| { | |
| "w": 1280, | |
| "h": 720, | |
| "fl_x": 641.299, | |
| "fl_y": 641.299, | |
| "cx": 636.707, | |
| "cy": 362.299, | |
| "k1": 0, | |
| "k2": 0, | |
| "p1": 0, | |
| "p2": 0, | |
| "camera_model": "OPENCV", | |
| "frames": [ | |
| { | |
| "file_path": "images/rgb_0.png", | |
| "transform_matrix": [ | |
| [ | |
| -0.2812087302694472, | |
| -0.45387835309372554, | |
| 0.8455271081480316, | |
| 0.3328032550014824 | |
| ], | |
| [ | |
| -0.9596366930469173, | |
| 0.13700937423565313, | |
| -0.2456132095990189, | |
| -0.09175687815565836 | |
| ], | |
| [ | |
| -0.004366620915776498, | |
| -0.8804674167534439, | |
| -0.47408655397226335, | |
| 0.3146923363600462 | |
| ], | |
| [ | |
| 0, | |
| 0, | |
| 0, | |
| 1 | |
| ] | |
| ], | |
| "colmap_im_id": 0, | |
| "depth_file_path": "realsense_depth/depth_0.png" | |
| }, | |
| { | |
| "file_path": "images/rgb_1.png", | |
| "transform_matrix": [ | |
| [ | |
| -0.3894235142197173, | |
| -0.40370514357071385, | |
| 0.8278716589105555, | |
| 0.3267756145432146 | |
| ], | |
| [ | |
| -0.9198834853857601, | |
| 0.21586144651320516, | |
| -0.32744191732851324, | |
| -0.10568409830691318 | |
| ], | |
| [ | |
| -0.04651558757354207, | |
| -0.8890590491996446, | |
| -0.4554232176217108, | |
| 0.3189103491774294 | |
| ], | |
| [ | |
| 0, | |
| 0, | |
| 0, | |
| 1 | |
| ] | |
| ], | |
| "colmap_im_id": 1, | |
| "depth_file_path": "realsense_depth/depth_1.png" | |
| }, | |
| { | |
| "file_path": "images/rgb_2.png", | |
| "transform_matrix": [ | |
| [ | |
| -0.3998263263637425, | |
| -0.3959122399046464, | |
| 0.8266755149634951, | |
| 0.32897231637767027 | |
| ], | |
| [ | |
| -0.9135884357374937, | |
| 0.24507611845561827, | |
| -0.3244901635634695, | |
| -0.09332062309945492 | |
| ], | |
| [ | |
| -0.07412879894611457, | |
| -0.8849809006167385, | |
| -0.4596887280654085, | |
| 0.3180405561367299 | |
| ], | |
| [ | |
| 0, | |
| 0, | |
| 0, | |
| 1 | |
| ] | |
| ], | |
| "colmap_im_id": 2, | |
| "depth_file_path": "realsense_depth/depth_2.png" | |
| }, | |
| { | |
| "file_path": "images/rgb_3.png", | |
| "transform_matrix": [ | |
| [ | |
| -0.5133683753975512, | |
| -0.3528483109930904, | |
| 0.7822729578420838, | |
| 0.3196566511323738 | |
| ], | |
| [ | |
| -0.8479386698050968, | |
| 0.348891685134951, | |
| -0.3990922252974337, | |
| -0.09816999821959246 | |
| ], | |
| [ | |
| -0.13210951287035377, | |
| -0.8682008186318521, | |
| -0.4783036850538999, | |
| 0.31369816131556433 | |
| ], | |
| [ | |
| 0, | |
| 0, | |
| 0, | |
| 1 | |
| ] | |
| ], | |
| "colmap_im_id": 3, | |
| "depth_file_path": "realsense_depth/depth_3.png" | |
| }, | |
| { | |
| "file_path": "images/rgb_4.png", | |
| "transform_matrix": [ | |
| [ | |
| -0.6097655644028828, | |
| -0.2653828566266181, | |
| 0.7468319060385207, | |
| 0.31627756818610675 | |
| ], | |
| [ | |
| -0.7755581441193697, | |
| 0.3940313371720512, | |
| -0.4932026666762095, | |
| -0.07917070547831231 | |
| ], | |
| [ | |
| -0.16338764200071176, | |
| -0.8799495694271924, | |
| -0.44608657646957517, | |
| 0.3248260409382396 | |
| ], | |
| [ | |
| 0, | |
| 0, | |
| 0, | |
| 1 | |
| ] | |
| ], | |
| "colmap_im_id": 4, | |
| "depth_file_path": "realsense_depth/depth_4.png" | |
| }, | |
| { | |
