File size: 50,126 Bytes
c02ffe1 |
1 |
{"camera_intrinsics": [190.44924926757812, 251.6734619140625, 3508.5810546875, 3508.5810546875], "frames": [{"file_path": "r_76", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cluttered/./test/r_76.png", "R_opt": [[-0.6925260424613953, -0.47032633423805237, 0.5469924807548523], [0.024790970608592033, -0.7733133435249329, -0.6335392594337463], [0.7209667563438416, -0.42518195509910583, 0.5471994280815125]], "T_opt": [0.4468419849872589, -0.31211310625076294, 14.477086067199707], "pl_pos": [1.9743002653121948, 2.3077964782714844, -1.9345862865447998], "camera_intrinsics": [190.44924926757812, 251.6734619140625, 3508.5810546875, 3508.5810546875]}, {"file_path": "r_41", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cluttered/./test/r_41.png", "R_opt": [[-0.958920419216156, 0.15770788490772247, -0.2357955276966095], [0.06728851050138474, -0.681040346622467, -0.7291476130485535], [-0.27557867765426636, -0.7150610089302063, 0.6424517631530762]], "T_opt": [-0.06754098832607269, -0.29020974040031433, 14.331695556640625], "pl_pos": [2.0635058879852295, 1.774489164352417, 2.1699163913726807], "camera_intrinsics": [190.44924926757812, 251.6734619140625, 3508.5810546875, 3508.5810546875]}, {"file_path": "r_68", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cluttered/./test/r_68.png", "R_opt": [[0.6691502332687378, 0.3310222625732422, -0.6653286814689636], [-0.028414292261004448, -0.8832576274871826, -0.46802642941474915], [-0.7425836324691772, 0.3320848345756531, -0.5816263556480408]], "T_opt": [0.10676125437021255, -0.39620572328567505, 11.731335639953613], "pl_pos": [-1.9580491781234741, 1.4790467023849487, 2.363283157348633], "camera_intrinsics": [190.44924926757812, 251.6734619140625, 3508.5810546875, 3508.5810546875]}, {"file_path": "r_21", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cluttered/./test/r_21.png", "R_opt": [[-0.9840901494026184, 0.11485157161951065, -0.1355559378862381], [-0.02211400307714939, -0.8362157344818115, -0.5479546189308167], [-0.17628750205039978, -0.5362392067909241, 0.8254517316818237]], "T_opt": [0.14276428520679474, -0.32241708040237427, 12.5008544921875], "pl_pos": [-2.1951050758361816, 1.9702882766723633, -1.7078938484191895], "camera_intrinsics": [190.44924926757812, 251.6734619140625, 3508.5810546875, 3508.5810546875]}, {"file_path": "r_65", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cluttered/./test/r_65.png", "R_opt": [[-0.8248192071914673, 0.2866169512271881, -0.4873642325401306], [-0.029802590608596802, -0.8828281760215759, -0.46874964237213135], [-0.564610481262207, -0.37210896611213684, 0.7367156744003296]], "T_opt": [0.150767520070076, -0.468598335981369, 11.86391830444336], "pl_pos": [2.8520891666412354, 2.487605571746826, 0.694352388381958], "camera_intrinsics": [190.44924926757812, 251.6734619140625, 3508.5810546875, 3508.5810546875]}, {"file_path": "r_64", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cluttered/./test/r_64.png", "R_opt": [[-0.9902580976486206, 0.07848267257213593, -0.11501867324113846], [0.015491532161831856, -0.7587997317314148, -0.6511397957801819], [-0.13837933540344238, -0.646578311920166, 0.7501917481422424]], "T_opt": [0.45504799485206604, -0.1014089360833168, 15.029818534851074], "pl_pos": [-2.378633737564087, 2.3709120750427246, -1.6681724786758423], "camera_intrinsics": [190.44924926757812, 251.6734619140625, 3508.5810546875, 3508.5810546875]}, {"file_path": "r_67", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cluttered/./test/r_67.png", "R_opt": [[-0.9972657561302185, -0.06829711049795151, -0.02821853756904602], [0.06734782457351685, -0.6828381419181824, -0.7274588942527771], [0.03041464276611805, -0.7273704409599304, 0.6855708360671997]], "T_opt": [-0.03475013002753258, -0.2876273989677429, 14.309879302978516], "pl_pos": [-2.2850613594055176, 1.9952733516693115, -1.7818269729614258], "camera_intrinsics": [190.44924926757812, 251.6734619140625, 3508.5810546875, 3508.5810546875]}, {"file_path": "r_12", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cluttered/./test/r_12.png", "R_opt": [[0.42777907848358154, -0.588032066822052, 0.686457097530365], [0.01494577992707491, -0.7547478079795837, -0.6558448076248169], [0.9037597179412842, 0.29081642627716064, -0.3140767216682434]], "T_opt": [0.5391489267349243, 0.006696909666061401, 14.956393241882324], "pl_pos": [-0.1822165697813034, 2.6417863368988037, -2.5237555503845215], "camera_intrinsics": [190.44924926757812, 251.6734619140625, 3508.5810546875, 3508.5810546875]}, {"file_path": "r_48", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cluttered/./test/r_48.png", "R_opt": [[0.047353968024253845, 0.6333004832267761, -0.7724559307098389], [0.024273397400975227, -0.7738246917724609, -0.6329345703125], [-0.9985832571983337, 0.011221746914088726, -0.05201597884297371]], "T_opt": [0.257829487323761, -0.284802109003067, 14.434852600097656], "pl_pos": [-0.6173129677772522, 2.624626398086548, 1.2567476034164429], "camera_intrinsics": [190.44924926757812, 251.6734619140625, 3508.5810546875, 3508.5810546875]}, {"file_path": "r_51", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cluttered/./test/r_51.png", "R_opt": [[-0.27249622344970703, 0.6047284603118896, -0.7483643293380737], [0.023010043427348137, -0.7734805941581726, -0.6334022283554077], [-0.9618817567825317, -0.18981967866420746, 0.19685570895671844]], "T_opt": [0.2671582102775574, -0.30657655000686646, 14.462554931640625], "pl_pos": [-0.9677783846855164, 2.7763707637786865, 1.6460946798324585], "camera_intrinsics": [190.44924926757812, 251.6734619140625, 3508.5810546875, 3508.5810546875]}, {"file_path": "r_80", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cluttered/./test/r_80.png", "R_opt": [[0.8977153897285461, 0.3599732518196106, -0.25402021408081055], [0.06727465242147446, -0.6818029880523682, -0.7284358143806458], [-0.43540915846824646, 