position_3d":[0.36614193558628694,-0.1777542071915299,0.8524207675616015]},{"frame_idx":13,"position_3d":[0.3719610344371972,-0.16848005160166135,0.8340003495389932]},{"frame_idx":14,"position_3d":[0.37778013328810744,-0.1592058960117928,0.8155799315163849]}]}

scenefun3d_test/scenefun3d/scenefun3d_467330_45261600/interval_000/cam_5/trajectory.json

@@ -0,0 +1 @@
+{"camera_info":{"cam_id":"45261600","intrinsics":{"fx":1592.47,"fy":1592.47,"cx":952.075,"cy":723.056},"T_base_to_cam":[[0.4759999720716789,0.8791495569275168,0.022805331436143605,-3.3407505355752276],[0.4100153644570458,-0.19890550587744305,-0.8901258341609881,151.67493076435747],[-0.7780176267263599,0.43305040848126414,-0.4551438412384519,78.8483478153653],[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":[0.5756930375541511,-0.4772511255929146,1.587713006125412]},{"frame_idx":1,"position_3d":[0.5054305002369605,-0.48795847545158355,1.6051328359795627]},{"frame_idx":2,"position_3d":[0.43789150824879863,-0.5021345949827843,1.629473011814039]},{"frame_idx":3,"position_3d":[0.3739254036009527,-0.5196012112582359,1.6604274417952236]},{"frame_idx":4,"position_3d":[0.31433659717336776,-0.5401386714439076,1.6976068560059243]},{"frame_idx":5,"position_3d":[0.25987445278110144,-0.5634887050618527,1.7405437017404433]},{"frame_idx":6,"position_3d":[0.2112238634895588,-0.5893576718913204,1.7886980232511305]},{"frame_idx":7,"position_3d":[0.16899663868681034,-0.617420254664906,1.841464252005201]},{"frame_idx":8,"position_3d":[0.13372381022555718,-0.647323550121942,1.8981788220603932]},{"frame_idx":9,"position_3d":[0.10584895438947135,-0.6786915069717598,1.9581285147917034]},{"frame_idx":10,"position_3d":[0.08572261366405971,-0.7111296549568606,2.0205594280294132]},{"frame_idx":11,"position_3d":[0.07359788846151921,-0.7442300655452799,2.0846864568162986]},{"frame_idx":12,"position_3d":[0.06962725423620121,-0.7775764818685628,2.149703166557996]},{"frame_idx":13,"position_3d":[0.07386064401730473,-0.8107495533934024,2.21479193440593]},{"frame_idx":14,"position_3d":[0.08624482047206243,-0.8433321094979095,2.2791342313390297]}]}

scenefun3d_test/scenefun3d/scenefun3d_467330_45261600/interval_002/cam_8/trajectory.json

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+{"camera_info":{"cam_id":"45261600","intrinsics":{"fx":1596.53,"fy":1596.53,"cx":951.568,"cy":723.09},"T_base_to_cam":[[0.7389863780111066,0.6655315396140216,-0.10472298168508964,20.37080574119346],[0.28492397121850643,-0.44958214987179546,-0.8465779474695345,143.37502873703085],[-0.6105059080296449,0.5957714832850296,-0.5218609737901985,90.88210172320632],[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":[-0.039426470692109916,0.25414952543741265,0.8553864552192039]},{"frame_idx":1,"position_3d":[-0.04167053458536184,0.23600856942020834,0.8442037200665568]},{"frame_idx":2,"position_3d":[-0.04391459847861376,0.21786761340300403,0.8330209849139096]},{"frame_idx":3,"position_3d":[-0.04615866237186568,0.19972665738579973,0.8218382497612625]},{"frame_idx":4,"position_3d":[-0.0484027262651176,0.18158570136859542,0.8106555146086154]},{"frame_idx":5,"position_3d":[-0.05064679015836952,0.1634447453513911,0.7994727794559683]},{"frame_idx":6,"position_3d":[-0.052890854051621444,0.1453037893341868,0.7882900443033212]},{"frame_idx":7,"position_3d":[-0.055134917944873366,0.1271628333169825,0.777107309150674]},{"frame_idx":8,"position_3d":[-0.05737898183812529,0.10902187729977819,0.7659245739980269]},{"frame_idx":9,"position_3d":[-0.05962304573137721,0.09088092128257388,0.7547418388453798]},{"frame_idx":10,"position_3d":[-0.06186710962462913,0.07273996526536958,0.7435591036927327]},{"frame_idx":11,"position_3d":[-0.06411117351788105,0.05459900924816527,0.7323763685400856]},{"frame_idx":12,"position_3d":[-0.06635523741113297,0.03645805323096096,0.7211936333874385]},{"frame_idx":13,"position_3d":[-0.0685993013043849,0.018317097213756652,0.7100108982347914]},{"frame_idx":14,"position_3d":[-0.07084336519763682,0.00017614119655234156,0.6988281630821442]}]}