| "file_path": "images/rgb_5.png", | |
| "transform_matrix": [ | |
| [ | |
| -0.609821904362948, | |
| -0.26514418594283, | |
| 0.7468706752978469, | |
| 0.33321919026412017 | |
| ], | |
| [ | |
| -0.7755453541359585, | |
| 0.3937420644567906, | |
| -0.49345373679346627, | |
| -0.049379947727312995 | |
| ], | |
| [ | |
| -0.1632380122314605, | |
| -0.8801509798540356, | |
| -0.44574387715896124, | |
| 0.33077224144029976 | |
| ], | |
| [ | |
| 0, | |
| 0, | |
| 0, | |
| 1 | |
| ] | |
| ], | |
| "colmap_im_id": 5, | |
| "depth_file_path": "realsense_depth/depth_5.png" | |
| }, | |
| { | |
| "file_path": "images/rgb_6.png", | |
| "transform_matrix": [ | |
| [ | |
| -0.7018988334292812, | |
| -0.19437868409155484, | |
| 0.6852408005960019, | |
| 0.3399568072969175 | |
| ], | |
| [ | |
| -0.6901245713702995, | |
| 0.42365094151060534, | |
| -0.5867264743883116, | |
| -0.033051047567934935 | |
| ], | |
| [ | |
| -0.17625579032069982, | |
| -0.8847241417119875, | |
| -0.43150560766971785, | |
| 0.33211302569251294 | |
| ], | |
| [ | |
| 0, | |
| 0, | |
| 0, | |
| 1 | |
| ] | |
| ], | |
| "colmap_im_id": 6, | |
| "depth_file_path": "realsense_depth/depth_6.png" | |
| }, | |
| { | |
| "file_path": "images/rgb_7.png", | |
| "transform_matrix": [ | |
| [ | |
| -0.7900162403812145, | |
| -0.12943787378873242, | |
| 0.599266365452779, | |
| 0.36083080340286616 | |
| ], | |
| [ | |
| -0.5870356139436227, | |
| 0.44160597856489114, | |
| -0.6785081780329396, | |
| -0.0040519835067072685 | |
| ], | |
| [ | |
| -0.17681495382394974, | |
| -0.887823178636826, | |
| -0.4248605366228282, | |
| 0.3442227551718554 | |
| ], | |
| [ | |
| 0, | |
| 0, | |
| 0, | |
| 1 | |
| ] | |
| ], | |
| "colmap_im_id": 7, | |
| "depth_file_path": "realsense_depth/depth_7.png" | |
| }, | |
| { | |
| "file_path": "images/rgb_8.png", | |
| "transform_matrix": [ | |
| [ | |
| -0.8833799438388203, | |
| -0.07908167086067, | |
| 0.461937186376251, | |
| 0.3865416467732224 | |
| ], | |
| [ | |
| -0.4367034202520873, | |
| 0.49662112592180213, | |
| -0.7501050459957527, | |
| 0.016802616519190947 | |
| ], | |
| [ | |
| -0.17008820524495932, | |
| -0.8643573026370784, | |
| -0.47324037847007777, | |
| 0.345899969941187 | |
| ], | |
| [ | |
| 0, | |
| 0, | |
| 0, | |
| 1 | |
| ] | |
| ], | |
| "colmap_im_id": 8, | |
| "depth_file_path": "realsense_depth/depth_8.png" | |
| }, | |
| { | |
| "file_path": "images/rgb_14.png", | |
| "transform_matrix": [ | |
| [ | |
| -0.828015178926514, | |
| -0.19206616713322305, | |
| -0.5267840647837083, | |
| 0.5974944068602942 | |
| ], | |
| [ | |
| 0.5542662629838095, | |
| -0.13839694721148343, | |
| -0.820752821938801, | |
| 0.020120758577744105 | |
| ], | |
| [ | |
| 0.08473354226784063, | |
| -0.9715744296991844, | |
| 0.22105056971075498, | |
| 0.219087388599787 | |
| ], | |
| [ | |
| 0, | |
| 0, | |
| 0, | |
| 1 | |
| ] | |
| ], | |
| "colmap_im_id": 14, | |
| "depth_file_path": "realsense_depth/depth_14.png" | |
| }, | |
| { | |
| "file_path": "images/rgb_15.png", | |
| "transform_matrix": [ | |
| [ | |
| -0.8426390668935881, | |
| -0.07459990814992756, | |
| -0.5332862801992245, | |
| 0.6042773243815976 | |
| ], | |
| [ | |
| 0.5384751878267956, | |
| -0.11311652141180285, | |