0.6368388533592224, -0.6362823247909546]], "T_opt": [-0.1143142506480217, -0.15365104377269745, 14.182120323181152], "pl_pos": [-0.9379464983940125, 2.716524124145508, 2.865633010864258], "camera_intrinsics": [190.44924926757812, 251.6734619140625, 3508.5810546875, 3508.5810546875]}, {"file_path": "r_69", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cluttered/./test/r_69.png", "R_opt": [[-0.8375412225723267, -0.43706852197647095, 0.3278653621673584], [0.06907908618450165, -0.6799671053886414, -0.7299814820289612], [0.5419896245002747, -0.588740885257721, 0.5996927618980408]], "T_opt": [0.015009875409305096, -0.2664560079574585, 14.316521644592285], "pl_pos": [2.330803871154785, 2.7865524291992188, -1.0648142099380493], "camera_intrinsics": [190.44924926757812, 251.6734619140625, 3508.5810546875, 3508.5810546875]}, {"file_path": "r_39", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cluttered/./test/r_39.png", "R_opt": [[0.34355732798576355, -0.6118982434272766, 0.7124244570732117], [0.01528455875813961, -0.7548556327819824, -0.6557130217552185], [0.9390072226524353, 0.2361641377210617, -0.24998359382152557]], "T_opt": [0.5450730323791504, 0.0009337394731119275, 14.95890998840332], "pl_pos": [-2.2164359092712402, 1.6119189262390137, 2.3106696605682373], "camera_intrinsics": [190.44924926757812, 251.6734619140625, 3508.5810546875, 3508.5810546875]}, {"file_path": "r_52", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cluttered/./test/r_52.png", "R_opt": [[-0.9669497013092041, -0.12258432060480118, 0.22356490790843964], [-0.02038196288049221, -0.8368690013885498, -0.5470239520072937], [0.2541511058807373, -0.5335013270378113, 0.8067115545272827]], "T_opt": [0.18670305609703064, -0.3182436525821686, 12.486062049865723], "pl_pos": [-1.7515288591384888, 1.7539503574371338, -2.854715347290039], "camera_intrinsics": [190.44924926757812, 251.6734619140625, 3508.5810546875, 3508.5810546875]}, {"file_path": "r_78", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cluttered/./test/r_78.png", "R_opt": [[0.0279911607503891, -0.6550309658050537, 0.7550832033157349], [0.016119368374347687, -0.7549851536750793, -0.6555436849594116], [0.999478280544281, 0.03052096627652645, -0.010574273765087128]], "T_opt": [0.5556369423866272, -0.0187118798494339, 14.982447624206543], "pl_pos": [0.46629849076271057, 2.923532009124756, -2.092970848083496], "camera_intrinsics": [190.44924926757812, 251.6734619140625, 3508.5810546875, 3508.5810546875]}, {"file_path": "r_43", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cluttered/./test/r_43.png", "R_opt": [[-0.376343309879303, -0.4745064079761505, 0.7957444190979004], [-0.014460559003055096, -0.8557769656181335, -0.5171430110931396], [0.9263674020767212, -0.2061302363872528, 0.3152042031288147]], "T_opt": [0.31349483132362366, -0.3251454532146454, 12.178691864013672], "pl_pos": [-2.558124303817749, 1.2607052326202393, -2.7104716300964355], "camera_intrinsics": [190.44924926757812, 251.6734619140625, 3508.5810546875, 3508.5810546875]}, {"file_path": "r_7", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cluttered/./test/r_7.png", "R_opt": [[0.8827813267707825, -0.30282437801361084, 0.3591580092906952], [0.06384380906820297, -0.680091142654419, -0.7303423881530762], [0.46542567014694214, 0.6676626801490784, -0.5810383558273315]], "T_opt": [-0.02197665348649025, -0.14016489684581757, 14.197785377502441], "pl_pos": [-0.08822423219680786, 3.269155740737915, -0.5275499224662781], "camera_intrinsics": [190.44924926757812, 251.6734619140625, 3508.5810546875, 3508.5810546875]}, {"file_path": "r_28", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cluttered/./test/r_28.png", "R_opt": [[-0.9465866684913635, -0.22258082032203674, 0.23330503702163696], [0.01755089871585369, -0.7580332159996033, -0.6519797444343567], [0.3219711482524872, -0.6130607724189758, 0.721450686454773]], "T_opt": [0.5020613074302673, -0.09255767613649368, 15.035115242004395], "pl_pos": [0.7984886169433594, 3.2489006519317627, -1.6008927822113037], "camera_intrinsics": [190.44924926757812, 251.6734619140625, 3508.5810546875, 3508.5810546875]}, {"file_path": "r_38", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cluttered/./test/r_38.png", "R_opt": [[-0.6938690543174744, 0.4946780204772949, -0.5232966542243958], [0.06542379409074783, -0.6803872585296631, -0.7299267649650574], [-0.7171230912208557, -0.5407094955444336, 0.43973591923713684]], "T_opt": [-0.11639076471328735, -0.2775728702545166, 14.313923835754395], "pl_pos": [-0.13437098264694214, 2.704617738723755, -2.276273250579834], "camera_intrinsics": [190.44924926757812, 251.6734619140625, 3508.5810546875, 3508.5810546875]}, {"file_path": "r_31", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cluttered/./test/r_31.png", "R_opt": [[-0.6835485696792603, -0.47488200664520264, 0.5542998313903809], [0.024164525792002678, -0.7737206220626831, -0.633065938949585], [0.7295048832893372, -0.4193369448184967, 0.5403509140014648]], "T_opt": [0.4475262761116028, -0.3102005124092102, 14.4689359664917], "pl_pos": [-1.5855315923690796, 1.3531527519226074, -3.9278948307037354], "camera_intrinsics": [190.44924926757812, 251.6734619140625, 3508.5810546875, 3508.5810546875]}, {"file_path": "r_36", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cluttered/./test/r_36.png", "R_opt": [[0.15029063820838928, -0.6251323223114014, 0.765912652015686], [0.023648753762245178, -0.7722172141075134, -0.6349184513092041], [0.9883590340614319, 0.11353516578674316, -0.10127339512109756]], "T_opt": [0.4601447284221649, -0.2546651363372803, 14.410759925842285], "pl_pos": [-3.9704926013946533, 1.2938085794448853, -0.38134709000587463], "camera_intrinsics": [190.44924926757812, 251.6734619140625, 3508.5810546875, 