| -0.8350144457903651, | |
| -0.011498203351289052 | |
| ], | |
| [ | |
| 0.0019685120270476197, | |
| -0.9907772233391904, | |
| 0.13548659960558407, | |
| 0.24950821524182704 | |
| ], | |
| [ | |
| 0, | |
| 0, | |
| 0, | |
| 1 | |
| ] | |
| ], | |
| "colmap_im_id": 15, | |
| "depth_file_path": "realsense_depth/depth_15.png" | |
| }, | |
| { | |
| "file_path": "images/rgb_16.png", | |
| "transform_matrix": [ | |
| [ | |
| -0.7943152635673821, | |
| -0.15296133089840883, | |
| -0.5879337490854462, | |
| 0.5963806365491542 | |
| ], | |
| [ | |
| 0.6063560708870585, | |
| -0.14010681800183886, | |
| -0.7827530867699013, | |
| -0.037605955327893445 | |
| ], | |
| [ | |
| 0.03735742713690837, | |
| -0.9782499224631647, | |
| 0.2040380156699322, | |
| 0.21717387925482007 | |
| ], | |
| [ | |
| 0, | |
| 0, | |
| 0, | |
| 1 | |
| ] | |
| ], | |
| "colmap_im_id": 16, | |
| "depth_file_path": "realsense_depth/depth_16.png" | |
| }, | |
| { | |
| "file_path": "images/rgb_17.png", | |
| "transform_matrix": [ | |
| [ | |
| -0.7612485675124882, | |
| -0.14539843755972104, | |
| -0.6319492960795013, | |
| 0.5942045895158087 | |
| ], | |
| [ | |
| 0.6478992326805456, | |
| -0.13001341564297364, | |
| -0.7505485301063537, | |
| -0.06935714117378478 | |
| ], | |
| [ | |
| 0.02696669709374022, | |
| -0.9807934574149848, | |
| 0.19317606254351283, | |
| 0.2260462870796789 | |
| ], | |
| [ | |
| 0, | |
| 0, | |
| 0, | |
| 1 | |
| ] | |
| ], | |
| "colmap_im_id": 17, | |
| "depth_file_path": "realsense_depth/depth_17.png" | |
| }, | |
| { | |
| "file_path": "images/rgb_18.png", | |
| "transform_matrix": [ | |
| [ | |
| -0.7014908582564141, | |
| -0.20509156804304546, | |
| -0.6825306033434142, | |
| 0.583964935095136 | |
| ], | |
| [ | |
| 0.7112064381392156, | |
| -0.1399334014312111, | |
| -0.6889151221400373, | |
| -0.09891597063069807 | |
| ], | |
| [ | |
| 0.04578185374152571, | |
| -0.9686878196207162, | |
| 0.2440244454690004, | |
| 0.20676310186912367 | |
| ], | |
| [ | |
| 0, | |
| 0, | |
| 0, | |
| 1 | |
| ] | |
| ], | |
| "colmap_im_id": 18, | |
| "depth_file_path": "realsense_depth/depth_18.png" | |
| }, | |
| { | |
| "file_path": "images/rgb_19.png", | |
| "transform_matrix": [ | |
| [ | |
| -0.9079185315119608, | |
| 0.3942491827776674, | |
| -0.14230784242727476, | |
| 0.4750759306972888 | |
| ], | |
| [ | |
| 0.4179638943805759, | |
| 0.8260895787158505, | |
| -0.37799760704439866, | |
| -0.08650076654758611 | |
| ], | |
| [ | |
| -0.03146622207045896, | |
| -0.4026705723245868, | |
| -0.9148039609951427, | |
| 0.4702757553950744 | |
| ], | |
| [ | |
| 0, | |
| 0, | |
| 0, | |
| 1 | |
| ] | |
| ], | |
| "colmap_im_id": 19, | |
| "depth_file_path": "realsense_depth/depth_19.png" | |
| }, | |
| { | |
| "file_path": "images/rgb_21.png", | |
| "transform_matrix": [ | |
| [ | |
| -0.8969175637883288, | |
| 0.3607023796550403, | |
| 0.2557981178179393, | |
| 0.35968647307314605 | |
| ], | |
| [ | |
| 0.33662583952675523, | |
| 0.9320590262621941, | |
| -0.13397393674173264, | |
| -0.1061526535866365 | |
| ], | |
| [ | |
| -0.28674366240758736, | |
| -0.03405532079369882, | |
| -0.9574018525126854, | |
| 0.44213661830051665 | |
| ], | |
| [ | |
| 0, | |
| 0, | |
| 0, | |
| 1 | |
| ] | |
| ], | |