3508.5810546875]}, {"file_path": "r_49", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cluttered/./test/r_49.png", "R_opt": [[-0.9518606066703796, 0.16795893013477325, -0.25641995668411255], [-0.029658479616045952, -0.883060097694397, -0.46832188963890076], [-0.30509305000305176, -0.4381721615791321, 0.8455314040184021]], "T_opt": [0.17905518412590027, -0.47372570633888245, 11.873186111450195], "pl_pos": [2.019347667694092, 1.9514299631118774, 1.2875330448150635], "camera_intrinsics": [190.44924926757812, 251.6734619140625, 3508.5810546875, 3508.5810546875]}, {"file_path": "r_27", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cluttered/./test/r_27.png", "R_opt": [[0.8704261183738708, -0.31967633962631226, 0.3743869364261627], [0.06430500000715256, -0.6801416873931885, -0.7302548289299011], [0.4880813956260681, 0.6597079038619995, -0.5714561343193054]], "T_opt": [-0.019152354449033737, -0.14133872091770172, 14.192411422729492], "pl_pos": [0.493826299905777, 2.9299795627593994, 3.5022404193878174], "camera_intrinsics": [190.44924926757812, 251.6734619140625, 3508.5810546875, 3508.5810546875]}, {"file_path": "r_57", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cluttered/./test/r_57.png", "R_opt": [[-0.03283428028225899, -0.63506019115448, 0.7717643976211548], [0.02386770211160183, -0.7724587917327881, -0.6346163153648376], [0.9991757273674011, -0.0024168326053768396, 0.04052051156759262]], "T_opt": [0.4647819995880127, -0.2661234140396118, 14.429089546203613], "pl_pos": [1.202634334564209, 2.7345523834228516, 1.6236488819122314], "camera_intrinsics": [190.44924926757812, 251.6734619140625, 3508.5810546875, 3508.5810546875]}, {"file_path": "r_17", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cluttered/./test/r_17.png", "R_opt": [[-0.14033405482769012, -0.7320724725723267, 0.6666154265403748], [0.06823071837425232, -0.6788280010223389, -0.7311205863952637], [0.9877505302429199, -0.057117484509944916, 0.14521253108978271]], "T_opt": [0.048590872436761856, -0.20693320035934448, 14.274589538574219], "pl_pos": [-1.5353868007659912, 1.76381254196167, -3.4970998764038086], "camera_intrinsics": [190.44924926757812, 251.6734619140625, 3508.5810546875, 3508.5810546875]}, {"file_path": "r_45", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cluttered/./test/r_45.png", "R_opt": [[-0.23270878195762634, 0.6331064105033875, -0.7382566332817078], [0.014572234824299812, -0.756741464138031, -0.6535518169403076], [-0.9724373817443848, -0.16284529864788055, 0.16687461733818054]], "T_opt": [0.3576766848564148, -0.06085171550512314, 15.006996154785156], "pl_pos": [-3.379819869995117, 1.9495457410812378, 0.13772286474704742], "camera_intrinsics": [190.44924926757812, 251.6734619140625, 3508.5810546875, 3508.5810546875]}, {"file_path": "r_13", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cluttered/./test/r_13.png", "R_opt": [[0.3181970417499542, 0.4847043752670288, -0.8147467970848083], [-0.015239452943205833, -0.856688916683197, -0.5156081318855286], [-0.9479021430015564, 0.17648126184940338, -0.26520925760269165]], "T_opt": [0.1098710373044014, -0.3016742765903473, 12.138659477233887], "pl_pos": [-1.9091800451278687, 2.847641706466675, 0.04653092473745346], "camera_intrinsics": [190.44924926757812, 251.6734619140625, 3508.5810546875, 3508.5810546875]}, {"file_path": "r_4", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cluttered/./test/r_4.png", "R_opt": [[0.9695993065834045, 0.2166701853275299, -0.11371593177318573], [0.06697823107242584, -0.6819685697555542, -0.7283080220222473], [-0.23535338044166565, 0.6985504627227783, -0.6757484674453735]], "T_opt": [-0.0948694497346878, -0.14599794149398804, 14.174145698547363], "pl_pos": [1.9397650957107544, 1.964240550994873, 2.0239152908325195], "camera_intrinsics": [190.44924926757812, 251.6734619140625, 3508.5810546875, 3508.5810546875]}, {"file_path": "r_30", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cluttered/./test/r_30.png", "R_opt": [[0.22416789829730988, -0.5399853587150574, 0.8112733364105225], [-0.02059243433177471, -0.8348978161811829, -0.5500197410583496], [0.9743329882621765, 0.10659078508615494, -0.19827701151371002]], "T_opt": [0.24053096771240234, -0.24618515372276306, 12.398144721984863], "pl_pos": [-1.8098493814468384, 3.3070950508117676, 1.661956548690796], "camera_intrinsics": [190.44924926757812, 251.6734619140625, 3508.5810546875, 3508.5810546875]}, {"file_path": "r_22", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cluttered/./test/r_22.png", "R_opt": [[0.7226002216339111, 0.5378462672233582, -0.43424686789512634], [0.06911993026733398, -0.6812593936920166, -0.7287716865539551], [-0.6878019571304321, 0.4965954124927521, -0.5294540524482727]], "T_opt": [-0.13753773272037506, -0.17193883657455444, 14.202948570251465], "pl_pos": [-0.9164800047874451, 3.202519416809082, -0.6908125877380371], "camera_intrinsics": [190.44924926757812, 251.6734619140625, 3508.5810546875, 3508.5810546875]}, {"file_path": "r_50", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cluttered/./test/r_50.png", "R_opt": [[-0.6000789999961853, 0.516265332698822, -0.6110442876815796], [0.013961435295641422, -0.7569864988327026, -0.6532813906669617], [-0.7998188138008118, -0.40055158734321594, 0.4470439851284027]], "T_opt": [0.38137245178222656, -0.08323155343532562, 15.031734466552734], "pl_pos": [-2.8308398723602295, 1.5355888605117798, -1.6877139806747437], "camera_intrinsics": [190.44924926757812, 251.6734619140625, 3508.5810546875, 3508.5810546875]}, {"file_path": "r_25", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cluttered/./test/r_25.png", "R_opt": [[-0.9089793562889099, 0.24709352850914001, -0.33571022748947144], [0.02271367982029915, -0.7748103141784668, -0.6317856311798096], [-0.41622194647789, -0.5819052457809448, 0.6986741423606873]], "T_opt": [0.3335944712162018, -0.33900147676467896, 14.49010181427002], "pl_pos": [3.6147854328155518, 2.463931083679199, -1.9024837017059326], "camera_intrinsics": [190.44924926757812, 251.6734619140625, 3508.5810546875, 3508.5810546875]}, {"file_path": "r_1", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cluttered/./test/r_1.png", "R_opt": [[-0.4811732769012451, -0.47350698709487915, 0.737742006778717], [-0.018971901386976242, -0.835748553276062, -0.5487845540046692], [0.876420259475708, -0.2780568301677704, 0.3931565284729004]], "T_opt": [0.2416972815990448, -0.2861378490924835, 12.452690124511719], "pl_pos": [-3.216642379760742, 1.1715967655181885, 1.4861537218093872], "camera_intrinsics": [190.44924926757812, 251.6734619140625, 3508.5810546875, 3508.5810546875]}, {"file_path": "r_70", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cluttered/./test/r_70.png", "R_opt": [[0.7201422452926636, -0.346067875623703, 0.6013585329055786], [-0.030886836349964142, -0.8818586468696594, -0.47050124406814575], [0.6931385397911072, 0.32025372982025146, -0.645752489566803]], "T_opt": [0.2546379566192627, -0.3869832456111908, 11.716510772705078], "pl_pos": [1.0771969556808472, 2.651942014694214, -0.18537665903568268], "camera_intrinsics": [190.44924926757812, 251.6734619140625, 3508.5810546875, 3508.5810546875]}, {"file_path": "r_2", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cluttered/./test/r_2.png", "R_opt": [[-0.7731037735939026, 0.3384712040424347, -0.536421000957489], [-0.01722237654030323, -0.8566075563430786, -0.5156812071800232], [-0.6340455412864685, -0.3894367218017578, 0.6680758595466614]], "T_opt": [0.16056108474731445, -0.3573063313961029, 12.225744247436523], "pl_pos": [0.02975163236260414, 2.9259865283966064, 1.0835999250411987], "camera_intrinsics": [190.44924926757812, 251.6734619140625, 3508.5810546875, 3508.5810546875]}, {"file_path": "r_66", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cluttered/./test/r_66.png", "R_opt": [[-0.9986924529075623, 0.010624749585986137, -0.050006575882434845], [0.023381128907203674, -0.7749422788619995, -0.6315994262695312], [-0.04546279460191727, -0.6319426894187927, 0.7736805081367493]], "T_opt": [0.3730489909648895, -0.34158235788345337, 14.490983009338379], "pl_pos": [1.959414005279541, 2.964968681335449, 0.28570687770843506], "camera_intrinsics": [190.44924926757812, 251.6734619140625, 3508.5810546875, 3508.5810546875]}, {"file_path": "r_74", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cluttered/./test/r_74.png", "R_opt": [[0.9100407958030701, -0.2442989945411682, 0.33487844467163086], [-0.023045122623443604, -0.8364414572715759, -0.5475714802742004], [0.4138774275779724, 0.49059510231018066, -0.7668260335922241]], "T_opt": [0.1715986430644989, -0.21073007583618164, 12.3314847946167], "pl_pos": [1.5135082006454468, 2.7520618438720703, -1.1346644163131714], "camera_intrinsics": [190.44924926757812, 251.6734619140625, 3508.5810546875, 3508.5810546875]}, {"file_path": "r_63", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cluttered/./test/r_63.png", "R_opt": [[0.726037859916687, -0.39120328426361084, 0.5655341148376465], [-0.02273629605770111, -0.8356171250343323, -0.5488417744636536], [0.687278687953949, 0.3856218755245209, -0.615584135055542]], "T_opt": [0.202699676156044, -0.21935802698135376, 12.35843563079834], "pl_pos": [-0.1104290634393692, 3.248755931854248, -0.9423938393592834], "camera_intrinsics": [190.44924926757812, 251.6734619140625, 3508.5810546875, 3508.5810546875]}, {"file_path": "r_54", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cluttered/./test/r_54.png", "R_opt": [[0.5270573496818542, 0.5474622249603271, -0.6499965786933899], [0.024589719250798225, -0.7743592262268066, -0.6322683691978455], [-0.8494738936424255, 0.31725838780403137, -0.4215935170650482]], "T_opt": [0.26474282145500183, -0.25286194682121277, 14.382316589355469], "pl_pos": [-2.6053481101989746, 2.3440194129943848, 0.870287299156189], "camera_intrinsics": [190.44924926757812, 251.6734619140625, 3508.5810546875, 3508.5810546875]}, {"file_path": "r_73", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cluttered/./test/r_73.png", "R_opt": [[0.9235630035400391, 0.18415245413780212, -0.3363317549228668], [-0.016337480396032333, -0.8574338555335999, -0.5143351554870605], [-0.3830982744693756, 0.48051583766937256, -0.7888855338096619]], "T_opt": [0.15754562616348267, -0.2652255892753601, 12.057134628295898], "pl_pos": [2.1616134643554688, 2.293332576751709, -1.7300268411636353], "camera_intrinsics": [190.44924926757812, 251.6734619140625, 3508.5810546875, 3508.5810546875]}, {"file_path": "r_81", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cluttered/./test/r_81.png", "R_opt": [[0.6705156564712524, 0.3292636573314667, -0.6648263335227966], [-0.03022349253296852, -0.8832519054412842, -0.46792373061180115], [-0.7412794828414917, 0.3338436186313629, -0.5822827219963074]], "T_opt": [0.1076594740152359, -0.3964400291442871, 11.721772193908691], "pl_pos": [-1.1631301641464233, 1.0607885122299194, 3.169175624847412], "camera_intrinsics": [190.44924926757812, 251.6734619140625, 3508.5810546875, 3508.5810546875]}, {"file_path": "r_32", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cluttered/./test/r_32.png", "R_opt": [[0.11263591051101685, -0.5165460109710693, 0.8488186597824097], [-0.01633780263364315, -0.8551023006439209, -0.518202006816864], [0.9935020804405212, 0.04450031742453575, -0.10475447028875351]], "T_opt": [0.31335386633872986, -0.2991253137588501, 12.139717102050781], "pl_pos": [1.764472484588623, 1.411335825920105, 2.670732021331787], "camera_intrinsics": [190.44924926757812, 251.6734619140625, 3508.5810546875, 3508.5810546875]}, {"file_path": "r_55", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cluttered/./test/r_55.png", "R_opt": [[0.9617732763290405, 0.18855473399162292, -0.1985929161310196], [0.021982436999678612, -0.7760152220726013, -0.6303308606147766], [-0.2729630768299103, 