| "colmap_im_id": 21, | |
| "depth_file_path": "realsense_depth/depth_21.png" | |
| }, | |
| { | |
| "file_path": "images/rgb_22.png", | |
| "transform_matrix": [ | |
| [ | |
| 0.052705691723427206, | |
| -0.3409695105774548, | |
| 0.9385957079150353, | |
| 0.2730476027607949 | |
| ], | |
| [ | |
| -0.9963177997449875, | |
| -0.08160277001194616, | |
| 0.026302658376762433, | |
| -0.13008091162137883 | |
| ], | |
| [ | |
| 0.06762360513357968, | |
| -0.936525910363909, | |
| -0.34401492299868225, | |
| 0.323651112843102 | |
| ], | |
| [ | |
| 0, | |
| 0, | |
| 0, | |
| 1 | |
| ] | |
| ], | |
| "colmap_im_id": 22, | |
| "depth_file_path": "realsense_depth/depth_22.png" | |
| }, | |
| { | |
| "file_path": "images/rgb_23.png", | |
| "transform_matrix": [ | |
| [ | |
| 0.1033582974548691, | |
| -0.29506223582989455, | |
| 0.9498712225003424, | |
| 0.256192944733107 | |
| ], | |
| [ | |
| -0.9928947859134992, | |
| -0.08722247983536796, | |
| 0.08094555650037788, | |
| -0.12738879061582645 | |
| ], | |
| [ | |
| 0.05896614666923583, | |
| -0.951488579016287, | |
| -0.30198092249105674, | |
| 0.3285937876733891 | |
| ], | |
| [ | |
| 0, | |
| 0, | |
| 0, | |
| 1 | |
| ] | |
| ], | |
| "colmap_im_id": 23, | |
| "depth_file_path": "realsense_depth/depth_23.png" | |
| }, | |
| { | |
| "file_path": "images/rgb_24.png", | |
| "transform_matrix": [ | |
| [ | |
| 0.042482523307342646, | |
| -0.29980946168681394, | |
| 0.9530527382556034, | |
| 0.24794640343641008 | |
| ], | |
| [ | |
| -0.9973562126856745, | |
| -0.06901580716196981, | |
| 0.022746502567853655, | |
| -0.1600821995087265 | |
| ], | |
| [ | |
| 0.0589560873085101, | |
| -0.9514993983418196, | |
| -0.30194879487162507, | |
| 0.33483690704190505 | |
| ], | |
| [ | |
| 0, | |
| 0, | |
| 0, | |
| 1 | |
| ] | |
| ], | |
| "colmap_im_id": 24, | |
| "depth_file_path": "realsense_depth/depth_24.png" | |
| }, | |
| { | |
| "file_path": "images/rgb_25.png", | |
| "transform_matrix": [ | |
| [ | |
| 0.16503366697740468, | |
| -0.2623122458502146, | |
| 0.9507660987019931, | |
| 0.23866515715950337 | |
| ], | |
| [ | |
| -0.9843803722066004, | |
| -0.10373290394994492, | |
| 0.14224896292242983, | |
| -0.18950438310591536 | |
| ], | |
| [ | |
| 0.06131208346147121, | |
| -0.9593913540965066, | |
| -0.2753344477294578, | |
| 0.3416082215169107 | |
| ], | |
| [ | |
| 0, | |
| 0, | |
| 0, | |
| 1 | |
| ] | |
| ], | |
| "colmap_im_id": 25, | |
| "depth_file_path": "realsense_depth/depth_25.png" | |
| }, | |
| { | |
| "file_path": "images/rgb_26.png", | |
| "transform_matrix": [ | |
| [ | |
| 0.2184366037074286, | |
| -0.2712236701393152, | |
| 0.9374023527370325, | |
| 0.2367605829865312 | |
| ], | |
| [ | |
| -0.9728185027942433, | |
| -0.13619515713440827, | |
| 0.18728331424422462, | |
| -0.2304028439135594 | |
| ], | |
| [ | |
| 0.07687399288401081, | |
| -0.9528318844000204, | |
| -0.29360141227312797, | |
| 0.3435934109823926 | |
| ], | |
| [ | |
| 0, | |
| 0, | |
| 0, | |
| 1 | |
| ] | |
| ], | |
| "colmap_im_id": 26, | |
| "depth_file_path": "realsense_depth/depth_26.png" | |
| }, | |
| { | |
| "file_path": "images/rgb_27.png", | |
| "transform_matrix": [ | |
| [ | |
| 0.4003572680959298, | |
| -0.269708312972672, | |
| 0.8757690813200698, | |
| 0.26324898570350197 | |
| ], | |
| [ | |
| -0.9131955644476064, | |
| -0.19677371583280864, | |
| 0.3568668741009267, | |
| -0.22763581073881523 | |
| ], | |
| [ | |
| 0.07607837377324339, | |
| -0.9426226873308241, | |
| -0.32507622240519884, | |
| 0.3379997161324395 | |
| ], | |
| [ | |
| 0, | |
| 0, | |
| 0, | |
| 1 | |
| ] | |
| ], | |
| "colmap_im_id": 27, | |
| "depth_file_path": "realsense_depth/depth_27.png" | |
| }, | |
| { | |
| "file_path": "images/rgb_28.png", | |
| "transform_matrix": [ | |
| [ | |
| 0.4416708624881559, | |
| -0.26038263294133995, | |
| 0.8585614326834767, | |
| 0.27596776835908904 | |
| ], | |
| [ | |
| -0.8939444689830152, | |
| -0.2088849903572356, | |
| 0.3965228205010813, | |
| -0.2714568898776402 | |
| ], | |
| [ | |
| 0.07609294056378452, | |
| -0.9426388201564759, | |
| -0.3250260283890558, | |
| 0.33801584559992476 | |
| ], | |
| [ | |
| 0, | |
| 0, | |
| 0, | |
| 1 | |
| ] | |
| ], | |
| "colmap_im_id": 28, | |
| "depth_file_path": "realsense_depth/depth_28.png" | |
| }, | |
| { | |
| "file_path": "images/rgb_29.png", | |
| "transform_matrix": [ | |
| [ | |
| 0.5463442621077785, | |
| -0.2617259178262344, | |
| 0.795617679039325, | |
| 0.287301112282322 | |
| ], | |
| [ | |
| -0.8338947486485819, | |
| -0.2587572561356332, | |
| 0.4875081851348517, | |
| -0.247245745094399 | |
| ], | |
| [ | |
| 0.07827832035899585, | |
| -0.9298087041618688, | |
| -0.3596224106289831, | |
| 0.3333067597381828 | |
| ], | |
| [ | |
| 0, | |
| 0, | |
| 0, | |
| 1 | |
| ] | |
| ], | |
| "colmap_im_id": 29, | |
| "depth_file_path": "realsense_depth/depth_29.png" | |
| }, | |
| { | |
| "file_path": "images/rgb_30.png", | |
| "transform_matrix": [ | |
| [ | |
| 0.5958985327716635, | |
| -0.23897298649076215, | |
| 0.7666791052117341, | |
| 0.30536653650326917 | |
| ], | |
| [ | |
| -0.7976721045579127, | |
| -0.2865384836597987, | |
| 0.5306740157498708, | |
| -0.27456003155065917 | |
| ], | |
| [ | |
| 0.09286631386422922, | |
| -0.9277864027402156, | |
| -0.36136994706206704, | |
| 0.32839082439851186 | |
| ], | |
| [ | |
| 0, | |
| 0, | |
| 0, | |
| 1 | |
| ] | |
| ], | |
| "colmap_im_id": 30, | |
| "depth_file_path": "realsense_depth/depth_30.png" | |
| }, | |
| { | |
| "file_path": "images/rgb_31.png", | |
| "transform_matrix": [ | |
| [ | |
| 0.6490400174602863, | |
| -0.21885817325096651, | |
| 0.7285932718165884, | |
| 0.3254467856989107 | |
| ], | |
| [ | |
| -0.7550665938572036, | |
| -0.30221635840259453, | |
| 0.5818416550529492, | |
| -0.2828476179162883 | |
| ], | |
| [ | |
| 0.09285200361883361, | |
| -0.9277749580125151, | |
| -0.36140300594882113, | |
| 0.32838258319758534 | |
| ], | |
| [ | |
| 0, | |
| 0, | |
| 0, | |
| 1 | |
| ] | |
| ], | |
| "colmap_im_id": 31, | |
| "depth_file_path": "realsense_depth/depth_31.png" | |
| }, | |
| { | |
| "file_path": "images/rgb_32.png", | |
| "transform_matrix": [ | |
| [ | |
| 0.6891770403363777, | |
| -0.1765520132017609, | |
| 0.7027548603229978, | |
| 0.3139298769882297 | |
| ], | |
| [ | |
| -0.7208069005828726, | |
| -0.26606123326173303, | |
| 0.6400381490406322, | |
| -0.34560029942133164 | |
| ], | |
| [ | |
| 0.07397580107916141, | |
| -0.9476501499971659, | |
| -0.3106232027151954, | |