0.6018700003623962, -0.7504957318305969]], "T_opt": [0.3164617717266083, -0.21629118919372559, 14.324556350708008], "pl_pos": [-2.4049928188323975, 2.5897862911224365, 0.8123754262924194], "camera_intrinsics": [190.44924926757812, 251.6734619140625, 3508.5810546875, 3508.5810546875]}, {"file_path": "r_72", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cluttered/./test/r_72.png", "R_opt": [[-0.8717698454856873, 0.28392234444618225, -0.3992558717727661], [-0.02218070812523365, -0.8369865417480469, -0.5467738509178162], [-0.4894131124019623, -0.46780529618263245, 0.735957145690918]], "T_opt": [0.10865896940231323, -0.31818485260009766, 12.486741065979004], "pl_pos": [-2.7158703804016113, 1.0439833402633667, 1.1852997541427612], "camera_intrinsics": [190.44924926757812, 251.6734619140625, 3508.5810546875, 3508.5810546875]}, {"file_path": "r_8", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cluttered/./test/r_8.png", "R_opt": [[0.7964609265327454, 0.2621709108352661, -0.5449001789093018], [-0.02938864193856716, -0.8832758665084839, -0.46793168783187866], [-0.6039753556251526, 0.3887031674385071, -0.6957899332046509]], "T_opt": [0.11909573525190353, -0.38954678177833557, 11.7112398147583], "pl_pos": [3.050462007522583, 0.9879593253135681, 2.520512819290161], "camera_intrinsics": [190.44924926757812, 251.6734619140625, 3508.5810546875, 3508.5810546875]}, {"file_path": "r_9", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cluttered/./test/r_9.png", "R_opt": [[-0.9476502537727356, -0.22088079154491425, 0.2305874526500702], [0.018060781061649323, -0.758064866065979, -0.6519291400909424], [0.31879886984825134, -0.6136361360549927, 0.7223696708679199]], "T_opt": [0.5018854141235352, -0.09284651279449463, 15.034192085266113], "pl_pos": [0.11759523302316666, 3.2995855808258057, 0.8583248853683472], "camera_intrinsics": [190.44924926757812, 251.6734619140625, 3508.5810546875, 3508.5810546875]}, {"file_path": "r_24", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cluttered/./test/r_24.png", "R_opt": [[-0.9395897388458252, -0.23550383746623993, 0.24841327965259552], [0.017613254487514496, -0.7580132484436035, -0.6520012617111206], [0.3418493866920471, -0.6082383990287781, 0.7163693904876709]], "T_opt": [0.5037848353385925, -0.0917472317814827, 15.038926124572754], "pl_pos": [0.7962998151779175, 3.1006860733032227, -0.0683308020234108], "camera_intrinsics": [190.44924926757812, 251.6734619140625, 3508.5810546875, 3508.5810546875]}, {"file_path": "r_10", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cluttered/./test/r_10.png", "R_opt": [[-0.893008291721344, -0.2318924516439438, 0.3856968879699707], [-0.019115857779979706, -0.8367091417312622, -0.5473137497901917], [0.4496341049671173, -0.49612852931022644, 0.7427555322647095]], "T_opt": [0.20534536242485046, -0.3125097155570984, 12.486515045166016], "pl_pos": [1.2214360237121582, 3.028348684310913, 0.9556449055671692], "camera_intrinsics": [190.44924926757812, 251.6734619140625, 3508.5810546875, 3508.5810546875]}, {"file_path": "r_19", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cluttered/./test/r_19.png", "R_opt": [[0.06285756826400757, -0.5500507354736328, 0.8327621817588806], [-0.020013345405459404, -0.8349393010139465, -0.5499781370162964], [0.9978218078613281, 0.017903992906212807, -0.06349065899848938]], "T_opt": [0.24556250870227814, -0.25439971685409546, 12.41411304473877], "pl_pos": [-1.4399535655975342, 2.8391005992889404, -1.0316792726516724], "camera_intrinsics": [190.44924926757812, 251.6734619140625, 3508.5810546875, 3508.5810546875]}, {"file_path": "r_53", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cluttered/./test/r_53.png", "R_opt": [[-0.948881208896637, -0.1565341055393219, 0.2740832269191742], [-0.019816413521766663, -0.8371011018753052, -0.5466891527175903], [0.3150108754634857, -0.5241743922233582, 0.7912075519561768]], "T_opt": [0.19255401194095612, -0.3171045482158661, 12.488079071044922], "pl_pos": [-1.2924474477767944, 1.9947665929794312, 2.082763671875], "camera_intrinsics": [190.44924926757812, 251.6734619140625, 3508.5810546875, 3508.5810546875]}, {"file_path": "r_34", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cluttered/./test/r_34.png", "R_opt": [[0.7392157912254333, -0.4332771301269531, 0.5155877470970154], [0.013392141088843346, -0.7559623122215271, -0.6544782519340515], [0.6733353734016418, 0.4907055199146271, -0.553016722202301]], "T_opt": [0.5109736323356628, 0.024354513734579086, 14.923514366149902], "pl_pos": [1.2860928773880005, 3.2905631065368652, 1.5209695100784302], "camera_intrinsics": [190.44924926757812, 251.6734619140625, 3508.5810546875, 3508.5810546875]}, {"file_path": "r_6", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cluttered/./test/r_6.png", "R_opt": [[0.7718913555145264, -0.4082944989204407, 0.4873184561729431], [0.013391136191785336, -0.7559084892272949, -0.6545404195785522], [0.6356133818626404, 0.511759877204895, -0.5780115723609924]], "T_opt": [0.5057163238525391, 0.02645942196249962, 14.920557022094727], "pl_pos": [-1.1477502584457397, 2.323075294494629, -2.4967074394226074], "camera_intrinsics": [190.44924926757812, 251.6734619140625, 3508.5810546875, 3508.5810546875]}, {"file_path": "r_5", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cluttered/./test/r_5.png", "R_opt": [[-0.7940062284469604, -0.3204432427883148, 0.5165948271751404], [-0.018675589933991432, -0.8365298509597778, -0.5476030111312866], [0.6076226234436035, -0.44444796442985535, 0.6582255363464355]], "T_opt": [0.2199486941099167, -0.30583280324935913, 12.477411270141602], "pl_pos": [-3.283147096633911, 1.4624332189559937, 0.048144035041332245], "camera_intrinsics": [190.44924926757812, 251.6734619140625, 3508.5810546875, 