| 0.3387878249323144 | |
| ], | |
| [ | |
| 0, | |
| 0, | |
| 0, | |
| 1 | |
| ] | |
| ], | |
| "colmap_im_id": 32, | |
| "depth_file_path": "realsense_depth/depth_32.png" | |
| }, | |
| { | |
| "file_path": "images/rgb_33.png", | |
| "transform_matrix": [ | |
| [ | |
| 0.7243789279258391, | |
| -0.13793743847252388, | |
| 0.6754616435036491, | |
| 0.33387237926950963 | |
| ], | |
| [ | |
| -0.6780652865764525, | |
| -0.31950550800678673, | |
| 0.6619242384845252, | |
| -0.33240695816792676 | |
| ], | |
| [ | |
| 0.12450958162730097, | |
| -0.9374910631152511, | |
| -0.3249736461038503, | |
| 0.34949063422757715 | |
| ], | |
| [ | |
| 0, | |
| 0, | |
| 0, | |
| 1 | |
| ] | |
| ], | |
| "colmap_im_id": 33, | |
| "depth_file_path": "realsense_depth/depth_33.png" | |
| }, | |
| { | |
| "file_path": "images/rgb_34.png", | |
| "transform_matrix": [ | |
| [ | |
| 0.7903644348213804, | |
| -0.10635241743409904, | |
| 0.6033350839089364, | |
| 0.3536978095474028 | |
| ], | |
| [ | |
| -0.5847300776089912, | |
| -0.42480273117411815, | |
| 0.6911102487493535, | |
| -0.31058001554637615 | |
| ], | |
| [ | |
| 0.18279714578970657, | |
| -0.8990171315903459, | |
| -0.39793642783515504, | |
| 0.35863188038547034 | |
| ], | |
| [ | |
| 0, | |
| 0, | |
| 0, | |
| 1 | |
| ] | |
| ], | |
| "colmap_im_id": 34, | |
| "depth_file_path": "realsense_depth/depth_34.png" | |
| }, | |
| { | |
| "file_path": "images/rgb_35.png", | |
| "transform_matrix": [ | |
| [ | |
| 0.8401894639881893, | |
| -0.07662067144822038, | |
| 0.536852807862698, | |
| 0.36680052884950376 | |
| ], | |
| [ | |
| -0.4929254771676693, | |
| -0.5205936170836871, | |
| 0.6971418505661159, | |
| -0.2926504250295785 | |
| ], | |
| [ | |
| 0.22606666840174497, | |
| -0.8503596642354029, | |
| -0.47516555312773706, | |
| 0.3651047730290714 | |
| ], | |
| [ | |
| 0, | |
| 0, | |
| 0, | |
| 1 | |
| ] | |
| ], | |
| "colmap_im_id": 35, | |
| "depth_file_path": "realsense_depth/depth_35.png" | |
| }, | |
| { | |
| "file_path": "images/rgb_36.png", | |
| "transform_matrix": [ | |
| [ | |
| 0.8732327755468945, | |
| -0.06581771299830522, | |
| 0.4828380146243043, | |
| 0.3918365988667893 | |
| ], | |
| [ | |
| -0.4479626172940191, | |
| -0.49844558841903064, | |
| 0.7422139104683358, | |
| -0.2803782232951955 | |
| ], | |
| [ | |
| 0.1918176561679332, | |
| -0.8644188938479302, | |
| -0.4647428996132825, | |
| 0.3279796842587287 | |
| ], | |
| [ | |
| 0, | |
| 0, | |
| 0, | |
| 1 | |
| ] | |
| ], | |
| "colmap_im_id": 36, | |
| "depth_file_path": "realsense_depth/depth_36.png" | |
| }, | |
| { | |
| "file_path": "images/rgb_37.png", | |
| "transform_matrix": [ | |
| [ | |
| 0.8638120292621084, | |
| -0.029684145866542944, | |
| 0.5029389919127888, | |
| 0.3970523413030811 | |
| ], | |
| [ | |
| -0.43613043516244354, | |
| -0.5438248681782173, | |
| 0.7169691459721, | |
| -0.28692856190464183 | |
| ], | |
| [ | |
| 0.25222811426781133, | |
| -0.8386735743035657, | |
| -0.48270862239842527, | |
| 0.3305631408572067 | |
| ], | |
| [ | |
| 0, | |
| 0, | |
| 0, | |
| 1 | |
| ] | |
| ], | |
| "colmap_im_id": 37, | |
| "depth_file_path": "realsense_depth/depth_37.png" | |
| }, | |
| { | |
| "file_path": "images/rgb_38.png", | |