3508.5810546875]}, {"file_path": "r_79", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cluttered/./test/r_79.png", "R_opt": [[-0.008327485993504524, -0.6347742080688477, 0.7726526856422424], [0.02448366768658161, -0.7725774049758911, -0.6344484090805054], [0.9996656179428101, 0.013633942231535912, 0.021975278854370117]], "T_opt": [0.46395909786224365, -0.264057993888855, 14.428325653076172], "pl_pos": [-0.6812549829483032, 2.2253971099853516, 1.3019866943359375], "camera_intrinsics": [190.44924926757812, 251.6734619140625, 3508.5810546875, 3508.5810546875]}, {"file_path": "r_11", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cluttered/./test/r_11.png", "R_opt": [[-0.9127269387245178, -0.16821585595607758, 0.37233418226242065], [-0.0287336278706789, -0.882626473903656, -0.46919605135917664], [0.40755823254585266, -0.4389464855194092, 0.8007636070251465]], "T_opt": [0.25250372290611267, -0.46753543615341187, 11.858519554138184], "pl_pos": [-2.5297515392303467, 2.045620918273926, 0.5779259204864502], "camera_intrinsics": [190.44924926757812, 251.6734619140625, 3508.5810546875, 3508.5810546875]}, {"file_path": "r_20", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cluttered/./test/r_20.png", "R_opt": [[-0.9330223798751831, 0.22388093173503876, -0.2816850543022156], [0.014908842742443085, -0.7581276297569275, -0.6519358158111572], [-0.3595092296600342, -0.6124703884124756, 0.7040121555328369]], "T_opt": [0.4322255551815033, -0.10034174472093582, 15.04642105102539], "pl_pos": [0.06561821699142456, 2.833601713180542, -0.948527991771698], "camera_intrinsics": [190.44924926757812, 251.6734619140625, 3508.5810546875, 3508.5810546875]}, {"file_path": "r_40", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cluttered/./test/r_40.png", "R_opt": [[0.9890348315238953, -0.05350933223962784, 0.1376466304063797], [0.06461292505264282, -0.6813235282897949, -0.7291250824928284], [0.13279691338539124, 0.7300240397453308, -0.6703954339027405]], "T_opt": [-0.05723831057548523, -0.13774307072162628, 14.181243896484375], "pl_pos": [2.1868345737457275, 3.174767017364502, -0.26752111315727234], "camera_intrinsics": [190.44924926757812, 251.6734619140625, 3508.5810546875, 3508.5810546875]}, {"file_path": "r_35", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cluttered/./test/r_35.png", "R_opt": [[0.6738986372947693, 0.3717932105064392, -0.6384592652320862], [-0.015291325747966766, -0.8569526672363281, -0.5151683688163757], [-0.7386655211448669, 0.35693418979644775, -0.5718141198158264]], "T_opt": [0.12486383318901062, -0.28127652406692505, 12.093911170959473], "pl_pos": [-2.4584906101226807, 2.564575433731079, -0.9262672662734985], "camera_intrinsics": [190.44924926757812, 251.6734619140625, 3508.5810546875, 3508.5810546875]}, {"file_path": "r_56", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cluttered/./test/r_56.png", "R_opt": [[-0.5069715976715088, -0.43911615014076233, 0.7417254447937012], [-0.015159732662141323, -0.8558322787284851, -0.5170313715934753], [0.861829400062561, -0.2733645439147949, 0.4272257685661316]], "T_opt": [0.30981147289276123, -0.33266374468803406, 12.191500663757324], "pl_pos": [0.2397010177373886, 1.0671594142913818, -3.677365303039551], "camera_intrinsics": [190.44924926757812, 251.6734619140625, 3508.5810546875, 3508.5810546875]}, {"file_path": "r_59", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cluttered/./test/r_59.png", "R_opt": [[-0.15151004493236542, 0.5122712850570679, -0.8453536629676819], [-0.01613154448568821, -0.8563941717147827, -0.516070544719696], [-0.9883241057395935, -0.06455294787883759, 0.1380159854888916]], "T_opt": [0.11348237097263336, -0.3275391459465027, 12.1902437210083], "pl_pos": [-1.067556381225586, 2.5829410552978516, -0.06847477704286575], "camera_intrinsics": [190.44924926757812, 251.6734619140625, 3508.5810546875, 3508.5810546875]}, {"file_path": "r_62", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cluttered/./test/r_62.png", "R_opt": [[-0.9951608180999756, -0.09825462847948074, -0.0008202098542824388], [0.06803155690431595, -0.6829788684844971, -0.7272630929946899], [0.07089676707983017, -0.7237995862960815, 0.6863584518432617]], "T_opt": [-0.030807873234152794, -0.28648632764816284, 14.301607131958008], "pl_pos": [-3.3946409225463867, 1.2789431810379028, 0.8279978036880493], "camera_intrinsics": [190.44924926757812, 251.6734619140625, 3508.5810546875, 3508.5810546875]}, {"file_path": "r_75", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cluttered/./test/r_75.png", "R_opt": [[0.2813646197319031, -0.46004778146743774, 0.8421340584754944], [-0.029046891257166862, -0.8812688589096069, -0.47172191739082336], [0.9591611623764038, 0.1082645058631897, -0.2613208293914795]], "T_opt": [0.28854691982269287, -0.4072054922580719, 11.759212493896484], "pl_pos": [-3.424621105194092, 2.936800479888916, -1.669044852256775], "camera_intrinsics": [190.44924926757812, 251.6734619140625, 3508.5810546875, 3508.5810546875]}, {"file_path": "r_71", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cluttered/./test/r_71.png", "R_opt": [[0.9970336556434631, -0.038404304534196854, 0.06669995188713074], [0.014425498433411121, -0.7580130696296692, -0.6520797610282898], [0.07560211420059204, 0.6511077284812927, -0.755210816860199]], "T_opt": [0.4443105459213257, 0.03386152163147926, 14.88469123840332], "pl_pos": [-0.20726656913757324, 1.2471013069152832, 3.6349971294403076], "camera_intrinsics": [190.44924926757812, 251.6734619140625, 3508.5810546875, 3508.5810546875]}, {"file_path": "r_60", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cluttered/./test/r_60.png", "R_opt": [[-0.7616968750953674, -0.4253535270690918, 0.4887659549713135], [0.025752807036042213, -0.7736243009567261, -0.6331210136413574], [0.6474214792251587, -0.46965929865837097, 0.6002213358879089]], "T_opt": [0.44051459431648254, -0.31710317730903625, 14.476579666137695], "pl_pos": [-0.7307488322257996, 