| "transform_matrix": [ | |
| [ | |
| 0.8753307809261965, | |
| -0.016126414556975, | |
| 0.4832555873620825, | |
| 0.3976818967974613 | |
| ], | |
| [ | |
| -0.38651959429510957, | |
| -0.623829282739113, | |
| 0.6792934779777794, | |
| -0.2915028010332404 | |
| ], | |
| [ | |
| 0.2905144182120376, | |
| -0.7813942441243987, | |
| -0.5522901484366536, | |
| 0.32510278275718957 | |
| ], | |
| [ | |
| 0, | |
| 0, | |
| 0, | |
| 1 | |
| ] | |
| ], | |
| "colmap_im_id": 38, | |
| "depth_file_path": "realsense_depth/depth_38.png" | |
| }, | |
| { | |
| "file_path": "images/rgb_39.png", | |
| "transform_matrix": [ | |
| [ | |
| 0.8616015748499937, | |
| 0.016715595513477594, | |
| 0.5073098807264066, | |
| 0.3997057783670725 | |
| ], | |
| [ | |
| -0.3692771685405377, | |
| -0.6650743422393668, | |
| 0.6490843489790501, | |
| -0.2940444723502181 | |
| ], | |
| [ | |
| 0.34824861666730916, | |
| -0.7465900536181176, | |
| -0.5668564128840761, | |
| 0.33510020306525773 | |
| ], | |
| [ | |
| 0, | |
| 0, | |
| 0, | |
| 1 | |
| ] | |
| ], | |
| "colmap_im_id": 39, | |
| "depth_file_path": "realsense_depth/depth_39.png" | |
| }, | |
| { | |
| "file_path": "images/rgb_40.png", | |
| "transform_matrix": [ | |
| [ | |
| 0.8478176005033717, | |
| 0.059317759730971725, | |
| 0.5269598842959526, | |
| 0.3944012401222713 | |
| ], | |
| [ | |
| -0.2908368622483851, | |
| -0.7789218150501362, | |
| 0.5556030287863046, | |
| -0.29216340929557294 | |
| ], | |
| [ | |
| 0.44341767650175934, | |
| -0.6243093859774175, | |
| -0.6431318330997782, | |
| 0.37148695308868723 | |
| ], | |
| [ | |
| 0, | |
| 0, | |
| 0, | |
| 1 | |
| ] | |
| ], | |
| "colmap_im_id": 40, | |
| "depth_file_path": "realsense_depth/depth_40.png" | |
| }, | |
| { | |
| "file_path": "images/rgb_41.png", | |
| "transform_matrix": [ | |
| [ | |
| 0.9950635657880179, | |
| 0.06006221198892967, | |
| 0.07900019450755658, | |
| 0.46756119226616455 | |
| ], | |
| [ | |
| -0.05186544161929076, | |
| -0.3639392253033681, | |
| 0.9299775353476127, | |
| -0.3491546686009558 | |
| ], | |
| [ | |
| 0.08460777746088619, | |
| -0.9294841424018923, | |
| -0.35902751011106104, | |
| 0.3656290483284806 | |
| ], | |
| [ | |
| 0, | |
| 0, | |
| 0, | |
| 1 | |
| ] | |
| ], | |
| "colmap_im_id": 41, | |
| "depth_file_path": "realsense_depth/depth_41.png" | |
| }, | |
| { | |
| "file_path": "images/rgb_42.png", | |
| "transform_matrix": [ | |
| [ | |
| 0.9996571262889735, | |
| 0.012273208943090572, | |
| -0.023130028143316196, | |
| 0.48446602972324154 | |
| ], | |
| [ | |
| 0.026174034162083457, | |
| -0.443356929342718, | |
| 0.8959629195114485, | |
| -0.32111687290311225 | |
| ], | |
| [ | |
| 0.0007414818631941295, | |
| -0.8962611235270865, | |
| -0.4435261532971997, | |
| 0.3485459280727474 | |
| ], | |
| [ | |
| 0, | |
| 0, | |
| 0, | |
| 1 | |
| ] | |
| ], | |
| "colmap_im_id": 42, | |
| "depth_file_path": "realsense_depth/depth_42.png" | |
| }, | |
| { | |
| "file_path": "images/rgb_43.png", | |
| "transform_matrix": [ | |
| [ | |
| 0.9695990004391213, | |
| 0.07853263968648745, | |
| -0.23175504924667611, | |
| 0.4876676727167823 | |
| ], | |
| [ | |
| 0.23917719216511785, | |
| -0.5042277732829468, | |
| 0.8297883003502349, | |
| -0.28032902295399253 | |