2.959022045135498, 0.14789046347141266], "camera_intrinsics": [190.44924926757812, 251.6734619140625, 3508.5810546875, 3508.5810546875]}, {"file_path": "r_42", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cluttered/./test/r_42.png", "R_opt": [[0.8681505918502808, 0.329255610704422, -0.37135598063468933], [0.023793252184987068, -0.7749989628791809, -0.6315144300460815], [-0.4957301914691925, 0.5394139289855957, -0.6806498169898987]], "T_opt": [0.2954048216342926, -0.22620534896850586, 14.3464937210083], "pl_pos": [2.776531934738159, 1.5746266841888428, -2.1195995807647705], "camera_intrinsics": [190.44924926757812, 251.6734619140625, 3508.5810546875, 3508.5810546875]}, {"file_path": "r_46", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cluttered/./test/r_46.png", "R_opt": [[0.6512157320976257, -0.5264096260070801, 0.5466359853744507], [0.06511902064085007, -0.6788895726203918, -0.7313469648361206], [0.7560936212539673, 0.5118610262870789, -0.4078243672847748]], "T_opt": [0.011795774102210999, -0.15246239304542542, 14.21901798248291], "pl_pos": [-1.3435673713684082, 2.810986042022705, -1.3962002992630005], "camera_intrinsics": [190.44924926757812, 251.6734619140625, 3508.5810546875, 3508.5810546875]}, {"file_path": "r_82", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cluttered/./test/r_82.png", "R_opt": [[-0.8258143663406372, -0.4494578242301941, 0.34061455726623535], [0.06946925818920135, -0.680465042591095, -0.7294802069664001], [0.5596469640731812, -0.5787529945373535, 0.593161404132843]], "T_opt": [0.016860371455550194, -0.2649873197078705, 14.310667991638184], "pl_pos": [1.303298830986023, 2.388080358505249, -2.9697506427764893], "camera_intrinsics": [190.44924926757812, 251.6734619140625, 3508.5810546875, 3508.5810546875]}, {"file_path": "r_77", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cluttered/./test/r_77.png", "R_opt": [[-0.9384605884552002, -0.2920607030391693, 0.18436957895755768], [0.06885597109794617, -0.6812968254089355, -0.7287614941596985], [0.3384530246257782, -0.6712190508842468, 0.6594804525375366]], "T_opt": [-0.003858598880469799, -0.2772008776664734, 14.314279556274414], "pl_pos": [0.6749661564826965, 1.782812237739563, -3.9535369873046875], "camera_intrinsics": [190.44924926757812, 251.6734619140625, 3508.5810546875, 3508.5810546875]}, {"file_path": "r_16", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cluttered/./test/r_16.png", "R_opt": [[-0.991235077381134, -0.12906143069267273, 0.028211252763867378], [0.0681016817688942, -0.6821776032447815, -0.7280082702636719], [0.11320287734270096, -0.7197061777114868, 0.6849877834320068]], "T_opt": [-0.026172365993261337, -0.2861855626106262, 14.310094833374023], "pl_pos": [0.3066958785057068, 3.151426315307617, 1.7999255657196045], "camera_intrinsics": [190.44924926757812, 251.6734619140625, 3508.5810546875, 3508.5810546875]}, {"file_path": "r_33", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cluttered/./test/r_33.png", "R_opt": [[-0.7852168083190918, -0.2708650231361389, 0.5568363070487976], [-0.028227152302861214, -0.8826608657836914, -0.4691619277000427], [0.618577241897583, -0.38411179184913635, 0.6854343414306641]], "T_opt": [0.2712961733341217, -0.46000632643699646, 11.842735290527344], "pl_pos": [-0.8312256932258606, 2.9246411323547363, -1.4334979057312012], "camera_intrinsics": [190.44924926757812, 251.6734619140625, 3508.5810546875, 3508.5810546875]}, {"file_path": "r_44", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cluttered/./test/r_44.png", "R_opt": [[-0.9892740249633789, 0.07368074357509613, -0.12612760066986084], [0.02273229882121086, -0.7752848863601685, -0.6312023997306824], [-0.14429233968257904, -0.6272991299629211, 0.7652943730354309]], "T_opt": [0.3624664843082428, -0.3411431312561035, 14.481391906738281], "pl_pos": [-3.2704381942749023, 1.3474576473236084, -1.291651725769043], "camera_intrinsics": [190.44924926757812, 251.6734619140625, 3508.5810546875, 3508.5810546875]}, {"file_path": "r_61", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cluttered/./test/r_61.png", "R_opt": [[0.7572076320648193, 0.42687860131263733, -0.4943796396255493], [0.024281462654471397, -0.7747613191604614, -0.6317874789237976], [-0.6527227759361267, 0.46639004349708557, -0.5970203876495361]], "T_opt": [0.28097009658813477, -0.23478201031684875, 14.360761642456055], "pl_pos": [-1.8681306838989258, 3.0462961196899414, -0.8074801564216614], "camera_intrinsics": [190.44924926757812, 251.6734619140625, 3508.5810546875, 3508.5810546875]}, {"file_path": "r_14", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cluttered/./test/r_14.png", "R_opt": [[-0.5297735333442688, -0.6462649703025818, 0.54925537109375], [0.06968603283166885, -0.6785786151885986, -0.7312148809432983], [0.8452715873718262, -0.3491026759147644, 0.40452858805656433]], "T_opt": [0.04113809019327164, -0.23811401426792145, 14.298768043518066], "pl_pos": [0.0908658504486084, 2.032392740249634, -3.585812568664551], "camera_intrinsics": [190.44924926757812, 251.6734619140625, 3508.5810546875, 3508.5810546875]}, {"file_path": "r_58", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cluttered/./test/r_58.png", "R_opt": [[-0.5269691944122314, 0.41213640570640564, -0.7432675957679749], [-0.02905217930674553, -0.8827760219573975, -0.4688951075077057], [-0.8493877053260803, -0.22549967467784882, 0.4771692454814911]], "T_opt": [0.11690730601549149, -0.4559875428676605, 11.850628852844238], "pl_pos": [2.855177402496338, 2.0311100482940674, 1.618331789970398], "camera_intrinsics": [190.44924926757812, 251.6734619140625, 3508.5810546875, 3508.5810546875]}, {"file_path": "r_23", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cluttered/./test/r_23.png", "R_opt": [[0.9157114028930664, -0.21412260830402374, 0.340035080909729], [-0.031897518783807755, -0.8822659850120544, -0.46966949105262756], [0.4005682170391083, 