| ], | |
| [ | |
| -0.051691866821263324, | |
| -0.8599924285445737, | |
| -0.507681961222318, | |
| 0.3298225783392702 | |
| ], | |
| [ | |
| 0, | |
| 0, | |
| 0, | |
| 1 | |
| ] | |
| ], | |
| "colmap_im_id": 43, | |
| "depth_file_path": "realsense_depth/depth_43.png" | |
| }, | |
| { | |
| "file_path": "images/rgb_44.png", | |
| "transform_matrix": [ | |
| [ | |
| 0.9194600969146447, | |
| 0.19962595717975007, | |
| -0.3387367818849637, | |
| 0.4889485144478197 | |
| ], | |
| [ | |
| 0.39228086619523317, | |
| -0.5240920518015986, | |
| 0.7559386504575014, | |
| -0.2566785829475692 | |
| ], | |
| [ | |
| -0.02662427837201395, | |
| -0.8279353830211991, | |
| -0.5601911721392174, | |
| 0.3168839079984 | |
| ], | |
| [ | |
| 0, | |
| 0, | |
| 0, | |
| 1 | |
| ] | |
| ], | |
| "colmap_im_id": 44, | |
| "depth_file_path": "realsense_depth/depth_44.png" | |
| }, | |
| { | |
| "file_path": "images/rgb_45.png", | |
| "transform_matrix": [ | |
| [ | |
| 0.7786509192398072, | |
| 0.493189478433694, | |
| -0.38790061140620113, | |
| 0.4888425396206906 | |
| ], | |
| [ | |
| 0.5869260576744381, | |
| -0.35390734482681196, | |
| 0.7281946127927469, | |
| -0.2336109440752731 | |
| ], | |
| [ | |
| 0.22185704584201493, | |
| -0.7946783812586934, | |
| -0.5650360356387167, | |
| 0.3115165981122716 | |
| ], | |
| [ | |
| 0, | |
| 0, | |
| 0, | |
| 1 | |
| ] | |
| ], | |
| "colmap_im_id": 45, | |
| "depth_file_path": "realsense_depth/depth_45.png" | |
| } | |
| ], | |
| "applied_transform": [ | |
| [ | |
| 1, | |
| 0, | |
| 0, | |
| 0 | |
| ], | |
| [ | |
| 0, | |
| 1, | |
| 0, | |
| 0 | |
| ], | |
| [ | |
| 0, | |
| 0, | |
| 1, | |
| 0 | |
| ] | |
| ], | |
| "train_filenames": [ | |
| "images/rgb_0.png", | |
| "images/rgb_6.png", | |
| "images/rgb_14.png", | |
| "images/rgb_18.png", | |
| "images/rgb_23.png", | |
| "images/rgb_29.png", | |
| "images/rgb_37.png", | |
| "images/rgb_39.png", | |
| "images/rgb_42.png" | |
| ], | |
| "test_filenames": [ | |
| "images/rgb_17.png", | |
| "images/rgb_1.png", | |
| "images/rgb_21.png", | |
| "images/rgb_40.png", | |
| "images/rgb_3.png", | |
| "images/rgb_33.png", | |
| "images/rgb_19.png", | |
| "images/rgb_27.png", | |
| "images/rgb_25.png", | |
| "images/rgb_44.png", | |
| "images/rgb_4.png", | |
| "images/rgb_30.png", | |
| "images/rgb_35.png", | |
| "images/rgb_36.png", | |
| "images/rgb_38.png", | |
| "images/rgb_28.png", | |
| "images/rgb_2.png", | |
| "images/rgb_24.png", | |
| "images/rgb_7.png", | |
| "images/rgb_41.png", | |
| "images/rgb_8.png", | |
| "images/rgb_26.png", | |
| "images/rgb_43.png", | |
| "images/rgb_16.png", | |
| "images/rgb_45.png", | |
| "images/rgb_15.png", | |
| "images/rgb_32.png", | |
| "images/rgb_31.png", | |
| "images/rgb_34.png", | |
| "images/rgb_5.png", | |
| "images/rgb_22.png" | |
| ], | |
| "val_filenames": [ | |
| "images/rgb_17.png", | |
| "images/rgb_1.png", | |
| "images/rgb_21.png", | |
| "images/rgb_40.png", | |
| "images/rgb_3.png", | |
| "images/rgb_33.png", | |
| "images/rgb_19.png", | |
| "images/rgb_27.png", | |
| "images/rgb_25.png", | |
| "images/rgb_44.png" | |
| ], | |
| "ply_file_path": "merged_pcd.ply", | |
| "object_pc_path": "foreground_pcd.ply", | |
| "mesh_aabb": true | |
| } |