0.4192355275154114, -0.8147311210632324]], "T_opt": [0.22056002914905548, -0.3789260685443878, 11.695770263671875], "pl_pos": [-2.6392743587493896, 2.297151803970337, 0.30184683203697205], "camera_intrinsics": [190.44924926757812, 251.6734619140625, 3508.5810546875, 3508.5810546875]}, {"file_path": "r_18", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cluttered/./test/r_18.png", "R_opt": [[-0.634152352809906, -0.4138503670692444, 0.6531297564506531], [-0.01918821781873703, -0.8360177874565125, -0.5483666658401489], [0.7729700803756714, -0.36028051376342773, 0.5222216844558716]], "T_opt": [0.23418079316616058, -0.29557156562805176, 12.470558166503906], "pl_pos": [0.8335364460945129, 2.9667623043060303, 0.32985153794288635], "camera_intrinsics": [190.44924926757812, 251.6734619140625, 3508.5810546875, 3508.5810546875]}, {"file_path": "r_29", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cluttered/./test/r_29.png", "R_opt": [[-0.21302297711372375, -0.6242117881774902, 0.7516520619392395], [0.024573570117354393, -0.7724894881248474, -0.6345519423484802], [0.9767381548881531, -0.11670329421758652, 0.17989711463451385]], "T_opt": [0.46499544382095337, -0.27704918384552, 14.441089630126953], "pl_pos": [2.2125089168548584, 1.8283134698867798, -2.399134397506714], "camera_intrinsics": [190.44924926757812, 251.6734619140625, 3508.5810546875, 3508.5810546875]}, {"file_path": "r_3", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cluttered/./test/r_3.png", "R_opt": [[0.8928861618041992, 0.2308596521615982, -0.38659825921058655], [-0.02033010870218277, -0.837023913860321, -0.5467886328697205], [-0.4498233497142792, 0.4960794746875763, -0.7426735758781433]], "T_opt": [0.0828639566898346, -0.2181551158428192, 12.334041595458984], "pl_pos": [0.7557882070541382, 2.9444947242736816, 0.16499079763889313], "camera_intrinsics": [190.44924926757812, 251.6734619140625, 3508.5810546875, 3508.5810546875]}, {"file_path": "r_47", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cluttered/./test/r_47.png", "R_opt": [[0.5675387978553772, -0.5778745412826538, 0.5864815711975098], [0.06499812006950378, -0.6786454916000366, -0.731584370136261], [0.8207770586013794, 0.45332270860671997, -0.34759676456451416]], "T_opt": [0.02040759101510048, -0.15763059258460999, 14.226154327392578], "pl_pos": [0.8017953634262085, 3.1000473499298096, 0.7559635639190674], "camera_intrinsics": [190.44924926757812, 251.6734619140625, 3508.5810546875, 3508.5810546875]}, {"file_path": "r_37", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cluttered/./test/r_37.png", "R_opt": [[0.9640341997146606, 0.23211230337619781, -0.12946714460849762], [0.06652521342039108, -0.6823552250862122, -0.7279874682426453], [-0.2573174834251404, 0.6931922435760498, -0.6732551455497742]], "T_opt": [-0.09725456684827805, -0.14644895493984222, 14.173124313354492], "pl_pos": [1.1862099170684814, 2.8550827503204346, 0.1534869223833084], "camera_intrinsics": [190.44924926757812, 251.6734619140625, 3508.5810546875, 3508.5810546875]}, {"file_path": "r_83", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cluttered/./test/r_83.png", "R_opt": [[0.6087855100631714, -0.41988757252693176, 0.6731079816818237], [-0.017763111740350723, -0.8554558157920837, -0.517571210861206], [0.7931358814239502, 0.30313336849212646, -0.528247594833374]], "T_opt": [0.2838197946548462, -0.2741784453392029, 12.108755111694336], "pl_pos": [0.054305508732795715, 1.3572391271591187, -3.544877767562866], "camera_intrinsics": [190.44924926757812, 251.6734619140625, 3508.5810546875, 3508.5810546875]}, {"file_path": "r_15", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cluttered/./test/r_15.png", "R_opt": [[0.9960484504699707, 0.07161296904087067, -0.05252401903271675], [0.022400792688131332, -0.7748861312866211, -0.6317039132118225], [-0.08593833446502686, 0.6280312538146973, -0.7734284400939941]], "T_opt": [0.33584025502204895, -0.2121766209602356, 14.329904556274414], "pl_pos": [1.4745635986328125, 2.5205559730529785, 1.0757651329040527], "camera_intrinsics": [190.44924926757812, 251.6734619140625, 3508.5810546875, 3508.5810546875]}, {"file_path": "r_84", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cluttered/./test/r_84.png", "R_opt": [[-0.6023929715156555, 0.514472484588623, -0.6102790832519531], [0.015496715903282166, -0.7568874359130859, -0.6533616185188293], [-0.7980492115020752, -0.4030377268791199, 0.4479711651802063]], "T_opt": [0.3815649151802063, -0.08339608460664749, 15.036760330200195], "pl_pos": [-2.371946096420288, 2.5349619388580322, 1.2363306283950806], "camera_intrinsics": [190.44924926757812, 251.6734619140625, 3508.5810546875, 3508.5810546875]}, {"file_path": "r_0", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cluttered/./test/r_0.png", "R_opt": [[-0.2466859668493271, -0.7222852110862732, 0.6461037397384644], [0.0696292594075203, -0.6781951785087585, -0.7315757870674133], [0.9665908813476562, -0.13548174500465393, 0.21759340167045593]], "T_opt": [0.049078091979026794, -0.21598345041275024, 14.275256156921387], "pl_pos": [-0.9865932464599609, 1.7001549005508423, 3.0153493881225586], "camera_intrinsics": [190.44924926757812, 251.6734619140625, 3508.5810546875, 3508.5810546875]}, {"file_path": "r_26", "img_path": "/data/volume2/shared_storage/zb.b/relit_data/training_data/Data_final/NRHints/Cluttered/./test/r_26.png", "R_opt": [[0.9953707456588745, -0.06976927816867828, 0.06610077619552612], [-0.022332219406962395, -0.8368383049964905, -0.5469945073127747], [0.09347906708717346, 0.5429860949516296, -0.8345223665237427]], "T_opt": [0.13756950199604034, -0.20833604037761688, 12.318568229675293], "pl_pos": [-0.16371549665927887, 2.950695514678955, 0.8401269316673279], "camera_intrinsics": [190.44924926757812, 251.6734619140625, 3508.5810546875, 3508.5810546875]}]} |